+ python -m lidar_slam --no-model /working/035f4c62-adef-46b1-830d-305987fb65a8 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/035f4c62-adef-46b1-830d-305987fb65a8 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 0.016875 Adjusted end_distance from 9.223372036854776e+18 to 565.876875 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.016875 meters Centerline goodness : 0.444398 Centerline is valid? [0, False] SLAMing on 0.046875 meters Centerline goodness : 0.444398 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.00, Z:0.00 [[ 1.00000000e+00 -2.40581212e-17 8.95444708e-17 -1.49158463e-13] [-1.20789195e-16 1.00000000e+00 -1.84952184e-16 -4.37080927e-14] [ 1.96456057e-16 -5.90825487e-17 1.00000000e+00 8.48208510e-14] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.076875 meters Centerline goodness : 0.355954 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 9.99963132e-01 -7.67026598e-03 3.86032379e-03 7.42276445e-03] [ 7.66288690e-03 9.99968791e-01 1.92269319e-03 -7.89154975e-03] [-3.87495089e-03 -1.89304108e-03 9.99990701e-01 -6.93035990e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.106875 meters Centerline goodness : 0.361004 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:0.00 [[ 9.99948937e-01 -9.08115754e-03 4.43360824e-03 5.89166767e-03] [ 9.07693546e-03 9.99958332e-01 9.71484168e-04 -9.49431246e-03] [-4.44224570e-03 -9.31190985e-04 9.99989700e-01 7.80905179e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.136875 meters Centerline goodness : 0.360996 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:0.00 [[ 0.99998679 -0.00269165 0.00437984 0.00267001] [ 0.00265916 0.99996903 0.00740749 -0.00740207] [-0.00439964 -0.00739574 0.99996297 0.00421864] [ 0. 0. 0. 1. ]] SLAMing on 0.166875 meters Centerline goodness : 0.487537 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.01, Z:0.00 [[ 0.99999446 -0.00102062 0.00316873 -0.00500302] [ 0.00102682 0.99999756 -0.00195529 -0.00690445] [-0.00316672 0.00195853 0.99999307 0.00199226] [ 0. 0. 0. 1. ]] SLAMing on 0.196875 meters Centerline goodness : 0.373887 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.02 [[ 0.99952401 -0.0188254 0.02444085 0.0216727 ] [ 0.01972251 0.99912069 -0.03699835 0.02281385] [-0.02372285 0.03746277 0.9990164 -0.02484245] [ 0. 0. 0. 1. ]] SLAMing on 0.226875 meters Centerline goodness : 0.432505 Centerline is valid? [False, False] Translation: X:0.08, Y:0.05, Z:-0.02 [[ 0.99943037 -0.02337711 -0.02434027 0.08179229] [ 0.02153678 0.99707699 -0.07330514 0.04550406] [ 0.02598278 0.07273918 0.99701249 -0.02490343] [ 0. 0. 0. 1. ]] SLAMing on 0.25687499999999996 meters Centerline goodness : 0.440521 Centerline is valid? [False, False] Translation: X:0.13, Y:0.06, Z:-0.03 [[ 0.99880006 -0.03589008 -0.03332193 0.13413618] [ 0.03339357 0.99679663 -0.07267295 0.06263137] [ 0.03582343 0.07147301 0.99679902 -0.02969338] [ 0. 0. 0. 1. ]] SLAMing on 0.286875 meters Centerline goodness : 0.419423 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:-0.03 [[ 0.99820278 -0.05804829 -0.01488652 0.14006639] [ 0.05670338 0.99527825 -0.07877774 0.07452836] [ 0.01938914 0.07779205 0.99678105 -0.02980038] [ 0. 0. 0. 1. ]] SLAMing on 0.316875 meters Centerline goodness : 0.442077 Centerline is valid? [False, False] Translation: X:0.17, Y:0.08, Z:-0.03 [[ 0.99768566 -0.06703933 -0.01135967 0.1660311 ] [ 0.06601119 0.99502606 -0.07460331 0.08071994] [ 0.01630453 0.07368079 0.99714859 -0.03352481] [ 0. 0. 0. 1. ]] SLAMing on 0.34687499999999993 meters Centerline goodness : 0.437090 Centerline is valid? [False, False] Translation: X:0.19, Y:0.09, Z:-0.04 [[ 0.99736929 -0.07175221 -0.01030097 0.18838734] [ 0.07069473 0.99423813 -0.08057789 0.08538026] [ 0.01602326 0.07963769 0.99669509 -0.03669806] [ 0. 0. 0. 1. ]] SLAMing on 0.37687499999999996 meters Centerline goodness : 0.300029 Centerline is valid? [False, False] Translation: X:0.24, Y:0.09, Z:-0.04 [[ 0.99679166 -0.07976427 -0.00663711 0.23796636] [ 0.07904956 0.99407165 -0.07465067 0.08604251] [ 0.01255222 0.07388651 0.99718766 -0.0358968 ] [ 0. 0. 0. 1. ]] SLAMing on 0.406875 meters Centerline goodness : 0.419765 Centerline is valid? [False, False] Translation: X:0.28, Y:0.09, Z:-0.03 [[ 0.99594066 -0.08964621 -0.00810927 0.28219278] [ 0.08903106 0.99434434 -0.05790336 0.08527643] [ 0.01325423 0.05694633 0.99828926 -0.03083191] [ 0. 0. 0. 1. ]] SLAMing on 0.436875 meters Centerline goodness : 0.404866 Centerline is valid? [False, False] Translation: X:0.32, Y:0.08, Z:-0.03 [[ 0.994871 -0.10071231 -0.00941886 0.32243873] [ 0.1000675 0.99352793 -0.05374699 0.08227752] [ 0.01477089 0.0525288 0.99851016 -0.03160538] [ 0. 0. 0. 1. ]] SLAMing on 0.46687499999999993 meters Centerline goodness : 0.345468 Centerline is valid? [False, False] Translation: X:0.41, Y:0.09, Z:-0.03 [[ 0.99457412 -0.1036118 -0.00932288 0.40632203] [ 0.10303222 0.99345235 -0.04936382 0.08506502] [ 0.01437651 0.04813542 0.99873735 -0.02836686] [ 0. 0. 0. 1. ]] SLAMing on 0.49687499999999996 meters Centerline goodness : 0.344378 Centerline is valid? [False, False] Translation: X:0.43, Y:0.09, Z:-0.03 [[ 0.99513801 -0.0983235 -0.00572987 0.43443905] [ 0.09801033 0.99434758 -0.04082729 0.09155587] [ 0.00971176 0.0400672 0.99914979 -0.02862304] [ 0. 0. 0. 1. ]] SLAMing on 0.526875 meters Centerline goodness : 0.303091 Centerline is valid? [False, False] Translation: X:0.50, Y:0.11, Z:-0.03 [[ 9.97021509e-01 -7.71239862e-02 -3.34990723e-05 4.97379010e-01] [ 7.70689054e-02 9.96325678e-01 -3.73567523e-02 1.14358479e-01] [ 2.91447763e-03 3.72429038e-02 9.99301992e-01 -2.65474348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.556875 meters Centerline goodness : 0.223956 Centerline is valid? [False, False] Translation: X:0.60, Y:0.17, Z:-0.02 [[ 0.99950135 -0.03139626 -0.00336685 0.59845958] [ 0.03127094 0.99898578 -0.03239673 0.16951685] [ 0.00438057 0.03227529 0.99946942 -0.02006712] [ 0. 0. 0. 1. ]] SLAMing on 0.5868749999999999 meters Centerline goodness : 0.118753 Centerline is valid? [False, False] Translation: X:0.69, Y:0.21, Z:-0.02 [[ 0.99998321 0.00329247 -0.00476902 0.68507247] [-0.00338606 0.99979919 -0.01975141 0.21462887] [ 0.00470303 0.01976723 0.99979355 -0.02052805] [ 0. 0. 0. 1. ]] SLAMing on 0.616875 meters Centerline goodness : 0.267136 Centerline is valid? [False, False] Translation: X:0.77, Y:0.26, Z:-0.02 [[ 0.99963619 0.02599089 -0.00720851 0.77472368] [-0.02606955 0.99959915 -0.01104204 0.25768721] [ 0.00691863 0.01122595 0.99991305 -0.02037927] [ 0. 0. 0. 1. ]] SLAMing on 0.646875 meters Centerline goodness : 0.227955 Centerline is valid? [False, False] Translation: X:0.89, Y:0.30, Z:-0.01 [[ 0.9996901 0.02303276 -0.00944482 0.89279456] [-0.02310981 0.99969986 -0.00813166 0.30377725] [ 0.00925469 0.00834741 0.99992233 -0.01343008] [ 0. 0. 0. 1. ]] SLAMing on 0.6768749999999999 meters Centerline goodness : 0.202997 Centerline is valid? [False, False] Translation: X:0.93, Y:0.31, Z:-0.01 [[ 9.99973954e-01 3.87660703e-04 -7.20699529e-03 9.30314956e-01] [-4.42077366e-04 9.99971397e-01 -7.55047499e-03 3.10168711e-01] [ 7.20386212e-03 7.55346438e-03 9.99945523e-01 -1.26376370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7068749999999999 meters Centerline goodness : 0.173535 Centerline is valid? [False, False] Translation: X:1.00, Y:0.31, Z:-0.01 [[ 9.98469927e-01 -5.40674143e-02 -1.15982460e-02 9.99786572e-01] [ 5.40746101e-02 9.98536851e-01 3.07492922e-04 3.11669604e-01] [ 1.15646507e-02 -9.34193066e-04 9.99932691e-01 -9.61737373e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.736875 meters Centerline goodness : 0.163284 Centerline is valid? [False, False] Translation: X:1.15, Y:0.31, Z:-0.00 [[ 0.99247651 -0.10838385 -0.0569502 1.15405062] [ 0.10867053 0.9940759 0.00195212 0.31146916] [ 0.05640124 -0.00812624 0.99837511 -0.00171622] [ 0. 0. 0. 1. ]] SLAMing on 0.766875 meters Centerline goodness : 0.142550 Centerline is valid? [False, False] Translation: X:1.25, Y:0.31, Z:0.01 [[ 0.98628462 -0.14540183 -0.07810863 1.25067841] [ 0.14415092 0.98932317 -0.02145173 0.30988649] [ 0.0803938 0.00989808 0.99671403 0.01196903] [ 0. 0. 0. 1. ]] SLAMing on 0.796875 meters Centerline goodness : 0.150461 Centerline is valid? [False, False] Translation: X:1.30, Y:0.28, Z:0.04 [[ 0.97660289 -0.19810254 -0.08367904 1.29847342] [ 0.19811176 0.98014449 -0.00827676 0.28424263] [ 0.0836572 -0.00849469 0.99645839 0.03687264] [ 0. 0. 0. 1. ]] SLAMing on 0.8268749999999999 meters Centerline goodness : 0.150461 Centerline is valid? [False, False] Translation: X:1.30, Y:0.28, Z:0.04 [[ 0.97660289 -0.19810254 -0.08367904 1.29847342] [ 0.19811176 0.98014449 -0.00827676 0.28424263] [ 0.0836572 -0.00849469 0.99645839 0.03687264] [ 0. 0. 0. 1. ]] SLAMing on 0.8568749999999999 meters Centerline goodness : 0.986315 Centerline is valid? [False, True] Translation: X:1.28, Y:0.27, Z:0.05 [[ 0.97115122 -0.21565659 -0.10177205 1.27811845] [ 0.21554799 0.9764171 -0.01219476 0.2651244 ] [ 0.10200185 -0.01009381 0.994733 0.05258236] [ 0. 0. 0. 1. ]] SLAMing on 0.886875 meters Centerline goodness : 0.448407 Centerline is valid? [True, False] Translation: X:1.35, Y:0.27, Z:0.07 [[ 0.9712393 -0.2062673 -0.11894542 1.35162287] [ 0.20667143 0.97836843 -0.00906301 0.27229395] [ 0.11824185 -0.01578027 0.99285943 0.07488465] [ 0. 0. 0. 1. ]] SLAMing on 0.9168749999999999 meters Centerline goodness : 0.150232 Centerline is valid? [False, False] Translation: X:1.35, Y:0.30, Z:0.09 [[ 0.98049082 -0.16286931 -0.1100515 1.34580194] [ 0.16257928 0.98662653 -0.01166448 0.29589755] [ 0.11047952 -0.00645517 0.99385744 0.09200796] [ 0. 0. 0. 1. ]] SLAMing on 0.9468749999999999 meters Centerline goodness : 0.144885 Centerline is valid? [False, False] Translation: X:1.37, Y:0.32, Z:0.09 [[ 0.98836985 -0.10958384 -0.10543448 1.37418301] [ 0.10497024 0.99329827 -0.04837149 0.32433759] [ 0.11002862 0.03674144 0.9932491 0.08983612] [ 0. 0. 0. 1. ]] SLAMing on 0.9768749999999999 meters Centerline goodness : 0.991960 Centerline is valid? [False, True] Translation: X:1.43, Y:0.35, Z:0.10 [[ 0.99011735 -0.09962877 -0.09870031 1.4321487 ] [ 0.0877566 0.98911786 -0.11808741 0.34944319] [ 0.10939115 0.10825879 0.98808583 0.10118808] [ 0. 0. 0. 1. ]] SLAMing on 1.006875 meters Centerline goodness : 0.260735 Centerline is valid? [True, False] Translation: X:1.44, Y:0.33, Z:0.11 [[ 0.9869623 -0.12667168 -0.09929605 1.44391956] [ 0.11980486 0.99015906 -0.07233145 0.33226569] [ 0.10748123 0.05949226 0.99242554 0.11401896] [ 0. 0. 0. 1. ]] SLAMing on 1.036875 meters Centerline goodness : 0.992347 Centerline is valid? [False, True] Translation: X:1.44, Y:0.31, Z:0.12 [[ 0.98276802 -0.15924094 -0.09385814 1.43981974] [ 0.15616845 0.98694964 -0.03926599 0.31164449] [ 0.09888601 0.02393168 0.99481095 0.12020903] [ 0. 0. 0. 1. ]] SLAMing on 1.066875 meters Centerline goodness : 0.698201 Centerline is valid? [True, False] Translation: X:1.42, Y:0.26, Z:0.11 [[ 0.97481282 -0.19702311 -0.10450773 1.42459144] [ 0.19729982 0.98031227 -0.00778677 0.26270522] [ 0.10398439 -0.01302871 0.99449359 0.11484758] [ 0. 0. 0. 1. ]] SLAMing on 1.096875 meters Centerline goodness : 0.997450 Centerline is valid? [False, True] Translation: X:1.42, Y:0.24, Z:0.12 [[ 0.97645921 -0.18990868 -0.10228443 1.41906271] [ 0.1906629 0.98165253 -0.00244215 0.24318543] [ 0.10087156 -0.01711719 0.9947522 0.11557152] [ 0. 0. 0. 1. ]] SLAMing on 1.1268749999999998 meters Centerline goodness : 0.997391 Centerline is valid? [True, True] Translation: X:1.45, Y:0.23, Z:0.12 [[ 0.98008144 -0.17236117 -0.09865093 1.44784955] [ 0.17196789 0.98502273 -0.01254053 0.23289013] [ 0.09933491 -0.00467405 0.99504308 0.11519785] [ 0. 0. 0. 1. ]] SLAMing on 1.1568749999999999 meters Centerline goodness : 0.978454 Centerline is valid? [True, True] Translation: X:1.48, Y:0.21, Z:0.12 [[ 0.98985076 -0.13886948 -0.03017839 1.48253995] [ 0.14205183 0.97298761 0.18197906 0.2081889 ] [ 0.00409186 -0.18441901 0.9828392 0.12119065] [ 0. 0. 0. 1. ]] SLAMing on 1.186875 meters Centerline goodness : 0.996537 Centerline is valid? [True, True] Translation: X:1.50, Y:0.26, Z:0.08 [[ 0.99070175 -0.12616292 -0.0509212 1.50204817] [ 0.11178099 0.96816443 -0.22397021 0.26008478] [ 0.07755684 0.21619566 0.9732648 0.08290811] [ 0. 0. 0. 1. ]] SLAMing on 1.216875 meters Centerline goodness : 0.997198 Centerline is valid? [True, True] Translation: X:1.54, Y:0.22, Z:0.10 [[ 0.99180001 -0.09640466 -0.08389804 1.53879062] [ 0.09488361 0.99524654 -0.02194134 0.22242427] [ 0.08561448 0.01380087 0.99623275 0.10403061] [ 0. 0. 0. 1. ]] SLAMing on 1.246875 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:1.58, Y:0.21, Z:0.12 [[ 0.99224337 -0.07687625 -0.09768901 1.57764397] [ 0.07773994 0.99696083 0.0050602 0.20749846] [ 0.09700311 -0.01261529 0.99520413 0.12276217] [ 0. 0. 0. 1. ]] SLAMing on 1.276875 meters Centerline goodness : 0.998340 Centerline is valid? [True, True] Translation: X:1.61, Y:0.21, Z:0.12 [[ 0.99305521 -0.08010421 -0.0861665 1.60573275] [ 0.07944157 0.99677775 -0.01109748 0.20927453] [ 0.0867778 0.00417521 0.99621894 0.12125731] [ 0. 0. 0. 1. ]] SLAMing on 1.306875 meters Centerline goodness : 0.997742 Centerline is valid? [True, True] Translation: X:1.63, Y:0.20, Z:0.13 [[ 0.99195427 -0.09896765 -0.07894389 1.63419071] [ 0.09846996 0.99508793 -0.01018214 0.19881179] [ 0.07956381 0.00232661 0.99682706 0.12839798] [ 0. 0. 0. 1. ]] SLAMing on 1.3368749999999998 meters Centerline goodness : 0.996552 Centerline is valid? [True, True] Translation: X:1.66, Y:0.18, Z:0.13 [[ 9.89530667e-01 -1.26891509e-01 -6.87575767e-02 1.66436791e+00] [ 1.26580726e-01 9.91916599e-01 -8.87587808e-03 1.84183847e-01] [ 6.93280551e-02 7.95695950e-05 9.97593913e-01 1.32411561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3668749999999998 meters Centerline goodness : 0.994584 Centerline is valid? [True, True] Translation: X:1.69, Y:0.17, Z:0.13 [[ 9.87405082e-01 -1.45528494e-01 -6.20698054e-02 1.69361322e+00] [ 1.45311018e-01 9.89353457e-01 -8.02776410e-03 1.71809261e-01] [ 6.25772450e-02 -1.09277151e-03 9.98039525e-01 1.33320321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3968749999999999 meters Centerline goodness : 0.993474 Centerline is valid? [True, True] Translation: X:1.72, Y:0.17, Z:0.13 [[ 9.86481143e-01 -1.49639057e-01 -6.68064920e-02 1.72225154e+00] [ 1.49395869e-01 9.88739630e-01 -8.64972601e-03 1.67740420e-01] [ 6.73485631e-02 -1.44782234e-03 9.97728457e-01 1.32226152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.426875 meters Centerline goodness : 0.993368 Centerline is valid? [True, True] Translation: X:1.75, Y:0.16, Z:0.13 [[ 9.88746743e-01 -1.32342875e-01 -6.97512882e-02 1.75063672e+00] [ 1.32033405e-01 9.91203962e-01 -9.04905308e-03 1.61980952e-01] [ 7.03353310e-02 -2.62278316e-04 9.97523369e-01 1.32983664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.456875 meters Centerline goodness : 0.994111 Centerline is valid? [True, True] Translation: X:1.78, Y:0.16, Z:0.14 [[ 9.90176144e-01 -1.18769808e-01 -7.37898096e-02 1.77756675e+00] [ 1.18385047e-01 9.92921531e-01 -9.58195523e-03 1.64608711e-01] [ 7.44055377e-02 7.52213425e-04 9.97227782e-01 1.35069401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.486875 meters Centerline goodness : 0.995604 Centerline is valid? [True, True] Translation: X:1.80, Y:0.18, Z:0.13 [[ 0.99202456 -0.10063616 -0.07589224 1.8036733 ] [ 0.10017519 0.9949209 -0.00986615 0.18390409] [ 0.07649966 0.00218494 0.99706721 0.12991934] [ 0. 0. 0. 1. ]] SLAMing on 1.516875 meters Centerline goodness : 0.996807 Centerline is valid? [True, True] Translation: X:1.83, Y:0.19, Z:0.14 [[ 0.9928238 -0.09570744 -0.07170067 1.82953729] [ 0.09528207 0.99540652 -0.00933754 0.19443722] [ 0.07226499 0.00243874 0.99738249 0.13514214] [ 0. 0. 0. 1. ]] SLAMing on 1.546875 meters Centerline goodness : 0.996626 Centerline is valid? [True, True] Translation: X:1.86, Y:0.21, Z:0.14 [[ 0.99258995 -0.10066032 -0.06806382 1.85650049] [ 0.1002881 0.99491888 -0.00887241 0.20527461] [ 0.06861108 0.00198067 0.99764152 0.1358897 ] [ 0. 0. 0. 1. ]] SLAMing on 1.576875 meters Centerline goodness : 0.996700 Centerline is valid? [True, True] Translation: X:1.88, Y:0.21, Z:0.14 [[ 0.99245692 -0.10008866 -0.07079206 1.88314818] [ 0.09968323 0.99497627 -0.00924572 0.21063473] [ 0.07136181 0.0021192 0.99744824 0.13889484] [ 0. 0. 0. 1. ]] SLAMing on 1.6068749999999998 meters Centerline goodness : 0.996216 Centerline is valid? [True, True] Translation: X:1.91, Y:0.22, Z:0.14 [[ 0.99291967 -0.09955716 -0.06479889 1.9104804 ] [ 0.09921597 0.99502987 -0.00847019 0.21516153] [ 0.0653201 0.00198113 0.9978624 0.14020744] [ 0. 0. 0. 1. ]] SLAMing on 1.6368749999999999 meters Centerline goodness : 0.995478 Centerline is valid? [True, True] Translation: X:1.94, Y:0.21, Z:0.14 [[ 0.99270787 -0.09623299 -0.07259678 1.93863288] [ 0.09579449 0.99535574 -0.00950616 0.20969611] [ 0.07317443 0.00248247 0.99731607 0.13713746] [ 0. 0. 0. 1. ]] SLAMing on 1.6668749999999999 meters Centerline goodness : 0.995636 Centerline is valid? [True, True] Translation: X:1.97, Y:0.20, Z:0.14 [[ 0.99230847 -0.09423211 -0.08027578 1.96780258] [ 0.09368802 0.99554596 -0.01052595 0.20092161] [ 0.08091011 0.00292412 0.99671711 0.13598319] [ 0. 0. 0. 1. ]] SLAMing on 1.696875 meters Centerline goodness : 0.994462 Centerline is valid? [True, True] Translation: X:2.00, Y:0.20, Z:0.14 [[ 0.99244974 -0.08784128 -0.08560038 1.99720659] [ 0.0871969 0.99612763 -0.01124512 0.19591618] [ 0.08625669 0.00369613 0.99626609 0.13588146] [ 0. 0. 0. 1. ]] SLAMing on 1.726875 meters Centerline goodness : 0.993497 Centerline is valid? [True, True] Translation: X:2.03, Y:0.19, Z:0.14 [[ 0.99333787 -0.07989403 -0.08304705 2.02648274] [ 0.07925802 0.99679419 -0.01093244 0.18555785] [ 0.08365425 0.00427746 0.99648566 0.13585297] [ 0. 0. 0. 1. ]] SLAMing on 1.756875 meters Centerline goodness : 0.988494 Centerline is valid? [True, True] Translation: X:2.04, Y:0.20, Z:0.07 [[ 0.99342222 -0.11099902 -0.02813367 2.04222224] [ 0.10739722 0.98840122 -0.10737255 0.19547879] [ 0.03972561 0.1036448 0.99382072 0.07471647] [ 0. 0. 0. 1. ]] SLAMing on 1.786875 meters Centerline goodness : 0.988602 Centerline is valid? [True, True] Translation: X:2.08, Y:0.16, Z:0.15 [[ 0.99270605 -0.09628758 -0.07254932 2.08038664] [ 0.10043685 0.99337236 0.05589092 0.15619993] [ 0.06668689 -0.06276988 0.99579757 0.14501252] [ 0. 0. 0. 1. ]] SLAMing on 1.8168749999999998 meters Centerline goodness : 0.988602 Centerline is valid? [True, True] Translation: X:2.11, Y:0.17, Z:0.13 [[ 9.92844503e-01 -1.00375803e-01 -6.46876466e-02 2.10721716e+00] [ 1.00057422e-01 9.94948277e-01 -8.15101552e-03 1.69346674e-01] [ 6.51790273e-02 1.62021176e-03 9.97872271e-01 1.30698004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8468749999999998 meters Centerline goodness : 0.988777 Centerline is valid? [True, True] Translation: X:2.14, Y:0.17, Z:0.14 [[ 0.99279587 -0.09855907 -0.06813574 2.1395983 ] [ 0.0990969 0.99506738 0.00455082 0.16601521] [ 0.06735113 -0.01127007 0.99766568 0.13866681] [ 0. 0. 0. 1. ]] SLAMing on 1.8768749999999998 meters Centerline goodness : 0.988901 Centerline is valid? [True, True] Translation: X:2.17, Y:0.17, Z:0.14 [[ 0.99290995 -0.09888318 -0.0659693 2.16740654] [ 0.09850342 0.99509608 -0.00899266 0.16982054] [ 0.06653502 0.0024307 0.99778113 0.13500885] [ 0. 0. 0. 1. ]] SLAMing on 1.9068749999999999 meters Centerline goodness : 0.989300 Centerline is valid? [True, True] Translation: X:2.20, Y:0.17, Z:0.14 [[ 9.93046337e-01 -9.77525481e-02 -6.56003950e-02 2.19656726e+00] [ 9.76721408e-02 9.95208744e-01 -4.43944042e-03 1.68808760e-01] [ 6.57200534e-02 -1.99876097e-03 9.97836099e-01 1.39045031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.936875 meters Centerline goodness : 0.989300 Centerline is valid? [True, True] Translation: X:2.22, Y:0.17, Z:0.14 [[ 0.99305979 -0.09794102 -0.06511387 2.22373951] [ 0.09751753 0.99518694 -0.00965827 0.17312877] [ 0.06574641 0.0032415 0.9978311 0.13958751] [ 0. 0. 0. 1. ]] SLAMing on 1.966875 meters Centerline goodness : 0.988474 Centerline is valid? [True, True] Translation: X:2.26, Y:0.16, Z:0.16 [[ 0.99411005 -0.09073754 -0.05926138 2.25529858] [ 0.09111623 0.99583334 0.00371397 0.15965329] [ 0.05867746 -0.00909177 0.99823559 0.15934336] [ 0. 0. 0. 1. ]] SLAMing on 1.996875 meters Centerline goodness : 0.989131 Centerline is valid? [True, True] Translation: X:2.28, Y:0.17, Z:0.15 [[ 0.99447233 -0.09277842 -0.04916246 2.28011721] [ 0.09205757 0.99561306 -0.01673429 0.16573341] [ 0.05049937 0.01211601 0.9986506 0.15215779] [ 0. 0. 0. 1. ]] SLAMing on 2.026875 meters Centerline goodness : 0.984581 Centerline is valid? [True, True] Translation: X:2.30, Y:0.18, Z:0.11 [[ 0.99417839 -0.10654745 -0.01603029 2.30390481] [ 0.10527889 0.99225668 -0.06590168 0.18490368] [ 0.02292782 0.06383037 0.99769735 0.1103461 ] [ 0. 0. 0. 1. ]] SLAMing on 2.0568750000000002 meters Centerline goodness : 0.984246 Centerline is valid? [True, True] Translation: X:2.33, Y:0.17, Z:0.12 [[ 0.99451392 -0.10080275 -0.02794408 2.33447967] [ 0.10054828 0.99487813 -0.01037024 0.17442387] [ 0.02884631 0.00750362 0.99955569 0.11617936] [ 0. 0. 0. 1. ]] SLAMing on 2.086875 meters Centerline goodness : 0.983965 Centerline is valid? [True, True] Translation: X:2.37, Y:0.17, Z:0.12 [[ 0.99382676 -0.09871915 -0.05062508 2.36517893] [ 0.09805658 0.99506145 -0.01541456 0.16655402] [ 0.05189678 0.01035528 0.99859876 0.11961359] [ 0. 0. 0. 1. ]] SLAMing on 2.1168750000000003 meters Centerline goodness : 0.991699 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.01, Z:0.19 [[ 0.99538741 -0.05514255 -0.07850604 2.42419568] [ 0.06054016 0.99583863 0.06811991 -0.01459116] [ 0.07442304 -0.07255847 0.99458357 0.19246619] [ 0. 0. 0. 1. ]] SLAMing on 2.146875 meters Centerline goodness : 0.995347 Centerline is valid? [True, True] Translation: X:2.43, Y:0.18, Z:0.15 [[ 0.99463857 -0.08224957 -0.06268279 2.4292393 ] [ 0.08189961 0.99660737 -0.00813643 0.17867301] [ 0.06313935 0.00295911 0.99800033 0.14947173] [ 0. 0. 0. 1. ]] SLAMing on 2.1768750000000003 meters Centerline goodness : 0.997107 Centerline is valid? [True, True] Translation: X:2.47, Y:0.06, Z:0.16 [[ 0.9965439 -0.06409306 -0.05284252 2.47198018] [ 0.06381886 0.99793791 -0.00686181 0.06432378] [ 0.05317335 0.00346575 0.99857928 0.15913824] [ 0. 0. 0. 1. ]] SLAMing on 2.206875 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:2.49, Y:0.14, Z:0.16 [[ 9.93213730e-01 -1.01110512e-01 -5.74730485e-02 2.49069338e+00] [ 1.00846662e-01 9.94873859e-01 -7.48031679e-03 1.36947931e-01] [ 5.79347723e-02 1.63358826e-03 9.98319034e-01 1.59914561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.236875 meters Centerline goodness : 0.997647 Centerline is valid? [True, True] Translation: X:2.52, Y:0.09, Z:0.16 [[ 0.99567724 -0.06872903 -0.06247531 2.52456985] [ 0.06836991 0.99762899 -0.00787043 0.08536779] [ 0.06286811 0.00356498 0.99801548 0.156689 ] [ 0. 0. 0. 1. ]] SLAMing on 2.266875 meters Centerline goodness : 0.998166 Centerline is valid? [True, True] Translation: X:2.55, Y:0.09, Z:0.16 [[ 0.99518893 -0.07410921 -0.06408438 2.55161552] [ 0.07370032 0.99724227 -0.00872441 0.09080513] [ 0.06455421 0.00395939 0.99790635 0.15711984] [ 0. 0. 0. 1. ]] SLAMing on 2.296875 meters Centerline goodness : 0.998548 Centerline is valid? [True, True] Translation: X:2.58, Y:0.10, Z:0.16 [[ 0.99468852 -0.07818206 -0.06695011 2.57966046] [ 0.07776868 0.99693292 -0.00876257 0.09588817] [ 0.06742985 0.0035094 0.99771785 0.15820192] [ 0. 0. 0. 1. ]] SLAMing on 2.3268750000000002 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:2.61, Y:0.10, Z:0.16 [[ 0.9944283 -0.08056271 -0.06798536 2.60591098] [ 0.08014059 0.99674367 -0.00891807 0.10001488] [ 0.06848245 0.00341999 0.99764646 0.1594558 ] [ 0. 0. 0. 1. ]] SLAMing on 2.356875 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:2.63, Y:0.11, Z:0.16 [[ 0.99411923 -0.08420518 -0.06809148 2.63351931] [ 0.08378933 0.99644334 -0.0089454 0.10515359] [ 0.06860255 0.00318745 0.99763898 0.16229812] [ 0. 0. 0. 1. ]] SLAMing on 2.3868750000000003 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:2.66, Y:0.11, Z:0.16 [[ 0.99413315 -0.0855235 -0.06621946 2.66126322] [ 0.08513192 0.99633155 -0.00871795 0.11274779] [ 0.06672213 0.00302942 0.997767 0.16395933] [ 0. 0. 0. 1. ]] SLAMing on 2.416875 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:2.69, Y:0.12, Z:0.17 [[ 0.99399354 -0.08687176 -0.06655925 2.68808985] [ 0.08647784 0.99621506 -0.00878228 0.11654173] [ 0.06707026 0.00297363 0.99774382 0.16801573] [ 0. 0. 0. 1. ]] SLAMing on 2.446875 meters Centerline goodness : 0.998597 Centerline is valid? [True, True] Translation: X:2.72, Y:0.12, Z:0.17 [[ 0.99392797 -0.08853177 -0.06533998 2.71532636] [ 0.08815522 0.99606937 -0.00862943 0.11939651] [ 0.06584713 0.00281697 0.99782575 0.17127371] [ 0. 0. 0. 1. ]] SLAMing on 2.476875 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:2.74, Y:0.12, Z:0.17 [[ 9.93741245e-01 -9.36647048e-02 -6.08708578e-02 2.74334968e+00] [ 9.33472220e-02 9.95601113e-01 -8.04489699e-03 1.22040884e-01] [ 6.13566167e-02 2.31242047e-03 9.98113229e-01 1.74811950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.506875 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:2.77, Y:0.12, Z:0.18 [[ 9.93502982e-01 -9.96137836e-02 -5.50356151e-02 2.77049404e+00] [ 9.93625653e-02 9.95024598e-01 -7.28909961e-03 1.24711154e-01] [ 5.54878856e-02 1.77326230e-03 9.98457786e-01 1.76605841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.536875 meters Centerline goodness : 0.997769 Centerline is valid? [True, True] Translation: X:2.80, Y:0.13, Z:0.18 [[ 9.93311381e-01 -1.04254392e-01 -4.96338869e-02 2.79797886e+00] [ 1.04055548e-01 9.94549717e-01 -6.58050817e-03 1.25357823e-01] [ 5.00494150e-02 1.37181237e-03 9.98745801e-01 1.81537144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.566875 meters Centerline goodness : 0.996736 Centerline is valid? [True, True] Translation: X:2.83, Y:0.13, Z:0.19 [[ 9.93139850e-01 -1.07302372e-01 -4.64697749e-02 2.82596022e+00] [ 1.07130854e-01 9.94225766e-01 -6.17310006e-03 1.25673133e-01] [ 4.68638358e-02 1.15240501e-03 9.98900622e-01 1.85673975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5968750000000003 meters Centerline goodness : 0.996890 Centerline is valid? [True, True] Translation: X:2.85, Y:0.13, Z:0.19 [[ 9.93167255e-01 -1.07379023e-01 -4.57006500e-02 2.85403448e+00] [ 1.07212628e-01 9.94217501e-01 -6.08378211e-03 1.27373431e-01] [ 4.60896566e-02 1.14252639e-03 9.98936654e-01 1.85319175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.626875 meters Centerline goodness : 0.996826 Centerline is valid? [True, True] Translation: X:2.88, Y:0.13, Z:0.18 [[ 9.93232455e-01 -1.06143401e-01 -4.71473077e-02 2.88116934e+00] [ 1.05964063e-01 9.94350040e-01 -6.29408443e-03 1.29150131e-01] [ 4.75490028e-02 1.25556866e-03 9.98868117e-01 1.83464734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.656875 meters Centerline goodness : 0.996548 Centerline is valid? [True, True] Translation: X:2.91, Y:0.13, Z:0.18 [[ 9.93458384e-01 -1.02593169e-01 -5.01505833e-02 2.90936009e+00] [ 1.02385515e-01 9.94722238e-01 -6.69898448e-03 1.32843449e-01] [ 5.05731705e-02 1.52046898e-03 9.98719201e-01 1.81587106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.686875 meters Centerline goodness : 0.996824 Centerline is valid? [True, True] Translation: X:2.94, Y:0.14, Z:0.18 [[ 9.93446997e-01 -1.00671876e-01 -5.41132002e-02 2.93731183e+00] [ 1.00426300e-01 9.94918119e-01 -7.24532143e-03 1.36655234e-01] [ 5.45676034e-02 1.76345437e-03 9.98508521e-01 1.80371432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.716875 meters Centerline goodness : 0.996824 Centerline is valid? [True, True] Translation: X:2.97, Y:0.14, Z:0.18 [[ 9.93420588e-01 -1.00933251e-01 -5.41111292e-02 2.96556688e+00] [ 1.00687222e-01 9.94891635e-01 -7.26075129e-03 1.40533140e-01] [ 5.45675610e-02 1.76468051e-03 9.98508521e-01 1.82328142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.746875 meters Centerline goodness : 0.996721 Centerline is valid? [True, True] Translation: X:2.99, Y:0.14, Z:0.18 [[ 9.93075646e-01 -1.02655099e-01 -5.71199768e-02 2.99206518e+00] [ 1.02382728e-01 9.94715416e-01 -7.68234767e-03 1.43926758e-01] [ 5.76067537e-02 1.78105330e-03 9.98337763e-01 1.83205501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.776875 meters Centerline goodness : 0.996830 Centerline is valid? [True, True] Translation: X:3.02, Y:0.15, Z:0.18 [[ 9.92245385e-01 -1.09523858e-01 -5.87675202e-02 3.02044263e+00] [ 1.09247191e-01 9.93983141e-01 -7.90992820e-03 1.47229237e-01] [ 5.92802502e-02 1.42840322e-03 9.98240358e-01 1.83925808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8068750000000002 meters Centerline goodness : 0.997067 Centerline is valid? [True, True] Translation: X:3.05, Y:0.15, Z:0.19 [[ 9.90945212e-01 -1.20387279e-01 -5.94515697e-02 3.04795701e+00] [ 1.20122597e-01 9.92726677e-01 -8.01915491e-03 1.49994256e-01] [ 5.99845634e-02 8.05066232e-04 9.98198980e-01 1.86295875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.836875 meters Centerline goodness : 0.997243 Centerline is valid? [True, True] Translation: X:3.08, Y:0.15, Z:0.19 [[ 9.89364123e-01 -1.33077301e-01 -5.87287361e-02 3.07513455e+00] [ 1.32840229e-01 9.91105660e-01 -7.94005680e-03 1.53215142e-01] [ 5.92630240e-02 5.40685762e-05 9.98242401e-01 1.87867012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8668750000000003 meters Centerline goodness : 0.997083 Centerline is valid? [True, True] Translation: X:3.10, Y:0.16, Z:0.19 [[ 9.87872938e-01 -1.43437741e-01 -5.94362939e-02 3.10150328e+00] [ 1.43213205e-01 9.89659180e-01 -8.04270285e-03 1.57411560e-01] [ 5.99753010e-02 -5.66893612e-04 9.98199700e-01 1.90124107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.896875 meters Centerline goodness : 0.996398 Centerline is valid? [True, True] Translation: X:3.13, Y:0.18, Z:0.16 [[ 0.98705741 -0.15448183 -0.04304688 3.12536628] [ 0.15250661 0.98723471 -0.04592776 0.17575927] [ 0.04959237 0.03876841 0.99801684 0.16164554] [ 0. 0. 0. 1. ]] SLAMing on 2.926875 meters Centerline goodness : 0.996970 Centerline is valid? [True, True] Translation: X:3.16, Y:0.17, Z:0.22 [[ 0.98820395 -0.14104469 -0.05966024 3.15677384] [ 0.14306621 0.98922533 0.03106948 0.16684227] [ 0.05463523 -0.03923835 0.99773511 0.21701071] [ 0. 0. 0. 1. ]] SLAMing on 2.956875 meters Centerline goodness : 0.997621 Centerline is valid? [True, True] Translation: X:3.18, Y:0.19, Z:0.21 [[ 9.89736734e-01 -1.32161641e-01 -5.43552910e-02 3.18397131e+00] [ 1.31955783e-01 9.91228170e-01 -7.37474166e-03 1.85514261e-01] [ 5.48531536e-02 1.26557754e-04 9.98494424e-01 2.05098532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.986875 meters Centerline goodness : 0.997498 Centerline is valid? [True, True] Translation: X:3.21, Y:0.19, Z:0.21 [[ 9.90554319e-01 -1.25746655e-01 -5.46801587e-02 3.21115533e+00] [ 1.25527700e-01 9.92062260e-01 -7.43423532e-03 1.93640540e-01] [ 5.51809520e-02 5.00139335e-04 9.98476245e-01 2.06944432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.016875 meters Centerline goodness : 0.997907 Centerline is valid? [True, True] Translation: X:3.24, Y:0.21, Z:0.21 [[ 9.92932266e-01 -1.04897636e-01 -5.55157659e-02 3.23742898e+00] [ 1.04638409e-01 9.94481569e-01 -7.56386839e-03 2.09960420e-01] [ 5.60028379e-02 1.70132759e-03 9.98429160e-01 2.08170490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.046875 meters Centerline goodness : 0.997377 Centerline is valid? [True, True] Translation: X:3.26, Y:0.22, Z:0.21 [[ 9.93482921e-01 -9.99252324e-02 -5.48327851e-02 3.26466593e+00] [ 9.96639361e-02 9.94992993e-01 -7.48617377e-03 2.17239485e-01] [ 5.53062947e-02 1.97253458e-03 9.98467487e-01 2.10092939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0768750000000002 meters Centerline goodness : 0.998240 Centerline is valid? [True, True] Translation: X:3.29, Y:0.23, Z:0.21 [[ 9.94143628e-01 -9.35945238e-02 -5.40232573e-02 3.29114587e+00] [ 9.33306042e-02 9.95607723e-01 -7.39320976e-03 2.26118064e-01] [ 5.44779362e-02 2.30788913e-03 9.98512307e-01 2.10477771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.106875 meters Centerline goodness : 0.998031 Centerline is valid? [True, True] Translation: X:3.32, Y:0.23, Z:0.21 [[ 9.94097567e-01 -9.18650068e-02 -5.77134967e-02 3.31870352e+00] [ 9.15604933e-02 9.95768145e-01 -7.90428374e-03 2.31265032e-01] [ 5.81953886e-02 2.57335301e-03 9.98301896e-01 2.09623593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1368750000000003 meters Centerline goodness : 0.997999 Centerline is valid? [True, True] Translation: X:3.35, Y:0.23, Z:0.21 [[ 9.93821076e-01 -9.17573990e-02 -6.24519720e-02 3.34596019e+00] [ 9.13992282e-02 9.95777418e-01 -8.57405333e-03 2.31748215e-01] [ 6.29749962e-02 2.81301287e-03 9.98011141e-01 2.09405502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.166875 meters Centerline goodness : 0.998363 Centerline is valid? [True, True] Translation: X:3.37, Y:0.23, Z:0.21 [[ 9.93434651e-01 -9.41128873e-02 -6.50412026e-02 3.37412859e+00] [ 9.37288540e-02 9.95557643e-01 -8.93760923e-03 2.31124350e-01] [ 6.55934106e-02 2.78269332e-03 9.97842553e-01 2.09374166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.196875 meters Centerline goodness : 0.998131 Centerline is valid? [True, True] Translation: X:3.40, Y:0.23, Z:0.21 [[ 9.92886091e-01 -9.93949290e-02 -6.55580478e-02 3.40218632e+00] [ 9.90149395e-02 9.95044991e-01 -9.02818149e-03 2.27119456e-01] [ 6.61305625e-02 2.47272970e-03 9.97807915e-01 2.09769666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.226875 meters Centerline goodness : 0.998100 Centerline is valid? [True, True] Translation: X:3.43, Y:0.22, Z:0.21 [[ 9.92353280e-01 -1.04229067e-01 -6.61155685e-02 3.43076460e+00] [ 1.03852403e-01 9.94550924e-01 -9.11800447e-03 2.22412776e-01] [ 6.67056608e-02 2.18202100e-03 9.97770311e-01 2.13791502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.256875 meters Centerline goodness : 0.997579 Centerline is valid? [True, True] Translation: X:3.46, Y:0.22, Z:0.22 [[ 9.92118046e-01 -1.06449563e-01 -6.61080481e-02 3.45833403e+00] [ 1.06076616e-01 9.94315986e-01 -9.13622552e-03 2.21032038e-01] [ 6.67048363e-02 2.05169620e-03 9.97770643e-01 2.17107590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.286875 meters Centerline goodness : 0.997508 Centerline is valid? [True, True] Translation: X:3.49, Y:0.22, Z:0.22 [[ 9.91730225e-01 -1.10568251e-01 -6.51599834e-02 3.48693531e+00] [ 1.10214314e-01 9.93866981e-01 -9.01269925e-03 2.16179015e-01] [ 6.57568744e-02 1.75660340e-03 9.97834128e-01 2.19521672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.316875 meters Centerline goodness : 0.997530 Centerline is valid? [True, True] Translation: X:3.52, Y:0.21, Z:0.22 [[ 9.91599840e-01 -1.11793797e-01 -6.50530842e-02 3.51601522e+00] [ 1.11442448e-01 9.93729988e-01 -9.01624107e-03 2.14023776e-01] [ 6.56531604e-02 1.69082824e-03 9.97841071e-01 2.19800557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3468750000000003 meters Centerline goodness : 0.997251 Centerline is valid? [True, True] Translation: X:3.54, Y:0.21, Z:0.22 [[ 9.91712456e-01 -1.09729204e-01 -6.68274338e-02 3.54374201e+00] [ 1.09352402e-01 9.93959709e-01 -9.28163670e-03 2.11614081e-01] [ 6.74422432e-02 1.89697431e-03 9.97721377e-01 2.21021461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.376875 meters Centerline goodness : 0.997177 Centerline is valid? [True, True] Translation: X:3.57, Y:0.21, Z:0.22 [[ 9.92455419e-01 -1.02773493e-01 -6.68569470e-02 3.57202028e+00] [ 1.02380061e-01 9.94701941e-01 -9.29366613e-03 2.09620935e-01] [ 6.74578775e-02 2.37873099e-03 9.97719287e-01 2.24684025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.406875 meters Centerline goodness : 0.996886 Centerline is valid? [True, True] Translation: X:3.60, Y:0.21, Z:0.23 [[ 9.93265307e-01 -9.59452285e-02 -6.49503132e-02 3.60041384e+00] [ 9.55582198e-02 9.95382736e-01 -9.04629339e-03 2.09876576e-01] [ 6.55183692e-02 2.77883307e-03 9.97847494e-01 2.27686116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.436875 meters Centerline goodness : 0.996951 Centerline is valid? [True, True] Translation: X:3.63, Y:0.21, Z:0.23 [[ 9.93754480e-01 -9.17160278e-02 -6.35626041e-02 3.62860460e+00] [ 9.13356481e-02 9.95780655e-01 -8.87057382e-03 2.11000203e-01] [ 6.41079853e-02 3.00964083e-03 9.97938429e-01 2.29966996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.466875 meters Centerline goodness : 0.997217 Centerline is valid? [True, True] Translation: X:3.66, Y:0.21, Z:0.23 [[ 9.93892298e-01 -9.18601766e-02 -6.11539751e-02 3.65609182e+00] [ 9.15072787e-02 9.95767681e-01 -8.55243698e-03 2.11067648e-01] [ 6.16807803e-02 2.90416740e-03 9.98091703e-01 2.32332507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.496875 meters Centerline goodness : 0.997181 Centerline is valid? [True, True] Translation: X:3.68, Y:0.21, Z:0.24 [[ 9.93666801e-01 -9.60306686e-02 -5.83472337e-02 3.68336870e+00] [ 9.57162205e-02 9.95375159e-01 -8.16682184e-03 2.10062765e-01] [ 5.88616524e-02 2.53032304e-03 9.98262943e-01 2.35592102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.526875 meters Centerline goodness : 0.997173 Centerline is valid? [True, True] Translation: X:3.71, Y:0.21, Z:0.24 [[ 9.92894505e-01 -1.03214296e-01 -5.92225524e-02 3.71166857e+00] [ 1.02902704e-01 9.94656835e-01 -8.29542443e-03 2.10694474e-01] [ 5.97623229e-02 2.14232058e-03 9.98210336e-01 2.35926031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5568750000000002 meters Centerline goodness : 0.997045 Centerline is valid? [True, True] Translation: X:3.74, Y:0.21, Z:0.24 [[ 9.92126051e-01 -1.09280187e-01 -6.11861053e-02 3.73966924e+00] [ 1.08957966e-01 9.94009257e-01 -8.58824753e-03 2.11489573e-01] [ 6.17580804e-02 1.85391053e-03 9.98089426e-01 2.35546960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.586875 meters Centerline goodness : 0.997296 Centerline is valid? [True, True] Translation: X:3.77, Y:0.21, Z:0.24 [[ 9.91843678e-01 -1.11471628e-01 -6.18077213e-02 3.76750830e+00] [ 1.11145950e-01 9.93766071e-01 -8.69332405e-03 2.12079178e-01] [ 6.23914753e-02 1.75274062e-03 9.98050215e-01 2.39013886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.616875 meters Centerline goodness : 0.997069 Centerline is valid? [True, True] Translation: X:3.80, Y:0.21, Z:0.24 [[ 9.91951296e-01 -1.10506387e-01 -6.18139576e-02 3.79567669e+00] [ 1.10177669e-01 9.93873727e-01 -8.71184447e-03 2.14245139e-01] [ 6.23979828e-02 1.83120767e-03 9.98049667e-01 2.40799656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.646875 meters Centerline goodness : 0.997153 Centerline is valid? [True, True] Translation: X:3.82, Y:0.22, Z:0.24 [[ 9.92282533e-01 -1.07432687e-01 -6.19160045e-02 3.82260138e+00] [ 1.07095722e-01 9.94210254e-01 -8.74515748e-03 2.16443506e-01] [ 6.24970423e-02 2.04672784e-03 9.98043050e-01 2.40198092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.676875 meters Centerline goodness : 0.996719 Centerline is valid? [True, True] Translation: X:3.85, Y:0.22, Z:0.24 [[ 9.92440421e-01 -1.04122029e-01 -6.49662485e-02 3.85050224e+00] [ 1.03743386e-01 9.94561694e-01 -9.18403002e-03 2.16628752e-01] [ 6.55692020e-02 2.37478404e-03 9.97845198e-01 2.41694768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.706875 meters Centerline goodness : 0.996772 Centerline is valid? [True, True] Translation: X:3.88, Y:0.22, Z:0.24 [[ 9.92540937e-01 -1.01221881e-01 -6.79457049e-02 3.87812529e+00] [ 1.00799472e-01 9.94860198e-01 -9.62560585e-03 2.16362101e-01] [ 6.85707994e-02 2.70491670e-03 9.97642586e-01 2.42892087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.736875 meters Centerline goodness : 0.996597 Centerline is valid? [True, True] Translation: X:3.91, Y:0.22, Z:0.24 [[ 9.92662335e-01 -9.89749669e-02 -6.94654243e-02 3.90534097e+00] [ 9.85273101e-02 9.95085600e-01 -9.84971517e-03 2.17645699e-01] [ 7.00989187e-02 2.93319985e-03 9.97535733e-01 2.43844095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.766875 meters Centerline goodness : 0.996843 Centerline is valid? [True, True] Translation: X:3.93, Y:0.22, Z:0.25 [[ 9.93042222e-01 -9.50100396e-02 -6.95718159e-02 3.93369900e+00] [ 9.45506905e-02 9.95471085e-01 -9.87352988e-03 2.18773922e-01] [ 7.01948155e-02 3.22676882e-03 9.97528083e-01 2.45802483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.796875 meters Centerline goodness : 0.996914 Centerline is valid? [True, True] Translation: X:3.96, Y:0.22, Z:0.25 [[ 9.93634218e-01 -8.86687868e-02 -6.94901918e-02 3.96214676e+00] [ 8.81936919e-02 9.96054331e-01 -9.88138162e-03 2.20272243e-01] [ 7.00921766e-02 3.68988234e-03 9.97533694e-01 2.50074098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8268750000000002 meters Centerline goodness : 0.997147 Centerline is valid? [True, True] Translation: X:3.99, Y:0.22, Z:0.25 [[ 0.99424388 -0.08201721 -0.0689368 3.99015431] [ 0.08153238 0.99662229 -0.00982218 0.22373803] [ 0.06950954 0.00414506 0.99757268 0.25268461] [ 0. 0. 0. 1. ]] SLAMing on 3.856875 meters Centerline goodness : 0.997282 Centerline is valid? [True, True] Translation: X:4.02, Y:0.23, Z:0.25 [[ 0.99449133 -0.08017485 -0.06752028 4.01778719] [ 0.07970422 0.99677195 -0.00963976 0.22788816] [ 0.06807519 0.00420501 0.99767133 0.25280657] [ 0. 0. 0. 1. ]] SLAMing on 3.886875 meters Centerline goodness : 0.996910 Centerline is valid? [True, True] Translation: X:4.04, Y:0.23, Z:0.25 [[ 9.94491120e-01 -8.30019185e-02 -6.40163600e-02 4.04464386e+00] [ 8.25835798e-02 9.96542062e-01 -9.15807003e-03 2.31083577e-01] [ 6.45551329e-02 3.82091914e-03 9.97906827e-01 2.54456235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.916875 meters Centerline goodness : 0.997439 Centerline is valid? [True, True] Translation: X:4.07, Y:0.23, Z:0.26 [[ 9.93990752e-01 -9.00413926e-02 -6.22489554e-02 4.07273493e+00] [ 8.96591798e-02 9.95932632e-01 -8.91204570e-03 2.32732204e-01] [ 6.27982190e-02 3.27730072e-03 9.98020863e-01 2.58702774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.946875 meters Centerline goodness : 0.997468 Centerline is valid? [True, True] Translation: X:4.10, Y:0.23, Z:0.26 [[ 9.93067209e-01 -9.99784457e-02 -6.18209384e-02 4.09974719e+00] [ 9.96194914e-02 9.94986076e-01 -8.86934291e-03 2.34154869e-01] [ 6.23977160e-02 2.64928317e-03 9.98047848e-01 2.62441486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.976875 meters Centerline goodness : 0.997005 Centerline is valid? [True, True] Translation: X:4.13, Y:0.24, Z:0.26 [[ 9.92024317e-01 -1.09865617e-01 -6.17843134e-02 4.12773206e+00] [ 1.09525782e-01 9.93944371e-01 -8.87073599e-03 2.36643151e-01] [ 6.23847595e-02 2.03301056e-03 9.98050103e-01 2.63937373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.006875 meters Centerline goodness : 0.997170 Centerline is valid? [True, True] Translation: X:4.16, Y:0.24, Z:0.26 [[ 9.91091284e-01 -1.18162480e-01 -6.14466915e-02 4.15569840e+00] [ 1.17841213e-01 9.92993112e-01 -8.83903772e-03 2.38494097e-01] [ 6.20605840e-02 1.51934061e-03 9.98071228e-01 2.63723198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.036874999999999 meters Centerline goodness : 0.997305 Centerline is valid? [True, True] Translation: X:4.18, Y:0.24, Z:0.26 [[ 9.90424954e-01 -1.22091569e-01 -6.44364682e-02 4.18288769e+00] [ 1.21745233e-01 9.92517915e-01 -9.28902661e-03 2.37840276e-01] [ 6.50884609e-02 1.35525091e-03 9.97878578e-01 2.63449606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.066875 meters Centerline goodness : 0.997409 Centerline is valid? [True, True] Translation: X:4.21, Y:0.24, Z:0.26 [[ 9.90487941e-01 -1.19302056e-01 -6.85613480e-02 4.21020791e+00] [ 1.18902592e-01 9.92856640e-01 -9.89267733e-03 2.36798531e-01] [ 6.92518064e-02 1.64645561e-03 9.97597853e-01 2.64268506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.096875 meters Centerline goodness : 0.997470 Centerline is valid? [True, True] Translation: X:4.24, Y:0.24, Z:0.26 [[ 9.91178725e-01 -1.11498618e-01 -7.16435186e-02 4.23807238e+00] [ 1.11041311e-01 9.93761926e-01 -1.03470127e-02 2.39235085e-01] [ 7.23502787e-02 2.30034860e-03 9.97376632e-01 2.64963453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.126874999999999 meters Centerline goodness : 0.997456 Centerline is valid? [True, True] Translation: X:4.27, Y:0.24, Z:0.27 [[ 9.92450768e-01 -9.89956609e-02 -7.23970439e-02 4.26595166e+00] [ 9.84939682e-02 9.95082504e-01 -1.04760595e-02 2.43352538e-01] [ 7.30781162e-02 3.26630112e-03 9.97320871e-01 2.67152658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.156874999999999 meters Centerline goodness : 0.997334 Centerline is valid? [True, True] Translation: X:4.29, Y:0.25, Z:0.25 [[ 0.99329498 -0.09638603 -0.06383426 4.28942745] [ 0.09484711 0.99513314 -0.02672178 0.2535231 ] [ 0.06609919 0.02048811 0.99760269 0.25358599] [ 0. 0. 0. 1. ]] SLAMing on 4.186875 meters Centerline goodness : 0.997380 Centerline is valid? [True, True] Translation: X:4.32, Y:0.25, Z:0.28 [[ 0.99427302 -0.07597326 -0.07516136 4.32021029] [ 0.07662266 0.99704335 0.00579031 0.24944847] [ 0.07449922 -0.01151621 0.99715457 0.27962209] [ 0. 0. 0. 1. ]] SLAMing on 4.216875 meters Centerline goodness : 0.997712 Centerline is valid? [True, True] Translation: X:4.35, Y:0.26, Z:0.27 [[ 0.99473749 -0.07379851 -0.07107111 4.34671989] [ 0.07324856 0.99726035 -0.01031696 0.25594208] [ 0.07163778 0.00505681 0.99741789 0.27286931] [ 0. 0. 0. 1. ]] SLAMing on 4.246874999999999 meters Centerline goodness : 0.997793 Centerline is valid? [True, True] Translation: X:4.38, Y:0.26, Z:0.27 [[ 0.99473847 -0.07476863 -0.07003587 4.3750235 ] [ 0.0742364 0.99718876 -0.01017537 0.25967897] [ 0.07059978 0.00492262 0.99749258 0.27457292] [ 0. 0. 0. 1. ]] SLAMing on 4.2768749999999995 meters Centerline goodness : 0.997458 Centerline is valid? [True, True] Translation: X:4.40, Y:0.26, Z:0.28 [[ 9.94176430e-01 -8.37258024e-02 -6.78470040e-02 4.40219873e+00] [ 8.32458448e-02 9.96480105e-01 -9.87574242e-03 2.57112694e-01] [ 6.84350441e-02 4.17024918e-03 9.97646858e-01 2.77265928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.306875 meters Centerline goodness : 0.997613 Centerline is valid? [True, True] Translation: X:4.43, Y:0.25, Z:0.28 [[ 9.93369500e-01 -9.27151403e-02 -6.79774944e-02 4.43067610e+00] [ 9.22537047e-02 9.95686289e-01 -9.90294565e-03 2.54931936e-01] [ 6.86024121e-02 3.56610847e-03 9.97637706e-01 2.80093865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.336875 meters Centerline goodness : 0.997411 Centerline is valid? [True, True] Translation: X:4.46, Y:0.25, Z:0.28 [[ 9.92727775e-01 -9.95904021e-02 -6.76263006e-02 4.45976207e+00] [ 9.91483134e-02 9.95023708e-01 -9.87081385e-03 2.52598530e-01] [ 6.82728107e-02 3.09399742e-03 9.97661892e-01 2.80962896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.366874999999999 meters Centerline goodness : 0.997395 Centerline is valid? [True, True] Translation: X:4.49, Y:0.25, Z:0.28 [[ 9.92510175e-01 -1.02278147e-01 -6.68036876e-02 4.48756657e+00] [ 1.01851576e-01 9.94751635e-01 -9.76934794e-03 2.53251901e-01] [ 6.74522683e-02 2.89211636e-03 9.97718311e-01 2.83532375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.396875 meters Centerline goodness : 0.998122 Centerline is valid? [True, True] Translation: X:4.52, Y:0.25, Z:0.29 [[ 9.92375968e-01 -1.04582710e-01 -6.52103835e-02 4.51507599e+00] [ 1.04180015e-01 9.94512559e-01 -9.55483363e-03 2.49880063e-01] [ 6.58518157e-02 2.68836851e-03 9.97825792e-01 2.87189780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.426875 meters Centerline goodness : 0.998440 Centerline is valid? [True, True] Translation: X:4.54, Y:0.25, Z:0.29 [[ 9.92389808e-01 -1.04094773e-01 -6.57780086e-02 4.54397080e+00] [ 1.03683435e-01 9.94563574e-01 -9.64585169e-03 2.47616276e-01] [ 6.64244941e-02 2.75235499e-03 9.97787658e-01 2.90039655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.456874999999999 meters Centerline goodness : 0.998071 Centerline is valid? [True, True] Translation: X:4.57, Y:0.25, Z:0.29 [[ 9.93046642e-01 -9.66803564e-02 -6.71660240e-02 4.57288916e+00] [ 9.62333251e-02 9.95309895e-01 -9.86711805e-03 2.46474962e-01] [ 6.78049648e-02 3.33489863e-03 9.97693022e-01 2.90391082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4868749999999995 meters Centerline goodness : 0.998400 Centerline is valid? [True, True] Translation: X:4.60, Y:0.25, Z:0.29 [[ 9.93504799e-01 -9.17105613e-02 -6.73601322e-02 4.60085926e+00] [ 9.12483456e-02 9.95778823e-01 -9.91336496e-03 2.47691054e-01] [ 6.79849534e-02 3.70247504e-03 9.97679476e-01 2.91429806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.516875 meters Centerline goodness : 0.998541 Centerline is valid? [True, True] Translation: X:4.63, Y:0.25, Z:0.29 [[ 9.93640743e-01 -9.00239298e-02 -6.76296282e-02 4.62865821e+00] [ 8.95527823e-02 9.95932151e-01 -9.97244768e-03 2.50357269e-01] [ 6.82522800e-02 3.85260895e-03 9.97660656e-01 2.93456304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.546875 meters Centerline goodness : 0.998550 Centerline is valid? [True, True] Translation: X:4.66, Y:0.25, Z:0.29 [[ 9.93172669e-01 -9.45480215e-02 -6.83280356e-02 4.65622059e+00] [ 9.40763780e-02 9.95513800e-01 -1.00950175e-02 2.49241170e-01] [ 6.89759663e-02 3.59804142e-03 9.97611833e-01 2.93181800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.576874999999999 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:4.68, Y:0.25, Z:0.30 [[ 9.92386939e-01 -1.02047791e-01 -6.89522359e-02 4.68439909e+00] [ 1.01584890e-01 9.94774624e-01 -1.01959741e-02 2.48292737e-01] [ 6.96324112e-02 3.11384623e-03 9.97567858e-01 2.96475015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.606875 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:4.71, Y:0.25, Z:0.30 [[ 9.91878801e-01 -1.07075526e-01 -6.86387374e-02 4.71124413e+00] [ 1.06627473e-01 9.94247037e-01 -1.01690968e-02 2.49949026e-01] [ 6.93327227e-02 2.76773639e-03 9.97589752e-01 2.98947368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.636875 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:4.74, Y:0.25, Z:0.30 [[ 9.91860457e-01 -1.07246104e-01 -6.86375054e-02 4.73943455e+00] [ 1.06797885e-01 9.94228662e-01 -1.01774055e-02 2.54234336e-01] [ 6.93328623e-02 2.76422571e-03 9.97589752e-01 3.00909744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.666874999999999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:4.77, Y:0.25, Z:0.31 [[ 9.90750961e-01 -1.20135105e-01 -6.30879499e-02 4.76797789e+00] [ 1.19781960e-01 9.92756061e-01 -9.36410456e-03 2.52755699e-01] [ 6.37559023e-02 1.72069732e-03 9.97964039e-01 3.07178067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6968749999999995 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:4.80, Y:0.26, Z:0.31 [[ 9.90619216e-01 -1.22075647e-01 -6.14093216e-02 4.79625960e+00] [ 1.21743739e-01 9.92519557e-01 -9.13183804e-03 2.55742232e-01] [ 6.20647278e-02 1.56997384e-03 9.98070892e-01 3.10640775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.726875 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:4.82, Y:0.26, Z:0.31 [[ 9.90741100e-01 -1.21347277e-01 -6.08844009e-02 4.82440865e+00] [ 1.21018590e-01 9.92608794e-01 -9.07101954e-03 2.58497298e-01] [ 6.15351353e-02 1.61888754e-03 9.98103605e-01 3.14182051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.756875 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:4.85, Y:0.26, Z:0.31 [[ 9.91471486e-01 -1.14828137e-01 -6.16343415e-02 4.85206723e+00] [ 1.14477605e-01 9.93383224e-01 -9.20046265e-03 2.64396690e-01] [ 6.22829929e-02 2.06624460e-03 9.98056391e-01 3.14601256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.786874999999999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:4.88, Y:0.27, Z:0.31 [[ 9.92242942e-01 -1.07328196e-01 -6.27264056e-02 4.87844796e+00] [ 1.06948952e-01 9.94220244e-01 -9.38236593e-03 2.70972391e-01] [ 6.33708546e-02 2.60106303e-03 9.97986658e-01 3.14190469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.816875 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:4.91, Y:0.28, Z:0.31 [[ 9.92701571e-01 -1.01090559e-01 -6.57593385e-02 4.90635298e+00] [ 1.00659504e-01 9.94872232e-01 -9.84411927e-03 2.77399375e-01] [ 6.64172874e-02 3.15297025e-03 9.97786953e-01 3.14972168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.846875 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:4.93, Y:0.28, Z:0.32 [[ 9.92847901e-01 -9.69856246e-02 -6.96192124e-02 4.93373096e+00] [ 9.64908489e-02 9.95279087e-01 -1.04429090e-02 2.83936821e-01] [ 7.03033583e-02 3.65060339e-03 9.97518978e-01 3.16537797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.876874999999999 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:4.96, Y:0.29, Z:0.32 [[ 9.92834359e-01 -9.58717061e-02 -7.13340900e-02 4.96149850e+00] [ 9.53478426e-02 9.95386282e-01 -1.07209179e-02 2.90782675e-01] [ 7.20328073e-02 3.84254402e-03 9.97394861e-01 3.18396399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.906874999999999 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:4.99, Y:0.30, Z:0.32 [[ 9.92438300e-01 -9.81049661e-02 -7.37674414e-02 4.98862272e+00] [ 9.75492115e-02 9.95168710e-01 -1.11081379e-02 2.97659509e-01] [ 7.45008129e-02 3.82818576e-03 9.97213605e-01 3.19766829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.936875 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:5.02, Y:0.30, Z:0.32 [[ 9.92032317e-01 -1.00420262e-01 -7.60766262e-02 5.01606795e+00] [ 9.98341762e-02 9.94937886e-01 -1.14778256e-02 3.04307276e-01] [ 7.68441239e-02 3.79132658e-03 9.97035910e-01 3.20698966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.966875 meters Centerline goodness : 0.998690 Centerline is valid? [True, True] Translation: X:5.04, Y:0.31, Z:0.32 [[ 9.91769282e-01 -1.02792424e-01 -7.63374640e-02 5.04263139e+00] [ 1.02207703e-01 9.94696167e-01 -1.15378397e-02 3.11024729e-01] [ 7.71185853e-02 3.64059811e-03 9.97015281e-01 3.23006456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.996874999999999 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:5.07, Y:0.32, Z:0.32 [[ 9.91662721e-01 -1.04169071e-01 -7.58541555e-02 5.07047177e+00] [ 1.03594607e-01 9.94553353e-01 -1.14797822e-02 3.18242849e-01] [ 7.66368429e-02 3.52599059e-03 9.97052838e-01 3.24168238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0268749999999995 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:5.10, Y:0.32, Z:0.33 [[ 9.91776002e-01 -1.04207999e-01 -7.43038025e-02 5.09691461e+00] [ 1.03655476e-01 9.94549472e-01 -1.12645223e-02 3.24363749e-01] [ 7.50726609e-02 3.46988690e-03 9.97172029e-01 3.26329416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.056875 meters Centerline goodness : 0.998444 Centerline is valid? [True, True] Translation: X:5.12, Y:0.33, Z:0.33 [[ 9.91937205e-01 -1.03873393e-01 -7.26009619e-02 5.12386413e+00] [ 1.03344376e-01 9.94584634e-01 -1.10156932e-02 3.30240686e-01] [ 7.33520386e-02 3.42397480e-03 9.97300233e-01 3.29930780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.086874999999999 meters Centerline goodness : 0.998493 Centerline is valid? [True, True] Translation: X:5.15, Y:0.34, Z:0.33 [[ 9.91859501e-01 -1.04750201e-01 -7.24025234e-02 5.15114673e+00] [ 1.04224926e-01 9.94492855e-01 -1.10057404e-02 3.35696575e-01] [ 7.31566458e-02 3.37000056e-03 9.97314769e-01 3.32912921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.116874999999999 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:5.18, Y:0.34, Z:0.33 [[ 9.91596482e-01 -1.06953428e-01 -7.27831078e-02 5.17825473e+00] [ 1.06427006e-01 9.94258736e-01 -1.10841040e-02 3.41544452e-01] [ 7.35507237e-02 3.24487035e-03 9.97286199e-01 3.34852769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.146875 meters Centerline goodness : 0.998310 Centerline is valid? [True, True] Translation: X:5.21, Y:0.35, Z:0.34 [[ 9.91300662e-01 -1.09714549e-01 -7.27029205e-02 5.20537259e+00] [ 1.09195198e-01 9.93958437e-01 -1.10921224e-02 3.47105619e-01] [ 7.34806484e-02 3.05681853e-03 9.97291958e-01 3.35640669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.176875 meters Centerline goodness : 0.998078 Centerline is valid? [True, True] Translation: X:5.23, Y:0.35, Z:0.34 [[ 9.90756935e-01 -1.13834520e-01 -7.37726042e-02 5.23171288e+00] [ 1.13309619e-01 9.93495744e-01 -1.12754565e-02 3.51525636e-01] [ 7.45763045e-02 2.81209100e-03 9.97211345e-01 3.36119894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.206874999999999 meters Centerline goodness : 0.998426 Centerline is valid? [True, True] Translation: X:5.26, Y:0.36, Z:0.34 [[ 9.90323347e-01 -1.17076934e-01 -7.45161714e-02 5.25888516e+00] [ 1.16549761e-01 9.93119434e-01 -1.13992531e-02 3.55710690e-01] [ 7.53380476e-02 2.60410454e-03 9.97154651e-01 3.39572828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2368749999999995 meters Centerline goodness : 0.998545 Centerline is valid? [True, True] Translation: X:5.29, Y:0.36, Z:0.34 [[ 9.90430665e-01 -1.17135399e-01 -7.29821572e-02 5.28608272e+00] [ 1.16628445e-01 9.93112640e-01 -1.11843422e-02 3.61411975e-01] [ 7.37895852e-02 2.56552004e-03 9.97270533e-01 3.42803304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.266875 meters Centerline goodness : 0.998325 Centerline is valid? [True, True] Translation: X:5.31, Y:0.37, Z:0.34 [[ 9.90619979e-01 -1.15717457e-01 -7.26741127e-02 5.31359613e+00] [ 1.15209489e-01 9.93278555e-01 -1.11573031e-02 3.68306926e-01] [ 7.34767324e-02 2.67989998e-03 9.97293331e-01 3.43423993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.296874999999999 meters Centerline goodness : 0.998486 Centerline is valid? [True, True] Translation: X:5.34, Y:0.37, Z:0.35 [[ 9.90628337e-01 -1.15183001e-01 -7.34055530e-02 5.34151656e+00] [ 1.14661740e-01 9.93340433e-01 -1.12901961e-02 3.73268071e-01] [ 7.42171425e-02 2.76757977e-03 9.97238265e-01 3.45114573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.326874999999999 meters Centerline goodness : 0.998189 Centerline is valid? [True, True] Translation: X:5.37, Y:0.38, Z:0.35 [[ 9.90796773e-01 -1.13658394e-01 -7.35086602e-02 5.36898498e+00] [ 1.13129966e-01 9.93515639e-01 -1.13263777e-02 3.80672900e-01] [ 7.43193414e-02 2.90610620e-03 9.97230259e-01 3.46107554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.356875 meters Centerline goodness : 0.998311 Centerline is valid? [True, True] Translation: X:5.40, Y:0.39, Z:0.35 [[ 9.90870849e-01 -1.12895548e-01 -7.36855243e-02 5.39555597e+00] [ 1.12361005e-01 9.93602363e-01 -1.13731836e-02 3.86037844e-01] [ 7.44980929e-02 2.98997649e-03 9.97216674e-01 3.47332535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.386875 meters Centerline goodness : 0.998022 Centerline is valid? [True, True] Translation: X:5.42, Y:0.39, Z:0.35 [[ 9.90912651e-01 -1.10932040e-01 -7.60670816e-02 5.42344273e+00] [ 1.10355725e-01 9.93822680e-01 -1.17513855e-02 3.92598123e-01] [ 7.69007960e-02 3.25015863e-03 9.97033452e-01 3.48569986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.416874999999999 meters Centerline goodness : 0.998198 Centerline is valid? [True, True] Translation: X:5.45, Y:0.40, Z:0.35 [[ 9.90960907e-01 -1.08226042e-01 -7.92691972e-02 5.45139051e+00] [ 1.07589643e-01 9.94119688e-01 -1.22684290e-02 3.96749654e-01] [ 8.01308331e-02 3.62898890e-03 9.96777749e-01 3.51824460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4468749999999995 meters Centerline goodness : 0.998067 Centerline is valid? [True, True] Translation: X:5.48, Y:0.40, Z:0.35 [[ 9.91044615e-01 -1.06711838e-01 -8.02692644e-02 5.47896842e+00] [ 1.06052506e-01 9.94282648e-01 -1.24451549e-02 4.00960099e-01] [ 8.11383821e-02 3.82094707e-03 9.96695522e-01 3.53862838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.476875 meters Centerline goodness : 0.997726 Centerline is valid? [True, True] Translation: X:5.51, Y:0.41, Z:0.35 [[ 9.91177915e-01 -1.06193023e-01 -7.93056247e-02 5.50704184e+00] [ 1.05546167e-01 9.94338131e-01 -1.23161793e-02 4.06368245e-01] [ 8.01644990e-02 3.83712024e-03 9.96774262e-01 3.54233786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.506875 meters Centerline goodness : 0.998503 Centerline is valid? [True, True] Translation: X:5.54, Y:0.41, Z:0.36 [[ 9.91203640e-01 -1.08494007e-01 -7.57917855e-02 5.53524778e+00] [ 1.07908468e-01 9.94090912e-01 -1.17907212e-02 4.09249884e-01] [ 7.66231477e-02 3.50843032e-03 9.97053952e-01 3.56348015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.536874999999999 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:5.56, Y:0.41, Z:0.36 [[ 9.90906355e-01 -1.11392129e-01 -7.54744322e-02 5.56347224e+00] [ 1.10818284e-01 9.93771081e-01 -1.17620509e-02 4.12353218e-01] [ 7.63145080e-02 3.29114393e-03 9.97078364e-01 3.59817914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.566875 meters Centerline goodness : 0.998642 Centerline is valid? [True, True] Translation: X:5.59, Y:0.42, Z:0.36 [[ 9.90766979e-01 -1.12698894e-01 -7.53641351e-02 5.59071638e+00] [ 1.12128923e-01 9.93624013e-01 -1.17654485e-02 4.16643454e-01] [ 7.62095673e-02 3.20631850e-03 9.97086667e-01 3.62573598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.596875 meters Centerline goodness : 0.998340 Centerline is valid? [True, True] Translation: X:5.62, Y:0.42, Z:0.36 [[ 9.90808594e-01 -1.12355695e-01 -7.53294660e-02 5.61834410e+00] [ 1.11783686e-01 9.93662732e-01 -1.17806429e-02 4.21174420e-01] [ 7.61757053e-02 3.25175682e-03 9.97089107e-01 3.64826537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.626874999999999 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:5.64, Y:0.43, Z:0.37 [[ 9.91147528e-01 -1.09382024e-01 -7.52472578e-02 5.64462840e+00] [ 1.08801185e-01 9.93993635e-01 -1.17879371e-02 4.25553437e-01] [ 7.60846837e-02 3.49659383e-03 9.97095229e-01 3.66501813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.656874999999999 meters Centerline goodness : 0.998160 Centerline is valid? [True, True] Translation: X:5.67, Y:0.43, Z:0.37 [[ 9.91445787e-01 -1.05614463e-01 -7.66866118e-02 5.67202357e+00] [ 1.04998715e-01 9.94399607e-01 -1.20287869e-02 4.31321494e-01] [ 7.75275505e-02 3.87389443e-03 9.96982684e-01 3.66913700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.686875 meters Centerline goodness : 0.998535 Centerline is valid? [True, True] Translation: X:5.70, Y:0.44, Z:0.37 [[ 9.91597270e-01 -1.02366323e-01 -7.90948207e-02 5.69843354e+00] [ 1.01699262e-01 9.94737567e-01 -1.24270688e-02 4.36703832e-01] [ 7.99507029e-02 4.27876260e-03 9.96789635e-01 3.67001109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.716875 meters Centerline goodness : 0.998282 Centerline is valid? [True, True] Translation: X:5.73, Y:0.44, Z:0.37 [[ 9.91622093e-01 -1.01292642e-01 -8.01587494e-02 5.72648026e+00] [ 1.00603032e-01 9.94846783e-01 -1.26058632e-02 4.40192853e-01] [ 8.10225552e-02 4.43603926e-03 9.96702396e-01 3.69606105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.746874999999999 meters Centerline goodness : 0.998557 Centerline is valid? [True, True] Translation: X:5.75, Y:0.44, Z:0.37 [[ 9.91565810e-01 -1.02719204e-01 -7.90317031e-02 5.75334298e+00] [ 1.02051729e-01 9.94701188e-01 -1.24495476e-02 4.42805138e-01] [ 7.98917366e-02 4.27922379e-03 9.96794361e-01 3.73842946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7768749999999995 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:5.78, Y:0.45, Z:0.38 [[ 9.91286243e-01 -1.06138941e-01 -7.80135277e-02 5.78173359e+00] [ 1.05497901e-01 9.94343394e-01 -1.23047505e-02 4.45578774e-01] [ 7.88782492e-02 3.96726649e-03 9.96876363e-01 3.76842156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.806875 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:5.81, Y:0.45, Z:0.38 [[ 9.90983382e-01 -1.10793056e-01 -7.53447768e-02 5.81002810e+00] [ 1.10207062e-01 9.93837359e-01 -1.19040897e-02 4.47398155e-01] [ 7.61993445e-02 3.49322864e-03 9.97086484e-01 3.80080563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.836874999999999 meters Centerline goodness : 0.998647 Centerline is valid? [True, True] Translation: X:5.84, Y:0.45, Z:0.38 [[ 9.90639920e-01 -1.15580079e-01 -7.26208964e-02 5.83775845e+00] [ 1.15047120e-01 9.93293540e-01 -1.14936165e-02 4.48412331e-01] [ 7.34623004e-02 3.03121035e-03 9.97293388e-01 3.83494132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.866874999999999 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:5.87, Y:0.45, Z:0.39 [[ 9.89960054e-01 -1.21810119e-01 -7.17034598e-02 5.86509488e+00] [ 1.21305404e-01 9.92550130e-01 -1.13682903e-02 4.49325368e-01] [ 7.25540512e-02 2.55613614e-03 9.97361206e-01 3.85118454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.896875 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:5.89, Y:0.45, Z:0.39 [[ 9.89305848e-01 -1.27515035e-01 -7.08085739e-02 5.89341743e+00] [ 1.27036767e-01 9.91834372e-01 -1.12356078e-02 4.49971048e-01] [ 7.16630863e-02 2.12016015e-03 9.97426642e-01 3.87036024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.926875 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:5.92, Y:0.45, Z:0.39 [[ 9.88846808e-01 -1.31509850e-01 -6.99081502e-02 5.92132865e+00] [ 1.31052296e-01 9.91313182e-01 -1.11117692e-02 4.50730301e-01] [ 7.07621779e-02 1.82621391e-03 9.97491543e-01 3.89880588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.956874999999999 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:5.95, Y:0.45, Z:0.39 [[ 9.88683271e-01 -1.32646724e-01 -7.00730837e-02 5.94842812e+00] [ 1.32188480e-01 9.91161803e-01 -1.11573143e-02 4.52582823e-01] [ 7.09337452e-02 1.76819562e-03 9.97479462e-01 3.92937038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9868749999999995 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:5.98, Y:0.46, Z:0.39 [[ 9.88920253e-01 -1.29839737e-01 -7.19609302e-02 5.97562033e+00] [ 1.29348307e-01 9.91532910e-01 -1.14675004e-02 4.57577503e-01] [ 7.28405678e-02 2.03241891e-03 9.97341527e-01 3.94406759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.016875 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:6.00, Y:0.46, Z:0.39 [[ 9.89444292e-01 -1.24210380e-01 -7.46443211e-02 6.00333846e+00] [ 1.23663927e-01 9.92252603e-01 -1.19165960e-02 4.63526427e-01] [ 7.55461869e-02 2.55999804e-03 9.97139017e-01 3.93727902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.046874999999999 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:6.03, Y:0.47, Z:0.39 [[ 9.90059703e-01 -1.18070088e-01 -7.64280008e-02 6.02935057e+00] [ 1.17477280e-01 9.93000356e-01 -1.22222014e-02 4.69635987e-01] [ 7.73361084e-02 3.12215546e-03 9.97000190e-01 3.94378862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.076874999999999 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:6.06, Y:0.48, Z:0.40 [[ 9.90504118e-01 -1.14375401e-01 -7.62880105e-02 6.05652150e+00] [ 1.13772668e-01 9.93431716e-01 -1.22149545e-02 4.75734924e-01] [ 7.71840195e-02 3.41947220e-03 9.97011000e-01 3.97276011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.106875 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:6.08, Y:0.48, Z:0.40 [[ 9.90885370e-01 -1.12067450e-01 -7.47467132e-02 6.08308987e+00] [ 1.11480876e-01 9.93694278e-01 -1.19873495e-02 4.81601023e-01] [ 7.56187729e-02 3.54526016e-03 9.97130499e-01 4.00821471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.136875 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:6.11, Y:0.49, Z:0.40 [[ 9.91061021e-01 -1.12052620e-01 -7.24034700e-02 6.11025171e+00] [ 1.11501609e-01 9.93696307e-01 -1.16206560e-02 4.87997712e-01] [ 7.32491857e-02 3.44367582e-03 9.97307725e-01 4.03722822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.166874999999999 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:6.14, Y:0.49, Z:0.41 [[ 9.90697845e-01 -1.15292185e-01 -7.22875592e-02 6.13695874e+00] [ 1.14750109e-01 9.93326409e-01 -1.16214520e-02 4.94307694e-01] [ 7.31450042e-02 3.21834215e-03 9.97316124e-01 4.06122237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1968749999999995 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:6.16, Y:0.50, Z:0.41 [[ 9.90035500e-01 -1.21528524e-01 -7.11373775e-02 6.16366979e+00] [ 1.21019021e-01 9.92584207e-01 -1.14449945e-02 4.99625209e-01] [ 7.20007307e-02 2.72197506e-03 9.97400865e-01 4.08174716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.226875 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:6.19, Y:0.50, Z:0.41 [[ 9.89489648e-01 -1.25986233e-01 -7.09768007e-02 6.19129779e+00] [ 1.25489837e-01 9.92029085e-01 -1.14278599e-02 5.04907106e-01] [ 7.18508037e-02 2.40088192e-03 9.97412501e-01 4.10255697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.256875 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:6.22, Y:0.51, Z:0.41 [[ 9.88945413e-01 -1.29585750e-01 -7.20729020e-02 6.21720832e+00] [ 1.29081985e-01 9.91565796e-01 -1.16237856e-02 5.11164277e-01] [ 7.29713014e-02 2.19197616e-03 9.97331632e-01 4.12305828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.286874999999999 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:6.24, Y:0.52, Z:0.41 [[ 9.88857786e-01 -1.28917881e-01 -7.44342568e-02 6.24408093e+00] [ 1.28377852e-01 9.91652547e-01 -1.20147125e-02 5.20143794e-01] [ 7.53618316e-02 2.32513194e-03 9.97153543e-01 4.13856818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.316875 meters Centerline goodness : 0.998568 Centerline is valid? [True, True] Translation: X:6.27, Y:0.53, Z:0.41 [[ 9.89312576e-01 -1.23931786e-01 -7.68214808e-02 6.27114258e+00] [ 1.23339815e-01 9.92286751e-01 -1.24215181e-02 5.30325896e-01] [ 7.77683585e-02 2.81361687e-03 9.96967485e-01 4.14022439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.346875 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:6.30, Y:0.54, Z:0.42 [[ 9.89914407e-01 -1.17812568e-01 -7.86744283e-02 6.29677759e+00] [ 1.17170702e-01 9.93030046e-01 -1.27418069e-02 5.40925492e-01] [ 7.96272162e-02 3.39496030e-03 9.96818931e-01 4.15940821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.376874999999999 meters Centerline goodness : 0.997955 Centerline is valid? [True, True] Translation: X:6.32, Y:0.55, Z:0.42 [[ 9.90562745e-01 -1.12085030e-01 -7.88821559e-02 6.32323173e+00] [ 1.11420751e-01 9.93691056e-01 -1.27867565e-02 5.51605318e-01] [ 7.98176968e-02 3.87697560e-03 9.96801938e-01 4.18629452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.406874999999999 meters Centerline goodness : 0.997767 Centerline is valid? [True, True] Translation: X:6.35, Y:0.56, Z:0.42 [[ 9.90761280e-01 -1.09030487e-01 -8.06501025e-02 6.35027578e+00] [ 1.08324057e-01 9.94029367e-01 -1.30963864e-02 5.61303620e-01] [ 8.15964757e-02 4.23904623e-03 9.96656433e-01 4.20782341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.436875 meters Centerline goodness : 0.997826 Centerline is valid? [True, True] Translation: X:6.38, Y:0.57, Z:0.42 [[ 9.90886321e-01 -1.08694401e-01 -7.95602039e-02 6.37585154e+00] [ 1.08004252e-01 9.94066216e-01 -1.29398331e-02 5.69621461e-01] [ 8.04945982e-02 4.22906329e-03 9.96746073e-01 4.21386525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.466875 meters Centerline goodness : 0.998116 Centerline is valid? [True, True] Translation: X:6.40, Y:0.58, Z:0.42 [[ 9.90819093e-01 -1.11844436e-01 -7.59496391e-02 6.40357539e+00] [ 1.11224067e-01 9.93718455e-01 -1.23628153e-02 5.76655046e-01] [ 7.68552701e-02 3.80188574e-03 9.97035011e-01 4.23739569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.496874999999999 meters Centerline goodness : 0.997946 Centerline is valid? [True, True] Translation: X:6.43, Y:0.58, Z:0.43 [[ 9.90754796e-01 -1.13748962e-01 -7.39331359e-02 6.43088119e+00] [ 1.13164943e-01 9.93503086e-01 -1.20546085e-02 5.81828456e-01] [ 7.48239979e-02 3.57652207e-03 9.97190342e-01 4.26302552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5268749999999995 meters Centerline goodness : 0.997946 Centerline is valid? [True, True] Translation: X:6.46, Y:0.59, Z:0.43 [[ 9.90725807e-01 -1.14003294e-01 -7.39298605e-02 6.45903125e+00] [ 1.13418488e-01 9.93473930e-01 -1.20746647e-02 5.86524416e-01] [ 7.48239406e-02 3.57766893e-03 9.97190342e-01 4.28262121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.556875 meters Centerline goodness : 0.997522 Centerline is valid? [True, True] Translation: X:6.49, Y:0.59, Z:0.43 [[ 9.90531906e-01 -1.16703363e-01 -7.22970861e-02 6.48529988e+00] [ 1.16149997e-01 9.93161278e-01 -1.18259736e-02 5.91885215e-01] [ 7.31827973e-02 3.31669782e-03 9.97313029e-01 4.32022435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.586874999999999 meters Centerline goodness : 0.997964 Centerline is valid? [True, True] Translation: X:6.51, Y:0.60, Z:0.43 [[ 9.90610952e-01 -1.15955902e-01 -7.24166513e-02 6.51324730e+00] [ 1.15398009e-01 9.93248588e-01 -1.18550632e-02 5.96776580e-01] [ 7.33024012e-02 3.38701809e-03 9.97304009e-01 4.33914291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.616874999999999 meters Centerline goodness : 0.997873 Centerline is valid? [True, True] Translation: X:6.54, Y:0.60, Z:0.44 [[ 9.90700596e-01 -1.15265937e-01 -7.22917175e-02 6.54074739e+00] [ 1.14706653e-01 9.93328669e-01 -1.18548910e-02 6.01728201e-01] [ 7.31759007e-02 3.45230663e-03 9.97313075e-01 4.35602827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.646875 meters Centerline goodness : 0.997740 Centerline is valid? [True, True] Translation: X:6.57, Y:0.61, Z:0.43 [[ 9.91145936e-01 -1.10898400e-01 -7.30156097e-02 6.56792700e+00] [ 1.10314481e-01 9.93824355e-01 -1.19944366e-02 6.08723495e-01] [ 7.38948551e-02 3.83355800e-03 9.97258670e-01 4.33960490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.676875 meters Centerline goodness : 0.997856 Centerline is valid? [True, True] Translation: X:6.59, Y:0.61, Z:0.44 [[ 9.91334066e-01 -1.08651247e-01 -7.38354614e-02 6.59470622e+00] [ 1.08046402e-01 9.94071613e-01 -1.21491931e-02 6.12712002e-01] [ 7.47177612e-02 4.06625307e-03 9.97196431e-01 4.36134882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.706874999999999 meters Centerline goodness : 0.997805 Centerline is valid? [True, True] Translation: X:6.62, Y:0.62, Z:0.44 [[ 9.91295470e-01 -1.08485726e-01 -7.45931507e-02 6.62218384e+00] [ 1.07867136e-01 9.94089423e-01 -1.22840996e-02 6.17392170e-01] [ 7.54849116e-02 4.13102276e-03 9.97138387e-01 4.38564890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7368749999999995 meters Centerline goodness : 0.997827 Centerline is valid? [True, True] Translation: X:6.65, Y:0.62, Z:0.44 [[ 9.91531674e-01 -1.04990287e-01 -7.64328406e-02 6.64821889e+00] [ 1.04328775e-01 9.94462943e-01 -1.26079864e-02 6.23200397e-01] [ 7.73333438e-02 4.52707324e-03 9.96995015e-01 4.39136167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.766875 meters Centerline goodness : 0.997853 Centerline is valid? [True, True] Translation: X:6.68, Y:0.63, Z:0.44 [[ 9.91621159e-01 -1.03788454e-01 -7.69118621e-02 6.67604750e+00] [ 1.03113808e-01 9.94588454e-01 -1.27023866e-02 6.28258718e-01] [ 7.78140111e-02 4.66528031e-03 9.96956977e-01 4.40949297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.796874999999999 meters Centerline goodness : 0.997814 Centerline is valid? [True, True] Translation: X:6.70, Y:0.63, Z:0.44 [[ 9.91749701e-01 -1.02701488e-01 -7.67133327e-02 6.70322453e+00] [ 1.02025444e-01 9.94700836e-01 -1.26907743e-02 6.33385913e-01] [ 7.76101775e-02 4.75935975e-03 9.96972421e-01 4.42832366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.826874999999999 meters Centerline goodness : 0.997604 Centerline is valid? [True, True] Translation: X:6.73, Y:0.64, Z:0.44 [[ 9.91828999e-01 -1.02511263e-01 -7.59386407e-02 6.73129261e+00] [ 1.01846652e-01 9.94720518e-01 -1.25837570e-02 6.38227772e-01] [ 7.68277008e-02 4.74683876e-03 9.97033085e-01 4.44632144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.856875 meters Centerline goodness : 0.997738 Centerline is valid? [True, True] Translation: X:6.76, Y:0.64, Z:0.45 [[ 9.91727744e-01 -1.03965479e-01 -7.52812122e-02 6.75883775e+00] [ 1.03314924e-01 9.94570201e-01 -1.24956926e-02 6.41730030e-01] [ 7.61715710e-02 4.61465230e-03 9.97084047e-01 4.46510774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.886875 meters Centerline goodness : 0.997892 Centerline is valid? [True, True] Translation: X:6.79, Y:0.64, Z:0.45 [[ 9.91568878e-01 -1.06262441e-01 -7.41583067e-02 6.78664795e+00] [ 1.05636041e-01 9.94328418e-01 -1.23297644e-02 6.43787239e-01] [ 7.50479026e-02 4.39202076e-03 9.97170258e-01 4.48674186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.916874999999999 meters Centerline goodness : 0.997885 Centerline is valid? [True, True] Translation: X:6.81, Y:0.65, Z:0.45 [[ 9.91294767e-01 -1.08564277e-01 -7.44881418e-02 6.81382764e+00] [ 1.07937192e-01 9.94080316e-01 -1.24051614e-02 6.45440670e-01] [ 7.53939529e-02 4.25713078e-03 9.97144738e-01 4.51589065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9468749999999995 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:6.84, Y:0.65, Z:0.45 [[ 9.91051358e-01 -1.11713571e-01 -7.30567179e-02 6.84177619e+00] [ 1.11118196e-01 9.93732599e-01 -1.21765501e-02 6.47524295e-01] [ 7.39591281e-02 3.94965584e-03 9.97253452e-01 4.53185565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.976875 meters Centerline goodness : 0.997895 Centerline is valid? [True, True] Translation: X:6.87, Y:0.65, Z:0.45 [[ 9.90636718e-01 -1.16417082e-01 -7.13158912e-02 6.86957549e+00] [ 1.15860517e-01 9.93194135e-01 -1.19059035e-02 6.49566064e-01] [ 7.22165754e-02 3.53172910e-03 9.97382721e-01 4.54980238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.006874999999999 meters Centerline goodness : 0.997690 Centerline is valid? [True, True] Translation: X:6.90, Y:0.65, Z:0.45 [[ 9.90254922e-01 -1.19859770e-01 -7.09142101e-02 6.89799325e+00] [ 1.19316843e-01 9.92785408e-01 -1.18585540e-02 6.52657270e-01] [ 7.18239565e-02 3.28173177e-03 9.97411926e-01 4.54631596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.036874999999999 meters Centerline goodness : 0.998170 Centerline is valid? [True, True] Translation: X:6.93, Y:0.65, Z:0.46 [[ 9.89750978e-01 -1.23656284e-01 -7.14291650e-02 6.92632587e+00] [ 1.23113824e-01 9.92320428e-01 -1.19647043e-02 6.52068753e-01] [ 7.23601305e-02 3.04816012e-03 9.97373912e-01 4.58016726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.066875 meters Centerline goodness : 0.998385 Centerline is valid? [True, True] Translation: X:6.96, Y:0.65, Z:0.46 [[ 9.89148579e-01 -1.28339441e-01 -7.15127787e-02 6.95536792e+00] [ 1.27806458e-01 9.91726546e-01 -1.19986080e-02 6.50110014e-01] [ 7.24610156e-02 2.72861106e-03 9.97367513e-01 4.62261282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.096875 meters Centerline goodness : 0.998515 Centerline is valid? [True, True] Translation: X:6.98, Y:0.65, Z:0.46 [[ 9.88799937e-01 -1.31690617e-01 -7.02300883e-02 6.98308728e+00] [ 1.31183677e-01 9.91287820e-01 -1.18025450e-02 6.50144403e-01] [ 7.11725156e-02 2.45731455e-03 9.97460994e-01 4.61123378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.126874999999999 meters Centerline goodness : 0.998276 Centerline is valid? [True, True] Translation: X:7.01, Y:0.65, Z:0.46 [[ 9.88762992e-01 -1.32075393e-01 -7.00273997e-02 7.01163441e+00] [ 1.31571707e-01 9.91236692e-01 -1.17773929e-02 6.50477959e-01] [ 7.09692318e-02 2.43142566e-03 9.97475542e-01 4.59932674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.156874999999999 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:7.04, Y:0.65, Z:0.46 [[ 9.88942600e-01 -1.30581209e-01 -7.02928357e-02 7.04003574e+00] [ 1.30068529e-01 9.91434292e-01 -1.18415892e-02 6.47169262e-01] [ 7.12370168e-02 2.56776626e-03 9.97456111e-01 4.64763680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.186875 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:7.07, Y:0.64, Z:0.47 [[ 9.89141071e-01 -1.27896557e-01 -7.24045064e-02 7.06830340e+00] [ 1.27343873e-01 9.91783375e-01 -1.22178060e-02 6.44006373e-01] [ 7.33722011e-02 2.86486346e-03 9.97300513e-01 4.69899422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.216874999999999 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:7.10, Y:0.64, Z:0.47 [[ 9.89554245e-01 -1.24685149e-01 -7.23602710e-02 7.09652410e+00] [ 1.24123192e-01 9.92191453e-01 -1.22292007e-02 6.43366282e-01] [ 7.33200421e-02 3.11986969e-03 9.97303584e-01 4.70906799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.246874999999999 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:7.13, Y:0.64, Z:0.47 [[ 9.90121456e-01 -1.20765191e-01 -7.12409298e-02 7.12521585e+00] [ 1.20208973e-01 9.92675358e-01 -1.20597247e-02 6.43396752e-01] [ 7.21755105e-02 3.37679318e-03 9.97386231e-01 4.70855546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2768749999999995 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:7.15, Y:0.64, Z:0.47 [[ 9.90638262e-01 -1.16622532e-01 -7.09578690e-02 7.15354712e+00] [ 1.16058709e-01 9.93169479e-01 -1.20316661e-02 6.42571479e-01] [ 7.18763532e-02 3.68375014e-03 9.97406747e-01 4.73005706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.306875 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:7.18, Y:0.64, Z:0.48 [[ 9.90913528e-01 -1.12860703e-01 -7.31631116e-02 7.18194232e+00] [ 1.12249407e-01 9.93602354e-01 -1.24270876e-02 6.43185219e-01] [ 7.40975698e-02 4.10165338e-03 9.97242562e-01 4.75584273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.336874999999999 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:7.21, Y:0.65, Z:0.47 [[ 9.90183588e-01 -1.17324455e-01 -7.59699563e-02 7.21047975e+00] [ 1.16676576e-01 9.93085839e-01 -1.29264741e-02 6.46116515e-01] [ 7.69612793e-02 3.93566815e-03 9.97026315e-01 4.74846508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.366874999999999 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:7.24, Y:0.65, Z:0.48 [[ 9.89354304e-01 -1.23478744e-01 -7.70133838e-02 7.23768394e+00] [ 1.22829732e-01 9.92340950e-01 -1.31261585e-02 6.48009077e-01] [ 7.80443360e-02 3.52688810e-03 9.96943651e-01 4.76187049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.396875 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:7.26, Y:0.65, Z:0.48 [[ 9.88525155e-01 -1.28457292e-01 -7.94779344e-02 7.26448728e+00] [ 1.27780754e-01 9.91709715e-01 -1.35616804e-02 6.49941524e-01] [ 8.05611364e-02 3.25031181e-03 9.96744370e-01 4.76836014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.426875 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:7.29, Y:0.65, Z:0.48 [[ 9.88066945e-01 -1.31480800e-01 -8.02278724e-02 7.29265753e+00] [ 1.30800343e-01 9.91314042e-01 -1.37018188e-02 6.53701781e-01] [ 8.13325426e-02 3.04448103e-03 9.96682371e-01 4.78231417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.456874999999999 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:7.32, Y:0.66, Z:0.48 [[ 9.88315273e-01 -1.30885022e-01 -7.81155051e-02 7.31956722e+00] [ 1.30236490e-01 9.91392917e-01 -1.33619018e-02 6.56845205e-01] [ 7.91920313e-02 3.03228246e-03 9.96854767e-01 4.82809833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4868749999999995 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:7.35, Y:0.66, Z:0.49 [[ 9.88553764e-01 -1.31279673e-01 -7.43444915e-02 7.34756075e+00] [ 1.30692394e-01 9.91341220e-01 -1.27311730e-02 6.61550544e-01] [ 7.53721032e-02 2.86918941e-03 9.97151350e-01 4.86996112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.516875 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:7.37, Y:0.67, Z:0.49 [[ 9.88807618e-01 -1.30572016e-01 -7.21833977e-02 7.37473689e+00] [ 1.30015127e-01 9.91434710e-01 -1.23807031e-02 6.66599405e-01] [ 7.31816994e-02 2.85719989e-03 9.97314532e-01 4.90954368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.546874999999999 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:7.40, Y:0.67, Z:0.49 [[ 9.89104663e-01 -1.29406851e-01 -7.01842801e-02 7.40185133e+00] [ 1.28876138e-01 9.91587399e-01 -1.20570277e-02 6.72443481e-01] [ 7.11541097e-02 2.88058335e-03 9.97461175e-01 4.93291032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.576874999999999 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:7.43, Y:0.68, Z:0.49 [[ 9.89442324e-01 -1.28002882e-01 -6.79643253e-02 7.42818240e+00] [ 1.27500675e-01 9.91769540e-01 -1.16942928e-02 6.79229438e-01] [ 6.89018508e-02 2.90533091e-03 9.97619213e-01 4.94014354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.606875 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:7.46, Y:0.68, Z:0.50 [[ 9.89506783e-01 -1.27956729e-01 -6.71073903e-02 7.45620453e+00] [ 1.27466475e-01 9.91775571e-01 -1.15548590e-02 6.84591673e-01] [ 6.80339923e-02 2.87966887e-03 9.97678848e-01 4.95647306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.636875 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:7.48, Y:0.69, Z:0.50 [[ 9.89113750e-01 -1.30678118e-01 -6.76551503e-02 7.48426274e+00] [ 1.30184851e-01 9.91421080e-01 -1.16682107e-02 6.89431849e-01] [ 6.85995220e-02 2.73351193e-03 9.97640533e-01 4.98039186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.666874999999999 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:7.51, Y:0.69, Z:0.50 [[ 9.88920228e-01 -1.31563663e-01 -6.87588958e-02 7.51179530e+00] [ 1.31054862e-01 9.91303948e-01 -1.18788332e-02 6.94921114e-01] [ 6.97237877e-02 2.73603086e-03 9.97562583e-01 4.98883429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6968749999999995 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:7.54, Y:0.70, Z:0.50 [[ 9.88675110e-01 -1.32208126e-01 -7.10108348e-02 7.53874055e+00] [ 1.31665560e-01 9.91218025e-01 -1.22884867e-02 7.00635792e-01] [ 7.20118572e-02 2.79963968e-03 9.97399847e-01 4.98673371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.726875 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:7.57, Y:0.71, Z:0.50 [[ 9.88493054e-01 -1.32520998e-01 -7.29360426e-02 7.56560772e+00] [ 1.31948713e-01 9.91176067e-01 -1.26310035e-02 7.05849392e-01] [ 7.39663330e-02 2.86184225e-03 9.97256633e-01 5.01828494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.756874999999999 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:7.59, Y:0.71, Z:0.50 [[ 9.88357514e-01 -1.32631576e-01 -7.45539430e-02 7.59348444e+00] [ 1.32033086e-01 9.91161084e-01 -1.29216979e-02 7.11599696e-01] [ 7.56087921e-02 2.92767007e-03 9.97133261e-01 5.01763383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.786874999999999 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:7.62, Y:0.72, Z:0.50 [[ 9.88324284e-01 -1.33733865e-01 -7.30093413e-02 7.62110341e+00] [ 1.33161454e-01 9.91013314e-01 -1.26742966e-02 7.17039760e-01] [ 7.40482119e-02 2.80428506e-03 9.97250720e-01 5.02741833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.816875 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:7.65, Y:0.72, Z:0.51 [[ 9.88194172e-01 -1.34802413e-01 -7.28051317e-02 7.64776522e+00] [ 1.34234609e-01 9.90868720e-01 -1.26589454e-02 7.20791805e-01] [ 7.38467840e-02 2.73652768e-03 9.97265844e-01 5.06414161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.846875 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:7.68, Y:0.72, Z:0.51 [[ 9.87996196e-01 -1.37058522e-01 -7.12634488e-02 7.67583619e+00] [ 1.36519410e-01 9.90559729e-01 -1.24046008e-02 7.23286108e-01] [ 7.22908588e-02 2.52685439e-03 9.97380392e-01 5.09805771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.876874999999999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:7.70, Y:0.73, Z:0.51 [[ 9.87907710e-01 -1.38319516e-01 -7.00433353e-02 7.70370442e+00] [ 1.37800494e-01 9.90384719e-01 -1.22119339e-02 7.27338381e-01] [ 7.10589978e-02 2.41225744e-03 9.97469197e-01 5.12060481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.906874999999999 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:7.73, Y:0.73, Z:0.51 [[ 9.87812145e-01 -1.38790341e-01 -7.04585577e-02 7.73106235e+00] [ 1.38264886e-01 9.90318848e-01 -1.23044960e-02 7.30410859e-01] [ 7.14841829e-02 2.41258618e-03 9.97438816e-01 5.12947701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.936875 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:7.76, Y:0.73, Z:0.51 [[ 9.87907375e-01 -1.37456726e-01 -7.17263344e-02 7.75862880e+00] [ 1.36907588e-01 9.90504442e-01 -1.25404731e-02 7.34167737e-01] [ 7.27690252e-02 2.56894641e-03 9.97345512e-01 5.12906254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.966874999999999 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:7.79, Y:0.74, Z:0.52 [[ 9.87743188e-01 -1.38232817e-01 -7.24919530e-02 7.78599637e+00] [ 1.37672413e-01 9.90396455e-01 -1.26952567e-02 7.37785447e-01] [ 7.35506743e-02 2.55951130e-03 9.97288197e-01 5.15871791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.996874999999999 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:7.81, Y:0.74, Z:0.52 [[ 9.87641008e-01 -1.39142166e-01 -7.21435818e-02 7.81368447e+00] [ 1.38588049e-01 9.90269260e-01 -1.26548963e-02 7.40650900e-01] [ 7.32024010e-02 2.50025632e-03 9.97313971e-01 5.19288518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.026875 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:7.84, Y:0.74, Z:0.52 [[ 9.87564069e-01 -1.39455468e-01 -7.25905118e-02 7.84070854e+00] [ 1.38893781e-01 9.90225155e-01 -1.27537998e-02 7.44369198e-01] [ 7.36595380e-02 2.51282379e-03 9.97280281e-01 5.20705067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.056875 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:7.87, Y:0.75, Z:0.52 [[ 9.87628650e-01 -1.39178021e-01 -7.22435321e-02 7.86776991e+00] [ 1.38620290e-01 9.90264144e-01 -1.27019554e-02 7.49286461e-01] [ 7.33080125e-02 2.53039570e-03 9.97306138e-01 5.20552718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.086875000000001 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:7.90, Y:0.75, Z:0.52 [[ 9.87596522e-01 -1.38938550e-01 -7.31381437e-02 7.89593088e+00] [ 1.38365487e-01 9.90297618e-01 -1.28693640e-02 7.53150865e-01] [ 7.42165802e-02 2.58994423e-03 9.97238784e-01 5.23236301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.116875 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:7.92, Y:0.76, Z:0.52 [[ 9.87668541e-01 -1.38227302e-01 -7.35123536e-02 7.92404160e+00] [ 1.37644791e-01 9.90396911e-01 -1.29565093e-02 7.57958227e-01] [ 7.45973512e-02 2.67814410e-03 9.97210140e-01 5.24736369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.146875 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:7.95, Y:0.76, Z:0.53 [[ 9.87510329e-01 -1.39986665e-01 -7.22985765e-02 7.95103059e+00] [ 1.39426502e-01 9.90150175e-01 -1.27624937e-02 7.62812601e-01] [ 7.33730271e-02 2.52275671e-03 9.97301376e-01 5.26846465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.176875 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:7.98, Y:0.77, Z:0.53 [[ 9.86638527e-01 -1.46889657e-01 -7.04829446e-02 7.97832020e+00] [ 1.46374224e-01 9.89150927e-01 -1.24511149e-02 7.68356067e-01] [ 7.15472100e-02 1.96786335e-03 9.97435273e-01 5.29764120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.206875 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:8.01, Y:0.77, Z:0.53 [[ 9.86351478e-01 -1.49118406e-01 -6.98173588e-02 8.00560559e+00] [ 1.48616824e-01 9.88817692e-01 -1.23535656e-02 7.73756473e-01] [ 7.08787836e-02 1.80892349e-03 9.97483296e-01 5.31463899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.236875 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:8.03, Y:0.78, Z:0.53 [[ 9.85939879e-01 -1.51243258e-01 -7.10495022e-02 8.03190580e+00] [ 1.50727817e-01 9.88495102e-01 -1.25919820e-02 7.81278377e-01] [ 7.21365373e-02 1.70580080e-03 9.97393308e-01 5.33289720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.266875 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:8.06, Y:0.79, Z:0.54 [[ 9.86122912e-01 -1.50129745e-01 -7.08707393e-02 8.05892319e+00] [ 1.49613354e-01 9.88664679e-01 -1.25696498e-02 7.88990196e-01] [ 7.19544751e-02 1.79201071e-03 9.97406307e-01 5.35201746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.296875 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:8.09, Y:0.79, Z:0.54 [[ 9.86342921e-01 -1.48878320e-01 -7.04477691e-02 8.08630710e+00] [ 1.48363464e-01 9.88853714e-01 -1.25146146e-02 7.94886695e-01] [ 7.15256928e-02 1.89182639e-03 9.97436964e-01 5.38274358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.326875000000001 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:8.11, Y:0.80, Z:0.54 [[ 9.87029374e-01 -1.45003475e-01 -6.88985329e-02 8.11193830e+00] [ 1.44500270e-01 9.89428823e-01 -1.22587009e-02 8.01828964e-01] [ 6.99477486e-02 2.14384124e-03 9.97548353e-01 5.41614818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.356875 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:8.14, Y:0.81, Z:0.54 [[ 9.87457942e-01 -1.43163720e-01 -6.65654759e-02 8.13889509e+00] [ 1.42689052e-01 9.89696554e-01 -1.18560381e-02 8.10741667e-01] [ 6.75769767e-02 2.20917438e-03 9.97711618e-01 5.41401798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.386875 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:8.17, Y:0.82, Z:0.54 [[ 9.87515858e-01 -1.44080656e-01 -6.36647045e-02 8.16517135e+00] [ 1.43647215e-01 9.89563781e-01 -1.13578722e-02 8.18531341e-01] [ 6.46367354e-02 2.07082140e-03 9.97906711e-01 5.41862699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.416875000000001 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:8.19, Y:0.82, Z:0.55 [[ 9.87480348e-01 -1.45545423e-01 -6.08201578e-02 8.19108966e+00] [ 1.45152216e-01 9.89349758e-01 -1.08577246e-02 8.23497348e-01] [ 6.17527005e-02 1.89360900e-03 9.98089684e-01 5.45862770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.446875 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:8.22, Y:0.83, Z:0.55 [[ 9.87443600e-01 -1.45795006e-01 -6.08190247e-02 8.21917841e+00] [ 1.45401881e-01 9.89313027e-01 -1.08640681e-02 8.28629111e-01] [ 6.17529803e-02 1.88445393e-03 9.98089684e-01 5.47827825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.476875 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:8.25, Y:0.83, Z:0.55 [[ 9.87138932e-01 -1.47512471e-01 -6.16181725e-02 8.24669157e+00] [ 1.47111261e-01 9.89058528e-01 -1.10229519e-02 8.34410080e-01] [ 6.25700018e-02 1.81645788e-03 9.98038925e-01 5.51805309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.506875 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:8.27, Y:0.84, Z:0.55 [[ 9.87252852e-01 -1.45649317e-01 -6.41722830e-02 8.27449278e+00] [ 1.45208910e-01 9.89334189e-01 -1.14993327e-02 8.41422474e-01] [ 6.51627035e-02 2.03436173e-03 9.97872579e-01 5.49685811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.536875 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:8.30, Y:0.85, Z:0.55 [[ 9.87302062e-01 -1.44542821e-01 -6.58939445e-02 8.30052903e+00] [ 1.44074636e-01 9.89496136e-01 -1.18277643e-02 8.47225122e-01] [ 6.69114219e-02 2.18393003e-03 9.97756529e-01 5.49994286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.566875 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:8.33, Y:0.85, Z:0.55 [[ 9.87435619e-01 -1.42305245e-01 -6.87030979e-02 8.32777271e+00] [ 1.41789819e-01 9.89819789e-01 -1.23463203e-02 8.52437538e-01] [ 6.97606321e-02 2.44979658e-03 9.97560751e-01 5.50242006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.596875 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:8.36, Y:0.86, Z:0.55 [[ 9.87529970e-01 -1.40916199e-01 -7.01938983e-02 8.35546490e+00] [ 1.40373152e-01 9.90018050e-01 -1.26348017e-02 8.57727117e-01] [ 7.12736745e-02 2.62390655e-03 9.97453346e-01 5.52488779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.626875 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:8.38, Y:0.86, Z:0.55 [[ 9.87552126e-01 -1.39909993e-01 -7.18748427e-02 8.38297096e+00] [ 1.39336357e-01 9.90160316e-01 -1.29587428e-02 8.64749142e-01] [ 7.29806746e-02 2.78265528e-03 9.97329473e-01 5.54081745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.656875000000001 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:8.41, Y:0.87, Z:0.56 [[ 9.87842109e-01 -1.37387327e-01 -7.27508791e-02 8.40943745e+00] [ 1.36791228e-01 9.90512779e-01 -1.31375412e-02 8.72008826e-01] [ 7.38656071e-02 3.02613432e-03 9.97263613e-01 5.55920937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.686875 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:8.44, Y:0.88, Z:0.56 [[ 9.87907816e-01 -1.36518215e-01 -7.34909751e-02 8.43616740e+00] [ 1.35906729e-01 9.90632606e-01 -1.32815687e-02 8.78933262e-01] [ 7.46157323e-02 3.13304745e-03 9.97207439e-01 5.58332417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.716875 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:8.46, Y:0.89, Z:0.56 [[ 9.87948390e-01 -1.36380090e-01 -7.32014281e-02 8.46224525e+00] [ 1.35771516e-01 9.90651573e-01 -1.32497429e-02 8.85051490e-01] [ 7.43241110e-02 3.15139332e-03 9.97229159e-01 5.59751761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.746875000000001 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:8.49, Y:0.89, Z:0.56 [[ 9.87997741e-01 -1.36494367e-01 -7.23170232e-02 8.48938380e+00] [ 1.35899677e-01 9.90635937e-01 -1.31041207e-02 8.91659713e-01] [ 7.34284807e-02 3.11898153e-03 9.97295608e-01 5.60751625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.776875 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:8.52, Y:0.90, Z:0.56 [[ 9.88274494e-01 -1.35542231e-01 -7.02981426e-02 8.51648724e+00] [ 1.34976528e-01 9.90766658e-01 -1.27579886e-02 8.98673344e-01] [ 7.13783020e-02 3.11979547e-03 9.97444437e-01 5.63298323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.806875 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:8.54, Y:0.90, Z:0.57 [[ 9.88439785e-01 -1.34776683e-01 -6.94408965e-02 8.54429985e+00] [ 1.34221418e-01 9.90870973e-01 -1.26224429e-02 9.04696444e-01] [ 7.05081797e-02 3.15606912e-03 9.97506208e-01 5.66313865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.836875000000001 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:8.57, Y:0.91, Z:0.57 [[ 9.88847866e-01 -1.33092499e-01 -6.68302661e-02 8.57022541e+00] [ 1.32573150e-01 9.91098547e-01 -1.21667270e-02 9.12183785e-01] [ 6.78546798e-02 3.17114307e-03 9.97690175e-01 5.69733575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.866875 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:8.60, Y:0.92, Z:0.57 [[ 9.89098807e-01 -1.32132143e-01 -6.49972783e-02 8.59724582e+00] [ 1.31638374e-01 9.91227088e-01 -1.18405045e-02 9.19742430e-01] [ 6.59915742e-02 3.15529281e-03 9.97815191e-01 5.70656567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.896875 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:8.62, Y:0.92, Z:0.57 [[ 9.88739895e-01 -1.34299686e-01 -6.60076822e-02 8.62405056e+00] [ 1.33793872e-01 9.90935983e-01 -1.20448410e-02 9.24661005e-01] [ 6.70270058e-02 3.07779144e-03 9.97746415e-01 5.71028230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.926875 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:8.65, Y:0.93, Z:0.57 [[ 9.87793256e-01 -1.40623715e-01 -6.70033933e-02 8.65112421e+00] [ 1.40116392e-01 9.90059439e-01 -1.22353430e-02 9.28064290e-01] [ 6.80579214e-02 2.69771560e-03 9.97677724e-01 5.73409104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.956875 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:8.68, Y:0.93, Z:0.57 [[ 9.86516509e-01 -1.50771036e-01 -6.36653079e-02 8.67960127e+00] [ 1.50333668e-01 9.88566875e-01 -1.16328103e-02 9.31086791e-01] [ 6.46913053e-02 1.90492016e-03 9.97903506e-01 5.74579066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.986875 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:8.71, Y:0.93, Z:0.58 [[ 9.85074796e-01 -1.61079582e-01 -6.06713696e-02 8.70785228e+00] [ 1.60700894e-01 9.86940707e-01 -1.11023696e-02 9.32745480e-01] [ 6.16674094e-02 1.18672111e-03 9.98096049e-01 5.77578429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.016875 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:8.73, Y:0.94, Z:0.58 [[ 9.84237675e-01 -1.66053667e-01 -6.08471693e-02 8.73451924e+00] [ 1.65681108e-01 9.86116310e-01 -1.11532084e-02 9.35664945e-01] [ 6.18544172e-02 8.96181475e-04 9.98084780e-01 5.80012271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.046875 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:8.76, Y:0.94, Z:0.58 [[ 9.84389914e-01 -1.64864048e-01 -6.16144641e-02 8.76086278e+00] [ 1.64479212e-01 9.86315803e-01 -1.13015385e-02 9.41375846e-01] [ 6.26345370e-02 9.90821966e-04 9.98036038e-01 5.81031070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.076875000000001 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:8.79, Y:0.95, Z:0.58 [[ 9.85295854e-01 -1.58269355e-01 -6.43652986e-02 8.78806124e+00] [ 1.57834776e-01 9.87394864e-01 -1.18137804e-02 9.49722019e-01] [ 6.54237247e-02 1.48098639e-03 9.97856474e-01 5.81332685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.106875 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:8.81, Y:0.96, Z:0.58 [[ 9.86417725e-01 -1.49577412e-01 -6.78724512e-02 8.81442032e+00] [ 1.49072174e-01 9.88747592e-01 -1.24773944e-02 9.58457871e-01] [ 6.89750591e-02 2.19002914e-03 9.97615981e-01 5.81496870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.136875 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:8.84, Y:0.97, Z:0.58 [[ 9.87323507e-01 -1.41799161e-01 -7.13112287e-02 8.84076129e+00] [ 1.41220378e-01 9.89891252e-01 -1.31192434e-02 9.68399296e-01] [ 7.24506591e-02 2.88233874e-03 9.97367833e-01 5.81760353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.166875000000001 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:8.87, Y:0.98, Z:0.58 [[ 9.87930791e-01 -1.35794299e-01 -7.45161778e-02 8.86655336e+00] [ 1.35143528e-01 9.90730890e-01 -1.37306371e-02 9.79241997e-01] [ 7.56900214e-02 3.49454001e-03 9.97125272e-01 5.80211587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.196875 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:8.89, Y:0.99, Z:0.58 [[ 9.88386334e-01 -1.32150928e-01 -7.50239061e-02 8.89198061e+00] [ 1.31480044e-01 9.91222288e-01 -1.38338169e-02 9.88606457e-01] [ 7.61935195e-02 3.80900913e-03 9.97085773e-01 5.80624588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.226875 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:8.92, Y:1.00, Z:0.58 [[ 9.88505913e-01 -1.31040505e-01 -7.53952698e-02 8.91919147e+00] [ 1.30358932e-01 9.91369248e-01 -1.39127088e-02 9.95182723e-01] [ 7.65676803e-02 3.92434813e-03 9.97056663e-01 5.84976699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.256875 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:8.95, Y:1.00, Z:0.59 [[ 9.88117747e-01 -1.34819620e-01 -7.38037090e-02 8.94600989e+00] [ 1.34175551e-01 9.90863711e-01 -1.36392288e-02 1.00102585e+00] [ 7.49682526e-02 3.57451070e-03 9.97179514e-01 5.88715410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.286875 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:8.97, Y:1.01, Z:0.59 [[ 9.87427755e-01 -1.41850687e-01 -6.97482065e-02 8.97348123e+00] [ 1.41291730e-01 9.89883844e-01 -1.29082519e-02 1.00599621e+00] [ 7.08736671e-02 2.89112145e-03 9.97481110e-01 5.91771217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.316875 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:9.00, Y:1.01, Z:0.60 [[ 9.86800038e-01 -1.47130772e-01 -6.76625450e-02 9.00128525e+00] [ 1.46615836e-01 9.89114000e-01 -1.25415692e-02 1.00918380e+00] [ 6.87712214e-02 2.45562034e-03 9.97629435e-01 5.95261321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.346875 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:9.03, Y:1.01, Z:0.60 [[ 9.86703601e-01 -1.48281595e-01 -6.65475220e-02 9.02750050e+00] [ 1.47784800e-01 9.88942375e-01 -1.23544577e-02 1.01376655e+00] [ 6.76436032e-02 2.35547570e-03 9.97706768e-01 5.97244211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.376875 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:9.05, Y:1.02, Z:0.60 [[ 9.87087456e-01 -1.45147229e-01 -6.77542350e-02 9.05360685e+00] [ 1.44624247e-01 9.89406583e-01 -1.25873153e-02 1.01891544e+00] [ 6.88635001e-02 2.62587586e-03 9.97622636e-01 5.98402126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.406875 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:9.08, Y:1.03, Z:0.60 [[ 9.87663210e-01 -1.40524933e-01 -6.90950611e-02 9.08080294e+00] [ 1.39969083e-01 9.90072547e-01 -1.28455447e-02 1.02524406e+00] [ 7.02142424e-02 3.01589949e-03 9.97527375e-01 5.99184963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.436875 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:9.11, Y:1.03, Z:0.60 [[ 9.88179997e-01 -1.36363291e-01 -7.00381835e-02 9.10749310e+00] [ 1.35780286e-01 9.90653143e-01 -1.30408952e-02 1.03210403e+00] [ 7.11618460e-02 3.37694720e-03 9.97459066e-01 5.98053604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.466875 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:9.14, Y:1.04, Z:0.60 [[ 9.88278799e-01 -1.34461735e-01 -7.22845538e-02 9.13557863e+00] [ 1.33834847e-01 9.90912111e-01 -1.34692673e-02 1.03624344e+00] [ 7.34387409e-02 3.63719906e-03 9.97293097e-01 5.99757568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.496875000000001 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:9.16, Y:1.04, Z:0.60 [[ 9.87988529e-01 -1.36015866e-01 -7.33372384e-02 9.16337466e+00] [ 1.35373180e-01 9.90700136e-01 -1.36872838e-02 1.03868562e+00] [ 7.45168998e-02 3.59498415e-03 9.97213271e-01 6.03444074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.526875 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:9.19, Y:1.04, Z:0.61 [[ 9.87656579e-01 -1.38966504e-01 -7.22688962e-02 9.19019935e+00] [ 1.38348822e-01 9.90291439e-01 -1.35080938e-02 1.04152747e+00] [ 7.34444418e-02 3.34304108e-03 9.97293707e-01 6.05588702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.556875 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:9.22, Y:1.04, Z:0.61 [[ 9.87116430e-01 -1.42961571e-01 -7.18550069e-02 9.21797529e+00] [ 1.42360782e-01 9.89723577e-01 -1.34405379e-02 1.04359157e+00] [ 7.30380748e-02 3.03804076e-03 9.97324526e-01 6.07658453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.586875000000001 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:9.25, Y:1.05, Z:0.61 [[ 9.86721486e-01 -1.46077559e-01 -7.10074349e-02 9.24646644e+00] [ 1.45497453e-01 9.89269194e-01 -1.33023480e-02 1.04553376e+00] [ 7.21886424e-02 2.79431163e-03 9.97387082e-01 6.09963649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.616875 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:9.27, Y:1.05, Z:0.61 [[ 9.86759609e-01 -1.47180341e-01 -6.81426481e-02 9.27430317e+00] [ 1.46647471e-01 9.89106197e-01 -1.27847509e-02 1.04770141e+00] [ 6.92819795e-02 2.62252884e-03 9.97593670e-01 6.14285142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.646875 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:9.30, Y:1.05, Z:0.62 [[ 9.87007789e-01 -1.46839163e-01 -6.52218127e-02 9.30152694e+00] [ 1.46349075e-01 9.89157092e-01 -1.22554521e-02 1.05110244e+00] [ 6.63141989e-02 2.55107478e-03 9.97795530e-01 6.17408347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.676875 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:9.33, Y:1.06, Z:0.62 [[ 9.87284515e-01 -1.44880272e-01 -6.54140178e-02 9.32940368e+00] [ 1.44382133e-01 9.89445500e-01 -1.23045332e-02 1.05559198e+00] [ 6.65062897e-02 2.70345967e-03 9.97782343e-01 6.17703964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.706875 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:9.36, Y:1.06, Z:0.62 [[ 9.87602107e-01 -1.41765124e-01 -6.74146032e-02 9.35657932e+00] [ 1.41227331e-01 9.89895706e-01 -1.27016605e-02 1.05974158e+00] [ 6.85340787e-02 3.02340221e-03 9.97644195e-01 6.17643754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.736875 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:9.38, Y:1.06, Z:0.62 [[ 9.87847097e-01 -1.38887926e-01 -6.97728883e-02 9.38489527e+00] [ 1.38303940e-01 9.90302453e-01 -1.31556586e-02 1.06329408e+00] [ 7.09234246e-02 3.34591381e-03 9.97476151e-01 6.19498014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.766875 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:9.41, Y:1.07, Z:0.62 [[ 9.87783956e-01 -1.38934499e-01 -7.05695473e-02 9.41240342e+00] [ 1.38335728e-01 9.90295732e-01 -1.33262730e-02 1.06823680e+00] [ 7.17362006e-02 3.40118900e-03 9.97417841e-01 6.21230790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.796875 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:9.44, Y:1.07, Z:0.62 [[ 9.87677050e-01 -1.39436383e-01 -7.10741917e-02 9.43942115e+00] [ 1.38828811e-01 9.90225162e-01 -1.34420761e-02 1.07037773e+00] [ 7.22537675e-02 3.40928458e-03 9.97380454e-01 6.22461087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.826875000000001 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:9.47, Y:1.07, Z:0.63 [[ 9.87382291e-01 -1.41358455e-01 -7.13722579e-02 9.46693798e+00] [ 1.40750085e-01 9.89953005e-01 -1.35078574e-02 1.07151679e+00] [ 7.25646310e-02 3.29176780e-03 9.97358280e-01 6.25279727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.856875 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:9.49, Y:1.08, Z:0.63 [[ 9.87035261e-01 -1.43724424e-01 -7.14470713e-02 9.49487010e+00] [ 1.43119908e-01 9.89612783e-01 -1.35363422e-02 1.07508929e+00] [ 7.26504380e-02 3.13534882e-03 9.97352537e-01 6.25852079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.886875 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:9.52, Y:1.07, Z:0.63 [[ 9.86157173e-01 -1.50700317e-01 -6.91624455e-02 9.52403354e+00] [ 1.50149649e-01 9.88576188e-01 -1.31226022e-02 1.07391063e+00] [ 7.03499270e-02 2.55623139e-03 9.97519099e-01 6.27867662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.916875000000001 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:9.55, Y:1.07, Z:0.63 [[ 9.86184769e-01 -1.51723490e-01 -6.64799559e-02 9.55213320e+00] [ 1.51215842e-01 9.88420052e-01 -1.26320725e-02 1.07406208e+00] [ 6.76267036e-02 2.40473497e-03 9.97707796e-01 6.32854437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.946875 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:9.58, Y:1.08, Z:0.64 [[ 9.86461556e-01 -1.49441451e-01 -6.75340687e-02 9.57906799e+00] [ 1.48910801e-01 9.88767099e-01 -1.28529134e-02 1.07591462e+00] [ 6.86962232e-02 2.62235266e-03 9.97634178e-01 6.35184233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.976875 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:9.61, Y:1.08, Z:0.64 [[ 9.86648020e-01 -1.47658285e-01 -6.87220175e-02 9.60584619e+00] [ 1.47103819e-01 9.89034462e-01 -1.30881083e-02 1.08047942e+00] [ 6.99010113e-02 2.80408494e-03 9.97549992e-01 6.35586331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.006875 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:9.63, Y:1.08, Z:0.64 [[ 9.86474431e-01 -1.48068042e-01 -7.03139462e-02 9.63383496e+00] [ 1.47487890e-01 9.88973072e-01 -1.34009489e-02 1.08476377e+00] [ 7.15228516e-02 2.84923783e-03 9.97434892e-01 6.36173490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.036875 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:9.66, Y:1.09, Z:0.64 [[ 9.86287938e-01 -1.48473499e-01 -7.20536171e-02 9.66018982e+00] [ 1.47863766e-01 9.88912103e-01 -1.37535260e-02 1.08873813e+00] [ 7.32967281e-02 2.91081760e-03 9.97305929e-01 6.36308765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.066875 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:9.69, Y:1.09, Z:0.64 [[ 9.85924355e-01 -1.48713993e-01 -7.64023152e-02 9.68812830e+00] [ 1.48028095e-01 9.88875453e-01 -1.45952840e-02 1.09333280e+00] [ 7.77228970e-02 3.08015686e-03 9.96970242e-01 6.35771010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.096875 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:9.72, Y:1.10, Z:0.64 [[ 9.85320998e-01 -1.51214049e-01 -7.92265208e-02 9.71585454e+00] [ 1.50482535e-01 9.88496449e-01 -1.51584254e-02 1.09811011e+00] [ 8.06073014e-02 3.01370716e-03 9.96741381e-01 6.36648065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.126875 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:9.74, Y:1.10, Z:0.64 [[ 9.84539621e-01 -1.56858834e-01 -7.79553826e-02 9.74372113e+00] [ 1.56166519e-01 9.87617787e-01 -1.49373745e-02 1.10283354e+00] [ 7.93331816e-02 2.53241632e-03 9.96844939e-01 6.40598978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.156875 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:9.77, Y:1.11, Z:0.65 [[ 9.84279723e-01 -1.60530356e-01 -7.36439500e-02 9.77087711e+00] [ 1.59921372e-01 9.87028601e-01 -1.41313645e-02 1.10823905e+00] [ 7.49571979e-02 2.13197401e-03 9.97184473e-01 6.45164750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.186875 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:9.80, Y:1.12, Z:0.65 [[ 9.84354434e-01 -1.61242305e-01 -7.10441163e-02 9.79766615e+00] [ 1.60676052e-01 9.86912775e-01 -1.36521702e-02 1.11503835e+00] [ 7.23156534e-02 2.02348612e-03 9.97379743e-01 6.47054778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.216875 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:9.82, Y:1.12, Z:0.65 [[ 9.84718843e-01 -1.59457281e-01 -7.00155330e-02 9.82482328e+00] [ 1.58901399e-01 9.87202503e-01 -1.34745210e-02 1.12281373e+00] [ 7.12681199e-02 2.14304861e-03 9.97454892e-01 6.48692906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.246875000000001 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:9.85, Y:1.13, Z:0.65 [[ 9.85078267e-01 -1.58069883e-01 -6.80787843e-02 9.85072964e+00] [ 1.57539724e-01 9.87425476e-01 -1.31211371e-02 1.13064010e+00] [ 6.92967826e-02 2.20023411e-03 9.97593662e-01 6.51792844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.276875 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:9.88, Y:1.14, Z:0.66 [[ 9.85576987e-01 -1.55663568e-01 -6.63841628e-02 9.87769521e+00] [ 1.55153519e-01 9.87807410e-01 -1.28025662e-02 1.13855570e+00] [ 6.75676611e-02 2.31817816e-03 9.97712001e-01 6.56207721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.306875 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:9.90, Y:1.15, Z:0.66 [[ 9.86053337e-01 -1.52310058e-01 -6.70854897e-02 9.90309011e+00] [ 1.51780054e-01 9.88329355e-01 -1.29576821e-02 1.14726333e+00] [ 6.82761441e-02 2.59472643e-03 9.97663087e-01 6.57399693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.336875000000001 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:9.93, Y:1.16, Z:0.66 [[ 9.86455427e-01 -1.48274989e-01 -7.01442678e-02 9.93020658e+00] [ 1.47684594e-01 9.88941573e-01 -1.35582166e-02 1.15620907e+00] [ 7.13789269e-02 3.01534860e-03 9.97444713e-01 6.56406435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.366875 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:9.96, Y:1.16, Z:0.66 [[ 9.86416297e-01 -1.48536883e-01 -7.01404601e-02 9.95822490e+00] [ 1.47945753e-01 9.88902268e-01 -1.35778870e-02 1.16174354e+00] [ 7.13788770e-02 3.01646590e-03 9.97444714e-01 6.58365929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.396875 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:9.98, Y:1.17, Z:0.66 [[ 9.86451985e-01 -1.46886535e-01 -7.30535935e-02 9.98423517e+00] [ 1.46239183e-01 9.89147888e-01 -1.41618416e-02 1.16838932e+00] [ 7.43409915e-02 3.28667898e-03 9.97227464e-01 6.57719849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.426875 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:10.01, Y:1.17, Z:0.66 [[ 9.86374282e-01 -1.47996220e-01 -7.18532884e-02 1.00118394e+01] [ 1.47372226e-01 9.88982879e-01 -1.39388848e-02 1.17385213e+00] [ 7.31245743e-02 3.15977842e-03 9.97317809e-01 6.59827652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.456875 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:10.04, Y:1.18, Z:0.66 [[ 9.86576971e-01 -1.47231884e-01 -7.06303898e-02 1.00379339e+01] [ 1.46625565e-01 9.89096886e-01 -1.37220341e-02 1.17804248e+00] [ 7.18806195e-02 3.18162204e-03 9.97408168e-01 6.63662931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.486875 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:10.07, Y:1.18, Z:0.66 [[ 9.86772193e-01 -1.44825418e-01 -7.28439248e-02 1.00655735e+01] [ 1.44173103e-01 9.89451128e-01 -1.41626732e-02 1.18323043e+00] [ 7.41266186e-02 3.47319746e-03 9.97242790e-01 6.64882280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.516875 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:10.09, Y:1.19, Z:0.66 [[ 9.86579369e-01 -1.45393654e-01 -7.43090428e-02 1.00936966e+01] [ 1.44714703e-01 9.89367617e-01 -1.44697529e-02 1.18895188e+00] [ 7.56227709e-02 3.52194862e-03 9.97130279e-01 6.64959168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.546875 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:10.12, Y:1.19, Z:0.67 [[ 9.86379745e-01 -1.47368278e-01 -7.30588007e-02 1.01203805e+01] [ 1.46715856e-01 9.89076070e-01 -1.42472706e-02 1.19417075e+00] [ 7.43603072e-02 3.33433464e-03 9.97225866e-01 6.68244610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.576875 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:10.15, Y:1.20, Z:0.67 [[ 9.86427146e-01 -1.47368226e-01 -7.24160985e-02 1.01479518e+01] [ 1.46726143e-01 9.89076127e-01 -1.41369706e-02 1.20000555e+00] [ 7.37083745e-02 3.31975673e-03 9.97274313e-01 6.70224149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.606875 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:10.17, Y:1.21, Z:0.67 [[ 9.86478192e-01 -1.46533946e-01 -7.34069450e-02 1.01738694e+01] [ 1.45870254e-01 9.89199628e-01 -1.43515053e-02 1.20663212e+00] [ 7.47171054e-02 3.44955729e-03 9.97198804e-01 6.70954233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.636875 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:10.20, Y:1.21, Z:0.67 [[ 9.86514539e-01 -1.46558289e-01 -7.28679052e-02 1.02013592e+01] [ 1.45903633e-01 9.89196081e-01 -1.42563452e-02 1.21383874e+00] [ 7.41700318e-02 3.43239971e-03 9.97239703e-01 6.71495434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.666875000000001 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:10.23, Y:1.22, Z:0.67 [[ 9.86576033e-01 -1.46611457e-01 -7.19222557e-02 1.02274969e+01] [ 1.45972358e-01 9.89188301e-01 -1.40917187e-02 1.21913535e+00] [ 7.32106613e-02 3.40389072e-03 9.97310690e-01 6.74802536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.696875 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:10.26, Y:1.23, Z:0.68 [[ 9.86342646e-01 -1.48063459e-01 -7.21484375e-02 1.02554705e+01] [ 1.47423456e-01 9.88972301e-01 -1.41460832e-02 1.22514139e+00] [ 7.34473243e-02 3.31651315e-03 9.97293583e-01 6.75933452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.726875 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:10.28, Y:1.23, Z:0.68 [[ 9.85908537e-01 -1.51091832e-01 -7.18026112e-02 1.02834396e+01] [ 1.50464428e-01 9.88514880e-01 -1.40992104e-02 1.23098665e+00] [ 7.31082251e-02 3.09679308e-03 9.97319205e-01 6.77162071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.756875 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:10.31, Y:1.24, Z:0.68 [[ 9.85146186e-01 -1.56252569e-01 -7.12188712e-02 1.03104449e+01] [ 1.55647316e-01 9.87713411e-01 -1.40046863e-02 1.23567126e+00] [ 7.25321023e-02 2.71163713e-03 9.97362392e-01 6.78933224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.786875 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:10.34, Y:1.24, Z:0.68 [[ 9.84271955e-01 -1.62135480e-01 -7.01484428e-02 1.03384907e+01] [ 1.61562549e-01 9.86765935e-01 -1.38033386e-02 1.23851888e+00] [ 7.14581047e-02 2.25287791e-03 9.97441058e-01 6.83479051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.816875 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:10.37, Y:1.24, Z:0.69 [[ 9.83336557e-01 -1.67502628e-01 -7.06546895e-02 1.03668129e+01] [ 1.66933719e-01 9.85869805e-01 -1.39234147e-02 1.24223655e+00] [ 7.19885335e-02 1.89675255e-03 9.97403656e-01 6.85625030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.846875 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:10.39, Y:1.25, Z:0.69 [[ 9.82697408e-01 -1.71459064e-01 -7.00542190e-02 1.03948668e+01] [ 1.70908402e-01 9.85189925e-01 -1.38249827e-02 1.24697575e+00] [ 7.13871293e-02 1.61292004e-03 9.97447380e-01 6.87088027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.876875 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:10.42, Y:1.25, Z:0.69 [[ 9.82597262e-01 -1.73044551e-01 -6.75144784e-02 1.04221971e+01] [ 1.72535609e-01 9.84912914e-01 -1.33422584e-02 1.25079609e+00] [ 6.88046867e-02 1.46141485e-03 9.97629079e-01 6.89884229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.906875 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:10.45, Y:1.26, Z:0.69 [[ 9.82790119e-01 -1.72128544e-01 -6.70473461e-02 1.04495405e+01] [ 1.71623205e-01 9.85073303e-01 -1.32688837e-02 1.25550073e+00] [ 6.83305044e-02 1.53364738e-03 9.97661561e-01 6.92733314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.936875 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:10.48, Y:1.26, Z:0.69 [[ 9.83306256e-01 -1.69093880e-01 -6.72016902e-02 1.04759054e+01] [ 1.68577793e-01 9.85598364e-01 -1.33189007e-02 1.26257838e+00] [ 6.84860205e-02 1.76784570e-03 9.97650510e-01 6.92592097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.966875 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:10.50, Y:1.27, Z:0.69 [[ 9.84046521e-01 -1.64508398e-01 -6.77453503e-02 1.05028465e+01] [ 1.63972131e-01 9.86373410e-01 -1.34401015e-02 1.27019101e+00] [ 6.90332217e-02 2.11733570e-03 9.97612115e-01 6.93495754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.996875000000001 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:10.53, Y:1.28, Z:0.70 [[ 9.84787392e-01 -1.58916245e-01 -7.02810043e-02 1.05304432e+01] [ 1.58323278e-01 9.87288579e-01 -1.39643135e-02 1.27706028e+00] [ 7.16067891e-02 2.62476091e-03 9.97429485e-01 6.95566078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.026875 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:10.56, Y:1.28, Z:0.70 [[ 9.85125112e-01 -1.54571555e-01 -7.50742839e-02 1.05574982e+01] [ 1.53880415e-01 9.87976526e-01 -1.49399562e-02 1.28358647e+00] [ 7.64809224e-02 3.16526401e-03 9.97066021e-01 6.96217441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.056875 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:10.58, Y:1.29, Z:0.70 [[ 9.85271410e-01 -1.52302641e-01 -7.77441538e-02 1.05846224e+01] [ 1.51552461e-01 9.88327763e-01 -1.54946835e-02 1.29000869e+00] [ 7.91965867e-02 3.48415083e-03 9.96852929e-01 6.96074601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.086875000000001 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:10.61, Y:1.30, Z:0.70 [[ 9.84269336e-01 -1.58886030e-01 -7.72599693e-02 1.06111338e+01] [ 1.58163744e-01 9.87292504e-01 -1.54188928e-02 1.29501524e+00] [ 7.87280352e-02 2.95661734e-03 9.96891747e-01 6.97144003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.116875 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:10.64, Y:1.30, Z:0.70 [[ 9.83165754e-01 -1.66880282e-01 -7.44047769e-02 1.06394478e+01] [ 1.66232519e-01 9.85974620e-01 -1.48592961e-02 1.29817039e+00] [ 7.58409451e-02 2.24065764e-03 9.97117411e-01 7.01113951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.146875 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:10.67, Y:1.30, Z:0.71 [[ 9.82382927e-01 -1.72654262e-01 -7.15142680e-02 1.06676572e+01] [ 1.72069736e-01 9.84980945e-01 -1.43018652e-02 1.30198173e+00] [ 7.29094693e-02 1.74446702e-03 9.97337037e-01 7.05130205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.176875 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:10.69, Y:1.31, Z:0.71 [[ 9.82179894e-01 -1.74577881e-01 -6.96076039e-02 1.06946622e+01] [ 1.74027627e-01 9.84642105e-01 -1.39395081e-02 1.30565407e+00] [ 7.09721075e-02 1.57745849e-03 9.97477053e-01 7.10581180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.206875 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:10.72, Y:1.31, Z:0.71 [[ 9.82571270e-01 -1.73342469e-01 -6.71274012e-02 1.07224442e+01] [ 1.72827364e-01 9.84860285e-01 -1.34507049e-02 1.31140362e+00] [ 6.84426899e-02 1.61482437e-03 9.97653743e-01 7.14380116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.236875 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:10.75, Y:1.32, Z:0.71 [[ 9.82478855e-01 -1.73816185e-01 -6.72549819e-02 1.07482457e+01] [ 1.73298912e-01 9.84776808e-01 -1.34953808e-02 1.31947101e+00] [ 6.85768620e-02 1.60371113e-03 9.97644547e-01 7.12413189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.266875 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:10.78, Y:1.33, Z:0.71 [[ 9.82890209e-01 -1.71413747e-01 -6.74104249e-02 1.07753959e+01] [ 1.70887864e-01 9.85197516e-01 -1.35348392e-02 1.32689329e+00] [ 6.87326407e-02 1.78363743e-03 9.97633521e-01 7.13472378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.296875 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:10.80, Y:1.33, Z:0.71 [[ 9.82917133e-01 -1.70438534e-01 -6.94594524e-02 1.08017826e+01] [ 1.69876258e-01 9.85366422e-01 -1.39667770e-02 1.33329861e+00] [ 7.08234891e-02 1.92867261e-03 9.97486999e-01 7.14507902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.326875 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:10.83, Y:1.34, Z:0.72 [[ 9.82921515e-01 -1.68427490e-01 -7.41449617e-02 1.08285952e+01] [ 1.67780112e-01 9.85711535e-01 -1.49199399e-02 1.34031468e+00] [ 7.55984720e-02 2.22507998e-03 9.97135858e-01 7.17926554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.356875 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:10.86, Y:1.35, Z:0.72 [[ 9.83074354e-01 -1.67698946e-01 -7.37690909e-02 1.08553352e+01] [ 1.67054487e-01 9.85835594e-01 -1.48654120e-02 1.34844376e+00] [ 7.52171094e-02 2.29034762e-03 9.97164550e-01 7.17737699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.386875 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:10.88, Y:1.35, Z:0.72 [[ 9.83060165e-01 -1.67911408e-01 -7.34742826e-02 1.08821491e+01] [ 1.67271165e-01 9.85799441e-01 -1.48263058e-02 1.35462475e+00] [ 7.49204126e-02 2.28502173e-03 9.97186898e-01 7.18681642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.416875000000001 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:10.91, Y:1.36, Z:0.72 [[ 9.82662737e-01 -1.70503367e-01 -7.28185915e-02 1.09099176e+01] [ 1.69880874e-01 9.85354901e-01 -1.47039920e-02 1.35817552e+00] [ 7.42592361e-02 2.07857910e-03 9.97236805e-01 7.21991581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.446875 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:10.94, Y:1.36, Z:0.73 [[ 9.82382342e-01 -1.72901666e-01 -7.09221223e-02 1.09367377e+01] [ 1.72316037e-01 9.84937322e-01 -1.43406886e-02 1.36172633e+00] [ 7.23333741e-02 1.86702025e-03 9.97378763e-01 7.25752610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.476875 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:10.96, Y:1.37, Z:0.73 [[ 9.82308459e-01 -1.74070532e-01 -6.90618643e-02 1.09642522e+01] [ 1.73517209e-01 9.84731637e-01 -1.39778734e-02 1.36724461e+00] [ 7.04405386e-02 1.74716134e-03 9.97514450e-01 7.27300798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.506875 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:10.99, Y:1.37, Z:0.73 [[ 9.82401232e-01 -1.74139136e-01 -6.75528040e-02 1.09919148e+01] [ 1.73608619e-01 9.84719551e-01 -1.36913661e-02 1.37243044e+00] [ 6.89047694e-02 1.72266589e-03 9.97621755e-01 7.28574528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.536875 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:11.02, Y:1.38, Z:0.73 [[ 9.82855872e-01 -1.71104353e-01 -6.86850428e-02 1.10183590e+01] [ 1.70547012e-01 9.85250905e-01 -1.39416983e-02 1.37602187e+00] [ 7.00574859e-02 1.98865118e-03 9.97540974e-01 7.30249330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.566875 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:11.05, Y:1.38, Z:0.73 [[ 9.83533360e-01 -1.66469039e-01 -7.03575826e-02 1.10457015e+01] [ 1.65871633e-01 9.86043797e-01 -1.42909836e-02 1.38048273e+00] [ 7.17546642e-02 2.38533204e-03 9.97419460e-01 7.32962910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.596875 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:11.07, Y:1.39, Z:0.73 [[ 9.84189947e-01 -1.62721361e-01 -6.99421670e-02 1.10728259e+01] [ 1.62120202e-01 9.86668473e-01 -1.42255237e-02 1.38770980e+00] [ 7.13245276e-02 2.66157916e-03 9.97449612e-01 7.32821331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.626875 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:11.10, Y:1.39, Z:0.73 [[ 9.84669033e-01 -1.60174219e-01 -6.90732640e-02 1.10996720e+01] [ 1.59580283e-01 9.87084703e-01 -1.40685226e-02 1.39378194e+00] [ 7.04345769e-02 2.83010758e-03 9.97512386e-01 7.34468636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.656875 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:11.13, Y:1.40, Z:0.74 [[ 9.84881462e-01 -1.58415576e-01 -7.00928795e-02 1.11275204e+01] [ 1.57798477e-01 9.87367926e-01 -1.42905253e-02 1.39959655e+00] [ 7.14713028e-02 3.01392385e-03 9.97438103e-01 7.37323581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.686875 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:11.15, Y:1.41, Z:0.74 [[ 9.84746845e-01 -1.58189653e-01 -7.24547119e-02 1.11542931e+01] [ 1.57528043e-01 9.87403711e-01 -1.47927863e-02 1.40527065e+00] [ 7.38821172e-02 3.15350072e-03 9.97261996e-01 7.38244562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.716875 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:11.18, Y:1.41, Z:0.74 [[ 9.84697729e-01 -1.58035360e-01 -7.34520818e-02 1.11815456e+01] [ 1.57354172e-01 9.87428206e-01 -1.50067462e-02 1.41048829e+00] [ 7.49002539e-02 3.21911741e-03 9.97185835e-01 7.40015208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.746875000000001 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:11.21, Y:1.42, Z:0.74 [[ 9.84672191e-01 -1.57431951e-01 -7.50723477e-02 1.12095460e+01] [ 1.56716819e-01 9.87524122e-01 -1.53605923e-02 1.41613641e+00] [ 7.65540023e-02 3.36004854e-03 9.97059775e-01 7.41076615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.776875 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:11.24, Y:1.42, Z:0.74 [[ 9.84575833e-01 -1.57220133e-01 -7.67610495e-02 1.12373883e+01] [ 1.56469893e-01 9.87557464e-01 -1.57298595e-02 1.42153120e+00] [ 7.82789980e-02 3.47644631e-03 9.96925430e-01 7.42235336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.806875 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:11.26, Y:1.43, Z:0.74 [[ 9.84427994e-01 -1.57623578e-01 -7.78224394e-02 1.12641349e+01] [ 1.56851857e-01 9.87493015e-01 -1.59699850e-02 1.42532938e+00] [ 7.93663615e-02 3.51470615e-03 9.96839319e-01 7.43866833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.836875000000001 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:11.29, Y:1.43, Z:0.75 [[ 9.84200363e-01 -1.59679891e-01 -7.64982158e-02 1.12914038e+01] [ 1.58939183e-01 9.87163306e-01 -1.57144495e-02 1.42960487e+00] [ 7.80255132e-02 3.30760297e-03 9.96945876e-01 7.47187346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.866875 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:11.32, Y:1.43, Z:0.75 [[ 9.84109779e-01 -1.62335452e-01 -7.19384718e-02 1.13185038e+01] [ 1.61686168e-01 9.86731275e-01 -1.47977700e-02 1.43424506e+00] [ 7.33861427e-02 2.93117439e-03 9.97299294e-01 7.50736115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.896875 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:11.35, Y:1.44, Z:0.75 [[ 9.83942265e-01 -1.64208619e-01 -6.99510445e-02 1.13460895e+01] [ 1.63598065e-01 9.86421845e-01 -1.44089009e-02 1.43803986e+00] [ 7.13673041e-02 2.73367106e-03 9.97446357e-01 7.54996986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.926875 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:11.37, Y:1.44, Z:0.76 [[ 9.83946985e-01 -1.64050606e-01 -7.02547447e-02 1.13728463e+01] [ 1.63432841e-01 9.86448014e-01 -1.44921571e-02 1.44256742e+00] [ 7.16801006e-02 2.77758175e-03 9.97423806e-01 7.57254136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.956875 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:11.40, Y:1.45, Z:0.76 [[ 9.83995600e-01 -1.62908168e-01 -7.22051837e-02 1.14002735e+01] [ 1.62251727e-01 9.86636823e-01 -1.49049042e-02 1.44872670e+00] [ 7.36684237e-02 2.95094433e-03 9.97278424e-01 7.56978127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.986875 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:11.43, Y:1.45, Z:0.76 [[ 9.83939287e-01 -1.62772188e-01 -7.32713816e-02 1.14266900e+01] [ 1.62094237e-01 9.86659039e-01 -1.51459149e-02 1.45369634e+00] [ 7.47592046e-02 3.02579204e-03 9.97197025e-01 7.56302617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.016875 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:11.45, Y:1.46, Z:0.76 [[ 9.83561531e-01 -1.64786956e-01 -7.38374786e-02 1.14540928e+01] [ 1.64103326e-01 9.86324904e-01 -1.52735512e-02 1.45817611e+00] [ 7.53446260e-02 2.90550160e-03 9.97153321e-01 7.57683454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.046875 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:11.48, Y:1.46, Z:0.76 [[ 9.82986378e-01 -1.67644879e-01 -7.50531497e-02 1.14817848e+01] [ 1.66945105e-01 9.85843606e-01 -1.55472212e-02 1.46183516e+00] [ 7.65970797e-02 2.75295073e-03 9.97058328e-01 7.60467820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.076875 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:11.51, Y:1.47, Z:0.76 [[ 9.82351835e-01 -1.71086115e-01 -7.55937417e-02 1.15099681e+01] [ 1.70384642e-01 9.85252844e-01 -1.56813932e-02 1.46576449e+00] [ 7.71618177e-02 2.52463278e-03 9.97015386e-01 7.63506748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.106875 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:11.54, Y:1.47, Z:0.77 [[ 9.81778688e-01 -1.74551598e-01 -7.51155556e-02 1.15364471e+01] [ 1.73867489e-01 9.84645438e-01 -1.56031566e-02 1.46889910e+00] [ 7.66857450e-02 2.25869364e-03 9.97052754e-01 7.66171719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.136875 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:11.56, Y:1.47, Z:0.77 [[ 9.81272133e-01 -1.77702492e-01 -7.43426233e-02 1.15639193e+01] [ 1.77040618e-01 9.84082220e-01 -1.54532888e-02 1.47237448e+00] [ 7.59053417e-02 2.00221769e-03 9.97113018e-01 7.68970824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.166875000000001 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:11.59, Y:1.48, Z:0.77 [[ 9.80824508e-01 -1.80844402e-01 -7.26538790e-02 1.15904823e+01] [ 1.80219399e-01 9.83510182e-01 -1.51224842e-02 1.47665341e+00] [ 7.41906464e-02 1.73886474e-03 9.97242560e-01 7.70939131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.196875 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:11.62, Y:1.48, Z:0.77 [[ 9.80673581e-01 -1.82074640e-01 -7.16111245e-02 1.16186679e+01] [ 1.81470037e-01 9.83283359e-01 -1.49151684e-02 1.48151490e+00] [ 7.31297009e-02 1.63163816e-03 9.97321104e-01 7.72510776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.226875 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:11.65, Y:1.49, Z:0.78 [[ 9.80950764e-01 -1.80419882e-01 -7.20018359e-02 1.16461835e+01] [ 1.79802644e-01 9.83588063e-01 -1.50176920e-02 1.48600952e+00] [ 7.35296366e-02 1.78549596e-03 9.97291434e-01 7.75913042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.256875 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:11.67, Y:1.49, Z:0.78 [[ 9.81791238e-01 -1.75335729e-01 -7.30981981e-02 1.16720119e+01] [ 1.74683891e-01 9.84506198e-01 -1.52671087e-02 1.49258865e+00] [ 7.46424987e-02 2.22003589e-03 9.97207886e-01 7.77467509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.286875 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:11.70, Y:1.50, Z:0.78 [[ 9.81745580e-01 -1.75592046e-01 -7.30961725e-02 1.16999480e+01] [ 1.74940196e-01 9.84460536e-01 -1.52768007e-02 1.49853909e+00] [ 7.46427819e-02 2.21047287e-03 9.97207887e-01 7.79432956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.316875 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:11.73, Y:1.51, Z:0.78 [[ 9.81918663e-01 -1.73975325e-01 -7.46212190e-02 1.17272731e+01] [ 1.73289688e-01 9.84747080e-01 -1.56164057e-02 1.50581089e+00] [ 7.61998968e-02 2.40295243e-03 9.97089666e-01 7.80448521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.346875 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:11.75, Y:1.51, Z:0.78 [[ 9.80521096e-01 -1.81804331e-01 -7.43341415e-02 1.17539940e+01] [ 1.81144722e-01 9.83333062e-01 -1.55781511e-02 1.51391873e+00] [ 7.59273944e-02 1.80946845e-03 9.97111707e-01 7.84322659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.376875 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:11.78, Y:1.52, Z:0.79 [[ 9.80227139e-01 -1.83204342e-01 -7.47724919e-02 1.17809468e+01] [ 1.82539302e-01 9.83073327e-01 -1.56919172e-02 1.52085751e+00] [ 7.63816697e-02 1.73272457e-03 9.97077148e-01 7.86905962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.406875 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:11.81, Y:1.53, Z:0.78 [[ 9.79631954e-01 -1.84717391e-01 -7.87446461e-02 1.18068119e+01] [ 1.83982767e-01 9.82790169e-01 -1.65476456e-02 1.53145223e+00] [ 8.04461020e-02 1.72294449e-03 9.96757471e-01 7.83882280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.436875 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:11.83, Y:1.54, Z:0.78 [[ 9.78075669e-01 -1.91651003e-01 -8.14731791e-02 1.18332811e+01] [ 1.90887382e-01 9.81462398e-01 -1.71338548e-02 1.54433471e+00] [ 8.32465822e-02 1.20600471e-03 9.96528250e-01 7.82242819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.466875 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:11.86, Y:1.55, Z:0.79 [[ 9.78230424e-01 -1.91150241e-01 -8.07887493e-02 1.18606186e+01] [ 1.90395820e-01 9.81559981e-01 -1.70128074e-02 1.55151040e+00] [ 8.25510054e-02 1.26060569e-03 9.96586044e-01 7.85313015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.496875000000001 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:11.89, Y:1.56, Z:0.79 [[ 9.78789068e-01 -1.88779837e-01 -7.95872754e-02 1.18869537e+01] [ 1.88038091e-01 9.82018350e-01 -1.67820325e-02 1.56050603e+00] [ 8.13242742e-02 1.46063067e-03 9.96686625e-01 7.90815774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.526875 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:11.91, Y:1.57, Z:0.79 [[ 9.79729917e-01 -1.84085976e-01 -7.90040694e-02 1.19134078e+01] [ 1.83338047e-01 9.82908388e-01 -1.66811744e-02 1.57069853e+00] [ 8.07245328e-02 1.85859383e-03 9.96734717e-01 7.92792792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.556875 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:11.94, Y:1.58, Z:0.79 [[ 9.81326527e-01 -1.76231009e-01 -7.70770926e-02 1.19399575e+01] [ 1.75493263e-01 9.84345749e-01 -1.62960172e-02 1.58150915e+00] [ 7.87423720e-02 2.46520344e-03 9.96891951e-01 7.94311092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.586875000000001 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:11.96, Y:1.59, Z:0.80 [[ 9.82911059e-01 -1.68020223e-01 -7.52001019e-02 1.19648259e+01] [ 1.67292482e-01 9.85778778e-01 -1.59193839e-02 1.59190821e+00] [ 7.68054430e-02 3.06692675e-03 9.97041382e-01 7.97103035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.616875 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:11.99, Y:1.60, Z:0.80 [[ 9.83895810e-01 -1.62820629e-01 -7.37460429e-02 1.19908513e+01] [ 1.62105462e-01 9.86649774e-01 -1.56218752e-02 1.60210432e+00] [ 7.53050801e-02 3.41566116e-03 9.97154691e-01 8.00763393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.646875 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:12.02, Y:1.61, Z:0.80 [[ 9.84492699e-01 -1.59887195e-01 -7.21817853e-02 1.20167740e+01] [ 1.59192709e-01 9.87128790e-01 -1.53112494e-02 1.61386670e+00] [ 7.37007910e-02 3.58299938e-03 9.97273962e-01 8.01155488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.676875 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:12.04, Y:1.62, Z:0.80 [[ 9.84751336e-01 -1.58177890e-01 -7.24193418e-02 1.20431027e+01] [ 1.57472618e-01 9.87403531e-01 -1.53831320e-02 1.62477008e+00] [ 7.39403852e-02 3.74449643e-03 9.97255633e-01 8.01815594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.706875 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:12.07, Y:1.63, Z:0.80 [[ 9.84526878e-01 -1.58228403e-01 -7.53033843e-02 1.20699087e+01] [ 1.57464055e-01 9.87394782e-01 -1.60192640e-02 1.63498681e+00] [ 7.68888712e-02 3.91381974e-03 9.97031987e-01 8.02288637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.736875 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:12.10, Y:1.64, Z:0.80 [[ 9.83791736e-01 -1.61754602e-01 -7.73903620e-02 1.20970159e+01] [ 1.60956145e-01 9.86823836e-01 -1.64874719e-02 1.64435497e+00] [ 7.90375783e-02 3.76378430e-03 9.96864532e-01 8.01894120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.766875 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:12.12, Y:1.65, Z:0.81 [[ 9.82876702e-01 -1.67981861e-01 -7.57329674e-02 1.21231223e+01] [ 1.67234071e-01 9.85784848e-01 -1.61554614e-02 1.65053427e+00] [ 7.73702363e-02 3.21369423e-03 9.96997251e-01 8.05534404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.796875 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:12.15, Y:1.66, Z:0.81 [[ 9.81812421e-01 -1.76040903e-01 -7.10912859e-02 1.21504623e+01] [ 1.75402476e-01 9.84379855e-01 -1.51747042e-02 1.65763789e+00] [ 7.26521984e-02 2.42912552e-03 9.97354379e-01 8.10228420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.826875 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:12.18, Y:1.66, Z:0.81 [[ 9.80171042e-01 -1.86241989e-01 -6.76657158e-02 1.21779853e+01] [ 1.85686556e-01 9.82502582e-01 -1.44630121e-02 1.66439089e+00] [ 6.91753606e-02 1.61161193e-03 9.97603214e-01 8.11901158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.856875 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:12.20, Y:1.67, Z:0.81 [[ 9.78359455e-01 -1.97112873e-01 -6.29229038e-02 1.22039681e+01] [ 1.96653869e-01 9.80380473e-01 -1.34679054e-02 1.66956840e+00] [ 6.43430837e-02 8.02420148e-04 9.97927514e-01 8.14855456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.886875 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:12.23, Y:1.67, Z:0.82 [[ 9.76166586e-01 -2.08712569e-01 -5.94799130e-02 1.22316827e+01] [ 2.08323555e-01 9.77977025e-01 -1.27371425e-02 1.67431523e+00] [ 6.08283901e-02 4.25060255e-05 9.98148238e-01 8.17752211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.916875000000001 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:12.26, Y:1.68, Z:0.82 [[ 9.74726090e-01 -2.15640118e-01 -5.83814097e-02 1.22588718e+01] [ 2.15276770e-01 9.76472839e-01 -1.25182751e-02 1.68113902e+00] [ 5.97073032e-02 -3.66271909e-04 9.98215860e-01 8.19614735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.946875 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:12.29, Y:1.69, Z:0.82 [[ 9.74422330e-01 -2.16447085e-01 -6.04299712e-02 1.22862213e+01] [ 2.16058164e-01 9.76294264e-01 -1.29761495e-02 1.68994562e+00] [ 6.18060840e-02 -4.12138745e-04 9.98088091e-01 8.19845544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.976875 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:12.31, Y:1.70, Z:0.82 [[ 9.74633767e-01 -2.14020814e-01 -6.54531220e-02 1.23122358e+01] [ 2.13557577e-01 9.76829066e-01 -1.40761135e-02 1.69778943e+00] [ 6.69490933e-02 -2.58954626e-04 9.97756359e-01 8.20954755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.006875 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:12.34, Y:1.71, Z:0.82 [[ 9.74943684e-01 -2.11674563e-01 -6.84009724e-02 1.23393005e+01] [ 2.11162184e-01 9.77340202e-01 -1.47194166e-02 1.70775625e+00] [ 6.99667463e-02 -9.30964440e-05 9.97549320e-01 8.21200467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.036875 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:12.37, Y:1.72, Z:0.82 [[ 9.75201919e-01 -2.09239893e-01 -7.21102273e-02 1.23657552e+01] [ 2.08662134e-01 9.77864334e-01 -1.55389271e-02 1.71814611e+00] [ 7.37653828e-02 1.06917656e-04 9.97275617e-01 8.19979524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.066875 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:12.39, Y:1.73, Z:0.82 [[ 9.75113691e-01 -2.08139321e-01 -7.63630290e-02 1.23921643e+01] [ 2.07486134e-01 9.78099163e-01 -1.64782056e-02 1.72738190e+00] [ 7.81203773e-02 2.23854213e-04 9.96943908e-01 8.19647399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.096875 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:12.42, Y:1.73, Z:0.82 [[ 9.75154795e-01 -2.07319216e-01 -7.80504252e-02 1.24194514e+01] [ 2.06632363e-01 9.78273296e-01 -1.68649061e-02 1.73494859e+00] [ 7.98510659e-02 3.18150184e-04 9.96806755e-01 8.22723565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.126875 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:12.45, Y:1.74, Z:0.83 [[ 9.75887511e-01 -2.04699329e-01 -7.57743427e-02 1.24459098e+01] [ 2.04042499e-01 9.78824752e-01 -1.63939762e-02 1.74265784e+00] [ 7.75256381e-02 5.37490374e-04 9.96990214e-01 8.27519934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.156875 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:12.47, Y:1.75, Z:0.83 [[ 9.77585839e-01 -1.97411467e-01 -7.31754114e-02 1.24724224e+01] [ 1.96777044e-01 9.80320105e-01 -1.58520266e-02 1.75322978e+00] [ 7.48646988e-02 1.09747562e-03 9.97193097e-01 8.29635173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.186875 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:12.50, Y:1.76, Z:0.83 [[ 9.79547846e-01 -1.88081848e-01 -7.14929012e-02 1.24980044e+01] [ 1.87449981e-01 9.82151728e-01 -1.55076526e-02 1.76351101e+00] [ 7.31335844e-02 1.78914475e-03 9.97320549e-01 8.30064781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.216875 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:12.52, Y:1.77, Z:0.83 [[ 9.81134235e-01 -1.80586321e-01 -6.90231342e-02 1.25247226e+01] [ 1.79978252e-01 9.83556507e-01 -1.49808632e-02 1.77182981e+00] [ 7.05934918e-02 2.27557477e-03 9.97502572e-01 8.33324076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.246875 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:12.55, Y:1.78, Z:0.84 [[ 9.81665406e-01 -1.77122377e-01 -7.04321959e-02 1.25518290e+01] [ 1.76478742e-01 9.84185407e-01 -1.53081004e-02 1.77902087e+00] [ 7.20297465e-02 2.59764732e-03 9.97399102e-01 8.36098157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.276875 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:12.58, Y:1.79, Z:0.84 [[ 9.81544675e-01 -1.77391475e-01 -7.14304886e-02 1.25786280e+01] [ 1.76728557e-01 9.84136838e-01 -1.55467436e-02 1.78621562e+00] [ 7.30552349e-02 2.63601623e-03 9.97324413e-01 8.37593253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.306875 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:12.60, Y:1.79, Z:0.84 [[ 9.81481493e-01 -1.78205211e-01 -7.02636600e-02 1.26045760e+01] [ 1.77564417e-01 9.83990032e-01 -1.53132002e-02 1.79435842e+00] [ 7.18676331e-02 2.55329674e-03 9.97410910e-01 8.38510159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.336875000000001 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:12.63, Y:1.80, Z:0.84 [[ 9.80830980e-01 -1.82119494e-01 -6.93042458e-02 1.26325732e+01] [ 1.81505187e-01 9.83273844e-01 -1.51134234e-02 1.79900594e+00] [ 7.08975012e-02 2.24463373e-03 9.97481080e-01 8.42647331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.366875 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:12.66, Y:1.80, Z:0.84 [[ 9.80291788e-01 -1.85122019e-01 -6.89771645e-02 1.26605578e+01] [ 1.84519471e-01 9.82713429e-01 -1.50625498e-02 1.80450643e+00] [ 7.05731955e-02 2.03806393e-03 9.97504521e-01 8.44119007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.396875 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:12.69, Y:1.81, Z:0.84 [[ 9.79172535e-01 -1.91645603e-01 -6.70306601e-02 1.26876658e+01] [ 1.91090544e-01 9.81462981e-01 -1.46567601e-02 1.81028357e+00] [ 6.85970151e-02 1.54257165e-03 9.97643258e-01 8.44671546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.426875 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:12.71, Y:1.82, Z:0.85 [[ 9.77543752e-01 -2.00437567e-01 -6.50614735e-02 1.27147390e+01] [ 1.99932804e-01 9.79706048e-01 -1.42455066e-02 1.81506132e+00] [ 6.65964538e-02 9.17683137e-04 9.97779570e-01 8.46690876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.456875 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:12.74, Y:1.82, Z:0.85 [[ 9.75732805e-01 -2.10071966e-01 -6.17678174e-02 1.27426335e+01] [ 2.09635893e-01 9.77685893e-01 -1.35309973e-02 1.81837241e+00] [ 6.32320069e-02 2.53886397e-04 9.97998822e-01 8.50799155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.486875 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:12.77, Y:1.82, Z:0.86 [[ 9.74022785e-01 -2.18853284e-01 -5.81623150e-02 1.27699307e+01] [ 2.18481258e-01 9.75757737e-01 -1.27584555e-02 1.82072249e+00] [ 5.95445587e-02 -2.80349434e-04 9.98225609e-01 8.55754567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.516875 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:12.80, Y:1.83, Z:0.86 [[ 9.73160384e-01 -2.23498383e-01 -5.48392139e-02 1.27971172e+01] [ 2.23174517e-01 9.74704160e-01 -1.20389159e-02 1.82543265e+00] [ 5.61426882e-02 -5.22919108e-04 9.98422618e-01 8.59406696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.546875 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:12.82, Y:1.83, Z:0.86 [[ 9.73220696e-01 -2.22695528e-01 -5.69927935e-02 1.28242581e+01] [ 2.22343323e-01 9.74887928e-01 -1.25289177e-02 1.83420620e+00] [ 5.83517204e-02 -4.78565106e-04 9.98295972e-01 8.56453386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.576875 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:12.85, Y:1.84, Z:0.85 [[ 9.74038526e-01 -2.17475564e-01 -6.28754971e-02 1.28511034e+01] [ 2.17034655e-01 9.76065752e-01 -1.38421921e-02 1.84291337e+00] [ 6.43809579e-02 -1.63333372e-04 9.97925381e-01 8.54297481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.606875 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:12.88, Y:1.85, Z:0.85 [[ 9.75265962e-01 -2.10568013e-01 -6.72117144e-02 1.28770449e+01] [ 2.10046247e-01 9.77579153e-01 -1.48180149e-02 1.85173136e+00] [ 6.88249707e-02 3.33937159e-04 9.97628694e-01 8.54080955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.636875 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:12.90, Y:1.86, Z:0.85 [[ 9.76015737e-01 -2.06195246e-01 -6.98341034e-02 1.29033196e+01] [ 2.05620032e-01 9.78510635e-01 -1.54058592e-02 1.86113028e+00] [ 7.15100278e-02 6.77070432e-04 9.97439651e-01 8.54758860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.666875000000001 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:12.93, Y:1.87, Z:0.86 [[ 9.76410351e-01 -2.03926510e-01 -7.09704558e-02 1.29298752e+01] [ 2.03324890e-01 9.78985806e-01 -1.56773966e-02 1.87084658e+00] [ 7.26761056e-02 8.77512200e-04 9.97355209e-01 8.56206224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.696875 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:12.96, Y:1.88, Z:0.86 [[ 9.76197182e-01 -2.05259679e-01 -7.00537413e-02 1.29563350e+01] [ 2.04675495e-01 9.78707231e-01 -1.54951084e-02 1.88052764e+00] [ 7.17426241e-02 7.87996952e-04 9.97422867e-01 8.57828926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.726875 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:12.98, Y:1.89, Z:0.86 [[ 9.75156985e-01 -2.10742008e-01 -6.82397299e-02 1.29831180e+01] [ 2.10199727e-01 9.77541636e-01 -1.51137046e-02 1.88874302e+00] [ 6.98922697e-02 3.94262068e-04 9.97554467e-01 8.60342579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.756875 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:13.01, Y:1.90, Z:0.86 [[ 9.73974109e-01 -2.17160858e-01 -6.49276313e-02 1.30089921e+01] [ 2.16682974e-01 9.76135830e-01 -1.43989245e-02 1.89641960e+00] [ 6.65050701e-02 -4.45326039e-05 9.97786086e-01 8.63181117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.786875 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:13.03, Y:1.90, Z:0.87 [[ 9.73598563e-01 -2.19882532e-01 -6.12985335e-02 1.30345657e+01] [ 2.19461546e-01 9.75526334e-01 -1.36015455e-02 1.90459422e+00] [ 6.27890759e-02 -2.10225798e-04 9.98026797e-01 8.67131727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.816875 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:13.06, Y:1.91, Z:0.87 [[ 9.74507353e-01 -2.16150311e-01 -6.01203959e-02 1.30612352e+01] [ 2.15737879e-01 9.76360098e-01 -1.33463698e-02 1.91388217e+00] [ 6.15839777e-02 3.58888203e-05 9.98101905e-01 8.70776182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.846875 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:13.09, Y:1.93, Z:0.87 [[ 9.76303359e-01 -2.07641918e-01 -6.09638000e-02 1.30866100e+01] [ 2.07199983e-01 9.78204720e-01 -1.35533612e-02 1.92517453e+00] [ 6.24493228e-02 6.00493710e-04 9.98047956e-01 8.72592863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.876875 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:13.11, Y:1.94, Z:0.87 [[ 9.77368067e-01 -2.02659467e-01 -6.06696190e-02 1.31126303e+01] [ 2.02211700e-01 9.79248839e-01 -1.34958839e-02 1.93516486e+00] [ 6.21457227e-02 9.22339175e-04 9.98066660e-01 8.72812361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.906875 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:13.14, Y:1.95, Z:0.87 [[ 9.79353435e-01 -1.92642618e-01 -6.12835241e-02 1.31386810e+01] [ 1.92165669e-01 9.81267711e-01 -1.36394343e-02 1.94884054e+00] [ 6.27630797e-02 1.58123741e-03 9.98027202e-01 8.71225011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.936875 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:13.16, Y:1.96, Z:0.87 [[ 9.80767269e-01 -1.83838142e-01 -6.55675421e-02 1.31641750e+01] [ 1.83270961e-01 9.82953798e-01 -1.46145477e-02 1.95989102e+00] [ 6.71365759e-02 2.31684352e-03 9.97741105e-01 8.72442800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.966875 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:13.19, Y:1.97, Z:0.87 [[ 9.81795904e-01 -1.77418212e-01 -6.78202041e-02 1.31909654e+01] [ 1.76795383e-01 9.84131392e-01 -1.51260172e-02 1.97098093e+00] [ 6.94276228e-02 2.86036276e-03 9.97582891e-01 8.73369410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.996875 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:13.22, Y:1.98, Z:0.87 [[ 9.82174408e-01 -1.75100292e-01 -6.83616809e-02 1.32177074e+01] [ 1.74460417e-01 9.84545819e-01 -1.52673789e-02 1.98011525e+00] [ 6.99785297e-02 3.06882152e-03 9.97543777e-01 8.74991495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.026875 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:13.24, Y:1.99, Z:0.88 [[ 9.81829220e-01 -1.77365190e-01 -6.74757113e-02 1.32436861e+01] [ 1.76745751e-01 9.84140864e-01 -1.50896991e-02 1.98646534e+00] [ 6.90819922e-02 2.88946219e-03 9.97606801e-01 8.75331202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.056875 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:13.27, Y:1.99, Z:0.88 [[ 9.81024175e-01 -1.81820948e-01 -6.73254170e-02 1.32714958e+01] [ 1.81214112e-01 9.83328273e-01 -1.50649564e-02 1.99173582e+00] [ 6.89421107e-02 2.57877081e-03 9.97617329e-01 8.75186660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.086875000000001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:13.30, Y:1.99, Z:0.88 [[ 9.80092481e-01 -1.86302512e-01 -6.86301859e-02 1.32998704e+01] [ 1.85681357e-01 9.82489670e-01 -1.53779419e-02 1.99442662e+00] [ 7.02933979e-02 2.32845920e-03 9.97523642e-01 8.75889725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.116875 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:13.33, Y:2.00, Z:0.88 [[ 9.79677878e-01 -1.88575385e-01 -6.83416371e-02 1.33283572e+01] [ 1.87963540e-01 9.82056306e-01 -1.53336016e-02 1.99708150e+00] [ 7.00068755e-02 2.17625424e-03 9.97544135e-01 8.77523495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.146875 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:13.36, Y:2.00, Z:0.88 [[ 9.79644448e-01 -1.88750551e-01 -6.83372831e-02 1.33561432e+01] [ 1.88137781e-01 9.82022638e-01 -1.53529822e-02 2.00341300e+00] [ 7.00066428e-02 2.18363900e-03 9.97544135e-01 8.79480871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.176875 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:13.38, Y:2.01, Z:0.88 [[ 9.79738064e-01 -1.89090246e-01 -6.60167049e-02 1.33841170e+01] [ 1.88518415e-01 9.81957474e-01 -1.48434100e-02 2.00519682e+00] [ 6.76323408e-02 2.09728919e-03 9.97708108e-01 8.82696877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.206875 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:13.41, Y:2.00, Z:0.89 [[ 9.79897844e-01 -1.88635806e-01 -6.49364864e-02 1.34115615e+01] [ 1.88080252e-01 9.82044840e-01 -1.46202278e-02 2.00451204e+00] [ 6.65284398e-02 2.11305905e-03 9.97782292e-01 8.88187262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.236875 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:13.44, Y:2.00, Z:0.89 [[ 9.79905067e-01 -1.88793881e-01 -6.43656035e-02 1.34406349e+01] [ 1.88247885e-01 9.82014509e-01 -1.44995893e-02 2.00410465e+00] [ 6.59453903e-02 2.09153236e-03 9.97821042e-01 8.90685516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.266875 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:13.47, Y:2.00, Z:0.89 [[ 9.79332175e-01 -1.92124483e-01 -6.32192535e-02 1.34698835e+01] [ 1.91603499e-01 9.81368816e-01 -1.42599738e-02 2.00329737e+00] [ 6.47810940e-02 1.85222103e-03 9.97897780e-01 8.90097649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.296875 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:13.50, Y:2.00, Z:0.89 [[ 9.78401867e-01 -1.96797219e-01 -6.32506190e-02 1.34979379e+01] [ 1.96284169e-01 9.80442967e-01 -1.42868356e-02 2.00127873e+00] [ 6.48252341e-02 1.56317139e-03 9.97895408e-01 8.90126161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.326875 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:13.53, Y:2.00, Z:0.89 [[ 9.77758325e-01 -1.99600287e-01 -6.44079495e-02 1.35260767e+01] [ 1.99073797e-01 9.79876388e-01 -1.45563720e-02 2.00372476e+00] [ 6.60172849e-02 1.41067879e-03 9.97817482e-01 8.91058841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.356875 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:13.56, Y:2.00, Z:0.89 [[ 9.76380971e-01 -2.05719052e-01 -6.60293234e-02 1.35554336e+01] [ 2.05178251e-01 9.78610538e-01 -1.49432381e-02 1.99910824e+00] [ 6.76911004e-02 1.04251223e-03 9.97705782e-01 8.94916883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.386875 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:13.58, Y:2.00, Z:0.90 [[ 9.75572494e-01 -2.09419489e-01 -6.63459628e-02 1.35839473e+01] [ 2.08880658e-01 9.77825559e-01 -1.50348849e-02 1.99996040e+00] [ 6.80233761e-02 8.09231789e-04 9.97683399e-01 8.98583549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.416875 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:13.61, Y:2.00, Z:0.90 [[ 9.74468015e-01 -2.14142508e-01 -6.74912824e-02 1.36113588e+01] [ 2.13594760e-01 9.76802297e-01 -1.53150438e-02 2.00265264e+00] [ 6.92052415e-02 5.08236069e-04 9.97602314e-01 8.99327463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.446875 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:13.64, Y:2.00, Z:0.90 [[ 9.73071642e-01 -2.19941545e-01 -6.89731603e-02 1.36396617e+01] [ 2.19382947e-01 9.75513047e-01 -1.56658313e-02 2.00407550e+00] [ 7.07297849e-02 1.12440982e-04 9.97495506e-01 9.00045474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.476875 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:13.67, Y:2.01, Z:0.90 [[ 9.71848231e-01 -2.24401740e-01 -7.17974601e-02 1.36671159e+01] [ 2.23806988e-01 9.74496700e-01 -1.63282913e-02 2.00537850e+00] [ 7.36304849e-02 -2.00152283e-04 9.97285572e-01 9.00664311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.506875 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:13.69, Y:2.01, Z:0.90 [[ 9.71568919e-01 -2.25446882e-01 -7.23017219e-02 1.36947221e+01] [ 2.24845876e-01 9.74255423e-01 -1.64530371e-02 2.01043940e+00] [ 7.41496305e-02 -2.71484486e-04 9.97247090e-01 9.00694795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.536875 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:13.72, Y:2.02, Z:0.90 [[ 9.71898041e-01 -2.23961266e-01 -7.24951688e-02 1.37211914e+01] [ 2.23351388e-01 9.74598036e-01 -1.65174313e-02 2.01616398e+00] [ 7.43529139e-02 -1.38637402e-04 9.97231982e-01 9.02502664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.566875 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:13.75, Y:2.02, Z:0.91 [[ 9.74818105e-01 -2.11120905e-01 -7.18166046e-02 1.37482533e+01] [ 2.10486842e-01 9.77459591e-01 -1.63718350e-02 2.01868853e+00] [ 7.36542656e-02 8.43110945e-04 9.97283479e-01 9.09977804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.596875 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:13.78, Y:2.03, Z:0.91 [[ 9.77121475e-01 -2.00802088e-01 -7.00866872e-02 1.37751798e+01] [ 2.00171035e-01 9.79630537e-01 -1.59864892e-02 2.02680183e+00] [ 7.18691794e-02 1.59141725e-03 9.97412797e-01 9.11542842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.626875 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:13.80, Y:2.03, Z:0.91 [[ 9.78058559e-01 -1.96594482e-01 -6.89352162e-02 1.38012981e+01] [ 1.95972166e-01 9.80483065e-01 -1.57438499e-02 2.03417156e+00] [ 7.06849661e-02 1.88902353e-03 9.97496901e-01 9.11808049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.656875 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:13.83, Y:2.04, Z:0.91 [[ 9.79398392e-01 -1.90252832e-01 -6.76952750e-02 1.38280978e+01] [ 1.89636991e-01 9.81732402e-01 -1.54694056e-02 2.04146839e+00] [ 6.94017432e-02 2.31318268e-03 9.97586110e-01 9.12963074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.686875 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:13.85, Y:2.05, Z:0.91 [[ 9.80148328e-01 -1.85908749e-01 -6.88998636e-02 1.38541930e+01] [ 1.85258604e-01 9.82563338e-01 -1.57650482e-02 2.04677836e+00] [ 7.06293403e-02 2.68779307e-03 9.97499009e-01 9.14340365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.716875 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:13.88, Y:2.05, Z:0.92 [[ 9.80559409e-01 -1.83169818e-01 -7.03708991e-02 1.38817493e+01] [ 1.82483829e-01 9.83076842e-01 -1.61113565e-02 2.05188377e+00] [ 7.21311155e-02 2.95659108e-03 9.97390776e-01 9.16725154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.746875 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:13.91, Y:2.06, Z:0.92 [[ 9.80747692e-01 -1.81005472e-01 -7.32869889e-02 1.39090171e+01] [ 1.80253686e-01 9.83476663e-01 -1.68006778e-02 2.05629526e+00] [ 7.51170579e-02 3.26697613e-03 9.97169371e-01 9.17278449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.776875 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:13.94, Y:2.06, Z:0.92 [[ 9.80707926e-01 -1.80205545e-01 -7.57490941e-02 1.39374754e+01] [ 1.79398649e-01 9.83622901e-01 -1.73813880e-02 2.05895716e+00] [ 7.76407662e-02 3.45677988e-03 9.96975407e-01 9.16670550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.806875 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:13.97, Y:2.06, Z:0.92 [[ 9.80318635e-01 -1.81528309e-01 -7.76070067e-02 1.39659316e+01] [ 1.80683574e-01 9.83379642e-01 -1.78304678e-02 2.06016508e+00] [ 7.95538851e-02 3.45722851e-03 9.96824572e-01 9.16372783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.836875000000001 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:13.99, Y:2.06, Z:0.92 [[ 9.79743360e-01 -1.83388249e-01 -8.04468652e-02 1.39949099e+01] [ 1.82484700e-01 9.83034505e-01 -1.85066712e-02 2.06034809e+00] [ 8.24759503e-02 3.45146620e-03 9.96587078e-01 9.16930058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.866875 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:14.02, Y:2.06, Z:0.92 [[ 9.79507063e-01 -1.83953886e-01 -8.20175656e-02 1.40228913e+01] [ 1.83014655e-01 9.82928666e-01 -1.88910780e-02 2.05921527e+00] [ 8.40925036e-02 3.49352788e-03 9.96451828e-01 9.20268276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.896875 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:14.05, Y:2.06, Z:0.93 [[ 9.79876134e-01 -1.82734270e-01 -8.03177980e-02 1.40511954e+01] [ 1.81828166e-01 9.83155967e-01 -1.85165409e-02 2.05888071e+00] [ 8.23485289e-02 3.53987866e-03 9.96597305e-01 9.25129907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.926875 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:14.08, Y:2.06, Z:0.93 [[ 9.80156103e-01 -1.82529636e-01 -7.73107144e-02 1.40792745e+01] [ 1.81687898e-01 9.83194319e-01 -1.78448639e-02 2.06103736e+00] [ 7.92686717e-02 3.44433106e-03 9.96847337e-01 9.28019441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.956875 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:14.11, Y:2.06, Z:0.93 [[ 9.79567174e-01 -1.86534252e-01 -7.51872607e-02 1.41071278e+01] [ 1.85748269e-01 9.82443706e-01 -1.73765481e-02 2.06348751e+00] [ 7.71085725e-02 3.05559258e-03 9.97018020e-01 9.31137058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.986875 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:14.13, Y:2.07, Z:0.93 [[ 9.79175266e-01 -1.89325235e-01 -7.32922528e-02 1.41336000e+01] [ 1.88584682e-01 9.81910487e-01 -1.69591969e-02 2.06644495e+00] [ 7.51772355e-02 2.78422997e-03 9.97166301e-01 9.34552496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.016875 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:14.16, Y:2.07, Z:0.94 [[ 9.79034867e-01 -1.90150968e-01 -7.30297040e-02 1.41613543e+01] [ 1.89417218e-01 9.81751090e-01 -1.69089982e-02 2.07175069e+00] [ 7.49122539e-02 2.72141537e-03 9.97186416e-01 9.36622456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.046875 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:14.19, Y:2.08, Z:0.94 [[ 9.78935675e-01 -1.90443428e-01 -7.35951432e-02 1.41875329e+01] [ 1.89697478e-01 9.81694346e-01 -1.70610048e-02 2.07763455e+00] [ 7.54970922e-02 2.74081316e-03 9.97142255e-01 9.37119162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.076875 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:14.21, Y:2.08, Z:0.94 [[ 9.78894268e-01 -1.90114455e-01 -7.49833658e-02 1.42138492e+01] [ 1.89338281e-01 9.81757858e-01 -1.73932124e-02 2.08268115e+00] [ 7.69222097e-02 2.82889435e-03 9.97033084e-01 9.37636360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.106875 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:14.24, Y:2.09, Z:0.94 [[ 9.78761388e-01 -1.90136553e-01 -7.66435741e-02 1.42417423e+01] [ 1.89324344e-01 9.81753353e-01 -1.77945930e-02 2.08812365e+00] [ 7.86284884e-02 2.90616621e-03 9.96899752e-01 9.39901309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.136875 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:14.27, Y:2.09, Z:0.94 [[ 9.78888582e-01 -1.89035475e-01 -7.77350194e-02 1.42687983e+01] [ 1.88194608e-01 9.81965490e-01 -1.80711240e-02 2.09372493e+00] [ 7.97491899e-02 3.06030538e-03 9.96810263e-01 9.41952364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.166875 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:14.30, Y:2.10, Z:0.94 [[ 9.79132077e-01 -1.87555393e-01 -7.82518351e-02 1.42957022e+01] [ 1.86696707e-01 9.82248733e-01 -1.82144412e-02 2.10072711e+00] [ 8.02789826e-02 3.22498374e-03 9.96767217e-01 9.43931685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.196875 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:14.32, Y:2.11, Z:0.95 [[ 9.79777997e-01 -1.85414801e-01 -7.52092240e-02 1.43225317e+01] [ 1.84613761e-01 9.82654841e-01 -1.75277794e-02 2.10861655e+00] [ 7.71546178e-02 3.28867488e-03 9.97013716e-01 9.45903365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.226875 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:14.35, Y:2.12, Z:0.95 [[ 9.80097869e-01 -1.84120931e-01 -7.42135444e-02 1.43491105e+01] [ 1.83335684e-01 9.82897833e-01 -1.73169406e-02 2.11583382e+00] [ 7.61327432e-02 3.36630567e-03 9.97092008e-01 9.47587140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.256875 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:14.38, Y:2.13, Z:0.95 [[ 9.80810308e-01 -1.80123926e-01 -7.46090606e-02 1.43754104e+01] [ 1.79317526e-01 9.83636921e-01 -1.74250453e-02 2.12563942e+00] [ 7.65268942e-02 3.71195189e-03 9.97060608e-01 9.48967307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.286875 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:14.40, Y:2.13, Z:0.95 [[ 9.81020657e-01 -1.79062237e-01 -7.43988344e-02 1.44023263e+01] [ 1.78255677e-01 9.83830389e-01 -1.73977031e-02 2.13357575e+00] [ 7.63111058e-02 3.80549148e-03 9.97076794e-01 9.50925821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.316875 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:14.43, Y:2.14, Z:0.95 [[ 9.81330328e-01 -1.77396816e-01 -7.43044838e-02 1.44280546e+01] [ 1.76585886e-01 9.84131473e-01 -1.73973945e-02 2.14167958e+00] [ 7.62116235e-02 3.95146774e-03 9.97083835e-01 9.54473672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.346875 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:14.45, Y:2.15, Z:0.96 [[ 9.80720824e-01 -1.80977143e-01 -7.37152563e-02 1.44539665e+01] [ 1.80188370e-01 9.83480515e-01 -1.72692524e-02 2.15004708e+00] [ 7.56228582e-02 3.65368357e-03 9.97129798e-01 9.56603366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.376875 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:14.48, Y:2.16, Z:0.96 [[ 9.79716835e-01 -1.86095507e-01 -7.43194887e-02 1.44815391e+01] [ 1.85307541e-01 9.82526130e-01 -1.74218139e-02 2.15723374e+00] [ 7.62629608e-02 3.29648263e-03 9.97082290e-01 9.58540099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.406875 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:14.51, Y:2.16, Z:0.96 [[ 9.78883552e-01 -1.90375539e-01 -7.44590210e-02 1.45091315e+01] [ 1.89595210e-01 9.81706783e-01 -1.74770693e-02 2.16308001e+00] [ 7.64241325e-02 2.99094196e-03 9.97070913e-01 9.60640380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.436875 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:14.53, Y:2.17, Z:0.96 [[ 9.78529267e-01 -1.92221168e-01 -7.43740296e-02 1.45349795e+01] [ 1.91446304e-01 9.81347450e-01 -1.74784264e-02 2.16902146e+00] [ 7.63464878e-02 2.86451870e-03 9.97077233e-01 9.63086270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.466875 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:14.56, Y:2.17, Z:0.97 [[ 9.78023742e-01 -1.94957353e-01 -7.38998691e-02 1.45628085e+01] [ 1.94199321e-01 9.80808155e-01 -1.73777800e-02 2.17421914e+00] [ 7.58695202e-02 2.64457702e-03 9.97114247e-01 9.65151487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.496875 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:14.59, Y:2.18, Z:0.97 [[ 9.78244474e-01 -1.93079154e-01 -7.58827307e-02 1.45899708e+01] [ 1.92272374e-01 9.81178933e-01 -1.78671903e-02 2.18007489e+00] [ 7.79043187e-02 2.88832741e-03 9.96956656e-01 9.66658021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.526875 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:14.62, Y:2.19, Z:0.97 [[ 9.78544086e-01 -1.91223421e-01 -7.67142371e-02 1.46170547e+01] [ 1.90391320e-01 9.81541666e-01 -1.80860136e-02 2.18608823e+00] [ 7.87566895e-02 3.09223674e-03 9.96889072e-01 9.68343270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.556875 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:14.64, Y:2.19, Z:0.97 [[ 9.79470064e-01 -1.86272651e-01 -7.70771896e-02 1.46436058e+01] [ 1.85415589e-01 9.82491754e-01 -1.81937661e-02 2.19189255e+00] [ 7.91167042e-02 3.52893669e-03 9.96859114e-01 9.69747499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.586875000000001 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:14.67, Y:2.20, Z:0.97 [[ 9.80482150e-01 -1.80202054e-01 -7.86255204e-02 1.46706473e+01] [ 1.79289270e-01 9.83620998e-01 -1.85766070e-02 2.19845258e+00] [ 8.06852556e-02 4.11731942e-03 9.96731126e-01 9.71031146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.616875 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:14.70, Y:2.21, Z:0.97 [[ 9.79705829e-01 -1.83561389e-01 -8.05090325e-02 1.46981214e+01] [ 1.82613516e-01 9.83000283e-01 -1.90459495e-02 2.20615730e+00] [ 8.26365026e-02 3.95739024e-03 9.96571898e-01 9.71595820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.646875 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:14.73, Y:2.21, Z:0.98 [[ 9.79059792e-01 -1.87002916e-01 -8.04477073e-02 1.47258390e+01] [ 1.86066080e-01 9.82352437e-01 -1.90552645e-02 2.21171515e+00] [ 8.25913913e-02 3.68765372e-03 9.96576672e-01 9.76397543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.676875 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:14.75, Y:2.22, Z:0.98 [[ 9.77677904e-01 -1.93408546e-01 -8.20917181e-02 1.47525685e+01] [ 1.92453335e-01 9.81112972e-01 -1.94692025e-02 2.21992722e+00] [ 8.43067597e-02 3.23578416e-03 9.96434594e-01 9.78583213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.706875 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:14.78, Y:2.23, Z:0.98 [[ 9.77034808e-01 -1.96903531e-01 -8.14369854e-02 1.47791108e+01] [ 1.95973626e-01 9.80418477e-01 -1.93377332e-02 2.22898142e+00] [ 8.36499931e-02 2.93413720e-03 9.96490878e-01 9.79185874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.736875 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:14.81, Y:2.23, Z:0.98 [[ 9.77009211e-01 -1.97869336e-01 -7.93771207e-02 1.48056838e+01] [ 1.96987321e-01 9.80224404e-01 -1.88709784e-02 2.23399657e+00] [ 8.15413787e-02 2.80083332e-03 9.96666022e-01 9.84012686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.766875 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:14.83, Y:2.24, Z:0.99 [[ 9.76945352e-01 -1.99206313e-01 -7.67764595e-02 1.48319664e+01] [ 1.98384221e-01 9.79954084e-01 -1.82672861e-02 2.23946173e+00] [ 7.88763637e-02 2.61490213e-03 9.96880977e-01 9.88394191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.796875 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:14.86, Y:2.24, Z:0.99 [[ 9.77113471e-01 -1.98630740e-01 -7.61255170e-02 1.48597322e+01] [ 1.97819934e-01 9.80070818e-01 -1.81236255e-02 2.24483684e+00] [ 7.82083068e-02 2.64969389e-03 9.96933518e-01 9.91213782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.826875 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:14.89, Y:2.25, Z:0.99 [[ 9.77303046e-01 -1.98241198e-01 -7.46939407e-02 1.48863456e+01] [ 1.97457956e-01 9.80149685e-01 -1.78031323e-02 2.24997971e+00] [ 7.67405567e-02 2.65014256e-03 9.97047573e-01 9.92561542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.856875 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:14.91, Y:2.26, Z:0.99 [[ 9.77172369e-01 -1.98582211e-01 -7.54934850e-02 1.49134457e+01] [ 1.97782224e-01 9.80080617e-01 -1.80048835e-02 2.25572251e+00] [ 7.75651510e-02 2.66260532e-03 9.96983730e-01 9.92953641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.886875 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:14.94, Y:2.26, Z:0.99 [[ 9.77013980e-01 -1.98173152e-01 -7.85562497e-02 1.49405377e+01] [ 1.97303545e-01 9.80162946e-01 -1.87592739e-02 2.26129816e+00] [ 8.07155096e-02 2.82864631e-03 9.96733167e-01 9.93814149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.916875 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:14.97, Y:2.27, Z:1.00 [[ 9.77093944e-01 -1.96732532e-01 -8.11402210e-02 1.49683470e+01] [ 1.95797631e-01 9.80452390e-01 -1.94009982e-02 2.26720969e+00] [ 8.33709311e-02 3.06953472e-03 9.96513856e-01 9.95017760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.946875 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:14.99, Y:2.27, Z:1.00 [[ 9.77071644e-01 -1.96139733e-01 -8.28263664e-02 1.49948923e+01] [ 1.95161457e-01 9.80570710e-01 -1.98264348e-02 2.27275265e+00] [ 8.51058606e-02 3.20733284e-03 9.96366753e-01 9.96752852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.976875 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:15.02, Y:2.28, Z:1.00 [[ 9.77069460e-01 -1.95794740e-01 -8.36641487e-02 1.50221837e+01] [ 1.94794088e-01 9.80639402e-01 -2.00406295e-02 2.27890808e+00] [ 8.59682105e-02 3.28380553e-03 9.96292469e-01 9.98435915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.006875 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:15.05, Y:2.29, Z:1.00 [[ 9.77293858e-01 -1.94929869e-01 -8.30605936e-02 1.50487311e+01] [ 1.93938656e-01 9.80811438e-01 -1.99178416e-02 2.28513269e+00] [ 8.53493625e-02 3.35692433e-03 9.96345431e-01 9.99939746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.036875 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:15.08, Y:2.29, Z:1.00 [[ 9.76723648e-01 -1.98673819e-01 -8.08679754e-02 1.50755779e+01] [ 1.97746103e-01 9.80061193e-01 -1.94045310e-02 2.29201340e+00] [ 8.31107368e-02 2.96153733e-03 9.96535917e-01 1.00223775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.066875 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:15.10, Y:2.30, Z:1.00 [[ 9.76672641e-01 -1.98926574e-01 -8.08626629e-02 1.51033174e+01] [ 1.97997893e-01 9.80009918e-01 -1.94266464e-02 2.29879067e+00] [ 8.31106879e-02 2.96283721e-03 9.96535918e-01 1.00419714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.096874999999997 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:15.13, Y:2.30, Z:1.01 [[ 9.76710478e-01 -2.00415663e-01 -7.66172526e-02 1.51302590e+01] [ 1.99585092e-01 9.79707221e-01 -1.84269498e-02 2.30375448e+00] [ 7.87555250e-02 2.70613360e-03 9.96890287e-01 1.01101141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.126875 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:15.16, Y:2.31, Z:1.01 [[ 9.76943229e-01 -1.99299772e-01 -7.65606236e-02 1.51574966e+01] [ 1.98465183e-01 9.79934522e-01 -1.84365028e-02 2.31182402e+00] [ 7.86987888e-02 2.81679847e-03 9.96894461e-01 1.01282170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.156875 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:15.18, Y:2.32, Z:1.01 [[ 9.77573158e-01 -1.95865172e-01 -7.73792902e-02 1.51842115e+01] [ 1.94999992e-01 9.80625776e-01 -1.86571769e-02 2.32087245e+00] [ 7.95344177e-02 3.14979436e-03 9.96827144e-01 1.01328322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.186874999999997 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:15.21, Y:2.33, Z:1.02 [[ 9.78449522e-01 -1.91129829e-01 -7.81403902e-02 1.52101198e+01] [ 1.90230689e-01 9.81558195e-01 -1.88625055e-02 2.32894845e+00] [ 8.03045279e-02 3.59130930e-03 9.96763907e-01 1.01522740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.216874999999998 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:15.24, Y:2.34, Z:1.02 [[ 9.78934931e-01 -1.88624161e-01 -7.81493857e-02 1.52372179e+01] [ 1.87715876e-01 9.82041962e-01 -1.88768385e-02 2.33698827e+00] [ 8.03066038e-02 3.80931617e-03 9.96762930e-01 1.01711137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.246875 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:15.26, Y:2.34, Z:1.02 [[ 9.79018666e-01 -1.88041295e-01 -7.85042868e-02 1.52642585e+01] [ 1.87120920e-01 9.82153386e-01 -1.89864952e-02 2.34465644e+00] [ 8.06734963e-02 3.89833878e-03 9.96732958e-01 1.01817228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.276874999999997 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:15.29, Y:2.35, Z:1.02 [[ 9.78964652e-01 -1.88658636e-01 -7.76925253e-02 1.52901423e+01] [ 1.87757379e-01 9.82035261e-01 -1.88125629e-02 2.35138994e+00] [ 7.98459518e-02 3.82948925e-03 9.96799859e-01 1.02004292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.306874999999998 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:15.32, Y:2.36, Z:1.02 [[ 9.78832518e-01 -1.88871754e-01 -7.88312281e-02 1.53171102e+01] [ 1.87943088e-01 9.81994074e-01 -1.91058475e-02 2.35770712e+00] [ 8.10203538e-02 3.88564031e-03 9.96704873e-01 1.02267097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.336875 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:15.34, Y:2.36, Z:1.02 [[ 9.78817357e-01 -1.88215395e-01 -8.05701316e-02 1.53441285e+01] [ 1.87240969e-01 9.82119418e-01 -1.95517040e-02 2.36374770e+00] [ 8.28094224e-02 4.05151767e-03 9.96557166e-01 1.02485386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.366874999999997 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:15.37, Y:2.37, Z:1.03 [[ 9.79122062e-01 -1.87609378e-01 -7.82477431e-02 1.53701676e+01] [ 1.86686814e-01 9.82235555e-01 -1.90091550e-02 2.37024150e+00] [ 8.04240112e-02 4.00446114e-03 9.96752699e-01 1.02677029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.396874999999998 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:15.40, Y:2.38, Z:1.03 [[ 9.79284721e-01 -1.88305286e-01 -7.44483334e-02 1.53974682e+01] [ 1.87471492e-01 9.82103327e-01 -1.80968336e-02 2.37688257e+00] [ 7.65236853e-02 3.76501244e-03 9.97060655e-01 1.02972371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.426875 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:15.42, Y:2.38, Z:1.03 [[ 9.79316845e-01 -1.88758755e-01 -7.28604836e-02 1.54231882e+01] [ 1.87959880e-01 9.82016630e-01 -1.77319581e-02 2.38336527e+00] [ 7.48972688e-02 3.67035753e-03 9.97184500e-01 1.03214367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.456874999999997 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:15.45, Y:2.39, Z:1.03 [[ 9.79021932e-01 -1.90597361e-01 -7.20326472e-02 1.54500190e+01] [ 1.89820749e-01 9.81662059e-01 -1.75409545e-02 2.39009115e+00] [ 7.40549764e-02 3.49968817e-03 9.97248020e-01 1.03416664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.486874999999998 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:15.48, Y:2.40, Z:1.04 [[ 9.78704725e-01 -1.92278253e-01 -7.18758313e-02 1.54761113e+01] [ 1.91508009e-01 9.81334608e-01 -1.75234221e-02 2.39619592e+00] [ 7.39036137e-02 3.38545869e-03 9.97259642e-01 1.03650371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.516875 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:15.50, Y:2.40, Z:1.04 [[ 9.78151801e-01 -1.94543305e-01 -7.32936306e-02 1.55039133e+01] [ 1.93747835e-01 9.80888417e-01 -1.78798788e-02 2.40260303e+00] [ 7.53712840e-02 3.28875345e-03 9.97150116e-01 1.03871324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.546875 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:15.53, Y:2.41, Z:1.04 [[ 9.77526929e-01 -1.96724886e-01 -7.57655699e-02 1.55312021e+01] [ 1.95879451e-01 9.80453344e-01 -1.85062193e-02 2.40799024e+00] [ 7.79252403e-02 3.24940951e-03 9.96953910e-01 1.03961033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.576874999999998 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:15.56, Y:2.41, Z:1.04 [[ 9.76996725e-01 -1.98690238e-01 -7.74570081e-02 1.55576926e+01] [ 1.97810954e-01 9.80057168e-01 -1.89413190e-02 2.41305850e+00] [ 7.96757512e-02 3.18376193e-03 9.96815749e-01 1.03992924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.606875 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:15.59, Y:2.42, Z:1.04 [[ 9.76742656e-01 -1.99725551e-01 -7.79967140e-02 1.55851948e+01] [ 1.98836261e-01 9.79846870e-01 -1.90853904e-02 2.41848824e+00] [ 8.02366762e-02 3.13293993e-03 9.96770917e-01 1.04154101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.636875 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:15.61, Y:2.42, Z:1.04 [[ 9.76710983e-01 -2.00218104e-01 -7.71256537e-02 1.56126943e+01] [ 1.99348324e-01 9.79746510e-01 -1.88950349e-02 2.42369108e+00] [ 7.93467181e-02 3.08011838e-03 9.96842320e-01 1.04458899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.666874999999997 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:15.64, Y:2.43, Z:1.05 [[ 9.76736947e-01 -2.00443049e-01 -7.62070893e-02 1.56404001e+01] [ 1.99592811e-01 9.79700617e-01 -1.86925532e-02 2.43044984e+00] [ 7.84069248e-02 3.04732017e-03 9.96916781e-01 1.04659794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.696875 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:15.67, Y:2.44, Z:1.05 [[ 9.76908801e-01 -1.99778040e-01 -7.57491265e-02 1.56674735e+01] [ 1.98934217e-01 9.79836260e-01 -1.86032517e-02 2.43675234e+00] [ 7.79382620e-02 3.10458716e-03 9.96953353e-01 1.04900224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.726875 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:15.69, Y:2.44, Z:1.05 [[ 9.77071266e-01 -1.98942218e-01 -7.58533732e-02 1.56933253e+01] [ 1.98091841e-01 9.80006006e-01 -1.86507444e-02 2.44353652e+00] [ 7.80471818e-02 3.19717204e-03 9.96944540e-01 1.05127546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.756874999999997 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:15.72, Y:2.45, Z:1.05 [[ 9.77196250e-01 -1.98192592e-01 -7.62048865e-02 1.57193285e+01] [ 1.97331228e-01 9.80157601e-01 -1.87473527e-02 2.45177173e+00] [ 7.84083852e-02 3.28223893e-03 9.96915920e-01 1.05045796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.786875 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:15.75, Y:2.46, Z:1.05 [[ 9.76929628e-01 -1.98733794e-01 -7.81881159e-02 1.57467919e+01] [ 1.97827655e-01 9.80047832e-01 -1.92475127e-02 2.45788624e+00] [ 8.04532247e-02 3.33569379e-03 9.96752804e-01 1.05229475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.816875 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:15.77, Y:2.46, Z:1.05 [[ 9.76228284e-01 -2.01268833e-01 -8.04313087e-02 1.57742611e+01] [ 2.00316366e-01 9.79530679e-01 -1.98243007e-02 2.46347659e+00] [ 8.27749482e-02 3.24133555e-03 9.96562994e-01 1.05407558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.846874999999997 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:15.80, Y:2.47, Z:1.05 [[ 9.76036778e-01 -2.02503644e-01 -7.96522614e-02 1.58014673e+01] [ 2.01571725e-01 9.79276509e-01 -1.96559972e-02 2.47003706e+00] [ 8.19819995e-02 3.12933245e-03 9.96628897e-01 1.05493201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.876875 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:15.83, Y:2.48, Z:1.06 [[ 9.75767675e-01 -2.03493356e-01 -8.04232419e-02 1.58293611e+01] [ 2.02544582e-01 9.79071419e-01 -1.98707827e-02 2.47544136e+00] [ 8.27836698e-02 3.09997552e-03 9.96562720e-01 1.05741629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.906875 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:15.86, Y:2.48, Z:1.06 [[ 9.75587857e-01 -2.04288779e-01 -8.05880161e-02 1.58564362e+01] [ 2.03336775e-01 9.78905876e-01 -1.99359356e-02 2.48116736e+00] [ 8.29607705e-02 3.06274938e-03 9.96548107e-01 1.05908695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.936874999999997 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:15.88, Y:2.49, Z:1.06 [[ 9.75261920e-01 -2.05802760e-01 -8.06809222e-02 1.58832832e+01] [ 2.04851796e-01 9.78589016e-01 -1.99819760e-02 2.48557297e+00] [ 8.30658101e-02 2.96002845e-03 9.96539668e-01 1.06023710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.966874999999998 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:15.91, Y:2.49, Z:1.06 [[ 9.74738701e-01 -2.09087320e-01 -7.85299737e-02 1.59119097e+01] [ 2.08195744e-01 9.77893452e-01 -1.94660955e-02 2.48758129e+00] [ 8.08640608e-02 2.62475035e-03 9.96721683e-01 1.06439347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.996875 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:15.94, Y:2.49, Z:1.07 [[ 9.74500339e-01 -2.10586723e-01 -7.74746460e-02 1.59391546e+01] [ 2.09721885e-01 9.77572011e-01 -1.92274215e-02 2.49272544e+00] [ 7.97860852e-02 2.48899992e-03 9.96808901e-01 1.06711098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.026874999999997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:15.97, Y:2.50, Z:1.07 [[ 9.73456455e-01 -2.16337189e-01 -7.47044280e-02 1.59678364e+01] [ 2.15548404e-01 9.76316728e-01 -1.85615733e-02 2.49520253e+00] [ 7.69507414e-02 1.96646316e-03 9.97032957e-01 1.06958765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.056874999999998 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:16.00, Y:2.50, Z:1.07 [[ 9.72967613e-01 -2.18903535e-01 -7.35884958e-02 1.59956925e+01] [ 2.18143845e-01 9.75744921e-01 -1.83060774e-02 2.50098595e+00] [ 7.58108661e-02 1.75834309e-03 9.97120665e-01 1.07147374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.086875 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:16.02, Y:2.50, Z:1.07 [[ 9.71483926e-01 -2.25276815e-01 -7.39549806e-02 1.60238902e+01] [ 2.24526244e-01 9.74293947e-01 -1.84193121e-02 2.50427211e+00] [ 7.62033339e-02 1.28923156e-03 9.97091465e-01 1.07306022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.116874999999997 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:16.05, Y:2.51, Z:1.08 [[ 9.70787914e-01 -2.28520599e-01 -7.31379611e-02 1.60519389e+01] [ 2.27794107e-01 9.73538518e-01 -1.82373092e-02 2.50913249e+00] [ 7.53702231e-02 1.04416279e-03 9.97155073e-01 1.07695654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.146874999999998 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:16.08, Y:2.51, Z:1.08 [[ 9.70212374e-01 -2.30926226e-01 -7.32190407e-02 1.60789615e+01] [ 2.30203366e-01 9.72970866e-01 -1.82785304e-02 2.51443249e+00] [ 7.54609855e-02 8.78786800e-04 9.97148368e-01 1.07895903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.176875 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:16.11, Y:2.52, Z:1.08 [[ 9.70161568e-01 -2.30760029e-01 -7.44065909e-02 1.61068413e+01] [ 2.30011797e-01 9.73010257e-01 -1.85906787e-02 2.52075361e+00] [ 7.66883617e-02 9.21568274e-04 9.97054686e-01 1.08007600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.206874999999997 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:16.13, Y:2.53, Z:1.08 [[ 9.70418440e-01 -2.29511174e-01 -7.49177739e-02 1.61343981e+01] [ 2.28747235e-01 9.73305462e-01 -1.87398016e-02 2.52748612e+00] [ 7.72188724e-02 1.04821545e-03 9.97013614e-01 1.08230287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.236874999999998 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:16.16, Y:2.54, Z:1.08 [[ 9.70290664e-01 -2.29522131e-01 -7.65220144e-02 1.61618405e+01] [ 2.28723298e-01 9.73302830e-01 -1.91638788e-02 2.53537354e+00] [ 7.88776275e-02 1.09216513e-03 9.96883708e-01 1.08406050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.266875 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:16.19, Y:2.54, Z:1.09 [[ 9.70389808e-01 -2.28566366e-01 -7.81091304e-02 1.61883392e+01] [ 2.27729033e-01 9.73527573e-01 -1.95844816e-02 2.54305394e+00] [ 8.05177459e-02 1.21686463e-03 9.96752433e-01 1.08622934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.296875 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:16.21, Y:2.55, Z:1.09 [[ 9.70721288e-01 -2.26434517e-01 -8.01722565e-02 1.62145796e+01] [ 2.25543144e-01 9.74025307e-01 -2.01244120e-02 2.55137661e+00] [ 8.26466682e-02 1.45289235e-03 9.96577853e-01 1.08787647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.326874999999998 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:16.24, Y:2.56, Z:1.09 [[ 9.71031021e-01 -2.24794001e-01 -8.10334130e-02 1.62415839e+01] [ 2.23876160e-01 9.74404952e-01 -2.03581695e-02 2.56116967e+00] [ 8.35357532e-02 1.62696476e-03 9.96503453e-01 1.08834277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.356875 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:16.27, Y:2.57, Z:1.09 [[ 9.71317631e-01 -2.24082469e-01 -7.95556879e-02 1.62676570e+01] [ 2.23193607e-01 9.74568739e-01 -2.00096814e-02 2.57063871e+00] [ 8.20163052e-02 1.67943541e-03 9.96629573e-01 1.09024026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.386875 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:16.29, Y:2.58, Z:1.09 [[ 9.70807553e-01 -2.26685717e-01 -7.83982199e-02 1.62940459e+01] [ 2.25829223e-01 9.73966865e-01 -1.97410377e-02 2.58019799e+00] [ 8.08322798e-02 1.46013944e-03 9.96726648e-01 1.09402206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.416874999999997 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:16.32, Y:2.59, Z:1.10 [[ 9.70804362e-01 -2.26772547e-01 -7.81863263e-02 1.63211236e+01] [ 2.25919123e-01 9.73946635e-01 -1.97104679e-02 2.58821947e+00] [ 8.06191024e-02 1.47122196e-03 9.96743897e-01 1.09758054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.446875 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:16.35, Y:2.60, Z:1.10 [[ 9.71595631e-01 -2.23234575e-01 -7.85382380e-02 1.63469918e+01] [ 2.22360041e-01 9.74763100e-01 -1.98219568e-02 2.59864544e+00] [ 8.09811225e-02 1.79516081e-03 9.96714019e-01 1.10055829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.476875 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:16.37, Y:2.61, Z:1.10 [[ 9.72183505e-01 -2.20722596e-01 -7.83630480e-02 1.63731644e+01] [ 2.19841982e-01 9.75334531e-01 -1.98004087e-02 2.61119830e+00] [ 8.08005843e-02 2.02214294e-03 9.96728236e-01 1.09993021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.506874999999997 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:16.40, Y:2.62, Z:1.10 [[ 9.72902542e-01 -2.17904473e-01 -7.73193701e-02 1.63990864e+01] [ 2.17036547e-01 9.75967514e-01 -1.95588572e-02 2.62157438e+00] [ 7.97231558e-02 2.24773279e-03 9.96814509e-01 1.10192413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.536875 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:16.42, Y:2.63, Z:1.10 [[ 9.73414050e-01 -2.15930556e-01 -7.64138927e-02 1.64242477e+01] [ 2.15075122e-01 9.76405769e-01 -1.93511359e-02 2.63093358e+00] [ 7.87894672e-02 2.40194027e-03 9.96888384e-01 1.10393199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.566875 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:16.45, Y:2.64, Z:1.11 [[ 9.73651976e-01 -2.15931220e-01 -7.33180605e-02 1.64509853e+01] [ 2.15142699e-01 9.76405824e-01 -1.85818718e-02 2.63872015e+00] [ 7.56005875e-02 2.31843069e-03 9.97135485e-01 1.10849679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.596874999999997 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:16.48, Y:2.65, Z:1.11 [[ 9.73428045e-01 -2.17987710e-01 -7.01370045e-02 1.64779110e+01] [ 2.17270130e-01 9.75949290e-01 -1.77953523e-02 2.64649404e+00] [ 7.23293279e-02 2.08381888e-03 9.97378627e-01 1.11318317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.626875 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:16.51, Y:2.65, Z:1.12 [[ 9.72617229e-01 -2.22413986e-01 -6.74369744e-02 1.65050843e+01] [ 2.21759914e-01 9.74950824e-01 -1.71298583e-02 2.65410269e+00] [ 6.95576538e-02 1.70597773e-03 9.97576474e-01 1.11559674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.656875 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:16.53, Y:2.66, Z:1.12 [[ 9.71721103e-01 -2.26365391e-01 -6.72072001e-02 1.65315843e+01] [ 2.25723799e-01 9.74041396e-01 -1.70916626e-02 2.65977451e+00] [ 6.93315559e-02 1.43806469e-03 9.97592636e-01 1.11753125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.686874999999997 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:16.56, Y:2.67, Z:1.12 [[ 9.70913798e-01 -2.29817517e-01 -6.71588088e-02 1.65589489e+01] [ 2.29184472e-01 9.73232999e-01 -1.70882255e-02 2.66566775e+00] [ 6.92883425e-02 1.19943781e-03 9.97595954e-01 1.12008161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.716874999999998 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:16.59, Y:2.67, Z:1.12 [[ 9.70673163e-01 -2.30736011e-01 -6.74870585e-02 1.65856395e+01] [ 2.30097554e-01 9.73015698e-01 -1.71920369e-02 2.67223995e+00] [ 6.96327894e-02 1.15924172e-03 9.97572018e-01 1.12127421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.746875 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:16.61, Y:2.68, Z:1.12 [[ 9.69788462e-01 -2.33600991e-01 -7.02916533e-02 1.66130699e+01] [ 2.32915056e-01 9.72332027e-01 -1.79166412e-02 2.67913830e+00] [ 7.25321709e-02 1.00336746e-03 9.97365569e-01 1.11974626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.776874999999997 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:16.64, Y:2.69, Z:1.12 [[ 9.69527251e-01 -2.34132297e-01 -7.21039316e-02 1.66403617e+01] [ 2.33410344e-01 9.72204221e-01 -1.84000890e-02 2.68577464e+00] [ 7.44078018e-02 1.00958420e-03 9.97227386e-01 1.12293661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.806874999999998 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:16.67, Y:2.69, Z:1.12 [[ 9.69348530e-01 -2.34395337e-01 -7.36359483e-02 1.66677733e+01] [ 2.33641426e-01 9.72140814e-01 -1.88128364e-02 2.69317391e+00] [ 7.59941518e-02 1.03178738e-03 9.97107730e-01 1.12162544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.836875 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:16.69, Y:2.70, Z:1.12 [[ 9.69339919e-01 -2.33956839e-01 -7.51286829e-02 1.66943701e+01] [ 2.33169069e-01 9.72246352e-01 -1.92149873e-02 2.69981947e+00] [ 7.75390656e-02 1.10816915e-03 9.96988699e-01 1.12287432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.866874999999997 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:16.72, Y:2.71, Z:1.13 [[ 9.69448964e-01 -2.33019210e-01 -7.66208491e-02 1.67214715e+01] [ 2.32195954e-01 9.72471369e-01 -1.96080195e-02 2.70614683e+00] [ 7.90806272e-02 1.21792297e-03 9.96867479e-01 1.12542956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.896874999999998 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:16.75, Y:2.71, Z:1.13 [[ 9.69447894e-01 -2.33017723e-01 -7.66389097e-02 1.67483440e+01] [ 2.32192323e-01 9.72471698e-01 -1.96346974e-02 2.71315455e+00] [ 7.91044032e-02 1.23984957e-03 9.96865566e-01 1.12764407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.926875 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:16.77, Y:2.72, Z:1.13 [[ 9.69879660e-01 -2.32373659e-01 -7.30474341e-02 1.67746594e+01] [ 2.31620636e-01 9.72625786e-01 -1.87339804e-02 2.72036099e+00] [ 7.54011016e-02 1.25041339e-03 9.97152501e-01 1.13139774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.956874999999997 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:16.80, Y:2.73, Z:1.13 [[ 9.69840357e-01 -2.32538368e-01 -7.30451241e-02 1.68022533e+01] [ 2.31785133e-01 9.72586424e-01 -1.87429832e-02 2.72754520e+00] [ 7.54011588e-02 1.24692767e-03 9.97152501e-01 1.13336009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.986874999999998 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:16.83, Y:2.73, Z:1.14 [[ 9.69914521e-01 -2.32556904e-01 -7.19938068e-02 1.68294002e+01] [ 2.31824278e-01 9.72582000e-01 -1.84866767e-02 2.73495597e+00] [ 7.43190849e-02 1.24058398e-03 9.97233741e-01 1.13634739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.016875 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:16.86, Y:2.74, Z:1.14 [[ 9.70098414e-01 -2.32546656e-01 -6.95062550e-02 1.68563637e+01] [ 2.31862398e-01 9.72584480e-01 -1.78678068e-02 2.74349026e+00] [ 7.17558036e-02 1.21764411e-03 9.97421487e-01 1.13724885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.046874999999996 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:16.88, Y:2.75, Z:1.14 [[ 9.70092103e-01 -2.32807618e-01 -6.87162633e-02 1.68819793e+01] [ 2.32138068e-01 9.72522063e-01 -1.76848683e-02 2.75063475e+00] [ 7.09452542e-02 1.20429039e-03 9.97479484e-01 1.13901263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.076874999999998 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:16.91, Y:2.76, Z:1.14 [[ 9.69924836e-01 -2.34201715e-01 -6.62975887e-02 1.69087767e+01] [ 2.33580502e-01 9.72187424e-01 -1.70810357e-02 2.75819686e+00] [ 6.84540898e-02 1.08149670e-03 9.97653681e-01 1.14203553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.106875 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:16.94, Y:2.77, Z:1.14 [[ 9.69745819e-01 -2.35191986e-01 -6.54047042e-02 1.69358078e+01] [ 2.34588411e-01 9.71948403e-01 -1.68694877e-02 2.76593393e+00] [ 6.75375661e-02 1.01592950e-03 9.97716215e-01 1.14478379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.136875 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:16.96, Y:2.77, Z:1.15 [[ 9.69391784e-01 -2.36585098e-01 -6.56281941e-02 1.69625557e+01] [ 2.35979285e-01 9.71610316e-01 -1.69460975e-02 2.77460730e+00] [ 6.77742246e-02 9.40513316e-04 9.97700241e-01 1.14561865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.166874999999997 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:16.99, Y:2.78, Z:1.15 [[ 9.69304667e-01 -2.36770974e-01 -6.62417375e-02 1.69891442e+01] [ 2.36152856e-01 9.71565023e-01 -1.71241162e-02 2.78291691e+00] [ 6.84126489e-02 9.55310237e-04 9.97656653e-01 1.14609762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.196875 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:17.01, Y:2.79, Z:1.15 [[ 9.69669070e-01 -2.34649503e-01 -6.84215255e-02 1.70146541e+01] [ 2.33983274e-01 9.72079350e-01 -1.77077694e-02 2.79177161e+00] [ 7.06662713e-02 1.16118378e-03 9.97499338e-01 1.14564941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.226875 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:17.04, Y:2.80, Z:1.14 [[ 9.69873830e-01 -2.33038174e-01 -7.09786132e-02 1.70418267e+01] [ 2.32316099e-01 9.72466670e-01 -1.83795148e-02 2.80025134e+00] [ 7.33074641e-02 1.33633591e-03 9.97308493e-01 1.14451685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.256874999999997 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:17.07, Y:2.81, Z:1.15 [[ 9.70307985e-01 -2.31225158e-01 -7.09742199e-02 1.70690268e+01] [ 2.30496827e-01 9.72899119e-01 -1.83988079e-02 2.80763267e+00] [ 7.33050233e-02 1.49317774e-03 9.97308450e-01 1.14913913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.286875 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:17.10, Y:2.82, Z:1.15 [[ 9.70751092e-01 -2.29603215e-01 -7.01760748e-02 1.70963600e+01] [ 2.28885518e-01 9.73282975e-01 -1.82118068e-02 2.81593016e+00] [ 7.24826683e-02 1.61684409e-03 9.97368362e-01 1.15134913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.316875 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:17.12, Y:2.83, Z:1.15 [[ 9.71842917e-01 -2.25502537e-01 -6.83370336e-02 1.71225429e+01] [ 2.24810513e-01 9.74240745e-01 -1.77539945e-02 2.82524680e+00] [ 7.05802933e-02 1.89121030e-03 9.97504309e-01 1.15284010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.346874999999997 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:17.15, Y:2.83, Z:1.15 [[ 9.72403847e-01 -2.23094334e-01 -6.82618258e-02 1.71493890e+01] [ 2.22396470e-01 9.74794633e-01 -1.77548228e-02 2.83306562e+00] [ 7.05022618e-02 2.08366889e-03 9.97509443e-01 1.15492663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.376875 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:17.18, Y:2.84, Z:1.16 [[ 9.73237444e-01 -2.19104059e-01 -6.92985429e-02 1.71761352e+01] [ 2.18373184e-01 9.75698472e-01 -1.80456230e-02 2.84148236e+00] [ 7.15683516e-02 2.42973251e-03 9.97432738e-01 1.15685247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.406875 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:17.20, Y:2.85, Z:1.16 [[ 9.73388503e-01 -2.18398270e-01 -6.94047421e-02 1.72032341e+01] [ 2.17661865e-01 9.75856504e-01 -1.80940748e-02 2.84946787e+00] [ 7.16807836e-02 2.50579880e-03 9.97424476e-01 1.15817503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.436874999999997 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:17.23, Y:2.86, Z:1.16 [[ 9.73841888e-01 -2.16497577e-01 -6.89983790e-02 1.72299698e+01] [ 2.15763526e-01 9.76279557e-01 -1.80091061e-02 2.85696205e+00] [ 7.12606347e-02 2.65068831e-03 9.97454207e-01 1.15933211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.466874999999998 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:17.26, Y:2.86, Z:1.16 [[ 9.73901302e-01 -2.16327627e-01 -6.86921529e-02 1.72568180e+01] [ 2.15598167e-01 9.76317171e-01 -1.79502553e-02 2.86458587e+00] [ 7.09484645e-02 2.67187482e-03 9.97476404e-01 1.16041624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.496875 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:17.28, Y:2.87, Z:1.16 [[ 9.74163920e-01 -2.15071011e-01 -6.89138413e-02 1.72828138e+01] [ 2.14332199e-01 9.76594420e-01 -1.80290950e-02 2.87122395e+00] [ 7.11784085e-02 2.79283873e-03 9.97459691e-01 1.16067406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.526874999999997 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:17.31, Y:2.88, Z:1.16 [[ 9.74120801e-01 -2.15251372e-01 -6.89602193e-02 1.73097696e+01] [ 2.14511325e-01 9.76554687e-01 -1.80508750e-02 2.87826683e+00] [ 7.12289010e-02 2.79098480e-03 9.97456091e-01 1.16182522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.556874999999998 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:17.34, Y:2.88, Z:1.16 [[ 9.74109232e-01 -2.14967894e-01 -7.00000693e-02 1.73365487e+01] [ 2.14203059e-01 9.76616884e-01 -1.83442286e-02 2.88429459e+00] [ 7.23066698e-02 2.87505348e-03 9.97378303e-01 1.16313223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.586875 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:17.36, Y:2.89, Z:1.17 [[ 9.74123741e-01 -2.14850862e-01 -7.01572876e-02 1.73641322e+01] [ 2.14081561e-01 9.76642564e-01 -1.83953181e-02 2.89143880e+00] [ 7.24708432e-02 2.89993440e-03 9.97366315e-01 1.16505201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.616874999999997 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:17.39, Y:2.90, Z:1.17 [[ 9.74630882e-01 -2.12484817e-01 -7.03196016e-02 1.73914282e+01] [ 2.11704306e-01 9.77159441e-01 -1.84584516e-02 2.89743536e+00] [ 7.26356032e-02 3.10321454e-03 9.97353718e-01 1.16871217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.646874999999998 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:17.42, Y:2.90, Z:1.17 [[ 9.74833738e-01 -2.11668737e-01 -6.99680567e-02 1.74187254e+01] [ 2.10892413e-01 9.77336332e-01 -1.83870633e-02 2.90435107e+00] [ 7.22742904e-02 3.16859735e-03 9.97379761e-01 1.17127885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.676875 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:17.45, Y:2.91, Z:1.17 [[ 9.75096028e-01 -2.10351619e-01 -7.02846467e-02 1.74462171e+01] [ 2.09563281e-01 9.77620219e-01 -1.84915617e-02 2.91140126e+00] [ 7.26014217e-02 3.30196719e-03 9.97355569e-01 1.17318151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.706874999999997 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:17.47, Y:2.92, Z:1.17 [[ 9.75173539e-01 -2.10014832e-01 -7.02163692e-02 1.74730605e+01] [ 2.09225619e-01 9.77692480e-01 -1.84947525e-02 2.91872835e+00] [ 7.25341885e-02 3.34452999e-03 9.97360319e-01 1.17451524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.736874999999998 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:17.50, Y:2.93, Z:1.17 [[ 9.75177799e-01 -2.10351865e-01 -6.91400949e-02 1.74988002e+01] [ 2.09586116e-01 9.77620214e-01 -1.82312118e-02 2.92609965e+00] [ 7.14277238e-02 3.28786900e-03 9.97440359e-01 1.17481255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.766875 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:17.53, Y:2.93, Z:1.18 [[ 9.75032501e-01 -2.11637073e-01 -6.72411415e-02 1.75264353e+01] [ 2.10915323e-01 9.77343365e-01 -1.77390564e-02 2.93150972e+00] [ 6.94719255e-02 3.11396946e-03 9.97579047e-01 1.17917061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.796874999999996 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:17.55, Y:2.94, Z:1.18 [[ 9.74759483e-01 -2.12907903e-01 -6.71876080e-02 1.75535911e+01] [ 2.12188940e-01 9.77067542e-01 -1.77446485e-02 2.93827684e+00] [ 6.94248069e-02 3.04029709e-03 9.97582554e-01 1.18254830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.826874999999998 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:17.58, Y:2.95, Z:1.18 [[ 9.74528247e-01 -2.14024902e-01 -6.69928085e-02 1.75804432e+01] [ 2.13311301e-01 9.76823682e-01 -1.77139101e-02 2.94529636e+00] [ 6.92313798e-02 2.97238264e-03 9.97596201e-01 1.18467383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.856875 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:17.61, Y:2.95, Z:1.19 [[ 9.74020699e-01 -2.16423558e-01 -6.66672429e-02 1.76079249e+01] [ 2.15721057e-01 9.76295527e-01 -1.76484978e-02 2.95343976e+00] [ 6.89064817e-02 2.80847399e-03 9.97619170e-01 1.18516665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.886875 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:17.64, Y:2.96, Z:1.19 [[ 9.73766538e-01 -2.17559610e-01 -6.66824208e-02 1.76352364e+01] [ 2.16857996e-01 9.76043164e-01 -1.76734641e-02 2.96080932e+00] [ 6.89299530e-02 2.74921178e-03 9.97617714e-01 1.18642134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.916874999999997 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:17.66, Y:2.97, Z:1.19 [[ 9.73135001e-01 -2.20196043e-01 -6.72456081e-02 1.76628696e+01] [ 2.19487313e-01 9.75452160e-01 -1.78438402e-02 2.96710338e+00] [ 6.95240167e-02 2.60490766e-03 9.97576877e-01 1.18713775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.946875 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:17.69, Y:2.97, Z:1.19 [[ 9.72703780e-01 -2.21821148e-01 -6.81376100e-02 1.76890334e+01] [ 2.21095945e-01 9.75084055e-01 -1.81016453e-02 2.97318735e+00] [ 7.04552248e-02 2.54258950e-03 9.97511702e-01 1.19035158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.976875 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:17.72, Y:2.98, Z:1.19 [[ 9.72115843e-01 -2.24219681e-01 -6.86754906e-02 1.77150899e+01] [ 2.23488273e-01 9.74535679e-01 -1.82538074e-02 2.97854852e+00] [ 7.10195788e-02 2.39664862e-03 9.97472042e-01 1.19418932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.006874999999997 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:17.74, Y:2.99, Z:1.20 [[ 9.71827676e-01 -2.25508389e-01 -6.85341812e-02 1.77426308e+01] [ 2.24782529e-01 9.74238495e-01 -1.82255206e-02 2.98527041e+00] [ 7.08786453e-02 2.30677873e-03 9.97482279e-01 1.19693505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.036875 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:17.77, Y:2.99, Z:1.20 [[ 9.71342088e-01 -2.27837449e-01 -6.77099998e-02 1.77697747e+01] [ 2.27133209e-01 9.73696851e-01 -1.80263021e-02 2.99191063e+00] [ 7.00360803e-02 2.13051640e-03 9.97542184e-01 1.19816611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.066875 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:17.80, Y:3.00, Z:1.20 [[ 9.71159976e-01 -2.28888364e-01 -6.67713899e-02 1.77972313e+01] [ 2.28204593e-01 9.73450528e-01 -1.77970239e-02 2.99893454e+00] [ 6.90721764e-02 2.04621950e-03 9.97609567e-01 1.19893430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.096874999999997 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:17.82, Y:3.00, Z:1.20 [[ 9.70762891e-01 -2.30625566e-01 -6.65676986e-02 1.78231769e+01] [ 2.29948608e-01 9.73040645e-01 -1.77634705e-02 3.00483600e+00] [ 6.88697868e-02 1.93696831e-03 9.97623777e-01 1.20035572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.126875 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:17.85, Y:3.01, Z:1.20 [[ 9.70567113e-01 -2.31289601e-01 -6.71163084e-02 1.78502012e+01] [ 2.30602363e-01 9.72883063e-01 -1.79191232e-02 3.01129146e+00] [ 6.94408266e-02 1.91453236e-03 9.97584235e-01 1.20238651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.156875 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:17.88, Y:3.02, Z:1.20 [[ 9.69945752e-01 -2.33492922e-01 -6.84565093e-02 1.78759816e+01] [ 2.32781933e-01 9.72356813e-01 -1.82975497e-02 3.01748487e+00] [ 7.08365015e-02 1.81219204e-03 9.97486294e-01 1.20419234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.186874999999997 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:17.90, Y:3.02, Z:1.21 [[ 9.69687986e-01 -2.34609164e-01 -6.82916594e-02 1.79030378e+01] [ 2.33903711e-01 9.72088231e-01 -1.82626876e-02 3.02462774e+00] [ 7.06701123e-02 1.73543624e-03 9.97498232e-01 1.20621113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.216874999999998 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:17.93, Y:3.03, Z:1.21 [[ 9.69431855e-01 -2.35627971e-01 -6.84203016e-02 1.79298642e+01] [ 2.34920926e-01 9.71841871e-01 -1.83176473e-02 3.03174779e+00] [ 7.08098639e-02 1.68435019e-03 9.97488409e-01 1.20843113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.246875 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:17.96, Y:3.04, Z:1.21 [[ 9.69208291e-01 -2.36319707e-01 -6.91974326e-02 1.79555561e+01] [ 2.35596768e-01 9.71673916e-01 -1.85462680e-02 3.03904963e+00] [ 7.16201890e-02 1.67250527e-03 9.97430575e-01 1.20955069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.276874999999997 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:17.98, Y:3.05, Z:1.21 [[ 9.68714389e-01 -2.37883991e-01 -7.07364084e-02 1.79827032e+01] [ 2.37131543e-01 9.71292246e-01 -1.89737877e-02 3.04747278e+00] [ 7.32192853e-02 1.60634744e-03 9.97314572e-01 1.20986772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.306874999999998 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:18.01, Y:3.05, Z:1.21 [[ 9.68592552e-01 -2.38334739e-01 -7.08873737e-02 1.80089706e+01] [ 2.37578744e-01 9.71181757e-01 -1.90351085e-02 3.05496261e+00] [ 7.33812518e-02 1.59593113e-03 9.97302685e-01 1.21161403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.336875 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:18.04, Y:3.06, Z:1.21 [[ 9.68432890e-01 -2.39012886e-01 -7.07854431e-02 1.80358535e+01] [ 2.38260137e-01 9.71015155e-01 -1.90177719e-02 3.06239606e+00] [ 7.32792306e-02 1.55208639e-03 9.97310255e-01 1.21326913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.366874999999997 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:18.06, Y:3.07, Z:1.22 [[ 9.68272860e-01 -2.39732679e-01 -7.05401332e-02 1.80630360e+01] [ 2.38985550e-01 9.70837759e-01 -1.89723939e-02 3.06930830e+00] [ 7.30313277e-02 1.51238155e-03 9.97328500e-01 1.21665111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.396874999999998 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:18.09, Y:3.08, Z:1.22 [[ 9.68381270e-01 -2.39574006e-01 -6.95845710e-02 1.80900917e+01] [ 2.38845128e-01 9.70876910e-01 -1.87358031e-02 3.07637598e+00] [ 7.20466647e-02 1.52346504e-03 9.97400099e-01 1.21971091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.426875 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:18.12, Y:3.08, Z:1.22 [[ 9.68865819e-01 -2.38016363e-01 -6.81706410e-02 1.81155974e+01] [ 2.37311570e-01 9.71259784e-01 -1.83752488e-02 3.08365586e+00] [ 7.05850120e-02 1.62546862e-03 9.97504443e-01 1.22277237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.456874999999997 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:18.14, Y:3.09, Z:1.22 [[ 9.69058881e-01 -2.37300289e-01 -6.79224388e-02 1.81412862e+01] [ 2.36598239e-01 9.71434892e-01 -1.83173046e-02 3.09130941e+00] [ 7.03289286e-02 1.68021730e-03 9.97522440e-01 1.22424574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.486874999999998 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:18.17, Y:3.10, Z:1.23 [[ 9.69487920e-01 -2.35508153e-01 -6.80373635e-02 1.81685791e+01] [ 2.34798669e-01 9.71870665e-01 -1.83574322e-02 3.09914708e+00] [ 7.04468427e-02 1.82222638e-03 9.97513871e-01 1.22583104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.516875 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:18.20, Y:3.11, Z:1.23 [[ 9.70377617e-01 -2.31616273e-01 -6.87108660e-02 1.81985367e+01] [ 2.31516597e-01 9.72784367e-01 -9.52055260e-03 3.10582583e+00] [ 6.90459711e-02 -6.66917475e-03 9.97591187e-01 1.23114734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.546874999999996 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:18.22, Y:3.12, Z:1.22 [[ 9.70872551e-01 -2.30153336e-01 -6.66027881e-02 1.82223784e+01] [ 2.28873901e-01 9.73099498e-01 -2.63458616e-02 3.11674775e+00] [ 7.08747276e-02 1.03348340e-02 9.97431684e-01 1.22481382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.576874999999998 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:18.25, Y:3.12, Z:1.23 [[ 9.71870103e-01 -2.24581052e-01 -7.09355597e-02 1.82484602e+01] [ 2.23776694e-01 9.74451449e-01 -1.91928176e-02 3.12314132e+00] [ 7.34336022e-02 2.77920054e-03 9.97296236e-01 1.23046054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.606875 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:18.28, Y:3.13, Z:1.23 [[ 9.72378628e-01 -2.21913441e-01 -7.23479656e-02 1.82750485e+01] [ 2.21068117e-01 9.75061581e-01 -1.95908486e-02 3.13142235e+00] [ 7.48911944e-02 3.05589390e-03 9.97187029e-01 1.23129728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.636875 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:18.30, Y:3.14, Z:1.23 [[ 9.72822796e-01 -2.19472600e-01 -7.38077618e-02 1.83018923e+01] [ 2.18583991e-01 9.75612974e-01 -2.00090984e-02 3.14014137e+00] [ 7.63992588e-02 3.33211189e-03 9.97071738e-01 1.23186049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.666874999999997 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:18.33, Y:3.15, Z:1.23 [[ 9.74024823e-01 -2.13872262e-01 -7.43928779e-02 1.83277719e+01] [ 2.12951510e-01 9.76854155e-01 -2.01894469e-02 3.14953083e+00] [ 7.69889546e-02 3.82294676e-03 9.97024617e-01 1.23268905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.696875 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:18.35, Y:3.16, Z:1.23 [[ 9.74332968e-01 -2.12390242e-01 -7.46033039e-02 1.83534578e+01] [ 2.11459166e-01 9.77176901e-01 -2.02565035e-02 3.15753597e+00] [ 7.72029089e-02 3.96102675e-03 9.97007533e-01 1.23381504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.726875 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:18.38, Y:3.17, Z:1.24 [[ 9.73439077e-01 -2.16412243e-01 -7.47134782e-02 1.83802213e+01] [ 2.15489327e-01 9.76295220e-01 -2.02976275e-02 3.16628050e+00] [ 7.73350668e-02 3.65854662e-03 9.96998447e-01 1.23576306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.756874999999997 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:18.41, Y:3.17, Z:1.24 [[ 9.73202402e-01 -2.18060594e-01 -7.29839865e-02 1.84069178e+01] [ 2.17182985e-01 9.75929076e-01 -1.98491656e-02 3.17363177e+00] [ 7.55555154e-02 3.46637559e-03 9.97135572e-01 1.23875273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.786875 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:18.43, Y:3.18, Z:1.24 [[ 9.72591774e-01 -2.21178187e-01 -7.17317911e-02 1.84336055e+01] [ 2.20337362e-01 9.75228198e-01 -1.95296921e-02 3.18168382e+00] [ 7.42744073e-02 3.18922426e-03 9.97232742e-01 1.24148767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.816875 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:18.46, Y:3.19, Z:1.24 [[ 9.72087156e-01 -2.23406938e-01 -7.16652079e-02 1.84610071e+01] [ 2.22572181e-01 9.74720535e-01 -1.95320979e-02 3.18994930e+00] [ 7.42171560e-02 3.03621987e-03 9.97237482e-01 1.24276442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.846874999999997 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:18.49, Y:3.20, Z:1.24 [[ 9.71693923e-01 -2.25046670e-01 -7.18673528e-02 1.84879992e+01] [ 2.24210019e-01 9.74343548e-01 -1.96091525e-02 3.19778187e+00] [ 7.44364659e-02 2.94071379e-03 9.97221422e-01 1.24421860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.876875 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:18.52, Y:3.21, Z:1.25 [[ 9.71635181e-01 -2.25301895e-01 -7.18618958e-02 1.85155164e+01] [ 2.24464465e-01 9.74284559e-01 -1.96291312e-02 3.20540323e+00] [ 7.44364159e-02 2.94191246e-03 9.97221422e-01 1.24617873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.906875 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:18.54, Y:3.21, Z:1.25 [[ 9.70969346e-01 -2.28598842e-01 -7.04350685e-02 1.85423432e+01] [ 2.27801601e-01 9.73517089e-01 -1.92589718e-02 3.21282483e+00] [ 7.29723215e-02 2.65464985e-03 9.97330433e-01 1.24885806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.936874999999997 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:18.57, Y:3.22, Z:1.25 [[ 9.70544871e-01 -2.30787803e-01 -6.91349609e-02 1.85693082e+01] [ 2.30023779e-01 9.73000984e-01 -1.89247333e-02 3.21981465e+00] [ 7.16359826e-02 2.46461790e-03 9.97427798e-01 1.25231076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.966874999999998 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:18.59, Y:3.23, Z:1.26 [[ 9.69659263e-01 -2.34880365e-01 -6.77652348e-02 1.85948886e+01] [ 2.34154869e-01 9.72021932e-01 -1.85704099e-02 3.22756985e+00] [ 7.02311192e-02 2.13941028e-03 9.97528452e-01 1.25505217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.996875 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:18.62, Y:3.24, Z:1.26 [[ 9.69218236e-01 -2.36851440e-01 -6.72116561e-02 1.86219373e+01] [ 2.36141497e-01 9.71543833e-01 -1.84329714e-02 3.23585078e+00] [ 6.96649458e-02 1.99411096e-03 9.97568453e-01 1.25645062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.026874999999997 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:18.65, Y:3.24, Z:1.26 [[ 9.68615140e-01 -2.39353810e-01 -6.70407701e-02 1.86478348e+01] [ 2.38652034e-01 9.70930691e-01 -1.84065029e-02 3.24462305e+00] [ 6.94976078e-02 1.82940118e-03 9.97580441e-01 1.25721373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.056874999999998 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:18.68, Y:3.25, Z:1.26 [[ 9.67790250e-01 -2.43207685e-01 -6.50542359e-02 1.86750017e+01] [ 2.42555072e-01 9.69973056e-01 -1.78691991e-02 3.25279851e+00] [ 6.74467825e-02 1.51440175e-03 9.97721724e-01 1.25997298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.086875 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:18.70, Y:3.26, Z:1.26 [[ 9.67407282e-01 -2.44925815e-01 -6.43000498e-02 1.87007604e+01] [ 2.44290732e-01 9.69540815e-01 -1.76818177e-02 3.25992647e+00] [ 6.66722563e-02 1.39761298e-03 9.97773951e-01 1.26332618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.116874999999997 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:18.73, Y:3.27, Z:1.27 [[ 9.66965772e-01 -2.46686321e-01 -6.42110219e-02 1.87277778e+01] [ 2.46055984e-01 9.69094527e-01 -1.76706273e-02 3.26787907e+00] [ 6.65856519e-02 1.28738563e-03 9.97779882e-01 1.26549945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.146874999999998 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:18.75, Y:3.28, Z:1.27 [[ 9.66200655e-01 -2.49261117e-01 -6.57661725e-02 1.87541098e+01] [ 2.48604411e-01 9.68435624e-01 -1.81187455e-02 3.27721839e+00] [ 6.82066031e-02 1.15658323e-03 9.97670548e-01 1.26674733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.176875 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:18.78, Y:3.29, Z:1.27 [[ 9.65517070e-01 -2.51691048e-01 -6.65462544e-02 1.87800613e+01] [ 2.51023021e-01 9.67807100e-01 -1.83537271e-02 3.28606363e+00] [ 6.90234063e-02 1.01619497e-03 9.97614523e-01 1.26687685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.206874999999997 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:18.81, Y:3.29, Z:1.27 [[ 9.65107006e-01 -2.53337214e-01 -6.62474296e-02 1.88065270e+01] [ 2.52678468e-01 9.67377610e-01 -1.82797858e-02 3.29453729e+00] [ 6.87172301e-02 9.02650316e-04 9.97635769e-01 1.26806809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.236874999999998 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:18.83, Y:3.30, Z:1.27 [[ 9.64827415e-01 -2.54433650e-01 -6.61179105e-02 1.88324554e+01] [ 2.53778697e-01 9.67089866e-01 -1.82637318e-02 3.30301790e+00] [ 6.85888691e-02 8.42031946e-04 9.97644655e-01 1.26939193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.266875 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:18.86, Y:3.31, Z:1.27 [[ 9.64656951e-01 -2.54840665e-01 -6.70313531e-02 1.88584089e+01] [ 2.54167839e-01 9.66982700e-01 -1.85247896e-02 3.31133932e+00] [ 6.95390285e-02 8.32852934e-04 9.97578884e-01 1.27106337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.296874999999996 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:18.89, Y:3.32, Z:1.27 [[ 9.64505931e-01 -2.55218464e-01 -6.77631573e-02 1.88854172e+01] [ 2.54531146e-01 9.66883063e-01 -1.87359973e-02 3.32064389e+00] [ 7.03008215e-02 8.23146415e-04 9.97525497e-01 1.27361585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.326874999999998 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:18.91, Y:3.33, Z:1.28 [[ 9.64504693e-01 -2.55146685e-01 -6.80504645e-02 1.89120901e+01] [ 2.54451924e-01 9.66901983e-01 -1.88354416e-02 3.32902616e+00] [ 7.06039295e-02 8.51300158e-04 9.97504065e-01 1.27595365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.356875 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:18.94, Y:3.34, Z:1.28 [[ 9.65083110e-01 -2.52416890e-01 -7.00021681e-02 1.89372559e+01] [ 2.51672921e-01 9.67617951e-01 -1.93969426e-02 3.33877632e+00] [ 7.26314704e-02 1.10201149e-03 9.97358238e-01 1.27749709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.386875 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:18.96, Y:3.35, Z:1.28 [[ 9.65620856e-01 -2.50148894e-01 -7.07240674e-02 1.89642565e+01] [ 2.49382654e-01 9.68206513e-01 -1.96071334e-02 3.34869894e+00] [ 7.33802054e-02 1.29570132e-03 9.97303197e-01 1.27765803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.416874999999997 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:18.99, Y:3.36, Z:1.28 [[ 9.66320795e-01 -2.47147356e-01 -7.17098711e-02 1.89908533e+01] [ 2.46349684e-01 9.68976641e-01 -1.99023124e-02 3.35786311e+00] [ 7.44039939e-02 1.56631429e-03 9.97226951e-01 1.27912447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.446875 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:19.02, Y:3.37, Z:1.28 [[ 9.68098052e-01 -2.39825229e-01 -7.25949122e-02 1.90165158e+01] [ 2.38985543e-01 9.70813639e-01 -2.01689767e-02 3.36771766e+00] [ 7.53131604e-02 2.17641252e-03 9.97157556e-01 1.28074765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.476875 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:19.04, Y:3.38, Z:1.28 [[ 9.68888516e-01 -2.36442092e-01 -7.31449255e-02 1.90423522e+01] [ 2.35579256e-01 9.71642449e-01 -2.03313840e-02 3.37652048e+00] [ 7.58779096e-02 2.46741738e-03 9.97114063e-01 1.28237986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.506874999999997 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:19.07, Y:3.39, Z:1.28 [[ 9.69623088e-01 -2.33288386e-01 -7.35363550e-02 1.90688428e+01] [ 2.32406393e-01 9.72403735e-01 -2.04510270e-02 3.38530652e+00] [ 7.62780133e-02 2.73946895e-03 9.97082825e-01 1.28413393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.536875 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:19.09, Y:3.39, Z:1.29 [[ 9.70704777e-01 -2.28823704e-01 -7.32935828e-02 1.90948173e+01] [ 2.27933149e-01 9.73462938e-01 -2.04055910e-02 3.39483432e+00] [ 7.60178694e-02 3.10176752e-03 9.97101631e-01 1.28750136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.566875 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:19.12, Y:3.40, Z:1.29 [[ 9.70952252e-01 -2.27866929e-01 -7.29958028e-02 1.91219239e+01] [ 2.26979210e-01 9.73687072e-01 -2.03451039e-02 3.40296942e+00] [ 7.57110459e-02 3.18559478e-03 9.97124711e-01 1.29111438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.596874999999997 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:19.15, Y:3.41, Z:1.29 [[ 9.71403327e-01 -2.27264893e-01 -6.87476954e-02 1.91485692e+01] [ 2.26474716e-01 9.73828161e-01 -1.91811577e-02 3.41244777e+00] [ 7.13076455e-02 3.06302562e-03 9.97449667e-01 1.29454950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.626875 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:19.17, Y:3.42, Z:1.30 [[ 9.71373165e-01 -2.28009048e-01 -6.66786896e-02 1.91744410e+01] [ 2.27266133e-01 9.73654583e-01 -1.86241089e-02 3.42102231e+00] [ 6.91684771e-02 2.93715170e-03 9.97600669e-01 1.29573242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.656875 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:19.20, Y:3.43, Z:1.30 [[ 9.71160469e-01 -2.29175724e-01 -6.57710520e-02 1.92006987e+01] [ 2.28454993e-01 9.73380971e-01 -1.83793749e-02 3.42911242e+00] [ 6.82323970e-02 2.82359712e-03 9.97665459e-01 1.29712665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.686874999999997 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:19.23, Y:3.44, Z:1.30 [[ 9.70769837e-01 -2.30814721e-01 -6.58064438e-02 1.92271635e+01] [ 2.30096371e-01 9.72993923e-01 -1.83979705e-02 3.43724707e+00] [ 6.82757924e-02 2.71837092e-03 9.97662782e-01 1.29808542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.716874999999998 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:19.25, Y:3.45, Z:1.30 [[ 9.70102769e-01 -2.33461991e-01 -6.63032105e-02 1.92542616e+01] [ 2.32737480e-01 9.72362528e-01 -1.85574437e-02 3.44582201e+00] [ 6.88032151e-02 2.57138539e-03 9.97626937e-01 1.29964234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.746875 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:19.28, Y:3.45, Z:1.30 [[ 9.69522696e-01 -2.35331366e-01 -6.81534322e-02 1.92813459e+01] [ 2.34568868e-01 9.71911908e-01 -1.90968412e-02 3.45441399e+00] [ 7.07332180e-02 2.52814748e-03 9.97492065e-01 1.30067980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.776874999999997 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:19.31, Y:3.46, Z:1.30 [[ 9.69419311e-01 -2.35235322e-01 -6.99324182e-02 1.93071211e+01] [ 2.34430619e-01 9.71934908e-01 -1.96168254e-02 3.46209273e+00] [ 7.25843287e-02 2.62262929e-03 9.97358831e-01 1.30212419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.806874999999998 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:19.33, Y:3.47, Z:1.30 [[ 9.69354462e-01 -2.34957103e-01 -7.17432060e-02 1.93341920e+01] [ 2.34108551e-01 9.72001927e-01 -2.01355395e-02 3.47021036e+00] [ 7.44655226e-02 2.72277704e-03 9.97219872e-01 1.30341438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.836875 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:19.36, Y:3.48, Z:1.30 [[ 9.69338204e-01 -2.34445871e-01 -7.36110066e-02 1.93597337e+01] [ 2.33549358e-01 9.72124982e-01 -2.06813262e-02 3.47829287e+00] [ 7.64077500e-02 2.85539628e-03 9.97072566e-01 1.30437806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.866874999999997 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:19.39, Y:3.49, Z:1.30 [[ 9.69546237e-01 -2.32949300e-01 -7.55957502e-02 1.93866735e+01] [ 2.31998234e-01 9.72484050e-01 -2.12507059e-02 3.48634607e+00] [ 7.84659983e-02 3.06546141e-03 9.96912077e-01 1.30405084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.896874999999998 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:19.41, Y:3.49, Z:1.31 [[ 9.69479033e-01 -2.32870323e-01 -7.66930055e-02 1.94131258e+01] [ 2.31889357e-01 9.72502731e-01 -2.15815726e-02 3.49352818e+00] [ 7.96098651e-02 3.13859041e-03 9.96821157e-01 1.30562768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.926875 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:19.44, Y:3.50, Z:1.31 [[ 9.69279594e-01 -2.33367941e-01 -7.76947336e-02 1.94400801e+01] [ 2.32361329e-01 9.72383385e-01 -2.18806836e-02 3.50096823e+00] [ 8.06553182e-02 3.15524857e-03 9.96737059e-01 1.30703401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.956874999999997 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:19.47, Y:3.51, Z:1.31 [[ 9.68968674e-01 -2.34758250e-01 -7.73839345e-02 1.94673517e+01] [ 2.33762241e-01 9.72049002e-01 -2.18163448e-02 3.50803717e+00] [ 8.03425432e-02 3.04991277e-03 9.96762647e-01 1.30814215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.986874999999998 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:19.49, Y:3.51, Z:1.31 [[ 9.68723555e-01 -2.35969522e-01 -7.67662617e-02 1.94947351e+01] [ 2.34991327e-01 9.71755984e-01 -2.16652712e-02 3.51448499e+00] [ 7.97104179e-02 2.94825281e-03 9.96813702e-01 1.31143929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.016875 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:19.52, Y:3.52, Z:1.32 [[ 9.68428954e-01 -2.38095964e-01 -7.38625268e-02 1.95222441e+01] [ 2.37195013e-01 9.71237913e-01 -2.08672707e-02 3.52009962e+00] [ 7.67064993e-02 2.68864617e-03 9.97050091e-01 1.31589746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.046874999999996 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:19.55, Y:3.53, Z:1.32 [[ 9.68662012e-01 -2.37601201e-01 -7.23849153e-02 1.95481324e+01] [ 2.36733006e-01 9.71359055e-01 -2.04712312e-02 3.52719997e+00] [ 7.51757320e-02 2.69380546e-03 9.97166662e-01 1.31870356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.076874999999998 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:19.57, Y:3.54, Z:1.32 [[ 9.69142803e-01 -2.36249983e-01 -7.03432489e-02 1.95747121e+01] [ 2.35425520e-01 9.71688465e-01 -1.99085972e-02 3.53548085e+00] [ 7.30551293e-02 2.73367779e-03 9.97324157e-01 1.32093019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.106875 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:19.60, Y:3.54, Z:1.32 [[ 9.70322686e-01 -2.31572074e-01 -6.96294412e-02 1.96008482e+01] [ 2.30750767e-01 9.72812891e-01 -1.97272132e-02 3.54412246e+00] [ 7.23046897e-02 3.07471560e-03 9.97377851e-01 1.32134916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.136874999999996 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:19.63, Y:3.55, Z:1.32 [[ 9.70775104e-01 -2.29710607e-01 -6.94890983e-02 1.96277711e+01] [ 2.28887147e-01 9.73253663e-01 -1.96972720e-02 3.55185530e+00] [ 7.21551917e-02 3.21645988e-03 9.97388231e-01 1.32312857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.166874999999997 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:19.65, Y:3.56, Z:1.33 [[ 9.71168585e-01 -2.27890043e-01 -6.99836323e-02 1.96543060e+01] [ 2.27048535e-01 9.73680950e-01 -1.98587666e-02 3.55876261e+00] [ 7.26673447e-02 3.39652899e-03 9.97350450e-01 1.32525986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.196875 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:19.68, Y:3.57, Z:1.33 [[ 9.71524230e-01 -2.25980152e-01 -7.12295004e-02 1.96803134e+01] [ 2.25102520e-01 9.74125209e-01 -2.02221070e-02 3.56552264e+00] [ 7.39562467e-02 3.61232695e-03 9.97254945e-01 1.32597354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.226875 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:19.71, Y:3.57, Z:1.33 [[ 9.71583222e-01 -2.25816510e-01 -7.09432616e-02 1.97075749e+01] [ 2.24944736e-01 9.74163127e-01 -2.01511178e-02 3.57353149e+00] [ 7.36607647e-02 3.62017474e-03 9.97276785e-01 1.32721702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.256874999999997 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:19.73, Y:3.58, Z:1.33 [[ 9.71472864e-01 -2.26243233e-01 -7.10948278e-02 1.97348651e+01] [ 2.25367266e-01 9.74064125e-01 -2.02157321e-02 3.58079157e+00] [ 7.38245938e-02 3.61658821e-03 9.97264684e-01 1.33018283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.286875 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:19.76, Y:3.59, Z:1.33 [[ 9.71300226e-01 -2.27094524e-01 -7.07385862e-02 1.97613893e+01] [ 2.26228032e-01 9.73866235e-01 -2.01354055e-02 3.58735911e+00] [ 7.34625609e-02 3.55447281e-03 9.97291641e-01 1.33318741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.316875 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:19.79, Y:3.59, Z:1.34 [[ 9.70965675e-01 -2.28558918e-01 -7.06150046e-02 1.97887220e+01] [ 2.27698562e-01 9.73523977e-01 -2.01104531e-02 3.59405194e+00] [ 7.33418235e-02 3.44762469e-03 9.97300903e-01 1.33679100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.346874999999997 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:19.82, Y:3.60, Z:1.34 [[ 9.70210661e-01 -2.31576697e-01 -7.11583170e-02 1.98161308e+01] [ 2.30709463e-01 9.72811167e-01 -2.02873786e-02 3.59954399e+00] [ 7.39216895e-02 3.26613391e-03 9.97258701e-01 1.33887199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.376875 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:19.84, Y:3.61, Z:1.34 [[ 9.69826285e-01 -2.33116971e-01 -7.13684489e-02 1.98424660e+01] [ 2.32247156e-01 9.72443506e-01 -2.03687697e-02 3.60613471e+00] [ 7.41500906e-02 3.17904889e-03 9.97242026e-01 1.33983088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.406875 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:19.87, Y:3.61, Z:1.34 [[ 9.69445733e-01 -2.34968904e-01 -7.04598102e-02 1.98684758e+01] [ 2.34125291e-01 9.71998234e-01 -2.01191991e-02 3.61277950e+00] [ 7.32141973e-02 3.00804820e-03 9.97311703e-01 1.34059919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.436874999999997 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:19.90, Y:3.62, Z:1.34 [[ 9.69021447e-01 -2.36846129e-01 -7.00096165e-02 1.98961609e+01] [ 2.36017083e-01 9.71542958e-01 -2.00054485e-02 3.61947354e+00] [ 7.27555629e-02 2.86224320e-03 9.97345695e-01 1.34230834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.466874999999998 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:19.92, Y:3.62, Z:1.34 [[ 9.68416671e-01 -2.39210237e-01 -7.03392785e-02 1.99237614e+01] [ 2.38378013e-01 9.70963993e-01 -2.01208410e-02 3.62377805e+00] [ 7.31100178e-02 2.71802050e-03 9.97320178e-01 1.34434795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.496875 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:19.95, Y:3.63, Z:1.35 [[ 9.68275311e-01 -2.39596688e-01 -7.09672445e-02 1.99511749e+01] [ 2.38748946e-01 9.70868659e-01 -2.03221250e-02 3.62961754e+00] [ 7.37689873e-02 2.73405712e-03 9.97271609e-01 1.34694612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.526874999999997 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:19.98, Y:3.64, Z:1.35 [[ 9.68365362e-01 -2.39257569e-01 -7.08825939e-02 1.99788509e+01] [ 2.38409324e-01 9.70952161e-01 -2.03198222e-02 3.63576855e+00] [ 7.36852790e-02 2.77794069e-03 9.97277676e-01 1.35045342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.556874999999998 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:20.01, Y:3.64, Z:1.35 [[ 9.68816659e-01 -2.37806222e-01 -6.95879442e-02 2.00065119e+01] [ 2.36983450e-01 9.71308418e-01 -1.99700012e-02 3.64229165e+00] [ 7.23403466e-02 2.85607870e-03 9.97375916e-01 1.35163020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.586875 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:20.03, Y:3.65, Z:1.35 [[ 9.69105153e-01 -2.36804877e-01 -6.89829852e-02 2.00331086e+01] [ 2.35992299e-01 9.71552823e-01 -1.98178362e-02 3.64971368e+00] [ 7.17135743e-02 2.92611387e-03 9.97420975e-01 1.35288889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.616874999999997 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:20.06, Y:3.66, Z:1.35 [[ 9.69781613e-01 -2.34118798e-01 -6.86440969e-02 2.00597962e+01] [ 2.33305954e-01 9.72202957e-01 -1.97418766e-02 3.65573088e+00] [ 7.13579384e-02 3.13023234e-03 9.97445861e-01 1.35385561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.646874999999998 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:20.09, Y:3.66, Z:1.36 [[ 9.70122044e-01 -2.32461606e-01 -6.94609309e-02 2.00872396e+01] [ 2.31623452e-01 9.72599933e-01 -1.99986569e-02 3.66264592e+00] [ 7.22066166e-02 3.31235731e-03 9.97384195e-01 1.35608635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.676875 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:20.11, Y:3.67, Z:1.36 [[ 9.70587300e-01 -2.30207104e-01 -7.04626235e-02 2.01148054e+01] [ 2.29337015e-01 9.73135176e-01 -2.03091673e-02 3.66964531e+00] [ 7.32449721e-02 3.55213215e-03 9.97307654e-01 1.35804119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.706874999999997 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:20.14, Y:3.68, Z:1.36 [[ 9.70987299e-01 -2.27987669e-01 -7.21476793e-02 2.01407829e+01] [ 2.27067656e-01 9.73656486e-01 -2.08165089e-02 3.67730808e+00] [ 7.49929633e-02 3.83016132e-03 9.97176707e-01 1.35932739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.736874999999998 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:20.17, Y:3.69, Z:1.36 [[ 9.71859484e-01 -2.23751890e-01 -7.36494015e-02 2.01681146e+01] [ 2.22780113e-01 9.74636848e-01 -2.12611450e-02 3.68538014e+00] [ 7.65386419e-02 4.25522339e-03 9.97057536e-01 1.35886038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.766875 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:20.20, Y:3.69, Z:1.36 [[ 9.71799064e-01 -2.24016160e-01 -7.36433172e-02 2.01955201e+01] [ 2.23043549e-01 9.74576135e-01 -2.12822000e-02 3.69340292e+00] [ 7.65385762e-02 4.25635526e-03 9.97057536e-01 1.36082057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.796874999999996 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:20.22, Y:3.70, Z:1.36 [[ 9.72168511e-01 -2.22140997e-01 -7.44430263e-02 2.02211083e+01] [ 2.21140020e-01 9.75004295e-01 -2.15340731e-02 3.70048646e+00] [ 7.73658708e-02 4.47241542e-03 9.96992738e-01 1.36237079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.826874999999998 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:20.25, Y:3.71, Z:1.37 [[ 9.72943659e-01 -2.18840436e-01 -7.40911638e-02 2.02474873e+01] [ 2.17838620e-01 9.75749232e-01 -2.14422791e-02 3.70587954e+00] [ 7.69868339e-02 4.72221262e-03 9.97020927e-01 1.36534085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.856875 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:20.27, Y:3.71, Z:1.37 [[ 9.73038352e-01 -2.18530083e-01 -7.37629258e-02 2.02743229e+01] [ 2.17535401e-01 9.75818717e-01 -2.13583936e-02 3.71270326e+00] [ 7.66466951e-02 4.73648849e-03 9.97047065e-01 1.36782186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.886874999999996 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:20.30, Y:3.72, Z:1.37 [[ 9.72960325e-01 -2.18986148e-01 -7.34389124e-02 2.03015820e+01] [ 2.17999732e-01 9.75716637e-01 -2.12875882e-02 3.71989542e+00] [ 7.63172555e-02 4.70231548e-03 9.97072497e-01 1.36991559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.916874999999997 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:20.33, Y:3.73, Z:1.37 [[ 9.72909385e-01 -2.19437893e-01 -7.27622165e-02 2.03279433e+01] [ 2.18469238e-01 9.75615416e-01 -2.11128593e-02 3.72715543e+00] [ 7.56209015e-02 4.64459292e-03 9.97125823e-01 1.37196484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.946875 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:20.36, Y:3.73, Z:1.37 [[ 9.72463928e-01 -2.21630610e-01 -7.20679017e-02 2.03551722e+01] [ 2.20685573e-01 9.75120580e-01 -2.09220701e-02 3.73259717e+00] [ 7.49118652e-02 4.44161234e-03 9.97180267e-01 1.37483834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.976875 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:20.38, Y:3.74, Z:1.38 [[ 9.72016800e-01 -2.23592584e-01 -7.20395507e-02 2.03818290e+01] [ 2.22652069e-01 9.74673169e-01 -2.09349031e-02 3.73836578e+00] [ 7.48959063e-02 4.30932256e-03 9.97182046e-01 1.37731298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.006874999999997 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:20.41, Y:3.74, Z:1.38 [[ 9.71208237e-01 -2.27209297e-01 -7.16274824e-02 2.04100585e+01] [ 2.26288528e-01 9.73837663e-01 -2.08256441e-02 3.74222645e+00] [ 7.44853200e-02 4.01755957e-03 9.97214017e-01 1.38113697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.036875 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:20.44, Y:3.75, Z:1.38 [[ 9.70664792e-01 -2.29785794e-01 -7.07697043e-02 2.04373877e+01] [ 2.28892219e-01 9.73233830e-01 -2.05976616e-02 3.74937242e+00] [ 7.36085204e-02 3.79479029e-03 9.97279993e-01 1.38296260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.066875 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:20.46, Y:3.76, Z:1.38 [[ 9.70276129e-01 -2.31569760e-01 -7.02828539e-02 2.04633864e+01] [ 2.30691573e-01 9.72811436e-01 -2.04770356e-02 3.75621582e+00] [ 7.31138263e-02 3.65471671e-03 9.97316906e-01 1.38426630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.096874999999997 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:20.49, Y:3.76, Z:1.39 [[ 9.69915922e-01 -2.33117041e-01 -7.01395027e-02 2.04901598e+01] [ 2.32245360e-01 9.72442221e-01 -2.04503985e-02 3.76295526e+00] [ 7.29739502e-02 3.54559308e-03 9.97327545e-01 1.38600260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.126875 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:20.52, Y:3.77, Z:1.39 [[ 9.69071478e-01 -2.36179008e-01 -7.15537993e-02 2.05168235e+01] [ 2.35278445e-01 9.71703603e-01 -2.08844631e-02 3.76769387e+00] [ 7.44615563e-02 3.40347088e-03 9.97218077e-01 1.38723359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.156875 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:20.54, Y:3.77, Z:1.39 [[ 9.68619677e-01 -2.37980424e-01 -7.17024386e-02 2.05438474e+01] [ 2.37080229e-01 9.71264405e-01 -2.09384793e-02 3.77386317e+00] [ 7.46249746e-02 3.28219251e-03 9.97206268e-01 1.38876053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.186874999999997 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:20.57, Y:3.78, Z:1.39 [[ 9.68021976e-01 -2.40532787e-01 -7.12561037e-02 2.05714188e+01] [ 2.39649057e-01 9.70636104e-01 -2.08298495e-02 3.78039044e+00] [ 7.41740087e-02 3.08729398e-03 9.97240535e-01 1.39121082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.216874999999998 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:20.60, Y:3.79, Z:1.39 [[ 9.66200297e-01 -2.47847971e-01 -7.09109885e-02 2.05982117e+01] [ 2.46990781e-01 9.68795622e-01 -2.07508444e-02 3.78802583e+00] [ 7.38413099e-02 2.53511158e-03 9.97266782e-01 1.39138969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.246875 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:20.62, Y:3.79, Z:1.39 [[ 9.65568124e-01 -2.50478006e-01 -7.02777816e-02 2.06242374e+01] [ 2.49641480e-01 9.68119478e-01 -2.05866023e-02 3.79486234e+00] [ 7.31937803e-02 2.33351751e-03 9.97315008e-01 1.39445425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.276874999999997 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:20.65, Y:3.80, Z:1.40 [[ 9.65179034e-01 -2.52139315e-01 -6.96792503e-02 2.06512705e+01] [ 2.51320249e-01 9.67688438e-01 -2.04259472e-02 3.80174369e+00] [ 7.25779892e-02 2.20288945e-03 9.97360307e-01 1.39751156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.306874999999998 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:20.68, Y:3.81, Z:1.40 [[ 9.64886098e-01 -2.53101517e-01 -7.02455709e-02 2.06771381e+01] [ 2.52270096e-01 9.67437296e-01 -2.06125309e-02 3.80877055e+00] [ 7.31752481e-02 2.16788753e-03 9.97316742e-01 1.39958644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.336875 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:20.70, Y:3.82, Z:1.40 [[ 9.64618842e-01 -2.53550457e-01 -7.22679407e-02 2.07043366e+01] [ 2.52670839e-01 9.67319647e-01 -2.12166869e-02 3.81697367e+00] [ 7.52856996e-02 2.20601469e-03 9.97159564e-01 1.39943153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.366874999999997 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:20.73, Y:3.83, Z:1.40 [[ 9.64598447e-01 -2.53370264e-01 -7.31665533e-02 2.07308075e+01] [ 2.52466364e-01 9.67366713e-01 -2.15029570e-02 3.82530991e+00] [ 7.62270981e-02 2.26962531e-03 9.97087899e-01 1.39984457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.396874999999998 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:20.76, Y:3.83, Z:1.40 [[ 9.64847913e-01 -2.52180411e-01 -7.39834136e-02 2.07578061e+01] [ 2.51250897e-01 9.67677229e-01 -2.17662015e-02 3.83322826e+00] [ 7.70810743e-02 2.41267502e-03 9.97021909e-01 1.40079427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.426875 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:20.78, Y:3.84, Z:1.40 [[ 9.65847801e-01 -2.48475639e-01 -7.34702800e-02 2.07839467e+01] [ 2.47546631e-01 9.68634353e-01 -2.16369182e-02 3.84133217e+00] [ 7.65420841e-02 2.71064959e-03 9.97062667e-01 1.40162374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.456874999999997 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:20.81, Y:3.85, Z:1.40 [[ 9.66322824e-01 -2.46580621e-01 -7.36084048e-02 2.08105233e+01] [ 2.45641748e-01 9.69118011e-01 -2.16890074e-02 3.84932093e+00] [ 7.66833197e-02 2.87728570e-03 9.97051348e-01 1.40416045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.486874999999998 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:20.84, Y:3.86, Z:1.41 [[ 9.65898379e-01 -2.48096476e-01 -7.40841475e-02 2.08368207e+01] [ 2.47148140e-01 9.68731294e-01 -2.18512576e-02 3.85691899e+00] [ 7.71888520e-02 2.79633503e-03 9.97012568e-01 1.40677036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.516875 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:20.86, Y:3.86, Z:1.41 [[ 9.65259975e-01 -2.50372728e-01 -7.47440819e-02 2.08635025e+01] [ 2.49413269e-01 9.68145897e-01 -2.20577171e-02 3.86495105e+00] [ 7.78858271e-02 2.64926568e-03 9.96958765e-01 1.40984742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.546874999999996 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:20.89, Y:3.87, Z:1.41 [[ 9.64920579e-01 -2.51594121e-01 -7.50244966e-02 2.08898229e+01] [ 2.50629290e-01 9.67829389e-01 -2.21637504e-02 3.87325511e+00] [ 7.81871820e-02 2.58292254e-03 9.96935351e-01 1.41303582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.576874999999998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:20.92, Y:3.88, Z:1.42 [[ 9.64884090e-01 -2.52282577e-01 -7.31586874e-02 2.09152088e+01] [ 2.51365611e-01 9.67650418e-01 -2.16332791e-02 3.88274968e+00] [ 7.62497338e-02 2.48402869e-03 9.97085657e-01 1.41555394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.606875 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:20.94, Y:3.89, Z:1.42 [[ 9.64857153e-01 -2.52604869e-01 -7.23978959e-02 2.09417808e+01] [ 2.51707011e-01 9.67566438e-01 -2.14188940e-02 3.89220971e+00] [ 7.54602911e-02 2.44311512e-03 9.97145815e-01 1.41699162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.636874999999996 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:20.97, Y:3.90, Z:1.42 [[ 9.64903778e-01 -2.52581442e-01 -7.18562138e-02 2.09686636e+01] [ 2.51695320e-01 9.67572543e-01 -2.12800339e-02 3.90158010e+00] [ 7.49010412e-02 2.44731241e-03 9.97187969e-01 1.41918035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.666874999999997 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:21.00, Y:3.91, Z:1.42 [[ 9.65045276e-01 -2.52375527e-01 -7.06697105e-02 2.09950239e+01] [ 2.51516347e-01 9.67626283e-01 -2.09500087e-02 3.91110192e+00] [ 7.36691388e-02 2.44311954e-03 9.97279745e-01 1.42095642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.696875 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:21.02, Y:3.92, Z:1.42 [[ 9.65285180e-01 -2.51782782e-01 -6.94978550e-02 2.10202911e+01] [ 2.50948884e-01 9.67780629e-01 -2.06230818e-02 3.92188932e+00] [ 7.24512147e-02 2.46674608e-03 9.97368907e-01 1.42283131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.726875 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:21.05, Y:3.93, Z:1.43 [[ 9.65318621e-01 -2.51782122e-01 -6.90342224e-02 2.10466778e+01] [ 2.50958629e-01 9.67780819e-01 -2.04952009e-02 3.93094513e+00] [ 7.19703214e-02 2.45966523e-03 9.97403741e-01 1.42552871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.756874999999997 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:21.07, Y:3.94, Z:1.43 [[ 9.65368981e-01 -2.51505685e-01 -6.93370042e-02 2.10723299e+01] [ 2.50672718e-01 9.67852563e-01 -2.06059519e-02 3.93983142e+00] [ 7.22905112e-02 2.51145145e-03 9.97380456e-01 1.42786489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.786875 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:21.10, Y:3.95, Z:1.43 [[ 9.65456012e-01 -2.51134239e-01 -6.94714615e-02 2.10985659e+01] [ 2.50296356e-01 9.67948900e-01 -2.06558043e-02 3.94921168e+00] [ 7.24322044e-02 2.55381685e-03 9.97370069e-01 1.42962658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.816875 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:21.12, Y:3.96, Z:1.43 [[ 9.65983378e-01 -2.49048269e-01 -6.96496482e-02 2.11246563e+01] [ 2.48199106e-01 9.68487203e-01 -2.07302037e-02 3.96014273e+00] [ 7.26176144e-02 2.73805180e-03 9.97356097e-01 1.43047564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.846874999999997 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:21.15, Y:3.97, Z:1.43 [[ 9.66285190e-01 -2.47616583e-01 -7.05617419e-02 2.11508285e+01] [ 2.46739569e-01 9.68853751e-01 -2.10236405e-02 3.96966659e+00] [ 7.35698104e-02 2.90445871e-03 9.97285840e-01 1.43143242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.876875 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:21.18, Y:3.98, Z:1.43 [[ 9.66624695e-01 -2.46040745e-01 -7.14188405e-02 2.11759491e+01] [ 2.45136364e-01 9.69254585e-01 -2.13005037e-02 3.97876300e+00] [ 7.44638305e-02 3.08223804e-03 9.97218952e-01 1.43163126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.906875 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:21.20, Y:3.99, Z:1.43 [[ 9.67420919e-01 -2.42541494e-01 -7.25974400e-02 2.12022187e+01] [ 2.41596294e-01 9.70135011e-01 -2.16631110e-02 3.98887357e+00] [ 7.56835216e-02 3.41807430e-03 9.97126031e-01 1.43189157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.936874999999997 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:21.23, Y:4.00, Z:1.43 [[ 9.67652264e-01 -2.41513390e-01 -7.29409221e-02 2.12282131e+01] [ 2.40554680e-01 9.70391045e-01 -2.17868064e-02 3.99760898e+00] [ 7.60430231e-02 3.53577239e-03 9.97098268e-01 1.43322258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.966874999999998 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:21.26, Y:4.01, Z:1.43 [[ 9.67799164e-01 -2.40691768e-01 -7.37038080e-02 2.12550026e+01] [ 2.39709617e-01 9.70594744e-01 -2.20259707e-02 4.00574356e+00] [ 7.68379985e-02 3.64920448e-03 9.97036913e-01 1.43490153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.996875 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:21.28, Y:4.01, Z:1.44 [[ 9.67855788e-01 -2.40515498e-01 -7.35354914e-02 2.12818349e+01] [ 2.39535560e-01 9.70638333e-01 -2.19986834e-02 4.01476617e+00] [ 7.66673911e-02 3.67718793e-03 9.97049943e-01 1.43726947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.026874999999997 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:21.31, Y:4.02, Z:1.44 [[ 9.67830183e-01 -2.40726873e-01 -7.31799860e-02 2.13077966e+01] [ 2.39755337e-01 9.70585982e-01 -2.19141519e-02 4.02313898e+00] [ 7.63027939e-02 3.66388550e-03 9.97077961e-01 1.43913873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.056874999999998 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:21.33, Y:4.03, Z:1.44 [[ 9.67671066e-01 -2.41542931e-01 -7.25928429e-02 2.13349406e+01] [ 2.40588401e-01 9.70383526e-01 -2.17493369e-02 4.03175114e+00] [ 7.56962974e-02 3.58120800e-03 9.97124488e-01 1.44041607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.086875 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:21.36, Y:4.04, Z:1.44 [[ 9.67500529e-01 -2.42386600e-01 -7.20518093e-02 2.13613254e+01] [ 2.41446958e-01 9.70173394e-01 -2.16090599e-02 4.03986841e+00] [ 7.51404950e-02 3.51008676e-03 9.97166779e-01 1.44215072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.116874999999997 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:21.39, Y:4.05, Z:1.44 [[ 9.67035457e-01 -2.44310870e-01 -7.17957149e-02 2.13871459e+01] [ 2.43381586e-01 9.69691109e-01 -2.15535876e-02 4.04821291e+00] [ 7.48854421e-02 3.36932849e-03 9.97186451e-01 1.44248072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.146874999999998 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:21.41, Y:4.06, Z:1.44 [[ 9.66653011e-01 -2.45728381e-01 -7.21076884e-02 2.14142209e+01] [ 2.44794098e-01 9.69333160e-01 -2.16581096e-02 4.05681139e+00] [ 7.52183857e-02 3.28434033e-03 9.97161676e-01 1.44340280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.176875 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:21.44, Y:4.06, Z:1.44 [[ 9.66309416e-01 -2.47240361e-01 -7.15424149e-02 2.14409524e+01] [ 2.46323185e-01 9.68949018e-01 -2.15101981e-02 4.06458354e+00] [ 7.46391418e-02 3.16295145e-03 9.97205593e-01 1.44478850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.206874999999997 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:21.47, Y:4.07, Z:1.45 [[ 9.65345913e-01 -2.51293606e-01 -7.04186826e-02 2.14672438e+01] [ 2.50414311e-01 9.67906786e-01 -2.11926032e-02 4.07045139e+00] [ 7.34842865e-02 2.82434707e-03 9.97292376e-01 1.44894917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.236874999999998 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:21.49, Y:4.08, Z:1.45 [[ 9.64715279e-01 -2.53811776e-01 -7.00286599e-02 2.14943868e+01] [ 2.52948100e-01 9.67250060e-01 -2.10850565e-02 4.07749534e+00] [ 7.30868611e-02 2.62745971e-03 9.97322118e-01 1.45273377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.266875 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:21.52, Y:4.08, Z:1.46 [[ 9.64018253e-01 -2.56790346e-01 -6.87570053e-02 2.15216753e+01] [ 2.55963904e-01 9.66464208e-01 -2.07223010e-02 4.08488962e+00] [ 7.17724716e-02 2.37736494e-03 9.97418197e-01 1.45541795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.296874999999996 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:21.55, Y:4.09, Z:1.46 [[ 9.62728515e-01 -2.62088081e-01 -6.68105059e-02 2.15476079e+01] [ 2.61319213e-01 9.65041997e-01 -2.01547132e-02 4.09150364e+00] [ 6.97572541e-02 1.94464823e-03 9.97562100e-01 1.45753574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.326874999999998 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:21.57, Y:4.10, Z:1.46 [[ 9.61986631e-01 -2.64793548e-01 -6.68288727e-02 2.15747448e+01] [ 2.64030157e-01 9.64303525e-01 -2.01689777e-02 4.09871922e+00] [ 6.97839326e-02 1.75744918e-03 9.97560582e-01 1.45975273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.356875 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:21.60, Y:4.11, Z:1.46 [[ 9.61358165e-01 -2.67036952e-01 -6.69458427e-02 2.16010010e+01] [ 2.66274846e-01 9.63684933e-01 -2.02251507e-02 4.10539804e+00] [ 6.99155625e-02 1.61761986e-03 9.97551601e-01 1.46188029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.386874999999996 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:21.63, Y:4.11, Z:1.46 [[ 9.60221982e-01 -2.70979323e-01 -6.74088478e-02 2.16278359e+01] [ 2.70215662e-01 9.62584223e-01 -2.03742112e-02 4.11141678e+00] [ 7.04076834e-02 1.34883899e-03 9.97517388e-01 1.46337895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.416874999999997 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:21.66, Y:4.12, Z:1.46 [[ 9.59658588e-01 -2.72929305e-01 -6.75646943e-02 2.16550835e+01] [ 2.72166280e-01 9.62033322e-01 -2.04304607e-02 4.11909045e+00] [ 7.05755588e-02 1.21743555e-03 9.97505693e-01 1.46461312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.446875 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:21.68, Y:4.13, Z:1.47 [[ 9.59114097e-01 -2.74850088e-01 -6.75098421e-02 2.16820444e+01] [ 2.74091641e-01 9.61486470e-01 -2.04338336e-02 4.12697953e+00] [ 7.05260407e-02 1.09449445e-03 9.97509338e-01 1.46576796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.476875 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:21.71, Y:4.13, Z:1.47 [[ 9.58646093e-01 -2.76269586e-01 -6.83577655e-02 2.17082015e+01] [ 2.75494104e-01 9.61079639e-01 -2.07105603e-02 4.13281835e+00] [ 7.14189544e-02 1.02193642e-03 9.97445883e-01 1.46818232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.506874999999997 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:21.73, Y:4.14, Z:1.47 [[ 9.58658746e-01 -2.76003807e-01 -6.92481615e-02 2.17349084e+01] [ 2.75206572e-01 9.61155953e-01 -2.09899323e-02 4.13963419e+00] [ 7.23515839e-02 1.06463299e-03 9.97378622e-01 1.47116221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.536875 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:21.76, Y:4.15, Z:1.47 [[ 9.58819615e-01 -2.75012262e-01 -7.09450649e-02 2.17611100e+01] [ 2.74171148e-01 9.61439985e-01 -2.15252621e-02 4.14759063e+00] [ 7.41291331e-02 1.18775360e-03 9.97247944e-01 1.47342626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.566875 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:21.79, Y:4.16, Z:1.48 [[ 9.59330472e-01 -2.73036792e-01 -7.16655869e-02 2.17877040e+01] [ 2.72172192e-01 9.62002624e-01 -2.17542757e-02 4.15654942e+00] [ 7.48822003e-02 1.36415975e-03 9.97191454e-01 1.47503252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.596874999999997 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:21.81, Y:4.17, Z:1.47 [[ 9.60755607e-01 -2.67147053e-01 -7.47068580e-02 2.18141189e+01] [ 2.66187784e-01 9.63653855e-01 -2.27004787e-02 4.16804409e+00] [ 7.80559177e-02 1.92355925e-03 9.96947127e-01 1.47459865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.626875 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:21.84, Y:4.18, Z:1.48 [[ 9.61623623e-01 -2.63945324e-01 -7.49191132e-02 2.18406312e+01] [ 2.62969124e-01 9.64535108e-01 -2.27873746e-02 4.17728322e+00] [ 7.82767360e-02 2.21146411e-03 9.96929216e-01 1.47611941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.656875 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:21.87, Y:4.19, Z:1.48 [[ 9.62486810e-01 -2.60865098e-01 -7.46226547e-02 2.18666451e+01] [ 2.59885826e-01 9.65372101e-01 -2.27170613e-02 4.18556110e+00] [ 7.79647173e-02 2.47150162e-03 9.96953055e-01 1.47956497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.686874999999997 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:21.89, Y:4.19, Z:1.48 [[ 9.62442246e-01 -2.61030294e-01 -7.46197605e-02 2.18938910e+01] [ 2.60050782e-01 9.65327454e-01 -2.27265643e-02 4.19396306e+00] [ 7.79648252e-02 2.46807851e-03 9.96953055e-01 1.48152790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.716874999999998 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:21.92, Y:4.20, Z:1.49 [[ 9.63494248e-01 -2.57092941e-01 -7.47131487e-02 2.19197362e+01] [ 2.56097970e-01 9.66382612e-01 -2.27701057e-02 4.20321620e+00] [ 7.80555212e-02 2.80498015e-03 9.96945068e-01 1.48572518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.746875 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:21.95, Y:4.21, Z:1.49 [[ 9.63722526e-01 -2.56287821e-01 -7.45348616e-02 2.19461836e+01] [ 2.55293400e-01 9.66596206e-01 -2.27388296e-02 4.21266900e+00] [ 7.78727996e-02 2.88566406e-03 9.96959127e-01 1.48780741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.776874999999997 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:21.97, Y:4.22, Z:1.49 [[ 9.64048857e-01 -2.55295223e-01 -7.37166929e-02 2.19721770e+01] [ 2.54318030e-01 9.66858638e-01 -2.25103026e-02 4.22167872e+00] [ 7.70203940e-02 2.95354734e-03 9.97025143e-01 1.48968783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.806874999999998 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:22.00, Y:4.23, Z:1.49 [[ 9.64276973e-01 -2.54499605e-01 -7.34838101e-02 2.19991118e+01] [ 2.53525432e-01 9.67068168e-01 -2.24502645e-02 4.23009502e+00] [ 7.67774371e-02 3.01825838e-03 9.97043688e-01 1.49297887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.836875 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:22.03, Y:4.24, Z:1.50 [[ 9.64728972e-01 -2.53249892e-01 -7.18505555e-02 2.20255519e+01] [ 2.52313544e-01 9.67396028e-01 -2.19727370e-02 4.23884602e+00] [ 7.50725352e-02 3.06886764e-03 9.97173353e-01 1.49666517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.866874999999997 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:22.05, Y:4.25, Z:1.50 [[ 9.64762362e-01 -2.53232006e-01 -7.14642339e-02 2.20521815e+01] [ 2.52304055e-01 9.67400692e-01 -2.18761430e-02 4.24826592e+00] [ 7.46742889e-02 3.07456342e-03 9.97203238e-01 1.49836060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.896874999999998 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:22.08, Y:4.26, Z:1.50 [[ 9.64688877e-01 -2.53606846e-01 -7.11262187e-02 2.20785718e+01] [ 2.52687179e-01 9.67302570e-01 -2.17928612e-02 4.25729597e+00] [ 7.43273929e-02 3.05064722e-03 9.97229228e-01 1.49930700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.926875 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:22.10, Y:4.27, Z:1.50 [[ 9.64414008e-01 -2.54772163e-01 -7.06878131e-02 2.21040120e+01] [ 2.53865412e-01 9.66996571e-01 -2.16791069e-02 4.26520198e+00] [ 7.38781059e-02 2.96244357e-03 9.97262879e-01 1.50199584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.956874999999997 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:22.13, Y:4.27, Z:1.50 [[ 9.64133648e-01 -2.55556184e-01 -7.16752851e-02 2.21306480e+01] [ 2.54625251e-01 9.66789695e-01 -2.19924201e-02 4.27298442e+00] [ 7.49152260e-02 2.95329477e-03 9.97185533e-01 1.50407489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.986874999999998 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:22.16, Y:4.28, Z:1.51 [[ 9.63658581e-01 -2.56837234e-01 -7.34627475e-02 2.21565617e+01] [ 2.55861238e-01 9.66450182e-01 -2.25626435e-02 4.28103855e+00] [ 7.67930126e-02 2.94641547e-03 9.97042703e-01 1.50617325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.016875 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:22.18, Y:4.29, Z:1.51 [[ 9.63236418e-01 -2.58056235e-01 -7.47166839e-02 2.21835202e+01] [ 2.57048949e-01 9.66125503e-01 -2.29640963e-02 4.28897353e+00] [ 7.81117220e-02 2.91400888e-03 9.96940353e-01 1.50809575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.046874999999996 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:22.21, Y:4.30, Z:1.51 [[ 9.62439623e-01 -2.60688112e-01 -7.58398303e-02 2.22090133e+01] [ 2.59656633e-01 9.65419119e-01 -2.33314802e-02 4.29673307e+00] [ 7.92994616e-02 2.76282606e-03 9.96847010e-01 1.51073876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.076874999999998 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:22.24, Y:4.30, Z:1.51 [[ 9.61963014e-01 -2.62194473e-01 -7.66890987e-02 2.22361293e+01] [ 2.61143498e-01 9.65011334e-01 -2.36050728e-02 4.30466917e+00] [ 8.01949690e-02 2.68034751e-03 9.96775593e-01 1.51280688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.106875 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:22.26, Y:4.31, Z:1.51 [[ 9.61432882e-01 -2.64030897e-01 -7.70357005e-02 2.22619295e+01] [ 2.62974504e-01 9.64510826e-01 -2.37334527e-02 4.31209614e+00] [ 8.05681320e-02 2.55969667e-03 9.96745817e-01 1.51436467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.136874999999996 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:22.29, Y:4.32, Z:1.52 [[ 9.60887290e-01 -2.65907052e-01 -7.73889931e-02 2.22881766e+01] [ 2.64846086e-01 9.63995624e-01 -2.38534800e-02 4.31957048e+00] [ 8.09454592e-02 2.42433381e-03 9.96715584e-01 1.51648350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.166874999999997 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:22.31, Y:4.33, Z:1.52 [[ 9.60008504e-01 -2.69094910e-01 -7.72761388e-02 2.23148333e+01] [ 2.68045953e-01 9.63111222e-01 -2.38357310e-02 4.32679217e+00] [ 8.08395903e-02 2.16894828e-03 9.96724765e-01 1.51785484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.196875 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:22.34, Y:4.33, Z:1.52 [[ 9.59728845e-01 -2.70003876e-01 -7.75786779e-02 2.23414819e+01] [ 2.68947712e-01 9.62856894e-01 -2.39526675e-02 4.33478935e+00] [ 8.11644779e-02 2.12345805e-03 9.96698459e-01 1.51940717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.226875 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:22.37, Y:4.34, Z:1.52 [[ 9.59538298e-01 -2.70815622e-01 -7.71048215e-02 2.23683262e+01] [ 2.69773087e-01 9.62629023e-01 -2.38294958e-02 4.34250275e+00] [ 8.06767388e-02 2.06450814e-03 9.96738181e-01 1.52150868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.256874999999997 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:22.40, Y:4.35, Z:1.52 [[ 9.59646593e-01 -2.70472630e-01 -7.69608598e-02 2.23953419e+01] [ 2.69431012e-01 9.62725348e-01 -2.38082652e-02 4.35025638e+00] [ 8.05316547e-02 2.11187827e-03 9.96749814e-01 1.52453149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.286875 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:22.42, Y:4.36, Z:1.53 [[ 9.60369092e-01 -2.68135056e-01 -7.61235773e-02 2.24215588e+01] [ 2.67106955e-01 9.63378578e-01 -2.35709460e-02 4.35783236e+00] [ 7.96560206e-02 2.30367099e-03 9.96819749e-01 1.52853629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.316875 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:22.45, Y:4.37, Z:1.53 [[ 9.60888770e-01 -2.66303476e-01 -7.59949415e-02 2.24468805e+01] [ 2.65272317e-01 9.63886093e-01 -2.35413868e-02 4.36559829e+00] [ 7.95196204e-02 2.46129999e-03 9.96830262e-01 1.53058947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.346874999999997 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:22.47, Y:4.37, Z:1.53 [[ 9.61342625e-01 -2.64654313e-01 -7.60161296e-02 2.24728298e+01] [ 2.63616486e-01 9.64339817e-01 -2.35598280e-02 4.37462881e+00] [ 7.95405906e-02 2.60996190e-03 9.96828211e-01 1.53173539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.376875 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:22.50, Y:4.38, Z:1.53 [[ 9.62781516e-01 -2.59589742e-01 -7.52656527e-02 2.24998849e+01] [ 2.58555110e-01 9.65714266e-01 -2.33497798e-02 4.38367441e+00] [ 7.87464779e-02 3.02041728e-03 9.96890099e-01 1.53244018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.406875 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:22.53, Y:4.39, Z:1.53 [[ 9.63266039e-01 -2.57764813e-01 -7.53381646e-02 2.25269422e+01] [ 2.56720775e-01 9.66202407e-01 -2.33955614e-02 4.39156150e+00] [ 7.88224685e-02 3.19527769e-03 9.96883548e-01 1.53442568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.436874999999997 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:22.55, Y:4.40, Z:1.54 [[ 9.63705588e-01 -2.55920311e-01 -7.60022010e-02 2.25532249e+01] [ 2.54850270e-01 9.66691912e-01 -2.36238625e-02 4.39843495e+00] [ 7.95165392e-02 3.39726690e-03 9.96827758e-01 1.53720547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.466874999999998 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:22.58, Y:4.41, Z:1.54 [[ 9.63812461e-01 -2.55310758e-01 -7.66939154e-02 2.25801243e+01] [ 2.54218200e-01 9.66852744e-01 -2.38511604e-02 4.40653315e+00] [ 8.02411804e-02 3.49105648e-03 9.96769364e-01 1.53839729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.496875 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:22.61, Y:4.41, Z:1.54 [[ 9.64022317e-01 -2.54441528e-01 -7.69446576e-02 2.26074388e+01] [ 2.53337117e-01 9.67081466e-01 -2.39529442e-02 4.41440286e+00] [ 8.05063760e-02 3.59823505e-03 9.96747599e-01 1.54067841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.526874999999997 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:22.63, Y:4.42, Z:1.54 [[ 9.64454030e-01 -2.52951905e-01 -7.64444708e-02 2.26335567e+01] [ 2.51855317e-01 9.67471700e-01 -2.38203433e-02 4.42102333e+00] [ 7.99832634e-02 3.72067966e-03 9.96789263e-01 1.54328523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.556874999999998 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:22.66, Y:4.43, Z:1.55 [[ 9.64461656e-01 -2.53007417e-01 -7.61640380e-02 2.26610507e+01] [ 2.51917661e-01 9.67457190e-01 -2.37503152e-02 4.42867527e+00] [ 7.96944521e-02 3.71920203e-03 9.96812401e-01 1.54579213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.586875 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:22.69, Y:4.44, Z:1.55 [[ 9.64073273e-01 -2.55050511e-01 -7.42425851e-02 2.26883131e+01] [ 2.54019417e-01 9.66921461e-01 -2.31737888e-02 4.43686926e+00] [ 7.76972355e-02 3.48217226e-03 9.96970919e-01 1.54614981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.616874999999997 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:22.72, Y:4.44, Z:1.55 [[ 9.63711054e-01 -2.56430111e-01 -7.41930054e-02 2.27154529e+01] [ 2.55402675e-01 9.66556827e-01 -2.31813426e-02 4.44441226e+00] [ 7.76561501e-02 3.39102408e-03 9.96974435e-01 1.54811188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.646874999999998 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:22.74, Y:4.45, Z:1.55 [[ 9.63206279e-01 -2.58195441e-01 -7.46242486e-02 2.27418405e+01] [ 2.57159588e-01 9.66087107e-01 -2.33376779e-02 4.45152960e+00] [ 7.81192065e-02 3.28865687e-03 9.96938601e-01 1.54967599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.676875 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:22.77, Y:4.46, Z:1.55 [[ 9.62102262e-01 -2.62310233e-01 -7.45156348e-02 2.27698040e+01] [ 2.61288792e-01 9.64979052e-01 -2.33151492e-02 4.45731289e+00] [ 7.80218289e-02 2.96145764e-03 9.96947252e-01 1.55241509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.706874999999997 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:22.80, Y:4.46, Z:1.55 [[ 9.61558316e-01 -2.64295822e-01 -7.45206256e-02 2.27954805e+01] [ 2.63278475e-01 9.64437534e-01 -2.33385551e-02 4.46440602e+00] [ 7.80387710e-02 2.82170512e-03 9.96946332e-01 1.55453425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.736874999999998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:22.82, Y:4.47, Z:1.56 [[ 9.60906319e-01 -2.66569125e-01 -7.48328053e-02 2.28226650e+01] [ 2.65548804e-01 9.63812121e-01 -2.34526810e-02 4.47202960e+00] [ 7.83765254e-02 2.66406740e-03 9.96920269e-01 1.55743750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.766875 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:22.85, Y:4.48, Z:1.56 [[ 9.60125391e-01 -2.69467687e-01 -7.44741510e-02 2.28495608e+01] [ 2.68464066e-01 9.63006347e-01 -2.33628222e-02 4.47824440e+00] [ 7.80146057e-02 2.43760542e-03 9.96949236e-01 1.56024921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.796874999999996 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:22.88, Y:4.49, Z:1.56 [[ 9.59651123e-01 -2.71072473e-01 -7.47625327e-02 2.28764831e+01] [ 2.70064117e-01 9.62556101e-01 -2.34760462e-02 4.48553608e+00] [ 7.83268419e-02 2.33813665e-03 9.96924992e-01 1.56231142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.826874999999998 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:22.90, Y:4.49, Z:1.56 [[ 9.59101098e-01 -2.72890423e-01 -7.52057281e-02 2.29033799e+01] [ 2.71873794e-01 9.62042549e-01 -2.36384144e-02 4.49300478e+00] [ 7.88018073e-02 2.22516258e-03 9.96887819e-01 1.56365930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.856875 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:22.93, Y:4.50, Z:1.56 [[ 9.58734588e-01 -2.74171117e-01 -7.52209269e-02 2.29297759e+01] [ 2.73156302e-01 9.61678540e-01 -2.36647655e-02 4.50009242e+00] [ 7.88265463e-02 2.14115901e-03 9.96886047e-01 1.56491320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.886874999999996 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:22.96, Y:4.51, Z:1.57 [[ 9.58621232e-01 -2.74664525e-01 -7.48647556e-02 2.29563717e+01] [ 2.73659911e-01 9.61537821e-01 -2.35641899e-02 4.50812177e+00] [ 7.84575410e-02 2.10165039e-03 9.96915241e-01 1.56675572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.916874999999997 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:22.98, Y:4.52, Z:1.57 [[ 9.58384913e-01 -2.75735349e-01 -7.39484606e-02 2.29833979e+01] [ 2.74756693e-01 9.61231489e-01 -2.32977261e-02 4.51537771e+00] [ 7.75055955e-02 2.01035469e-03 9.96989890e-01 1.56926300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.01, Y:4.52, Z:1.57 [[ 9.58330997e-01 -2.75998961e-01 -7.36632407e-02 2.30092498e+01] [ 2.75027085e-01 9.61155852e-01 -2.32278099e-02 4.52274024e+00] [ 7.72127063e-02 2.00054389e-03 9.97012636e-01 1.57154194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.976875 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:23.04, Y:4.53, Z:1.57 [[ 9.58223158e-01 -2.76395581e-01 -7.35789573e-02 2.30356195e+01] [ 2.75426230e-01 9.61041921e-01 -2.32124530e-02 4.53066396e+00] [ 7.71282819e-02 1.97713515e-03 9.97019217e-01 1.57424783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.006874999999997 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:23.06, Y:4.54, Z:1.58 [[ 9.57997304e-01 -2.77063555e-01 -7.40064331e-02 2.30620305e+01] [ 2.76083122e-01 9.60849603e-01 -2.33698647e-02 4.53920380e+00] [ 7.75839896e-02 1.95634028e-03 9.96983900e-01 1.57627205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.036875 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:23.09, Y:4.55, Z:1.58 [[ 9.57804140e-01 -2.77856048e-01 -7.35339801e-02 2.30889191e+01] [ 2.76888722e-01 9.60620842e-01 -2.32429471e-02 4.54849774e+00] [ 7.70964673e-02 1.90146124e-03 9.97021825e-01 1.57574585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.066875 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:23.11, Y:4.56, Z:1.58 [[ 9.57444492e-01 -2.79081572e-01 -7.35766324e-02 2.31140272e+01] [ 2.78115064e-01 9.60265665e-01 -2.32779806e-02 4.55658164e+00] [ 7.71495692e-02 1.82460455e-03 9.97017861e-01 1.57986336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.096874999999997 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:23.14, Y:4.57, Z:1.58 [[ 9.56976714e-01 -2.80999209e-01 -7.23533963e-02 2.31405073e+01] [ 2.80068926e-01 9.59706569e-01 -2.29062669e-02 4.56515540e+00] [ 7.58746726e-02 1.65682596e-03 9.97115986e-01 1.58180817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.126875 meters Centerline goodness : 0.999878 Centerline is valid? [True, True] Translation: X:23.17, Y:4.57, Z:1.58 [[ 9.56568361e-01 -2.82801086e-01 -7.07143233e-02 2.31659172e+01] [ 2.81915961e-01 9.59177408e-01 -2.24073963e-02 4.57350175e+00] [ 7.41644174e-02 1.49870994e-03 9.97244901e-01 1.58435132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.156875 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:23.19, Y:4.58, Z:1.59 [[ 9.55400641e-01 -2.87203795e-01 -6.87284168e-02 2.31926390e+01] [ 2.86378441e-01 9.57868830e-01 -2.17874473e-02 4.58312868e+00] [ 7.20902457e-02 1.13340429e-03 9.97397469e-01 1.58570218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.186874999999997 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:23.22, Y:4.59, Z:1.59 [[ 9.54646769e-01 -2.89509440e-01 -6.95257585e-02 2.32183676e+01] [ 2.88669387e-01 9.57174646e-01 -2.20608669e-02 4.59094473e+00] [ 7.29351225e-02 9.90377194e-04 9.97336196e-01 1.58768324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.216874999999998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:23.24, Y:4.60, Z:1.59 [[ 9.53877299e-01 -2.91921152e-01 -7.00009915e-02 2.32444673e+01] [ 2.91075330e-01 9.56442036e-01 -2.22212694e-02 4.59829726e+00] [ 7.34387494e-02 8.20802763e-04 9.97299392e-01 1.59049463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.246875 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:23.27, Y:4.61, Z:1.59 [[ 9.52945409e-01 -2.95024770e-01 -6.96809334e-02 2.32705159e+01] [ 2.94193944e-01 9.55489421e-01 -2.21334315e-02 4.60654770e+00] [ 7.31093053e-02 5.92243275e-04 9.97323758e-01 1.59246910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.276874999999997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:23.30, Y:4.62, Z:1.59 [[ 9.52547190e-01 -2.96256118e-01 -6.99010930e-02 2.32965779e+01] [ 2.95422621e-01 9.55108399e-01 -2.22130860e-02 4.61573234e+00] [ 7.33438836e-02 5.08648595e-04 9.97306581e-01 1.59357442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.306874999999998 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:23.32, Y:4.63, Z:1.59 [[ 9.52099815e-01 -2.97468382e-01 -7.08413968e-02 2.33232720e+01] [ 2.96614053e-01 9.54731568e-01 -2.25330056e-02 4.62545897e+00] [ 7.43373745e-02 4.41116579e-04 9.97233052e-01 1.59326501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.336875 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:23.35, Y:4.63, Z:1.59 [[ 9.51980056e-01 -2.97650615e-01 -7.16804265e-02 2.33495471e+01] [ 2.96774791e-01 9.54674765e-01 -2.28214142e-02 4.63429382e+00] [ 7.52243023e-02 4.52587584e-04 9.97166535e-01 1.59437226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.366874999999997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:23.38, Y:4.64, Z:1.60 [[ 9.52074935e-01 -2.97074753e-01 -7.28004798e-02 2.33759076e+01] [ 2.96167935e-01 9.54854080e-01 -2.32000130e-02 4.64298933e+00] [ 7.64059733e-02 5.26983081e-04 9.97076652e-01 1.59605285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.396874999999998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:23.40, Y:4.65, Z:1.60 [[ 9.52865967e-01 -2.94307123e-01 -7.36869531e-02 2.34017087e+01] [ 2.93368157e-01 9.55710579e-01 -2.35034608e-02 4.65214630e+00] [ 7.73406365e-02 7.78242218e-04 9.97004423e-01 1.59881547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.426875 meters Centerline goodness : 0.999878 Centerline is valid? [True, True] Translation: X:23.43, Y:4.66, Z:1.60 [[ 9.53345675e-01 -2.92944949e-01 -7.29059784e-02 2.34282975e+01] [ 2.92021024e-01 9.56128896e-01 -2.32648980e-02 4.66198018e+00] [ 7.65228470e-02 8.89411442e-04 9.97067431e-01 1.60100709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.456874999999997 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:23.45, Y:4.67, Z:1.60 [[ 9.53972519e-01 -2.91216473e-01 -7.16198207e-02 2.34544681e+01] [ 2.90318483e-01 9.56656629e-01 -2.28751618e-02 4.67191373e+00] [ 7.51772002e-02 1.02971798e-03 9.97169659e-01 1.60332772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.486874999999998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:23.48, Y:4.68, Z:1.60 [[ 9.54487198e-01 -2.89840143e-01 -7.03340574e-02 2.34804883e+01] [ 2.88968913e-01 9.57074395e-01 -2.24848704e-02 4.68217219e+00] [ 7.38319435e-02 1.13716488e-03 9.97270049e-01 1.60499910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.516875 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:23.51, Y:4.69, Z:1.61 [[ 9.55828281e-01 -2.85581891e-01 -6.95361815e-02 2.35062072e+01] [ 2.84717573e-01 9.58353184e-01 -2.22503796e-02 4.69250956e+00] [ 7.29945264e-02 1.46936927e-03 9.97331259e-01 1.60745507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.546874999999996 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:23.53, Y:4.70, Z:1.61 [[ 9.56339553e-01 -2.83777289e-01 -6.98935632e-02 2.35324723e+01] [ 2.82897697e-01 9.58888823e-01 -2.23856663e-02 4.70187475e+00] [ 7.33727003e-02 1.63557008e-03 9.97303250e-01 1.60946374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.576874999999998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:23.56, Y:4.71, Z:1.61 [[ 9.56290763e-01 -2.83943148e-01 -6.98875174e-02 2.35595958e+01] [ 2.83062620e-01 9.58839710e-01 -2.24045261e-02 4.71067233e+00] [ 7.33725386e-02 1.64269757e-03 9.97303250e-01 1.61142112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.606875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:23.58, Y:4.72, Z:1.61 [[ 9.56731755e-01 -2.82292645e-01 -7.05351777e-02 2.35845785e+01] [ 2.81390205e-01 9.59326653e-01 -2.26257723e-02 4.71988723e+00] [ 7.40533650e-02 1.79888675e-03 9.97252658e-01 1.61344345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.636874999999996 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:23.61, Y:4.73, Z:1.62 [[ 9.57159966e-01 -2.80844900e-01 -7.05048994e-02 2.36107514e+01] [ 2.79938194e-01 9.59751238e-01 -2.26311605e-02 4.72957215e+00] [ 7.40230104e-02 1.92462661e-03 9.97254676e-01 1.61526924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.666874999999997 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:23.64, Y:4.74, Z:1.62 [[ 9.58009551e-01 -2.78011416e-01 -7.01951111e-02 2.36369662e+01] [ 2.77103503e-01 9.60575353e-01 -2.25530289e-02 4.74000510e+00] [ 7.36976932e-02 2.15470594e-03 9.97278300e-01 1.61640995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.66, Y:4.75, Z:1.62 [[ 9.58311816e-01 -2.76871337e-01 -7.05742582e-02 2.36635179e+01] [ 2.75948854e-01 9.60904305e-01 -2.26968398e-02 4.74931402e+00] [ 7.40992129e-02 2.27576414e-03 9.97248278e-01 1.61873573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.726874999999996 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:23.69, Y:4.76, Z:1.62 [[ 9.58894977e-01 -2.74735608e-01 -7.09983684e-02 2.36887058e+01] [ 2.73794545e-01 9.61516622e-01 -2.28546030e-02 4.75964523e+00] [ 7.45450846e-02 2.47619804e-03 9.97214570e-01 1.62035925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.756874999999997 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:23.72, Y:4.77, Z:1.62 [[ 9.59023554e-01 -2.74060882e-01 -7.18641470e-02 2.37151386e+01] [ 2.73093973e-01 9.61708910e-01 -2.31442170e-02 4.76961996e+00] [ 7.54553150e-02 2.57018380e-03 9.97145872e-01 1.62159747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.786875 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:23.74, Y:4.78, Z:1.62 [[ 9.59168812e-01 -2.73267961e-01 -7.29370451e-02 2.37420495e+01] [ 2.72267880e-01 9.61934179e-01 -2.35125068e-02 4.77939161e+00] [ 7.65858514e-02 2.69404860e-03 9.97059351e-01 1.62256636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.816875 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:23.77, Y:4.79, Z:1.62 [[ 9.59196843e-01 -2.72888036e-01 -7.39833460e-02 2.37683759e+01] [ 2.71856083e-01 9.62041765e-01 -2.38728184e-02 4.78904467e+00] [ 7.76896754e-02 2.78590935e-03 9.96973697e-01 1.62340691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.846874999999997 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:23.79, Y:4.80, Z:1.63 [[ 9.59439243e-01 -2.71868546e-01 -7.45911069e-02 2.37942848e+01] [ 2.70814652e-01 9.62329985e-01 -2.40919989e-02 4.79965235e+00] [ 7.83311155e-02 2.91444449e-03 9.96923138e-01 1.62586378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.876875 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:23.82, Y:4.81, Z:1.63 [[ 9.59596575e-01 -2.71524089e-01 -7.38179031e-02 2.38206540e+01] [ 2.70489199e-01 9.62427173e-01 -2.38648395e-02 4.80919223e+00] [ 7.75242345e-02 2.93367274e-03 9.96986152e-01 1.62807136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.906875 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:23.85, Y:4.82, Z:1.63 [[ 9.59696447e-01 -2.71305417e-01 -7.33219011e-02 2.38472118e+01] [ 2.70282014e-01 9.62488778e-01 -2.37272989e-02 4.81840205e+00] [ 7.70088517e-02 2.95341334e-03 9.97026035e-01 1.63092810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.936874999999997 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:23.87, Y:4.83, Z:1.63 [[ 9.59440809e-01 -2.72530873e-01 -7.21128061e-02 2.38722733e+01] [ 2.71542811e-01 9.62142881e-01 -2.33576330e-02 4.82762800e+00] [ 7.57484991e-02 2.82855222e-03 9.97122943e-01 1.63236895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.966874999999998 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:23.90, Y:4.84, Z:1.63 [[ 9.58934182e-01 -2.74484699e-01 -7.14379738e-02 2.38988534e+01] [ 2.73519290e-01 9.61587776e-01 -2.31548463e-02 4.83661749e+00] [ 7.50495334e-02 2.66430978e-03 9.97176248e-01 1.63372497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.996875 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:23.93, Y:4.84, Z:1.64 [[ 9.58519871e-01 -2.76214512e-01 -7.03221146e-02 2.39250251e+01] [ 2.75282141e-01 9.61092735e-01 -2.28144215e-02 4.84488513e+00] [ 7.38877478e-02 2.50965410e-03 9.97263407e-01 1.63617023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.026874999999997 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:23.95, Y:4.85, Z:1.64 [[ 9.57310456e-01 -2.81001314e-01 -6.77860842e-02 2.39516144e+01] [ 2.80146360e-01 9.59705147e-01 -2.20010852e-02 4.85276738e+00] [ 7.12369877e-02 2.07184413e-03 9.97457267e-01 1.63883537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.056874999999998 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:23.98, Y:4.86, Z:1.64 [[ 9.56569606e-01 -2.83697551e-01 -6.70096149e-02 2.39785447e+01] [ 2.82867271e-01 9.58911991e-01 -2.17692569e-02 4.86133540e+00] [ 7.04322082e-02 1.86898259e-03 9.97514817e-01 1.64069277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.086875 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:24.01, Y:4.87, Z:1.64 [[ 9.55953362e-01 -2.85942336e-01 -6.62582078e-02 2.40055477e+01] [ 2.85134565e-01 9.58245312e-01 -2.15453545e-02 4.86996353e+00] [ 6.96523460e-02 1.70384875e-03 9.97569871e-01 1.64270558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.116874999999997 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:24.03, Y:4.88, Z:1.65 [[ 9.55144522e-01 -2.88678133e-01 -6.60596541e-02 2.40320047e+01] [ 2.87880312e-01 9.57424998e-01 -2.15011406e-02 4.87818268e+00] [ 6.94540733e-02 1.51942284e-03 9.97583993e-01 1.64643934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.146874999999998 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:24.06, Y:4.89, Z:1.65 [[ 9.54793766e-01 -2.89739180e-01 -6.64836165e-02 2.40589320e+01] [ 2.88932205e-01 9.57104510e-01 -2.16595818e-02 4.88687685e+00] [ 6.99073986e-02 1.47117583e-03 9.97552400e-01 1.64935852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.176875 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:24.08, Y:4.90, Z:1.65 [[ 9.54592377e-01 -2.90302018e-01 -6.69188418e-02 2.40844979e+01] [ 2.89484348e-01 9.56933963e-01 -2.18220883e-02 4.89526649e+00] [ 7.03719087e-02 1.45924184e-03 9.97519757e-01 1.65084725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.206874999999997 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:24.11, Y:4.91, Z:1.65 [[ 9.54514992e-01 -2.90045301e-01 -6.91003141e-02 2.41103335e+01] [ 2.89171114e-01 9.57011666e-01 -2.25552284e-02 4.90565299e+00] [ 7.26718448e-02 1.54748886e-03 9.97354705e-01 1.65094941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.236874999999998 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:24.14, Y:4.92, Z:1.65 [[ 9.54467839e-01 -2.90079665e-01 -6.96055402e-02 2.41364916e+01] [ 2.89191143e-01 9.57001202e-01 -2.27416276e-02 4.91596756e+00] [ 7.32094694e-02 1.57684645e-03 9.97315340e-01 1.65122972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.266875 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:24.16, Y:4.93, Z:1.65 [[ 9.54763828e-01 -2.89133638e-01 -6.94821641e-02 2.41625846e+01] [ 2.88244204e-01 9.57287293e-01 -2.27226432e-02 4.92653545e+00] [ 7.30842733e-02 1.66692678e-03 9.97324376e-01 1.65282788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.296874999999996 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:24.19, Y:4.94, Z:1.65 [[ 9.54917299e-01 -2.88656991e-01 -6.93548393e-02 2.41885621e+01] [ 2.87768017e-01 9.57431032e-01 -2.27021339e-02 4.93590628e+00] [ 7.29556050e-02 1.72055581e-03 9.97333705e-01 1.65492738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.326874999999998 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:24.22, Y:4.95, Z:1.66 [[ 9.55051114e-01 -2.88193938e-01 -6.94379199e-02 2.42153011e+01] [ 2.87300046e-01 9.57570411e-01 -2.27506606e-02 4.94539440e+00] [ 7.30483000e-02 1.77852616e-03 9.97326818e-01 1.65759590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.356875 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:24.24, Y:4.95, Z:1.66 [[ 9.55265207e-01 -2.87572687e-01 -6.90676084e-02 2.42415659e+01] [ 2.86685142e-01 9.57757055e-01 -2.26506757e-02 4.95424296e+00] [ 7.26637049e-02 1.83674528e-03 9.97354808e-01 1.66012878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.386874999999996 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:24.27, Y:4.96, Z:1.66 [[ 9.55948241e-01 -2.85638227e-01 -6.76296106e-02 2.42670211e+01] [ 2.84781036e-01 9.58335513e-01 -2.21992461e-02 4.96370022e+00] [ 7.11528109e-02 1.96169968e-03 9.97463498e-01 1.66446770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.416874999999997 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:24.29, Y:4.97, Z:1.67 [[ 9.56134725e-01 -2.84967805e-01 -6.78213680e-02 2.42932943e+01] [ 2.84103021e-01 9.58534936e-01 -2.22766570e-02 4.97348254e+00] [ 7.13572807e-02 2.03122984e-03 9.97448752e-01 1.66615973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.446875 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:24.32, Y:4.98, Z:1.67 [[ 9.56582023e-01 -2.83440068e-01 -6.79158337e-02 2.43180589e+01] [ 2.82567541e-01 9.58987501e-01 -2.23284052e-02 4.98358615e+00] [ 7.14592003e-02 2.16814090e-03 9.97441167e-01 1.66552294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.476874999999996 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:24.34, Y:4.99, Z:1.67 [[ 9.56790885e-01 -2.82757571e-01 -6.78185738e-02 2.43446080e+01] [ 2.81885150e-01 9.59188827e-01 -2.23059935e-02 4.99238016e+00] [ 7.13580067e-02 2.22512249e-03 9.97448286e-01 1.66717541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.506874999999997 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:24.37, Y:5.00, Z:1.67 [[ 9.56874090e-01 -2.82363936e-01 -6.82831091e-02 2.43705065e+01] [ 2.81477087e-01 9.59304628e-01 -2.24784530e-02 5.00047426e+00] [ 7.18514070e-02 2.28891860e-03 9.97412721e-01 1.66942604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.536875 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:24.40, Y:5.01, Z:1.67 [[ 9.56838699e-01 -2.82474553e-01 -6.83215266e-02 2.43972243e+01] [ 2.81586276e-01 9.59272056e-01 -2.25009483e-02 5.00907869e+00] [ 7.18948766e-02 2.29137386e-03 9.97409583e-01 1.67205175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.566875 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:24.42, Y:5.02, Z:1.67 [[ 9.56798203e-01 -2.82546828e-01 -6.85892679e-02 2.44241437e+01] [ 2.81650189e-01 9.59250711e-01 -2.26107072e-02 5.01858251e+00] [ 7.21828877e-02 2.31570380e-03 9.97388725e-01 1.67416820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.596874999999997 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:24.45, Y:5.03, Z:1.68 [[ 9.56694185e-01 -2.82678910e-01 -6.94900782e-02 2.44511754e+01] [ 2.81757260e-01 9.59211696e-01 -2.29296674e-02 5.02777264e+00] [ 7.31374291e-02 2.35734541e-03 9.97319086e-01 1.67560707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.626875 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:24.48, Y:5.04, Z:1.68 [[ 9.56660553e-01 -2.82604247e-01 -7.02525937e-02 2.44765746e+01] [ 2.81660383e-01 9.59233564e-01 -2.32034248e-02 5.03635533e+00] [ 7.39460322e-02 2.41042878e-03 9.97259331e-01 1.67670392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.656875 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:24.50, Y:5.04, Z:1.68 [[ 9.56470846e-01 -2.82776833e-01 -7.21164587e-02 2.45030409e+01] [ 2.81781357e-01 9.59182531e-01 -2.38356871e-02 5.04436741e+00] [ 7.59130275e-02 2.47706618e-03 9.97111366e-01 1.67803633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.686874999999997 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:24.53, Y:5.05, Z:1.68 [[ 9.56067461e-01 -2.83891201e-01 -7.30807478e-02 2.45290436e+01] [ 2.82870405e-01 9.58853389e-01 -2.41766935e-02 5.05315420e+00] [ 7.69372732e-02 2.44216922e-03 9.97032944e-01 1.67899288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.716874999999998 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:24.56, Y:5.06, Z:1.68 [[ 9.55311199e-01 -2.86471672e-01 -7.29005781e-02 2.45561495e+01] [ 2.85462153e-01 9.58086084e-01 -2.41332815e-02 5.06153602e+00] [ 7.67585309e-02 2.24443809e-03 9.97047186e-01 1.68040033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.746875 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:24.58, Y:5.07, Z:1.68 [[ 9.54904293e-01 -2.88018032e-01 -7.21346328e-02 2.45825648e+01] [ 2.87032372e-01 9.57622641e-01 -2.39017618e-02 5.07008197e+00] [ 7.59618960e-02 2.11892023e-03 9.97108470e-01 1.68270985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.776874999999997 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:24.61, Y:5.08, Z:1.69 [[ 9.54622413e-01 -2.89130706e-01 -7.14106751e-02 2.46085697e+01] [ 2.88166283e-01 9.57287477e-01 -2.36828970e-02 5.07792776e+00] [ 7.52079977e-02 2.03007553e-03 9.97165802e-01 1.68509279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.806874999999998 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:24.64, Y:5.09, Z:1.69 [[ 9.54442404e-01 -2.89794358e-01 -7.11261338e-02 2.46357362e+01] [ 2.88838663e-01 9.57086887e-01 -2.35990850e-02 5.08651494e+00] [ 7.49127717e-02 1.97999001e-03 9.97188125e-01 1.68796523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.836875 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:24.66, Y:5.10, Z:1.69 [[ 9.54374511e-01 -2.90243287e-01 -7.02006246e-02 2.46611395e+01] [ 2.89312036e-01 9.56950926e-01 -2.33124620e-02 5.09525111e+00] [ 7.39448383e-02 1.93893385e-03 9.97260448e-01 1.69076370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.866874999999997 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:24.69, Y:5.11, Z:1.69 [[ 9.54491913e-01 -2.90016117e-01 -6.95402058e-02 2.46876544e+01] [ 2.89101005e-01 9.57019780e-01 -2.31030311e-02 5.10518902e+00] [ 7.32516038e-02 1.94751299e-03 9.97311591e-01 1.69227504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.896874999999998 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:24.71, Y:5.12, Z:1.69 [[ 9.54712794e-01 -2.89304011e-01 -6.94742422e-02 2.47134510e+01] [ 2.88387209e-01 9.57235137e-01 -2.31021788e-02 5.11539620e+00] [ 7.31867387e-02 2.02046286e-03 9.97316208e-01 1.69359192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.926875 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:24.74, Y:5.13, Z:1.69 [[ 9.55404805e-01 -2.87081987e-01 -6.91779616e-02 2.47394066e+01] [ 2.86165694e-01 9.57903486e-01 -2.30240551e-02 5.12732693e+00] [ 7.28756021e-02 2.20093347e-03 9.97338610e-01 1.69376297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.956874999999997 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:24.77, Y:5.14, Z:1.70 [[ 9.55602581e-01 -2.86258088e-01 -6.98570972e-02 2.47657732e+01] [ 2.85320465e-01 9.58149790e-01 -2.32639831e-02 5.13748369e+00] [ 7.35930663e-02 2.29946290e-03 9.97285703e-01 1.69509907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.986874999999998 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:24.79, Y:5.15, Z:1.70 [[ 9.55625592e-01 -2.85735552e-01 -7.16583731e-02 2.47920413e+01] [ 2.84745707e-01 9.58305447e-01 -2.38862594e-02 5.14812380e+00] [ 7.54957628e-02 2.42190663e-03 9.97143181e-01 1.69638896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.016875 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:24.82, Y:5.16, Z:1.70 [[ 9.55395882e-01 -2.86395647e-01 -7.20849660e-02 2.48180035e+01] [ 2.85394152e-01 9.58108422e-01 -2.40505554e-02 5.15760111e+00] [ 7.59531874e-02 2.40517380e-03 9.97108484e-01 1.69889013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.046874999999996 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:24.84, Y:5.17, Z:1.70 [[ 9.55267172e-01 -2.86812470e-01 -7.21334731e-02 2.48432969e+01] [ 2.85809175e-01 9.57983755e-01 -2.40881857e-02 5.16690357e+00] [ 7.60114874e-02 2.39424461e-03 9.97104067e-01 1.70068923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.076874999999998 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:24.87, Y:5.18, Z:1.70 [[ 9.55156136e-01 -2.87301347e-01 -7.16567652e-02 2.48693426e+01] [ 2.86311848e-01 9.57837363e-01 -2.39397653e-02 5.17698268e+00] [ 7.55134538e-02 2.35003288e-03 9.97142014e-01 1.70270697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.106875 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:24.90, Y:5.19, Z:1.70 [[ 9.55144085e-01 -2.87488777e-01 -7.10632058e-02 2.48959036e+01] [ 2.86514499e-01 9.57781156e-01 -2.37634099e-02 5.18685976e+00] [ 7.48947130e-02 2.33684158e-03 9.97188709e-01 1.70462180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.136874999999996 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:24.92, Y:5.20, Z:1.71 [[ 9.55261309e-01 -2.87134655e-01 -7.09191203e-02 2.49213561e+01] [ 2.86161781e-01 9.57887272e-01 -2.37362499e-02 5.19648330e+00] [ 7.47480226e-02 2.37997935e-03 9.97199613e-01 1.70554606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.166874999999997 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:24.95, Y:5.21, Z:1.71 [[ 9.55517773e-01 -2.86406508e-01 -7.04066581e-02 2.49466275e+01] [ 2.85444994e-01 9.58105117e-01 -2.35741277e-02 5.20574180e+00] [ 7.42087630e-02 2.42826991e-03 9.97239772e-01 1.70679754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.196875 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:24.97, Y:5.22, Z:1.71 [[ 9.56154494e-01 -2.84406106e-01 -6.98695187e-02 2.49732234e+01] [ 2.83453170e-01 9.58700446e-01 -2.34041773e-02 5.21595264e+00] [ 7.36402296e-02 2.57327279e-03 9.97281552e-01 1.70782334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.226874999999996 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:25.00, Y:5.23, Z:1.71 [[ 9.56483362e-01 -2.83245833e-01 -7.00812074e-02 2.49993429e+01] [ 2.82282443e-01 9.59043564e-01 -2.34960682e-02 5.22542173e+00] [ 7.38660944e-02 2.69090388e-03 9.97264538e-01 1.71014055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.256874999999997 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:25.03, Y:5.24, Z:1.71 [[ 9.57080545e-01 -2.81283159e-01 -6.98327565e-02 2.50256323e+01] [ 2.80319844e-01 9.59620575e-01 -2.34336695e-02 5.23570799e+00] [ 7.36044466e-02 2.85240170e-03 9.97283435e-01 1.71184244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.286875 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:25.05, Y:5.24, Z:1.71 [[ 9.57328064e-01 -2.80676145e-01 -6.88758295e-02 2.50511086e+01] [ 2.79736014e-01 9.59798214e-01 -2.31333130e-02 5.24492770e+00] [ 7.25998673e-02 2.87911976e-03 9.97356992e-01 1.71384209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.316875 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:25.08, Y:5.25, Z:1.72 [[ 9.57352860e-01 -2.80595254e-01 -6.88607712e-02 2.50772459e+01] [ 2.79654595e-01 9.59821820e-01 -2.31383040e-02 5.25399137e+00] [ 7.25865691e-02 2.89429037e-03 9.97357916e-01 1.71601670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.346874999999997 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:25.10, Y:5.26, Z:1.72 [[ 9.57144532e-01 -2.80958189e-01 -7.02626603e-02 2.51030865e+01] [ 2.79978134e-01 9.59715486e-01 -2.36311174e-02 5.26186534e+00] [ 7.40715192e-02 2.94638627e-03 9.97248579e-01 1.71882033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.376875 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:25.13, Y:5.27, Z:1.72 [[ 9.56843912e-01 -2.81864825e-01 -7.07244540e-02 2.51283263e+01] [ 2.80873559e-01 9.59449729e-01 -2.37962369e-02 5.27009789e+00] [ 7.45638804e-02 2.90465538e-03 9.97212009e-01 1.72106015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.406875 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:25.15, Y:5.28, Z:1.72 [[ 9.56547001e-01 -2.82891242e-01 -7.06426182e-02 2.51549700e+01] [ 2.81904273e-01 9.59147813e-01 -2.37792510e-02 5.27874436e+00] [ 7.44836546e-02 2.83151527e-03 9.97218215e-01 1.72269728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.436874999999997 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:25.18, Y:5.29, Z:1.72 [[ 9.56176820e-01 -2.84006753e-01 -7.11762091e-02 2.51813322e+01] [ 2.83006196e-01 9.58818230e-01 -2.39811542e-02 5.28737303e+00] [ 7.50558566e-02 2.78691557e-03 9.97175437e-01 1.72382121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.466874999999998 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:25.21, Y:5.30, Z:1.72 [[ 9.55228540e-01 -2.86851877e-01 -7.24874955e-02 2.52069820e+01] [ 2.85820517e-01 9.57971332e-01 -2.44450295e-02 5.29590946e+00] [ 7.64530452e-02 2.63217637e-03 9.97069708e-01 1.72293218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.496875 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:25.23, Y:5.31, Z:1.72 [[ 9.55154969e-01 -2.87097603e-01 -7.24841468e-02 2.52339989e+01] [ 2.86066197e-01 9.57897743e-01 -2.44549552e-02 5.30512113e+00] [ 7.64533596e-02 2.62300771e-03 9.97069709e-01 1.72489747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.526874999999997 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:25.26, Y:5.31, Z:1.73 [[ 9.54632799e-01 -2.88604397e-01 -7.33738480e-02 2.52613555e+01] [ 2.87550245e-01 9.57445027e-01 -2.47765362e-02 5.31335833e+00] [ 7.74020432e-02 2.55382613e-03 9.96996691e-01 1.72660723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.556874999999998 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:25.29, Y:5.32, Z:1.73 [[ 9.53660092e-01 -2.91646847e-01 -7.39901732e-02 2.52891627e+01] [ 2.90582212e-01 9.56523184e-01 -2.50075391e-02 5.31947409e+00] [ 7.80666860e-02 2.34846389e-03 9.96945373e-01 1.72945499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.586875 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:25.32, Y:5.33, Z:1.73 [[ 9.53165678e-01 -2.93361226e-01 -7.35824848e-02 2.53162468e+01] [ 2.92311629e-01 9.55999097e-01 -2.48925485e-02 5.32759948e+00] [ 7.76472976e-02 2.21770686e-03 9.96978425e-01 1.73066325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.616874999999997 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:25.34, Y:5.34, Z:1.73 [[ 9.52749784e-01 -2.94940138e-01 -7.26509768e-02 2.53427102e+01] [ 2.93919855e-01 9.55513460e-01 -2.45997219e-02 5.33586531e+00] [ 7.66744316e-02 2.08381517e-03 9.97054005e-01 1.73231435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.646874999999998 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:25.37, Y:5.34, Z:1.73 [[ 9.52105077e-01 -2.97111500e-01 -7.22542666e-02 2.53693359e+01] [ 2.96106874e-01 9.54840861e-01 -2.44877238e-02 5.34336152e+00] [ 7.62669105e-02 1.91990108e-03 9.97085589e-01 1.73454445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.676875 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:25.40, Y:5.35, Z:1.74 [[ 9.51914805e-01 -2.97807979e-01 -7.18930615e-02 2.53963575e+01] [ 2.96813680e-01 9.54623951e-01 -2.43875129e-02 5.35180873e+00] [ 7.58936343e-02 1.87599042e-03 9.97114154e-01 1.73633262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.706874999999997 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:25.42, Y:5.36, Z:1.74 [[ 9.51833642e-01 -2.98089890e-01 -7.17992736e-02 2.54232606e+01] [ 2.97097295e-01 9.54535967e-01 -2.43779725e-02 5.36001419e+00] [ 7.58018162e-02 1.87240439e-03 9.97121145e-01 1.73843625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.736874999999998 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:25.45, Y:5.37, Z:1.74 [[ 9.51761736e-01 -2.98210851e-01 -7.22487851e-02 2.54501811e+01] [ 2.97204390e-01 9.54498137e-01 -2.45531540e-02 5.36846338e+00] [ 7.62833477e-02 1.89609634e-03 9.97084377e-01 1.74001064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.766875 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:25.48, Y:5.38, Z:1.74 [[ 9.51817831e-01 -2.98151208e-01 -7.17542549e-02 2.54758854e+01] [ 2.97156742e-01 9.54516745e-01 -2.44060122e-02 5.37599205e+00] [ 7.57673199e-02 1.90781691e-03 9.97123700e-01 1.74036976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.796874999999996 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:25.50, Y:5.38, Z:1.74 [[ 9.51869025e-01 -2.98189782e-01 -7.09098951e-02 2.55023030e+01] [ 2.97217947e-01 9.54504727e-01 -2.41291933e-02 5.38393012e+00] [ 7.48789089e-02 1.89213823e-03 9.97190839e-01 1.74271765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.826874999999998 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:25.53, Y:5.39, Z:1.75 [[ 9.51591454e-01 -2.99410385e-01 -6.94775219e-02 2.55298055e+01] [ 2.98479196e-01 9.54122767e-01 -2.36625147e-02 5.39024946e+00] [ 7.33748881e-02 1.77945186e-03 9.97302842e-01 1.74581866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.856875 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:25.56, Y:5.40, Z:1.75 [[ 9.51318451e-01 -3.00313999e-01 -6.93159935e-02 2.55564830e+01] [ 2.99387976e-01 9.53838835e-01 -2.36287390e-02 5.39725411e+00] [ 7.32123276e-02 1.72608040e-03 9.97314883e-01 1.74845906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.886874999999996 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:25.58, Y:5.40, Z:1.75 [[ 9.51059185e-01 -3.01024791e-01 -6.97889871e-02 2.55819976e+01] [ 3.00086410e-01 9.53614794e-01 -2.38111682e-02 5.40443949e+00] [ 7.37195624e-02 1.70310356e-03 9.97277557e-01 1.75131938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.916874999999997 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:25.61, Y:5.41, Z:1.75 [[ 9.50838024e-01 -3.01616837e-01 -7.02448228e-02 2.56077443e+01] [ 3.00667040e-01 9.53427748e-01 -2.39762457e-02 5.41247985e+00] [ 7.42050026e-02 1.67722318e-03 9.97241598e-01 1.75281466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.946875 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:25.63, Y:5.42, Z:1.75 [[ 9.50569487e-01 -3.02389860e-01 -7.05551020e-02 2.56346770e+01] [ 3.01432994e-01 9.53182933e-01 -2.40924775e-02 5.42047113e+00] [ 7.45372399e-02 1.63393837e-03 9.97216892e-01 1.75246397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.976874999999996 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:25.66, Y:5.43, Z:1.75 [[ 9.50389069e-01 -3.03107299e-01 -6.99041038e-02 2.56618625e+01] [ 3.02168426e-01 9.52955119e-01 -2.38910564e-02 5.42851677e+00] [ 7.38570271e-02 1.58298578e-03 9.97267584e-01 1.75394655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.006874999999997 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:25.69, Y:5.44, Z:1.76 [[ 9.50147427e-01 -3.04028622e-01 -6.91842758e-02 2.56889067e+01] [ 3.03109944e-01 9.52661693e-01 -2.36656131e-02 5.43536009e+00] [ 7.31042331e-02 1.51537948e-03 9.97323155e-01 1.75591690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.036875 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:25.72, Y:5.44, Z:1.76 [[ 9.48944871e-01 -3.07245540e-01 -7.14409562e-02 2.57171298e+01] [ 3.06273276e-01 9.51629344e-01 -2.44595920e-02 5.43903330e+00] [ 7.55004108e-02 1.33034863e-03 9.97144883e-01 1.75960041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.066875 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:25.74, Y:5.45, Z:1.76 [[ 9.48121492e-01 -3.09626440e-01 -7.20909463e-02 2.57443370e+01] [ 3.08641549e-01 9.50857557e-01 -2.47042776e-02 5.44664239e+00] [ 7.61973186e-02 1.17239517e-03 9.97092069e-01 1.76160768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.096874999999997 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:25.77, Y:5.45, Z:1.76 [[ 9.47566877e-01 -3.11396823e-01 -7.17567552e-02 2.57715472e+01] [ 3.10424476e-01 9.50279393e-01 -2.46113828e-02 5.45490002e+00] [ 7.58528722e-02 1.04587805e-03 9.97118472e-01 1.76197035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.126875 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:25.80, Y:5.46, Z:1.76 [[ 9.47088950e-01 -3.12861551e-01 -7.16949890e-02 2.57986037e+01] [ 3.11893413e-01 9.49798268e-01 -2.46119624e-02 5.46309138e+00] [ 7.57959131e-02 9.48522771e-04 9.97122901e-01 1.76306435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.156875 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:25.82, Y:5.47, Z:1.77 [[ 9.46520448e-01 -3.14983643e-01 -6.98880957e-02 2.58249213e+01] [ 3.14068061e-01 9.49096781e-01 -2.40115227e-02 5.46849345e+00] [ 7.38938036e-02 7.77778575e-04 9.97265813e-01 1.76559080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.186874999999997 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:25.85, Y:5.48, Z:1.77 [[ 9.46142933e-01 -3.16108967e-01 -6.99190337e-02 2.58518745e+01] [ 3.15194899e-01 9.48722631e-01 -2.40321544e-02 5.47595901e+00] [ 7.39305491e-02 6.99730284e-04 9.97263147e-01 1.76763576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.216874999999998 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:25.88, Y:5.48, Z:1.77 [[ 9.45857543e-01 -3.17040361e-01 -6.95623379e-02 2.58789224e+01] [ 3.16136593e-01 9.48411828e-01 -2.39302896e-02 5.48449864e+00] [ 7.35606117e-02 6.43444376e-04 9.97290541e-01 1.76947065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.246875 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:25.91, Y:5.49, Z:1.77 [[ 9.45858298e-01 -3.17135396e-01 -6.91174455e-02 2.59056978e+01] [ 3.16241986e-01 9.48380049e-01 -2.37968180e-02 5.49325382e+00] [ 7.30964196e-02 6.50579489e-04 9.97324666e-01 1.77001122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.276874999999997 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:25.93, Y:5.50, Z:1.77 [[ 9.46026912e-01 -3.16504933e-01 -6.96972712e-02 2.59316138e+01] [ 3.15593145e-01 9.48590587e-01 -2.40180393e-02 5.50210763e+00] [ 7.37160033e-02 7.25730611e-04 9.97279010e-01 1.77146273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.306874999999998 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:25.96, Y:5.51, Z:1.77 [[ 9.46499189e-01 -3.15028393e-01 -6.99742623e-02 2.59569038e+01] [ 3.14104587e-01 9.49081863e-01 -2.41231259e-02 5.51027927e+00] [ 7.40107729e-02 8.53282379e-04 9.97257077e-01 1.77364139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.336875 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:25.98, Y:5.52, Z:1.78 [[ 9.46871190e-01 -3.13733420e-01 -7.07551402e-02 2.59837885e+01] [ 3.12784454e-01 9.49510605e-01 -2.44027699e-02 5.51911687e+00] [ 7.48387205e-02 9.75171833e-04 9.97195174e-01 1.77577481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.366874999999997 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:26.01, Y:5.53, Z:1.78 [[ 9.47897026e-01 -3.10635057e-01 -7.06900911e-02 2.60107889e+01] [ 3.09677607e-01 9.50528445e-01 -2.44019339e-02 5.52839177e+00] [ 7.47730385e-02 1.23938232e-03 9.97199808e-01 1.77746857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.396874999999998 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:26.04, Y:5.54, Z:1.78 [[ 9.48413657e-01 -3.08903326e-01 -7.13461365e-02 2.60363953e+01] [ 3.07921612e-01 9.51092400e-01 -2.46480642e-02 5.53727931e+00] [ 7.54706373e-02 1.40754335e-03 9.97147031e-01 1.77936110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.426875 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:26.06, Y:5.55, Z:1.78 [[ 9.48863451e-01 -3.08164482e-01 -6.85040347e-02 2.60626597e+01] [ 3.06934479e-01 9.51316548e-01 -2.80722468e-02 5.54842910e+00] [ 7.38198912e-02 5.61047872e-03 9.97255808e-01 1.77670034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.456874999999997 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:26.09, Y:5.56, Z:1.78 [[ 9.49821902e-01 -3.04630176e-01 -7.09845769e-02 2.60903520e+01] [ 3.03968090e-01 9.52467744e-01 -2.02137843e-02 5.55672726e+00] [ 7.37682484e-02 -2.37755122e-03 9.97272577e-01 1.78420715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.486874999999998 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:26.12, Y:5.57, Z:1.77 [[ 9.50320686e-01 -3.05234236e-01 -6.10135715e-02 2.61162344e+01] [ 3.03665041e-01 9.52180989e-01 -3.37476883e-02 5.57087395e+00] [ 6.83969127e-02 1.35434376e-02 9.97566257e-01 1.77219547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.516875 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:26.14, Y:5.57, Z:1.79 [[ 9.50596648e-01 -3.01984347e-01 -7.19129142e-02 2.61441375e+01] [ 3.01893916e-01 9.53261085e-01 -1.23841648e-02 5.57361038e+00] [ 7.22916065e-02 -9.93772574e-03 9.97334029e-01 1.79252495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.546874999999996 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:26.17, Y:5.58, Z:1.79 [[ 9.50691430e-01 -3.02561351e-01 -6.81354066e-02 2.61708676e+01] [ 3.01645402e-01 9.53128050e-01 -2.36002376e-02 5.58371591e+00] [ 7.20822870e-02 1.88381158e-03 9.97396910e-01 1.79023426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.576874999999998 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:26.20, Y:5.59, Z:1.79 [[ 9.50404086e-01 -3.03357968e-01 -6.86004153e-02 2.61979061e+01] [ 3.02429945e-01 9.52874859e-01 -2.37830140e-02 5.59249065e+00] [ 7.25823778e-02 1.85665382e-03 9.97360693e-01 1.79292004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.606875 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:26.22, Y:5.61, Z:1.77 [[ 9.50003389e-01 -3.07277622e-01 -5.54438864e-02 2.62216098e+01] [ 3.05177321e-01 9.51313081e-01 -4.32461008e-02 5.60800230e+00] [ 6.60330534e-02 2.41637255e-02 9.97524812e-01 1.77368116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.636874999999996 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:26.25, Y:5.61, Z:1.79 [[ 9.49686979e-01 -3.06461071e-01 -6.46239420e-02 2.62502032e+01] [ 3.05643942e-01 9.51881951e-01 -2.24172383e-02 5.61146534e+00] [ 6.83843749e-02 1.53744294e-03 9.97657864e-01 1.78790658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.666874999999997 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:26.28, Y:5.61, Z:1.81 [[ 9.49513150e-01 -3.03758574e-01 -7.84570401e-02 2.62797582e+01] [ 3.04373469e-01 9.52543119e-01 -4.28932877e-03 5.61392870e+00] [ 7.60366341e-02 -1.98074674e-02 9.96908268e-01 1.80946851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.696875 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:26.31, Y:5.63, Z:1.80 [[ 9.49267443e-01 -3.05785798e-01 -7.33918798e-02 2.63058615e+01] [ 3.04726234e-01 9.52098551e-01 -2.55004021e-02 5.62591031e+00] [ 7.76739632e-02 1.84227032e-03 9.96977112e-01 1.79833915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.726874999999996 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:26.33, Y:5.63, Z:1.80 [[ 9.49204424e-01 -3.06116138e-01 -7.28276840e-02 2.63322912e+01] [ 3.05072044e-01 9.51992430e-01 -2.53270737e-02 5.63424461e+00] [ 7.70844298e-02 1.82287998e-03 9.97022902e-01 1.79911476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.756874999999997 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:26.36, Y:5.64, Z:1.80 [[ 9.49040655e-01 -3.06874992e-01 -7.17605315e-02 2.63585825e+01] [ 3.05861880e-01 9.51748211e-01 -2.49770424e-02 5.64113294e+00] [ 7.59627872e-02 1.75541759e-03 9.97109108e-01 1.80194672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.786875 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:26.39, Y:5.65, Z:1.81 [[ 9.49088465e-01 -3.06943529e-01 -7.08290596e-02 2.63852928e+01] [ 3.05955992e-01 9.51726144e-01 -2.46632970e-02 5.64891106e+00] [ 7.49801072e-02 1.73707544e-03 9.97183517e-01 1.80571153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.816874999999996 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:26.41, Y:5.66, Z:1.81 [[ 9.49309533e-01 -3.06585187e-01 -6.94041258e-02 2.64123265e+01] [ 3.05634509e-01 9.51841615e-01 -2.41885655e-02 5.65732719e+00] [ 7.34775911e-02 1.75013994e-03 9.97295333e-01 1.80881557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.846874999999997 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:26.44, Y:5.67, Z:1.81 [[ 9.49536456e-01 -3.05946067e-01 -6.91196210e-02 2.64381684e+01] [ 3.04999947e-01 9.52047121e-01 -2.41104270e-02 5.66571162e+00] [ 7.31816265e-02 1.81224872e-03 9.97316983e-01 1.81091711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.876875 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:26.46, Y:5.68, Z:1.81 [[ 9.47130300e-01 -3.12838884e-01 -7.12462394e-02 2.64647265e+01] [ 3.11852138e-01 9.49805276e-01 -2.48632498e-02 5.67536718e+00] [ 7.54482454e-02 1.33044511e-03 9.97148832e-01 1.81052915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.906875 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:26.49, Y:5.69, Z:1.81 [[ 9.44793332e-01 -3.19822056e-01 -7.12700004e-02 2.64907370e+01] [ 3.18852754e-01 9.47477293e-01 -2.48937807e-02 5.68522226e+00] [ 7.54882872e-02 7.94842117e-04 9.97146372e-01 1.81314372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.936874999999997 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:26.52, Y:5.69, Z:1.82 [[ 9.43473181e-01 -3.23950158e-01 -7.01045832e-02 2.65172886e+01] [ 3.23022118e-01 9.46074028e-01 -2.45080449e-02 5.69365457e+00] [ 7.42635104e-02 4.77352149e-04 9.97238539e-01 1.81727208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.966874999999998 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:26.54, Y:5.70, Z:1.82 [[ 9.42716049e-01 -3.26291005e-01 -6.94307676e-02 2.65437312e+01] [ 3.25385528e-01 9.45269318e-01 -2.42934950e-02 5.70281326e+00] [ 7.35575233e-02 3.10100573e-04 9.97290928e-01 1.82065703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.996875 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:26.57, Y:5.71, Z:1.82 [[ 9.42535688e-01 -3.26585749e-01 -7.04856456e-02 2.65685738e+01] [ 3.25651750e-01 9.45167526e-01 -2.46837117e-02 5.71290543e+00] [ 7.46820918e-02 3.11505294e-04 9.97207345e-01 1.82129255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.026874999999997 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:26.59, Y:5.73, Z:1.82 [[ 9.42518478e-01 -3.25738372e-01 -7.45213462e-02 2.65935992e+01] [ 3.24690583e-01 9.45459858e-01 -2.61090478e-02 5.72733539e+00] [ 7.89616602e-02 4.11880654e-04 9.96877569e-01 1.81749474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.056874999999998 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:26.62, Y:5.74, Z:1.82 [[ 9.43315452e-01 -3.23258170e-01 -7.52337263e-02 2.66186983e+01] [ 3.22180580e-01 9.46310592e-01 -2.63806048e-02 5.73815707e+00] [ 7.97222182e-02 6.46386531e-04 9.96816909e-01 1.81801977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.086875 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:26.64, Y:5.75, Z:1.82 [[ 9.44425582e-01 -3.19963469e-01 -7.53903117e-02 2.66449687e+01] [ 3.18869935e-01 9.47429416e-01 -2.64474180e-02 5.74795076e+00] [ 7.98892066e-02 9.37914321e-04 9.96803308e-01 1.82089189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.116874999999997 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:26.67, Y:5.77, Z:1.79 [[ 0.94630699 -0.31902819 -0.05219279 26.66631896] [ 0.31594714 0.94690727 -0.05953168 5.77123167] [ 0.06841401 0.03984508 0.99686102 1.78931844] [ 0. 0. 0. 1. ]] SLAMing on 29.146874999999998 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:26.70, Y:5.76, Z:1.85 [[ 9.47584275e-01 -3.07769625e-01 -8.58015099e-02 2.66999068e+01] [ 3.09714350e-01 9.50776790e-01 1.00258364e-02 5.76146072e+00] [ 7.84924363e-02 -3.60742838e-02 9.96261805e-01 1.85101468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.176875 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:26.72, Y:5.78, Z:1.83 [[ 9.48587803e-01 -3.07972498e-01 -7.30350693e-02 2.67249952e+01] [ 3.06906892e-01 9.51393291e-01 -2.56703204e-02 5.77954912e+00] [ 7.73908277e-02 1.93558665e-03 9.96998954e-01 1.83340468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.206874999999997 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:26.75, Y:5.79, Z:1.84 [[ 9.49414610e-01 -3.05333772e-01 -7.33701935e-02 2.67494179e+01] [ 3.04248786e-01 9.52242894e-01 -2.58098308e-02 5.79027943e+00] [ 7.77468584e-02 2.18143822e-03 9.96970745e-01 1.83519433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.236874999999998 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:26.77, Y:5.80, Z:1.84 [[ 9.50240186e-01 -3.02725796e-01 -7.34893318e-02 2.67748925e+01] [ 3.01628706e-01 9.53074652e-01 -2.58617786e-02 5.80092114e+00] [ 7.78698469e-02 2.40840921e-03 9.96960624e-01 1.83591255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.266875 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:26.80, Y:5.81, Z:1.84 [[ 9.51453487e-01 -2.99017291e-01 -7.29720659e-02 2.68012715e+01] [ 2.97923861e-01 9.54243863e-01 -2.56909062e-02 5.81173893e+00] [ 7.73151712e-02 2.70358267e-03 9.97003037e-01 1.83727079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.296874999999996 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:26.83, Y:5.82, Z:1.84 [[ 9.51716052e-01 -2.98226723e-01 -7.27830924e-02 2.68277450e+01] [ 2.97134867e-01 9.54491005e-01 -2.56474778e-02 5.82128360e+00] [ 7.71195702e-02 2.78272187e-03 9.97017968e-01 1.83948656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.326874999999998 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:26.85, Y:5.83, Z:1.84 [[ 9.51186386e-01 -2.99781340e-01 -7.33185355e-02 2.68540670e+01] [ 2.98676113e-01 9.54004122e-01 -2.58595114e-02 5.83079993e+00] [ 7.76983841e-02 2.69872003e-03 9.96973258e-01 1.84122705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.356875 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:26.88, Y:5.84, Z:1.84 [[ 9.50296581e-01 -3.02771120e-01 -7.25676089e-02 2.68806920e+01] [ 3.01695391e-01 9.53060146e-01 -2.56173433e-02 5.84036867e+00] [ 7.69174877e-02 2.45076052e-03 9.97034450e-01 1.84365722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.386874999999996 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:26.91, Y:5.85, Z:1.85 [[ 9.50218032e-01 -3.03019243e-01 -7.25605299e-02 2.69075804e+01] [ 3.01942708e-01 9.52981283e-01 -2.56373797e-02 5.84998125e+00] [ 7.69174463e-02 2.45197756e-03 9.97034450e-01 1.84563196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.416874999999997 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:26.93, Y:5.86, Z:1.85 [[ 9.49883636e-01 -3.04347988e-01 -7.13679237e-02 2.69338968e+01] [ 3.03308773e-01 9.52558079e-01 -2.52367434e-02 5.85865398e+00] [ 7.56628444e-02 2.32545213e-03 9.97130747e-01 1.84849024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.446875 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:26.96, Y:5.87, Z:1.85 [[ 9.49275196e-01 -3.06222626e-01 -7.14444234e-02 2.69606444e+01] [ 3.05184737e-01 9.51957385e-01 -2.52866290e-02 5.86723237e+00] [ 7.57553844e-02 2.20022210e-03 9.97124005e-01 1.85173743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.476874999999996 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:26.99, Y:5.88, Z:1.85 [[ 9.48581592e-01 -3.08387026e-01 -7.13470754e-02 2.69866444e+01] [ 3.07356421e-01 9.51258776e-01 -2.52739359e-02 5.87575578e+00] [ 7.56636855e-02 2.04540856e-03 9.97131297e-01 1.85387746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.506874999999997 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:27.01, Y:5.89, Z:1.85 [[ 9.47067148e-01 -3.12459932e-01 -7.37062243e-02 2.70132947e+01] [ 3.11371279e-01 9.49929256e-01 -2.61215648e-02 5.88527109e+00] [ 7.81776411e-02 1.78887460e-03 9.96937840e-01 1.85332423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.536875 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:27.03, Y:5.91, Z:1.82 [[ 0.94593383 -0.31924489 -0.05737499 27.03325837] [ 0.31653128 0.9471751 -0.05164559 5.90614126] [ 0.07083175 0.03069233 0.99701597 1.82427128] [ 0. 0. 0. 1. ]] SLAMing on 29.566874999999996 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:27.07, Y:5.90, Z:1.87 [[ 9.46194115e-01 -3.11928140e-01 -8.61250985e-02 2.70683087e+01] [ 3.13089456e-01 9.49723640e-01 -2.47041042e-05 5.89858460e+00] [ 8.18027479e-02 -2.69414854e-02 9.96284330e-01 1.87096466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.596874999999997 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:27.09, Y:5.91, Z:1.86 [[ 9.46323772e-01 -3.13629892e-01 -7.81511912e-02 2.70928259e+01] [ 3.12407280e-01 9.49543558e-01 -2.77258430e-02 5.91272490e+00] [ 8.29036133e-02 1.82262329e-03 9.96555904e-01 1.85711579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.626875 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:27.12, Y:5.92, Z:1.86 [[ 9.46562173e-01 -3.12906183e-01 -7.81650401e-02 2.71196634e+01] [ 3.11679209e-01 9.49782132e-01 -2.77483663e-02 5.92194188e+00] [ 8.29223939e-02 1.90313603e-03 9.96554191e-01 1.85983703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.656875 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:27.15, Y:5.93, Z:1.86 [[ 9.46884198e-01 -3.12047861e-01 -7.76945856e-02 2.71452834e+01] [ 3.10831064e-01 9.50064308e-01 -2.76018212e-02 5.93107587e+00] [ 8.24279419e-02 1.98583761e-03 9.96595049e-01 1.86281601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.686874999999997 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:27.17, Y:5.94, Z:1.86 [[ 9.47397436e-01 -3.10502527e-01 -7.76291149e-02 2.71716010e+01] [ 3.09281593e-01 9.50570167e-01 -2.75908126e-02 5.94166023e+00] [ 8.23589378e-02 2.13020875e-03 9.96600455e-01 1.86488737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.716874999999998 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:27.20, Y:5.95, Z:1.87 [[ 9.47758793e-01 -3.09783265e-01 -7.60762681e-02 2.71980286e+01] [ 3.08606708e-01 9.50804724e-01 -2.70606177e-02 5.95168086e+00] [ 8.07166015e-02 2.16929175e-03 9.96734731e-01 1.86632406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.746875 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:27.22, Y:5.96, Z:1.87 [[ 9.48055591e-01 -3.09149118e-01 -7.49494389e-02 2.72245070e+01] [ 3.08003401e-01 9.51011004e-01 -2.66828780e-02 5.96119945e+00] [ 7.95267293e-02 2.21216956e-03 9.96830279e-01 1.86840708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.776874999999997 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:27.25, Y:5.97, Z:1.87 [[ 9.48199285e-01 -3.09093636e-01 -7.33433005e-02 2.72503369e+01] [ 3.07994712e-01 9.51029089e-01 -2.61328919e-02 5.96957689e+00] [ 7.78291229e-02 2.18984070e-03 9.96964308e-01 1.87094375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.806874999999998 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:27.28, Y:5.98, Z:1.87 [[ 9.48222207e-01 -3.09235775e-01 -7.24422645e-02 2.72767463e+01] [ 3.08162918e-01 9.50982934e-01 -2.58277791e-02 5.97824560e+00] [ 7.68782306e-02 2.16645411e-03 9.97038136e-01 1.87388958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.836875 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:27.30, Y:5.99, Z:1.88 [[ 9.48101844e-01 -3.09623991e-01 -7.23593634e-02 2.73034345e+01] [ 3.08552962e-01 9.50856637e-01 -2.58210505e-02 5.98769250e+00] [ 7.67981976e-02 2.15428970e-03 9.97044330e-01 1.87644629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.866874999999997 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:27.33, Y:6.00, Z:1.88 [[ 9.47826179e-01 -3.10057649e-01 -7.40931014e-02 2.73291385e+01] [ 3.08934154e-01 9.50715232e-01 -2.64619896e-02 5.99737415e+00] [ 7.86461824e-02 2.19147692e-03 9.96900183e-01 1.87693174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.896874999999998 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:27.36, Y:6.01, Z:1.88 [[ 9.47739284e-01 -3.09963575e-01 -7.55832777e-02 2.73556013e+01] [ 3.08793069e-01 9.50745757e-01 -2.70063919e-02 6.00667590e+00] [ 8.02314784e-02 2.25542622e-03 9.96773707e-01 1.87894322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.926875 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:27.38, Y:6.02, Z:1.88 [[ 9.47469278e-01 -3.10611794e-01 -7.63038734e-02 2.73820136e+01] [ 3.09418985e-01 9.50534206e-01 -2.72876342e-02 6.01637063e+00] [ 8.10053027e-02 2.24432795e-03 9.96711144e-01 1.87975535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.956874999999997 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:27.41, Y:6.03, Z:1.88 [[ 9.47143272e-01 -3.11325932e-01 -7.74324601e-02 2.74086225e+01] [ 3.10097905e-01 9.50300559e-01 -2.77152896e-02 6.02569489e+00] [ 8.22125985e-02 2.23870638e-03 9.96612300e-01 1.88035683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.986874999999998 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:27.44, Y:6.03, Z:1.88 [[ 9.46494241e-01 -3.13004478e-01 -7.85929310e-02 2.74358172e+01] [ 3.11743011e-01 9.49749221e-01 -2.81551359e-02 6.03452450e+00] [ 8.34562586e-02 2.14787704e-03 9.96509127e-01 1.88169223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.016875 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:27.46, Y:6.04, Z:1.88 [[ 9.46311028e-01 -3.13665770e-01 -7.81615229e-02 2.74608748e+01] [ 3.12418551e-01 9.49531136e-01 -2.80226745e-02 6.04307252e+00] [ 8.30065534e-02 2.09905624e-03 9.96546791e-01 1.88407051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.046874999999996 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:27.49, Y:6.05, Z:1.89 [[ 9.46367710e-01 -3.13733612e-01 -7.71970123e-02 2.74870653e+01] [ 3.12516252e-01 9.49508767e-01 -2.76892165e-02 6.05191899e+00] [ 8.19862779e-02 2.07885947e-03 9.96631290e-01 1.88692116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.076874999999998 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:27.51, Y:6.06, Z:1.89 [[ 9.46376561e-01 -3.13857136e-01 -7.65839643e-02 2.75135053e+01] [ 3.12657536e-01 9.49467954e-01 -2.74930820e-02 6.06131287e+00] [ 8.13429198e-02 2.07425482e-03 9.96684016e-01 1.88990684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.106875 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:27.54, Y:6.07, Z:1.89 [[ 9.46813040e-01 -3.13006320e-01 -7.46465696e-02 2.75386394e+01] [ 3.11862415e-01 9.49748692e-01 -2.68189313e-02 6.06987161e+00] [ 7.92899769e-02 2.11305444e-03 9.96849354e-01 1.89324114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.136874999999996 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:27.56, Y:6.08, Z:1.90 [[ 9.46959209e-01 -3.12690243e-01 -7.41152414e-02 2.75635578e+01] [ 3.11560836e-01 9.49852757e-01 -2.66380549e-02 6.07877860e+00] [ 7.87280262e-02 2.13374475e-03 9.96893848e-01 1.89630721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.166874999999997 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:27.59, Y:6.09, Z:1.90 [[ 9.47201760e-01 -3.12188205e-01 -7.31255842e-02 2.75898782e+01] [ 3.11086463e-01 9.50017828e-01 -2.62933334e-02 6.08887008e+00] [ 7.76790772e-02 2.15671235e-03 9.96976083e-01 1.89798498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.196875 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:27.62, Y:6.10, Z:1.90 [[ 9.47670267e-01 -3.11262045e-01 -7.09718583e-02 2.76156155e+01] [ 3.10220136e-01 9.50321607e-01 -2.55403748e-02 6.09914651e+00] [ 7.53958398e-02 2.18695433e-03 9.97151285e-01 1.89932800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.226874999999996 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:27.64, Y:6.11, Z:1.90 [[ 9.47713335e-01 -3.11143560e-01 -7.09162837e-02 2.76418807e+01] [ 3.10101247e-01 9.50360339e-01 -2.55429746e-02 6.10833298e+00] [ 7.53435555e-02 2.21618969e-03 9.97155172e-01 1.90110267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.256874999999997 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:27.67, Y:6.12, Z:1.90 [[ 9.47689122e-01 -3.11083914e-01 -7.14991326e-02 2.76673396e+01] [ 3.10022500e-01 9.50379760e-01 -2.57752047e-02 6.11721731e+00] [ 7.59695800e-02 2.26054124e-03 9.97107573e-01 1.90304156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.286875 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:27.69, Y:6.13, Z:1.90 [[ 9.47971556e-01 -3.10265674e-01 -7.13101636e-02 2.76940302e+01] [ 3.09206355e-01 9.50647021e-01 -2.57229790e-02 6.12727632e+00] [ 7.57717521e-02 2.33509673e-03 9.97122454e-01 1.90490327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.316874999999996 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:27.72, Y:6.14, Z:1.91 [[ 9.48249590e-01 -3.09550372e-01 -7.07197391e-02 2.77201304e+01] [ 3.08504906e-01 9.50880034e-01 -2.55320182e-02 6.13747756e+00] [ 7.51494337e-02 2.39333930e-03 9.97169411e-01 1.90644303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.346874999999997 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:27.75, Y:6.15, Z:1.91 [[ 9.48473780e-01 -3.08870488e-01 -7.06859999e-02 2.77462291e+01] [ 3.07822476e-01 9.51100907e-01 -2.55418943e-02 6.14732083e+00] [ 7.51186559e-02 2.46707758e-03 9.97171550e-01 1.90818958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.376875 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:27.77, Y:6.16, Z:1.91 [[ 9.48935516e-01 -3.07487003e-01 -7.05204226e-02 2.77710022e+01] [ 3.06438465e-01 9.51548753e-01 -2.55036942e-02 6.15780075e+00] [ 7.49456746e-02 2.59119115e-03 9.97184252e-01 1.90962167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.406875 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:27.80, Y:6.17, Z:1.91 [[ 9.48937102e-01 -3.07405018e-01 -7.08557044e-02 2.77971304e+01] [ 3.06345421e-01 9.51575161e-01 -2.56358176e-02 6.16811845e+00] [ 7.53051073e-02 2.62045787e-03 9.97157096e-01 1.91105159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.436874999999997 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:27.82, Y:6.18, Z:1.91 [[ 9.48861349e-01 -3.07457722e-01 -7.16372046e-02 2.78219153e+01] [ 3.06373039e-01 9.51558006e-01 -2.59407355e-02 6.17758176e+00] [ 7.61426350e-02 2.66645321e-03 9.97093370e-01 1.91256280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.466874999999998 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:27.85, Y:6.19, Z:1.91 [[ 9.48596863e-01 -3.08077322e-01 -7.24731333e-02 2.78479441e+01] [ 3.06968054e-01 9.51357607e-01 -2.62548506e-02 6.18700751e+00] [ 7.70363907e-02 2.65833219e-03 9.97024738e-01 1.91432216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.496875 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:27.87, Y:6.20, Z:1.92 [[ 9.48050743e-01 -3.09247404e-01 -7.46044965e-02 2.78733712e+01] [ 3.08073557e-01 9.50977897e-01 -2.70503891e-02 6.19619877e+00] [ 7.93124898e-02 2.66146888e-03 9.96846250e-01 1.91578811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.526874999999997 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:27.90, Y:6.21, Z:1.92 [[ 9.47595562e-01 -3.10448683e-01 -7.53940792e-02 2.78996540e+01] [ 3.09252203e-01 9.50586572e-01 -2.73540605e-02 6.20511437e+00] [ 8.01606313e-02 2.60480123e-03 9.96778555e-01 1.91732786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.556874999999998 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:27.92, Y:6.21, Z:1.92 [[ 9.47107721e-01 -3.11794111e-01 -7.59697072e-02 2.79248809e+01] [ 3.10581750e-01 9.50146317e-01 -2.75853703e-02 6.21345116e+00] [ 8.07832935e-02 2.53151259e-03 9.96728474e-01 1.91961121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.586875 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:27.95, Y:6.22, Z:1.92 [[ 9.46004943e-01 -3.15444223e-01 -7.46296892e-02 2.79518774e+01] [ 3.14284713e-01 9.48941589e-01 -2.71105226e-02 6.22203914e+00] [ 7.93710735e-02 2.19171793e-03 9.96842730e-01 1.92159170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.616874999999997 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:27.98, Y:6.23, Z:1.92 [[ 9.45480407e-01 -3.17369891e-01 -7.30968653e-02 2.79779898e+01] [ 3.16261587e-01 9.48299696e-01 -2.65762137e-02 6.23134532e+00] [ 7.77522252e-02 2.00955877e-03 9.96970688e-01 1.92376146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.646874999999998 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:28.00, Y:6.24, Z:1.93 [[ 9.45113511e-01 -3.18916357e-01 -7.10831126e-02 2.80040467e+01] [ 3.17871091e-01 9.47781057e-01 -2.58657678e-02 6.24087586e+00] [ 7.56202440e-02 1.85082004e-03 9.97134972e-01 1.92541393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.676875 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:28.03, Y:6.25, Z:1.93 [[ 9.44225510e-01 -3.22167968e-01 -6.81614782e-02 2.80307828e+01] [ 3.21213951e-01 9.46681264e-01 -2.48230036e-02 6.25048065e+00] [ 7.25243710e-02 1.54409551e-03 9.97365445e-01 1.92900269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.706874999999997 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:28.06, Y:6.26, Z:1.93 [[ 9.43736463e-01 -3.23789390e-01 -6.72452244e-02 2.80568762e+01] [ 3.22863519e-01 9.46128118e-01 -2.45098559e-02 6.25972096e+00] [ 7.15586289e-02 1.41981491e-03 9.97435385e-01 1.93156361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.736874999999998 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:28.08, Y:6.27, Z:1.93 [[ 9.43197770e-01 -3.25434049e-01 -6.68628980e-02 2.80824255e+01] [ 3.24521336e-01 9.45563837e-01 -2.43912212e-02 6.26877442e+00] [ 7.11608722e-02 1.30730845e-03 9.97463995e-01 1.93418826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.766875 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:28.11, Y:6.28, Z:1.94 [[ 9.42411216e-01 -3.27740571e-01 -6.66874652e-02 2.81088808e+01] [ 3.26837396e-01 9.44767067e-01 -2.43414607e-02 6.27877423e+00] [ 7.09818051e-02 1.14370808e-03 9.97476955e-01 1.93694737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.796874999999996 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:28.14, Y:6.29, Z:1.94 [[ 9.42010613e-01 -3.28790095e-01 -6.71794524e-02 2.81350968e+01] [ 3.27874699e-01 9.44402393e-01 -2.45418324e-02 6.28949665e+00] [ 7.15135470e-02 1.09222389e-03 9.97439031e-01 1.93848692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.826874999999998 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:28.16, Y:6.30, Z:1.94 [[ 9.41674002e-01 -3.29616674e-01 -6.78448441e-02 2.81614949e+01] [ 3.28683648e-01 9.44114254e-01 -2.48059317e-02 6.30019064e+00] [ 7.22297331e-02 1.05961010e-03 9.97387459e-01 1.93929406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.856875 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:28.19, Y:6.31, Z:1.94 [[ 9.41419813e-01 -3.30209035e-01 -6.84888915e-02 2.81866137e+01] [ 3.29258213e-01 9.43907254e-01 -2.50624219e-02 6.30965302e+00] [ 7.29229996e-02 1.04373049e-03 9.97337028e-01 1.94062176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.886874999999996 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:28.21, Y:6.32, Z:1.94 [[ 9.40676661e-01 -3.31635472e-01 -7.17309825e-02 2.82131414e+01] [ 3.30595640e-01 9.43407090e-01 -2.62599667e-02 6.31982875e+00] [ 7.63802539e-02 9.88187691e-04 9.97078272e-01 1.94053911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.916874999999997 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:28.24, Y:6.33, Z:1.94 [[ 9.40432687e-01 -3.32027135e-01 -7.31050152e-02 2.82382508e+01] [ 3.30946540e-01 9.43269310e-01 -2.67842437e-02 6.32947453e+00] [ 7.78508130e-02 9.94926400e-04 9.96964523e-01 1.94127128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.946875 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:28.26, Y:6.34, Z:1.94 [[ 9.40164349e-01 -3.32812451e-01 -7.29854059e-02 2.82640478e+01] [ 3.31736903e-01 9.42992572e-01 -2.67513744e-02 6.33968773e+00] [ 7.77278861e-02 9.38735931e-04 9.96974169e-01 1.94182356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.976874999999996 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:28.29, Y:6.35, Z:1.94 [[ 9.40563992e-01 -3.31953284e-01 -7.17383697e-02 2.82890698e+01] [ 3.30910140e-01 9.43295284e-01 -2.63151259e-02 6.34985126e+00] [ 7.64058583e-02 1.01210589e-03 9.97076286e-01 1.94405747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.006874999999997 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:28.31, Y:6.36, Z:1.95 [[ 9.40898202e-01 -3.31205097e-01 -7.08078888e-02 2.83147400e+01] [ 3.30185984e-01 9.43558181e-01 -2.59841093e-02 6.35999568e+00] [ 7.54174323e-02 1.06862929e-03 9.97151477e-01 1.94670524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.036875 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:28.34, Y:6.37, Z:1.95 [[ 9.41337189e-01 -3.30068723e-01 -7.02775561e-02 2.83394627e+01] [ 3.29060130e-01 9.43956179e-01 -2.58101369e-02 6.36967005e+00] [ 7.48580522e-02 1.17050000e-03 9.97193513e-01 1.94910945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.066874999999996 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:28.36, Y:6.38, Z:1.95 [[ 9.41836812e-01 -3.28620338e-01 -7.03711061e-02 2.83647870e+01] [ 3.27604281e-01 9.44461218e-01 -2.58542572e-02 6.37896457e+00] [ 7.49590154e-02 1.29661553e-03 9.97185772e-01 1.95155729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.096874999999997 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:28.39, Y:6.39, Z:1.95 [[ 9.43004671e-01 -3.25168982e-01 -7.07624435e-02 2.83912003e+01] [ 3.24130710e-01 9.45654583e-01 -2.60133116e-02 6.38888632e+00] [ 7.53755511e-02 1.59439331e-03 9.97153942e-01 1.95454528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.126875 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:28.42, Y:6.40, Z:1.96 [[ 9.43541361e-01 -3.23618681e-01 -7.07152651e-02 2.84176008e+01] [ 3.22575770e-01 9.46185990e-01 -2.60181625e-02 6.39921207e+00] [ 7.53297566e-02 1.73818145e-03 9.97157162e-01 1.95668061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.156875 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:28.44, Y:6.41, Z:1.96 [[ 9.43963739e-01 -3.22470198e-01 -7.03237510e-02 2.84425541e+01] [ 3.21433985e-01 9.46577828e-01 -2.58961367e-02 6.40934546e+00] [ 7.49176358e-02 1.84057055e-03 9.97188026e-01 1.95765727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.186874999999997 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:28.47, Y:6.42, Z:1.96 [[ 9.44670743e-01 -3.20304036e-01 -7.07284348e-02 2.84692713e+01] [ 3.19248563e-01 9.47312602e-01 -2.60612663e-02 6.41940498e+00] [ 7.53494664e-02 2.03936463e-03 9.97155103e-01 1.95858443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.216874999999998 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:28.49, Y:6.43, Z:1.96 [[ 9.44834476e-01 -3.19798165e-01 -7.08304118e-02 2.84948301e+01] [ 3.18736579e-01 9.47483356e-01 -2.61205587e-02 6.42836648e+00] [ 7.54639430e-02 2.10336124e-03 9.97146313e-01 1.96018638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.246875 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:28.52, Y:6.44, Z:1.96 [[ 9.44919769e-01 -3.19442209e-01 -7.12972943e-02 2.85212628e+01] [ 3.18364711e-01 9.47603306e-01 -2.63037200e-02 6.43755856e+00] [ 7.59640702e-02 2.15636256e-03 9.97108224e-01 1.96226077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.276874999999997 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:28.55, Y:6.45, Z:1.96 [[ 9.45287046e-01 -3.18326178e-01 -7.14201973e-02 2.85483232e+01] [ 3.17240029e-01 9.47978525e-01 -2.63719551e-02 6.44641034e+00] [ 7.60996970e-02 2.27172208e-03 9.97097626e-01 1.96447629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.306874999999998 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:28.58, Y:6.46, Z:1.97 [[ 9.45230093e-01 -3.18496904e-01 -7.14128399e-02 2.85750382e+01] [ 3.17409739e-01 9.47921161e-01 -2.63918640e-02 6.45638847e+00] [ 7.60994691e-02 2.27925324e-03 9.97097626e-01 1.96645963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.336875 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:28.60, Y:6.47, Z:1.97 [[ 9.45411283e-01 -3.17953240e-01 -7.14369847e-02 2.86000942e+01] [ 3.16862668e-01 9.48103513e-01 -2.64154846e-02 6.46532881e+00] [ 7.61285451e-02 2.33778366e-03 9.97095271e-01 1.96852510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.366874999999997 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:28.63, Y:6.47, Z:1.97 [[ 9.45536467e-01 -3.17747895e-01 -7.06899154e-02 2.86270367e+01] [ 3.16678265e-01 9.48172335e-01 -2.61552979e-02 6.47484795e+00] [ 7.53370130e-02 2.34482827e-03 9.97155372e-01 1.96913365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.396874999999998 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:28.65, Y:6.48, Z:1.97 [[ 9.45483202e-01 -3.17911316e-01 -7.06675973e-02 2.86538038e+01] [ 3.16841142e-01 9.48117536e-01 -2.61692297e-02 6.48407984e+00] [ 7.53206825e-02 2.35216488e-03 9.97156589e-01 1.97074006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.426875 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:28.68, Y:6.49, Z:1.97 [[ 9.45392077e-01 -3.18098848e-01 -7.10418495e-02 2.86801504e+01] [ 3.17016111e-01 9.48054588e-01 -2.63302900e-02 6.49272315e+00] [ 7.57271862e-02 2.37103664e-03 9.97125755e-01 1.97228862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.456874999999997 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:28.71, Y:6.50, Z:1.97 [[ 9.44948857e-01 -3.18950944e-01 -7.30886701e-02 2.87056298e+01] [ 3.17805597e-01 9.47768210e-01 -2.71113038e-02 6.50037845e+00] [ 7.79182940e-02 2.39080710e-03 9.96956881e-01 1.97333265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.486874999999998 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:28.73, Y:6.51, Z:1.97 [[ 9.44776848e-01 -3.19266397e-01 -7.39302000e-02 2.87319020e+01] [ 3.18094513e-01 9.47661961e-01 -2.74351883e-02 6.50933469e+00] [ 7.88199720e-02 2.40333982e-03 9.96885969e-01 1.97471184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.516875 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:28.76, Y:6.52, Z:1.98 [[ 9.44541608e-01 -3.19758817e-01 -7.48027371e-02 2.87586891e+01] [ 3.18558701e-01 9.47495898e-01 -2.77826689e-02 6.51848005e+00] [ 7.97590399e-02 2.41282395e-03 9.96811253e-01 1.97660927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.546874999999996 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:28.79, Y:6.53, Z:1.98 [[ 9.44360132e-01 -3.20058003e-01 -7.58077610e-02 2.87853649e+01] [ 3.18824372e-01 9.47394801e-01 -2.81799847e-02 6.52692018e+00] [ 8.08391083e-02 2.44269225e-03 9.96724170e-01 1.97895924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.576874999999998 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:28.81, Y:6.53, Z:1.98 [[ 9.44055386e-01 -3.20955629e-01 -7.58083949e-02 2.88113538e+01] [ 3.19723008e-01 9.47091222e-01 -2.82030982e-02 6.53467358e+00] [ 8.08494086e-02 2.38759873e-03 9.96723468e-01 1.98081704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.606875 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:28.84, Y:6.54, Z:1.98 [[ 9.43787493e-01 -3.22020243e-01 -7.46199121e-02 2.88379850e+01] [ 3.20828019e-01 9.46730047e-01 -2.77776814e-02 6.54421721e+00] [ 7.95898887e-02 2.27606972e-03 9.96825095e-01 1.98252492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.636874999999996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:28.86, Y:6.56, Z:1.96 [[ 0.94303339 -0.32779787 -0.05689096 28.85897739] [ 0.32503059 0.94423025 -0.05276703 6.56382284] [ 0.07101508 0.03126977 0.99698498 1.95711057] [ 0. 0. 0. 1. ]] SLAMing on 31.666874999999997 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:28.89, Y:6.56, Z:2.00 [[ 9.42742916e-01 -3.23267133e-01 -8.20618932e-02 2.88934721e+01] [ 3.24371148e-01 9.45929882e-01 1.28702216e-04 6.55569621e+00] [ 7.75831918e-02 -2.67398436e-02 9.96627227e-01 2.00375962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.696875 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:28.92, Y:6.57, Z:1.99 [[ 9.42553814e-01 -3.26324179e-01 -7.14481435e-02 2.89176876e+01] [ 3.25240518e-01 9.45256068e-01 -2.66377781e-02 6.57001283e+00] [ 7.62293423e-02 1.86970813e-03 9.97088558e-01 1.99068266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.726874999999996 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:28.94, Y:6.59, Z:1.97 [[ 9.41688931e-01 -3.31488726e-01 -5.77683429e-02 2.89393185e+01] [ 3.29186489e-01 9.43148478e-01 -4.59042849e-02 6.58814392e+00] [ 6.97008776e-02 2.42109990e-02 9.97274092e-01 1.97076870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.756874999999997 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:28.97, Y:6.58, Z:2.01 [[ 9.42040460e-01 -3.26148822e-01 -7.86556959e-02 2.89717810e+01] [ 3.26712899e-01 9.45104898e-01 -5.95098807e-03 6.58466121e+00] [ 7.62787911e-02 -2.00917589e-02 9.96884079e-01 2.00694315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.786875 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:29.00, Y:6.60, Z:2.00 [[ 9.41824598e-01 -3.28282882e-01 -7.20886667e-02 2.89972584e+01] [ 3.27182542e-01 9.44577814e-01 -2.69135247e-02 6.59832409e+00] [ 7.69286047e-02 1.76166638e-03 9.97035048e-01 1.99646646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.816874999999996 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:29.02, Y:6.61, Z:2.00 [[ 9.41522056e-01 -3.28891036e-01 -7.32591592e-02 2.90237534e+01] [ 3.27754614e-01 9.44366233e-01 -2.73739220e-02 6.60847223e+00] [ 7.81865137e-02 1.76212390e-03 9.96937192e-01 1.99786528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.846874999999997 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:29.05, Y:6.62, Z:2.00 [[ 9.41141977e-01 -3.29749377e-01 -7.42773700e-02 2.90498306e+01] [ 3.28581883e-01 9.44066911e-01 -2.77779478e-02 6.61800827e+00] [ 7.92825682e-02 1.73679457e-03 9.96850670e-01 1.99928020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.876875 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:29.08, Y:6.63, Z:2.00 [[ 9.40621985e-01 -3.31078748e-01 -7.49476045e-02 2.90754988e+01] [ 3.29892441e-01 9.43601666e-01 -2.80512653e-02 6.62634579e+00] [ 8.00078623e-02 1.66098863e-03 9.96792849e-01 2.00192821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.906875 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:29.10, Y:6.64, Z:2.00 [[ 9.40299419e-01 -3.32088291e-01 -7.45276378e-02 2.91019950e+01] [ 3.30917099e-01 9.43246980e-01 -2.79107373e-02 6.63597171e+00] [ 7.95667983e-02 1.58198044e-03 9.96828281e-01 2.00397214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.936874999999997 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:29.13, Y:6.65, Z:2.01 [[ 9.40236165e-01 -3.32439287e-01 -7.37568605e-02 2.91270537e+01] [ 3.31291619e-01 9.43123374e-01 -2.76435444e-02 6.64521441e+00] [ 7.87516193e-02 1.55643042e-03 9.96893053e-01 2.00613355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.966874999999998 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:29.15, Y:6.66, Z:2.01 [[ 9.40046632e-01 -3.33081124e-01 -7.32754727e-02 2.91532602e+01] [ 3.31949478e-01 9.42896974e-01 -2.74743534e-02 6.65601974e+00] [ 7.82424100e-02 1.50341844e-03 9.96933230e-01 2.00785206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.996875 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:29.18, Y:6.67, Z:2.01 [[ 9.40241660e-01 -3.32470925e-01 -7.35438938e-02 2.91794706e+01] [ 3.31327277e-01 9.43112179e-01 -2.75980678e-02 6.66634680e+00] [ 7.85356970e-02 1.58175504e-03 9.96910047e-01 2.00944010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.026875 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:29.21, Y:6.68, Z:2.01 [[ 9.40440248e-01 -3.31882998e-01 -7.36601387e-02 2.92050159e+01] [ 3.30732200e-01 9.43319108e-01 -2.76635580e-02 6.67630788e+00] [ 7.86660809e-02 1.65414360e-03 9.96899650e-01 2.01151635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.056875 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:29.23, Y:6.69, Z:2.01 [[ 9.40987017e-01 -3.30253568e-01 -7.40000957e-02 2.92301717e+01] [ 3.29086216e-01 9.43890517e-01 -2.78020472e-02 6.68617606e+00] [ 7.90297139e-02 1.80895396e-03 9.96870619e-01 2.01477989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.086875 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:29.26, Y:6.70, Z:2.02 [[ 9.41244722e-01 -3.29354234e-01 -7.47272527e-02 2.92564125e+01] [ 3.28159608e-01 9.44204483e-01 -2.80921034e-02 6.69649361e+00] [ 7.98100602e-02 1.91907814e-03 9.96808242e-01 2.01702764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.116875 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:29.28, Y:6.71, Z:2.02 [[ 9.41577652e-01 -3.28188907e-01 -7.56542558e-02 2.92822642e+01] [ 3.26958719e-01 9.44609853e-01 -2.84643858e-02 6.70697702e+00] [ 8.08054511e-02 2.06561093e-03 9.96727752e-01 2.01910449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.146874999999994 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:29.31, Y:6.72, Z:2.02 [[ 9.42805324e-01 -3.24523782e-01 -7.61737244e-02 2.93077461e+01] [ 3.23262705e-01 9.45874444e-01 -2.86838024e-02 6.71831378e+00] [ 8.13593552e-02 2.41911742e-03 9.96681897e-01 2.02067694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.176874999999995 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:29.33, Y:6.73, Z:2.02 [[ 9.43539534e-01 -3.22236783e-01 -7.67893413e-02 2.93331434e+01] [ 3.20945717e-01 9.46655365e-01 -2.89390074e-02 6.72809543e+00] [ 8.20182546e-02 2.65988736e-03 9.96627278e-01 2.02355326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.206875 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:29.36, Y:6.74, Z:2.03 [[ 9.44065900e-01 -3.20638189e-01 -7.70112210e-02 2.93591477e+01] [ 3.19332858e-01 9.47197539e-01 -2.90404615e-02 6.73830217e+00] [ 8.22563200e-02 2.82389612e-03 9.96607206e-01 2.02536267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.236875 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:29.38, Y:6.75, Z:2.03 [[ 9.44566407e-01 -3.19104726e-01 -7.72429775e-02 2.93843200e+01] [ 3.17784549e-01 9.47714750e-01 -2.91501736e-02 6.74855895e+00] [ 8.25062673e-02 2.98765001e-03 9.96586067e-01 2.02776721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.266875 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:29.41, Y:6.76, Z:2.03 [[ 9.45205798e-01 -3.17293459e-01 -7.68821226e-02 2.94099329e+01] [ 3.15978607e-01 9.48322194e-01 -2.90264830e-02 6.75967846e+00] [ 8.21189364e-02 3.14289403e-03 9.96617581e-01 2.02965502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.296875 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:29.43, Y:6.77, Z:2.03 [[ 9.44306833e-01 -3.20328655e-01 -7.53270063e-02 2.94284897e+01] [ 3.18837556e-01 9.47289842e-01 -3.13778304e-02 6.77340977e+00] [ 8.14077261e-02 5.61322103e-03 9.96665076e-01 2.02756005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.326875 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:29.46, Y:6.78, Z:2.03 [[ 9.44481519e-01 -3.19637811e-01 -7.60679270e-02 2.94572763e+01] [ 3.18762491e-01 9.47537988e-01 -2.37115275e-02 6.78072506e+00] [ 7.96563513e-02 -1.85250234e-03 9.96820663e-01 2.03476713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.356874999999995 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:29.48, Y:6.79, Z:2.02 [[ 9.43202668e-01 -3.24922729e-01 -6.92383385e-02 2.94832881e+01] [ 3.22404975e-01 9.45522746e-01 -4.51859358e-02 6.79459799e+00] [ 8.01483615e-02 2.02967104e-02 9.96576281e-01 2.02449370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.386874999999996 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:29.52, Y:6.79, Z:2.05 [[ 9.42536001e-01 -3.23741144e-01 -8.25685079e-02 2.95164023e+01] [ 3.23370596e-01 9.46097477e-01 -1.81940003e-02 6.79472321e+00] [ 8.40080035e-02 -9.55172735e-03 9.96419299e-01 2.04966571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.416875 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:29.54, Y:6.81, Z:2.05 [[ 9.41670425e-01 -3.27419783e-01 -7.78016455e-02 2.95423790e+01] [ 3.26106816e-01 9.44876187e-01 -2.93825656e-02 6.80694910e+00] [ 8.31333554e-02 2.29704616e-03 9.96535784e-01 2.04512859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.446875 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:29.57, Y:6.82, Z:2.05 [[ 9.40934277e-01 -3.29583465e-01 -7.75720677e-02 2.95686402e+01] [ 3.28283573e-01 9.44124057e-01 -2.93199849e-02 6.81683684e+00] [ 8.29010375e-02 2.12254324e-03 9.96555524e-01 2.04627076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.476875 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:29.59, Y:6.84, Z:2.01 [[ 0.93881716 -0.33958774 -0.05746744 29.58770602] [ 0.33621203 0.93980842 -0.06100496 6.83964589] [ 0.07472492 0.03795126 0.99648175 2.01212311] [ 0. 0. 0. 1. ]] SLAMing on 32.506875 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:29.62, Y:6.83, Z:2.07 [[ 9.38651937e-01 -3.32520391e-01 -9.14479669e-02 2.96239953e+01] [ 3.34240403e-01 9.42480458e-01 3.73360856e-03 6.82905073e+00] [ 8.49464208e-02 -3.40701642e-02 9.95802857e-01 2.06866861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.536874999999995 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:29.65, Y:6.84, Z:2.05 [[ 9.38399568e-01 -3.36459285e-01 -7.87489727e-02 2.96499053e+01] [ 3.35141587e-01 9.41696718e-01 -2.97893870e-02 6.84481218e+00] [ 8.41805650e-02 1.56229215e-03 9.96449292e-01 2.05181446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.566874999999996 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:29.68, Y:6.85, Z:2.05 [[ 9.37732165e-01 -3.38727174e-01 -7.69564055e-02 2.96766410e+01] [ 3.37474555e-01 9.40883669e-01 -2.91349563e-02 6.85352736e+00] [ 8.22758266e-02 1.34995697e-03 9.96608682e-01 2.05487379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.596875 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:29.70, Y:6.86, Z:2.06 [[ 9.37601216e-01 -3.39336016e-01 -7.58618980e-02 2.97026511e+01] [ 3.38118917e-01 9.40664328e-01 -2.87440325e-02 6.86328115e+00] [ 8.11144668e-02 1.30009703e-03 9.96703945e-01 2.05780788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.626875 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:29.73, Y:6.87, Z:2.06 [[ 9.37604524e-01 -3.39543639e-01 -7.48857364e-02 2.97285158e+01] [ 3.38356516e-01 9.40589421e-01 -2.83973270e-02 6.87322704e+00] [ 8.00788633e-02 1.28738538e-03 9.96787700e-01 2.06044539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.656875 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:29.75, Y:6.88, Z:2.06 [[ 9.37795895e-01 -3.38940328e-01 -7.52217582e-02 2.97545065e+01] [ 3.37738644e-01 9.40806879e-01 -2.85486327e-02 6.88361778e+00] [ 8.04454305e-02 1.36749592e-03 9.96758076e-01 2.06157256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.686875 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:29.78, Y:6.89, Z:2.06 [[ 9.37980105e-01 -3.38267752e-01 -7.59490030e-02 2.97795436e+01] [ 3.37038658e-01 9.41048774e-01 -2.88469595e-02 6.89364116e+00] [ 8.12297124e-02 1.46012403e-03 9.96694337e-01 2.06278344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.716874999999995 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:29.81, Y:6.90, Z:2.06 [[ 9.38341590e-01 -3.37201242e-01 -7.62258668e-02 2.98052185e+01] [ 3.35958649e-01 9.41431282e-01 -2.89642528e-02 6.90473084e+00] [ 8.15281975e-02 1.56962381e-03 9.96669800e-01 2.06365788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.746874999999996 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:29.83, Y:6.92, Z:2.07 [[ 9.38429008e-01 -3.36853120e-01 -7.66875017e-02 2.98312957e+01] [ 3.35592261e-01 9.41555793e-01 -2.91637310e-02 6.91535518e+00] [ 8.20294553e-02 1.63235908e-03 9.96628569e-01 2.06587434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.776875 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:29.85, Y:6.94, Z:2.03 [[ 0.93788169 -0.34265527 -0.05445466 29.84924679] [ 0.33935882 0.93864095 -0.06155294 6.93963937] [ 0.07220481 0.0392497 0.99661724 2.03102627] [ 0. 0. 0. 1. ]] SLAMing on 32.806875 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:29.88, Y:6.94, Z:2.05 [[ 9.38944153e-01 -3.37915759e-01 -6.47828478e-02 2.98770219e+01] [ 3.36423035e-01 9.41131094e-01 -3.30424935e-02 6.94396759e+00] [ 7.21347317e-02 9.23061386e-03 9.97352183e-01 2.04841692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.836875 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:29.91, Y:6.94, Z:2.10 [[ 9.40170168e-01 -3.27499698e-01 -9.39361650e-02 2.99111345e+01] [ 3.29913509e-01 9.43947182e-01 1.09906706e-02 6.93840300e+00] [ 8.50713370e-02 -4.13239104e-02 9.95517555e-01 2.09817232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.866875 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:29.94, Y:6.96, Z:2.08 [[ 9.41146079e-01 -3.28625918e-01 -7.90510193e-02 2.99357968e+01] [ 3.27254449e-01 9.44456986e-01 -3.00919904e-02 6.95682792e+00] [ 8.45492954e-02 2.45116105e-03 9.96416283e-01 2.07617185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.896874999999994 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:29.96, Y:6.97, Z:2.08 [[ 9.41502725e-01 -3.27738746e-01 -7.84852406e-02 2.99617769e+01] [ 3.26381740e-01 9.44764989e-01 -2.99011045e-02 6.96781130e+00] [ 8.39498579e-02 2.53582201e-03 9.96466754e-01 2.07727785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.926874999999995 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:29.99, Y:6.98, Z:2.08 [[ 9.39977240e-01 -3.32240038e-01 -7.78417934e-02 2.99879306e+01] [ 3.30918561e-01 9.43192440e-01 -2.96804169e-02 6.97889877e+00] [ 8.32808139e-02 2.13962217e-03 9.96523822e-01 2.07859160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.956875 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:30.01, Y:6.99, Z:2.08 [[ 9.39657557e-01 -3.33348522e-01 -7.69573873e-02 3.00127329e+01] [ 3.32058807e-01 9.42801466e-01 -2.93657058e-02 6.98849202e+00] [ 8.23445522e-02 2.03932914e-03 9.96601834e-01 2.08089594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.986875 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:30.04, Y:7.00, Z:2.08 [[ 9.39784114e-01 -3.33092760e-01 -7.65181896e-02 3.00387314e+01] [ 3.31815906e-01 9.42891809e-01 -2.92102823e-02 6.99883254e+00] [ 8.18781077e-02 2.06140688e-03 9.96640219e-01 2.08390028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.016875 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:30.06, Y:7.01, Z:2.09 [[ 9.40886700e-01 -3.29899288e-01 -7.68028464e-02 3.00644055e+01] [ 3.28600285e-01 9.44013155e-01 -2.93430554e-02 7.01103638e+00] [ 8.21831505e-02 2.37105333e-03 9.96614423e-01 2.08738264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.046875 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:30.09, Y:7.02, Z:2.09 [[ 9.41615519e-01 -3.27820210e-01 -7.67732008e-02 3.00898439e+01] [ 3.26513339e-01 9.44736621e-01 -2.93556908e-02 7.02273238e+00] [ 8.21538430e-02 2.57429992e-03 9.96616335e-01 2.08998094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.076875 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:30.11, Y:7.05, Z:2.05 [[ 0.94151298 -0.33335491 -0.04927287 30.10500489] [ 0.32987144 0.94162326 -0.06730871 7.04992472] [ 0.06883417 0.04711831 0.99651479 2.04948872] [ 0. 0. 0. 1. ]] SLAMing on 33.106874999999995 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:30.14, Y:7.04, Z:2.12 [[ 9.43695034e-01 -3.17488001e-01 -9.29572585e-02 3.01422829e+01] [ 3.19850009e-01 9.47400527e-01 1.13231144e-02 7.03839548e+00] [ 8.44728027e-02 -4.04179468e-02 9.95605713e-01 2.11954213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.136874999999996 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:30.17, Y:7.06, Z:2.10 [[ 9.44399428e-01 -3.19643274e-01 -7.70577510e-02 3.01669937e+01] [ 3.18296420e-01 9.47532091e-01 -2.95012802e-02 7.05765653e+00] [ 8.24445777e-02 3.33378582e-03 9.96590075e-01 2.09779550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.166875 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:30.19, Y:7.07, Z:2.10 [[ 9.44587733e-01 -3.19103948e-01 -7.69849664e-02 3.01927584e+01] [ 3.17755790e-01 9.47713617e-01 -2.94984266e-02 7.06877978e+00] [ 8.23727653e-02 3.40143304e-03 9.96595785e-01 2.09953532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.196875 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:30.22, Y:7.08, Z:2.10 [[ 9.44503542e-01 -3.19355044e-01 -7.69767204e-02 3.02193807e+01] [ 3.18005968e-01 9.47629030e-01 -2.95199300e-02 7.07910062e+00] [ 8.23727134e-02 3.40262198e-03 9.96595785e-01 2.10158944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.226875 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:30.24, Y:7.10, Z:2.08 [[ 0.94396023 -0.32430199 -0.0613783 30.2386608 ] [ 0.32137254 0.94546754 -0.05301721 7.10146053] [ 0.07522477 0.03032084 0.99670551 2.07612009] [ 0. 0. 0. 1. ]] SLAMing on 33.256875 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:30.27, Y:7.10, Z:2.12 [[ 9.44278909e-01 -3.17380653e-01 -8.72173369e-02 3.02723800e+01] [ 3.18184990e-01 9.48016029e-01 -4.89089991e-03 7.09727338e+00] [ 8.42357104e-02 -2.31328738e-02 9.96177301e-01 2.11927770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.286874999999995 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:30.30, Y:7.11, Z:2.11 [[ 9.43528588e-01 -3.22315920e-01 -7.65914510e-02 3.02969372e+01] [ 3.20986597e-01 9.46626859e-01 -2.94141957e-02 7.11335887e+00] [ 8.19841882e-02 3.16830534e-03 9.96628594e-01 2.10688285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.316874999999996 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:30.32, Y:7.12, Z:2.11 [[ 9.41441981e-01 -3.28651360e-01 -7.53344520e-02 3.03222527e+01] [ 3.27383649e-01 9.44447745e-01 -2.89552120e-02 7.12387160e+00] [ 8.06656231e-02 2.59638440e-03 9.96737837e-01 2.11121392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.346875 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:30.35, Y:7.13, Z:2.12 [[ 9.40407134e-01 -3.31531475e-01 -7.56392962e-02 3.03476543e+01] [ 3.30260851e-01 9.43441154e-01 -2.90956896e-02 7.13340098e+00] [ 8.10073618e-02 2.38109579e-03 9.96710659e-01 2.11529413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.376875 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:30.37, Y:7.14, Z:2.12 [[ 9.39220283e-01 -3.34664887e-01 -7.65811561e-02 3.03733519e+01] [ 3.33371711e-01 9.42334757e-01 -2.94704624e-02 7.14353100e+00] [ 8.20278140e-02 2.14926498e-03 9.96627723e-01 2.11823628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.406875 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:30.40, Y:7.15, Z:2.12 [[ 9.38120815e-01 -3.37739191e-01 -7.65609210e-02 3.03991947e+01] [ 3.36454883e-01 9.41237811e-01 -2.94871999e-02 7.15440674e+00] [ 8.20210167e-02 1.90326025e-03 9.96628783e-01 2.11937680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.436875 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:30.42, Y:7.17, Z:2.12 [[ 9.36254066e-01 -3.42817921e-01 -7.68387764e-02 3.04239126e+01] [ 3.41539403e-01 9.39400695e-01 -2.96170558e-02 7.16556234e+00] [ 8.23356575e-02 1.48561910e-03 9.96603548e-01 2.11947728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.466874999999995 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:30.45, Y:7.18, Z:2.12 [[ 9.35411408e-01 -3.45100888e-01 -7.68822135e-02 3.04499261e+01] [ 3.43827609e-01 9.38564700e-01 -2.96459126e-02 7.17549635e+00] [ 8.23897623e-02 1.29689722e-03 9.96599340e-01 2.12223119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.496874999999996 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:30.48, Y:7.18, Z:2.13 [[ 9.33886018e-01 -3.49319604e-01 -7.63722471e-02 3.04760220e+01] [ 3.48075332e-01 9.37003164e-01 -2.94725896e-02 7.18472514e+00] [ 8.18563906e-02 9.40744072e-04 9.96643691e-01 2.12666989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.526875 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:30.50, Y:7.19, Z:2.13 [[ 9.33241895e-01 -3.51243282e-01 -7.54169951e-02 3.05011330e+01] [ 3.50034584e-01 9.36283902e-01 -2.91246349e-02 7.19456617e+00] [ 8.08415508e-02 7.81772987e-04 9.96726659e-01 2.12903890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.556875 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:30.53, Y:7.20, Z:2.13 [[ 9.32639537e-01 -3.53096217e-01 -7.42061684e-02 3.05267523e+01] [ 3.51931044e-01 9.35586808e-01 -2.86681878e-02 7.20460978e+00] [ 7.95489409e-02 6.21630997e-04 9.96830768e-01 2.13231297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.586875 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:30.55, Y:7.22, Z:2.13 [[ 9.32235850e-01 -3.54304037e-01 -7.35185013e-02 3.05530185e+01] [ 3.53162349e-01 9.35130132e-01 -2.84252032e-02 7.21544409e+00] [ 7.88205300e-02 5.35026870e-04 9.96888679e-01 2.13475106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.616875 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:30.58, Y:7.23, Z:2.14 [[ 9.32017993e-01 -3.54977391e-01 -7.30309022e-02 3.05793153e+01] [ 3.53851114e-01 9.34874754e-01 -2.82592222e-02 7.22619247e+00] [ 7.83061317e-02 4.96037459e-04 9.96929237e-01 2.13715993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.646874999999994 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:30.60, Y:7.25, Z:2.11 [[ 0.93176127 -0.35960794 -0.05003056 30.60140359] [ 0.35688128 0.93247503 -0.05591128 7.24925036] [ 0.06675839 0.034241 0.99718146 2.10657719] [ 0. 0. 0. 1. ]] SLAMing on 33.676874999999995 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:30.63, Y:7.24, Z:2.16 [[ 9.32721216e-01 -3.50915951e-01 -8.30007754e-02 3.06331135e+01] [ 3.52427742e-01 9.35831148e-01 3.84038073e-03 7.24358371e+00] [ 7.63270601e-02 -3.28337804e-02 9.96542083e-01 2.15952601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.706875 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:30.66, Y:7.26, Z:2.14 [[ 9.33098986e-01 -3.52583996e-01 -7.07870554e-02 3.06569945e+01] [ 3.51516213e-01 9.35779899e-01 -2.74286649e-02 7.26074596e+00] [ 7.59120118e-02 7.10861821e-04 9.97114267e-01 2.14314582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.736875 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:30.68, Y:7.27, Z:2.14 [[ 9.33882820e-01 -3.50298947e-01 -7.17880672e-02 3.06822596e+01] [ 3.49193145e-01 9.36637498e-01 -2.78270548e-02 7.27311620e+00] [ 7.69871837e-02 9.19307452e-04 9.97031659e-01 2.14465798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.766875 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:30.71, Y:7.28, Z:2.15 [[ 9.34254169e-01 -3.49160441e-01 -7.24991980e-02 3.07077230e+01] [ 3.48027373e-01 9.37062375e-01 -2.81256705e-02 7.28401788e+00] [ 7.77566421e-02 1.04481952e-03 9.96971822e-01 2.14696746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.796875 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:30.73, Y:7.29, Z:2.15 [[ 9.34720504e-01 -3.47716910e-01 -7.34202280e-02 3.07331649e+01] [ 3.46548522e-01 9.37598798e-01 -2.85064155e-02 7.29498924e+00] [ 7.87508803e-02 1.20185954e-03 9.96893602e-01 2.14977236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.826875 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:30.76, Y:7.31, Z:2.15 [[ 9.35703806e-01 -3.44938050e-01 -7.40008702e-02 3.07582835e+01] [ 3.43740524e-01 9.38624303e-01 -2.87553385e-02 7.30836592e+00] [ 7.93778256e-02 1.46938176e-03 9.96843519e-01 2.15129399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.856874999999995 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:30.78, Y:7.32, Z:2.15 [[ 9.36062689e-01 -3.43837922e-01 -7.45796657e-02 3.07838922e+01] [ 3.42616174e-01 9.39027653e-01 -2.90038748e-02 7.32046181e+00] [ 8.00050004e-02 1.59724531e-03 9.96793183e-01 2.15345185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.886874999999996 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:30.81, Y:7.33, Z:2.16 [[ 9.36449359e-01 -3.42694752e-01 -7.49860257e-02 3.08094260e+01] [ 3.41454067e-01 9.39445222e-01 -2.91855092e-02 7.33195803e+00] [ 8.04469845e-02 1.72646794e-03 9.96757394e-01 2.15540397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.916875 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:30.83, Y:7.34, Z:2.16 [[ 9.36780944e-01 -3.41618370e-01 -7.57519106e-02 3.08349416e+01] [ 3.40346699e-01 9.39836916e-01 -2.95075500e-02 7.34306509e+00] [ 8.12747632e-02 1.86019785e-03 9.96689998e-01 2.15806062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.946875 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:30.86, Y:7.36, Z:2.16 [[ 9.37492070e-01 -3.39472876e-01 -7.65949409e-02 3.08600216e+01] [ 3.38163542e-01 9.40613518e-01 -2.98601519e-02 7.35619043e+00] [ 8.21829484e-02 2.09203910e-03 9.96615064e-01 2.15910517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.976875 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:30.89, Y:7.37, Z:2.16 [[ 9.37746828e-01 -3.38822971e-01 -7.63536581e-02 3.08859041e+01] [ 3.37517837e-01 9.40847656e-01 -2.97892382e-02 7.36808926e+00] [ 8.19304384e-02 2.16404210e-03 9.96635701e-01 2.16049235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.006875 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:30.91, Y:7.38, Z:2.16 [[ 9.37942855e-01 -3.38419148e-01 -7.57342801e-02 3.09115653e+01] [ 3.37131845e-01 9.40992891e-01 -2.95719204e-02 7.37921042e+00] [ 8.12731233e-02 2.20433391e-03 9.96689430e-01 2.16360152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.036874999999995 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:30.94, Y:7.39, Z:2.17 [[ 9.38287104e-01 -3.37801842e-01 -7.42106804e-02 3.09377827e+01] [ 3.36562066e-01 9.41214599e-01 -2.90009354e-02 7.38984980e+00] [ 7.96447452e-02 2.23470375e-03 9.96820807e-01 2.16902656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.066874999999996 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:30.96, Y:7.40, Z:2.17 [[ 9.38245718e-01 -3.37933621e-01 -7.41339366e-02 3.09635024e+01] [ 3.36694883e-01 9.41167271e-01 -2.89952355e-02 7.40096189e+00] [ 7.95708998e-02 2.24413843e-03 9.96826683e-01 2.17103980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.096875 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:30.99, Y:7.41, Z:2.17 [[ 9.38220353e-01 -3.37866271e-01 -7.47592896e-02 3.09885362e+01] [ 3.36604391e-01 9.41191337e-01 -2.92634843e-02 7.41231598e+00] [ 8.02499400e-02 2.29129142e-03 9.96772139e-01 2.17188187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.126875 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:31.01, Y:7.42, Z:2.17 [[ 9.38241290e-01 -3.37508253e-01 -7.61016549e-02 3.10128648e+01] [ 3.36198479e-01 9.41319575e-01 -2.98000067e-02 7.42323333e+00] [ 8.16937256e-02 2.37433603e-03 9.96654653e-01 2.17241417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.156875 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:31.04, Y:7.43, Z:2.17 [[ 9.37970269e-01 -3.38070074e-01 -7.69441392e-02 3.10381450e+01] [ 3.36732068e-01 9.41117978e-01 -3.01407791e-02 7.43333210e+00] [ 8.26032081e-02 2.36159556e-03 9.96579717e-01 2.17396917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.186875 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:31.06, Y:7.44, Z:2.18 [[ 9.37584946e-01 -3.38747156e-01 -7.86437136e-02 3.10646514e+01] [ 3.37350531e-01 9.40874470e-01 -3.08196419e-02 7.44337249e+00] [ 8.44339284e-02 2.36553372e-03 9.96426272e-01 2.17670684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.216874999999995 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:31.09, Y:7.45, Z:2.18 [[ 9.36356119e-01 -3.41907456e-01 -7.96021942e-02 3.10902028e+01] [ 3.40485838e-01 9.39731217e-01 -3.12191395e-02 7.45321133e+00] [ 8.54787234e-02 2.12881255e-03 9.96337722e-01 2.17823988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.246874999999996 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:31.12, Y:7.46, Z:2.18 [[ 9.35791914e-01 -3.43528587e-01 -7.92565673e-02 3.11158780e+01] [ 3.42123986e-01 9.39140124e-01 -3.10967262e-02 7.46328079e+00] [ 8.51156368e-02 1.98449218e-03 9.96369103e-01 2.18014512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.276875 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:31.14, Y:7.47, Z:2.18 [[ 9.35196374e-01 -3.45198197e-01 -7.90313096e-02 3.11421914e+01] [ 3.43805381e-01 9.38527985e-01 -3.10335533e-02 7.47314647e+00] [ 8.48858224e-02 1.85107696e-03 9.96388966e-01 2.18316381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.306875 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:31.17, Y:7.48, Z:2.19 [[ 9.34080659e-01 -3.48490010e-01 -7.77691136e-02 3.11689109e+01] [ 3.47150716e-01 9.37311213e-01 -3.05625746e-02 7.48212311e+00] [ 8.35446141e-02 1.55030640e-03 9.96502832e-01 2.18633751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.336875 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:31.20, Y:7.49, Z:2.19 [[ 9.33417783e-01 -3.50351061e-01 -7.73652117e-02 3.11951798e+01] [ 3.49029991e-01 9.36617411e-01 -3.04284469e-02 7.49153918e+00] [ 8.31222429e-02 1.39967432e-03 9.96538375e-01 2.18939957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.366875 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:31.22, Y:7.50, Z:2.19 [[ 9.32865044e-01 -3.51904289e-01 -7.69816961e-02 3.12218321e+01] [ 3.50599554e-01 9.36035116e-01 -3.03020547e-02 7.50127739e+00] [ 8.27209938e-02 1.27797926e-03 9.96571926e-01 2.19211225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.396874999999994 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:31.25, Y:7.51, Z:2.19 [[ 9.32292918e-01 -3.53400574e-01 -7.70580867e-02 3.12480412e+01] [ 3.52096316e-01 9.35471361e-01 -3.03564963e-02 7.51115364e+00] [ 8.28136364e-02 1.16927809e-03 9.96564365e-01 2.19402714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.426874999999995 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:31.27, Y:7.52, Z:2.19 [[ 9.32055576e-01 -3.53773630e-01 -7.82088338e-02 3.12730003e+01] [ 3.52429256e-01 9.35330334e-01 -3.08348105e-02 7.52095404e+00] [ 8.40596375e-02 1.17667600e-03 9.96460031e-01 2.19485622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.456875 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:31.30, Y:7.53, Z:2.20 [[ 9.32349201e-01 -3.52953578e-01 -7.84139034e-02 3.12985838e+01] [ 3.51597156e-01 9.35639964e-01 -3.09402365e-02 7.53146440e+00] [ 8.42876489e-02 1.27699931e-03 9.96440646e-01 2.19614343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.486875 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:31.32, Y:7.54, Z:2.20 [[ 9.33018308e-01 -3.51118044e-01 -7.86953414e-02 3.13246145e+01] [ 3.49743246e-01 9.36330046e-01 -3.10758342e-02 7.54151560e+00] [ 8.45960988e-02 1.47115812e-03 9.96414239e-01 2.19853327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.516875 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:31.35, Y:7.55, Z:2.20 [[ 9.33538748e-01 -3.49709885e-01 -7.87934188e-02 3.13503853e+01] [ 3.48324560e-01 9.36856638e-01 -3.11390593e-02 7.55182913e+00] [ 8.47077743e-02 1.62383543e-03 9.96404514e-01 2.20121537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.546875 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:31.38, Y:7.56, Z:2.20 [[ 9.34802473e-01 -3.46159642e-01 -7.94848364e-02 3.13752713e+01] [ 3.44735025e-01 9.38173525e-01 -3.14356547e-02 7.56205778e+00] [ 8.54523241e-02 1.98492073e-03 9.96340283e-01 2.20492715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.576875 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:31.40, Y:7.57, Z:2.21 [[ 9.35471562e-01 -3.44463598e-01 -7.89796620e-02 3.14014217e+01] [ 3.43049924e-01 9.38797239e-01 -3.12488850e-02 7.57296771e+00] [ 8.49099920e-02 2.13847613e-03 9.96386331e-01 2.20727690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.606874999999995 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:31.43, Y:7.58, Z:2.21 [[ 9.36043698e-01 -3.43028121e-01 -7.84468190e-02 3.14261113e+01] [ 3.41626378e-01 9.39322376e-01 -3.10627152e-02 7.58339480e+00] [ 8.43422372e-02 2.27655610e-03 9.96434245e-01 2.20930159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.636874999999996 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:31.45, Y:7.59, Z:2.21 [[ 9.36966225e-01 -3.40761012e-01 -7.73060590e-02 3.14515983e+01] [ 3.39390611e-01 9.40146730e-01 -3.06290511e-02 7.59428524e+00] [ 8.31162250e-02 2.46143579e-03 9.96536820e-01 2.21255217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.666875 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:31.48, Y:7.60, Z:2.22 [[ 9.37411867e-01 -3.39770506e-01 -7.62561170e-02 3.14774262e+01] [ 3.38431924e-01 9.40504954e-01 -3.02368182e-02 7.60478737e+00] [ 8.19928348e-02 2.53684782e-03 9.96629690e-01 2.21528635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.696875 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:31.50, Y:7.62, Z:2.22 [[ 9.37821322e-01 -3.38747560e-01 -7.57710940e-02 3.15035883e+01] [ 3.37420661e-01 9.40873616e-01 -3.00688724e-02 7.61587536e+00] [ 8.14767803e-02 2.63249707e-03 9.96671764e-01 2.21743132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.726875 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:31.53, Y:7.63, Z:2.22 [[ 9.38288528e-01 -3.37531043e-01 -7.54150683e-02 3.15282217e+01] [ 3.36210838e-01 9.41310390e-01 -2.99503201e-02 7.62618901e+00] [ 8.10981502e-02 2.74667845e-03 9.96702336e-01 2.21936614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.756875 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:31.55, Y:7.64, Z:2.22 [[ 9.38770900e-01 -3.36204159e-01 -7.53389710e-02 3.15536390e+01] [ 3.34881398e-01 9.41784757e-01 -2.99319306e-02 7.63770351e+00] [ 8.10163341e-02 2.86960547e-03 9.96708643e-01 2.22091306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.786874999999995 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:31.58, Y:7.65, Z:2.22 [[ 9.38704688e-01 -3.36237810e-01 -7.60108218e-02 3.15799240e+01] [ 3.34889419e-01 9.41772603e-01 -3.02231963e-02 7.64874466e+00] [ 8.17470909e-02 2.91543615e-03 9.96648842e-01 2.22232646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.816874999999996 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:31.61, Y:7.66, Z:2.22 [[ 9.38601313e-01 -3.36540724e-01 -7.59468036e-02 3.16063150e+01] [ 3.35193629e-01 9.41664419e-01 -3.02217381e-02 7.65887422e+00] [ 8.16872483e-02 2.90927835e-03 9.96653766e-01 2.22459816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.846875 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:31.63, Y:7.67, Z:2.23 [[ 9.38077260e-01 -3.37936262e-01 -7.62242582e-02 3.16325858e+01] [ 3.36581858e-01 9.41164770e-01 -3.03566984e-02 7.66762888e+00] [ 8.19982156e-02 2.82122599e-03 9.96628483e-01 2.22878881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.876875 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:31.66, Y:7.68, Z:2.23 [[ 9.37679082e-01 -3.38983747e-01 -7.64719495e-02 3.16582643e+01] [ 3.37621919e-01 9.40788175e-01 -3.04803203e-02 7.67766296e+00] [ 8.22762390e-02 2.76215245e-03 9.96605735e-01 2.23072000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.906875 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:31.68, Y:7.69, Z:2.23 [[ 9.37357145e-01 -3.39753847e-01 -7.69993899e-02 3.16831188e+01] [ 3.38373769e-01 9.40510415e-01 -3.07140316e-02 7.68744500e+00] [ 8.28539385e-02 2.73544316e-03 9.96557947e-01 2.23223996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.936875 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:31.71, Y:7.70, Z:2.23 [[ 9.36959164e-01 -3.40666602e-01 -7.78061085e-02 3.17086717e+01] [ 3.39259464e-01 9.40180304e-01 -3.10485365e-02 7.69799526e+00] [ 8.37289702e-02 2.69475213e-03 9.96484921e-01 2.23321900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.966874999999995 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:31.73, Y:7.71, Z:2.23 [[ 9.36877421e-01 -3.40639214e-01 -7.89026174e-02 3.17336469e+01] [ 3.39190055e-01 9.40190049e-01 -3.15084000e-02 7.70715755e+00] [ 8.49164523e-02 2.75652540e-03 9.96384262e-01 2.23399900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.996874999999996 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:31.76, Y:7.72, Z:2.24 [[ 9.36768937e-01 -3.40745889e-01 -7.97257657e-02 3.17599714e+01] [ 3.39265487e-01 9.40151298e-01 -3.18506849e-02 7.71701048e+00] [ 8.58072720e-02 2.78853152e-03 9.96307852e-01 2.23630187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.026875 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:31.79, Y:7.73, Z:2.24 [[ 9.37036062e-01 -3.39975847e-01 -7.98739090e-02 3.17856633e+01] [ 3.38485088e-01 9.40429737e-01 -3.19336081e-02 7.72644109e+00] [ 8.59724547e-02 2.88681531e-03 9.96293332e-01 2.23938395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.056875 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:31.81, Y:7.74, Z:2.24 [[ 9.37202336e-01 -3.39533163e-01 -7.98060935e-02 3.18118059e+01] [ 3.38042180e-01 9.40589497e-01 -3.19199395e-02 7.73725750e+00] [ 8.59026513e-02 2.93761607e-03 9.96299205e-01 2.24125481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.086875 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:31.84, Y:7.75, Z:2.24 [[ 9.37495707e-01 -3.38707024e-01 -7.98708417e-02 3.18378460e+01] [ 3.37208419e-01 9.40886981e-01 -3.19714179e-02 7.74807089e+00] [ 8.59783789e-02 3.03994676e-03 9.96292365e-01 2.24344681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.116875 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:31.86, Y:7.76, Z:2.25 [[ 9.37409025e-01 -3.38948901e-01 -7.98621465e-02 3.18643029e+01] [ 3.37449325e-01 9.40799869e-01 -3.19931244e-02 7.75877548e+00] [ 8.59783313e-02 3.04121611e-03 9.96292365e-01 2.24551784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.146874999999994 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:31.89, Y:7.77, Z:2.25 [[ 9.37731146e-01 -3.38021755e-01 -8.00099447e-02 3.18903108e+01] [ 3.36511159e-01 9.41133009e-01 -3.20764643e-02 7.76936401e+00] [ 8.61425427e-02 3.15486039e-03 9.96277827e-01 2.24780103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.176874999999995 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:31.92, Y:7.78, Z:2.25 [[ 9.38521556e-01 -3.35948667e-01 -7.94718888e-02 3.19165711e+01] [ 3.34448803e-01 9.41874352e-01 -3.18857690e-02 7.78003858e+00] [ 8.55645154e-02 3.34620341e-03 9.96327013e-01 2.24971715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.206875 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:31.94, Y:7.79, Z:2.25 [[ 9.38703980e-01 -3.35573139e-01 -7.89018731e-02 3.19425997e+01] [ 3.34091323e-01 9.42008093e-01 -3.16818649e-02 7.79054511e+00] [ 8.49577859e-02 3.37946154e-03 9.96378820e-01 2.25186849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.236875 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:31.97, Y:7.80, Z:2.25 [[ 9.38721057e-01 -3.35598472e-01 -7.85903444e-02 3.19683581e+01] [ 3.34126351e-01 9.41999041e-01 -3.15814602e-02 7.80059875e+00] [ 8.46307189e-02 3.38707677e-03 9.96406628e-01 2.25459190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.266875 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:31.99, Y:7.81, Z:2.26 [[ 9.38578422e-01 -3.35985994e-01 -7.86381465e-02 3.19937460e+01] [ 3.34511420e-01 9.41860929e-01 -3.16243448e-02 7.81071323e+00] [ 8.46915347e-02 3.37656957e-03 9.96401497e-01 2.25663533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.296875 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:32.02, Y:7.82, Z:2.26 [[ 9.38391841e-01 -3.36372889e-01 -7.92087918e-02 3.20203135e+01] [ 3.34877022e-01 9.41722817e-01 -3.18671656e-02 7.82081180e+00] [ 8.53119771e-02 3.37868394e-03 9.96348559e-01 2.25878240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.326874999999994 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:32.05, Y:7.83, Z:2.26 [[ 9.37974051e-01 -3.37509000e-01 -7.93243598e-02 3.20463301e+01] [ 3.36010634e-01 9.41316502e-01 -3.19389426e-02 7.83052681e+00] [ 8.54490095e-02 3.30407092e-03 9.96337066e-01 2.26053061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.356874999999995 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:32.07, Y:7.84, Z:2.26 [[ 9.37569892e-01 -3.38643022e-01 -7.92691696e-02 3.20723219e+01] [ 3.37148594e-01 9.40909410e-01 -3.19422404e-02 7.84063818e+00] [ 8.54021245e-02 3.22259374e-03 9.96341353e-01 2.26207290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.386874999999996 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:32.10, Y:7.85, Z:2.26 [[ 9.36819778e-01 -3.40404268e-01 -8.05831058e-02 3.20981846e+01] [ 3.38863973e-01 9.40273942e-01 -3.24980233e-02 7.85022332e+00] [ 8.68326604e-02 3.13807964e-03 9.96217969e-01 2.26403996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.416875 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:32.12, Y:7.86, Z:2.27 [[ 9.36414818e-01 -3.41315348e-01 -8.14316986e-02 3.21247791e+01] [ 3.39743492e-01 9.39943699e-01 -3.28664390e-02 7.86040554e+00] [ 8.77590320e-02 3.11073080e-03 9.96136876e-01 2.26638575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.446875 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:32.15, Y:7.87, Z:2.27 [[ 9.36136275e-01 -3.41964195e-01 -8.19107108e-02 3.21508502e+01] [ 3.40373894e-01 9.39707893e-01 -3.30860783e-02 7.87034114e+00] [ 8.82863955e-02 3.09281052e-03 9.96090331e-01 2.26821716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.476875 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:32.18, Y:7.88, Z:2.27 [[ 9.35711518e-01 -3.42976909e-01 -8.25275380e-02 3.21756361e+01] [ 3.41364281e-01 9.39338907e-01 -3.33593533e-02 7.87979250e+00] [ 8.89628152e-02 3.04277745e-03 9.96030300e-01 2.27013867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.506875 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:32.20, Y:7.89, Z:2.27 [[ 9.35038339e-01 -3.45122175e-01 -8.12033782e-02 3.22022825e+01] [ 3.43567842e-01 9.38553574e-01 -3.28378750e-02 7.88886725e+00] [ 8.75467997e-02 2.80580267e-03 9.96156456e-01 2.27344611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.536874999999995 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:32.23, Y:7.90, Z:2.28 [[ 9.34628696e-01 -3.46340286e-01 -8.07316972e-02 3.22280214e+01] [ 3.44806252e-01 9.38105065e-01 -3.26731537e-02 7.89888822e+00] [ 8.70508434e-02 2.70047315e-03 9.96200210e-01 2.27520128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.566874999999996 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:32.25, Y:7.91, Z:2.28 [[ 9.34330238e-01 -3.47388574e-01 -7.96754918e-02 3.22540601e+01] [ 3.45896085e-01 9.37717685e-01 -3.22713821e-02 7.90842141e+00] [ 8.59238271e-02 2.59268746e-03 9.96298336e-01 2.27687593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.596875 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:32.28, Y:7.92, Z:2.28 [[ 9.33991085e-01 -3.48436568e-01 -7.90734504e-02 3.22811208e+01] [ 3.46968174e-01 9.37329026e-01 -3.20528213e-02 7.91595181e+00] [ 8.52862153e-02 2.50107860e-03 9.96353354e-01 2.28022344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.626875 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:32.31, Y:7.92, Z:2.28 [[ 9.33532945e-01 -3.49747483e-01 -7.86952286e-02 3.23061019e+01] [ 3.48295905e-01 9.36840960e-01 -3.19214422e-02 7.92494599e+00] [ 8.48893576e-02 2.39049201e-03 9.96387516e-01 2.28240662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.656875 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:32.33, Y:7.93, Z:2.28 [[ 9.33245655e-01 -3.50603607e-01 -7.82921386e-02 3.23326650e+01] [ 3.49168797e-01 9.36521095e-01 -3.17708875e-02 7.93408104e+00] [ 8.44612271e-02 2.31287081e-03 9.96424082e-01 2.28410143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.686875 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:32.36, Y:7.94, Z:2.29 [[ 9.32633496e-01 -3.52373938e-01 -7.76361424e-02 3.23599622e+01] [ 3.50967166e-01 9.35856801e-01 -3.15292823e-02 7.94213593e+00] [ 8.37664093e-02 2.15752788e-03 9.96483083e-01 2.28652201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.716874999999995 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:32.39, Y:7.95, Z:2.29 [[ 9.32575808e-01 -3.52524490e-01 -7.76456492e-02 3.23857293e+01] [ 3.51115888e-01 9.35800080e-01 -3.15569924e-02 7.95105003e+00] [ 8.37854173e-02 2.16666660e-03 9.96481465e-01 2.28865491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.746874999999996 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:32.41, Y:7.96, Z:2.29 [[ 9.32554823e-01 -3.52588918e-01 -7.76051357e-02 3.24124713e+01] [ 3.51180500e-01 9.35775784e-01 -3.15585061e-02 7.96030030e+00] [ 8.37481862e-02 2.17662672e-03 9.96484573e-01 2.29099301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.776875 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:32.44, Y:7.97, Z:2.29 [[ 9.32778265e-01 -3.52027099e-01 -7.74701833e-02 3.24378634e+01] [ 3.50619741e-01 9.35987117e-01 -3.15263990e-02 7.96926084e+00] [ 8.36092403e-02 2.24456421e-03 9.96496090e-01 2.29321810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.806875 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:32.46, Y:7.98, Z:2.29 [[ 9.33101769e-01 -3.51189339e-01 -7.73765936e-02 3.24643788e+01] [ 3.49781463e-01 9.36301568e-01 -3.15008279e-02 7.97813947e+00] [ 8.35105808e-02 2.32858013e-03 9.96504170e-01 2.29485929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.836875 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:32.49, Y:7.99, Z:2.30 [[ 9.33006837e-01 -3.51366019e-01 -7.77184827e-02 3.24910383e+01] [ 3.49944148e-01 9.36235234e-01 -3.16651086e-02 7.98858038e+00] [ 8.38888250e-02 2.34663457e-03 9.96472357e-01 2.29588434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.866875 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:32.52, Y:8.00, Z:2.30 [[ 9.33061894e-01 -3.51159074e-01 -7.79923471e-02 3.25175331e+01] [ 3.49724296e-01 9.36312746e-01 -3.18018810e-02 7.99828347e+00] [ 8.41927477e-02 2.39730466e-03 9.96446604e-01 2.29720854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.896874999999994 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:32.54, Y:8.01, Z:2.30 [[ 9.33205639e-01 -3.50683512e-01 -7.84111525e-02 3.25437978e+01] [ 3.49229556e-01 9.36490761e-01 -3.19964381e-02 8.00590003e+00] [ 8.46519431e-02 2.47576443e-03 9.96407507e-01 2.30108621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.926874999999995 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:32.57, Y:8.02, Z:2.30 [[ 9.33260040e-01 -3.50412169e-01 -7.89747358e-02 3.25702073e+01] [ 3.48935073e-01 9.36592177e-01 -3.22398788e-02 8.01520717e+00] [ 8.52643656e-02 2.53113544e-03 9.96355148e-01 2.30420380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.956875 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:32.60, Y:8.02, Z:2.31 [[ 9.33332561e-01 -3.50308393e-01 -7.85770998e-02 3.25950735e+01] [ 3.48843784e-01 9.36630945e-01 -3.21011964e-02 8.02443641e+00] [ 8.48430618e-02 2.54995905e-03 9.96391064e-01 2.30644023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.986875 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:32.62, Y:8.03, Z:2.31 [[ 9.33293452e-01 -3.50733250e-01 -7.71331342e-02 3.26215583e+01] [ 3.49322477e-01 9.36472132e-01 -3.15238565e-02 8.03490705e+00] [ 8.32894952e-02 2.47667137e-03 9.96522316e-01 2.30718909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.016875 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:32.65, Y:8.05, Z:2.31 [[ 9.33066091e-01 -3.51407837e-01 -7.68127748e-02 3.26473621e+01] [ 3.50009022e-01 9.36219328e-01 -3.14174171e-02 8.04543640e+00] [ 8.29539310e-02 2.42936242e-03 9.96550422e-01 2.30872580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.046875 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:32.67, Y:8.06, Z:2.31 [[ 9.32872364e-01 -3.52074755e-01 -7.61085982e-02 3.26729702e+01] [ 3.50701820e-01 9.35968883e-01 -3.11525796e-02 8.05520193e+00] [ 8.22033165e-02 2.36995662e-03 9.96612762e-01 2.31061323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.076874999999994 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:32.70, Y:8.06, Z:2.31 [[ 9.32519126e-01 -3.53028203e-01 -7.60208299e-02 3.26993984e+01] [ 3.51660573e-01 9.35609866e-01 -3.11290955e-02 8.06436354e+00] [ 8.21152871e-02 2.29494841e-03 9.96620195e-01 2.31304938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.106874999999995 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:32.73, Y:8.07, Z:2.32 [[ 9.31139667e-01 -3.56504717e-01 -7.67027196e-02 3.27260390e+01] [ 3.55122046e-01 9.34291317e-01 -3.14335304e-02 8.07200185e+00] [ 8.28688868e-02 2.03018032e-03 9.96558391e-01 2.31627244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.136874999999996 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:32.75, Y:8.08, Z:2.32 [[ 9.30325227e-01 -3.58685995e-01 -7.64155082e-02 3.27517609e+01] [ 3.57319099e-01 9.33456444e-01 -3.13389460e-02 8.08136115e+00] [ 8.25713895e-02 1.85069151e-03 9.96583434e-01 2.31869789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.166875 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:32.78, Y:8.09, Z:2.32 [[ 9.29447616e-01 -3.61184833e-01 -7.53169662e-02 3.27772960e+01] [ 3.59864353e-01 9.32492846e-01 -3.08988563e-02 8.09071530e+00] [ 8.13927304e-02 1.61497697e-03 9.96680799e-01 2.32180648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.196875 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:32.80, Y:8.10, Z:2.32 [[ 9.27654054e-01 -3.65998269e-01 -7.41837084e-02 3.28046267e+01] [ 3.64731719e-01 9.30614776e-01 -3.04452155e-02 8.09907501e+00] [ 8.01793514e-02 1.18547615e-03 9.96779748e-01 2.32327120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.226875 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:32.83, Y:8.11, Z:2.32 [[ 9.26805465e-01 -3.68069367e-01 -7.45424097e-02 3.28314545e+01] [ 3.66795312e-01 9.29797760e-01 -3.06157633e-02 8.10878141e+00] [ 8.05780901e-02 1.03305035e-03 9.96747764e-01 2.32492031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.256875 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:32.86, Y:8.12, Z:2.33 [[ 9.26103192e-01 -3.69747625e-01 -7.49637944e-02 3.28575284e+01] [ 3.68462620e-01 9.29131776e-01 -3.08130028e-02 8.11806276e+00] [ 8.10442781e-02 9.14664197e-04 9.96710082e-01 2.32686311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.286874999999995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:32.88, Y:8.13, Z:2.33 [[ 9.25733102e-01 -3.70753949e-01 -7.45636166e-02 3.28828946e+01] [ 3.69484085e-01 9.28730746e-01 -3.06710373e-02 8.12740215e+00] [ 8.06209315e-02 8.43124844e-04 9.96744478e-01 2.32881265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.316874999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:32.91, Y:8.14, Z:2.33 [[ 9.25388465e-01 -3.71487850e-01 -7.51862103e-02 3.29091173e+01] [ 3.70198094e-01 9.28437474e-01 -3.09391103e-02 8.13675781e+00] [ 8.12991987e-02 7.96904021e-04 9.96689423e-01 2.33181829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.346875 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:32.94, Y:8.15, Z:2.33 [[ 9.25498594e-01 -3.71226123e-01 -7.51233490e-02 3.29355522e+01] [ 3.69935719e-01 9.28542114e-01 -3.09371379e-02 8.14739835e+00] [ 8.12398670e-02 8.41467530e-04 9.96694224e-01 2.33382659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.376875 meters Centerline goodness : 0.999926 Centerline is valid? [True, True] Translation: X:32.96, Y:8.16, Z:2.34 [[ 9.25821643e-01 -3.70460587e-01 -7.49215483e-02 3.29604449e+01] [ 3.69172782e-01 9.28847724e-01 -3.08765808e-02 8.15717667e+00] [ 8.10292658e-02 9.27210382e-04 9.96711291e-01 2.33538765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.406875 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:32.99, Y:8.17, Z:2.34 [[ 9.26131028e-01 -3.69626950e-01 -7.52146099e-02 3.29868430e+01] [ 3.68325323e-01 9.29179685e-01 -3.10091802e-02 8.16751654e+00] [ 8.13497163e-02 1.01511846e-03 9.96685102e-01 2.33799414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.436875 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:33.01, Y:8.18, Z:2.34 [[ 9.27019784e-01 -3.67180550e-01 -7.62414839e-02 3.30126318e+01] [ 3.65832778e-01 9.30148822e-01 -3.14570651e-02 8.17777664e+00] [ 8.24663489e-02 1.26968784e-03 9.96593041e-01 2.34006566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.466874999999995 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:33.04, Y:8.19, Z:2.34 [[ 9.27123883e-01 -3.66757896e-01 -7.70061749e-02 3.30384978e+01] [ 3.65379372e-01 9.30315452e-01 -3.17973841e-02 8.18905751e+00] [ 8.33019761e-02 1.34364637e-03 9.96523444e-01 2.34101922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.496874999999996 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:33.06, Y:8.20, Z:2.34 [[ 9.27382511e-01 -3.66015946e-01 -7.74209652e-02 3.30643257e+01] [ 3.64617820e-01 9.30607463e-01 -3.19936743e-02 8.20055887e+00] [ 8.37587229e-02 1.44131043e-03 9.96485022e-01 2.34224206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.526875 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:33.09, Y:8.21, Z:2.35 [[ 9.28052877e-01 -3.64408172e-01 -7.69710460e-02 3.30898259e+01] [ 3.63018696e-01 9.31237952e-01 -3.18324222e-02 8.21105610e+00] [ 8.32783540e-02 1.60024227e-03 9.96525040e-01 2.34566853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.556875 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:33.12, Y:8.22, Z:2.35 [[ 9.28483076e-01 -3.63373251e-01 -7.66750129e-02 3.31153233e+01] [ 3.61988878e-01 9.31642076e-01 -3.17347591e-02 8.22167875e+00] [ 8.29652308e-02 1.70968483e-03 9.96550976e-01 2.34872793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.586875 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:33.14, Y:8.23, Z:2.35 [[ 9.28828480e-01 -3.62546220e-01 -7.64061005e-02 3.31414142e+01] [ 3.61166736e-01 9.31964054e-01 -3.16479222e-02 8.23301791e+00] [ 8.26815738e-02 1.80014953e-03 9.96574391e-01 2.35133315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.616875 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:33.17, Y:8.24, Z:2.35 [[ 9.29228295e-01 -3.61515033e-01 -7.64307236e-02 3.31668494e+01] [ 3.60129144e-01 9.32364313e-01 -3.16826120e-02 8.24409243e+00] [ 8.27150196e-02 1.91544848e-03 9.96571401e-01 2.35350806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.646874999999994 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:33.19, Y:8.26, Z:2.35 [[ 9.30080079e-01 -3.59156764e-01 -7.71846233e-02 3.31923425e+01] [ 3.57733154e-01 9.33274724e-01 -3.20199771e-02 8.25675639e+00] [ 8.35346494e-02 2.16964403e-03 9.96502511e-01 2.35337384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.676874999999995 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:33.22, Y:8.27, Z:2.35 [[ 9.30506291e-01 -3.58038154e-01 -7.72445702e-02 3.32181498e+01] [ 3.56606412e-01 9.33704136e-01 -3.20695068e-02 8.26828685e+00] [ 8.36056817e-02 2.29496883e-03 9.96496274e-01 2.35467349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.706875 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:33.24, Y:8.28, Z:2.36 [[ 9.30919262e-01 -3.56976716e-01 -7.71812931e-02 3.32441761e+01] [ 3.55541614e-01 9.34110170e-01 -3.20679248e-02 8.27934481e+00] [ 8.35433333e-02 2.41148738e-03 9.96501227e-01 2.35683267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.736875 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:33.27, Y:8.29, Z:2.36 [[ 9.31567653e-01 -3.55461397e-01 -7.63472484e-02 3.32699845e+01] [ 3.54050114e-01 9.34687504e-01 -3.17456468e-02 8.29107645e+00] [ 8.26451711e-02 2.54246574e-03 9.96575793e-01 2.35981783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.766875 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:33.29, Y:8.31, Z:2.34 [[ 9.31612522e-01 -3.57965847e-01 -6.29171057e-02 3.32947077e+01] [ 3.55208703e-01 9.33396219e-01 -5.09732859e-02 8.30886953e+00] [ 7.69732840e-02 2.51386479e-02 9.96716189e-01 2.34161807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.796875 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:33.32, Y:8.31, Z:2.38 [[ 9.32223976e-01 -3.51941511e-01 -8.42355772e-02 3.33225330e+01] [ 3.52347358e-01 9.35810469e-01 -1.04931330e-02 8.31022560e+00] [ 8.25215040e-02 -1.98982330e-02 9.96390617e-01 2.37809560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.826874999999994 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:33.35, Y:8.33, Z:2.37 [[ 9.32393808e-01 -3.53508519e-01 -7.53227314e-02 3.33463320e+01] [ 3.52123899e-01 9.35427314e-01 -3.13767313e-02 8.32524050e+00] [ 8.15508821e-02 2.73253608e-03 9.96665434e-01 2.36707617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.856874999999995 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:33.37, Y:8.34, Z:2.37 [[ 9.32324746e-01 -3.53543700e-01 -7.60093450e-02 3.33725362e+01] [ 3.52132271e-01 9.35413903e-01 -3.16811281e-02 8.33650288e+00] [ 8.23008612e-02 2.77175640e-03 9.96603675e-01 2.36825128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.886874999999996 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:33.40, Y:8.35, Z:2.37 [[ 9.32016149e-01 -3.54187543e-01 -7.67924694e-02 3.33976209e+01] [ 3.52746989e-01 9.35170324e-01 -3.20316466e-02 8.34663494e+00] [ 8.31592487e-02 2.76569955e-03 9.96532433e-01 2.36983165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.916875 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:33.42, Y:8.36, Z:2.37 [[ 9.31103190e-01 -3.56323797e-01 -7.79756489e-02 3.34238586e+01] [ 3.54844746e-01 9.34358843e-01 -3.25385677e-02 8.35730115e+00] [ 8.44515031e-02 2.62751487e-03 9.96424126e-01 2.37082809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.946875 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:33.45, Y:8.37, Z:2.37 [[ 9.30685159e-01 -3.57530456e-01 -7.74409980e-02 3.34499272e+01] [ 3.56073699e-01 9.33898068e-01 -3.23406873e-02 8.36885847e+00] [ 8.38847790e-02 2.52429510e-03 9.96472263e-01 2.37197689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.976875 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:33.47, Y:8.38, Z:2.37 [[ 9.30581021e-01 -3.57881908e-01 -7.70681666e-02 3.34747283e+01] [ 3.56438414e-01 9.33763502e-01 -3.22083769e-02 8.37894978e+00] [ 8.34902365e-02 2.50244920e-03 9.96505453e-01 2.37407348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.006875 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:33.50, Y:8.39, Z:2.38 [[ 9.29440548e-01 -3.60990268e-01 -7.63301611e-02 3.35006797e+01] [ 3.59583747e-01 9.32566955e-01 -3.19124256e-02 8.38902498e+00] [ 8.27030610e-02 2.21361702e-03 9.96571775e-01 2.37618363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.036874999999995 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:33.53, Y:8.40, Z:2.38 [[ 9.29347405e-01 -3.61231851e-01 -7.63213614e-02 3.35269790e+01] [ 3.59824416e-01 9.32473401e-01 -3.19334580e-02 8.40014225e+00] [ 8.27030216e-02 2.21498709e-03 9.96571776e-01 2.37825650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.066874999999996 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:33.55, Y:8.41, Z:2.38 [[ 9.25270391e-01 -3.71816473e-01 -7.50147533e-02 3.35535246e+01] [ 3.70489611e-01 9.28305390e-01 -3.14094089e-02 8.40926402e+00] [ 8.13151355e-02 1.27000931e-03 9.96687632e-01 2.38347313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.096875 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:33.58, Y:8.42, Z:2.39 [[ 9.23315125e-01 -3.76874771e-01 -7.38551748e-02 3.35799305e+01] [ 3.75602899e-01 9.26263845e-01 -3.09475559e-02 8.41990525e+00] [ 8.00727312e-02 8.34128736e-04 9.96788675e-01 2.38587074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.126875 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:33.60, Y:8.43, Z:2.39 [[ 9.21802299e-01 -3.80660121e-01 -7.33375377e-02 3.36047156e+01] [ 3.79416197e-01 9.24714874e-01 -3.07530521e-02 8.43093032e+00] [ 7.95227725e-02 5.22784439e-04 9.96832912e-01 2.38757397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.156875 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:33.63, Y:8.44, Z:2.39 [[ 9.20978040e-01 -3.82586605e-01 -7.36677622e-02 3.36305516e+01] [ 3.81336657e-01 9.23919560e-01 -3.09030831e-02 8.44299898e+00] [ 7.98861920e-02 3.68842741e-04 9.96803923e-01 2.38913545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.186875 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:33.66, Y:8.46, Z:2.39 [[ 9.21357125e-01 -3.81534539e-01 -7.43803969e-02 3.36551441e+01] [ 3.80254846e-01 9.24354455e-01 -3.12264976e-02 8.45627250e+00] [ 8.06678386e-02 4.87249679e-04 9.96740920e-01 2.38931139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.216874999999995 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:33.68, Y:8.47, Z:2.39 [[ 9.22341684e-01 -3.79251039e-01 -7.38543655e-02 3.36791222e+01] [ 3.77980233e-01 9.25293550e-01 -3.10288367e-02 8.46791171e+00] [ 8.01046866e-02 7.03699154e-04 9.96786208e-01 2.39103632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.246874999999996 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:33.70, Y:8.48, Z:2.39 [[ 9.23454063e-01 -3.76509442e-01 -7.39813085e-02 3.37048362e+01] [ 3.75224085e-01 9.26412284e-01 -3.10992998e-02 8.47991600e+00] [ 8.02463730e-02 9.59205971e-04 9.96774598e-01 2.39410647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.276875 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:33.73, Y:8.49, Z:2.40 [[ 9.25708055e-01 -3.71012411e-01 -7.35825171e-02 3.37299757e+01] [ 3.69721645e-01 9.28626775e-01 -3.09550989e-02 8.49321447e+00] [ 7.98154215e-02 1.45033513e-03 9.96808605e-01 2.39743300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.306875 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:33.76, Y:8.51, Z:2.40 [[ 9.26727800e-01 -3.68478707e-01 -7.34780777e-02 3.37553355e+01] [ 3.67181745e-01 9.29634655e-01 -3.09349998e-02 8.50562806e+00] [ 7.97066561e-02 1.68851551e-03 9.96816933e-01 2.39950026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.336875 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:33.78, Y:8.52, Z:2.40 [[ 9.27491776e-01 -3.66555108e-01 -7.34599080e-02 3.37789763e+01] [ 3.65250938e-01 9.30394453e-01 -3.09501934e-02 8.51806477e+00] [ 7.96916424e-02 1.87474953e-03 9.96817801e-01 2.40031204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.366875 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:33.80, Y:8.53, Z:2.40 [[ 9.28824782e-01 -3.63118422e-01 -7.36853801e-02 3.38041288e+01] [ 3.61794475e-01 9.31740429e-01 -3.10569035e-02 8.53154346e+00] [ 7.99329814e-02 2.18745823e-03 9.96797840e-01 2.40157175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.396874999999994 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:33.83, Y:8.54, Z:2.40 [[ 9.28968239e-01 -3.62730544e-01 -7.37872799e-02 3.38294802e+01] [ 3.61399775e-01 9.31891360e-01 -3.11238923e-02 8.54365162e+00] [ 8.00513150e-02 2.24640106e-03 9.96788213e-01 2.40321463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.426874999999995 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:33.86, Y:8.56, Z:2.41 [[ 9.29068457e-01 -3.62331251e-01 -7.44840040e-02 3.38551839e+01] [ 3.60971917e-01 9.32046488e-01 -3.14423027e-02 8.55556027e+00] [ 8.08150832e-02 2.32541789e-03 9.96726399e-01 2.40525192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.456875 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:33.88, Y:8.57, Z:2.41 [[ 9.29015838e-01 -3.62426125e-01 -7.46784834e-02 3.38792241e+01] [ 3.61058088e-01 9.32009552e-01 -3.15476137e-02 8.56823398e+00] [ 8.10347393e-02 2.34496235e-03 9.96708519e-01 2.40592383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.486875 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:33.91, Y:8.58, Z:2.41 [[ 9.28648397e-01 -3.63348795e-01 -7.47650134e-02 3.39050121e+01] [ 3.61979574e-01 9.31650397e-01 -3.15963026e-02 8.57983747e+00] [ 8.11353329e-02 2.27844803e-03 9.96700490e-01 2.40780539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.516875 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:33.93, Y:8.59, Z:2.41 [[ 9.28119347e-01 -3.64856014e-01 -7.39903127e-02 3.39296121e+01] [ 3.63517971e-01 9.31061482e-01 -3.12921894e-02 8.59072446e+00] [ 8.03066737e-02 2.14607800e-03 9.96767893e-01 2.41021792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.546875 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:33.96, Y:8.60, Z:2.41 [[ 9.27528928e-01 -3.66461751e-01 -7.34565967e-02 3.39557622e+01] [ 3.65147056e-01 9.30430960e-01 -3.10782393e-02 8.60181518e+00] [ 7.97352777e-02 2.00350600e-03 9.96814061e-01 2.41372403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.576874999999994 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:33.98, Y:8.61, Z:2.42 [[ 9.26027197e-01 -3.70348995e-01 -7.29057807e-02 3.39810405e+01] [ 3.69064112e-01 9.28891170e-01 -3.08686881e-02 8.61298507e+00] [ 7.91537236e-02 1.67833751e-03 9.96861009e-01 2.41708954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.606874999999995 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:34.01, Y:8.62, Z:2.42 [[ 9.24946274e-01 -3.73134682e-01 -7.24216807e-02 3.40070535e+01] [ 3.71873510e-01 9.27776051e-01 -3.06870105e-02 8.62439098e+00] [ 7.86414889e-02 1.45213140e-03 9.96901905e-01 2.41862585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.636874999999996 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:34.03, Y:8.64, Z:2.42 [[ 9.24040506e-01 -3.75533482e-01 -7.15803504e-02 3.40328382e+01] [ 3.74306896e-01 9.26807979e-01 -3.03532138e-02 8.63517018e+00] [ 7.77398880e-02 1.25458022e-03 9.96972886e-01 2.42057087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.666875 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:34.06, Y:8.65, Z:2.42 [[ 9.22384386e-01 -3.79801360e-01 -7.04128578e-02 3.40590676e+01] [ 3.78625209e-01 9.25067627e-01 -2.98803686e-02 8.64641544e+00] [ 7.64852599e-02 9.01102508e-04 9.97070305e-01 2.42237029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.696875 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:34.08, Y:8.66, Z:2.42 [[ 9.21692254e-01 -3.81404508e-01 -7.08095316e-02 3.40848435e+01] [ 3.80217999e-01 9.24407903e-01 -3.00716244e-02 8.65752633e+00] [ 7.69263437e-02 7.93724853e-04 9.97036463e-01 2.42400541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.726875 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:34.11, Y:8.67, Z:2.43 [[ 9.21137572e-01 -3.82550897e-01 -7.18358210e-02 3.41104058e+01] [ 3.81331347e-01 9.23934131e-01 -3.05307198e-02 8.66853731e+00] [ 7.80511211e-02 7.29742685e-04 9.96949091e-01 2.42546868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.756875 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:34.14, Y:8.68, Z:2.43 [[ 9.20547692e-01 -3.83568095e-01 -7.39422995e-02 3.41366179e+01] [ 3.82277169e-01 9.23512343e-01 -3.14502611e-02 8.67931768e+00] [ 8.03499430e-02 6.85012401e-04 9.96766481e-01 2.42687783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.786874999999995 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:34.16, Y:8.69, Z:2.43 [[ 9.20588762e-01 -3.83296705e-01 -7.48329280e-02 3.41620426e+01] [ 3.81971574e-01 9.23624972e-01 -3.18532165e-02 8.68997328e+00] [ 8.13267940e-02 7.39661779e-04 9.96687215e-01 2.42920383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.816874999999996 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:34.19, Y:8.70, Z:2.43 [[ 9.20774817e-01 -3.82749576e-01 -7.53425470e-02 3.41875039e+01] [ 3.81402495e-01 9.23851772e-01 -3.20942375e-02 8.70098046e+00] [ 8.18894013e-02 8.15730281e-04 9.96641089e-01 2.43146874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.846875 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:34.21, Y:8.71, Z:2.43 [[ 9.21172983e-01 -3.81879308e-01 -7.48901138e-02 3.42136147e+01] [ 3.80543570e-01 9.24211754e-01 -3.19252998e-02 8.71270016e+00] [ 8.14059349e-02 9.09772325e-04 9.96680614e-01 2.43238006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.876875 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:34.24, Y:8.72, Z:2.43 [[ 9.22300952e-01 -3.79149777e-01 -7.48759032e-02 3.42396033e+01] [ 3.77803604e-01 9.25334573e-01 -3.19431607e-02 8.72417414e+00] [ 8.13965041e-02 1.17282144e-03 9.96681109e-01 2.43330818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.906875 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:34.27, Y:8.73, Z:2.44 [[ 9.22981527e-01 -3.77661976e-01 -7.40035934e-02 3.42657726e+01] [ 3.76340363e-01 9.25942608e-01 -3.15945725e-02 8.73476951e+00] [ 8.04551490e-02 1.31066754e-03 9.96757368e-01 2.43569078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.936875 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:34.29, Y:8.75, Z:2.44 [[ 9.23641666e-01 -3.76195378e-01 -7.32332552e-02 3.42917117e+01] [ 3.74894695e-01 9.26539232e-01 -3.12892797e-02 8.74589555e+00] [ 7.96243665e-02 1.44532358e-03 9.96823892e-01 2.43797720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.966874999999995 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:34.32, Y:8.76, Z:2.44 [[ 9.25365472e-01 -3.72110677e-01 -7.23352372e-02 3.43163533e+01] [ 3.70827527e-01 9.28186630e-01 -3.09277421e-02 8.75641977e+00] [ 7.86491431e-02 1.79556759e-03 9.96900741e-01 2.44025212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.996874999999996 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:34.34, Y:8.77, Z:2.44 [[ 9.26019452e-01 -3.70469941e-01 -7.23878270e-02 3.43421202e+01] [ 3.69179033e-01 9.28842415e-01 -3.09614100e-02 8.76759089e+00] [ 7.87071559e-02 1.94679990e-03 9.96895879e-01 2.44190065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.026875 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:34.37, Y:8.78, Z:2.44 [[ 9.26693693e-01 -3.68750056e-01 -7.25409916e-02 3.43680480e+01] [ 3.67446524e-01 9.29526172e-01 -3.10507328e-02 8.77796736e+00] [ 7.88787097e-02 2.11958306e-03 9.96881967e-01 2.44393859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.056875 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:34.39, Y:8.79, Z:2.45 [[ 9.27213717e-01 -3.67378415e-01 -7.28548075e-02 3.43934765e+01] [ 3.66057507e-01 9.30068792e-01 -3.12080634e-02 8.78848713e+00] [ 7.92251517e-02 2.26749528e-03 9.96854169e-01 2.44531978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.086875 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:34.42, Y:8.80, Z:2.45 [[ 9.28043471e-01 -3.64955138e-01 -7.44517534e-02 3.44194099e+01] [ 3.63566800e-01 9.31021639e-01 -3.19043727e-02 8.79809182e+00] [ 8.09598582e-02 2.54045902e-03 9.96714125e-01 2.44791460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.116875 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:34.45, Y:8.81, Z:2.45 [[ 9.28392900e-01 -3.63946780e-01 -7.50290848e-02 3.44459586e+01] [ 3.62531453e-01 9.31415911e-01 -3.21767895e-02 8.80822462e+00] [ 8.15939223e-02 2.67229983e-03 9.96662074e-01 2.44965183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.146874999999994 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:34.47, Y:8.82, Z:2.45 [[ 9.28360117e-01 -3.63856787e-01 -7.58665408e-02 3.44717917e+01] [ 3.62407234e-01 9.31450892e-01 -3.25612162e-02 8.81883922e+00] [ 8.25135767e-02 2.73395131e-03 9.96586191e-01 2.45070471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.176874999999995 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:34.50, Y:8.83, Z:2.45 [[ 9.28432857e-01 -3.63663691e-01 -7.59022318e-02 3.44985363e+01] [ 3.62210037e-01 9.31526174e-01 -3.26017812e-02 8.82849139e+00] [ 8.25609997e-02 2.77601476e-03 9.96582147e-01 2.45274025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.206875 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:34.52, Y:8.84, Z:2.46 [[ 9.28261849e-01 -3.64097790e-01 -7.59127060e-02 3.45247837e+01] [ 3.62643096e-01 9.31356631e-01 -3.26314301e-02 8.83866395e+00] [ 8.25828337e-02 2.76129292e-03 9.96580379e-01 2.45500998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.236875 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:34.55, Y:8.85, Z:2.46 [[ 9.27982789e-01 -3.64747305e-01 -7.62059555e-02 3.45510971e+01] [ 3.63281376e-01 9.31102522e-01 -3.27831507e-02 8.84877634e+00] [ 8.29131232e-02 2.73799522e-03 9.96553018e-01 2.45638798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.266875 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:34.58, Y:8.86, Z:2.46 [[ 9.27015595e-01 -3.67308689e-01 -7.56730703e-02 3.45771247e+01] [ 3.65869780e-01 9.30095699e-01 -3.25775146e-02 8.85698767e+00] [ 8.23492014e-02 2.51337449e-03 9.96600367e-01 2.45907146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.296875 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:34.60, Y:8.87, Z:2.46 [[ 9.26570441e-01 -3.68710849e-01 -7.42935252e-02 3.46030715e+01] [ 3.67327538e-01 9.29541155e-01 -3.19956452e-02 8.86643884e+00] [ 8.08560307e-02 2.35616142e-03 9.96723006e-01 2.46259739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.326874999999994 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:34.63, Y:8.88, Z:2.47 [[ 9.26185670e-01 -3.69732216e-01 -7.40148129e-02 3.46281609e+01] [ 3.68360670e-01 9.29135561e-01 -3.18986871e-02 8.87590353e+00] [ 8.05637669e-02 2.27996088e-03 9.96746849e-01 2.46507293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.356874999999995 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:34.65, Y:8.89, Z:2.47 [[ 9.25895168e-01 -3.70436421e-01 -7.41282413e-02 3.46539974e+01] [ 3.69061940e-01 9.28855139e-01 -3.19595694e-02 8.88576872e+00] [ 8.06933864e-02 2.23329828e-03 9.96736470e-01 2.46705816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.386874999999996 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:34.68, Y:8.90, Z:2.47 [[ 9.25338098e-01 -3.71847356e-01 -7.40199220e-02 3.46798231e+01] [ 3.70479422e-01 9.28291445e-01 -3.19372890e-02 8.89665004e+00] [ 8.05878568e-02 2.12993227e-03 9.96745234e-01 2.46781102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.416875 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:34.70, Y:8.91, Z:2.47 [[ 9.20554472e-01 -3.83447508e-01 -7.44813647e-02 3.47049978e+01] [ 3.82098230e-01 9.23561961e-01 -3.21597016e-02 8.90655447e+00] [ 8.11197127e-02 1.14555948e-03 9.96703707e-01 2.46864948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.446875 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:34.73, Y:8.92, Z:2.47 [[ 9.17826209e-01 -3.90043894e-01 -7.38973016e-02 3.47307884e+01] [ 3.88736055e-01 9.20796088e-01 -3.19193344e-02 8.91644278e+00] [ 8.04942877e-02 5.69856194e-04 9.96754907e-01 2.47280240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.476875 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:34.76, Y:8.93, Z:2.48 [[ 9.13636685e-01 -3.99985142e-01 -7.26628772e-02 3.47569196e+01] [ 3.98750099e-01 9.16521581e-01 -3.14093824e-02 8.92621473e+00] [ 7.91603814e-02 -2.77565423e-04 9.96861855e-01 2.47746751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.506875 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:34.78, Y:8.94, Z:2.48 [[ 9.12260197e-01 -4.02873403e-01 -7.39888780e-02 3.47827264e+01] [ 4.01600304e-01 9.15255569e-01 -3.20068692e-02 8.93803116e+00] [ 8.06134489e-02 -5.15363161e-04 9.96745307e-01 2.47852567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.536874999999995 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:34.81, Y:8.95, Z:2.48 [[ 9.11133006e-01 -4.05242816e-01 -7.49326759e-02 3.48081645e+01] [ 4.03942930e-01 9.14208813e-01 -3.24400247e-02 8.95102340e+00] [ 8.16501996e-02 -7.11347413e-04 9.96660794e-01 2.47866998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.566874999999996 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:34.83, Y:8.96, Z:2.48 [[ 9.10806147e-01 -4.05921990e-01 -7.52296508e-02 3.48320157e+01] [ 4.04612158e-01 9.13907418e-01 -3.25919053e-02 8.96290219e+00] [ 8.19827070e-02 -7.53923657e-04 9.96633467e-01 2.47951323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.596875 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:34.86, Y:8.98, Z:2.48 [[ 9.11705993e-01 -4.03871504e-01 -7.53657131e-02 3.48561530e+01] [ 4.02548980e-01 9.14815552e-01 -3.26622713e-02 8.97514122e+00] [ 8.21370870e-02 -5.60002459e-04 9.96620883e-01 2.48155677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.626875 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:34.88, Y:8.99, Z:2.48 [[ 9.12585119e-01 -4.01729127e-01 -7.61715752e-02 3.48815307e+01] [ 4.00369170e-01 9.15758474e-01 -3.30294513e-02 8.98642557e+00] [ 8.30236581e-02 -3.54564604e-04 9.96547513e-01 2.48494565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.656875 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:34.91, Y:9.00, Z:2.49 [[ 9.13542770e-01 -3.99468041e-01 -7.65825771e-02 3.49072608e+01] [ 3.98083341e-01 9.16747113e-01 -3.32322958e-02 8.99837265e+00] [ 8.34820965e-02 -1.27124573e-04 9.96509269e-01 2.48821525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.686875 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:34.93, Y:9.01, Z:2.49 [[ 9.16081142e-01 -3.93513448e-01 -7.70876643e-02 3.49315901e+01] [ 3.92087204e-01 9.19318754e-01 -3.34761568e-02 9.01272206e+00] [ 8.40414533e-02 4.41789211e-04 9.96462161e-01 2.49026735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.716874999999995 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:34.96, Y:9.03, Z:2.49 [[ 9.17585973e-01 -3.90064112e-01 -7.67200814e-02 3.49550854e+01] [ 3.88637342e-01 9.20787372e-01 -3.33411463e-02 9.02587160e+00] [ 8.36480667e-02 7.77079659e-04 9.96495056e-01 2.49028903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.746874999999996 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:34.98, Y:9.04, Z:2.49 [[ 9.19165523e-01 -3.86536451e-01 -7.56591914e-02 3.49798649e+01] [ 3.85135011e-01 9.22273469e-01 -3.29039890e-02 9.03906144e+00] [ 8.24970560e-02 1.10520877e-03 9.96590695e-01 2.49122876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.776875 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:35.01, Y:9.05, Z:2.50 [[ 9.21884296e-01 -3.80533764e-01 -7.29616294e-02 3.50051935e+01] [ 3.79210026e-01 9.24765634e-01 -3.17534010e-02 9.05137683e+00] [ 7.95556486e-02 1.60518033e-03 9.96829134e-01 2.49582582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.806875 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:35.03, Y:9.06, Z:2.50 [[ 9.22777120e-01 -3.78364123e-01 -7.29587422e-02 3.50295061e+01] [ 3.77032018e-01 9.25655069e-01 -3.17734248e-02 9.06251942e+00] [ 7.95565535e-02 1.81200762e-03 9.96828707e-01 2.49901185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.836875 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:35.06, Y:9.07, Z:2.50 [[ 9.23462238e-01 -3.76677872e-01 -7.30155887e-02 3.50550161e+01] [ 3.75337498e-01 9.26342216e-01 -3.18097658e-02 9.07467519e+00] [ 7.96194572e-02 1.96962920e-03 9.96823386e-01 2.50123311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.866875 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:35.08, Y:9.09, Z:2.50 [[ 9.24687782e-01 -3.73742835e-01 -7.25864963e-02 3.50798547e+01] [ 3.72407266e-01 9.27529683e-01 -3.16467201e-02 9.08796973e+00] [ 7.91538648e-02 2.23159675e-03 9.96859913e-01 2.50235817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.896874999999994 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:35.10, Y:9.10, Z:2.50 [[ 9.25233184e-01 -3.72358857e-01 -7.27491357e-02 3.51043897e+01] [ 3.71011163e-01 9.28085789e-01 -3.17409128e-02 9.09977378e+00] [ 7.93364490e-02 2.37700441e-03 9.96845062e-01 2.50338736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.926874999999995 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:35.13, Y:9.11, Z:2.51 [[ 9.25137510e-01 -3.72597326e-01 -7.27449003e-02 3.51305104e+01] [ 3.71249605e-01 9.27990102e-01 -3.17506166e-02 9.11129104e+00] [ 7.93367423e-02 2.36717083e-03 9.96845062e-01 2.50546626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.956875 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:35.15, Y:9.12, Z:2.51 [[ 9.25639936e-01 -3.71270927e-01 -7.31341740e-02 3.51545442e+01] [ 3.69902866e-01 9.28521178e-01 -3.19420101e-02 9.12270239e+00] [ 7.97657690e-02 2.51425959e-03 9.96810464e-01 2.50715017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.986875 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:35.18, Y:9.14, Z:2.51 [[ 9.26214063e-01 -3.69546746e-01 -7.45835884e-02 3.51799941e+01] [ 3.68117255e-01 9.29208139e-01 -3.25871396e-02 9.13526195e+00] [ 8.13461488e-02 2.72716112e-03 9.96682179e-01 2.50803133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.016875 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:35.21, Y:9.15, Z:2.51 [[ 9.26197854e-01 -3.69330657e-01 -7.58445852e-02 3.52054567e+01] [ 3.67849605e-01 9.29293785e-01 -3.31621493e-02 9.14677443e+00] [ 8.27297000e-02 2.81531080e-03 9.96568046e-01 2.50978101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.046875 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:35.23, Y:9.16, Z:2.51 [[ 9.26338372e-01 -3.68815786e-01 -7.66298626e-02 3.52302647e+01] [ 3.67300044e-01 9.29497943e-01 -3.35298651e-02 9.15798659e+00] [ 8.35936431e-02 2.91384870e-03 9.96495666e-01 2.51208751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.076874999999994 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:35.26, Y:9.17, Z:2.51 [[ 9.26390226e-01 -3.68599875e-01 -7.70407806e-02 3.52550124e+01] [ 3.67066030e-01 9.29583437e-01 -3.37218445e-02 9.16904544e+00] [ 8.40457013e-02 2.96053372e-03 9.96457503e-01 2.51440025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.106874999999995 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:35.28, Y:9.18, Z:2.52 [[ 9.26684811e-01 -3.67768317e-01 -7.74708054e-02 3.52808603e+01] [ 3.66212768e-01 9.29912381e-01 -3.39289396e-02 9.18012184e+00] [ 8.45190501e-02 3.07063497e-03 9.96417132e-01 2.51746221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.136874999999996 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:35.31, Y:9.19, Z:2.52 [[ 9.26759953e-01 -3.67669083e-01 -7.70417735e-02 3.53063898e+01] [ 3.66128237e-01 9.29951568e-01 -3.37667834e-02 9.19200294e+00] [ 8.40601203e-02 3.08653387e-03 9.96455904e-01 2.51908687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.166875 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:35.33, Y:9.20, Z:2.52 [[ 9.27406897e-01 -3.66257948e-01 -7.59708023e-02 3.53309113e+01] [ 3.64753042e-01 9.30507888e-01 -3.33209984e-02 9.20431365e+00] [ 8.28955113e-02 3.19154248e-03 9.96553134e-01 2.51989570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.196875 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:35.36, Y:9.22, Z:2.52 [[ 9.27597014e-01 -3.65799814e-01 -7.58569457e-02 3.53556045e+01] [ 3.64296915e-01 9.30687921e-01 -3.32828902e-02 9.21511682e+00] [ 8.27740182e-02 3.23865829e-03 9.96563080e-01 2.52139081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.226875 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:35.38, Y:9.23, Z:2.52 [[ 9.27757478e-01 -3.65326346e-01 -7.61756006e-02 3.53818317e+01] [ 3.63807652e-01 9.30873618e-01 -3.34409982e-02 9.22623567e+00] [ 8.31267346e-02 3.31186978e-03 9.96533480e-01 2.52387044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.256875 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:35.41, Y:9.24, Z:2.53 [[ 9.27883984e-01 -3.65066511e-01 -7.58798705e-02 3.54076695e+01] [ 3.63556627e-01 9.30975428e-01 -3.33366383e-02 9.23688832e+00] [ 8.28123852e-02 3.34590294e-03 9.96559539e-01 2.52741635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.286874999999995 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:35.43, Y:9.25, Z:2.53 [[ 9.27924575e-01 -3.64969144e-01 -7.58518800e-02 3.54326771e+01] [ 3.63458016e-01 9.31013493e-01 -3.33488504e-02 9.24731754e+00] [ 8.27904251e-02 3.37624402e-03 9.96561261e-01 2.53029129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.316874999999996 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:35.46, Y:9.26, Z:2.53 [[ 9.27739681e-01 -3.65607245e-01 -7.50361759e-02 3.54585484e+01] [ 3.64129117e-01 9.30763371e-01 -3.30080910e-02 9.25874735e+00] [ 8.19089212e-02 3.30005933e-03 9.96634355e-01 2.53183796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.346875 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:35.48, Y:9.27, Z:2.53 [[ 9.27517656e-01 -3.66240345e-01 -7.46927554e-02 3.54844376e+01] [ 3.64775740e-01 9.30514605e-01 -3.28820505e-02 9.27014045e+00] [ 8.15454333e-02 3.25257725e-03 9.96664318e-01 2.53385862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.376875 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:35.51, Y:9.28, Z:2.54 [[ 9.27247896e-01 -3.66836376e-01 -7.51159930e-02 3.55099550e+01] [ 3.65355061e-01 9.30279834e-01 -3.30924424e-02 9.27977435e+00] [ 8.20184052e-02 3.24088934e-03 9.96625545e-01 2.53588067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.406875 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:35.54, Y:9.29, Z:2.54 [[ 9.26945576e-01 -3.67406616e-01 -7.60544431e-02 3.55362623e+01] [ 3.65888799e-01 9.30054763e-01 -3.35190096e-02 9.29042921e+00] [ 8.30499030e-02 3.24282884e-03 9.96540113e-01 2.53794515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.436875 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:35.56, Y:9.30, Z:2.54 [[ 9.26544303e-01 -3.68226230e-01 -7.69746644e-02 3.55611258e+01] [ 3.66672140e-01 9.29730609e-01 -3.39490161e-02 9.30052551e+00] [ 8.40666198e-02 3.23080251e-03 9.96454899e-01 2.53965957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.466874999999995 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:35.59, Y:9.31, Z:2.54 [[ 9.25893091e-01 -3.69492899e-01 -7.87209094e-02 3.55866224e+01] [ 3.67870885e-01 9.29228051e-01 -3.47309878e-02 9.30999510e+00] [ 8.59825305e-02 3.19805103e-03 9.96291512e-01 2.54172833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.496874999999996 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:35.61, Y:9.32, Z:2.54 [[ 9.25611039e-01 -3.70014937e-01 -7.95811014e-02 3.56112901e+01] [ 3.68358022e-01 9.29020307e-01 -3.51231492e-02 9.32011577e+00] [ 8.69285492e-02 3.19603745e-03 9.96209422e-01 2.54355847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.526875 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:35.64, Y:9.33, Z:2.55 [[ 9.25200747e-01 -3.71079185e-01 -7.93965725e-02 3.56367652e+01] [ 3.69432196e-01 9.28596030e-01 -3.50608826e-02 9.33129657e+00] [ 8.67377057e-02 3.10670469e-03 9.96226339e-01 2.54506299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.556875 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:35.66, Y:9.34, Z:2.55 [[ 9.24953688e-01 -3.71748731e-01 -7.91426344e-02 3.56630324e+01] [ 3.70112433e-01 9.28328350e-01 -3.49751577e-02 9.34211382e+00] [ 8.64723217e-02 3.05872814e-03 9.96249558e-01 2.54729411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.586875 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:35.69, Y:9.35, Z:2.55 [[ 9.23829918e-01 -3.74476561e-01 -7.94077311e-02 3.56889819e+01] [ 3.72837162e-01 9.27232044e-01 -3.51167656e-02 9.35037006e+00] [ 8.67797984e-02 2.83576559e-03 9.96223481e-01 2.55071763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.616875 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:35.72, Y:9.36, Z:2.55 [[ 9.22844724e-01 -3.76951555e-01 -7.91526379e-02 3.57154851e+01] [ 3.75330557e-01 9.26229305e-01 -3.50178103e-02 9.36003456e+00] [ 8.65135108e-02 2.60759781e-03 9.96247265e-01 2.55387383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.646874999999994 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:35.74, Y:9.37, Z:2.56 [[ 9.21861569e-01 -3.79601183e-01 -7.79370862e-02 3.57409920e+01] [ 3.78037120e-01 9.25147257e-01 -3.45034770e-02 9.36957827e+00] [ 8.52008422e-02 2.34431784e-03 9.96361039e-01 2.55656565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.676874999999995 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:35.77, Y:9.38, Z:2.56 [[ 9.20046111e-01 -3.84403792e-01 -7.58213572e-02 3.57665029e+01] [ 3.82938941e-01 9.23163187e-01 -3.35782250e-02 9.37748542e+00] [ 8.29030829e-02 1.85856516e-03 9.96555881e-01 2.55979194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.706875 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:35.79, Y:9.39, Z:2.56 [[ 9.19203216e-01 -3.86359902e-01 -7.61017264e-02 3.57931912e+01] [ 3.84889354e-01 9.22346528e-01 -3.37204260e-02 9.38771654e+00] [ 8.32203836e-02 1.70517980e-03 9.96529709e-01 2.56136196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.736875 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:35.82, Y:9.40, Z:2.56 [[ 9.18307740e-01 -3.88385208e-01 -7.66017261e-02 3.58181651e+01] [ 3.86900262e-01 9.21495803e-01 -3.39657368e-02 9.39699300e+00] [ 8.37799590e-02 1.55377107e-03 9.96483068e-01 2.56229270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.766875 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:35.84, Y:9.41, Z:2.56 [[ 9.17573599e-01 -3.90089294e-01 -7.67400429e-02 3.58441453e+01] [ 3.88603821e-01 9.20775948e-01 -3.40400203e-02 9.40661536e+00] [ 8.39390332e-02 1.41274996e-03 9.96469891e-01 2.56433641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.796875 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:35.87, Y:9.41, Z:2.57 [[ 9.16612700e-01 -3.92174801e-01 -7.75891983e-02 3.58708159e+01] [ 3.90661469e-01 9.19889852e-01 -3.44423704e-02 9.41447934e+00] [ 8.48809459e-02 1.25920389e-03 9.96390305e-01 2.56673171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.826874999999994 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:35.90, Y:9.42, Z:2.57 [[ 9.16323885e-01 -3.92755979e-01 -7.80594617e-02 3.58957547e+01] [ 3.91224277e-01 9.19641896e-01 -3.46748950e-02 9.42396061e+00] [ 8.54055237e-02 1.23467804e-03 9.96345508e-01 2.56938235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.856874999999995 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:35.92, Y:9.43, Z:2.57 [[ 9.16280690e-01 -3.93009535e-01 -7.72864907e-02 3.59212680e+01] [ 3.91507882e-01 9.19533599e-01 -3.43444223e-02 9.43438673e+00] [ 8.45652104e-02 1.21086069e-03 9.96417211e-01 2.57179866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.886874999999996 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:35.95, Y:9.44, Z:2.57 [[ 9.16821567e-01 -3.91676278e-01 -7.76396041e-02 3.59470935e+01] [ 3.90153912e-01 9.20102078e-01 -3.45266563e-02 9.44445286e+00] [ 8.49596333e-02 1.36338781e-03 9.96383461e-01 2.57315992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.916875 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:35.97, Y:9.45, Z:2.57 [[ 9.17020316e-01 -3.91083625e-01 -7.82773139e-02 3.59715834e+01] [ 3.89531918e-01 9.20354003e-01 -3.48338090e-02 9.45494768e+00] [ 8.56657715e-02 1.45179831e-03 9.96322873e-01 2.57476028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.946875 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:36.00, Y:9.47, Z:2.58 [[ 9.17325756e-01 -3.90328344e-01 -7.84680851e-02 3.59973449e+01] [ 3.88765137e-01 9.20674436e-01 -3.49320946e-02 9.46615584e+00] [ 8.58785467e-02 1.53845424e-03 9.96304426e-01 2.57693669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.976875 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:36.02, Y:9.48, Z:2.58 [[ 9.17780261e-01 -3.88961783e-01 -7.99257372e-02 3.60222933e+01] [ 3.87332520e-01 9.21252285e-01 -3.56054262e-02 9.47686618e+00] [ 8.74809181e-02 1.72012011e-03 9.96164710e-01 2.57931011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.006875 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:36.05, Y:9.49, Z:2.58 [[ 9.17053133e-01 -3.90731902e-01 -7.96375019e-02 3.60483729e+01] [ 3.89119813e-01 9.20503206e-01 -3.54911251e-02 9.48832263e+00] [ 8.71740906e-02 1.55871763e-03 9.96191873e-01 2.58137809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.036874999999995 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:36.07, Y:9.50, Z:2.59 [[ 9.15883136e-01 -3.93577293e-01 -7.90885274e-02 3.60730168e+01] [ 3.91995824e-01 9.19290607e-01 -3.52711588e-02 9.49888276e+00] [ 8.65872675e-02 1.30188709e-03 9.96243419e-01 2.58543741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.066874999999996 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:36.10, Y:9.51, Z:2.59 [[ 9.15130389e-01 -3.95453006e-01 -7.84429208e-02 3.60979148e+01] [ 3.93903174e-01 9.18485521e-01 -3.49948093e-02 9.51020614e+00] [ 8.58874896e-02 1.12589795e-03 9.96304206e-01 2.58847805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.096875 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:36.12, Y:9.52, Z:2.59 [[ 9.14232489e-01 -3.97572191e-01 -7.82004454e-02 3.61229434e+01] [ 3.96038518e-01 9.17570420e-01 -3.49000840e-02 9.52406284e+00] [ 8.56297184e-02 9.36402132e-04 9.96326590e-01 2.58835756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.126875 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:36.15, Y:9.54, Z:2.59 [[ 9.14083001e-01 -3.97926284e-01 -7.81469086e-02 3.61482556e+01] [ 3.96393789e-01 9.17416925e-01 -3.49020009e-02 9.53672117e+00] [ 8.55817201e-02 9.26376477e-04 9.96330724e-01 2.58934853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.156875 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:36.17, Y:9.55, Z:2.59 [[ 9.13966327e-01 -3.98367792e-01 -7.72570752e-02 3.61735902e+01] [ 3.96869519e-01 9.17225324e-01 -3.45295446e-02 9.54899138e+00] [ 8.46176044e-02 8.97862760e-04 9.96413094e-01 2.59070406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.186875 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:36.20, Y:9.56, Z:2.59 [[ 9.14568612e-01 -3.97065544e-01 -7.68323312e-02 3.61982600e+01] [ 3.95577185e-01 9.17789673e-01 -3.43628652e-02 9.56072963e+00] [ 8.41602299e-02 1.03408065e-03 9.96451698e-01 2.59455122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.216874999999995 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:36.22, Y:9.57, Z:2.60 [[ 9.14945367e-01 -3.96308402e-01 -7.62536912e-02 3.62232756e+01] [ 3.94838739e-01 9.18116782e-01 -3.41166345e-02 9.57228385e+00] [ 8.35305024e-02 1.10694535e-03 9.96504606e-01 2.59805299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.246874999999996 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:36.25, Y:9.58, Z:2.60 [[ 9.15341117e-01 -3.95444273e-01 -7.59899115e-02 3.62484672e+01] [ 3.93979739e-01 9.18489181e-01 -3.40233594e-02 9.58466548e+00] [ 8.32502543e-02 1.20449430e-03 9.96527945e-01 2.60115006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.276875 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:36.27, Y:9.60, Z:2.60 [[ 9.15808994e-01 -3.94425766e-01 -7.56452347e-02 3.62737767e+01] [ 3.92969007e-01 9.18926868e-01 -3.38935091e-02 9.59753589e+00] [ 8.28809119e-02 1.31374768e-03 9.96558593e-01 2.60306063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.306875 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:36.30, Y:9.61, Z:2.60 [[ 9.16773892e-01 -3.91944201e-01 -7.68464329e-02 3.62986352e+01] [ 3.90429856e-01 9.19987623e-01 -3.44572365e-02 9.61123108e+00] [ 8.42030812e-02 1.58635310e-03 9.96447352e-01 2.60325449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.336875 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:36.32, Y:9.62, Z:2.60 [[ 9.17192352e-01 -3.90929194e-01 -7.70230849e-02 3.63233966e+01] [ 3.89402203e-01 9.20419173e-01 -3.45611102e-02 9.62337771e+00] [ 8.44044711e-02 1.70622703e-03 9.96430115e-01 2.60386927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.366875 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:36.35, Y:9.64, Z:2.61 [[ 9.17550256e-01 -3.90068945e-01 -7.71216289e-02 3.63490453e+01] [ 3.88533425e-01 9.20783884e-01 -3.46239452e-02 9.63608079e+00] [ 8.45180787e-02 1.80487924e-03 9.96420311e-01 2.60524889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.396874999999994 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:36.37, Y:9.65, Z:2.61 [[ 9.18064281e-01 -3.88854888e-01 -7.71352799e-02 3.63737481e+01] [ 3.87312376e-01 9.21296971e-01 -3.46556510e-02 9.64828127e+00] [ 8.45405191e-02 1.94066685e-03 9.96418152e-01 2.60859181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.426874999999995 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:36.40, Y:9.66, Z:2.61 [[ 9.18086439e-01 -3.88812843e-01 -7.70834865e-02 3.63989082e+01] [ 3.87270095e-01 9.21314661e-01 -3.46578809e-02 9.65963792e+00] [ 8.44935755e-02 1.96680135e-03 9.96422083e-01 2.61152941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.456875 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:36.42, Y:9.67, Z:2.61 [[ 9.17864580e-01 -3.89330805e-01 -7.71112058e-02 3.64241530e+01] [ 3.87786601e-01 9.21095949e-01 -3.46958905e-02 9.67107997e+00] [ 8.45349982e-02 1.94343660e-03 9.96418615e-01 2.61485910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.486875 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:36.45, Y:9.68, Z:2.62 [[ 9.17413414e-01 -3.90396658e-01 -7.70913609e-02 3.64495101e+01] [ 3.88854841e-01 9.20644860e-01 -3.47124411e-02 9.68287938e+00] [ 8.45253862e-02 1.86831021e-03 9.96419575e-01 2.61634742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.516875 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:36.47, Y:9.69, Z:2.62 [[ 9.16827049e-01 -3.91836623e-01 -7.67608140e-02 3.64738861e+01] [ 3.90311052e-01 9.20033150e-01 -3.45873548e-02 9.69418579e+00] [ 8.41750859e-02 1.75002838e-03 9.96449443e-01 2.61710968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.546875 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:36.50, Y:9.71, Z:2.62 [[ 9.15967513e-01 -3.93915860e-01 -7.63793801e-02 3.65000475e+01] [ 3.92411557e-01 9.19145175e-01 -3.44284431e-02 9.70551855e+00] [ 8.37656484e-02 1.56318389e-03 9.96484256e-01 2.61869351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.576874999999994 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:36.53, Y:9.72, Z:2.62 [[ 9.15643373e-01 -3.94626396e-01 -7.65977865e-02 3.65262066e+01] [ 3.93113794e-01 9.18840399e-01 -3.45523679e-02 9.71659298e+00] [ 8.40164172e-02 1.52600019e-03 9.96463202e-01 2.62140763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.606874999999995 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:36.55, Y:9.73, Z:2.62 [[ 9.15402240e-01 -3.95284843e-01 -7.60830603e-02 3.65511985e+01] [ 3.93792800e-01 9.18557407e-01 -3.43441670e-02 9.72720859e+00] [ 8.34623872e-02 1.47776610e-03 9.96509832e-01 2.62457176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.636874999999996 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:36.58, Y:9.74, Z:2.63 [[ 9.15179816e-01 -3.96006545e-01 -7.49981440e-02 3.65766948e+01] [ 3.94557800e-01 9.18246609e-01 -3.38719415e-02 9.73833318e+00] [ 8.22803019e-02 1.40781454e-03 9.96608233e-01 2.62792187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.666875 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:36.60, Y:9.75, Z:2.63 [[ 9.15046243e-01 -3.96738230e-01 -7.27265413e-02 3.66008584e+01] [ 3.95376558e-01 9.17930841e-01 -3.28686504e-02 9.74939195e+00] [ 7.97981854e-02 1.32196547e-03 9.96810163e-01 2.63105493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.696875 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:36.63, Y:9.76, Z:2.63 [[ 9.14852598e-01 -3.97206056e-01 -7.26090427e-02 3.66262422e+01] [ 3.95848915e-01 9.17728540e-01 -3.28323577e-02 9.76084716e+00] [ 7.96766020e-02 1.29455699e-03 9.96819925e-01 2.63337944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.726875 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:36.65, Y:9.77, Z:2.64 [[ 9.14570347e-01 -3.97823407e-01 -7.27847256e-02 3.66518655e+01] [ 3.96459751e-01 9.17461136e-01 -3.29352448e-02 9.77246133e+00] [ 7.98795683e-02 1.26538413e-03 9.96803719e-01 2.63518089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.756875 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:36.68, Y:9.78, Z:2.64 [[ 9.14425611e-01 -3.98195147e-01 -7.25701500e-02 3.66778079e+01] [ 3.96838826e-01 9.17299875e-01 -3.28616180e-02 9.78382422e+00] [ 7.96539264e-02 1.25085199e-03 9.96821793e-01 2.63745880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.786874999999995 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:36.70, Y:9.79, Z:2.64 [[ 9.14181456e-01 -3.98717792e-01 -7.27762829e-02 3.67037261e+01] [ 3.97353445e-01 9.17072847e-01 -3.29792813e-02 9.79486759e+00] [ 7.98905792e-02 1.23114071e-03 9.96802879e-01 2.64026224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.816874999999996 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:36.73, Y:9.81, Z:2.64 [[ 9.14112187e-01 -3.98878198e-01 -7.27673870e-02 3.67296500e+01] [ 3.97512797e-01 9.17003080e-01 -3.29988988e-02 9.80673805e+00] [ 7.98904592e-02 1.23872798e-03 9.96802879e-01 2.64233205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.846875 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:36.75, Y:9.82, Z:2.64 [[ 9.13896049e-01 -3.99312810e-01 -7.30978236e-02 3.67539018e+01] [ 3.97935093e-01 9.16813934e-01 -3.31643090e-02 9.81781633e+00] [ 8.02600366e-02 1.22054169e-03 9.96773212e-01 2.64356882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.876875 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:36.78, Y:9.83, Z:2.65 [[ 9.13747682e-01 -3.99614716e-01 -7.33024782e-02 3.67794081e+01] [ 3.98228807e-01 9.16682391e-01 -3.32747909e-02 9.82880244e+00] [ 8.04921871e-02 1.21360465e-03 9.96754501e-01 2.64530299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.906875 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:36.80, Y:9.84, Z:2.65 [[ 9.13722192e-01 -3.99611046e-01 -7.36394423e-02 3.68047323e+01] [ 3.98210291e-01 9.16683952e-01 -3.34529026e-02 9.83972480e+00] [ 8.08722444e-02 1.24267578e-03 9.96723701e-01 2.64786080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.936875 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:36.83, Y:9.85, Z:2.65 [[ 9.13770485e-01 -3.99465825e-01 -7.38278736e-02 3.68298915e+01] [ 3.98055487e-01 9.16747192e-01 -3.35620955e-02 9.85064068e+00] [ 8.10884060e-02 1.28046211e-03 9.96706090e-01 2.64994981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.966874999999995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:36.86, Y:9.86, Z:2.65 [[ 9.12263920e-01 -4.03046017e-01 -7.29962223e-02 3.68552723e+01] [ 4.01677793e-01 9.15179208e-01 -3.31959128e-02 9.86176828e+00] [ 8.01841053e-02 9.62472072e-04 9.96779606e-01 2.65240085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.996874999999996 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:36.88, Y:9.87, Z:2.66 [[ 9.09218789e-01 -4.10078062e-01 -7.18134821e-02 3.68793825e+01] [ 4.08773876e-01 9.12050357e-01 -3.26812461e-02 9.87306700e+00] [ 7.88993740e-02 3.58927539e-04 9.96882521e-01 2.65710003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.026875 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:36.90, Y:9.89, Z:2.66 [[ 9.06189522e-01 -4.17105541e-01 -6.95953822e-02 3.69038735e+01] [ 4.15900210e-01 9.08858028e-01 -3.16875508e-02 9.88634293e+00] [ 7.64693748e-02 -2.29807549e-04 9.97071904e-01 2.66135836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.056875 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:36.93, Y:9.90, Z:2.66 [[ 9.05820778e-01 -4.17748693e-01 -7.05318901e-02 3.69287579e+01] [ 4.16510783e-01 9.08562578e-01 -3.21373533e-02 9.89998787e+00] [ 7.75079732e-02 -2.66610356e-04 9.96991697e-01 2.66266026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.086875 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:36.95, Y:9.91, Z:2.66 [[ 9.05966010e-01 -4.17135659e-01 -7.22733115e-02 3.69533843e+01] [ 4.15831900e-01 9.08844213e-01 -3.29549338e-02 9.91425391e+00] [ 7.94318589e-02 -1.97498601e-04 9.96840278e-01 2.66219943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.116875 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:36.98, Y:9.93, Z:2.66 [[ 9.06671139e-01 -4.15438821e-01 -7.31985806e-02 3.69783749e+01] [ 4.14093934e-01 9.09621122e-01 -3.34010312e-02 9.92857434e+00] [ 8.04590600e-02 -2.73371676e-05 9.96757914e-01 2.66138642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.146874999999994 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:37.00, Y:9.94, Z:2.66 [[ 9.07633178e-01 -4.13197195e-01 -7.39600679e-02 3.70033588e+01] [ 4.11814706e-01 9.10641554e-01 -3.37728881e-02 9.94242693e+00] [ 8.13059738e-02 1.95550083e-04 9.96689169e-01 2.66191479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.176874999999995 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:37.03, Y:9.96, Z:2.67 [[ 9.10461519e-01 -4.06975125e-01 -7.36957863e-02 3.70280986e+01] [ 4.05580146e-01 9.13438915e-01 -3.36762951e-02 9.95595259e+00] [ 8.10220135e-02 7.71423018e-04 9.96712014e-01 2.66576239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.206875 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:37.05, Y:9.97, Z:2.67 [[ 9.11913625e-01 -4.03815261e-01 -7.31216449e-02 3.70536994e+01] [ 4.02429884e-01 9.14839931e-01 -3.34378522e-02 9.96813148e+00] [ 8.03973156e-02 1.06609794e-03 9.96762326e-01 2.67037901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.236875 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:37.08, Y:9.98, Z:2.67 [[ 9.13170815e-01 -4.01140582e-01 -7.21477374e-02 3.70790039e+01] [ 3.99781714e-01 9.16015572e-01 -3.30159564e-02 9.98093127e+00] [ 7.93324910e-02 1.30586173e-03 9.96847356e-01 2.67427281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.266875 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:37.10, Y:9.99, Z:2.68 [[ 9.15498528e-01 -3.95979878e-01 -7.11504124e-02 3.71028182e+01] [ 3.94640940e-01 9.18257519e-01 -3.25830913e-02 9.99494902e+00] [ 7.82366497e-02 1.75090647e-03 9.96933278e-01 2.67795740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.296875 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:37.13, Y:10.01, Z:2.68 [[ 9.16509248e-01 -3.93715912e-01 -7.07006353e-02 3.71279370e+01] [ 3.92385288e-01 9.19230093e-01 -3.24009619e-02 1.00081733e+01] [ 7.77469258e-02 1.95389206e-03 9.96971212e-01 2.67926972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.326874999999994 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:37.15, Y:10.02, Z:2.68 [[ 9.18069985e-01 -3.89973352e-01 -7.11919074e-02 3.71517606e+01] [ 3.88611012e-01 9.20823247e-01 -3.26500878e-02 1.00210844e+01] [ 7.82878275e-02 2.30910648e-03 9.96928124e-01 2.67918761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.356874999999995 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:37.18, Y:10.03, Z:2.68 [[ 9.18325825e-01 -3.89306936e-01 -7.15387232e-02 3.71776717e+01] [ 3.87928309e-01 9.21104991e-01 -3.28210699e-02 1.00329909e+01] [ 7.86721451e-02 2.38854022e-03 9.96897682e-01 2.68107255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.386874999999996 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:37.20, Y:10.04, Z:2.68 [[ 9.18611019e-01 -3.88580129e-01 -7.18281244e-02 3.72021459e+01] [ 3.87186184e-01 9.21411590e-01 -3.29778836e-02 1.00438843e+01] [ 7.89978166e-02 2.48298993e-03 9.96871697e-01 2.68345153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.416875 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:37.23, Y:10.05, Z:2.69 [[ 9.18542336e-01 -3.88793741e-01 -7.15500110e-02 3.72263763e+01] [ 3.87410349e-01 9.21321523e-01 -3.28614116e-02 1.00544866e+01] [ 7.86968762e-02 2.46538308e-03 9.96895543e-01 2.68686868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.446875 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:37.25, Y:10.07, Z:2.69 [[ 9.18159221e-01 -3.89609726e-01 -7.20271195e-02 3.72518577e+01] [ 3.88208911e-01 9.20976856e-01 -3.30979334e-02 1.00661833e+01] [ 7.92305868e-02 2.42760314e-03 9.96853360e-01 2.68903695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.476875 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:37.28, Y:10.08, Z:2.69 [[ 9.17924470e-01 -3.90142530e-01 -7.21351048e-02 3.72774461e+01] [ 3.88737181e-01 9.20751328e-01 -3.31722277e-02 1.00777771e+01] [ 7.93603903e-02 2.40800229e-03 9.96843082e-01 2.69091596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.506875 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:37.30, Y:10.09, Z:2.69 [[ 9.17175753e-01 -3.91719478e-01 -7.31060147e-02 3.73020427e+01] [ 3.90279014e-01 9.20081761e-01 -3.36429016e-02 1.00886506e+01] [ 8.04420905e-02 2.32471026e-03 9.96756573e-01 2.69217945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.536874999999995 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:37.33, Y:10.10, Z:2.69 [[ 9.16502558e-01 -3.93231648e-01 -7.34297746e-02 3.73272628e+01] [ 3.91782205e-01 9.19436769e-01 -3.38043026e-02 1.01001498e+01] [ 8.08069563e-02 2.21325078e-03 9.96727313e-01 2.69346728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.566874999999996 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:37.35, Y:10.11, Z:2.69 [[ 9.15860651e-01 -3.94641440e-01 -7.38742242e-02 3.73523735e+01] [ 3.93177001e-01 9.18832751e-01 -3.40326601e-02 1.01110123e+01] [ 8.13087546e-02 2.12352835e-03 9.96686700e-01 2.69494482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.596875 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:37.38, Y:10.12, Z:2.70 [[ 9.15123889e-01 -3.96492955e-01 -7.30862848e-02 3.73777647e+01] [ 3.95064569e-01 9.18035696e-01 -3.36815679e-02 1.01217960e+01] [ 8.04503226e-02 1.94900581e-03 9.96756714e-01 2.69745346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.626875 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:37.40, Y:10.13, Z:2.70 [[ 9.14003213e-01 -3.99103069e-01 -7.29031305e-02 3.74047936e+01] [ 3.97687316e-01 9.16904405e-01 -3.36319833e-02 1.01319772e+01] [ 8.02678293e-02 1.74709049e-03 9.96771801e-01 2.70246205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.656875 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:37.43, Y:10.14, Z:2.70 [[ 9.13200272e-01 -4.01118136e-01 -7.18992609e-02 3.74294174e+01] [ 3.99768415e-01 9.16025403e-01 -3.29040497e-02 1.01428538e+01] [ 7.90599605e-02 1.30493366e-03 9.96869008e-01 2.70409328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.686875 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:37.46, Y:10.15, Z:2.71 [[ 9.12579806e-01 -4.02400560e-01 -7.26077578e-02 3.74557939e+01] [ 4.00948106e-01 9.15461245e-01 -3.42246210e-02 1.01544078e+01] [ 8.02415950e-02 2.12075507e-03 9.96773188e-01 2.70519639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.716874999999995 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:37.48, Y:10.17, Z:2.71 [[ 9.12214786e-01 -4.03211206e-01 -7.26973656e-02 3.74804388e+01] [ 4.01891272e-01 9.15106796e-01 -3.26030299e-02 1.01656953e+01] [ 7.96717604e-02 5.24529280e-04 9.96821015e-01 2.70732129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.746874999999996 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:37.51, Y:10.18, Z:2.71 [[ 9.11541395e-01 -4.04803965e-01 -7.22913249e-02 3.75055308e+01] [ 4.03425371e-01 9.14402591e-01 -3.34046772e-02 1.01763207e+01] [ 7.96257205e-02 1.28559154e-03 9.96824002e-01 2.70871777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.776875 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:37.53, Y:10.19, Z:2.71 [[ 9.11296446e-01 -4.05441519e-01 -7.18050336e-02 3.75309884e+01] [ 4.04081526e-01 9.14120139e-01 -3.32037952e-02 1.01876953e+01] [ 7.91006245e-02 1.24341298e-03 9.96865861e-01 2.71059190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.806875 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:37.56, Y:10.20, Z:2.71 [[ 9.10807162e-01 -4.06391495e-01 -7.26379196e-02 3.75576775e+01] [ 4.05173656e-01 9.13698710e-01 -3.14479926e-02 1.01987186e+01] [ 7.91493701e-02 -7.87914552e-04 9.96862456e-01 2.71380735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.836875 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:37.58, Y:10.21, Z:2.71 [[ 9.10816371e-01 -4.06380696e-01 -7.25828312e-02 3.75826969e+01] [ 4.05058800e-01 9.13703750e-01 -3.27540186e-02 1.02098693e+01] [ 7.96298059e-02 4.32581795e-04 9.96824411e-01 2.71495437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.866875 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:37.61, Y:10.22, Z:2.72 [[ 9.10645692e-01 -4.06809280e-01 -7.23231163e-02 3.76080605e+01] [ 4.05194967e-01 9.13504996e-01 -3.64096317e-02 1.02221400e+01] [ 8.08793041e-02 3.85131152e-03 9.96716462e-01 2.71531802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.896874999999994 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:37.64, Y:10.23, Z:2.72 [[ 9.10810781e-01 -4.06050261e-01 -7.44775608e-02 3.76351365e+01] [ 4.04896619e-01 9.13848041e-01 -3.06673481e-02 1.02328957e+01] [ 8.05136577e-02 -2.22356130e-03 9.96751025e-01 2.72111325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.926874999999995 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:37.66, Y:10.25, Z:2.72 [[ 9.11237001e-01 -4.05557505e-01 -7.19043715e-02 3.76587599e+01] [ 4.03898034e-01 9.14057859e-01 -3.69406191e-02 1.02455195e+01] [ 8.07063011e-02 4.61962467e-03 9.96727220e-01 2.71991695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.956875 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:37.69, Y:10.26, Z:2.73 [[ 9.11860916e-01 -4.03845963e-01 -7.36077983e-02 3.76852240e+01] [ 4.02835429e-01 9.14820570e-01 -2.87566038e-02 1.02557216e+01] [ 7.89511663e-02 -3.42980593e-03 9.96872585e-01 2.72749453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.986875 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:37.71, Y:10.27, Z:2.73 [[ 9.12861424e-01 -4.01976489e-01 -7.14067432e-02 3.77104667e+01] [ 4.00345727e-01 9.15637868e-01 -3.64773019e-02 1.02695923e+01] [ 8.00457359e-02 4.71133722e-03 9.96780058e-01 2.72545468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.016875 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:37.73, Y:10.28, Z:2.73 [[ 9.13521616e-01 -4.00266986e-01 -7.25575443e-02 3.77344934e+01] [ 3.98714788e-01 9.16392301e-01 -3.53789216e-02 1.02816735e+01] [ 8.06521893e-02 3.38964378e-03 9.96736542e-01 2.72765034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.046875 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:37.76, Y:10.29, Z:2.73 [[ 9.14714460e-01 -3.97505479e-01 -7.27107346e-02 3.77591085e+01] [ 3.96070676e-01 9.17597332e-01 -3.38105819e-02 1.02949570e+01] [ 8.01590676e-02 2.12843840e-03 9.96779812e-01 2.72838882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.076874999999994 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:37.78, Y:10.31, Z:2.73 [[ 9.15091612e-01 -3.96555567e-01 -7.31506975e-02 3.77848729e+01] [ 3.95098277e-01 9.18007968e-01 -3.40400230e-02 1.03070504e+01] [ 8.06516838e-02 2.24802498e-03 9.96739812e-01 2.73055578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.106874999999995 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:37.81, Y:10.32, Z:2.73 [[ 9.15263581e-01 -3.96056127e-01 -7.37029294e-02 3.78094441e+01] [ 3.94573163e-01 9.18223344e-01 -3.43206933e-02 1.03183507e+01] [ 8.12686712e-02 2.33128268e-03 9.96689504e-01 2.73260540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.136874999999996 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:37.84, Y:10.33, Z:2.74 [[ 9.15129514e-01 -3.96214305e-01 -7.45130729e-02 3.78351557e+01] [ 3.94697970e-01 9.18155042e-01 -3.47106872e-02 1.03298155e+01] [ 8.21674243e-02 2.35461563e-03 9.96615759e-01 2.73570136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.166875 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:37.86, Y:10.34, Z:2.74 [[ 9.14067766e-01 -3.98720268e-01 -7.41772687e-02 3.78593126e+01] [ 3.97223905e-01 9.17070097e-01 -3.45775311e-02 1.03408001e+01] [ 8.18125175e-02 2.14122226e-03 9.96645437e-01 2.73819494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.196875 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:37.88, Y:10.35, Z:2.74 [[ 9.13494707e-01 -4.00123873e-01 -7.36770404e-02 3.78844808e+01] [ 3.98651220e-01 9.16458855e-01 -3.43565373e-02 1.03521571e+01] [ 8.12688469e-02 2.01307293e-03 9.96690184e-01 2.74021929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.226875 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:37.91, Y:10.36, Z:2.74 [[ 9.12453089e-01 -4.02581598e-01 -7.31943841e-02 3.79098121e+01] [ 4.01134132e-01 9.15382324e-01 -3.41556488e-02 1.03637128e+01] [ 8.07512812e-02 1.80466151e-03 9.96732649e-01 2.74095983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.256874999999994 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:37.94, Y:10.37, Z:2.74 [[ 9.10195549e-01 -4.07648225e-01 -7.32597252e-02 3.79355972e+01] [ 4.06212652e-01 9.13138011e-01 -3.42089931e-02 1.03734949e+01] [ 8.08414750e-02 1.37784602e-03 9.96726019e-01 2.74180958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.286874999999995 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:37.96, Y:10.38, Z:2.74 [[ 9.09003441e-01 -4.10328012e-01 -7.31003911e-02 3.79609943e+01] [ 4.08906372e-01 9.11937281e-01 -3.41463565e-02 1.03842894e+01] [ 8.06741785e-02 1.14793984e-03 9.96739865e-01 2.74394513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.316874999999996 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:37.99, Y:10.39, Z:2.75 [[ 9.07389172e-01 -4.13955748e-01 -7.27016371e-02 3.79876211e+01] [ 4.12559305e-01 9.10296615e-01 -3.39837027e-02 1.03943911e+01] [ 8.02478033e-02 8.42706979e-04 9.96774588e-01 2.74689342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.346875 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:38.01, Y:10.41, Z:2.75 [[ 9.06859769e-01 -4.15098425e-01 -7.27918754e-02 3.80118608e+01] [ 4.13700329e-01 9.09776189e-01 -3.40488424e-02 1.04052335e+01] [ 8.03579359e-02 7.63502581e-04 9.96765780e-01 2.74893165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.376875 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:38.04, Y:10.42, Z:2.75 [[ 9.06760312e-01 -4.15255773e-01 -7.31326147e-02 3.80378093e+01] [ 4.13844072e-01 9.09704380e-01 -3.42202459e-02 1.04167953e+01] [ 8.07392146e-02 7.64061870e-04 9.96734968e-01 2.75110558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.406875 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:38.06, Y:10.43, Z:2.75 [[ 9.07772701e-01 -4.13009127e-01 -7.32951897e-02 3.80630607e+01] [ 4.11581863e-01 9.10726350e-01 -3.43203394e-02 1.04280200e+01] [ 8.09264740e-02 9.88096508e-04 9.96719584e-01 2.75325833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.436875 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:38.09, Y:10.44, Z:2.75 [[ 9.08366012e-01 -4.11758631e-01 -7.29795716e-02 3.80881101e+01] [ 4.10337681e-01 9.11292260e-01 -3.41965540e-02 1.04403963e+01] [ 8.05864450e-02 1.11671918e-03 9.96746998e-01 2.75469123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.466874999999995 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:38.11, Y:10.45, Z:2.76 [[ 9.09187259e-01 -4.10067216e-01 -7.22731417e-02 3.81131826e+01] [ 4.08666444e-01 9.12054412e-01 -3.38893403e-02 1.04527894e+01] [ 7.98139452e-02 1.27614857e-03 9.96808961e-01 2.75648567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.496874999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:38.14, Y:10.47, Z:2.76 [[ 9.11222064e-01 -4.05703704e-01 -7.12660891e-02 3.81376092e+01] [ 4.04326650e-01 9.14003152e-01 -3.34394659e-02 1.04651601e+01] [ 7.87039453e-02 1.65600007e-03 9.96896658e-01 2.75908914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.526875 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:38.16, Y:10.48, Z:2.76 [[ 9.11998058e-01 -4.03969680e-01 -7.11901614e-02 3.81625823e+01] [ 4.02589390e-01 9.14770576e-01 -3.34152193e-02 1.04776586e+01] [ 7.86214003e-02 1.81421148e-03 9.96902896e-01 2.76036131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.556875 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:38.19, Y:10.49, Z:2.76 [[ 9.13652673e-01 -4.00230112e-01 -7.10960651e-02 3.81883534e+01] [ 3.98840238e-01 9.16412140e-01 -3.33954320e-02 1.04894947e+01] [ 7.85191546e-02 2.15585420e-03 9.96910274e-01 2.76279547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.586875 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:38.21, Y:10.50, Z:2.76 [[ 9.13797467e-01 -3.99807654e-01 -7.16102636e-02 3.82138087e+01] [ 3.98394311e-01 9.16596347e-01 -3.36616979e-02 1.05020407e+01] [ 7.90959105e-02 2.23085260e-03 9.96864514e-01 2.76467074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.616875 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:38.24, Y:10.51, Z:2.77 [[ 9.14016725e-01 -3.99170218e-01 -7.23640980e-02 3.82390771e+01] [ 3.97722910e-01 9.16873870e-01 -3.40410622e-02 1.05142698e+01] [ 7.99369288e-02 2.33324052e-03 9.96797193e-01 2.76656951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.646874999999994 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:38.26, Y:10.53, Z:2.77 [[ 9.13016928e-01 -4.01246747e-01 -7.34924346e-02 3.82641707e+01] [ 3.99758484e-01 9.15967341e-01 -3.45974726e-02 1.05261637e+01] [ 8.11987932e-02 2.20885388e-03 9.96695479e-01 2.76737831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.676874999999995 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:38.29, Y:10.54, Z:2.77 [[ 9.12344342e-01 -4.02827011e-01 -7.31997313e-02 3.82887988e+01] [ 4.01353743e-01 9.15273765e-01 -3.44834299e-02 1.05377157e+01] [ 8.08886507e-02 2.08177600e-03 9.96720970e-01 2.76942519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.706875 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:38.31, Y:10.55, Z:2.77 [[ 9.11507334e-01 -4.04732641e-01 -7.31154506e-02 3.83138038e+01] [ 4.03268003e-01 9.14433049e-01 -3.44545579e-02 1.05489684e+01] [ 8.08040687e-02 1.92046048e-03 9.96728155e-01 2.77115016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.736875 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:38.34, Y:10.56, Z:2.77 [[ 9.11404022e-01 -4.04966065e-01 -7.31108359e-02 3.83395846e+01] [ 4.03501392e-01 9.14329719e-01 -3.44643474e-02 1.05612384e+01] [ 8.08043012e-02 1.91062085e-03 9.96728155e-01 2.77322078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.766875 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:38.37, Y:10.57, Z:2.78 [[ 9.10473183e-01 -4.07057997e-01 -7.30915174e-02 3.83653506e+01] [ 4.05598946e-01 9.13400646e-01 -3.44783268e-02 1.05728560e+01] [ 8.07965178e-02 1.74574957e-03 9.96729088e-01 2.77578671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.796875 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:38.39, Y:10.58, Z:2.78 [[ 9.08588817e-01 -4.11369285e-01 -7.23994019e-02 3.83902723e+01] [ 4.09949549e-01 9.11467735e-01 -3.41750686e-02 1.05827739e+01] [ 8.00482924e-02 1.37098305e-03 9.96790044e-01 2.77775872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.826874999999994 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:38.42, Y:10.59, Z:2.78 [[ 9.07869760e-01 -4.13205769e-01 -7.09471034e-02 3.84159182e+01] [ 4.11847216e-01 9.10636900e-01 -3.35008437e-02 1.05940414e+01] [ 7.84497922e-02 1.19503588e-03 9.96917350e-01 2.77971943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.856874999999995 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:38.44, Y:10.61, Z:2.78 [[ 9.07349033e-01 -4.14490211e-01 -7.01113226e-02 3.84407161e+01] [ 4.13165625e-01 9.10053116e-01 -3.31284190e-02 1.06050670e+01] [ 7.75364330e-02 1.09145044e-03 9.96988922e-01 2.78228784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.886874999999996 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:38.47, Y:10.62, Z:2.78 [[ 9.07180789e-01 -4.15022164e-01 -6.91347871e-02 3.84663233e+01] [ 4.13735011e-01 9.09810706e-01 -3.26775268e-02 1.06155286e+01] [ 7.64614673e-02 1.04094263e-03 9.97071994e-01 2.78480811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.916875 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:38.49, Y:10.63, Z:2.79 [[ 9.07277054e-01 -4.14777613e-01 -6.93388694e-02 3.84918601e+01] [ 4.13480361e-01 9.09922169e-01 -3.27969194e-02 1.06275931e+01] [ 7.66964023e-02 1.08563161e-03 9.97053902e-01 2.78626149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.946875 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:38.52, Y:10.64, Z:2.79 [[ 9.07942251e-01 -4.13449513e-01 -6.85592351e-02 3.85173106e+01] [ 4.12175831e-01 9.10526248e-01 -3.24505052e-02 1.06395266e+01] [ 7.58416287e-02 1.20472509e-03 9.97119148e-01 2.78708495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.976875 meters Centerline goodness : 0.999924 Centerline is valid? [True, True] Translation: X:38.54, Y:10.65, Z:2.79 [[ 9.06074627e-01 -4.17459618e-01 -6.89654789e-02 3.85424668e+01] [ 4.16180600e-01 9.08695034e-01 -3.26656242e-02 1.06512967e+01] [ 7.63051673e-02 8.95398934e-04 9.97084109e-01 2.78903577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.006874999999994 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:38.57, Y:10.66, Z:2.79 [[ 9.05089900e-01 -4.19534149e-01 -6.93063552e-02 3.85679212e+01] [ 4.18246739e-01 9.07739248e-01 -3.28499962e-02 1.06634385e+01] [ 7.66937940e-02 7.45042725e-04 9.97054415e-01 2.79144589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.036874999999995 meters Centerline goodness : 0.999924 Centerline is valid? [True, True] Translation: X:38.59, Y:10.68, Z:2.79 [[ 9.04496496e-01 -4.20800659e-01 -6.93750258e-02 3.85932126e+01] [ 4.19512646e-01 9.07152893e-01 -3.29054545e-02 1.06758726e+01] [ 7.67803922e-02 6.59167601e-04 9.97047811e-01 2.79353730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.066874999999996 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:38.62, Y:10.69, Z:2.79 [[ 9.04907092e-01 -4.19864415e-01 -6.96923842e-02 3.86181563e+01] [ 4.18560024e-01 9.07586520e-01 -3.30789267e-02 1.06896613e+01] [ 7.71405327e-02 7.62909357e-04 9.97019938e-01 2.79365038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.096875 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:38.64, Y:10.70, Z:2.79 [[ 9.05385857e-01 -4.18831076e-01 -6.96920396e-02 3.86425421e+01] [ 4.17521860e-01 9.08063747e-01 -3.31017666e-02 1.07028964e+01] [ 7.71488632e-02 8.71921346e-04 9.97019204e-01 2.79482311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.126875 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:38.67, Y:10.72, Z:2.80 [[ 9.05998910e-01 -4.17419179e-01 -7.01940514e-02 3.86673371e+01] [ 4.16084942e-01 9.08713479e-01 -3.33636622e-02 1.07166639e+01] [ 7.77129132e-02 1.02075377e-03 9.96975256e-01 2.79571790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.156875 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:38.69, Y:10.73, Z:2.80 [[ 9.06389390e-01 -4.16645819e-01 -6.97462188e-02 3.86923558e+01] [ 4.15324517e-01 9.09068231e-01 -3.31737216e-02 1.07291092e+01] [ 7.72257641e-02 1.10099462e-03 9.97013024e-01 2.79855666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.186875 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:38.72, Y:10.74, Z:2.80 [[ 9.06676556e-01 -4.16093500e-01 -6.93096094e-02 3.87169622e+01] [ 4.14785337e-01 9.09321093e-01 -3.29890110e-02 1.07418944e+01] [ 7.67512028e-02 1.16175318e-03 9.97049599e-01 2.80078922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.216874999999995 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:38.74, Y:10.76, Z:2.80 [[ 9.07492605e-01 -4.14266088e-01 -6.95757147e-02 3.87412026e+01] [ 4.12940673e-01 9.10154825e-01 -3.31390334e-02 1.07557498e+01] [ 7.70530502e-02 1.34278535e-03 9.97026090e-01 2.80349389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.246874999999996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:38.77, Y:10.77, Z:2.81 [[ 9.07828254e-01 -4.13587606e-01 -6.92326059e-02 3.87651183e+01] [ 4.12271507e-01 9.10463229e-01 -3.29986891e-02 1.07683368e+01] [ 7.66815908e-02 1.41451161e-03 9.97054629e-01 2.80579326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.276875 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:38.79, Y:10.78, Z:2.81 [[ 9.08079415e-01 -4.13145165e-01 -6.85773218e-02 3.87901146e+01] [ 4.11851411e-01 9.10664022e-01 -3.27025047e-02 1.07818137e+01] [ 7.59617814e-02 1.45280457e-03 9.97109672e-01 2.80728502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.306875 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:38.81, Y:10.80, Z:2.81 [[ 9.08662099e-01 -4.12221754e-01 -6.63808296e-02 3.88138745e+01] [ 4.11005598e-01 9.11082309e-01 -3.16768829e-02 1.07950906e+01] [ 7.35362997e-02 1.50069033e-03 9.97291412e-01 2.80873014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.336875 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:38.84, Y:10.81, Z:2.81 [[ 9.08385324e-01 -4.12886842e-01 -6.60345267e-02 3.88392053e+01] [ 4.11684390e-01 9.10781180e-01 -3.15214999e-02 1.08078672e+01] [ 7.31578167e-02 1.44828404e-03 9.97319325e-01 2.81075791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.366875 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:38.86, Y:10.82, Z:2.81 [[ 9.08058446e-01 -4.13712519e-01 -6.53590906e-02 3.88645583e+01] [ 4.12535127e-01 9.10406517e-01 -3.12208671e-02 1.08207762e+01] [ 7.24198056e-02 1.38745136e-03 9.97373274e-01 2.81229197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.396874999999994 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:38.89, Y:10.83, Z:2.81 [[ 9.07311076e-01 -4.15206348e-01 -6.62593359e-02 3.88881284e+01] [ 4.13998546e-01 9.09726322e-01 -3.16736878e-02 1.08333553e+01] [ 7.34289782e-02 1.30661904e-03 9.97299593e-01 2.81415933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.426874999999995 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:38.91, Y:10.85, Z:2.82 [[ 9.06768342e-01 -4.16394833e-01 -6.62307832e-02 3.89125655e+01] [ 4.15190515e-01 9.09183071e-01 -3.16698480e-02 1.08455680e+01] [ 7.34030680e-02 1.21882259e-03 9.97301611e-01 2.81681418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.456875 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:38.94, Y:10.86, Z:2.82 [[ 9.06231088e-01 -4.17633886e-01 -6.57810966e-02 3.89374349e+01] [ 4.16448441e-01 9.08614706e-01 -3.14644676e-02 1.08578818e+01] [ 7.29102996e-02 1.11964363e-03 9.97337874e-01 2.81915489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.486875 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:38.96, Y:10.87, Z:2.82 [[ 9.05372011e-01 -4.19373433e-01 -6.65390574e-02 3.89615632e+01] [ 4.18163468e-01 9.07813252e-01 -3.18498597e-02 1.08708718e+01] [ 7.37620231e-02 1.01176851e-03 9.97275358e-01 2.82035358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.516875 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:38.99, Y:10.88, Z:2.82 [[ 9.04460880e-01 -4.21155907e-01 -6.76625310e-02 3.89863209e+01] [ 4.19908852e-01 9.06987821e-01 -3.23982624e-02 1.08835028e+01] [ 7.50138112e-02 8.90865205e-04 9.97182097e-01 2.82098433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.546875 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:39.01, Y:10.90, Z:2.82 [[ 9.02748431e-01 -4.24477006e-01 -6.97462615e-02 3.90115004e+01] [ 4.23159844e-01 9.05438480e-01 -3.34201436e-02 1.08957494e+01] [ 7.73370315e-02 6.56165082e-04 9.97004791e-01 2.82186731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.576874999999994 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:39.04, Y:10.91, Z:2.82 [[ 9.01856869e-01 -4.26421583e-01 -6.94177328e-02 3.90355313e+01] [ 4.25120834e-01 9.04524392e-01 -3.32851324e-02 1.09073741e+01] [ 7.69835314e-02 5.07500840e-04 9.97032235e-01 2.82289062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.606874999999995 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:39.06, Y:10.92, Z:2.83 [[ 9.00731993e-01 -4.28777671e-01 -6.95096136e-02 3.90607463e+01] [ 4.27479631e-01 9.03409989e-01 -3.33400115e-02 1.09192865e+01] [ 7.70911318e-02 3.16471009e-04 9.97024000e-01 2.82561452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.636874999999996 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:39.09, Y:10.93, Z:2.83 [[ 8.99704260e-01 -4.31065989e-01 -6.86611762e-02 3.90860648e+01] [ 4.29804441e-01 9.02320394e-01 -3.29552551e-02 1.09311268e+01] [ 7.61602692e-02 1.39104924e-04 9.97095579e-01 2.82743930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.666875 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:39.11, Y:10.94, Z:2.83 [[ 8.97742879e-01 -4.35344482e-01 -6.73268492e-02 3.91112139e+01] [ 4.34141915e-01 9.00263929e-01 -3.23365985e-02 1.09425702e+01] [ 7.46894935e-02 -1.99456239e-04 9.97206819e-01 2.83148845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.696875 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:39.14, Y:10.95, Z:2.83 [[ 8.97196634e-01 -4.36462422e-01 -6.73702756e-02 3.91370094e+01] [ 4.35259779e-01 8.99722446e-01 -3.23796950e-02 1.09544014e+01] [ 7.47470693e-02 -2.72617893e-04 9.97202488e-01 2.83477414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.726875 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:39.16, Y:10.97, Z:2.84 [[ 8.96933814e-01 -4.36950468e-01 -6.77053998e-02 3.91623477e+01] [ 4.35735470e-01 8.99485521e-01 -3.25637616e-02 1.09666573e+01] [ 7.51287777e-02 -2.94105329e-04 9.97173796e-01 2.83692729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.756874999999994 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:39.19, Y:10.98, Z:2.84 [[ 8.97285804e-01 -4.36159275e-01 -6.81415688e-02 3.91859931e+01] [ 4.34924573e-01 8.99869459e-01 -3.27959266e-02 1.09787480e+01] [ 7.56227643e-02 -2.09123336e-04 9.97136477e-01 2.83813504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.786874999999995 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:39.21, Y:10.99, Z:2.84 [[ 8.98888382e-01 -4.32841662e-01 -6.81745740e-02 3.92109061e+01] [ 4.31595424e-01 9.01469960e-01 -3.28222657e-02 1.09927530e+01] [ 7.56641746e-02 7.97191576e-05 9.97133354e-01 2.83823555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.816874999999996 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:39.23, Y:11.00, Z:2.84 [[ 9.00006771e-01 -4.30550943e-01 -6.79242044e-02 3.92346914e+01] [ 4.29305644e-01 9.02566230e-01 -3.27240481e-02 1.10047839e+01] [ 7.53954629e-02 2.91620472e-04 9.97153669e-01 2.83976431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.846875 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:39.26, Y:11.02, Z:2.84 [[ 9.01004406e-01 -4.28423539e-01 -6.81493280e-02 3.92599229e+01] [ 4.27163080e-01 9.03577910e-01 -3.28430069e-02 1.10174498e+01] [ 7.56489446e-02 4.80817163e-04 9.97134397e-01 2.84216762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.876875 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:39.28, Y:11.03, Z:2.84 [[ 9.01889857e-01 -4.26405795e-01 -6.90853321e-02 3.92835912e+01] [ 4.25102743e-01 9.04531722e-01 -3.33170011e-02 1.10297392e+01] [ 7.66964367e-02 6.79901185e-04 9.97054258e-01 2.84471651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.906875 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:39.31, Y:11.04, Z:2.85 [[ 9.02880551e-01 -4.24153959e-01 -7.00009242e-02 3.93083767e+01] [ 4.22808439e-01 9.05589654e-01 -3.37698447e-02 1.10423264e+01] [ 7.77157261e-02 8.93154449e-04 9.96975159e-01 2.84724913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.936875 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:39.33, Y:11.06, Z:2.85 [[ 9.04108545e-01 -4.21352188e-01 -7.10638646e-02 3.93334385e+01] [ 4.19954865e-01 9.06896332e-01 -3.43067787e-02 1.10559730e+01] [ 7.89027943e-02 1.17343608e-03 9.96881624e-01 2.84938310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.966874999999995 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:39.36, Y:11.07, Z:2.85 [[ 9.04623904e-01 -4.20400150e-01 -7.01377604e-02 3.93573320e+01] [ 4.19034431e-01 9.07337933e-01 -3.38824698e-02 1.10676507e+01] [ 7.78828459e-02 1.26075563e-03 9.96961721e-01 2.85199871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.996874999999996 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:39.38, Y:11.08, Z:2.85 [[ 9.04308212e-01 -4.21171319e-01 -6.95800114e-02 3.93822720e+01] [ 4.19828695e-01 9.06980316e-01 -3.36240126e-02 1.10799526e+01] [ 7.72691705e-02 1.19478533e-03 9.97009553e-01 2.85422240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.026875 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:39.41, Y:11.09, Z:2.86 [[ 9.03696518e-01 -4.22660064e-01 -6.84914164e-02 3.94068917e+01] [ 4.21361761e-01 9.06287660e-01 -3.31201338e-02 1.10921970e+01] [ 7.60714834e-02 1.07088582e-03 9.97101792e-01 2.85539399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.056875 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:39.43, Y:11.10, Z:2.86 [[ 9.02196948e-01 -4.25936763e-01 -6.79598497e-02 3.94316556e+01] [ 4.24667080e-01 9.04752584e-01 -3.28729884e-02 1.11039614e+01] [ 7.54886639e-02 7.97598958e-04 9.97146341e-01 2.85758320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.086875 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:39.46, Y:11.12, Z:2.86 [[ 9.01387679e-01 -4.27645067e-01 -6.79702018e-02 3.94568098e+01] [ 4.26379060e-01 9.03946490e-01 -3.28883114e-02 1.11154191e+01] [ 7.55059494e-02 6.64047885e-04 9.97145130e-01 2.86011900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.116875 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:39.48, Y:11.13, Z:2.86 [[ 9.00468693e-01 -4.29590261e-01 -6.78847647e-02 3.94823065e+01] [ 4.28331267e-01 9.03023774e-01 -3.28692687e-02 1.11270970e+01] [ 7.54218742e-02 5.20580121e-04 9.97151578e-01 2.86287481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.146874999999994 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:39.51, Y:11.14, Z:2.87 [[ 8.98829544e-01 -4.33153684e-01 -6.69577254e-02 3.95065918e+01] [ 4.31937092e-01 9.01320048e-01 -3.24425591e-02 1.11380645e+01] [ 7.44029543e-02 2.38805380e-04 9.97228230e-01 2.86570442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.176874999999995 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:39.53, Y:11.15, Z:2.87 [[ 8.98104531e-01 -4.34749629e-01 -6.63401294e-02 3.95315857e+01] [ 4.33559019e-01 9.00551357e-01 -3.21532150e-02 1.11498291e+01] [ 7.37212919e-02 1.14586625e-04 9.97278877e-01 2.86819040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.206875 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:39.56, Y:11.16, Z:2.87 [[ 8.97862556e-01 -4.35295877e-01 -6.60327965e-02 3.95556765e+01] [ 4.34116085e-01 9.00287449e-01 -3.20270793e-02 1.11613293e+01] [ 7.33897535e-02 9.00162382e-05 9.97303332e-01 2.86994523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.236875 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:39.58, Y:11.17, Z:2.87 [[ 8.97685060e-01 -4.35597234e-01 -6.64573762e-02 3.95806201e+01] [ 4.34402257e-01 9.00141680e-01 -3.22433790e-02 1.11744201e+01] [ 7.38661810e-02 7.51654295e-05 9.97268159e-01 2.87069596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.266875 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:39.61, Y:11.19, Z:2.87 [[ 8.98061266e-01 -4.34711628e-01 -6.71696657e-02 3.96056855e+01] [ 4.33486652e-01 9.00569693e-01 -3.26121244e-02 1.11865790e+01] [ 7.46678349e-02 1.70532161e-04 9.97208446e-01 2.87223332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.296875 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:39.63, Y:11.20, Z:2.87 [[ 8.99165252e-01 -4.32112558e-01 -6.91417858e-02 3.96302010e+01] [ 4.30805009e-01 9.01819584e-01 -3.35929013e-02 1.11987627e+01] [ 7.68693310e-02 4.18941924e-04 9.97041088e-01 2.87373701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.326874999999994 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:39.65, Y:11.21, Z:2.88 [[ 9.00107534e-01 -4.29979696e-01 -7.01704258e-02 3.96542322e+01] [ 4.28625598e-01 9.02838345e-01 -3.41030763e-02 1.12108883e+01] [ 7.80161815e-02 6.19595152e-04 9.96951900e-01 2.87522842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.356874999999995 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:39.68, Y:11.22, Z:2.88 [[ 9.01006846e-01 -4.27974574e-01 -7.08831945e-02 3.96788860e+01] [ 4.26585684e-01 9.03790410e-01 -3.44608219e-02 1.12240610e+01] [ 7.88119070e-02 8.11680429e-04 9.96889174e-01 2.87648906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.386874999999996 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:39.70, Y:11.24, Z:2.88 [[ 9.03159739e-01 -4.23413001e-01 -7.08795985e-02 3.97029888e+01] [ 4.22008359e-01 9.05935933e-01 -3.44823118e-02 1.12357386e+01] [ 7.88126344e-02 1.23125267e-03 9.96888686e-01 2.87884615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.416875 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:39.73, Y:11.25, Z:2.88 [[ 9.03372847e-01 -4.22897139e-01 -7.12426104e-02 3.97273167e+01] [ 4.21475604e-01 9.06176770e-01 -3.46695287e-02 1.12475429e+01] [ 7.92200431e-02 1.29248864e-03 9.96856316e-01 2.88153789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.446875 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:39.75, Y:11.26, Z:2.88 [[ 9.03559158e-01 -4.22495317e-01 -7.12639852e-02 3.97520575e+01] [ 4.21070762e-01 9.06364118e-01 -3.46914765e-02 1.12602005e+01] [ 7.92481055e-02 1.33862070e-03 9.96854024e-01 2.88370424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.476875 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:39.78, Y:11.27, Z:2.89 [[ 9.03799514e-01 -4.21982669e-01 -7.12535284e-02 3.97758302e+01] [ 4.20555099e-01 9.06602810e-01 -3.47095790e-02 1.12724638e+01] [ 7.92454898e-02 1.40446600e-03 9.96854142e-01 2.88504576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.506874999999994 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:39.80, Y:11.28, Z:2.89 [[ 9.03773659e-01 -4.22119902e-01 -7.07669584e-02 3.98006777e+01] [ 4.20711307e-01 9.06538939e-01 -3.44840431e-02 1.12845404e+01] [ 7.87094042e-02 1.39331025e-03 9.96896629e-01 2.88719306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.536874999999995 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:39.83, Y:11.30, Z:2.89 [[ 9.03904903e-01 -4.22050011e-01 -6.94961462e-02 3.98257540e+01] [ 4.20689638e-01 9.06571477e-01 -3.38878546e-02 1.12967827e+01] [ 7.73055933e-02 1.39508937e-03 9.97006469e-01 2.89005340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.566874999999996 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:39.85, Y:11.31, Z:2.89 [[ 9.04146328e-01 -4.21511305e-01 -6.96249784e-02 3.98507393e+01] [ 4.20142456e-01 9.06821963e-01 -3.39741555e-02 1.13098344e+01] [ 7.74579502e-02 1.46519844e-03 9.96994543e-01 2.89142061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.596875 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:39.88, Y:11.32, Z:2.89 [[ 9.04573981e-01 -4.20511796e-01 -7.01123544e-02 3.98758220e+01] [ 4.19118844e-01 9.07285690e-01 -3.42355401e-02 1.13227896e+01] [ 7.80083842e-02 1.58316993e-03 9.96951446e-01 2.89280584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.626875 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:39.90, Y:11.34, Z:2.89 [[ 9.04466295e-01 -4.20744916e-01 -7.01030377e-02 3.99014274e+01] [ 4.19351185e-01 9.07177604e-01 -3.42546073e-02 1.13354144e+01] [ 7.80083577e-02 1.58434580e-03 9.96951446e-01 2.89487034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.656875 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:39.93, Y:11.35, Z:2.90 [[ 9.04979089e-01 -4.19562849e-01 -7.05681479e-02 3.99251279e+01] [ 4.18145237e-01 9.07724664e-01 -3.45035425e-02 1.13474443e+01] [ 7.85328530e-02 1.71724956e-03 9.96910047e-01 2.89628624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.686875 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:39.95, Y:11.36, Z:2.90 [[ 9.06183379e-01 -4.16764778e-01 -7.16854554e-02 3.99503521e+01] [ 4.15292135e-01 9.09012163e-01 -3.50618165e-02 1.13602770e+01] [ 7.97754810e-02 2.00202951e-03 9.96810847e-01 2.89973870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.716874999999995 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:39.97, Y:11.37, Z:2.90 [[ 9.06824906e-01 -4.15320389e-01 -7.19552892e-02 3.99741842e+01] [ 4.13830202e-01 9.09672642e-01 -3.52171691e-02 1.13727377e+01] [ 8.00821664e-02 2.15853418e-03 9.96785929e-01 2.90140144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.746874999999996 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:40.00, Y:11.39, Z:2.90 [[ 9.07300702e-01 -4.14364745e-01 -7.14653319e-02 3.99988961e+01] [ 4.12890922e-01 9.10108152e-01 -3.49891173e-02 1.13854431e+01] [ 7.95394378e-02 2.23826391e-03 9.96829207e-01 2.90311665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.776875 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:40.02, Y:11.40, Z:2.91 [[ 9.08286281e-01 -4.12168039e-01 -7.16487244e-02 4.00232096e+01] [ 4.10677945e-01 9.11104530e-01 -3.51021541e-02 1.13969260e+01] [ 7.97474634e-02 2.45825411e-03 9.96812068e-01 2.90584323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.806875 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:40.05, Y:11.41, Z:2.91 [[ 9.08340162e-01 -4.11979986e-01 -7.20461089e-02 4.00483944e+01] [ 4.10471722e-01 9.11189466e-01 -3.53089595e-02 1.14094560e+01] [ 8.01942401e-02 2.49965558e-03 9.96776121e-01 2.90795637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.836875 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:40.07, Y:11.42, Z:2.91 [[ 9.08695642e-01 -4.11198070e-01 -7.20304005e-02 4.00736338e+01] [ 4.09686022e-01 9.11542339e-01 -3.53260228e-02 1.14218028e+01] [ 8.01847522e-02 2.59075474e-03 9.96776652e-01 2.90903787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.866875 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:40.10, Y:11.43, Z:2.91 [[ 9.08735601e-01 -4.11110324e-01 -7.20271405e-02 4.00990365e+01] [ 4.09596136e-01 9.11581829e-01 -3.53493151e-02 1.14337469e+01] [ 8.01911009e-02 2.62114270e-03 9.96776062e-01 2.91117517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.896874999999994 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:40.12, Y:11.45, Z:2.91 [[ 9.08687978e-01 -4.11275163e-01 -7.16861097e-02 4.01235664e+01] [ 4.09773856e-01 9.11507484e-01 -3.52064346e-02 1.14453113e+01] [ 7.98219576e-02 2.61657028e-03 9.96805703e-01 2.91373098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.926874999999995 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:40.15, Y:11.46, Z:2.92 [[ 9.08877925e-01 -4.11028732e-01 -7.06844995e-02 4.01486901e+01] [ 4.09567041e-01 9.11618633e-01 -3.47319218e-02 1.14567384e+01] [ 7.87131246e-02 2.61703572e-03 9.96893874e-01 2.91731304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.956875 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:40.17, Y:11.47, Z:2.92 [[ 9.09097362e-01 -4.10692604e-01 -6.98109655e-02 4.01727038e+01] [ 4.09264087e-01 9.11770062e-01 -3.43258151e-02 1.14687056e+01] [ 7.77489067e-02 2.63438692e-03 9.96969492e-01 2.91865238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.986875 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:40.20, Y:11.48, Z:2.92 [[ 9.09722126e-01 -4.09469136e-01 -6.88525951e-02 4.01981148e+01] [ 4.08075291e-01 9.12319942e-01 -3.38656329e-02 1.14806589e+01] [ 7.66825269e-02 2.71127280e-03 9.97051874e-01 2.92105533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.016875 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:40.22, Y:11.49, Z:2.92 [[ 9.09847058e-01 -4.09153412e-01 -6.90783296e-02 4.02222110e+01] [ 4.07747645e-01 9.12461407e-01 -3.40005686e-02 1.14916390e+01] [ 7.69427584e-02 2.76879110e-03 9.97031667e-01 2.92383210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.046875 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:40.25, Y:11.50, Z:2.93 [[ 9.09930013e-01 -4.08941447e-01 -6.92406283e-02 4.02475656e+01] [ 4.07527550e-01 9.12556317e-01 -3.40920052e-02 1.15030175e+01] [ 7.71276066e-02 2.80387507e-03 9.97017287e-01 2.92603083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.076874999999994 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:40.27, Y:11.52, Z:2.93 [[ 9.09689779e-01 -4.09337259e-01 -7.00536568e-02 4.02730093e+01] [ 4.07889131e-01 9.12378772e-01 -3.45171444e-02 1.15155042e+01] [ 7.80446227e-02 2.82576825e-03 9.96945862e-01 2.92770632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.106874999999995 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:40.30, Y:11.53, Z:2.93 [[ 9.09253614e-01 -4.10233284e-01 -7.04735225e-02 4.02983819e+01] [ 4.08768423e-01 9.11976358e-01 -3.47490791e-02 1.15274753e+01] [ 7.85254152e-02 2.78837509e-03 9.96908212e-01 2.92761763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.136874999999996 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:40.32, Y:11.54, Z:2.93 [[ 9.08567068e-01 -4.11619055e-01 -7.12434959e-02 4.03231353e+01] [ 4.10124261e-01 9.11351937e-01 -3.51530455e-02 1.15383617e+01] [ 7.93975614e-02 2.72021334e-03 9.96839319e-01 2.92997427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.166875 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:40.35, Y:11.55, Z:2.93 [[ 9.07604506e-01 -4.13658795e-01 -7.16970176e-02 4.03490223e+01] [ 4.12150223e-01 9.10428360e-01 -3.53891873e-02 1.15496399e+01] [ 7.99140467e-02 2.56944401e-03 9.96798447e-01 2.93275281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.196875 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:40.38, Y:11.56, Z:2.94 [[ 9.05801493e-01 -4.17727278e-01 -7.09054047e-02 4.03756976e+01] [ 4.16262384e-01 9.08569780e-01 -3.50226058e-02 1.15597732e+01] [ 7.90524057e-02 2.20827578e-03 9.96868016e-01 2.93694481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.226875 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:40.40, Y:11.57, Z:2.94 [[ 9.04820647e-01 -4.19889713e-01 -7.06556919e-02 4.04009237e+01] [ 4.18439787e-01 9.07572857e-01 -3.49235464e-02 1.15709978e+01] [ 7.87892260e-02 2.03439319e-03 9.96889221e-01 2.93862976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.256874999999994 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:40.43, Y:11.58, Z:2.94 [[ 9.02817381e-01 -4.24230842e-01 -7.03489054e-02 4.04262527e+01] [ 4.22804799e-01 9.05552541e-01 -3.47950772e-02 1.15810433e+01] [ 7.84657749e-02 1.66974574e-03 9.96915410e-01 2.93973305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.286874999999995 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:40.45, Y:11.59, Z:2.94 [[ 9.01861493e-01 -4.26376995e-01 -6.96312086e-02 4.04524628e+01] [ 4.24985452e-01 9.04544346e-01 -3.44513053e-02 1.15924756e+01] [ 7.76737601e-02 1.47805498e-03 9.96977734e-01 2.94163356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.316874999999996 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:40.48, Y:11.60, Z:2.94 [[ 9.01106763e-01 -4.27912241e-01 -6.99836815e-02 4.04775425e+01] [ 4.26509332e-01 9.03819244e-01 -3.46491530e-02 1.16031048e+01] [ 7.80793949e-02 1.37389281e-03 9.96946197e-01 2.94356397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.346875 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:40.50, Y:11.61, Z:2.95 [[ 8.99691433e-01 -4.30647610e-01 -7.14000091e-02 4.05044186e+01] [ 4.29194862e-01 9.02519399e-01 -3.53624852e-02 1.16125818e+01] [ 7.96686630e-02 1.17080801e-03 9.96820713e-01 2.94536232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.376875 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:40.53, Y:11.62, Z:2.95 [[ 8.99307634e-01 -4.31398452e-01 -7.17018444e-02 4.05294052e+01] [ 4.29933857e-01 9.02160794e-01 -3.55356221e-02 1.16237283e+01] [ 8.00166053e-02 1.13040568e-03 9.96792890e-01 2.94817707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.406875 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:40.55, Y:11.64, Z:2.95 [[ 8.96451942e-01 -4.37435948e-01 -7.08781067e-02 4.05546978e+01] [ 4.36022317e-01 8.99249370e-01 -3.51441172e-02 1.16360701e+01] [ 7.91103931e-02 6.00575815e-04 9.96865681e-01 2.94947510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.436875 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:40.58, Y:11.65, Z:2.95 [[ 8.91071593e-01 -4.48487519e-01 -6.96445431e-02 4.05773259e+01] [ 4.47154511e-01 8.93789026e-01 -3.45546095e-02 1.16503035e+01] [ 7.77448393e-02 -3.51240690e-04 9.96973228e-01 2.95263469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.466874999999995 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:40.60, Y:11.66, Z:2.96 [[ 8.88665816e-01 -4.53358497e-01 -6.88414174e-02 4.06019755e+01] [ 4.52069828e-01 8.91327941e-01 -3.41668255e-02 1.16631660e+01] [ 7.68500995e-02 -7.58237845e-04 9.97042370e-01 2.95589030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.496874999999996 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:40.63, Y:11.68, Z:2.96 [[ 8.85677791e-01 -4.59301051e-01 -6.79514124e-02 4.06258019e+01] [ 4.58061220e-01 8.88279807e-01 -3.37476397e-02 1.16778142e+01] [ 7.58601939e-02 -1.23637191e-03 9.97117697e-01 2.95780633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.526875 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:40.65, Y:11.69, Z:2.96 [[ 8.84459177e-01 -4.61609357e-01 -6.81818626e-02 4.06495712e+01] [ 4.60366193e-01 8.87082177e-01 -3.38847972e-02 1.16931169e+01] [ 7.61244546e-02 -1.41890466e-03 9.97097314e-01 2.95752830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.556875 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:40.67, Y:11.71, Z:2.96 [[ 8.83963436e-01 -4.62455350e-01 -6.88744763e-02 4.06729592e+01] [ 4.61187563e-01 8.86641325e-01 -3.42519000e-02 1.17072158e+01] [ 7.69069313e-02 -1.48662469e-03 9.97037168e-01 2.95788777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.586875 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:40.70, Y:11.72, Z:2.96 [[ 8.84510437e-01 -4.61140743e-01 -7.06434836e-02 4.06969509e+01] [ 4.59801782e-01 8.87325905e-01 -3.51434085e-02 1.17220758e+01] [ 7.88898506e-02 -1.39728803e-03 9.96882360e-01 2.96073547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.616875 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:40.72, Y:11.74, Z:2.96 [[ 8.85241399e-01 -4.59724527e-01 -7.07179175e-02 4.07209836e+01] [ 4.58376405e-01 8.88060691e-01 -3.52034002e-02 1.17352788e+01] [ 7.89856692e-02 -1.25191751e-03 9.96874965e-01 2.96380273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.646874999999994 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:40.75, Y:11.75, Z:2.97 [[ 8.86415477e-01 -4.57449833e-01 -7.07619496e-02 4.07453135e+01] [ 4.56091870e-01 8.89234823e-01 -3.52368517e-02 1.17481962e+01] [ 7.90430816e-02 -1.03945922e-03 9.96870659e-01 2.96711664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.676874999999995 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:40.77, Y:11.76, Z:2.97 [[ 8.87527847e-01 -4.55287651e-01 -7.07635235e-02 4.07688779e+01] [ 4.53920987e-01 8.90344019e-01 -3.52599848e-02 1.17616186e+01] [ 7.90573156e-02 -8.26830004e-04 9.96869729e-01 2.96917799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.706875 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:40.79, Y:11.78, Z:2.97 [[ 8.89575135e-01 -4.51214118e-01 -7.11470232e-02 4.07919124e+01] [ 4.49818624e-01 8.92415605e-01 -3.54625727e-02 1.17775526e+01] [ 7.94939271e-02 -4.56633228e-04 9.96835246e-01 2.96969703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.736875 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:40.82, Y:11.79, Z:2.97 [[ 8.90531909e-01 -4.49368091e-01 -7.08606972e-02 4.08155519e+01] [ 4.47976184e-01 8.93346655e-01 -3.53425109e-02 1.17915443e+01] [ 7.91849634e-02 -2.70271031e-04 9.96859904e-01 2.97040786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.766875 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:40.84, Y:11.81, Z:2.97 [[ 8.92423639e-01 -4.45884002e-01 -6.90471204e-02 4.08392708e+01] [ 4.44551277e-01 8.95090752e-01 -3.44486126e-02 1.18059837e+01] [ 7.71635242e-02 4.77706546e-05 9.97018449e-01 2.97291593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.796875 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:40.86, Y:11.82, Z:2.98 [[ 8.93612257e-01 -4.43650278e-01 -6.80556097e-02 4.08641365e+01] [ 4.42347422e-01 8.96199958e-01 -3.39763612e-02 1.18188491e+01] [ 7.60650567e-02 2.57469273e-04 9.97102824e-01 2.97591722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.826874999999994 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:40.89, Y:11.83, Z:2.98 [[ 8.94431097e-01 -4.42044475e-01 -6.77472817e-02 4.08881443e+01] [ 4.40747027e-01 8.96993039e-01 -3.38459302e-02 1.18330163e+01] [ 7.57302465e-02 4.13439533e-04 9.97128256e-01 2.97814296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.856874999999995 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:40.91, Y:11.85, Z:2.98 [[ 8.96126961e-01 -4.38538162e-01 -6.81230497e-02 4.09104708e+01] [ 4.37214371e-01 8.98712268e-01 -3.40566170e-02 1.18489041e+01] [ 7.61581468e-02 7.34676341e-04 9.97095480e-01 2.97791213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.886874999999996 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:40.93, Y:11.86, Z:2.98 [[ 8.96919414e-01 -4.36854407e-01 -6.85112555e-02 4.09346967e+01] [ 4.35509708e-01 8.99531784e-01 -3.42616880e-02 1.18628685e+01] [ 7.65954213e-02 8.92656236e-04 9.97061856e-01 2.97934492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.916875 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:40.96, Y:11.88, Z:2.98 [[ 8.98190267e-01 -4.34197815e-01 -6.87495607e-02 4.09587144e+01] [ 4.32834150e-01 9.00816822e-01 -3.44042325e-02 1.18770848e+01] [ 7.68690034e-02 1.14438918e-03 9.97040544e-01 2.98134125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.946875 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:40.98, Y:11.89, Z:2.98 [[ 8.98529791e-01 -4.33434460e-01 -6.91287466e-02 4.09826320e+01] [ 4.32051622e-01 9.01184242e-01 -3.46173050e-02 1.18904231e+01] [ 7.73020700e-02 1.23749270e-03 9.97006950e-01 2.98306571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.976875 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:41.01, Y:11.90, Z:2.98 [[ 8.98643833e-01 -4.33173328e-01 -6.92829716e-02 4.10074691e+01] [ 4.31782650e-01 9.01309740e-01 -3.47058415e-02 1.19044300e+01] [ 7.74790620e-02 1.27300538e-03 9.96993167e-01 2.98477392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.006874999999994 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:41.03, Y:11.92, Z:2.99 [[ 8.98896631e-01 -4.32695686e-01 -6.89876056e-02 4.10321671e+01] [ 4.31313612e-01 9.01539059e-01 -3.45816957e-02 1.19179907e+01] [ 7.71583715e-02 1.33007641e-03 9.97017962e-01 2.98718395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.036874999999995 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:41.06, Y:11.93, Z:2.99 [[ 8.99089319e-01 -4.32219352e-01 -6.94609779e-02 4.10559815e+01] [ 4.30814994e-01 9.01767413e-01 -3.48421117e-02 1.19311779e+01] [ 7.76970813e-02 1.40133971e-03 9.96976028e-01 2.98920262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.066874999999996 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:41.08, Y:11.95, Z:2.99 [[ 8.99111156e-01 -4.32018020e-01 -7.04241409e-02 4.10805538e+01] [ 4.30572833e-01 9.01863809e-01 -3.53370180e-02 1.19451400e+01] [ 7.87792125e-02 1.44918523e-03 9.96891035e-01 2.99089670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.096875 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:41.11, Y:11.96, Z:2.99 [[ 8.99325196e-01 -4.31484505e-01 -7.09599375e-02 4.11055848e+01] [ 4.30013574e-01 9.02119051e-01 -3.56306734e-02 1.19583973e+01] [ 7.93883949e-02 1.52982606e-03 9.96842587e-01 2.99235058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.126875 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:41.13, Y:11.97, Z:2.99 [[ 8.99532034e-01 -4.31072192e-01 -7.08440926e-02 4.11293686e+01] [ 4.29602933e-01 9.02316050e-01 -3.55958728e-02 1.19715083e+01] [ 7.92681527e-02 1.58479786e-03 9.96852069e-01 2.99402374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.156875 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:41.15, Y:11.98, Z:3.00 [[ 8.99588841e-01 -4.30804389e-01 -7.17460512e-02 4.11545514e+01] [ 4.29295591e-01 9.02443842e-01 -3.60611581e-02 1.19849158e+01] [ 8.02820873e-02 1.63995200e-03 9.96770835e-01 2.99543306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.186875 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:41.18, Y:12.00, Z:3.00 [[ 8.99462906e-01 -4.31137599e-01 -7.13221686e-02 4.11793044e+01] [ 4.29645795e-01 9.02284734e-01 -3.58712924e-02 1.19976370e+01] [ 7.98183668e-02 1.62162702e-03 9.96808105e-01 2.99748664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.216874999999995 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:41.20, Y:12.01, Z:3.00 [[ 8.99393558e-01 -4.31364343e-01 -7.08239458e-02 4.12031937e+01] [ 4.29892158e-01 9.02176372e-01 -3.56444458e-02 1.20100260e+01] [ 7.92714334e-02 1.61172601e-03 9.96851765e-01 2.99927165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.246874999999996 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:41.23, Y:12.02, Z:3.00 [[ 8.99728749e-01 -4.30888069e-01 -6.94525110e-02 4.12283759e+01] [ 4.29469742e-01 9.02403898e-01 -3.49706463e-02 1.20228825e+01] [ 7.77426509e-02 1.63634390e-03 9.96972117e-01 3.00238070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.276875 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:41.25, Y:12.04, Z:3.00 [[ 8.99938029e-01 -4.30520243e-01 -6.90207445e-02 4.12530731e+01] [ 4.29116648e-01 9.02579361e-01 -3.47764374e-02 1.20355417e+01] [ 7.72686598e-02 1.67868801e-03 9.97008895e-01 3.00441331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.306875 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:41.28, Y:12.05, Z:3.01 [[ 9.00360019e-01 -4.29629958e-01 -6.90647178e-02 4.12780634e+01] [ 4.28220168e-01 9.03003290e-01 -3.48216409e-02 1.20483245e+01] [ 7.73260875e-02 1.77710821e-03 9.97004272e-01 3.00676770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.336875 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:41.30, Y:12.06, Z:3.01 [[ 9.01383980e-01 -4.27359646e-01 -6.97900727e-02 4.13018895e+01] [ 4.25911978e-01 9.04079479e-01 -3.52034572e-02 1.20612427e+01] [ 7.81403096e-02 2.00740440e-03 9.96940350e-01 3.00792887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.366875 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:41.33, Y:12.07, Z:3.01 [[ 9.02025549e-01 -4.25965440e-01 -7.00239508e-02 4.13267126e+01] [ 4.24502425e-01 9.04736876e-01 -3.53394476e-02 1.20744410e+01] [ 7.84066338e-02 2.15174764e-03 9.96919139e-01 3.00911321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.396874999999994 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:41.35, Y:12.09, Z:3.01 [[ 9.02853424e-01 -4.24281510e-01 -6.95765391e-02 4.13518137e+01] [ 4.22830305e-01 9.05527409e-01 -3.51375190e-02 1.20878315e+01] [ 7.79116628e-02 2.30496004e-03 9.96957602e-01 3.01021087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.426874999999995 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:41.38, Y:12.10, Z:3.01 [[ 9.04541865e-01 -4.20681663e-01 -6.95050509e-02 4.13771989e+01] [ 4.19220945e-01 9.07204496e-01 -3.51255191e-02 1.21006270e+01] [ 7.78319565e-02 2.63452950e-03 9.96963011e-01 3.01155331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.456875 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:41.40, Y:12.11, Z:3.01 [[ 9.05072454e-01 -4.19478090e-01 -6.98711944e-02 4.14010052e+01] [ 4.17996595e-01 9.07761226e-01 -3.53327568e-02 1.21126664e+01] [ 7.82476785e-02 2.77278356e-03 9.96930094e-01 3.01296878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.486875 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:41.43, Y:12.12, Z:3.02 [[ 9.05572231e-01 -4.18316550e-01 -7.03576488e-02 4.14256623e+01] [ 4.16809876e-01 9.08296664e-01 -3.55907045e-02 1.21249527e+01] [ 7.87937984e-02 2.90419080e-03 9.96886705e-01 3.01505127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.516875 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:41.45, Y:12.14, Z:3.02 [[ 9.06508695e-01 -4.16197259e-01 -7.08648601e-02 4.14502788e+01] [ 4.14660312e-01 9.09268950e-01 -3.58720239e-02 1.21375448e+01] [ 7.93650549e-02 3.13345649e-03 9.96840694e-01 3.01643736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.546875 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:41.48, Y:12.15, Z:3.02 [[ 9.06399568e-01 -4.16436565e-01 -7.08548538e-02 4.14756999e+01] [ 4.14898806e-01 9.09159370e-01 -3.58917782e-02 1.21505316e+01] [ 7.93650031e-02 3.13469800e-03 9.96840694e-01 3.01850186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.576874999999994 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:41.50, Y:12.16, Z:3.02 [[ 9.06940600e-01 -4.15267183e-01 -7.07948789e-02 4.14998610e+01] [ 4.13726705e-01 9.09693670e-01 -3.58837021e-02 1.21625918e+01] [ 7.93029771e-02 3.25465431e-03 9.96845246e-01 3.02007791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.606874999999995 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:41.53, Y:12.18, Z:3.02 [[ 9.07338983e-01 -4.14440176e-01 -7.05358739e-02 4.15250189e+01] [ 4.12907527e-01 9.10070481e-01 -3.57644228e-02 1.21750508e+01] [ 7.90148304e-02 3.32566174e-03 9.96867893e-01 3.02211528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.636874999999996 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:41.55, Y:12.19, Z:3.02 [[ 9.08358933e-01 -4.12270275e-01 -7.01232461e-02 4.15488267e+01] [ 4.10747164e-01 9.11054805e-01 -3.55796330e-02 1.21868570e+01] [ 7.85545454e-02 3.51615298e-03 9.96903616e-01 3.02374810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.666875 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:41.57, Y:12.20, Z:3.03 [[ 9.08696694e-01 -4.11574209e-01 -6.98354359e-02 4.15738282e+01] [ 4.10060603e-01 9.11369248e-01 -3.54456646e-02 1.21997542e+01] [ 7.82343901e-02 3.57259729e-03 9.96928592e-01 3.02533327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.696875 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:41.60, Y:12.21, Z:3.03 [[ 9.09395371e-01 -4.10105236e-01 -6.93812254e-02 4.15977184e+01] [ 4.08605194e-01 9.12030719e-01 -3.52386501e-02 1.22111295e+01] [ 7.77293638e-02 3.69633620e-03 9.96967644e-01 3.02790623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.726875 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:41.62, Y:12.22, Z:3.03 [[ 9.09452254e-01 -4.09951998e-01 -6.95410442e-02 4.16230667e+01] [ 4.08443665e-01 9.12099477e-01 -3.53315209e-02 1.22232344e+01] [ 7.79125776e-02 3.72873233e-03 9.96953222e-01 3.03054272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.756874999999994 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:41.65, Y:12.24, Z:3.03 [[ 9.09384456e-01 -4.10147182e-01 -6.92762617e-02 4.16480812e+01] [ 4.08648990e-01 9.12011759e-01 -3.52214983e-02 1.22358092e+01] [ 7.76267636e-02 3.72020864e-03 9.96975549e-01 3.03213483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.786874999999995 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:41.67, Y:12.25, Z:3.03 [[ 9.08958929e-01 -4.11005510e-01 -6.97720308e-02 4.16721161e+01] [ 4.09486375e-01 9.11625370e-01 -3.54977857e-02 1.22476693e+01] [ 7.81957389e-02 3.69533325e-03 9.96931177e-01 3.03215200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.816874999999996 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:41.70, Y:12.26, Z:3.03 [[ 9.08528202e-01 -4.11916037e-01 -7.00120279e-02 4.16972290e+01] [ 4.10387728e-01 9.11214513e-01 -3.56373961e-02 1.22596691e+01] [ 7.84755909e-02 3.64550237e-03 9.96909370e-01 3.03360540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.846875 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:41.72, Y:12.27, Z:3.04 [[ 9.08000947e-01 -4.13039199e-01 -7.02346073e-02 4.17218485e+01] [ 4.11502603e-01 9.10706206e-01 -3.57744977e-02 1.22711439e+01] [ 7.87393626e-02 3.58155408e-03 9.96888803e-01 3.03544009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.876875 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:41.75, Y:12.28, Z:3.04 [[ 9.07277601e-01 -4.14638527e-01 -7.01587203e-02 4.17470368e+01] [ 4.13109081e-01 9.09979665e-01 -3.57476902e-02 1.22828109e+01] [ 7.86653783e-02 3.44987412e-03 9.96895108e-01 3.03789252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.906875 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:41.77, Y:12.29, Z:3.04 [[ 9.06127172e-01 -4.17207714e-01 -6.97944894e-02 4.17729983e+01] [ 4.15699763e-01 9.08805409e-01 -3.55870066e-02 1.22944759e+01] [ 7.82767832e-02 3.23280102e-03 9.96926424e-01 3.03995231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.936875 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:41.80, Y:12.31, Z:3.04 [[ 9.05527472e-01 -4.18549504e-01 -6.95435902e-02 4.17979704e+01] [ 4.17054409e-01 9.08188597e-01 -3.54836752e-02 1.23068657e+01] [ 7.80103703e-02 3.12798171e-03 9.96947640e-01 3.04159961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.966874999999995 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:41.82, Y:12.32, Z:3.04 [[ 9.05054207e-01 -4.19703370e-01 -6.87456405e-02 4.18234701e+01] [ 4.18243879e-01 9.07656315e-01 -3.51008694e-02 1.23195841e+01] [ 7.71293679e-02 3.01574619e-03 9.97016532e-01 3.04311744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.996874999999996 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:41.85, Y:12.33, Z:3.04 [[ 9.04316087e-01 -4.21362612e-01 -6.83078597e-02 4.18493701e+01] [ 4.19924502e-01 9.06887680e-01 -3.49019756e-02 1.23311735e+01] [ 7.66539440e-02 2.87827408e-03 9.97053604e-01 3.04460886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.026875 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:41.87, Y:12.34, Z:3.05 [[ 9.03912647e-01 -4.22178823e-01 -6.86073535e-02 4.18735543e+01] [ 4.20728510e-01 9.06508111e-01 -3.50794231e-02 1.23426397e+01] [ 7.70029120e-02 2.84366459e-03 9.97026813e-01 3.04643807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.056875 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:41.90, Y:12.35, Z:3.05 [[ 9.03180982e-01 -4.23654420e-01 -6.91451136e-02 4.18992015e+01] [ 4.22184616e-01 9.05819722e-01 -3.53663916e-02 1.23534394e+01] [ 7.76161357e-02 2.75024910e-03 9.96979524e-01 3.04827051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.086875 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:41.92, Y:12.37, Z:3.05 [[ 9.02889884e-01 -4.24256316e-01 -6.92563012e-02 4.19249948e+01] [ 4.22781599e-01 9.05538044e-01 -3.54481303e-02 1.23654186e+01] [ 7.77533087e-02 2.72546848e-03 9.96968904e-01 3.05030147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.116875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:41.95, Y:12.38, Z:3.05 [[ 9.02541982e-01 -4.25010802e-01 -6.91649430e-02 4.19506005e+01] [ 4.23540234e-01 9.05184311e-01 -3.54264434e-02 1.23777636e+01] [ 7.76636424e-02 2.67971628e-03 9.96976017e-01 3.05213461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.146874999999994 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:41.98, Y:12.39, Z:3.05 [[ 9.02138510e-01 -4.26052657e-01 -6.80091372e-02 4.19752765e+01] [ 4.24632045e-01 9.04694721e-01 -3.48581047e-02 1.23891632e+01] [ 7.63788956e-02 2.56797964e-03 9.97075559e-01 3.05218762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.176874999999995 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:42.00, Y:12.40, Z:3.05 [[ 9.01891115e-01 -4.26589848e-01 -6.79228847e-02 4.20006475e+01] [ 4.25173060e-01 9.04441638e-01 -3.48309124e-02 1.24014576e+01] [ 7.62907987e-02 2.53470974e-03 9.97082388e-01 3.05327177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.206875 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:42.03, Y:12.41, Z:3.05 [[ 9.01451911e-01 -4.27481233e-01 -6.81487174e-02 4.20254788e+01] [ 4.26055652e-01 9.04020794e-01 -3.49712013e-02 1.24128494e+01] [ 7.65573899e-02 2.48971003e-03 9.97062068e-01 3.05459526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.236875 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:42.05, Y:12.42, Z:3.06 [[ 9.01193016e-01 -4.28014266e-01 -6.82270944e-02 4.20506867e+01] [ 4.26585588e-01 9.03768622e-01 -3.50287688e-02 1.24249288e+01] [ 7.66543198e-02 2.46298665e-03 9.97054687e-01 3.05667735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.266875 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:42.08, Y:12.44, Z:3.06 [[ 9.00963207e-01 -4.28432740e-01 -6.86344423e-02 4.20759785e+01] [ 4.26986222e-01 9.03570315e-01 -3.52626188e-02 1.24372043e+01] [ 7.71237051e-02 2.46436088e-03 9.97018486e-01 3.05886118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.296875 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:42.10, Y:12.45, Z:3.06 [[ 9.00962204e-01 -4.28507194e-01 -6.81813124e-02 4.21001837e+01] [ 4.27078155e-01 9.03535013e-01 -3.50532571e-02 1.24482030e+01] [ 7.66247758e-02 2.46291066e-03 9.97056958e-01 3.06156407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.326874999999994 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:42.13, Y:12.46, Z:3.06 [[ 9.00906199e-01 -4.28705277e-01 -6.76742618e-02 4.21254189e+01] [ 4.27297163e-01 9.03441112e-01 -3.48036154e-02 1.24608507e+01] [ 7.60602039e-02 2.43777282e-03 9.97100247e-01 3.06376541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.356874999999995 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:42.15, Y:12.47, Z:3.07 [[ 9.00927013e-01 -4.28736662e-01 -6.71966643e-02 4.21505233e+01] [ 4.27346698e-01 9.03426215e-01 -3.45814036e-02 1.24736023e+01] [ 7.55335436e-02 2.43904807e-03 9.97140278e-01 3.06542658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.386874999999996 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:42.17, Y:12.49, Z:3.07 [[ 9.00958438e-01 -4.28733289e-01 -6.67956517e-02 4.21742501e+01] [ 4.27358161e-01 9.03427798e-01 -3.43978971e-02 1.24862066e+01] [ 7.50925721e-02 2.44540882e-03 9.97173568e-01 3.06619893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.416875 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:42.20, Y:12.50, Z:3.07 [[ 9.00608859e-01 -4.29420036e-01 -6.70978002e-02 4.21994279e+01] [ 4.28033505e-01 9.03101672e-01 -3.45642706e-02 1.24985794e+01] [ 7.54387259e-02 2.40878178e-03 9.97147530e-01 3.06635770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.446875 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:42.22, Y:12.51, Z:3.07 [[ 9.00273445e-01 -4.30034713e-01 -6.76599526e-02 4.22249190e+01] [ 4.28624699e-01 9.02809166e-01 -3.48780419e-02 1.25108513e+01] [ 7.60827941e-02 2.39904819e-03 9.97098617e-01 3.06812227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.476875 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:42.25, Y:12.52, Z:3.07 [[ 8.99772717e-01 -4.31044521e-01 -6.78946159e-02 4.22504120e+01] [ 4.29625702e-01 9.02327617e-01 -3.50232565e-02 1.25226934e+01] [ 7.63597698e-02 2.34369866e-03 9.97077576e-01 3.07065583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.506874999999994 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:42.28, Y:12.53, Z:3.07 [[ 8.98572437e-01 -4.33475424e-01 -6.83127526e-02 4.22756732e+01] [ 4.32044196e-01 9.01162770e-01 -3.52629274e-02 1.25328483e+01] [ 7.68465218e-02 2.17216631e-03 9.97040568e-01 3.07434918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.536874999999995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:42.30, Y:12.55, Z:3.08 [[ 8.97712692e-01 -4.35340240e-01 -6.77554241e-02 4.23007152e+01] [ 4.33936331e-01 9.00263756e-01 -3.49918516e-02 1.25451228e+01] [ 7.62311137e-02 2.01108916e-03 9.97088147e-01 3.07655327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.566874999999996 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:42.33, Y:12.56, Z:3.08 [[ 8.95532090e-01 -4.39980806e-01 -6.66270632e-02 4.23261285e+01] [ 4.38634418e-01 8.98005734e-01 -3.44317919e-02 1.25566439e+01] [ 7.49808124e-02 1.60985147e-03 9.97183677e-01 3.07763530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.596875 meters Centerline goodness : 0.999926 Centerline is valid? [True, True] Translation: X:42.35, Y:12.57, Z:3.08 [[ 8.94350275e-01 -4.42507476e-01 -6.57625960e-02 4.23517408e+01] [ 4.41200972e-01 8.96763722e-01 -3.40077766e-02 1.25689414e+01] [ 7.40222058e-02 1.40034309e-03 9.97255610e-01 3.07959408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.626875 meters Centerline goodness : 0.999926 Centerline is valid? [True, True] Translation: X:42.38, Y:12.58, Z:3.08 [[ 8.93215560e-01 -4.44915596e-01 -6.49313190e-02 4.23774288e+01] [ 4.43646674e-01 8.95571694e-01 -3.36001484e-02 1.25809001e+01] [ 7.30998813e-02 1.20561166e-03 9.97323896e-01 3.08206189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.656875 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:42.40, Y:12.59, Z:3.08 [[ 8.92229687e-01 -4.46901358e-01 -6.48487633e-02 4.24032384e+01] [ 4.45639251e-01 8.94582612e-01 -3.35798913e-02 1.25929579e+01] [ 7.30194751e-02 1.06182158e-03 9.97329950e-01 3.08461692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.686875 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:42.43, Y:12.60, Z:3.09 [[ 8.91327907e-01 -4.48665101e-01 -6.50706564e-02 4.24271701e+01] [ 4.47397362e-01 8.93699470e-01 -3.37173293e-02 1.26045654e+01] [ 7.32814001e-02 9.40756538e-04 9.97310860e-01 3.08727318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.716874999999995 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:42.45, Y:12.62, Z:3.09 [[ 8.90582671e-01 -4.50042747e-01 -6.57573798e-02 4.24523499e+01] [ 4.48751053e-01 8.93006613e-01 -3.40834388e-02 1.26168424e+01] [ 7.40607794e-02 8.45426494e-04 9.97253371e-01 3.08974822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.746874999999996 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:42.48, Y:12.63, Z:3.09 [[ 8.90281271e-01 -4.50677067e-01 -6.54938069e-02 4.24765300e+01] [ 4.49395790e-01 8.92686690e-01 -3.39690744e-02 1.26297651e+01] [ 7.37745325e-02 8.09389611e-04 9.97274618e-01 3.09088555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.776875 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:42.50, Y:12.64, Z:3.09 [[ 8.90461977e-01 -4.50427719e-01 -6.47482580e-02 4.25016632e+01] [ 4.49080926e-01 8.92810734e-01 -3.48613722e-02 1.26422824e+01] [ 7.35104682e-02 1.96551875e-03 9.97292509e-01 3.09217737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.806875 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:42.53, Y:12.65, Z:3.10 [[ 8.90515901e-01 -4.50198026e-01 -6.55985270e-02 4.25263733e+01] [ 4.48995304e-01 8.92928726e-01 -3.28862831e-02 1.26543731e+01] [ 7.33801489e-02 -1.67672513e-04 9.97304029e-01 3.09640196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.836875 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:42.55, Y:12.67, Z:3.10 [[ 8.90747645e-01 -4.49793931e-01 -6.52231000e-02 4.25507055e+01] [ 4.48517886e-01 8.93131895e-01 -3.38692264e-02 1.26677134e+01] [ 7.34870034e-02 9.15206731e-04 9.97295755e-01 3.09757017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.866875 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:42.57, Y:12.68, Z:3.10 [[ 8.91213819e-01 -4.48823596e-01 -6.55386028e-02 4.25744569e+01] [ 4.47530864e-01 8.93619795e-01 -3.40556501e-02 1.26803466e+01] [ 7.38515722e-02 1.02031849e-03 9.97268722e-01 3.09984666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.896874999999994 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:42.60, Y:12.69, Z:3.10 [[ 8.91659929e-01 -4.47903737e-01 -6.57633101e-02 4.25993569e+01] [ 4.46598858e-01 8.94081099e-01 -3.41825747e-02 1.26934727e+01] [ 7.41082356e-02 1.10941297e-03 9.97249587e-01 3.10230583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.926874999999995 meters Centerline goodness : 0.999925 Centerline is valid? [True, True] Translation: X:42.62, Y:12.71, Z:3.10 [[ 8.92641118e-01 -4.45886641e-01 -6.61584267e-02 4.26233949e+01] [ 4.44558766e-01 8.95088487e-01 -3.44108005e-02 1.27075935e+01] [ 7.45609623e-02 1.30518689e-03 9.97215603e-01 3.10382129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.956875 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:42.65, Y:12.72, Z:3.10 [[ 8.93133712e-01 -4.44857750e-01 -6.64360929e-02 4.26466272e+01] [ 4.43514111e-01 8.95600118e-01 -3.45783323e-02 1.27208972e+01] [ 7.48826118e-02 1.41772958e-03 9.97191348e-01 3.10456125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.986875 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:42.67, Y:12.73, Z:3.11 [[ 8.93501374e-01 -4.44038937e-01 -6.69680282e-02 4.26711709e+01] [ 4.42670549e-01 8.96006221e-01 -3.48659772e-02 1.27344896e+01] [ 7.54856213e-02 1.50802476e-03 9.97145750e-01 3.10622112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.016875 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:42.70, Y:12.75, Z:3.11 [[ 8.93997290e-01 -4.43037124e-01 -6.69847157e-02 4.26951191e+01] [ 4.41663535e-01 8.96501815e-01 -3.48972514e-02 1.27474438e+01] [ 7.55126971e-02 1.61334179e-03 9.97143535e-01 3.10822457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.046875 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:42.72, Y:12.76, Z:3.11 [[ 8.94768307e-01 -4.41250603e-01 -6.84659164e-02 4.27201848e+01] [ 4.39809400e-01 8.97382090e-01 -3.56801838e-02 1.27607889e+01] [ 7.71839899e-02 1.81354405e-03 9.97015217e-01 3.11155288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.076874999999994 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:42.74, Y:12.77, Z:3.11 [[ 8.95167143e-01 -4.40341279e-01 -6.91038577e-02 4.27438321e+01] [ 4.38868536e-01 8.97828397e-01 -3.60357788e-02 1.27738336e+01] [ 7.79114468e-02 1.93053632e-03 9.96958414e-01 3.11343274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.106874999999995 meters Centerline goodness : 0.999925 Centerline is valid? [True, True] Translation: X:42.77, Y:12.79, Z:3.11 [[ 8.95574923e-01 -4.39461778e-01 -6.94183219e-02 4.27687319e+01] [ 4.37972043e-01 8.98259004e-01 -3.62111959e-02 1.27877736e+01] [ 7.82690692e-02 2.02655466e-03 9.96930211e-01 3.11484493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.136874999999996 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:42.79, Y:12.80, Z:3.11 [[ 8.95489651e-01 -4.39612685e-01 -6.95627126e-02 4.27931913e+01] [ 4.38115294e-01 8.98185130e-01 -3.63106140e-02 1.28018005e+01] [ 7.84428006e-02 2.03929078e-03 9.96916530e-01 3.11485932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.166875 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:42.82, Y:12.82, Z:3.12 [[ 8.94603194e-01 -4.41240750e-01 -7.06521430e-02 4.28183041e+01] [ 4.39699065e-01 8.97386651e-01 -3.69043393e-02 1.28150236e+01] [ 7.96859883e-02 1.94905862e-03 9.96818110e-01 3.11667737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.196875 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:42.84, Y:12.83, Z:3.12 [[ 8.93766025e-01 -4.42898824e-01 -7.08725945e-02 4.28429873e+01] [ 4.41350700e-01 8.96569733e-01 -3.70442127e-02 1.28282492e+01] [ 7.99490614e-02 1.82918949e-03 9.96797272e-01 3.11904044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.226875 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:42.87, Y:12.84, Z:3.12 [[ 8.93574609e-01 -4.43349658e-01 -7.04662937e-02 4.28675317e+01] [ 4.41818702e-01 8.96346941e-01 -3.68564200e-02 1.28410518e+01] [ 7.95025279e-02 1.80063465e-03 9.96833038e-01 3.12157030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.256874999999994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:42.89, Y:12.85, Z:3.12 [[ 8.93544789e-01 -4.43409470e-01 -7.04680886e-02 4.28916490e+01] [ 4.41876745e-01 8.96317322e-01 -3.68808871e-02 1.28537178e+01] [ 7.95151031e-02 1.81651491e-03 9.96832006e-01 3.12482445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.286874999999995 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:42.92, Y:12.87, Z:3.13 [[ 8.93742024e-01 -4.43036657e-01 -7.03115616e-02 4.29160062e+01] [ 4.41508648e-01 8.96501576e-01 -3.68108429e-02 1.28668001e+01] [ 7.93429785e-02 1.85623471e-03 9.96845648e-01 3.12896852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.316874999999996 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:42.94, Y:12.88, Z:3.13 [[ 8.94073903e-01 -4.42349307e-01 -7.04197912e-02 4.29403517e+01] [ 4.40812489e-01 8.96840743e-01 -3.68921641e-02 1.28802350e+01] [ 7.94745610e-02 1.94239767e-03 9.96835002e-01 3.13039758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.346875 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:42.96, Y:12.89, Z:3.13 [[ 8.94638512e-01 -4.41212688e-01 -7.03796587e-02 4.29639990e+01] [ 4.39672259e-01 8.97400193e-01 -3.68944088e-02 1.28937951e+01] [ 7.94370006e-02 2.06317548e-03 9.96837753e-01 3.13104533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.376875 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:42.99, Y:12.91, Z:3.13 [[ 8.95133705e-01 -4.40240647e-01 -7.01699515e-02 4.29879996e+01] [ 4.38705489e-01 8.97877238e-01 -3.67961852e-02 1.29077957e+01] [ 7.92031787e-02 2.15356277e-03 9.96856167e-01 3.13243622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.01, Y:12.92, Z:3.14 [[ 8.96147260e-01 -4.38108865e-01 -7.05741594e-02 4.30117646e+01] [ 4.36547439e-01 8.98918780e-01 -3.70318952e-02 1.29207007e+01] [ 7.96644388e-02 2.37706282e-03 9.96818904e-01 3.13579495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.436875 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:43.04, Y:12.93, Z:3.14 [[ 8.96448744e-01 -4.37487462e-01 -7.06000774e-02 4.30364186e+01] [ 4.35921581e-01 8.99221177e-01 -3.70627992e-02 1.29333786e+01] [ 7.96995946e-02 2.44880245e-03 9.96815920e-01 3.13899574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.466874999999995 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:43.06, Y:12.95, Z:3.14 [[ 8.96373461e-01 -4.37643280e-01 -7.05902070e-02 4.30616072e+01] [ 4.36076403e-01 8.99145331e-01 -3.70815893e-02 1.29467336e+01] [ 7.96993634e-02 2.45622903e-03 9.96815920e-01 3.14105719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.496874999999996 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:43.09, Y:12.96, Z:3.14 [[ 8.96541966e-01 -4.37367081e-01 -7.01608088e-02 4.30861449e+01] [ 4.35817110e-01 8.99279648e-01 -3.68722395e-02 1.29597474e+01] [ 7.92208912e-02 2.48022917e-03 9.96854001e-01 3.14411016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.526875 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:43.11, Y:12.97, Z:3.15 [[ 8.96928391e-01 -4.36627869e-01 -6.98252446e-02 4.31107914e+01] [ 4.35088498e-01 8.99638578e-01 -3.67209440e-02 1.29727804e+01] [ 7.88508713e-02 2.55589645e-03 9.96883146e-01 3.14718961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.556875 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:43.14, Y:12.99, Z:3.15 [[ 8.96723476e-01 -4.37003639e-01 -7.01058236e-02 4.31352353e+01] [ 4.35450947e-01 8.99456105e-01 -3.68942784e-02 1.29861242e+01] [ 7.91800449e-02 2.55631823e-03 9.96857054e-01 3.14829050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.586875 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:43.16, Y:13.00, Z:3.15 [[ 8.96824428e-01 -4.36686164e-01 -7.07894029e-02 4.31585617e+01] [ 4.35100020e-01 8.99610063e-01 -3.72787645e-02 1.29990727e+01] [ 7.99619799e-02 2.63203603e-03 9.96794439e-01 3.14903609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.616875 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:43.18, Y:13.01, Z:3.15 [[ 8.97020560e-01 -4.36223684e-01 -7.11548450e-02 4.31827133e+01] [ 4.34618621e-01 8.99834216e-01 -3.74838443e-02 1.30128627e+01] [ 8.03789048e-02 2.69855842e-03 9.96760728e-01 3.14944256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.646874999999994 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:43.21, Y:13.03, Z:3.15 [[ 8.96822013e-01 -4.36575751e-01 -7.14974865e-02 4.32075523e+01] [ 4.34954222e-01 8.99663441e-01 -3.76897440e-02 1.30254036e+01] [ 8.07781031e-02 2.70285847e-03 9.96728445e-01 3.15263075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.676874999999995 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:43.23, Y:13.04, Z:3.16 [[ 8.96492463e-01 -4.37086247e-01 -7.25043228e-02 4.32330531e+01] [ 4.35418170e-01 8.99415491e-01 -3.82464645e-02 1.30377715e+01] [ 8.19285147e-02 2.71796751e-03 9.96634502e-01 3.15603403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.706875 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:43.26, Y:13.05, Z:3.16 [[ 8.96111440e-01 -4.37932249e-01 -7.21084727e-02 4.32573802e+01] [ 4.36282972e-01 8.99004074e-01 -3.80636766e-02 1.30506951e+01] [ 8.14951222e-02 2.64959723e-03 9.96670219e-01 3.15835438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.736875 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:43.28, Y:13.06, Z:3.16 [[ 8.95639547e-01 -4.38967542e-01 -7.16749571e-02 4.32817346e+01] [ 4.37339396e-01 8.98499268e-01 -3.78591972e-02 1.30630475e+01] [ 8.10188552e-02 2.56191171e-03 9.96709276e-01 3.16035832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.766875 meters Centerline goodness : 0.999926 Centerline is valid? [True, True] Translation: X:43.31, Y:13.08, Z:3.16 [[ 8.94691428e-01 -4.41095553e-01 -7.04411904e-02 4.33068880e+01] [ 4.39528667e-01 8.97457097e-01 -3.72197589e-02 1.30756267e+01] [ 7.96354164e-02 2.33927675e-03 9.96821312e-01 3.16288333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.796875 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:43.33, Y:13.09, Z:3.17 [[ 8.88549336e-01 -4.53451421e-01 -6.97272255e-02 4.33310102e+01] [ 4.51951945e-01 8.91280124e-01 -3.68670631e-02 1.30866183e+01] [ 7.88639123e-02 1.24484925e-03 9.96884614e-01 3.16582348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.826874999999994 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:43.36, Y:13.10, Z:3.17 [[ 8.85889578e-01 -4.58680892e-01 -6.93649444e-02 4.33561174e+01] [ 4.57211981e-01 8.88600709e-01 -3.66876526e-02 1.30993264e+01] [ 7.84656640e-02 7.86725396e-04 9.96916506e-01 3.16792777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.856874999999995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:43.38, Y:13.11, Z:3.17 [[ 8.83585190e-01 -4.63203550e-01 -6.86999442e-02 4.33808418e+01] [ 4.61774435e-01 8.86251831e-01 -3.63601840e-02 1.31118585e+01] [ 7.77276177e-02 4.03442206e-04 9.96974551e-01 3.17068991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.886874999999996 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:43.41, Y:13.12, Z:3.17 [[ 8.79984144e-01 -4.70030491e-01 -6.85510357e-02 4.34058157e+01] [ 4.68626296e-01 8.82650161e-01 -3.63054912e-02 1.31247313e+01] [ 7.75712705e-02 -1.76561343e-04 9.96986794e-01 3.17315477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.916875 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:43.43, Y:13.14, Z:3.17 [[ 8.78774537e-01 -4.72252127e-01 -6.87985626e-02 4.34294664e+01] [ 4.70842724e-01 8.81463445e-01 -3.64599049e-02 1.31372056e+01] [ 7.78616856e-02 -3.53266625e-04 9.96964108e-01 3.17413745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.946875 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:43.45, Y:13.15, Z:3.18 [[ 8.77255054e-01 -4.74996773e-01 -6.92938306e-02 4.34543633e+01] [ 4.73574596e-01 8.79987339e-01 -3.67339848e-02 1.31504186e+01] [ 7.84262178e-02 -5.90723958e-04 9.96919746e-01 3.17571113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.976875 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:43.48, Y:13.16, Z:3.18 [[ 8.77283831e-01 -4.74966251e-01 -6.91385616e-02 4.34780497e+01] [ 4.73548514e-01 8.80003830e-01 -3.66751176e-02 1.31625782e+01] [ 7.82616420e-02 -5.65975451e-04 9.96932693e-01 3.17905468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.006874999999994 meters Centerline goodness : 0.999926 Centerline is valid? [True, True] Translation: X:43.50, Y:13.18, Z:3.18 [[ 8.77514370e-01 -4.74587317e-01 -6.88143034e-02 4.35031706e+01] [ 4.73180803e-01 8.80208276e-01 -3.65146422e-02 1.31757665e+01] [ 7.79003055e-02 -5.19484074e-04 9.96961019e-01 3.18244925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.036874999999995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:43.53, Y:13.19, Z:3.18 [[ 8.78809843e-01 -4.72189307e-01 -6.87787637e-02 4.35260937e+01] [ 4.70775049e-01 8.81497122e-01 -3.65195377e-02 1.31895255e+01] [ 7.78724175e-02 -2.85596643e-04 9.96963292e-01 3.18464183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.066874999999996 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:43.55, Y:13.20, Z:3.19 [[ 8.79782618e-01 -4.70388826e-01 -6.86796763e-02 4.35497357e+01] [ 4.68972332e-01 8.82459256e-01 -3.64775692e-02 1.32032496e+01] [ 7.77656570e-02 -1.16536631e-04 9.96971659e-01 3.18619946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.096875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:43.57, Y:13.22, Z:3.19 [[ 8.80679813e-01 -4.68688309e-01 -6.88065082e-02 4.35743032e+01] [ 4.67260505e-01 8.83363610e-01 -3.65561708e-02 1.32175542e+01] [ 7.79146153e-02 4.37179586e-05 9.96960035e-01 3.18737344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.126875 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:43.60, Y:13.23, Z:3.19 [[ 8.82604582e-01 -4.65008588e-01 -6.91098034e-02 4.35985774e+01] [ 4.63554995e-01 8.85306083e-01 -3.67410784e-02 1.32326381e+01] [ 7.82682463e-02 3.91649592e-04 9.96932259e-01 3.18782268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.156875 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:43.62, Y:13.25, Z:3.19 [[ 8.83572499e-01 -4.63076150e-01 -6.97145524e-02 4.36233359e+01] [ 4.61589041e-01 8.86318302e-01 -3.70867274e-02 1.32467037e+01] [ 7.89632626e-02 5.89339009e-04 9.96877352e-01 3.18938885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.186875 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:43.65, Y:13.26, Z:3.19 [[ 8.84515272e-01 -4.61250996e-01 -6.98588053e-02 4.36465628e+01] [ 4.59750177e-01 8.87269361e-01 -3.71867713e-02 1.32603719e+01] [ 7.91360128e-02 7.74669048e-04 9.96863527e-01 3.19128307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.216874999999995 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:43.67, Y:13.27, Z:3.19 [[ 8.85391617e-01 -4.59691604e-01 -6.90312453e-02 4.36695255e+01] [ 4.58220641e-01 8.88078148e-01 -3.67565997e-02 1.32738176e+01] [ 7.82018407e-02 9.12443759e-04 9.96937129e-01 3.19389428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.246874999999996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:43.69, Y:13.29, Z:3.20 [[ 8.87271278e-01 -4.56081614e-01 -6.88421422e-02 4.36925873e+01] [ 4.54607034e-01 8.89937094e-01 -3.66662348e-02 1.32879595e+01] [ 7.79879716e-02 1.23677491e-03 9.96953533e-01 3.19694413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.276875 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:43.72, Y:13.30, Z:3.20 [[ 8.87770871e-01 -4.55022534e-01 -6.94073075e-02 4.37169072e+01] [ 4.53519465e-01 8.90478898e-01 -3.69787293e-02 1.33022609e+01] [ 7.86318978e-02 1.35107379e-03 9.96902803e-01 3.19832149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.306875 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:43.74, Y:13.32, Z:3.20 [[ 8.88194453e-01 -4.54178104e-01 -6.95187970e-02 4.37414730e+01] [ 4.52665716e-01 8.90909731e-01 -3.70621205e-02 1.33164059e+01] [ 7.87677763e-02 1.44959380e-03 9.96891938e-01 3.19913676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.336875 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:43.77, Y:13.33, Z:3.20 [[ 8.88545267e-01 -4.53429755e-01 -6.99197159e-02 4.37659474e+01] [ 4.51895616e-01 8.91290675e-01 -3.72999428e-02 1.33302576e+01] [ 7.92316947e-02 1.54627455e-03 9.96855028e-01 3.19996161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.366875 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:43.79, Y:13.34, Z:3.20 [[ 8.88230384e-01 -4.53983760e-01 -7.03244627e-02 4.37903541e+01] [ 4.52431581e-01 8.91008649e-01 -3.75399945e-02 1.33432208e+01] [ 7.97022524e-02 1.52715587e-03 9.96817545e-01 3.20288303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.396874999999994 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:43.81, Y:13.36, Z:3.21 [[ 8.87695152e-01 -4.54971205e-01 -7.07002184e-02 4.38149853e+01] [ 4.53403533e-01 8.90504940e-01 -3.77649146e-02 1.33561797e+01] [ 8.01408424e-02 1.46800281e-03 9.96782469e-01 3.20526748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.426874999999995 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:43.84, Y:13.37, Z:3.21 [[ 8.87156376e-01 -4.56137937e-01 -6.99410284e-02 4.38400739e+01] [ 4.54605493e-01 8.89908033e-01 -3.73836639e-02 1.33693283e+01] [ 7.92931903e-02 1.36958004e-03 9.96850397e-01 3.20790538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.456875 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:43.86, Y:13.38, Z:3.21 [[ 8.86138120e-01 -4.58257738e-01 -6.89860672e-02 4.38642329e+01] [ 4.56771486e-01 8.88818565e-01 -3.68967172e-02 1.33813967e+01] [ 7.82243034e-02 1.18471918e-03 9.96935081e-01 3.21135534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.486875 meters Centerline goodness : 0.999878 Centerline is valid? [True, True] Translation: X:43.89, Y:13.39, Z:3.21 [[ 8.85546479e-01 -4.59402147e-01 -6.89717418e-02 4.38890163e+01] [ 4.57919056e-01 8.88227713e-01 -3.69007727e-02 1.33943627e+01] [ 7.82149067e-02 1.09387440e-03 9.96935922e-01 3.21418350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.516875 meters Centerline goodness : 0.999878 Centerline is valid? [True, True] Translation: X:43.91, Y:13.41, Z:3.22 [[ 8.84930548e-01 -4.60520509e-01 -6.94174851e-02 4.39140388e+01] [ 4.59019675e-01 8.87648475e-01 -3.71634706e-02 1.34081422e+01] [ 7.87328652e-02 1.02309899e-03 9.96895225e-01 3.21581376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.546875 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:43.94, Y:13.42, Z:3.22 [[ 8.84844638e-01 -4.60719872e-01 -6.91893502e-02 4.39375174e+01] [ 4.59227708e-01 8.87545015e-01 -3.70642373e-02 1.34209347e+01] [ 7.84848935e-02 1.02242487e-03 9.96914779e-01 3.21725758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.576874999999994 meters Centerline goodness : 0.999878 Centerline is valid? [True, True] Translation: X:43.96, Y:13.43, Z:3.22 [[ 8.84759995e-01 -4.60853511e-01 -6.93815080e-02 4.39625688e+01] [ 4.59352530e-01 8.87475630e-01 -3.71787436e-02 1.34341915e+01] [ 7.87083520e-02 1.02369376e-03 9.96897160e-01 3.21984947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.606874999999995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:43.99, Y:13.45, Z:3.22 [[ 8.85265458e-01 -4.59995107e-01 -6.86263070e-02 4.39874573e+01] [ 4.58522277e-01 8.87920758e-01 -3.67974089e-02 1.34479670e+01] [ 7.78613505e-02 1.10878450e-03 9.96963580e-01 3.22194753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.636874999999996 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:44.01, Y:13.46, Z:3.22 [[ 8.85514148e-01 -4.59467875e-01 -6.89490033e-02 4.40109960e+01] [ 4.57977717e-01 8.88193603e-01 -3.69937098e-02 1.34614274e+01] [ 7.82374849e-02 1.18134634e-03 9.96934050e-01 3.22322641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.666875 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:44.04, Y:13.48, Z:3.22 [[ 8.85426229e-01 -4.59620631e-01 -6.90598905e-02 4.40357363e+01] [ 4.58125221e-01 8.88114566e-01 -3.70647889e-02 1.34755285e+01] [ 7.83688364e-02 1.18005868e-03 9.96923735e-01 3.22434064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.696875 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:44.06, Y:13.49, Z:3.23 [[ 8.85373734e-01 -4.59706027e-01 -6.91644489e-02 4.40600870e+01] [ 4.58204429e-01 8.88070346e-01 -3.71451574e-02 1.34887186e+01] [ 7.84987488e-02 1.19588985e-03 9.96913495e-01 3.22644308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.726875 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:44.08, Y:13.50, Z:3.23 [[ 8.85063257e-01 -4.60376353e-01 -6.86778367e-02 4.40843283e+01] [ 4.58896033e-01 8.87723095e-01 -3.69071546e-02 1.35008592e+01] [ 7.79580830e-02 1.14917961e-03 9.96955975e-01 3.22937282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.756874999999994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:44.11, Y:13.51, Z:3.23 [[ 8.84845904e-01 -4.60786787e-01 -6.87260036e-02 4.41094394e+01] [ 4.59304718e-01 8.87510154e-01 -3.69445845e-02 1.35137271e+01] [ 7.80186024e-02 1.12408657e-03 9.96951270e-01 3.23204465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.786874999999995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:44.13, Y:13.53, Z:3.23 [[ 8.84234132e-01 -4.61995238e-01 -6.84864873e-02 4.41330506e+01] [ 4.60525312e-01 8.86881801e-01 -3.68389381e-02 1.35266996e+01] [ 7.77588332e-02 1.03448552e-03 9.96971661e-01 3.23376429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.816874999999996 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:44.16, Y:13.54, Z:3.24 [[ 8.84104639e-01 -4.62192468e-01 -6.88266624e-02 4.41579689e+01] [ 4.60707573e-01 8.86779035e-01 -3.70334389e-02 1.35400738e+01] [ 7.81506178e-02 1.03247051e-03 9.96941029e-01 3.23505415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.846875 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:44.18, Y:13.55, Z:3.24 [[ 8.84044669e-01 -4.62199357e-01 -6.95469486e-02 4.41822824e+01] [ 4.60681348e-01 8.86775408e-01 -3.74442553e-02 1.35529529e+01] [ 7.89792345e-02 1.06341223e-03 9.96875694e-01 3.23634583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.876875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:44.21, Y:13.57, Z:3.24 [[ 8.83930804e-01 -4.62273125e-01 -7.04974567e-02 4.42073574e+01] [ 4.60712536e-01 8.86736932e-01 -3.79680319e-02 1.35663474e+01] [ 8.00642993e-02 1.08205084e-03 9.96789114e-01 3.23770888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.906875 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:44.23, Y:13.58, Z:3.24 [[ 8.83742278e-01 -4.62398813e-01 -7.20202964e-02 4.42329201e+01] [ 4.60768254e-01 8.86671354e-01 -3.88139862e-02 1.35787553e+01] [ 8.18058749e-02 1.11689434e-03 9.96647657e-01 3.23940470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.936875 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:44.26, Y:13.59, Z:3.24 [[ 8.83680649e-01 -4.62571634e-01 -7.16658536e-02 4.42580190e+01] [ 4.60955633e-01 8.86581206e-01 -3.86480263e-02 1.35911493e+01] [ 8.14150795e-02 1.11773405e-03 9.96679655e-01 3.24195584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.966874999999995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:44.28, Y:13.60, Z:3.25 [[ 8.83558401e-01 -4.62842263e-01 -7.14254207e-02 4.42829243e+01] [ 4.61235948e-01 8.86439961e-01 -3.85434340e-02 1.36029618e+01] [ 8.11538774e-02 1.11140335e-03 9.96700965e-01 3.24522465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.996874999999996 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:44.31, Y:13.62, Z:3.25 [[ 8.83599635e-01 -4.62866245e-01 -7.07567984e-02 4.43069103e+01] [ 4.61288118e-01 8.86427429e-01 -3.82058352e-02 1.36157621e+01] [ 8.04049583e-02 1.11939159e-03 9.96761651e-01 3.24668021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.026875 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:44.33, Y:13.63, Z:3.25 [[ 8.83497984e-01 -4.63177234e-01 -6.99868657e-02 4.43314379e+01] [ 4.61633360e-01 8.86265007e-01 -3.78018373e-02 1.36286781e+01] [ 7.95358605e-02 1.08957514e-03 9.96831410e-01 3.24801367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.056875 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:44.36, Y:13.64, Z:3.25 [[ 8.83399922e-01 -4.63476953e-01 -6.92364952e-02 4.43574146e+01] [ 4.61965074e-01 8.86108325e-01 -3.74206708e-02 1.36404202e+01] [ 7.86946533e-02 1.07257499e-03 9.96898190e-01 3.25005616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.086875 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:44.38, Y:13.65, Z:3.25 [[ 8.83182972e-01 -4.63928423e-01 -6.89801140e-02 4.43824519e+01] [ 4.62427205e-01 8.85872065e-01 -3.73063552e-02 1.36530427e+01] [ 7.84150346e-02 1.05005638e-03 9.96920247e-01 3.25239167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.116875 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:44.41, Y:13.67, Z:3.25 [[ 8.83231217e-01 -4.63909013e-01 -6.84912046e-02 4.44072819e+01] [ 4.62427100e-01 8.85882211e-01 -3.70659606e-02 1.36657394e+01] [ 7.78703730e-02 1.06562441e-03 9.96962923e-01 3.25436646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.146874999999994 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:44.43, Y:13.68, Z:3.26 [[ 8.83465950e-01 -4.63468147e-01 -6.84484620e-02 4.44320028e+01] [ 4.61984884e-01 8.86112866e-01 -3.70669163e-02 1.36790438e+01] [ 7.78323978e-02 1.12520362e-03 9.96965823e-01 3.25615739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.176874999999995 meters Centerline goodness : 0.999925 Centerline is valid? [True, True] Translation: X:44.46, Y:13.69, Z:3.26 [[ 8.84355575e-01 -4.61751185e-01 -6.85642743e-02 4.44569985e+01] [ 4.60255840e-01 8.87008542e-01 -3.71538452e-02 1.36926940e+01] [ 7.79729290e-02 1.30010248e-03 9.96954629e-01 3.25639405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.206875 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:44.48, Y:13.71, Z:3.26 [[ 8.84734509e-01 -4.60997247e-01 -6.87487252e-02 4.44817174e+01] [ 4.59489662e-01 8.87400474e-01 -3.72780026e-02 1.37059557e+01] [ 7.81927079e-02 1.39180673e-03 9.96937292e-01 3.25823716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.236875 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:44.51, Y:13.72, Z:3.26 [[ 8.85100510e-01 -4.60184461e-01 -6.94791199e-02 4.45069431e+01] [ 4.58640151e-01 8.87822058e-01 -3.76988628e-02 1.37191805e+01] [ 7.90335261e-02 1.50136864e-03 9.96870828e-01 3.25912899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.266875 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:44.53, Y:13.73, Z:3.26 [[ 8.84982100e-01 -4.60350065e-01 -6.98891973e-02 4.45310183e+01] [ 4.58785999e-01 8.87736175e-01 -3.79459020e-02 1.37315717e+01] [ 7.95115671e-02 1.51725887e-03 9.96832789e-01 3.26075611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.296875 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:44.56, Y:13.74, Z:3.26 [[ 8.84412085e-01 -4.61403953e-01 -7.01545194e-02 4.45555501e+01] [ 4.59829841e-01 8.87188992e-01 -3.81078736e-02 1.37442364e+01] [ 7.98234409e-02 1.44392245e-03 9.96807972e-01 3.26295066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.326874999999994 meters Centerline goodness : 0.999925 Centerline is valid? [True, True] Translation: X:44.58, Y:13.76, Z:3.27 [[ 8.84104959e-01 -4.62017698e-01 -6.99861940e-02 4.45810990e+01] [ 4.60451088e-01 8.86869588e-01 -3.80411527e-02 1.37566100e+01] [ 7.96443129e-02 1.40715259e-03 9.96822353e-01 3.26662689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.356874999999995 meters Centerline goodness : 0.999925 Centerline is valid? [True, True] Translation: X:44.61, Y:13.77, Z:3.27 [[ 8.83987120e-01 -4.62244682e-01 -6.99758967e-02 4.46061270e+01] [ 4.60677283e-01 8.86751301e-01 -3.80600856e-02 1.37703494e+01] [ 7.96442896e-02 1.40831949e-03 9.96822353e-01 3.26869132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.386874999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:44.63, Y:13.78, Z:3.27 [[ 8.83149660e-01 -4.63808579e-01 -7.02017084e-02 4.46319467e+01] [ 4.62234071e-01 8.85934496e-01 -3.82064490e-02 1.37820137e+01] [ 7.99145940e-02 1.29239102e-03 9.96800877e-01 3.27035269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.416875 meters Centerline goodness : 0.999925 Centerline is valid? [True, True] Translation: X:44.66, Y:13.79, Z:3.27 [[ 8.82498847e-01 -4.65101208e-01 -6.98330280e-02 4.46563992e+01] [ 4.63545254e-01 8.85256712e-01 -3.80309166e-02 1.37949776e+01] [ 7.95083820e-02 1.19147140e-03 9.96833485e-01 3.27149033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.446875 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:44.68, Y:13.81, Z:3.27 [[ 8.81676487e-01 -4.66959228e-01 -6.77912377e-02 4.46807024e+01] [ 4.65496764e-01 8.84278265e-01 -3.69420071e-02 1.38073378e+01] [ 7.71967292e-02 1.01429732e-03 9.97015364e-01 3.27238922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.476875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:44.71, Y:13.82, Z:3.28 [[ 8.81472105e-01 -4.67372053e-01 -6.76039407e-02 4.47051269e+01] [ 4.65918071e-01 8.84060176e-01 -3.68504632e-02 1.38194437e+01] [ 7.69888284e-02 9.84757746e-04 9.97031469e-01 3.27508970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.506874999999994 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:44.73, Y:13.83, Z:3.28 [[ 8.81071907e-01 -4.68080621e-01 -6.79178032e-02 4.47301465e+01] [ 4.66614307e-01 8.83685269e-01 -3.70328883e-02 1.38321101e+01] [ 7.73523395e-02 9.37218829e-04 9.97003379e-01 3.27732139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.536874999999995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:44.76, Y:13.84, Z:3.28 [[ 8.81015070e-01 -4.67951145e-01 -6.95282105e-02 4.47550125e+01] [ 4.66411958e-01 8.83753777e-01 -3.79360817e-02 1.38447847e+01] [ 7.91980516e-02 9.93470886e-04 9.96858406e-01 3.28022157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.566874999999996 meters Centerline goodness : 0.999949 Centerline is valid? [True, True] Translation: X:44.78, Y:13.86, Z:3.28 [[ 8.81086035e-01 -4.67745398e-01 -7.00117235e-02 4.47791706e+01] [ 4.66182054e-01 8.83862636e-01 -3.82247831e-02 1.38584920e+01] [ 7.97602128e-02 1.04111354e-03 9.96813535e-01 3.28235886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.596875 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:44.80, Y:13.87, Z:3.28 [[ 8.81843763e-01 -4.66394156e-01 -6.94843030e-02 4.48032658e+01] [ 4.64848152e-01 8.84576230e-01 -3.79616792e-02 1.38736861e+01] [ 7.91692681e-02 1.17662020e-03 9.96860493e-01 3.28325713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.626875 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:44.83, Y:13.89, Z:3.28 [[ 8.82267895e-01 -4.65664200e-01 -6.89943138e-02 4.48265178e+01] [ 4.64135863e-01 8.84960609e-01 -3.77176421e-02 1.38872369e+01] [ 7.86210056e-02 1.25432929e-03 9.96903789e-01 3.28443038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.656875 meters Centerline goodness : 0.999925 Centerline is valid? [True, True] Translation: X:44.85, Y:13.90, Z:3.29 [[ 8.82609271e-01 -4.65041170e-01 -6.88301200e-02 4.48512417e+01] [ 4.63517292e-01 8.85288075e-01 -3.76396737e-02 1.39011064e+01] [ 7.84384824e-02 1.31717413e-03 9.96918086e-01 3.28688979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.68687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.88, Y:13.92, Z:3.29 [[ 8.83025758e-01 -4.64120514e-01 -6.96969176e-02 4.48752874e+01] [ 4.62553088e-01 8.85770895e-01 -3.81387294e-02 1.39152808e+01] [ 7.94364678e-02 1.43895594e-03 9.96838892e-01 3.28936343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.716874999999995 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:44.90, Y:13.93, Z:3.29 [[ 8.83111414e-01 -4.63841982e-01 -7.04616597e-02 4.48998945e+01] [ 4.62236992e-01 8.85916677e-01 -3.85824526e-02 1.39297585e+01] [ 8.03193207e-02 1.50261872e-03 9.96768052e-01 3.29158081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.746874999999996 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:44.92, Y:13.94, Z:3.29 [[ 8.83637091e-01 -4.62852181e-01 -7.03800422e-02 4.49239007e+01] [ 4.61245755e-01 8.86434011e-01 -3.85629012e-02 1.39434983e+01] [ 8.02361861e-02 1.61311415e-03 9.96774574e-01 3.29349486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.95, Y:13.96, Z:3.30 [[ 8.84017565e-01 -4.62106981e-01 -7.04988174e-02 4.49480958e+01] [ 4.60490712e-01 8.86822546e-01 -3.86532920e-02 1.39573114e+01] [ 8.03818968e-02 1.70613840e-03 9.96762680e-01 3.29622018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.97, Y:13.97, Z:3.30 [[ 8.84319558e-01 -4.61487195e-01 -7.07706770e-02 4.49720516e+01] [ 4.59854383e-01 8.87145060e-01 -3.88276749e-02 1.39711201e+01] [ 8.07023313e-02 1.79186632e-03 9.96736637e-01 3.29743691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.836875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:45.00, Y:13.98, Z:3.30 [[ 8.84277309e-01 -4.61633658e-01 -7.03420703e-02 4.49964349e+01] [ 4.60019039e-01 8.87068859e-01 -3.86176445e-02 1.39845620e+01] [ 8.02254646e-02 1.79001521e-03 9.96775135e-01 3.29941926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.866875 meters Centerline goodness : 0.999925 Centerline is valid? [True, True] Translation: X:45.02, Y:14.00, Z:3.30 [[ 8.84297382e-01 -4.61762615e-01 -6.92345906e-02 4.50211133e+01] [ 4.60196964e-01 8.87001774e-01 -3.80342911e-02 1.39978731e+01] [ 7.89740184e-02 1.77207568e-03 9.96875100e-01 3.30190956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.896874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.04, Y:14.01, Z:3.30 [[ 8.84378293e-01 -4.61792903e-01 -6.79878586e-02 4.50449477e+01] [ 4.60281481e-01 8.86986033e-01 -3.73729268e-02 1.40110539e+01] [ 7.75628334e-02 1.75825303e-03 9.96985915e-01 3.30495006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.926874999999995 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:45.07, Y:14.02, Z:3.31 [[ 8.84140826e-01 -4.62211050e-01 -6.82344858e-02 4.50692474e+01] [ 4.60688516e-01 8.86768237e-01 -3.75257949e-02 1.40247070e+01] [ 7.78530118e-02 1.74324327e-03 9.96963324e-01 3.30706678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.09, Y:14.04, Z:3.31 [[ 8.83909232e-01 -4.62680366e-01 -6.80540149e-02 4.50934174e+01] [ 4.61165399e-01 8.86523505e-01 -3.74506344e-02 1.40380292e+01] [ 7.76591570e-02 1.71880455e-03 9.96978486e-01 3.30987074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.986875 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:45.12, Y:14.05, Z:3.31 [[ 8.83667593e-01 -4.63202446e-01 -6.76393327e-02 4.51166799e+01] [ 4.61705744e-01 8.86250904e-01 -3.72443538e-02 1.40510069e+01] [ 7.71970955e-02 1.68216001e-03 9.97014433e-01 3.31146878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.14, Y:14.06, Z:3.31 [[ 8.83061018e-01 -4.64366911e-01 -6.75767026e-02 4.51408923e+01] [ 4.62875500e-01 8.85641489e-01 -3.72212826e-02 1.40642056e+01] [ 7.71330636e-02 1.58906367e-03 9.97019541e-01 3.31376034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.16, Y:14.08, Z:3.32 [[ 8.81508170e-01 -4.67222393e-01 -6.81658470e-02 4.51649553e+01] [ 4.65711492e-01 8.84138764e-01 -3.75693103e-02 1.40767733e+01] [ 7.78212907e-02 1.37203567e-03 9.96966381e-01 3.31507608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.076874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.19, Y:14.09, Z:3.32 [[ 8.80523919e-01 -4.69026691e-01 -6.84951876e-02 4.51892362e+01] [ 4.67505663e-01 8.83183137e-01 -3.77624376e-02 1.40902272e+01] [ 7.82053858e-02 1.22884146e-03 9.96936511e-01 3.31691327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.106874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.21, Y:14.10, Z:3.32 [[ 8.79207117e-01 -4.71561225e-01 -6.80062989e-02 4.52133762e+01] [ 4.70067543e-01 8.81832737e-01 -3.75170571e-02 1.41040623e+01] [ 7.76617701e-02 1.01770980e-03 9.96979244e-01 3.31753063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.136874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.24, Y:14.12, Z:3.32 [[ 8.78466811e-01 -4.72979430e-01 -6.77238577e-02 4.52382293e+01] [ 4.71500485e-01 8.81073000e-01 -3.73853173e-02 1.41178688e+01] [ 7.73521485e-02 9.09928656e-04 9.97003419e-01 3.31886222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.166875 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:45.26, Y:14.13, Z:3.32 [[ 8.77684100e-01 -4.74467330e-01 -6.74638667e-02 4.52629377e+01] [ 4.73002262e-01 8.80272752e-01 -3.72658409e-02 1.41313731e+01] [ 7.70680276e-02 7.97074458e-04 9.97025518e-01 3.32090193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.29, Y:14.14, Z:3.32 [[ 8.76968419e-01 -4.75840357e-01 -6.70995289e-02 4.52865781e+01] [ 4.74393310e-01 8.79531394e-01 -3.70879149e-02 1.41435439e+01] [ 7.66640689e-02 6.93362487e-04 9.97056739e-01 3.32424657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.31, Y:14.16, Z:3.33 [[ 8.75666814e-01 -4.78070882e-01 -6.82338864e-02 4.53109972e+01] [ 4.76580325e-01 8.78321106e-01 -3.77257027e-02 1.41552751e+01] [ 7.79668226e-02 5.16218117e-04 9.96955821e-01 3.32768502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.256874999999994 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:45.33, Y:14.18, Z:3.30 [[ 8.74782143e-01 -4.81998413e-01 -4.93328623e-02 4.53348993e+01] [ 4.79167687e-01 8.75716360e-01 -5.93227169e-02 1.41757898e+01] [ 7.17950500e-02 2.82557399e-02 9.97019099e-01 3.30403607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.286874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.36, Y:14.18, Z:3.35 [[ 8.74257246e-01 -4.78414549e-01 -8.24244387e-02 4.53619097e+01] [ 4.79022350e-01 8.77698472e-01 -1.35270247e-02 1.41773313e+01] [ 7.88153293e-02 -2.76570490e-02 9.96505510e-01 3.34720959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.316874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.39, Y:14.20, Z:3.33 [[ 8.73795325e-01 -4.81367904e-01 -6.90410812e-02 4.53856621e+01] [ 4.79849509e-01 8.76518612e-01 -3.82043472e-02 1.41955849e+01] [ 7.89061392e-02 2.53451060e-04 9.96882018e-01 3.33335385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.41, Y:14.22, Z:3.30 [[ 8.72937671e-01 -4.85813285e-01 -4.43314235e-02 4.54055236e+01] [ 4.82813901e-01 8.73384380e-01 -6.39567099e-02 1.42168199e+01] [ 6.97893922e-02 3.44263939e-02 9.96967534e-01 3.30325566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.376875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:45.44, Y:14.22, Z:3.36 [[ 8.72992696e-01 -4.80195071e-01 -8.54192369e-02 4.54373422e+01] [ 4.81304186e-01 8.76512871e-01 -8.45384239e-03 1.42165589e+01] [ 7.89305540e-02 -3.37324936e-02 9.96309232e-01 3.35759526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.46, Y:14.24, Z:3.34 [[ 8.73261115e-01 -4.82477775e-01 -6.80457322e-02 4.54608879e+01] [ 4.81002589e-01 8.75908191e-01 -3.77007843e-02 1.42355033e+01] [ 7.77916048e-02 1.92455544e-04 9.96969623e-01 3.34241467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.43687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.48, Y:14.25, Z:3.35 [[ 8.73462960e-01 -4.82175535e-01 -6.75959356e-02 4.54846154e+01] [ 4.80717111e-01 8.76074595e-01 -3.74748302e-02 1.42483716e+01] [ 7.72885282e-02 2.38353255e-04 9.97008739e-01 3.34519419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.466874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.51, Y:14.27, Z:3.31 [[ 8.73061968e-01 -4.85706398e-01 -4.30359698e-02 4.55059968e+01] [ 4.82880367e-01 8.73482909e-01 -6.20818642e-02 1.42711472e+01] [ 6.77447427e-02 3.34200897e-02 9.97142792e-01 3.31453058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.496874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.54, Y:14.27, Z:3.37 [[ 8.73702954e-01 -4.79458135e-01 -8.22377361e-02 4.55365931e+01] [ 4.80491796e-01 8.76962531e-01 -8.02208120e-03 1.42708594e+01] [ 7.59656653e-02 -3.25056415e-02 9.96580454e-01 3.36712298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.56, Y:14.29, Z:3.35 [[ 8.73629277e-01 -4.81980272e-01 -6.68349055e-02 4.55603383e+01] [ 4.80551258e-01 8.76182023e-01 -3.70884330e-02 1.42895145e+01] [ 7.64354357e-02 2.83942963e-04 9.97074492e-01 3.35155149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.59, Y:14.30, Z:3.35 [[ 8.73592285e-01 -4.82084869e-01 -6.65634989e-02 4.55851331e+01] [ 4.80665940e-01 8.76124473e-01 -3.69616210e-02 1.43029166e+01] [ 7.61365486e-02 2.94580126e-04 9.97097357e-01 3.35364296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.61, Y:14.32, Z:3.35 [[ 8.74274999e-01 -4.80746309e-01 -6.72771356e-02 4.56083307e+01] [ 4.79290866e-01 8.76859621e-01 -3.73827510e-02 1.43164089e+01] [ 7.69642231e-02 4.37487971e-04 9.97033759e-01 3.35470347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.63, Y:14.33, Z:3.36 [[ 8.74747062e-01 -4.79897020e-01 -6.72043728e-02 4.56319890e+01] [ 4.78440938e-01 8.77324668e-01 -3.73590224e-02 1.43301472e+01] [ 7.68885376e-02 5.26371967e-04 9.97039556e-01 3.35607063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.646874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.66, Y:14.34, Z:3.36 [[ 8.75228646e-01 -4.79056319e-01 -6.69317544e-02 4.56561182e+01] [ 4.77608742e-01 8.77783956e-01 -3.72184888e-02 1.43435585e+01] [ 7.65813724e-02 6.07496549e-04 9.97063150e-01 3.35831161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.676874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.68, Y:14.36, Z:3.36 [[ 8.76040653e-01 -4.77442463e-01 -6.78341326e-02 4.56804190e+01] [ 4.75948787e-01 8.78662669e-01 -3.77447569e-02 1.43567338e+01] [ 7.76242697e-02 7.80368339e-04 9.96982379e-01 3.35997156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.70, Y:14.37, Z:3.36 [[ 8.76123516e-01 -4.77191350e-01 -6.85273711e-02 4.57049111e+01] [ 4.75664233e-01 8.78799023e-01 -3.81551458e-02 1.43699047e+01] [ 7.84290923e-02 8.32601107e-04 9.96919347e-01 3.36161408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.73, Y:14.38, Z:3.36 [[ 8.76189131e-01 -4.77058050e-01 -6.86164901e-02 4.57291251e+01] [ 4.75524609e-01 8.78871358e-01 -3.82293338e-02 1.43832324e+01] [ 7.85426793e-02 8.67297132e-04 9.96910375e-01 3.36355052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.75, Y:14.40, Z:3.36 [[ 8.75970642e-01 -4.77583204e-01 -6.77474514e-02 4.57539022e+01] [ 4.76088115e-01 8.78586133e-01 -3.77692280e-02 1.43975240e+01] [ 7.75599202e-02 8.30978471e-04 9.96987346e-01 3.36408103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.78, Y:14.41, Z:3.37 [[ 8.75528953e-01 -4.78409013e-01 -6.76303898e-02 4.57771889e+01] [ 4.76919717e-01 8.78136784e-01 -3.77275935e-02 1.44102575e+01] [ 7.74379538e-02 7.77334098e-04 9.96996870e-01 3.36550016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.826874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.80, Y:14.42, Z:3.37 [[ 8.74221785e-01 -4.80717965e-01 -6.81653045e-02 4.58011130e+01] [ 4.79211108e-01 8.76875073e-01 -3.80370951e-02 1.44233956e+01] [ 7.80575713e-02 5.87286097e-04 9.96948680e-01 3.36731120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.856874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.83, Y:14.44, Z:3.37 [[ 8.71838925e-01 -4.84899817e-01 -6.90583577e-02 4.58259253e+01] [ 4.83364829e-01 8.74569674e-01 -3.85529267e-02 1.44362006e+01] [ 7.90906525e-02 2.31560945e-04 9.96867401e-01 3.36923275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.886874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.85, Y:14.45, Z:3.37 [[ 8.71127484e-01 -4.86185276e-01 -6.89984361e-02 4.58505531e+01] [ 4.84655046e-01 8.73855743e-01 -3.85438383e-02 1.44495228e+01] [ 7.90341263e-02 1.36156681e-04 9.96871902e-01 3.37190967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.88, Y:14.46, Z:3.37 [[ 8.70567729e-01 -4.87220913e-01 -6.87576286e-02 4.58751616e+01] [ 4.85702657e-01 8.73278752e-01 -3.84337215e-02 1.44635115e+01] [ 7.87702890e-02 6.33947562e-05 9.96892791e-01 3.37319690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.90, Y:14.48, Z:3.38 [[ 8.70813127e-01 -4.86886012e-01 -6.80184418e-02 4.58984967e+01] [ 4.85397461e-01 8.73465511e-01 -3.80434828e-02 1.44768310e+01] [ 7.79346026e-02 1.12785296e-04 9.96958467e-01 3.37502169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.92, Y:14.49, Z:3.38 [[ 8.71245567e-01 -4.86192918e-01 -6.74359660e-02 4.59228605e+01] [ 4.84726865e-01 8.73851482e-01 -3.77286775e-02 1.44906025e+01] [ 7.72724346e-02 1.82918659e-04 9.97009999e-01 3.37677377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.006874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.95, Y:14.50, Z:3.38 [[ 8.71255327e-01 -4.86215045e-01 -6.71497215e-02 4.59460985e+01] [ 4.84759678e-01 8.73839167e-01 -3.75920892e-02 1.45037509e+01] [ 7.69558961e-02 2.00830586e-04 9.97034478e-01 3.37847721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.036874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.97, Y:14.52, Z:3.38 [[ 8.71530296e-01 -4.85823541e-01 -6.64110678e-02 4.59699927e+01] [ 4.84397721e-01 8.74056878e-01 -3.71943774e-02 1.45172089e+01] [ 7.61169547e-02 2.46656819e-04 9.97098866e-01 3.38089469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.066874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.99, Y:14.53, Z:3.38 [[ 8.71597409e-01 -4.85749630e-01 -6.60700583e-02 4.59942481e+01] [ 4.84337446e-01 8.74097951e-01 -3.70136391e-02 1.45309783e+01] [ 7.57310641e-02 2.60788575e-04 9.97128245e-01 3.38317091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.02, Y:14.55, Z:3.38 [[ 8.71684227e-01 -4.85614578e-01 -6.59173027e-02 4.60182725e+01] [ 4.84206751e-01 8.74172978e-01 -3.69516706e-02 1.45451416e+01] [ 7.55673948e-02 2.92585409e-04 9.97140654e-01 3.38449287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.04, Y:14.56, Z:3.39 [[ 8.71582092e-01 -4.85789521e-01 -6.59787658e-02 4.60423188e+01] [ 4.84377758e-01 8.74075770e-01 -3.70099301e-02 1.45591684e+01] [ 7.56494767e-02 2.98545662e-04 9.97134428e-01 3.38575752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.07, Y:14.57, Z:3.39 [[ 8.71727651e-01 -4.85453149e-01 -6.65292667e-02 4.60659510e+01] [ 4.84014914e-01 8.74262613e-01 -3.73422834e-02 1.45719110e+01] [ 7.62919796e-02 3.51143726e-04 9.97085458e-01 3.38662302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.18687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.09, Y:14.59, Z:3.39 [[ 8.71806346e-01 -4.85173001e-01 -6.75341021e-02 4.60907309e+01] [ 4.83689203e-01 8.74418096e-01 -3.79176517e-02 1.45850102e+01] [ 7.74496618e-02 3.91333309e-04 9.96996187e-01 3.38934787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.216874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.11, Y:14.60, Z:3.39 [[ 8.71562160e-01 -4.85523111e-01 -6.81667855e-02 4.61148592e+01] [ 4.84010496e-01 8.74223748e-01 -3.82972417e-02 1.45986800e+01] [ 7.81872186e-02 3.84987038e-04 9.96938619e-01 3.39181570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.246874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.14, Y:14.61, Z:3.39 [[ 8.71438709e-01 -4.85746103e-01 -6.81564297e-02 4.61396940e+01] [ 4.84232729e-01 8.74099865e-01 -3.83156632e-02 1.46127681e+01] [ 7.81872101e-02 3.86178175e-04 9.96938620e-01 3.39390000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.16, Y:14.63, Z:3.40 [[ 8.71541281e-01 -4.85526151e-01 -6.84116413e-02 4.61644721e+01] [ 4.83998904e-01 8.74222039e-01 -3.84822972e-02 1.46264890e+01] [ 7.84911262e-02 4.27751153e-04 9.96914721e-01 3.39601065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.19, Y:14.64, Z:3.40 [[ 8.71354784e-01 -4.85873535e-01 -6.83209263e-02 4.61889545e+01] [ 4.84349472e-01 8.74029023e-01 -3.84558876e-02 1.46413215e+01] [ 7.83991705e-02 4.17517030e-04 9.96921961e-01 3.39601398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.21, Y:14.65, Z:3.40 [[ 8.71230536e-01 -4.86156035e-01 -6.78945008e-02 4.62125365e+01] [ 4.84649990e-01 8.73871925e-01 -3.82393264e-02 1.46547474e+01] [ 7.79213774e-02 4.10199655e-04 9.96959423e-01 3.39733170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.24, Y:14.67, Z:3.40 [[ 8.71083400e-01 -4.86431033e-01 -6.78126922e-02 4.62375957e+01] [ 4.84928567e-01 8.73718887e-01 -3.82045947e-02 1.46680648e+01] [ 7.78331304e-02 3.95076563e-04 9.96966322e-01 3.39995248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.396874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.26, Y:14.68, Z:3.40 [[ 8.70924807e-01 -4.87019115e-01 -6.55923966e-02 4.62611635e+01] [ 4.85613534e-01 8.73391240e-01 -3.69761792e-02 1.46814630e+01] [ 7.52959307e-02 3.50916246e-04 9.97161170e-01 3.40245589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.426874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.28, Y:14.70, Z:3.40 [[ 8.71083602e-01 -4.86817570e-01 -6.49770061e-02 4.62849575e+01] [ 4.85436947e-01 8.73503585e-01 -3.66395483e-02 1.46954571e+01] [ 7.45944237e-02 3.73870176e-04 9.97213885e-01 3.40424375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.31, Y:14.71, Z:3.41 [[ 8.71311805e-01 -4.86441042e-01 -6.47367861e-02 4.63083989e+01] [ 4.85067845e-01 8.73713301e-01 -3.65274377e-02 1.47093148e+01] [ 7.43298360e-02 4.25054372e-04 9.97233621e-01 3.40658370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.33, Y:14.72, Z:3.41 [[ 8.72001969e-01 -4.85106783e-01 -6.54520806e-02 4.63327665e+01] [ 4.83698023e-01 8.74454742e-01 -3.69476075e-02 1.47235531e+01] [ 7.51584173e-02 5.59344491e-04 9.97171449e-01 3.40857213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.36, Y:14.74, Z:3.41 [[ 8.72330808e-01 -4.84472462e-01 -6.57677409e-02 4.63570769e+01] [ 4.83046449e-01 8.74806279e-01 -3.71497227e-02 1.47379590e+01] [ 7.55320503e-02 6.37973893e-04 9.97143170e-01 3.41000761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.546875 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:46.38, Y:14.75, Z:3.41 [[ 8.72578363e-01 -4.83935433e-01 -6.64341571e-02 4.63816143e+01] [ 4.82476905e-01 8.75103416e-01 -3.75506063e-02 1.47522626e+01] [ 7.63088267e-02 7.12900091e-04 9.97083976e-01 3.41135439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.576874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.41, Y:14.77, Z:3.41 [[ 8.73155951e-01 -4.82737007e-01 -6.75549153e-02 4.64052462e+01] [ 4.81223318e-01 8.75764954e-01 -3.82081524e-02 1.47651180e+01] [ 7.76067164e-02 8.52675164e-04 9.96983686e-01 3.41309018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.606874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.43, Y:14.78, Z:3.42 [[ 8.72830249e-01 -4.83360441e-01 -6.73055682e-02 4.64298894e+01] [ 4.81858900e-01 8.75421063e-01 -3.80783914e-02 1.47788253e+01] [ 7.73263002e-02 8.04184854e-04 9.97005515e-01 3.41518503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.636874999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:46.45, Y:14.79, Z:3.42 [[ 8.72543647e-01 -4.84049869e-01 -6.60553504e-02 4.64544713e+01] [ 4.82603838e-01 8.75040092e-01 -3.73948295e-02 1.47927840e+01] [ 7.59020422e-02 7.50055196e-04 9.97114997e-01 3.41702912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.48, Y:14.81, Z:3.42 [[ 8.72277421e-01 -4.84582632e-01 -6.56640967e-02 4.64787223e+01] [ 4.83153421e-01 8.74745194e-01 -3.71970164e-02 1.48055797e+01] [ 7.54643811e-02 7.20284591e-04 9.97148238e-01 3.41900083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.50, Y:14.82, Z:3.42 [[ 8.72123503e-01 -4.84777598e-01 -6.62667098e-02 4.65023755e+01] [ 4.83321746e-01 8.74637161e-01 -3.75489848e-02 1.48189166e+01] [ 7.61622336e-02 7.19210236e-04 9.97095179e-01 3.42109191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.53, Y:14.83, Z:3.42 [[ 8.71979107e-01 -4.85015545e-01 -6.64255827e-02 4.65264968e+01] [ 4.83552536e-01 8.74505242e-01 -3.76500690e-02 1.48323065e+01] [ 7.63503889e-02 7.09814583e-04 9.97080796e-01 3.42314011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.756874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.55, Y:14.85, Z:3.43 [[ 8.72231942e-01 -4.84537259e-01 -6.65964251e-02 4.65501165e+01] [ 4.83063494e-01 8.74770281e-01 -3.77705753e-02 1.48453408e+01] [ 7.65578245e-02 7.74400438e-04 9.97064842e-01 3.42540615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.786874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.57, Y:14.86, Z:3.43 [[ 8.72182709e-01 -4.84516660e-01 -6.73864179e-02 4.65745425e+01] [ 4.83006706e-01 8.74781672e-01 -3.82302035e-02 1.48592600e+01] [ 7.74715738e-02 7.95630759e-04 9.96994244e-01 3.42773386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.816874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.60, Y:14.87, Z:3.43 [[ 8.72364909e-01 -4.84098425e-01 -6.80307360e-02 4.65978611e+01] [ 4.82556224e-01 8.75013127e-01 -3.86201883e-02 1.48727813e+01] [ 7.82237593e-02 8.62241991e-04 9.96935454e-01 3.42911291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.62, Y:14.89, Z:3.43 [[ 8.72523899e-01 -4.83738590e-01 -6.85494089e-02 4.66211829e+01] [ 4.82170728e-01 8.75212057e-01 -3.89261257e-02 1.48864568e+01] [ 7.88253384e-02 9.11456593e-04 9.96888025e-01 3.43036704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.65, Y:14.90, Z:3.43 [[ 8.72288241e-01 -4.84198165e-01 -6.83034507e-02 4.66454673e+01] [ 4.82641589e-01 8.74957919e-01 -3.88038347e-02 1.49000584e+01] [ 7.85513906e-02 8.82042762e-04 9.96909675e-01 3.43243129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.67, Y:14.91, Z:3.44 [[ 8.71781262e-01 -4.85115197e-01 -6.82691506e-02 4.66704151e+01] [ 4.83561060e-01 8.74449868e-01 -3.88088831e-02 1.49132203e+01] [ 7.85247287e-02 8.20554295e-04 9.96911828e-01 3.43600394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.93687499999999 meters Centerline goodness : 0.999949 Centerline is valid? [True, True] Translation: X:46.69, Y:14.93, Z:3.44 [[ 8.71178442e-01 -4.86191356e-01 -6.83087751e-02 4.66947787e+01] [ 4.84636727e-01 8.73852052e-01 -3.88565808e-02 1.49274015e+01] [ 7.85834971e-02 7.46074353e-04 9.96907256e-01 3.43798518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.966874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.72, Y:14.94, Z:3.44 [[ 8.71085506e-01 -4.86586010e-01 -6.66640508e-02 4.67174760e+01] [ 4.85104769e-01 8.73632385e-01 -3.79449301e-02 1.49446781e+01] [ 7.67033458e-02 7.14229679e-04 9.97053703e-01 3.44089861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.996874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.74, Y:14.96, Z:3.45 [[ 8.69971066e-01 -4.88996795e-01 -6.35018012e-02 4.67383995e+01] [ 4.87657729e-01 8.72285439e-01 -3.61670003e-02 1.49614689e+01] [ 7.30772438e-02 4.97099614e-04 9.97326160e-01 3.44502615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.76, Y:14.98, Z:3.45 [[ 8.67744133e-01 -4.92893142e-01 -6.38472390e-02 4.67606750e+01] [ 4.91549208e-01 8.70089834e-01 -3.63738596e-02 1.49792521e+01] [ 7.34812595e-02 1.79143500e-04 9.97296582e-01 3.44941019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.78, Y:15.00, Z:3.45 [[ 8.66308040e-01 -4.94946659e-01 -6.73660503e-02 4.67833565e+01] [ 4.93454470e-01 8.68923359e-01 -3.84042011e-02 1.49967566e+01] [ 7.75439658e-02 2.77895623e-05 9.96988933e-01 3.44786348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.80, Y:15.02, Z:3.44 [[ 8.64036368e-01 -4.98180232e-01 -7.25093901e-02 4.68032999e+01] [ 4.96460224e-01 8.67073463e-01 -4.13624959e-02 1.50174513e+01] [ 8.34769457e-02 -2.59327341e-04 9.96509675e-01 3.44147372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.83, Y:15.03, Z:3.44 [[ 8.63135351e-01 -4.99626800e-01 -7.32831962e-02 4.68266568e+01] [ 4.97873871e-01 8.66240675e-01 -4.18174755e-02 1.50333544e+01] [ 8.43740169e-02 -3.91647236e-04 9.96434078e-01 3.44269435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.146874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.85, Y:15.05, Z:3.45 [[ 8.62254000e-01 -5.01056808e-01 -7.38925926e-02 4.68508456e+01] [ 4.99277457e-01 8.65414244e-01 -4.21925109e-02 1.50479803e+01] [ 8.50885470e-02 -5.12244454e-04 9.96373262e-01 3.44582560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.176874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.87, Y:15.06, Z:3.45 [[ 8.60773247e-01 -5.03523345e-01 -7.43885660e-02 4.68734625e+01] [ 5.01726878e-01 8.63981306e-01 -4.25022773e-02 1.50616791e+01] [ 8.56712192e-02 -7.37919683e-04 9.96323189e-01 3.45174243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.206875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:46.90, Y:15.08, Z:3.46 [[ 8.60152745e-01 -5.04638061e-01 -7.40113724e-02 4.68974992e+01] [ 5.02862211e-01 8.63330610e-01 -4.23066579e-02 1.50768854e+01] [ 8.52458331e-02 -8.27334491e-04 9.96359605e-01 3.45544525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.92, Y:15.09, Z:3.46 [[ 8.60134009e-01 -5.04727267e-01 -7.36197874e-02 4.69197358e+01] [ 5.02968415e-01 8.63278477e-01 -4.21075299e-02 1.50912123e+01] [ 8.48071964e-02 -8.10309316e-04 9.96397051e-01 3.45836270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.94, Y:15.11, Z:3.46 [[ 8.60511048e-01 -5.04363520e-01 -7.16810760e-02 4.69416232e+01] [ 5.02693918e-01 8.63491105e-01 -4.10114186e-02 1.51091592e+01] [ 8.25806349e-02 -7.42862206e-04 9.96584109e-01 3.45905951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.97, Y:15.12, Z:3.46 [[ 8.61385598e-01 -5.03104661e-01 -7.00039420e-02 4.69654041e+01] [ 5.01506227e-01 8.64225293e-01 -4.00767671e-02 1.51246475e+01] [ 8.06619856e-02 -5.85862801e-04 9.96741341e-01 3.46103806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.326874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.99, Y:15.14, Z:3.46 [[ 8.62370069e-01 -5.01556337e-01 -6.89862649e-02 4.69886184e+01] [ 4.99997255e-01 8.65124887e-01 -3.95180387e-02 1.51389870e+01] [ 7.95022573e-02 -4.13769259e-04 9.96834600e-01 3.46427132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.356874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.01, Y:15.15, Z:3.47 [[ 8.63533377e-01 -4.99635717e-01 -6.83685374e-02 4.70127751e+01] [ 4.98097524e-01 8.66235592e-01 -3.91759682e-02 1.51534280e+01] [ 7.87969734e-02 -2.24443027e-04 9.96890659e-01 3.46817035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.386874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.04, Y:15.17, Z:3.47 [[ 8.66391521e-01 -4.94589349e-01 -6.88992618e-02 4.70352119e+01] [ 4.93009235e-01 8.69126751e-01 -3.95042365e-02 1.51688562e+01] [ 7.94205662e-02 2.58163225e-04 9.96841164e-01 3.47229267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.416875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:47.06, Y:15.18, Z:3.47 [[ 8.67772582e-01 -4.92048194e-01 -6.97088280e-02 4.70583350e+01] [ 4.90421473e-01 8.70567813e-01 -3.99807597e-02 1.51847794e+01] [ 8.03587226e-02 5.07500969e-04 9.96765879e-01 3.47240601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.08, Y:15.20, Z:3.47 [[ 8.69053762e-01 -4.89772920e-01 -6.97713798e-02 4.70812753e+01] [ 4.88133930e-01 8.71849723e-01 -4.00415739e-02 1.52007175e+01] [ 8.04414367e-02 7.40502674e-04 9.96759062e-01 3.47278397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.476875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:47.10, Y:15.22, Z:3.47 [[ 8.70421563e-01 -4.87487514e-01 -6.87184616e-02 4.71036859e+01] [ 4.85888674e-01 8.73129432e-01 -3.94612580e-02 1.52154967e+01] [ 7.92369819e-02 9.58407654e-04 9.96855347e-01 3.47379382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.506874999999994 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:47.13, Y:15.23, Z:3.48 [[ 8.72413860e-01 -4.84167873e-01 -6.68993791e-02 4.71274039e+01] [ 4.82641655e-01 8.74974245e-01 -3.84330991e-02 1.52302048e+01] [ 7.71433056e-02 1.24114132e-03 9.97019243e-01 3.47671763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.536874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.15, Y:15.24, Z:3.48 [[ 8.72852380e-01 -4.83410973e-01 -6.66524873e-02 4.71511696e+01] [ 4.81891944e-01 8.75392527e-01 -3.83154912e-02 1.52442765e+01] [ 7.68692182e-02 1.32447097e-03 9.97040305e-01 3.47894849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.566874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.18, Y:15.26, Z:3.48 [[ 8.72945289e-01 -4.83158209e-01 -6.72656513e-02 4.71752553e+01] [ 4.81608378e-01 8.75531975e-01 -3.86927854e-02 1.52588102e+01] [ 7.75879654e-02 1.38098345e-03 9.96984554e-01 3.48122528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.20, Y:15.27, Z:3.48 [[ 8.73385367e-01 -4.82323510e-01 -6.75428205e-02 4.71986457e+01] [ 4.80756505e-01 8.75991915e-01 -3.88760596e-02 1.52732296e+01] [ 7.79178022e-02 1.48213126e-03 9.96958685e-01 3.48293837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.626875 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:47.22, Y:15.29, Z:3.48 [[ 8.73471557e-01 -4.82215924e-01 -6.71955484e-02 4.72230388e+01] [ 4.80663822e-01 8.76051123e-01 -3.86874573e-02 1.52876430e+01] [ 7.75224437e-02 1.49392441e-03 9.96989488e-01 3.48465108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.25, Y:15.30, Z:3.49 [[ 8.73661571e-01 -4.81975772e-01 -6.64440699e-02 4.72475031e+01] [ 4.80455745e-01 8.76183228e-01 -3.82783070e-02 1.53011955e+01] [ 7.66663961e-02 1.51885071e-03 9.97055644e-01 3.48653974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.68687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.27, Y:15.32, Z:3.49 [[ 8.73489472e-01 -4.82221326e-01 -6.69233585e-02 4.72723933e+01] [ 4.80678101e-01 8.76048089e-01 -3.85786148e-02 1.53150593e+01] [ 7.72315110e-02 1.52942098e-03 9.97012013e-01 3.48890179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.716874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.30, Y:15.33, Z:3.49 [[ 8.73274302e-01 -4.82541843e-01 -6.74193013e-02 4.72974592e+01] [ 4.80974652e-01 8.75871575e-01 -3.88891662e-02 1.53287501e+01] [ 7.78162996e-02 1.53393446e-03 9.96966534e-01 3.49088570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.746874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.32, Y:15.34, Z:3.49 [[ 8.72782959e-01 -4.83262666e-01 -6.86083180e-02 4.73219039e+01] [ 4.81639824e-01 8.75474095e-01 -3.96003714e-02 1.53416410e+01] [ 7.92021861e-02 1.51803116e-03 9.96857417e-01 3.49233382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.35, Y:15.36, Z:3.49 [[ 8.72546256e-01 -4.83785351e-01 -6.79320610e-02 4.73466760e+01] [ 4.82194065e-01 8.75185439e-01 -3.92343230e-02 1.53554550e+01] [ 7.84341413e-02 1.47732503e-03 9.96918203e-01 3.49311002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.37, Y:15.37, Z:3.50 [[ 8.72312560e-01 -4.84209238e-01 -6.79132636e-02 4.73702610e+01] [ 4.82618224e-01 8.74951017e-01 -3.92475112e-02 1.53685595e+01] [ 7.84247866e-02 1.45991835e-03 9.96918964e-01 3.49516999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.40, Y:15.38, Z:3.50 [[ 8.71953778e-01 -4.84861518e-01 -6.78669109e-02 4.73956630e+01] [ 4.83273295e-01 8.74589792e-01 -3.92379529e-02 1.53814322e+01] [ 7.83806809e-02 1.41541559e-03 9.96922497e-01 3.49736709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.42, Y:15.39, Z:3.50 [[ 8.71762721e-01 -4.85116266e-01 -6.84979345e-02 4.74207665e+01] [ 4.83497140e-01 8.74448496e-01 -3.96275652e-02 1.53948928e+01] [ 7.91218922e-02 1.42727864e-03 9.96863927e-01 3.49975169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.896874999999994 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:47.45, Y:15.41, Z:3.50 [[ 8.71885578e-01 -4.84709793e-01 -6.97993943e-02 4.74456948e+01] [ 4.83025070e-01 8.74673723e-01 -4.04061801e-02 1.54085266e+01] [ 8.06369673e-02 1.51470842e-03 9.96742387e-01 3.50221975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.926874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.47, Y:15.42, Z:3.50 [[ 8.72073075e-01 -4.84361221e-01 -6.98767396e-02 4.74700661e+01] [ 4.82669587e-01 8.74866698e-01 -4.04762891e-02 1.54221442e+01] [ 8.07379773e-02 1.57090487e-03 9.96734123e-01 3.50454166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.956875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:47.49, Y:15.44, Z:3.51 [[ 8.72603279e-01 -4.83405401e-01 -6.98765715e-02 4.74940253e+01] [ 4.81708749e-01 8.75394993e-01 -4.05004704e-02 1.54354527e+01] [ 8.07477469e-02 1.68068746e-03 9.96733152e-01 3.50642310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.986875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:47.52, Y:15.45, Z:3.51 [[ 8.73895767e-01 -4.81153819e-01 -6.92617583e-02 4.75184311e+01] [ 4.79478900e-01 8.76634164e-01 -4.01562876e-02 1.54484537e+01] [ 8.00385747e-02 1.88285811e-03 9.96789989e-01 3.50873162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.54, Y:15.46, Z:3.51 [[ 8.74483464e-01 -4.80146806e-01 -6.88310682e-02 4.75417381e+01] [ 4.78487617e-01 8.77185902e-01 -3.99311064e-02 1.54619989e+01] [ 7.95504359e-02 1.98427845e-03 9.96828867e-01 3.50999953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.046875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:47.57, Y:15.48, Z:3.51 [[ 8.75044950e-01 -4.79086717e-01 -6.90815021e-02 4.75662709e+01] [ 4.77410667e-01 8.77765054e-01 -4.00944513e-02 1.54758907e+01] [ 7.98460475e-02 2.10420112e-03 9.96804986e-01 3.51223554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.076874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.59, Y:15.49, Z:3.51 [[ 8.75455388e-01 -4.78279662e-01 -6.94725034e-02 4.75895689e+01] [ 4.76580038e-01 8.78204801e-01 -4.03459467e-02 1.54890827e+01] [ 8.03077318e-02 2.21186815e-03 9.96767664e-01 3.51409454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.106874999999995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:47.61, Y:15.50, Z:3.52 [[ 8.75922451e-01 -4.77328080e-01 -7.01267724e-02 4.76147874e+01] [ 4.75592155e-01 8.78722064e-01 -4.07386387e-02 1.55020523e+01] [ 8.10676383e-02 2.33214547e-03 9.96705874e-01 3.51670694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.136874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.64, Y:15.52, Z:3.52 [[ 8.75713818e-01 -4.77665332e-01 -7.04353538e-02 4.76397660e+01] [ 4.75913047e-01 8.78538778e-01 -4.09437118e-02 1.55156099e+01] [ 8.14375813e-02 2.33387034e-03 9.96675711e-01 3.51939496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.66, Y:15.53, Z:3.52 [[ 8.75591805e-01 -4.77890597e-01 -7.04242028e-02 4.76643891e+01] [ 4.76137499e-01 8.78416259e-01 -4.09628835e-02 1.55300497e+01] [ 8.14375416e-02 2.33516124e-03 9.96675711e-01 3.52147924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.196875 meters Centerline goodness : 0.999878 Centerline is valid? [True, True] Translation: X:47.69, Y:15.54, Z:3.52 [[ 8.75120670e-01 -4.78738198e-01 -7.05233963e-02 4.76893779e+01] [ 4.76980895e-01 8.77954745e-01 -4.10449917e-02 1.55435114e+01] [ 8.15661558e-02 2.28100797e-03 9.96665320e-01 3.52368208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.71, Y:15.56, Z:3.53 [[ 8.74621226e-01 -4.79720977e-01 -7.00392365e-02 4.77144240e+01] [ 4.77988821e-01 8.77418348e-01 -4.07888308e-02 1.55566822e+01] [ 8.10209690e-02 2.19680507e-03 9.96709976e-01 3.52633889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.256874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.74, Y:15.57, Z:3.53 [[ 8.73273816e-01 -4.82283761e-01 -6.92474976e-02 4.77393413e+01] [ 4.80596603e-01 8.76012863e-01 -4.03530629e-02 1.55692197e+01] [ 8.01233255e-02 1.95916114e-03 9.96783033e-01 3.52835732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.286874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.76, Y:15.58, Z:3.53 [[ 8.72546822e-01 -4.83609796e-01 -6.91636361e-02 4.77628614e+01] [ 4.81928877e-01 8.75281735e-01 -4.03291643e-02 1.55818975e+01] [ 8.00412464e-02 1.85713068e-03 9.96789822e-01 3.52978529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.316874999999996 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:47.79, Y:15.59, Z:3.53 [[ 8.71740911e-01 -4.85077024e-01 -6.90511728e-02 4.77862928e+01] [ 4.83405216e-01 8.74469718e-01 -4.02754093e-02 1.55945541e+01] [ 7.99198353e-02 1.73002486e-03 9.96799793e-01 3.53201838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.81, Y:15.61, Z:3.53 [[ 8.70714379e-01 -4.87081730e-01 -6.78812106e-02 4.78116044e+01] [ 4.85470885e-01 8.73355043e-01 -3.96104559e-02 1.56073301e+01] [ 7.85779270e-02 1.53504212e-03 9.96906793e-01 3.53423721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.83, Y:15.62, Z:3.54 [[ 8.70368204e-01 -4.87692058e-01 -6.79385475e-02 4.78349843e+01] [ 4.86078403e-01 8.73014432e-01 -3.96684711e-02 1.56202760e+01] [ 7.86573308e-02 1.50271529e-03 9.96900580e-01 3.53654656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.86, Y:15.63, Z:3.54 [[ 8.70193577e-01 -4.87972258e-01 -6.81631353e-02 4.78596541e+01] [ 4.86347348e-01 8.72857853e-01 -3.98173999e-02 1.56342798e+01] [ 7.89265145e-02 1.49788561e-03 9.96879311e-01 3.53877831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.43687499999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:47.88, Y:15.65, Z:3.54 [[ 8.70601461e-01 -4.87099564e-01 -6.91889474e-02 4.78841873e+01] [ 4.85420460e-01 8.73344937e-01 -4.04425378e-02 1.56476939e+01] [ 8.01253594e-02 1.62360185e-03 9.96783472e-01 3.54088373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.466874999999995 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:47.91, Y:15.66, Z:3.54 [[ 8.70921409e-01 -4.86464902e-01 -6.96261386e-02 4.79087917e+01] [ 4.84760371e-01 8.73698436e-01 -4.07237715e-02 1.56617005e+01] [ 8.06429339e-02 1.71521166e-03 9.96741579e-01 3.54281419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.496874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.93, Y:15.68, Z:3.54 [[ 8.71268715e-01 -4.85764454e-01 -7.01692346e-02 4.79330748e+01] [ 4.84028805e-01 8.74087865e-01 -4.10672691e-02 1.56757067e+01] [ 8.12830959e-02 1.81669597e-03 9.96689399e-01 3.54458437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.96, Y:15.69, Z:3.55 [[ 8.71815482e-01 -4.84689994e-01 -7.08051889e-02 4.79575340e+01] [ 4.82917010e-01 8.74683816e-01 -4.14654417e-02 1.56893346e+01] [ 8.20300376e-02 1.95718394e-03 9.96627936e-01 3.54621416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.98, Y:15.70, Z:3.55 [[ 8.71882656e-01 -4.84549294e-01 -7.09409379e-02 4.79804788e+01] [ 4.82767026e-01 8.74761682e-01 -4.15692019e-02 1.57027321e+01] [ 8.21987416e-02 1.99552054e-03 9.96613960e-01 3.54721452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.586875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:48.00, Y:15.72, Z:3.55 [[ 8.72444804e-01 -4.83690595e-01 -6.98818454e-02 4.80042561e+01] [ 4.81957603e-01 8.75236645e-01 -4.09595366e-02 1.57150990e+01] [ 8.09748946e-02 2.05484815e-03 9.96714023e-01 3.54897277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.03, Y:15.73, Z:3.55 [[ 8.72504602e-01 -4.83613563e-01 -6.96680802e-02 4.80291756e+01] [ 4.81889924e-01 8.75279185e-01 -4.08466713e-02 1.57284105e+01] [ 8.07330247e-02 2.06656278e-03 9.96733619e-01 3.55164121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.646874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.05, Y:15.74, Z:3.55 [[ 8.72338482e-01 -4.83929734e-01 -6.95527485e-02 4.80531291e+01] [ 4.82210715e-01 8.75104441e-01 -4.08049459e-02 1.57413018e+01] [ 8.06126458e-02 2.05664399e-03 9.96743383e-01 3.55477845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.676874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.08, Y:15.75, Z:3.56 [[ 8.72226946e-01 -4.84145587e-01 -6.94492962e-02 4.80765122e+01] [ 4.82430965e-01 8.74985059e-01 -4.07616359e-02 1.57536924e+01] [ 8.05016626e-02 2.04890623e-03 9.96752369e-01 3.55750889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.10, Y:15.77, Z:3.56 [[ 8.71939354e-01 -4.84638813e-01 -6.96202786e-02 4.81000216e+01] [ 4.82916337e-01 8.74712036e-01 -4.08737728e-02 1.57667894e+01] [ 8.07067124e-02 2.01868111e-03 9.96735848e-01 3.55965829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.12, Y:15.78, Z:3.56 [[ 8.71530177e-01 -4.85419791e-01 -6.93020680e-02 4.81232495e+01] [ 4.83714166e-01 8.74279026e-01 -4.07036830e-02 1.57798054e+01] [ 8.03477178e-02 1.95209601e-03 9.96764984e-01 3.56167900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.15, Y:15.79, Z:3.56 [[ 8.71337335e-01 -4.85789878e-01 -6.91335088e-02 4.81474779e+01] [ 4.84092751e-01 8.74073506e-01 -4.06166851e-02 1.57938541e+01] [ 8.01589429e-02 1.92380369e-03 9.96780238e-01 3.56316271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.17, Y:15.81, Z:3.56 [[ 8.71071077e-01 -4.86248049e-01 -6.92676928e-02 4.81719514e+01] [ 4.84543734e-01 8.73818744e-01 -4.07206751e-02 1.58082707e+01] [ 8.03277571e-02 1.90737581e-03 9.96766679e-01 3.56497445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.826874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.20, Y:15.82, Z:3.57 [[ 8.70902568e-01 -4.86494305e-01 -6.96563524e-02 4.81957446e+01] [ 4.84769580e-01 8.73681645e-01 -4.09736222e-02 1.58221153e+01] [ 8.07909105e-02 1.91675215e-03 9.96729228e-01 3.56620526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.856874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.22, Y:15.84, Z:3.57 [[ 8.70236563e-01 -4.87615886e-01 -7.01360970e-02 4.82197799e+01] [ 4.85869865e-01 8.73056341e-01 -4.12686238e-02 1.58361911e+01] [ 8.13560008e-02 1.83644933e-03 9.96683414e-01 3.56814098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.886874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.24, Y:15.85, Z:3.57 [[ 8.69351731e-01 -4.89227361e-01 -6.98867473e-02 4.82439650e+01] [ 4.87496841e-01 8.72154626e-01 -4.11477694e-02 1.58501477e+01] [ 8.10826646e-02 1.70231605e-03 9.96705926e-01 3.57019648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.27, Y:15.86, Z:3.57 [[ 8.67390009e-01 -4.92832166e-01 -6.89277068e-02 4.82683844e+01] [ 4.91158209e-01 8.70123315e-01 -4.06082598e-02 1.58633936e+01] [ 7.99886613e-02 1.36878976e-03 9.96794834e-01 3.57434148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.29, Y:15.88, Z:3.58 [[ 8.66258818e-01 -4.94918713e-01 -6.81991736e-02 4.82915077e+01] [ 4.93284544e-01 8.68938470e-01 -4.02031608e-02 1.58769768e+01] [ 7.91581821e-02 1.18474425e-03 9.96861364e-01 3.57729692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.32, Y:15.89, Z:3.58 [[ 8.65267573e-01 -4.96726096e-01 -6.76403204e-02 4.83151974e+01] [ 4.95123217e-01 8.67906759e-01 -3.98855549e-02 1.58912784e+01] [ 7.85176872e-02 1.02138426e-03 9.96912198e-01 3.57952985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.006874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.34, Y:15.91, Z:3.58 [[ 8.64306215e-01 -4.98394156e-01 -6.76611591e-02 4.83383132e+01] [ 4.96793454e-01 8.66950097e-01 -3.99223418e-02 1.59059030e+01] [ 7.85559103e-02 8.91507140e-04 9.96909311e-01 3.58053019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.036874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.36, Y:15.92, Z:3.58 [[ 8.63445773e-01 -4.99869481e-01 -6.77635552e-02 4.83614994e+01] [ 4.98267548e-01 8.66100405e-01 -3.99942332e-02 1.59206925e+01] [ 7.86819392e-02 7.68471037e-04 9.96899474e-01 3.58217485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.066874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.38, Y:15.94, Z:3.58 [[ 8.62106445e-01 -5.02186110e-01 -6.76874351e-02 4.83846174e+01] [ 5.00593511e-01 8.64759379e-01 -3.99668985e-02 1.59360940e+01] [ 7.86041656e-02 5.71830049e-04 9.96905742e-01 3.58360509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.41, Y:15.95, Z:3.59 [[ 8.61492990e-01 -5.03226411e-01 -6.77717331e-02 4.84087470e+01] [ 5.01631096e-01 8.64154460e-01 -4.00413937e-02 1.59507075e+01] [ 7.87151322e-02 4.98971209e-04 9.96897025e-01 3.58618886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.43, Y:15.96, Z:3.59 [[ 8.60511338e-01 -5.04864148e-01 -6.80619555e-02 4.84313531e+01] [ 5.03258296e-01 8.63198734e-01 -4.02372216e-02 1.59648787e+01] [ 7.90653244e-02 3.71841652e-04 9.96869368e-01 3.58763359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.46, Y:15.98, Z:3.59 [[ 8.59445915e-01 -5.06606607e-01 -6.85745200e-02 4.84550693e+01] [ 5.04980985e-01 8.62177300e-01 -4.05525436e-02 1.59801454e+01] [ 7.96675810e-02 2.23889306e-04 9.96821462e-01 3.58969217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.18687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.48, Y:16.00, Z:3.59 [[ 8.58725708e-01 -5.07868234e-01 -6.82642963e-02 4.84789304e+01] [ 5.06259308e-01 8.61434757e-01 -4.03939712e-02 1.59954299e+01] [ 7.93200523e-02 1.27906164e-04 9.96849193e-01 3.59161498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.216874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.50, Y:16.01, Z:3.59 [[ 8.57800794e-01 -5.09511904e-01 -6.76418336e-02 4.85030013e+01] [ 5.07935393e-01 8.60463607e-01 -4.00501778e-02 1.60107106e+01] [ 7.86093785e-02 -2.60704252e-06 9.96905495e-01 3.59436197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.246874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.53, Y:16.03, Z:3.60 [[ 8.54524759e-01 -5.15352785e-01 -6.47992539e-02 4.85251468e+01] [ 5.13921178e-01 8.56977981e-01 -3.83896077e-02 1.60262021e+01] [ 7.53157250e-02 -4.96838637e-04 9.97159613e-01 3.59972467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.276875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:48.55, Y:16.04, Z:3.60 [[ 8.52735527e-01 -5.18349386e-01 -6.44673234e-02 4.85480460e+01] [ 5.16939753e-01 8.55168616e-01 -3.82090339e-02 1.60424259e+01] [ 7.49360610e-02 -7.43521575e-04 9.97188063e-01 3.60192653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.57, Y:16.06, Z:3.60 [[ 8.51364012e-01 -5.20493629e-01 -6.53123390e-02 4.85706216e+01] [ 5.19051233e-01 8.53865053e-01 -3.87335655e-02 1.60587543e+01] [ 7.59284979e-02 -9.24086333e-04 9.97112837e-01 3.60300148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.59, Y:16.08, Z:3.60 [[ 8.50424938e-01 -5.21901646e-01 -6.63030725e-02 4.85932925e+01] [ 5.20417455e-01 8.53005030e-01 -3.93457990e-02 1.60751368e+01] [ 7.70914915e-02 -1.04462755e-03 9.97023475e-01 3.60317429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.62, Y:16.09, Z:3.60 [[ 8.49691773e-01 -5.23043862e-01 -6.67008933e-02 4.86159141e+01] [ 5.21543372e-01 8.52305011e-01 -3.96065525e-02 1.60914350e+01] [ 7.75654698e-02 -1.13404693e-03 9.96986616e-01 3.60365462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.396874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.64, Y:16.11, Z:3.61 [[ 8.49248328e-01 -5.23666738e-01 -6.74568360e-02 4.86377274e+01] [ 5.22132051e-01 8.51922383e-01 -4.00796101e-02 1.61071483e+01] [ 7.84563471e-02 -1.18383423e-03 9.96916847e-01 3.60502979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.426874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.66, Y:16.13, Z:3.61 [[ 8.49502588e-01 -5.23204866e-01 -6.78381996e-02 4.86600685e+01] [ 5.21650334e-01 8.52206181e-01 -4.03181630e-02 1.61251132e+01] [ 7.89067921e-02 -1.13743567e-03 9.96881349e-01 3.60769373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.68, Y:16.14, Z:3.61 [[ 8.50042630e-01 -5.22339509e-01 -6.77418973e-02 4.86821619e+01] [ 5.20784733e-01 8.52736986e-01 -4.02851781e-02 1.61405764e+01] [ 7.88085614e-02 -1.03482718e-03 9.96889231e-01 3.61063209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.70, Y:16.16, Z:3.61 [[ 8.50568722e-01 -5.21543696e-01 -6.72682893e-02 4.87048294e+01] [ 5.20007213e-01 8.53224051e-01 -4.00152111e-02 1.61573567e+01] [ 7.82646034e-02 -9.44308740e-04 9.96932174e-01 3.61313802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.73, Y:16.17, Z:3.62 [[ 8.51662758e-01 -5.19738870e-01 -6.73947641e-02 4.87277104e+01] [ 5.18189053e-01 8.54324839e-01 -4.01145151e-02 1.61745781e+01] [ 7.84260938e-02 -7.59190398e-04 9.96919641e-01 3.61625302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.75, Y:16.19, Z:3.62 [[ 8.53065644e-01 -5.17417250e-01 -6.75158931e-02 4.87498902e+01] [ 5.15852634e-01 8.55733085e-01 -4.02112748e-02 1.61913292e+01] [ 7.85815907e-02 -5.25394299e-04 9.96907547e-01 3.61777126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.576874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.77, Y:16.21, Z:3.62 [[ 8.56488587e-01 -5.11652142e-01 -6.81130317e-02 4.87707941e+01] [ 5.10039410e-01 8.59192693e-01 -4.05920679e-02 1.62108549e+01] [ 7.92912377e-02 2.63124067e-05 9.96851493e-01 3.61831795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.606874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.79, Y:16.23, Z:3.62 [[ 8.58242249e-01 -5.08726954e-01 -6.79494611e-02 4.87936414e+01] [ 5.07110818e-01 8.60927863e-01 -4.05195384e-02 1.62281402e+01] [ 7.91129657e-02 3.17672921e-04 9.96865607e-01 3.61953414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.636874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.82, Y:16.24, Z:3.62 [[ 8.60057959e-01 -5.05705301e-01 -6.75459526e-02 4.88156056e+01] [ 5.04097094e-01 8.62706075e-01 -4.03031938e-02 1.62448703e+01] [ 7.86538424e-02 6.13364133e-04 9.96901799e-01 3.62086729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.666875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:48.84, Y:16.26, Z:3.62 [[ 8.61648547e-01 -5.03066724e-01 -6.69750156e-02 4.88376914e+01] [ 5.01476383e-01 8.64247146e-01 -3.99788444e-02 1.62614231e+01] [ 7.79949923e-02 8.61324571e-04 9.96953379e-01 3.62205120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.86, Y:16.28, Z:3.62 [[ 8.63045586e-01 -5.00708240e-01 -6.66601452e-02 4.88607816e+01] [ 4.99124922e-01 8.65615442e-01 -3.98022549e-02 1.62780928e+01] [ 7.76313680e-02 1.07942064e-03 9.96981547e-01 3.62497453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.88, Y:16.29, Z:3.63 [[ 8.64314533e-01 -4.98653142e-01 -6.56157846e-02 4.88840561e+01] [ 4.97111383e-01 8.66800694e-01 -3.92024113e-02 1.62946226e+01] [ 7.64242133e-02 1.26486042e-03 9.97074591e-01 3.62752594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.756874999999994 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:48.91, Y:16.31, Z:3.63 [[ 8.66456358e-01 -4.95081871e-01 -6.43996917e-02 4.89058367e+01] [ 4.93585175e-01 8.68844907e-01 -3.84993974e-02 1.63126347e+01] [ 7.50136978e-02 1.57131462e-03 9.97181265e-01 3.63025446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.786874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.93, Y:16.33, Z:3.63 [[ 8.67042292e-01 -4.94095060e-01 -6.40916142e-02 4.89278444e+01] [ 4.92608147e-01 8.69406281e-01 -3.83396843e-02 1.63283953e+01] [ 7.46651006e-02 1.67007643e-03 9.97207267e-01 3.63171644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.816874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.95, Y:16.34, Z:3.63 [[ 8.67569852e-01 -4.93194356e-01 -6.38895885e-02 4.89507050e+01] [ 4.91713562e-01 8.69917386e-01 -3.82297586e-02 1.63443107e+01] [ 7.44333650e-02 1.75160886e-03 9.97224451e-01 3.63405504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.97, Y:16.36, Z:3.64 [[ 8.68000692e-01 -4.92447483e-01 -6.37987050e-02 4.89732342e+01] [ 4.90967086e-01 8.70340228e-01 -3.81995858e-02 1.63602201e+01] [ 7.43378693e-02 1.83420267e-03 9.97231426e-01 3.63543180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.00, Y:16.38, Z:3.64 [[ 8.68318738e-01 -4.91919689e-01 -6.35420163e-02 4.89967639e+01] [ 4.90448561e-01 8.70638537e-01 -3.80624172e-02 1.63765998e+01] [ 7.40457805e-02 1.88621959e-03 9.97253059e-01 3.63667017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.02, Y:16.39, Z:3.64 [[ 8.68330146e-01 -4.91833037e-01 -6.40548287e-02 4.90198867e+01] [ 4.90335941e-01 8.70687393e-01 -3.83943908e-02 1.63926737e+01] [ 7.46553616e-02 1.93062233e-03 9.97207526e-01 3.63796984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.93687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.04, Y:16.41, Z:3.64 [[ 8.68744898e-01 -4.90912623e-01 -6.54759442e-02 4.90424364e+01] [ 4.89343650e-01 8.71206337e-01 -3.92722672e-02 1.64096236e+01] [ 7.63223092e-02 2.07734422e-03 9.97081035e-01 3.63935827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.966874999999995 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:49.07, Y:16.43, Z:3.64 [[ 8.69000380e-01 -4.90392001e-01 -6.59850401e-02 4.90654641e+01] [ 4.88795007e-01 8.71499289e-01 -3.96034192e-02 1.64250721e+01] [ 7.69271154e-02 2.16222819e-03 9.97034374e-01 3.64159185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.996874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.09, Y:16.44, Z:3.64 [[ 8.69269932e-01 -4.89921750e-01 -6.59277255e-02 4.90889021e+01] [ 4.88324224e-01 8.71763576e-01 -3.95944359e-02 1.64409463e+01] [ 7.68715650e-02 2.22414717e-03 9.97038523e-01 3.64428802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.026875 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:49.11, Y:16.46, Z:3.65 [[ 8.69515326e-01 -4.89572489e-01 -6.52830441e-02 4.91115090e+01] [ 4.88003270e-01 8.71959688e-01 -3.92315104e-02 1.64565103e+01] [ 7.61308509e-02 2.25406056e-03 9.97095288e-01 3.64648524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.056875 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:49.14, Y:16.47, Z:3.65 [[ 8.69389410e-01 -4.89796724e-01 -6.52780486e-02 4.91359165e+01] [ 4.88227512e-01 8.71833776e-01 -3.92398207e-02 1.64712845e+01] [ 7.61311432e-02 2.24414529e-03 9.97095288e-01 3.64857491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.16, Y:16.49, Z:3.65 [[ 8.69808024e-01 -4.89110448e-01 -6.48457422e-02 4.91594785e+01] [ 4.87558360e-01 8.72218802e-01 -3.90026492e-02 1.64869691e+01] [ 7.56362788e-02 2.30873356e-03 9.97132801e-01 3.65085058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.18, Y:16.50, Z:3.65 [[ 8.70263789e-01 -4.88334353e-01 -6.45793869e-02 4.91824497e+01] [ 4.86791043e-01 8.72653344e-01 -3.88667112e-02 1.65018546e+01] [ 7.53353682e-02 2.38762424e-03 9.97155395e-01 3.65297539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.146874999999994 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:49.21, Y:16.52, Z:3.65 [[ 8.70928229e-01 -4.87062516e-01 -6.52236595e-02 4.92055787e+01] [ 4.85483774e-01 8.73363435e-01 -3.92659484e-02 1.65172022e+01] [ 7.60889310e-02 2.53279454e-03 9.97097818e-01 3.65471291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.176874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.23, Y:16.53, Z:3.66 [[ 8.71004872e-01 -4.86847613e-01 -6.58020800e-02 4.92288095e+01] [ 4.85238143e-01 8.73483062e-01 -3.96394407e-02 1.65323818e+01] [ 7.67753695e-02 2.59646691e-03 9.97045035e-01 3.65611959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.206875 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:49.25, Y:16.55, Z:3.66 [[ 8.71265062e-01 -4.86359593e-01 -6.59661898e-02 4.92515427e+01] [ 4.84738794e-01 8.73754675e-01 -3.97626706e-02 1.65469505e+01] [ 7.69772229e-02 2.66745434e-03 9.97029283e-01 3.65778215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.236875 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:49.27, Y:16.56, Z:3.66 [[ 8.71246710e-01 -4.86400847e-01 -6.59043756e-02 4.92749728e+01] [ 4.84782320e-01 8.73731698e-01 -3.97369195e-02 1.65617173e+01] [ 7.69108133e-02 2.67138431e-03 9.97034398e-01 3.65964274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.266875 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:49.30, Y:16.58, Z:3.66 [[ 8.71562649e-01 -4.85828706e-01 -6.59470725e-02 4.92982897e+01] [ 4.84204558e-01 8.74049731e-01 -3.97870968e-02 1.65755301e+01] [ 7.69707348e-02 2.74507441e-03 9.97029574e-01 3.66157305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.296875 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:49.32, Y:16.59, Z:3.66 [[ 8.71342727e-01 -4.86143705e-01 -6.65293173e-02 4.93225846e+01] [ 4.84490692e-01 8.73874548e-01 -4.01502751e-02 1.65897262e+01] [ 7.76570806e-02 2.75181528e-03 9.96976331e-01 3.66375797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.326874999999994 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:49.35, Y:16.60, Z:3.67 [[ 8.71080055e-01 -4.86587644e-01 -6.67233278e-02 4.93472151e+01] [ 4.84924247e-01 8.73627462e-01 -4.02930795e-02 1.66037322e+01] [ 7.78974461e-02 2.74273843e-03 9.96957605e-01 3.66636039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.356874999999995 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:49.37, Y:16.62, Z:3.67 [[ 8.70616647e-01 -4.87365715e-01 -6.70918338e-02 4.93714901e+01] [ 4.85684098e-01 8.73193742e-01 -4.05419049e-02 1.66180628e+01] [ 7.83429038e-02 2.71102048e-03 9.96922785e-01 3.66854459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.386874999999996 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:49.40, Y:16.63, Z:3.67 [[ 8.70399518e-01 -4.87760719e-01 -6.70384925e-02 4.93961060e+01] [ 4.86080898e-01 8.72973202e-01 -4.05357783e-02 1.66323739e+01] [ 7.82945679e-02 2.69619132e-03 9.96926623e-01 3.67066022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.416875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:49.42, Y:16.65, Z:3.67 [[ 8.69966722e-01 -4.88526596e-01 -6.70795585e-02 4.94200721e+01] [ 4.86844943e-01 8.72544975e-01 -4.05865389e-02 1.66460939e+01] [ 7.83575355e-02 2.65159435e-03 9.96921795e-01 3.67237879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.44, Y:16.66, Z:3.67 [[ 8.69220143e-01 -4.89770338e-01 -6.76857361e-02 4.94447236e+01] [ 4.88059825e-01 8.71847655e-01 -4.09789452e-02 1.66584945e+01] [ 7.90819222e-02 2.58503609e-03 9.96864769e-01 3.67390809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.476875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:49.47, Y:16.67, Z:3.68 [[ 8.68866434e-01 -4.90358334e-01 -6.79692846e-02 4.94682383e+01] [ 4.88634304e-01 8.71517177e-01 -4.11622014e-02 1.66711205e+01] [ 7.94206276e-02 2.55233106e-03 9.96837925e-01 3.67537276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.506874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.49, Y:16.68, Z:3.68 [[ 8.68532862e-01 -4.90859732e-01 -6.86104354e-02 4.94935770e+01] [ 4.89103486e-01 8.71234908e-01 -4.15633898e-02 1.66842925e+01] [ 8.01776007e-02 2.54156673e-03 9.96777354e-01 3.67730273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.536874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.52, Y:16.70, Z:3.68 [[ 8.68181560e-01 -4.91423949e-01 -6.90165327e-02 4.95188182e+01] [ 4.89646400e-01 8.70916823e-01 -4.18364767e-02 1.66976581e+01] [ 8.06671059e-02 2.52796082e-03 9.96737893e-01 3.67889630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.566874999999996 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:49.54, Y:16.71, Z:3.68 [[ 8.68198900e-01 -4.91401168e-01 -6.89605812e-02 4.95432159e+01] [ 4.89624386e-01 8.70929612e-01 -4.18278790e-02 1.67104292e+01] [ 8.06140808e-02 2.55013631e-03 9.96742127e-01 3.68051556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.57, Y:16.72, Z:3.68 [[ 8.68222243e-01 -4.91389860e-01 -6.87469423e-02 4.95677793e+01] [ 4.89623020e-01 8.70935980e-01 -4.17111228e-02 1.67231384e+01] [ 8.03706083e-02 2.55443915e-03 9.96761777e-01 3.68243954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.626875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:49.59, Y:16.73, Z:3.69 [[ 8.68475962e-01 -4.90912866e-01 -6.89496974e-02 4.95945040e+01] [ 4.89131943e-01 8.71204709e-01 -4.18604506e-02 1.67333855e+01] [ 8.06191349e-02 2.62929564e-03 9.96741512e-01 3.68513265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.62, Y:16.75, Z:3.69 [[ 8.68368795e-01 -4.91082644e-01 -6.90903245e-02 4.96198570e+01] [ 4.89292807e-01 8.71108980e-01 -4.19725339e-02 1.67458226e+01] [ 8.07971851e-02 2.64223991e-03 9.96727061e-01 3.68674565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.68687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.64, Y:16.76, Z:3.69 [[ 8.68421056e-01 -4.90962362e-01 -6.92880130e-02 4.96448153e+01] [ 4.89159732e-01 8.71176650e-01 -4.21188891e-02 1.67576636e+01] [ 8.10408883e-02 2.68402425e-03 9.96707164e-01 3.68878575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.716874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.67, Y:16.77, Z:3.69 [[ 8.68492458e-01 -4.90786790e-01 -6.96360306e-02 4.96705115e+01] [ 4.88963822e-01 8.71275426e-01 -4.23498818e-02 1.67701629e+01] [ 8.14569247e-02 2.73105329e-03 9.96673121e-01 3.69042652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.746874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.69, Y:16.78, Z:3.69 [[ 8.68675658e-01 -4.90456041e-01 -6.96812250e-02 4.96949481e+01] [ 4.88627546e-01 8.71461479e-01 -4.24029846e-02 1.67818343e+01] [ 8.15213033e-02 2.78627458e-03 9.96667705e-01 3.69161424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.72, Y:16.79, Z:3.69 [[ 8.69023890e-01 -4.89803014e-01 -6.99320142e-02 4.97212267e+01] [ 4.87958233e-01 8.71828412e-01 -4.25673855e-02 1.67910774e+01] [ 8.18183507e-02 2.86817284e-03 9.96643131e-01 3.69324662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.75, Y:16.80, Z:3.70 [[ 8.69043074e-01 -4.89766487e-01 -6.99494430e-02 4.97462426e+01] [ 4.87919592e-01 8.71848882e-01 -4.25910701e-02 1.68033238e+01] [ 8.18450225e-02 2.88377076e-03 9.96640896e-01 3.69520032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.836875 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:49.77, Y:16.82, Z:3.70 [[ 8.68983622e-01 -4.89873011e-01 -6.99421036e-02 4.97708107e+01] [ 4.88024788e-01 8.71788994e-01 -4.26116895e-02 1.68151257e+01] [ 8.18490728e-02 2.89538004e-03 9.96640530e-01 3.69712194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.80, Y:16.83, Z:3.70 [[ 8.68659567e-01 -4.90512082e-01 -6.94870819e-02 4.97959472e+01] [ 4.88688850e-01 8.71429802e-01 -4.23474716e-02 1.68269271e+01] [ 8.13250605e-02 2.82797415e-03 9.96683619e-01 3.69944943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.896874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.82, Y:16.84, Z:3.70 [[ 8.68156768e-01 -4.91466106e-01 -6.90282004e-02 4.98203409e+01] [ 4.89667825e-01 8.70892383e-01 -4.20936872e-02 1.68383874e+01] [ 8.08037545e-02 2.74303064e-03 9.96726256e-01 3.70186217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.926874999999995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:49.85, Y:16.85, Z:3.70 [[ 8.67220411e-01 -4.93306845e-01 -6.76543821e-02 4.98460641e+01] [ 4.91583776e-01 8.69851671e-01 -4.12730061e-02 1.68479037e+01] [ 7.92095338e-02 2.53499671e-03 9.96854766e-01 3.70372556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.87, Y:16.86, Z:3.71 [[ 8.66472010e-01 -4.94711579e-01 -6.69828979e-02 4.98712096e+01] [ 4.93025827e-01 8.69053926e-01 -4.08755102e-02 1.68602711e+01] [ 7.84333386e-02 2.39318688e-03 9.96916488e-01 3.70533792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.90, Y:16.87, Z:3.71 [[ 8.65589717e-01 -4.96275584e-01 -6.68205571e-02 4.98958165e+01] [ 4.94600677e-01 8.68162083e-01 -4.08015738e-02 1.68724528e+01] [ 7.82598988e-02 2.26792992e-03 9.96930411e-01 3.70638742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.92, Y:16.88, Z:3.71 [[ 8.64627167e-01 -4.97993472e-01 -6.65008645e-02 4.99205339e+01] [ 4.96338738e-01 8.67178205e-01 -4.06179400e-02 1.68843108e+01] [ 7.78955693e-02 2.11241919e-03 9.96959286e-01 3.70815956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.95, Y:16.90, Z:3.71 [[ 8.63360765e-01 -5.00175156e-01 -6.65807930e-02 4.99454934e+01] [ 4.98521516e-01 8.65922095e-01 -4.06844349e-02 1.68963191e+01] [ 7.80031233e-02 1.93338699e-03 9.96951240e-01 3.71035434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.076874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.97, Y:16.91, Z:3.71 [[ 8.61898357e-01 -5.02671215e-01 -6.67298383e-02 4.99697155e+01] [ 5.01015691e-01 8.64475938e-01 -4.07998668e-02 1.69081367e+01] [ 7.81952582e-02 1.73264213e-03 9.96936557e-01 3.71247914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.106874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.00, Y:16.92, Z:3.72 [[ 8.59239363e-01 -5.07238044e-01 -6.64626509e-02 4.99966305e+01] [ 5.05608445e-01 8.61804977e-01 -4.06482778e-02 1.69182294e+01] [ 7.78961962e-02 1.32252273e-03 9.96960598e-01 3.71507174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.136874999999996 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:50.02, Y:16.93, Z:3.72 [[ 8.58261477e-01 -5.08919041e-01 -6.62468634e-02 5.00204037e+01] [ 5.07303078e-01 8.60813568e-01 -4.05411955e-02 1.69302491e+01] [ 7.76583852e-02 1.18770865e-03 9.96979320e-01 3.71727234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.04, Y:16.94, Z:3.72 [[ 8.57489074e-01 -5.10244766e-01 -6.60512381e-02 5.00449744e+01] [ 5.08641344e-01 8.60028560e-01 -4.04333967e-02 1.69434589e+01] [ 7.74368802e-02 1.07480535e-03 9.96996677e-01 3.71977020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.06, Y:16.97, Z:3.69 [[ 8.55784262e-01 -5.15929990e-01 -3.80728570e-02 5.00649391e+01] [ 5.12910640e-01 8.55770160e-01 -6.76764999e-02 1.69682805e+01] [ 6.74979509e-02 3.83885101e-02 9.96980616e-01 3.68519141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.10, Y:16.97, Z:3.74 [[ 8.56424867e-01 -5.09144917e-01 -8.54862642e-02 5.00962933e+01] [ 5.10377690e-01 8.59909303e-01 -8.40259025e-03 1.69650994e+01] [ 7.77885701e-02 -3.64340948e-02 9.96303917e-01 3.74380343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.256874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.12, Y:16.99, Z:3.72 [[ 8.56071304e-01 -5.12663670e-01 -6.57106043e-02 5.01181936e+01] [ 5.11079645e-01 8.58589048e-01 -4.02795544e-02 1.69856445e+01] [ 7.70682693e-02 8.98818319e-04 9.97025413e-01 3.72408962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.286874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.14, Y:17.01, Z:3.69 [[ 8.54890288e-01 -5.17228090e-01 -4.04684781e-02 5.01395768e+01] [ 5.14303971e-01 8.55142016e-01 -6.49889016e-02 1.70090795e+01] [ 6.82203814e-02 3.47452819e-02 9.97065066e-01 3.69414250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.316874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.17, Y:17.01, Z:3.75 [[ 8.55725592e-01 -5.10743931e-01 -8.29116890e-02 5.01693931e+01] [ 5.11699993e-01 8.59095184e-01 -1.08895610e-02 1.70081042e+01] [ 7.67908099e-02 -3.31074346e-02 9.96497401e-01 3.74794529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.19, Y:17.03, Z:3.73 [[ 8.55767992e-01 -5.13322886e-01 -6.45039396e-02 5.01914565e+01] [ 5.11794365e-01 8.58195116e-01 -3.95938225e-02 1.70291485e+01] [ 7.56813812e-02 8.70373220e-04 9.97131672e-01 3.73069588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.22, Y:17.04, Z:3.73 [[ 8.56097249e-01 -5.12863540e-01 -6.37847079e-02 5.02152025e+01] [ 5.11365917e-01 8.58469650e-01 -3.91759944e-02 1.70440864e+01] [ 7.48491751e-02 9.21135377e-04 9.97194441e-01 3.73274188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.24, Y:17.06, Z:3.73 [[ 8.56685983e-01 -5.11985200e-01 -6.29307606e-02 5.02377550e+01] [ 5.10523368e-01 8.58993682e-01 -3.86748598e-02 1.70583645e+01] [ 7.38580816e-02 1.00458643e-03 9.97268256e-01 3.73498542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.43687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.26, Y:17.07, Z:3.74 [[ 8.57499873e-01 -5.10635391e-01 -6.28129461e-02 5.02618054e+01] [ 5.09174662e-01 8.59796619e-01 -3.86126524e-02 1.70735621e+01] [ 7.37233455e-02 1.12758390e-03 9.97278094e-01 3.73764691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.466874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.28, Y:17.09, Z:3.74 [[ 8.59227327e-01 -5.07709704e-01 -6.29226327e-02 5.02836462e+01] [ 5.06234224e-01 8.61527069e-01 -3.87042574e-02 1.70890262e+01] [ 7.38600784e-02 1.40216546e-03 9.97267628e-01 3.73842564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.496874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.31, Y:17.10, Z:3.74 [[ 8.59838139e-01 -5.06658565e-01 -6.30513534e-02 5.03066664e+01] [ 5.05173424e-01 8.62145483e-01 -3.87940391e-02 1.71045164e+01] [ 7.40147717e-02 1.50472632e-03 9.97256010e-01 3.73968478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.33, Y:17.12, Z:3.74 [[ 8.60374928e-01 -5.05792689e-01 -6.26796522e-02 5.03299111e+01] [ 5.04321037e-01 8.62653597e-01 -3.85883811e-02 1.71201165e+01] [ 7.35885485e-02 1.58980843e-03 9.97287420e-01 3.74119743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.35, Y:17.14, Z:3.74 [[ 8.60562269e-01 -5.05536037e-01 -6.21763383e-02 5.03531813e+01] [ 5.04085569e-01 8.62803972e-01 -3.83020242e-02 1.71354073e+01] [ 7.30090452e-02 1.61908201e-03 9.97329964e-01 3.74335210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.38, Y:17.15, Z:3.75 [[ 8.60794854e-01 -5.05156743e-01 -6.20393740e-02 5.03763616e+01] [ 5.03709915e-01 8.63026003e-01 -3.82418702e-02 1.71500403e+01] [ 7.28597316e-02 1.66855727e-03 9.97340802e-01 3.74551713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.61687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.40, Y:17.16, Z:3.75 [[ 8.60689769e-01 -5.05340661e-01 -6.19994956e-02 5.03987031e+01] [ 5.03895410e-01 8.62918338e-01 -3.82277108e-02 1.71643644e+01] [ 7.28185184e-02 1.66093831e-03 9.97343825e-01 3.74832900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.646874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.42, Y:17.18, Z:3.75 [[ 8.60263814e-01 -5.05991576e-01 -6.25994852e-02 5.04218380e+01] [ 5.04519127e-01 8.62536879e-01 -3.86080720e-02 1.71799567e+01] [ 7.35297238e-02 1.63048962e-03 9.97291693e-01 3.75104175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.676874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.45, Y:17.20, Z:3.75 [[ 8.59790872e-01 -5.06724590e-01 -6.31652290e-02 5.04456420e+01] [ 5.05225515e-01 8.62106501e-01 -3.89815236e-02 1.71952562e+01] [ 7.42080512e-02 1.60327281e-03 9.97241493e-01 3.75198215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.47, Y:17.21, Z:3.75 [[ 8.59069928e-01 -5.07831270e-01 -6.40801037e-02 5.04686847e+01] [ 5.06289611e-01 8.61455162e-01 -3.95706190e-02 1.72102408e+01] [ 7.52973338e-02 1.55083810e-03 9.97159920e-01 3.75298438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.49, Y:17.23, Z:3.75 [[ 8.58130812e-01 -5.09338475e-01 -6.46979719e-02 5.04922385e+01] [ 5.07770311e-01 8.60565069e-01 -3.99633943e-02 1.72252102e+01] [ 7.60317090e-02 1.44211069e-03 9.97104357e-01 3.75402322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.52, Y:17.24, Z:3.76 [[ 8.57215260e-01 -5.10842122e-01 -6.49794141e-02 5.05151047e+01] [ 5.09262702e-01 8.59673509e-01 -4.01616512e-02 1.72393991e+01] [ 7.63773440e-02 1.33558825e-03 9.97078090e-01 3.75512509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.54, Y:17.25, Z:3.76 [[ 8.56123608e-01 -5.12537420e-01 -6.60133399e-02 5.05389011e+01] [ 5.10911367e-01 8.58664032e-01 -4.08124269e-02 1.72535310e+01] [ 7.76011766e-02 1.21351638e-03 9.96983743e-01 3.75774096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.826874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.56, Y:17.27, Z:3.76 [[ 8.53958431e-01 -5.16176135e-01 -6.57053681e-02 5.05621371e+01] [ 5.14574113e-01 8.56481984e-01 -4.06459621e-02 1.72670511e+01] [ 7.72559396e-02 8.99680534e-04 9.97010888e-01 3.76051228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.856874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.59, Y:17.28, Z:3.76 [[ 8.52813254e-01 -5.18140715e-01 -6.51133875e-02 5.05859983e+01] [ 5.16572336e-01 8.55295080e-01 -4.02907795e-02 1.72816172e+01] [ 7.65674533e-02 7.24736101e-04 9.97064140e-01 3.76294606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.886874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.60, Y:17.31, Z:3.74 [[ 8.50612040e-01 -5.24095603e-01 -4.22250600e-02 5.06043535e+01] [ 5.21307483e-01 8.51098665e-01 -6.22058687e-02 1.73053314e+01] [ 6.85395145e-02 3.09008212e-02 9.97169732e-01 3.73644828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.64, Y:17.31, Z:3.78 [[ 8.50853657e-01 -5.19365248e-01 -7.94216163e-02 5.06354521e+01] [ 5.20011154e-01 8.54045500e-01 -1.39528928e-02 1.73060315e+01] [ 7.50763217e-02 -2.94282565e-02 9.96743459e-01 3.78445836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.66, Y:17.33, Z:3.77 [[ 8.49934106e-01 -5.23094020e-01 -6.31241773e-02 5.06563474e+01] [ 5.21629681e-01 8.52274924e-01 -3.91143306e-02 1.73259002e+01] [ 7.42596258e-02 3.17159191e-04 9.97238892e-01 3.76941716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.68, Y:17.34, Z:3.77 [[ 8.49848158e-01 -5.23234505e-01 -6.31170505e-02 5.06805178e+01] [ 5.21769698e-01 8.52188683e-01 -3.91258275e-02 1.73410069e+01] [ 7.42596191e-02 3.18448027e-04 9.97238892e-01 3.77151478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.006874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.70, Y:17.36, Z:3.77 [[ 8.48828303e-01 -5.24859389e-01 -6.33492989e-02 5.07045391e+01] [ 5.23387188e-01 8.51188925e-01 -3.92844135e-02 1.73560987e+01] [ 7.45410149e-02 1.89510692e-04 9.97217931e-01 3.77347615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.036874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.73, Y:17.37, Z:3.77 [[ 8.46914623e-01 -5.27912838e-01 -6.35897553e-02 5.07281729e+01] [ 5.26436185e-01 8.49298553e-01 -3.94577166e-02 1.73718438e+01] [ 7.48369223e-02 -5.86310790e-05 9.97195784e-01 3.77432210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.066874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.75, Y:17.39, Z:3.78 [[ 8.46209407e-01 -5.28997675e-01 -6.39617124e-02 5.07504416e+01] [ 5.27504961e-01 8.48623263e-01 -3.97123864e-02 1.73862691e+01] [ 7.52871572e-02 -1.35125732e-04 9.97161885e-01 3.77602317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.77, Y:17.40, Z:3.78 [[ 8.45483944e-01 -5.30094268e-01 -6.44745501e-02 5.07742082e+01] [ 5.28579835e-01 8.47938687e-01 -4.00417491e-02 1.74016331e+01] [ 7.58963670e-02 -2.25291035e-04 9.97115686e-01 3.77831217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.80, Y:17.42, Z:3.78 [[ 8.45126769e-01 -5.30603096e-01 -6.49699786e-02 5.07976248e+01] [ 5.29064902e-01 8.47620369e-01 -4.03737393e-02 1.74165268e+01] [ 7.64923083e-02 -2.52407487e-04 9.97070139e-01 3.78100894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.82, Y:17.43, Z:3.78 [[ 8.44908094e-01 -5.30917561e-01 -6.52445848e-02 5.08205924e+01] [ 5.29365383e-01 8.47423433e-01 -4.05686647e-02 1.74311447e+01] [ 7.68284066e-02 -2.61431382e-04 9.97044296e-01 3.78434647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.18687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.84, Y:17.46, Z:3.75 [[ 8.43262097e-01 -5.36151653e-01 -3.80846537e-02 5.08371582e+01] [ 5.33252094e-01 8.43384144e-01 -6.59195644e-02 1.74573702e+01] [ 6.74628765e-02 3.52787488e-02 9.97097874e-01 3.75180888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.216874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.87, Y:17.46, Z:3.81 [[ 8.44735982e-01 -5.28786797e-01 -8.24963240e-02 5.08692384e+01] [ 5.29863722e-01 8.48023323e-01 -1.00439081e-02 1.74573758e+01] [ 7.52698928e-02 -3.52273587e-02 9.96540755e-01 3.80668108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.246874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.89, Y:17.48, Z:3.79 [[ 8.44402938e-01 -5.31935620e-01 -6.34679080e-02 5.08901194e+01] [ 5.30467150e-01 8.46784741e-01 -3.94994306e-02 1.74797630e+01] [ 7.47548102e-02 -3.14205030e-04 9.97201895e-01 3.78899834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.91, Y:17.49, Z:3.79 [[ 8.44502658e-01 -5.31833742e-01 -6.29931083e-02 5.09124590e+01] [ 5.30385129e-01 8.46848741e-01 -3.92278536e-02 1.74943022e+01] [ 7.42083307e-02 -2.82581211e-04 9.97242721e-01 3.79131294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.94, Y:17.51, Z:3.79 [[ 8.44315570e-01 -5.32181518e-01 -6.25623674e-02 5.09359726e+01] [ 5.30752434e-01 8.46630228e-01 -3.89757701e-02 1.75101020e+01] [ 7.37093759e-02 -2.97279249e-04 9.97279720e-01 3.79326974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.96, Y:17.53, Z:3.80 [[ 8.44491896e-01 -5.31869453e-01 -6.28356863e-02 5.09594527e+01] [ 5.30425262e-01 8.46826323e-01 -3.91691126e-02 1.75254758e+01] [ 7.40437677e-02 -2.51637272e-04 9.97254961e-01 3.79644542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.36687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.98, Y:17.54, Z:3.80 [[ 8.44919985e-01 -5.31205149e-01 -6.27001473e-02 5.09818170e+01] [ 5.29763594e-01 8.47243212e-01 -3.91085085e-02 1.75410963e+01] [ 7.38969152e-02 -1.72694930e-04 9.97265870e-01 3.79826882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.396874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.00, Y:17.56, Z:3.80 [[ 8.46678804e-01 -5.28340907e-01 -6.31734766e-02 5.10040108e+01] [ 5.26868695e-01 8.49032319e-01 -3.94144653e-02 1.75583394e+01] [ 7.44605977e-02 8.72652033e-05 9.97223953e-01 3.80024141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.426874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.03, Y:17.57, Z:3.80 [[ 8.47680962e-01 -5.26646573e-01 -6.38778032e-02 5.10265558e+01] [ 5.25134706e-01 8.50084302e-01 -3.98775764e-02 1.75741503e+01] [ 7.53029067e-02 2.59010975e-04 9.97160672e-01 3.80203812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.05, Y:17.59, Z:3.80 [[ 8.48591232e-01 -5.25055573e-01 -6.48811754e-02 5.10492334e+01] [ 5.23490265e-01 8.51067842e-01 -4.05150580e-02 1.75901565e+01] [ 7.64909390e-02 4.16059240e-04 9.97070190e-01 3.80315722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.07, Y:17.61, Z:3.80 [[ 8.49487944e-01 -5.23531429e-01 -6.54604920e-02 5.10718170e+01] [ 5.21931573e-01 8.52006166e-01 -4.09014107e-02 1.76062364e+01] [ 7.71859169e-02 5.79357672e-04 9.97016549e-01 3.80387711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.10, Y:17.62, Z:3.80 [[ 8.50315622e-01 -5.22074334e-01 -6.63455620e-02 5.10952866e+01] [ 5.20424421e-01 8.52899665e-01 -4.14799300e-02 1.76223632e+01] [ 7.82417144e-02 7.43181833e-04 9.96934141e-01 3.80476865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.12, Y:17.64, Z:3.81 [[ 8.50891611e-01 -5.21076614e-01 -6.68029020e-02 5.11179790e+01] [ 5.19398822e-01 8.53509472e-01 -4.17904747e-02 1.76374513e+01] [ 7.87929487e-02 8.61815727e-04 9.96890630e-01 3.80614045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.576874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.14, Y:17.65, Z:3.81 [[ 8.51500579e-01 -5.20010148e-01 -6.73513896e-02 5.11416037e+01] [ 5.18300339e-01 8.54159521e-01 -4.21458336e-02 1.76524484e+01] [ 7.94450919e-02 9.78953653e-04 9.96838763e-01 3.80839442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.606874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.16, Y:17.67, Z:3.81 [[ 8.51727270e-01 -5.19664021e-01 -6.71562593e-02 5.11638115e+01] [ 5.17961093e-01 8.54370087e-01 -4.20483059e-02 1.76669133e+01] [ 7.92272908e-02 1.02935935e-03 9.96856046e-01 3.81059134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.636874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.19, Y:17.68, Z:3.81 [[ 8.52124048e-01 -5.19073937e-01 -6.66847380e-02 5.11871135e+01] [ 5.17392136e-01 8.54728651e-01 -4.17649373e-02 1.76821649e+01] [ 7.86764466e-02 1.08674842e-03 9.96899612e-01 3.81268365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.21, Y:17.70, Z:3.82 [[ 8.52626315e-01 -5.18251383e-01 -6.66623729e-02 5.12095760e+01] [ 5.16566264e-01 8.55227516e-01 -4.17754760e-02 1.76968425e+01] [ 7.86616938e-02 1.18333724e-03 9.96900666e-01 3.81503827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.696875 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:51.23, Y:17.71, Z:3.82 [[ 8.53241637e-01 -5.17255205e-01 -6.65263969e-02 5.12333176e+01] [ 5.15573003e-01 8.55830244e-01 -4.17021754e-02 1.77122706e+01] [ 7.85059698e-02 1.28281820e-03 9.96912818e-01 3.81750934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.726875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:51.26, Y:17.73, Z:3.82 [[ 8.54069324e-01 -5.15944487e-01 -6.60823412e-02 5.12573503e+01] [ 5.14278821e-01 8.56620851e-01 -4.14489095e-02 1.77273952e+01] [ 7.79928477e-02 1.41549364e-03 9.96952914e-01 3.82061993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.756874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.28, Y:17.74, Z:3.82 [[ 8.56000556e-01 -5.12917178e-01 -6.46453169e-02 5.12805577e+01] [ 5.11312786e-01 8.58436463e-01 -4.05718372e-02 1.77428256e+01] [ 7.63038894e-02 1.67553814e-03 9.97083201e-01 3.82420091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.786874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.30, Y:17.76, Z:3.83 [[ 8.56981546e-01 -5.11268286e-01 -6.47098839e-02 5.13029374e+01] [ 5.09654123e-01 8.59419185e-01 -4.06366838e-02 1.77577837e+01] [ 7.63891633e-02 1.84522901e-03 9.97076372e-01 3.82587035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.816874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.33, Y:17.77, Z:3.83 [[ 8.58018926e-01 -5.09486346e-01 -6.50168023e-02 5.13263273e+01] [ 5.07850818e-01 8.60476361e-01 -4.08408837e-02 1.77727191e+01] [ 7.67532941e-02 2.02341490e-03 9.97048062e-01 3.82730229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.35, Y:17.79, Z:3.83 [[ 8.58876559e-01 -5.07923494e-01 -6.59149507e-02 5.13489485e+01] [ 5.06235842e-01 8.61399338e-01 -4.14301015e-02 1.77868859e+01] [ 7.78224167e-02 2.21483244e-03 9.96964777e-01 3.82897361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.37, Y:17.80, Z:3.83 [[ 8.59742119e-01 -5.06471469e-01 -6.58038032e-02 5.13724783e+01] [ 5.04784348e-01 8.62253511e-01 -4.13720354e-02 1.78015112e+01] [ 7.76933159e-02 2.35255143e-03 9.96974530e-01 3.83085901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.40, Y:17.82, Z:3.83 [[ 8.60481902e-01 -5.05168443e-01 -6.61493843e-02 5.13959496e+01] [ 5.03457691e-01 8.63017130e-01 -4.16147356e-02 1.78164364e+01] [ 7.81105030e-02 2.50531056e-03 9.96941559e-01 3.83276536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.93687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.42, Y:17.83, Z:3.83 [[ 8.61858454e-01 -5.02805824e-01 -6.62292188e-02 5.14198200e+01] [ 5.01081924e-01 8.64395029e-01 -4.16910039e-02 1.78316971e+01] [ 7.82106871e-02 2.74547984e-03 9.96933072e-01 3.83359120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.966874999999995 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:51.44, Y:17.85, Z:3.84 [[ 8.62311776e-01 -5.01996823e-01 -6.64649617e-02 5.14425674e+01] [ 5.00256199e-01 8.64864765e-01 -4.18649516e-02 1.78452981e+01] [ 7.84992762e-02 2.85113164e-03 9.96910094e-01 3.83612027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.996874999999996 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:51.47, Y:17.86, Z:3.84 [[ 8.62479785e-01 -5.01660640e-01 -6.68223197e-02 5.14669380e+01] [ 4.99899215e-01 8.65059619e-01 -4.21026207e-02 1.78601184e+01] [ 7.89265180e-02 2.90823409e-03 9.96876194e-01 3.83846874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.026875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:51.49, Y:17.87, Z:3.84 [[ 8.62804683e-01 -5.01032687e-01 -6.73373981e-02 5.14913988e+01] [ 4.99239894e-01 8.65423119e-01 -4.24541470e-02 1.78746342e+01] [ 7.95462565e-02 3.01212142e-03 9.96826625e-01 3.84117779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.51, Y:17.89, Z:3.84 [[ 8.63047093e-01 -5.00532967e-01 -6.79445611e-02 5.15147262e+01] [ 4.98637660e-01 8.65709039e-01 -4.36845974e-02 1.78895235e+01] [ 8.06858019e-02 3.82214784e-03 9.96732257e-01 3.84123552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.54, Y:17.90, Z:3.84 [[ 8.62623650e-01 -5.01017188e-01 -6.97295942e-02 5.15399338e+01] [ 4.99131251e-01 8.65433014e-01 -4.35165843e-02 1.79037801e+01] [ 8.21488495e-02 2.73421520e-03 9.96616321e-01 3.84309688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.11687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.56, Y:17.92, Z:3.85 [[ 8.62396818e-01 -5.01351578e-01 -7.01307522e-02 5.15642168e+01] [ 4.99401530e-01 8.65237848e-01 -4.42897011e-02 1.79179944e+01] [ 8.28844927e-02 3.17189229e-03 9.96554113e-01 3.84524768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.146874999999994 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:51.59, Y:17.93, Z:3.85 [[ 8.62009604e-01 -5.02003533e-01 -7.02274513e-02 5.15879927e+01] [ 5.00047976e-01 8.64859879e-01 -4.43780490e-02 1.79321207e+01] [ 8.30148424e-02 3.13720956e-03 9.96543373e-01 3.84773309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.176874999999995 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:51.61, Y:17.95, Z:3.85 [[ 8.61648016e-01 -5.02682662e-01 -6.98057179e-02 5.16123294e+01] [ 5.00750561e-01 8.64465544e-01 -4.41384130e-02 1.79465752e+01] [ 8.25322528e-02 3.07652365e-03 9.96583645e-01 3.85090901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.206875 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:51.64, Y:17.96, Z:3.85 [[ 8.61330550e-01 -5.03303284e-01 -6.92494627e-02 5.16367114e+01] [ 5.01401725e-01 8.64104571e-01 -4.38132492e-02 1.79608514e+01] [ 8.18901294e-02 3.01588993e-03 9.96636800e-01 3.85437463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.66, Y:17.97, Z:3.86 [[ 8.60892602e-01 -5.04106407e-01 -6.88524437e-02 5.16591666e+01] [ 5.02227142e-01 8.63636533e-01 -4.35871048e-02 1.79748194e+01] [ 8.14360246e-02 2.94425002e-03 9.96674222e-01 3.85697866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.266875 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:51.68, Y:17.99, Z:3.86 [[ 8.60301524e-01 -5.05244000e-01 -6.78954300e-02 5.16836209e+01] [ 5.03419234e-01 8.62971968e-01 -4.29936860e-02 1.79894191e+01] [ 8.03141547e-02 2.80766818e-03 9.96765646e-01 3.85798780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.71, Y:18.00, Z:3.86 [[ 8.59720286e-01 -5.06298269e-01 -6.74024692e-02 5.17079310e+01] [ 5.04501146e-01 8.62354168e-01 -4.27069434e-02 1.80041643e+01] [ 7.97472518e-02 2.71140268e-03 9.96811429e-01 3.85977772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.326874999999994 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:51.73, Y:18.02, Z:3.86 [[ 8.58998459e-01 -5.07629063e-01 -6.65911535e-02 5.17314691e+01] [ 5.05877018e-01 8.61571870e-01 -4.22179586e-02 1.80183610e+01] [ 7.88041273e-02 2.57822725e-03 9.96886785e-01 3.86168962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.356874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.75, Y:18.03, Z:3.86 [[ 8.58376041e-01 -5.08649440e-01 -6.68305285e-02 5.17549189e+01] [ 5.06886927e-01 8.60970081e-01 -4.23811703e-02 1.80318262e+01] [ 7.90962441e-02 2.50345998e-03 9.96863841e-01 3.86435395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.386874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.78, Y:18.05, Z:3.87 [[ 8.57351124e-01 -5.10353209e-01 -6.69974095e-02 5.17792337e+01] [ 5.08586068e-01 8.59961638e-01 -4.24993177e-02 1.80457963e+01] [ 7.93048652e-02 2.36288865e-03 9.96847609e-01 3.86656181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.80, Y:18.06, Z:3.87 [[ 8.56480002e-01 -5.11792315e-01 -6.71612466e-02 5.18030816e+01] [ 5.10018842e-01 8.59106239e-01 -4.26292341e-02 1.80595518e+01] [ 7.95159604e-02 2.25758531e-03 9.96831037e-01 3.86825862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.83, Y:18.07, Z:3.87 [[ 8.55163299e-01 -5.13770522e-01 -6.88155643e-02 5.18277209e+01] [ 5.11913707e-01 8.57924987e-01 -4.36929408e-02 1.80725146e+01] [ 8.14867371e-02 2.13696884e-03 9.96672135e-01 3.87021484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.85, Y:18.09, Z:3.87 [[ 8.55024019e-01 -5.13956481e-01 -6.91568025e-02 5.18506502e+01] [ 5.12079691e-01 8.57813561e-01 -4.39349969e-02 1.80861770e+01] [ 8.19043195e-02 2.15168357e-03 9.96637874e-01 3.87160306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.506874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.87, Y:18.10, Z:3.87 [[ 8.54980146e-01 -5.13962712e-01 -6.96511353e-02 5.18749269e+01] [ 5.12057868e-01 8.57809762e-01 -4.42623131e-02 1.81007479e+01] [ 8.24966022e-02 2.17798702e-03 9.96588966e-01 3.87402839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.536874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.90, Y:18.12, Z:3.88 [[ 8.55149229e-01 -5.13596500e-01 -7.02739767e-02 5.18980126e+01] [ 5.11654084e-01 8.58028876e-01 -4.46827251e-02 1.81152127e+01] [ 8.32459925e-02 2.25443073e-03 9.96526478e-01 3.87528526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.566874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.92, Y:18.13, Z:3.88 [[ 8.55358036e-01 -5.13188959e-01 -7.07087111e-02 5.19216044e+01] [ 5.11219887e-01 8.58272515e-01 -4.49723986e-02 1.81299403e+01] [ 8.37666818e-02 2.31980330e-03 9.96482695e-01 3.87635768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.94, Y:18.14, Z:3.88 [[ 8.55823372e-01 -5.12389198e-01 -7.08778203e-02 5.19446223e+01] [ 5.10405881e-01 8.58749922e-01 -4.51044062e-02 1.81438890e+01] [ 8.39773332e-02 2.42494872e-03 9.96464714e-01 3.87883108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.97, Y:18.16, Z:3.88 [[ 8.57309348e-01 -5.10122144e-01 -6.92537421e-02 5.19686990e+01] [ 5.08220423e-01 8.60098049e-01 -4.40834181e-02 1.81579113e+01] [ 8.20529362e-02 2.59696032e-03 9.96624589e-01 3.88185275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.99, Y:18.17, Z:3.89 [[ 8.58226712e-01 -5.08681340e-01 -6.84850686e-02 5.19913269e+01] [ 5.06815063e-01 8.60950558e-01 -4.36191229e-02 1.81722381e+01] [ 8.11504920e-02 2.72583210e-03 9.96698133e-01 3.88502609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.68687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.01, Y:18.19, Z:3.89 [[ 8.58780790e-01 -5.07906779e-01 -6.72774740e-02 5.20148000e+01] [ 5.06102502e-01 8.61407620e-01 -4.28622226e-02 1.81879870e+01] [ 7.97233421e-02 2.75995549e-03 9.96813208e-01 3.88745343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.716874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.04, Y:18.20, Z:3.89 [[ 8.59616368e-01 -5.06567626e-01 -6.67003736e-02 5.20380354e+01] [ 5.04788304e-01 8.62195422e-01 -4.25184972e-02 1.82036201e+01] [ 7.90472510e-02 2.88002770e-03 9.96866710e-01 3.88955535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.746874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.06, Y:18.22, Z:3.89 [[ 8.60283443e-01 -5.05541828e-01 -6.58775921e-02 5.20613826e+01] [ 5.03801356e-01 8.62797028e-01 -4.20176422e-02 1.82192226e+01] [ 7.80806663e-02 2.95786173e-03 9.96942657e-01 3.89195308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.776875 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:52.08, Y:18.23, Z:3.89 [[ 8.60786682e-01 -5.04701603e-01 -6.57463368e-02 5.20837109e+01] [ 5.02963652e-01 8.63288474e-01 -4.19591990e-02 1.82342080e+01] [ 7.79349298e-02 3.04990201e-03 9.96953783e-01 3.89435198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.806875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:52.11, Y:18.25, Z:3.89 [[ 8.61125670e-01 -5.04102916e-01 -6.59001565e-02 5.21065973e+01] [ 5.02354107e-01 8.63637947e-01 -4.20695557e-02 1.82501964e+01] [ 7.81212616e-02 3.12196006e-03 9.96938976e-01 3.89488819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.13, Y:18.27, Z:3.90 [[ 8.61003672e-01 -5.04194621e-01 -6.67866854e-02 5.21300968e+01] [ 5.02396526e-01 8.63584205e-01 -4.26620648e-02 1.82662792e+01] [ 7.91859102e-02 3.17879576e-03 9.96854797e-01 3.89561010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.86687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.15, Y:18.28, Z:3.90 [[ 8.60871826e-01 -5.04421176e-01 -6.67755702e-02 5.21540888e+01] [ 5.02622413e-01 8.63451894e-01 -4.26794559e-02 1.82817530e+01] [ 7.91859139e-02 3.17864286e-03 9.96854797e-01 3.89770871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.896874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.18, Y:18.30, Z:3.90 [[ 8.60775789e-01 -5.04464143e-01 -6.76828665e-02 5.21774150e+01] [ 5.02614160e-01 8.63426563e-01 -4.32848269e-02 1.82974457e+01] [ 8.02748279e-02 3.24016398e-03 9.96767502e-01 3.89820145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.926874999999995 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:52.20, Y:18.31, Z:3.90 [[ 8.60207405e-01 -5.05231032e-01 -6.91724214e-02 5.22000154e+01] [ 5.03298819e-01 8.62977962e-01 -4.42643873e-02 1.83125836e+01] [ 8.20580173e-02 3.26215578e-03 9.96622215e-01 3.89903215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.956875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:52.22, Y:18.33, Z:3.90 [[ 8.59741235e-01 -5.05923792e-01 -6.99008274e-02 5.22242038e+01] [ 5.03951230e-01 8.62572069e-01 -4.47502416e-02 1.83274796e+01] [ 8.29347132e-02 3.24702000e-03 9.96549693e-01 3.90164216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.25, Y:18.34, Z:3.91 [[ 8.58522984e-01 -5.08067864e-01 -6.93205012e-02 5.22480284e+01] [ 5.06132736e-01 8.61311685e-01 -4.44053525e-02 1.83421254e+01] [ 8.22674903e-02 3.03764077e-03 9.96605656e-01 3.90589891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.27, Y:18.36, Z:3.91 [[ 8.57827979e-01 -5.09349986e-01 -6.85109409e-02 5.22704478e+01] [ 5.07461859e-01 8.60554569e-01 -4.39123540e-02 1.83570724e+01] [ 8.13241601e-02 2.90255643e-03 9.96683478e-01 3.90761769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.046875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:52.29, Y:18.37, Z:3.91 [[ 8.57068165e-01 -5.10739246e-01 -6.76726096e-02 5.22927293e+01] [ 5.08900517e-01 8.59731283e-01 -4.33864676e-02 1.83720416e+01] [ 8.03394312e-02 2.74653417e-03 9.96763780e-01 3.90877890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.076874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.32, Y:18.39, Z:3.91 [[ 8.55912144e-01 -5.12753418e-01 -6.70696231e-02 5.23159080e+01] [ 5.10952553e-01 8.58532151e-01 -4.30120235e-02 1.83876933e+01] [ 7.96359898e-02 2.54511808e-03 9.96820762e-01 3.91043365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.106874999999995 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:52.34, Y:18.40, Z:3.91 [[ 8.54993497e-01 -5.14351460e-01 -6.65484505e-02 5.23385805e+01] [ 5.12581384e-01 8.57576131e-01 -4.27024989e-02 1.84026092e+01] [ 7.90344554e-02 2.39886198e-03 9.96868999e-01 3.91247428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.136874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.36, Y:18.42, Z:3.92 [[ 8.53918882e-01 -5.16221069e-01 -6.58661559e-02 5.23620216e+01] [ 5.14491779e-01 8.56452515e-01 -4.22764627e-02 1.84174341e+01] [ 7.82352357e-02 2.21307404e-03 9.96932470e-01 3.91500082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.39, Y:18.43, Z:3.92 [[ 8.51702362e-01 -5.19961160e-01 -6.51419839e-02 5.23864464e+01] [ 5.18278719e-01 8.54187856e-01 -4.18362928e-02 1.84319800e+01] [ 7.73967389e-02 1.87036544e-03 9.96998619e-01 3.91828324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.41, Y:18.45, Z:3.92 [[ 8.50427098e-01 -5.22112149e-01 -6.45960910e-02 5.24101756e+01] [ 5.20462114e-01 8.52875182e-01 -4.15103879e-02 1.84469132e+01] [ 7.67654806e-02 1.68174065e-03 9.97047759e-01 3.92082038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.43, Y:18.46, Z:3.92 [[ 8.49115872e-01 -5.24226978e-01 -6.47171625e-02 5.24327204e+01] [ 5.22574948e-01 8.51577232e-01 -4.16129985e-02 1.84610446e+01] [ 7.69263185e-02 1.51468969e-03 9.97035630e-01 3.92359137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.256874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.46, Y:18.48, Z:3.93 [[ 8.47655435e-01 -5.26595963e-01 -6.46293689e-02 5.24558956e+01] [ 5.24954386e-01 8.50114687e-01 -4.15681611e-02 1.84761000e+01] [ 7.68320016e-02 1.30800704e-03 9.97043195e-01 3.92511294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.286874999999995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:52.48, Y:18.49, Z:3.93 [[ 8.46333074e-01 -5.28743768e-01 -6.44232612e-02 5.24785804e+01] [ 5.27116972e-01 8.48780743e-01 -4.14602013e-02 1.84914252e+01] [ 7.66030466e-02 1.13054527e-03 9.97061029e-01 3.92553387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.316874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.50, Y:18.51, Z:3.93 [[ 8.45190855e-01 -5.30537351e-01 -6.46725428e-02 5.25025150e+01] [ 5.28902260e-01 8.47660991e-01 -4.16322441e-02 1.85069828e+01] [ 7.69078522e-02 9.81737952e-04 9.97037722e-01 3.92645258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.53, Y:18.52, Z:3.93 [[ 8.43000743e-01 -5.33855085e-01 -6.59431219e-02 5.25250950e+01] [ 5.32163158e-01 8.45575685e-01 -4.24751074e-02 1.85211891e+01] [ 7.84354525e-02 7.14047082e-04 9.96918938e-01 3.92731782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.55, Y:18.54, Z:3.93 [[ 8.42059480e-01 -5.35316859e-01 -6.61187713e-02 5.25489905e+01] [ 5.33619445e-01 8.44651119e-01 -4.26001809e-02 1.85362585e+01] [ 7.86518892e-02 5.89624106e-04 9.96901967e-01 3.93034497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.57, Y:18.55, Z:3.93 [[ 8.41149231e-01 -5.36822968e-01 -6.54910140e-02 5.25727351e+01] [ 5.35160278e-01 8.43694782e-01 -4.22207634e-02 1.85514110e+01] [ 7.79195023e-02 4.65773464e-04 9.96959545e-01 3.93281451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.43687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.60, Y:18.57, Z:3.94 [[ 8.40387261e-01 -5.38098952e-01 -6.47979067e-02 5.25954950e+01] [ 5.36473220e-01 8.42881596e-01 -4.17983130e-02 1.85658731e+01] [ 7.71085914e-02 3.64428180e-04 9.97022634e-01 3.93568660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.466874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.62, Y:18.58, Z:3.94 [[ 8.39674062e-01 -5.39232855e-01 -6.46173187e-02 5.26190371e+01] [ 5.37618200e-01 8.42156668e-01 -4.16991292e-02 1.85807213e+01] [ 7.69034463e-02 2.74230673e-04 9.97038507e-01 3.93796756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.496874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.64, Y:18.60, Z:3.94 [[ 8.39266656e-01 -5.39854893e-01 -6.47161164e-02 5.26413943e+01] [ 5.38235248e-01 8.41758064e-01 -4.17873210e-02 1.85952175e+01] [ 7.70344025e-02 2.38210229e-04 9.97028407e-01 3.93987993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.66, Y:18.61, Z:3.94 [[ 8.39220583e-01 -5.39808388e-01 -6.56941205e-02 5.26645998e+01] [ 5.38138259e-01 8.41787882e-01 -4.24308330e-02 1.86111784e+01] [ 7.82050341e-02 2.56308726e-04 9.96937263e-01 3.94064982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.69, Y:18.63, Z:3.94 [[ 8.39513881e-01 -5.39279031e-01 -6.62915631e-02 5.26880145e+01] [ 5.37574668e-01 8.42127080e-01 -4.28422448e-02 1.86270711e+01] [ 7.89298447e-02 3.29994107e-04 9.96880119e-01 3.94109495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.71, Y:18.64, Z:3.94 [[ 8.40170771e-01 -5.38226543e-01 -6.65226566e-02 5.27112486e+01] [ 5.36504941e-01 8.42800085e-01 -4.30170206e-02 1.86425386e+01] [ 7.92182029e-02 4.51909401e-04 9.96857197e-01 3.94279224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.61687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.73, Y:18.66, Z:3.95 [[ 8.40808237e-01 -5.37300356e-01 -6.59532882e-02 5.27342830e+01] [ 5.35603316e-01 8.43390787e-01 -4.26739808e-02 1.86579101e+01] [ 7.85531407e-02 5.55834688e-04 9.96909773e-01 3.94559162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.646874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.76, Y:18.67, Z:3.95 [[ 8.41788116e-01 -5.35757217e-01 -6.60073639e-02 5.27563913e+01] [ 5.34050710e-01 8.44371769e-01 -4.27335310e-02 1.86725158e+01] [ 7.86295523e-02 7.21299042e-04 9.96903643e-01 3.94823099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.676874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.78, Y:18.69, Z:3.95 [[ 8.42807222e-01 -5.34173110e-01 -6.58412920e-02 5.27783736e+01] [ 5.32469495e-01 8.45374663e-01 -4.26370198e-02 1.86874474e+01] [ 7.84361095e-02 8.76308715e-04 9.96918757e-01 3.95034913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.80, Y:18.70, Z:3.95 [[ 8.44594431e-01 -5.31408138e-01 -6.53118551e-02 5.28013547e+01] [ 5.29722688e-01 8.47115166e-01 -4.23056569e-02 1.87036813e+01] [ 7.78082333e-02 1.13395074e-03 9.96967699e-01 3.95296140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.82, Y:18.72, Z:3.96 [[ 8.45405081e-01 -5.30135290e-01 -6.51676530e-02 5.28236826e+01] [ 5.28451578e-01 8.47912120e-01 -4.22370271e-02 1.87189269e+01] [ 7.76477814e-02 1.26944828e-03 9.96980045e-01 3.95564679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.85, Y:18.74, Z:3.96 [[ 8.45831799e-01 -5.29441946e-01 -6.52670969e-02 5.28467124e+01] [ 5.27749638e-01 8.48345096e-01 -4.23192318e-02 1.87352755e+01] [ 7.77745980e-02 1.35026520e-03 9.96970054e-01 3.95730551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.87, Y:18.75, Z:3.96 [[ 8.46446116e-01 -5.28451630e-01 -6.53287584e-02 5.28687345e+01] [ 5.26751214e-01 8.48962150e-01 -4.23842750e-02 1.87500929e+01] [ 7.78596824e-02 1.46400214e-03 9.96963252e-01 3.95880656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.826874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.89, Y:18.77, Z:3.96 [[ 8.46391003e-01 -5.28478132e-01 -6.58265546e-02 5.28916576e+01] [ 5.26750780e-01 8.48945619e-01 -4.27194511e-02 1.87656349e+01] [ 7.84594609e-02 1.48317012e-03 9.96916202e-01 3.96087845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.856874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.92, Y:18.78, Z:3.96 [[ 8.46278713e-01 -5.28596984e-01 -6.63141639e-02 5.29150513e+01] [ 5.26842262e-01 8.48871583e-01 -4.30611938e-02 1.87818991e+01] [ 7.90542264e-02 1.50466755e-03 9.96869182e-01 3.96288962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.886874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.94, Y:18.80, Z:3.96 [[ 8.46167987e-01 -5.28686576e-01 -6.70092700e-02 5.29382092e+01] [ 5.26892954e-01 8.48815733e-01 -4.35392529e-02 1.87978232e+01] [ 7.98971412e-02 1.53480975e-03 9.96801932e-01 3.96421239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.96, Y:18.81, Z:3.97 [[ 8.46260529e-01 -5.28417302e-01 -6.79578623e-02 5.29605786e+01] [ 5.26569447e-01 8.48983262e-01 -4.41818773e-02 1.88126025e+01] [ 8.10415560e-02 1.60484491e-03 9.96709431e-01 3.96590507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.98, Y:18.83, Z:3.97 [[ 8.45999359e-01 -5.28676611e-01 -6.91818259e-02 5.29833851e+01] [ 5.26760841e-01 8.48821774e-01 -4.49957020e-02 1.88277900e+01] [ 8.25112154e-02 1.62405823e-03 9.96588813e-01 3.96801859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.01, Y:18.84, Z:3.97 [[ 8.45861704e-01 -5.28836674e-01 -6.96401440e-02 5.30070684e+01] [ 5.26894804e-01 8.48722047e-01 -4.53073209e-02 1.88433133e+01] [ 8.30652984e-02 1.63069763e-03 9.96542772e-01 3.97004549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.006874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.03, Y:18.86, Z:3.97 [[ 8.45823311e-01 -5.28829397e-01 -7.01597788e-02 5.30304114e+01] [ 5.26856062e-01 8.48726511e-01 -4.56727482e-02 1.88594250e+01] [ 8.36995561e-02 1.66697031e-03 9.96489641e-01 3.97226456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.036874999999995 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:53.05, Y:18.88, Z:3.97 [[ 8.46104061e-01 -5.28443029e-01 -6.96841574e-02 5.30526092e+01] [ 5.26492862e-01 8.48967030e-01 -4.53899515e-02 1.88764447e+01] [ 8.31455556e-02 1.71641089e-03 9.96535935e-01 3.97370051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.066874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.08, Y:18.89, Z:3.97 [[ 8.46244525e-01 -5.28306836e-01 -6.90079049e-02 5.30751531e+01] [ 5.26391724e-01 8.49051749e-01 -4.49764331e-02 1.88924832e+01] [ 8.23526395e-02 1.73587017e-03 9.96601741e-01 3.97486969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.096875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:53.10, Y:18.91, Z:3.98 [[ 8.46158623e-01 -5.28462493e-01 -6.88692866e-02 5.30986380e+01] [ 5.26553371e-01 8.48954867e-01 -4.49130501e-02 1.89086359e+01] [ 8.22017785e-02 1.74020959e-03 9.96614188e-01 3.97717287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.12, Y:18.92, Z:3.98 [[ 8.45921484e-01 -5.28942967e-01 -6.80895065e-02 5.31220153e+01] [ 5.27076321e-01 8.48655678e-01 -4.44307524e-02 1.89246567e+01] [ 8.12858803e-02 1.69656140e-03 9.96689384e-01 3.97977292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.14, Y:18.94, Z:3.98 [[ 8.45727967e-01 -5.29272603e-01 -6.79317141e-02 5.31442815e+01] [ 5.27413565e-01 8.48450163e-01 -4.43537255e-02 1.89398525e+01] [ 8.11118857e-02 1.68307860e-03 9.96703581e-01 3.98221391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.18687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.17, Y:18.96, Z:3.98 [[ 8.45736123e-01 -5.29244197e-01 -6.80513835e-02 5.31676159e+01] [ 5.27376956e-01 8.48467839e-01 -4.44507860e-02 1.89559703e+01] [ 8.12647308e-02 1.70490390e-03 9.96691094e-01 3.98443725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.216874999999995 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:53.19, Y:18.97, Z:3.99 [[ 8.45886249e-01 -5.29027958e-01 -6.78665849e-02 5.31895536e+01] [ 5.27168137e-01 8.48602607e-01 -4.43550623e-02 1.89711566e+01] [ 8.10568289e-02 1.74223610e-03 9.96707959e-01 3.98662161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.246874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.21, Y:18.99, Z:3.99 [[ 8.45715068e-01 -5.29363771e-01 -6.73796812e-02 5.32121650e+01] [ 5.27530631e-01 8.48393234e-01 -4.40494485e-02 1.89873313e+01] [ 8.04826477e-02 1.70843656e-03 9.96754546e-01 3.98846483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.276875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:53.23, Y:19.00, Z:3.99 [[ 8.45957067e-01 -5.29059866e-01 -6.67255560e-02 5.32344950e+01] [ 5.27259178e-01 8.48582714e-01 -4.36478752e-02 1.90041487e+01] [ 7.97144924e-02 1.74256662e-03 9.96816213e-01 3.99076645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.26, Y:19.02, Z:3.99 [[ 8.46038802e-01 -5.28946286e-01 -6.65895754e-02 5.32562505e+01] [ 5.27150702e-01 8.48653460e-01 -4.35826015e-02 1.90194852e+01] [ 7.95643288e-02 1.76983054e-03 9.96828162e-01 3.99173458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.28, Y:19.04, Z:3.99 [[ 8.45764458e-01 -5.29368413e-01 -6.67200547e-02 5.32790457e+01] [ 5.27566068e-01 8.48390265e-01 -4.36806916e-02 1.90354135e+01] [ 7.97278232e-02 1.74433953e-03 9.96815144e-01 3.99364713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.36687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.30, Y:19.05, Z:3.99 [[ 8.45282172e-01 -5.30168894e-01 -6.64755073e-02 5.33012328e+01] [ 5.28380223e-01 8.47890387e-01 -4.35457529e-02 1.90509530e+01] [ 7.94505472e-02 1.68410524e-03 9.96837386e-01 3.99481988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.396874999999994 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:53.32, Y:19.07, Z:4.00 [[ 8.44874047e-01 -5.30740616e-01 -6.70987540e-02 5.33244340e+01] [ 5.28918950e-01 8.47532686e-01 -4.39669233e-02 1.90665756e+01] [ 8.02034191e-02 1.65670992e-03 9.96777140e-01 3.99738915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.426874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.35, Y:19.08, Z:4.00 [[ 8.45105504e-01 -5.30420552e-01 -6.67137541e-02 5.33467061e+01] [ 5.28616766e-01 8.47732949e-01 -4.37397006e-02 1.90816057e+01] [ 7.97558836e-02 1.69865276e-03 9.96812978e-01 4.00106573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.456875 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:53.37, Y:19.10, Z:4.00 [[ 8.45144545e-01 -5.30427897e-01 -6.61584735e-02 5.33694999e+01] [ 5.28653116e-01 8.47728362e-01 -4.33878687e-02 1.90978300e+01] [ 7.90985503e-02 1.69413740e-03 9.96865362e-01 4.00308708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.39, Y:19.11, Z:4.01 [[ 8.45261289e-01 -5.30283213e-01 -6.58260454e-02 5.33922595e+01] [ 5.28523810e-01 8.47818821e-01 -4.31952371e-02 1.91141042e+01] [ 7.87142693e-02 1.72062942e-03 9.96895733e-01 4.00510988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.42, Y:19.13, Z:4.01 [[ 8.45339401e-01 -5.30170114e-01 -6.57339140e-02 5.34153020e+01] [ 5.28413297e-01 8.47889489e-01 -4.31601827e-02 1.91306752e+01] [ 7.86173338e-02 1.75032880e-03 9.96903331e-01 4.00638559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.44, Y:19.15, Z:4.01 [[ 8.45559159e-01 -5.29819072e-01 -6.57378065e-02 5.34383198e+01] [ 5.28058923e-01 8.48108774e-01 -4.31889098e-02 1.91469316e+01] [ 7.86351186e-02 1.80534300e-03 9.96901830e-01 4.00806788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.576874999999994 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:53.46, Y:19.16, Z:4.01 [[ 8.45883641e-01 -5.29277828e-01 -6.59230391e-02 5.34617224e+01] [ 5.27504000e-01 8.48446483e-01 -4.33370056e-02 1.91632950e+01] [ 7.88694869e-02 1.88339725e-03 9.96883171e-01 4.00961536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.606874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.48, Y:19.18, Z:4.01 [[ 8.46578697e-01 -5.28220481e-01 -6.54800233e-02 5.34835714e+01] [ 5.26465309e-01 8.49104919e-01 -4.30710529e-02 1.91792108e+01] [ 7.83504222e-02 1.99007516e-03 9.96923894e-01 4.01050653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.636874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.51, Y:19.19, Z:4.01 [[ 8.46792243e-01 -5.27905270e-01 -6.52604241e-02 5.35064573e+01] [ 5.26159978e-01 8.49300850e-01 -4.29388345e-02 1.91945016e+01] [ 7.80933707e-02 2.02284873e-03 9.96943997e-01 4.01316924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.53, Y:19.21, Z:4.02 [[ 8.46795988e-01 -5.27892473e-01 -6.53153314e-02 5.35297451e+01] [ 5.26142170e-01 8.49308745e-01 -4.30008470e-02 1.92105023e+01] [ 7.81727056e-02 2.04779452e-03 9.96937729e-01 4.01582324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.55, Y:19.23, Z:4.02 [[ 8.46853868e-01 -5.27728450e-01 -6.58878450e-02 5.35519990e+01] [ 5.25944786e-01 8.49410538e-01 -4.34030011e-02 1.92261126e+01] [ 7.88708284e-02 2.10263086e-03 9.96882627e-01 4.01811535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.57, Y:19.24, Z:4.02 [[ 8.47663998e-01 -5.26394764e-01 -6.61384885e-02 5.35744945e+01] [ 5.24592440e-01 8.50237325e-01 -4.35805400e-02 1.92431903e+01] [ 7.91739796e-02 2.24590375e-03 9.96858283e-01 4.01989130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.756874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.60, Y:19.26, Z:4.02 [[ 8.47926823e-01 -5.25976082e-01 -6.61004062e-02 5.35962300e+01] [ 5.24172494e-01 8.50496234e-01 -4.35815622e-02 1.92588055e+01] [ 7.91410059e-02 2.30596080e-03 9.96860764e-01 4.02166132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.786874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.62, Y:19.27, Z:4.02 [[ 8.47791585e-01 -5.26195110e-01 -6.60918649e-02 5.36200032e+01] [ 5.24391178e-01 8.50360754e-01 -4.35945116e-02 1.92745954e+01] [ 7.91411469e-02 2.30106918e-03 9.96860765e-01 4.02376235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.816874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.64, Y:19.29, Z:4.03 [[ 8.47865271e-01 -5.26010650e-01 -6.66128955e-02 5.36426467e+01] [ 5.24175541e-01 8.50474712e-01 -4.39632379e-02 1.92905741e+01] [ 7.97777145e-02 2.35805204e-03 9.96809890e-01 4.02580961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.66, Y:19.31, Z:4.03 [[ 8.47919928e-01 -5.25950510e-01 -6.63916899e-02 5.36649273e+01] [ 5.24125325e-01 8.50511849e-01 -4.38433293e-02 1.93061801e+01] [ 7.95263403e-02 2.37806664e-03 9.96829928e-01 4.02738359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.69, Y:19.32, Z:4.03 [[ 8.47401861e-01 -5.26910743e-01 -6.53846668e-02 5.36873481e+01] [ 5.25142476e-01 8.49917611e-01 -4.31906833e-02 1.93227693e+01] [ 7.83292148e-02 2.26359965e-03 9.96924977e-01 4.02903010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.71, Y:19.34, Z:4.03 [[ 8.46556704e-01 -5.28332968e-01 -6.48538449e-02 5.37101099e+01] [ 5.26595525e-01 8.49034576e-01 -4.28653925e-02 1.93385146e+01] [ 7.77103567e-02 2.13624092e-03 9.96973689e-01 4.03092838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.93687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.73, Y:19.35, Z:4.03 [[ 8.45487600e-01 -5.30158783e-01 -6.38935280e-02 5.37338766e+01] [ 5.28475790e-01 8.47896115e-01 -4.22553846e-02 1.93539342e+01] [ 7.65771375e-02 1.96022105e-03 9.97061733e-01 4.03391124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.966874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.76, Y:19.37, Z:4.04 [[ 8.44535995e-01 -5.31679684e-01 -6.38409519e-02 5.37573377e+01] [ 5.30001822e-01 8.46943515e-01 -4.22463028e-02 1.93700102e+01] [ 7.65311811e-02 1.84270251e-03 9.97065486e-01 4.03694748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.996874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.78, Y:19.39, Z:4.04 [[ 8.43808827e-01 -5.32798233e-01 -6.41303868e-02 5.37798664e+01] [ 5.31106369e-01 8.46240455e-01 -4.24631261e-02 1.93857929e+01] [ 7.68940062e-02 1.77070378e-03 9.97037701e-01 4.03871328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.80, Y:19.40, Z:4.04 [[ 8.42894611e-01 -5.34118929e-01 -6.51586079e-02 5.38013082e+01] [ 5.32375319e-01 8.45407668e-01 -4.31554714e-02 1.94025160e+01] [ 7.81357409e-02 1.68667959e-03 9.96941303e-01 4.04002101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.82, Y:19.42, Z:4.04 [[ 8.42661641e-01 -5.34484726e-01 -6.51723576e-02 5.38245136e+01] [ 5.32740522e-01 8.45176497e-01 -4.31766785e-02 1.94188315e+01] [ 7.81594201e-02 1.66337497e-03 9.96939486e-01 4.04162129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.85, Y:19.43, Z:4.04 [[ 8.42546668e-01 -5.34617966e-01 -6.55647945e-02 5.38464132e+01] [ 5.32851025e-01 8.45092183e-01 -4.34624731e-02 1.94340669e+01] [ 7.86441143e-02 1.68289391e-03 9.96901335e-01 4.04366485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.11687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.87, Y:19.45, Z:4.04 [[ 8.41997594e-01 -5.35360986e-01 -6.65482287e-02 5.38685698e+01] [ 5.33541346e-01 8.44621737e-01 -4.41333479e-02 1.94513671e+01] [ 7.98353532e-02 1.65394122e-03 9.96806692e-01 4.04438297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.146874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.89, Y:19.47, Z:4.05 [[ 8.41877446e-01 -5.35495899e-01 -6.69814060e-02 5.38916179e+01] [ 5.33650744e-01 8.44536168e-01 -4.44471052e-02 1.94678040e+01] [ 8.03694625e-02 1.67433826e-03 9.96763736e-01 4.04634592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.176874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.91, Y:19.48, Z:4.05 [[ 8.41951791e-01 -5.35398616e-01 -6.68244177e-02 5.39128763e+01] [ 5.33559786e-01 8.44597791e-01 -4.43680798e-02 1.94836741e+01] [ 8.01943641e-02 1.70096224e-03 9.96777794e-01 4.04821065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.94, Y:19.50, Z:4.05 [[ 8.42015797e-01 -5.35355154e-01 -6.63645746e-02 5.39356527e+01] [ 5.33540459e-01 8.44625334e-01 -4.40751945e-02 1.94994395e+01] [ 7.96490836e-02 1.70382438e-03 9.96821509e-01 4.05059389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.96, Y:19.52, Z:4.05 [[ 8.42043844e-01 -5.35282259e-01 -6.65963150e-02 5.39582925e+01] [ 5.33452498e-01 8.44671462e-01 -4.42555414e-02 1.95150319e+01] [ 7.99412129e-02 1.73913555e-03 9.96798063e-01 4.05410909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.98, Y:19.53, Z:4.06 [[ 8.42882247e-01 -5.34035615e-01 -6.59960499e-02 5.39805217e+01] [ 5.32232869e-01 8.45459929e-01 -4.38825825e-02 1.95312456e+01] [ 7.92318777e-02 1.86258279e-03 9.96854473e-01 4.05733377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.00, Y:19.55, Z:4.06 [[ 8.43071093e-01 -5.33767130e-01 -6.57554749e-02 5.40030140e+01] [ 5.31974610e-01 8.45629368e-01 -4.37491302e-02 1.95475875e+01] [ 7.89566083e-02 1.90338399e-03 9.96876237e-01 4.05905155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.326874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.03, Y:19.56, Z:4.06 [[ 8.43313881e-01 -5.33333244e-01 -6.61615410e-02 5.40257166e+01] [ 5.31515019e-01 8.45902911e-01 -4.40459918e-02 1.95637901e+01] [ 7.94574319e-02 1.97874355e-03 9.96836296e-01 4.06025216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.356874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.05, Y:19.58, Z:4.06 [[ 8.43908000e-01 -5.32208338e-01 -6.76281995e-02 5.40478340e+01] [ 5.30302707e-01 8.46610682e-01 -4.50487748e-02 1.95788840e+01] [ 8.12300896e-02 2.15360422e-03 9.96693049e-01 4.06172916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.386874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.07, Y:19.59, Z:4.06 [[ 8.43810368e-01 -5.32303504e-01 -6.80958264e-02 5.40707999e+01] [ 5.30370581e-01 8.46550806e-01 -4.53737875e-02 1.95942718e+01] [ 8.17992028e-02 2.17084939e-03 9.96646466e-01 4.06425701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.09, Y:19.61, Z:4.07 [[ 8.43847980e-01 -5.32367231e-01 -6.71246402e-02 5.40936211e+01] [ 5.30487194e-01 8.46510769e-01 -4.47532698e-02 1.96100312e+01] [ 8.06469051e-02 2.15619432e-03 9.96740401e-01 4.06659485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.446875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:54.12, Y:19.63, Z:4.07 [[ 8.44104705e-01 -5.31988301e-01 -6.69006270e-02 5.41168298e+01] [ 5.30117467e-01 8.46748825e-01 -4.46306907e-02 1.96254202e+01] [ 8.03910327e-02 2.20778509e-03 9.96760958e-01 4.06941708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.14, Y:19.64, Z:4.07 [[ 8.44791647e-01 -5.30920776e-01 -6.67098438e-02 5.41391275e+01] [ 5.29055196e-01 8.47418270e-01 -4.45294827e-02 1.96401760e+01] [ 8.01727679e-02 2.32494551e-03 9.96778271e-01 4.07237563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.506874999999994 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:54.16, Y:19.66, Z:4.07 [[ 8.45141791e-01 -5.30400759e-01 -6.64107563e-02 5.41624731e+01] [ 5.28549266e-01 8.47743709e-01 -4.43427218e-02 1.96557204e+01] [ 7.98187141e-02 2.37453079e-03 9.96806568e-01 4.07487670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.536874999999995 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:54.19, Y:19.67, Z:4.08 [[ 8.45658276e-01 -5.29559801e-01 -6.65469645e-02 5.41857260e+01] [ 5.27695980e-01 8.48268979e-01 -4.44600047e-02 1.96710786e+01] [ 7.99939569e-02 2.48140527e-03 9.96792260e-01 4.07693085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.566874999999996 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:54.21, Y:19.69, Z:4.08 [[ 8.46696937e-01 -5.27793243e-01 -6.73690525e-02 5.42094834e+01] [ 5.25875202e-01 8.49368576e-01 -4.50365834e-02 1.96864083e+01] [ 8.09911606e-02 2.70462315e-03 9.96711150e-01 4.07754153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.23, Y:19.70, Z:4.08 [[ 8.47016447e-01 -5.27209540e-01 -6.79208328e-02 5.42319044e+01] [ 5.25255894e-01 8.49730682e-01 -4.54314297e-02 1.97006884e+01] [ 8.16662987e-02 2.80535047e-03 9.96655781e-01 4.07943786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.26, Y:19.72, Z:4.08 [[ 8.47728967e-01 -5.25917718e-01 -6.90373255e-02 5.42564867e+01] [ 5.23893747e-01 8.50530194e-01 -4.61923169e-02 1.97152052e+01] [ 8.30116878e-02 2.99034196e-03 9.96544087e-01 4.08166017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.28, Y:19.73, Z:4.08 [[ 8.48153398e-01 -5.25165650e-01 -6.95474907e-02 5.42790168e+01] [ 5.23106752e-01 8.50994339e-01 -4.65613681e-02 1.97292639e+01] [ 8.36369521e-02 3.11042061e-03 9.96491438e-01 4.08369893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.68687499999999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:54.30, Y:19.74, Z:4.09 [[ 8.48436350e-01 -5.24767886e-01 -6.90972265e-02 5.43030343e+01] [ 5.22732611e-01 8.51239547e-01 -4.62801307e-02 1.97444210e+01] [ 8.31046181e-02 3.14637152e-03 9.96535861e-01 4.08605866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.716874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.33, Y:19.76, Z:4.09 [[ 8.48941705e-01 -5.24040530e-01 -6.84069030e-02 5.43276794e+01] [ 5.22041202e-01 8.51687284e-01 -4.58448946e-02 1.97582932e+01] [ 8.22858723e-02 3.20842115e-03 9.96603603e-01 4.08919737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.746874999999996 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:54.35, Y:19.77, Z:4.09 [[ 8.49114106e-01 -5.23690273e-01 -6.89473286e-02 5.43521485e+01] [ 5.21655685e-01 8.51902377e-01 -4.62351166e-02 1.97726509e+01] [ 8.29492739e-02 3.29212372e-03 9.96548333e-01 4.09087285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.37, Y:19.79, Z:4.09 [[ 8.49076185e-01 -5.23768123e-01 -6.88228556e-02 5.43746752e+01] [ 5.21738966e-01 8.51854481e-01 -4.61778526e-02 1.97868458e+01] [ 8.28135452e-02 3.30094933e-03 9.96559592e-01 4.09251291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.40, Y:19.80, Z:4.10 [[ 8.48996418e-01 -5.23890175e-01 -6.88779213e-02 5.43985673e+01] [ 5.21856999e-01 8.51779414e-01 -4.62287917e-02 1.98012657e+01] [ 8.28876052e-02 3.30365324e-03 9.96553426e-01 4.09540518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.836875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:54.42, Y:19.82, Z:4.10 [[ 8.48947839e-01 -5.23962606e-01 -6.89257123e-02 5.44211261e+01] [ 5.21924648e-01 8.51734792e-01 -4.62872062e-02 1.98151569e+01] [ 8.29591924e-02 3.32139555e-03 9.96547410e-01 4.09779290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.86687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.45, Y:19.83, Z:4.10 [[ 8.48996346e-01 -5.23836698e-01 -6.92843234e-02 5.44459030e+01] [ 5.21775835e-01 8.51812070e-01 -4.65421912e-02 1.98288405e+01] [ 8.33977306e-02 3.36326457e-03 9.96510666e-01 4.10103359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.896874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.47, Y:19.84, Z:4.10 [[ 8.48724694e-01 -5.24153397e-01 -7.02111813e-02 5.44706620e+01] [ 5.22035554e-01 8.51617077e-01 -4.71935885e-02 1.98427738e+01] [ 8.45297207e-02 3.40163107e-03 9.96415152e-01 4.10361532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.926874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.49, Y:19.86, Z:4.11 [[ 8.48528924e-01 -5.24455492e-01 -7.03214175e-02 5.44940935e+01] [ 5.22329753e-01 8.51431077e-01 -4.72942857e-02 1.98571467e+01] [ 8.46775882e-02 3.39960071e-03 9.96402604e-01 4.10543704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.956875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:54.52, Y:19.87, Z:4.11 [[ 8.48282545e-01 -5.24921293e-01 -6.98166157e-02 5.45177941e+01] [ 5.22826395e-01 8.51144215e-01 -4.69689995e-02 1.98715947e+01] [ 8.40790365e-02 3.34101297e-03 9.96453488e-01 4.10720747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.54, Y:19.88, Z:4.11 [[ 8.47108383e-01 -5.26876733e-01 -6.93418723e-02 5.45431602e+01] [ 5.24814462e-01 8.49935874e-01 -4.66775097e-02 1.98848510e+01] [ 8.35294387e-02 3.14929241e-03 9.96500334e-01 4.10993515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.57, Y:19.90, Z:4.11 [[ 8.46025868e-01 -5.28589987e-01 -6.95187508e-02 5.45677394e+01] [ 5.26520546e-01 8.48871930e-01 -4.68247863e-02 1.98993233e+01] [ 8.37636294e-02 3.01192984e-03 9.96481100e-01 4.11223998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.59, Y:19.91, Z:4.11 [[ 8.44087611e-01 -5.31573991e-01 -7.03220895e-02 5.45924526e+01] [ 5.29464363e-01 8.47007329e-01 -4.73927519e-02 1.99111387e+01] [ 8.47560795e-02 2.77059450e-03 9.96397878e-01 4.11492212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.076874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.62, Y:19.93, Z:4.12 [[ 8.43061084e-01 -5.33214928e-01 -7.02128821e-02 5.46167666e+01] [ 5.31116296e-01 8.45975773e-01 -4.73336341e-02 1.99255812e+01] [ 8.46373975e-02 2.61393905e-03 9.96408389e-01 4.11719555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.106874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.64, Y:19.94, Z:4.12 [[ 8.42245410e-01 -5.34534819e-01 -6.99656803e-02 5.46410537e+01] [ 5.32453137e-01 8.45142767e-01 -4.71949236e-02 1.99398250e+01] [ 8.43583186e-02 2.49626179e-03 9.96432357e-01 4.11990058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.136874999999996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:54.67, Y:19.95, Z:4.12 [[ 8.40771667e-01 -5.36916120e-01 -6.94556333e-02 5.46653686e+01] [ 5.34870575e-01 8.43632596e-01 -4.68776232e-02 1.99522016e+01] [ 8.37643878e-02 2.26360290e-03 9.96483017e-01 4.12247500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.69, Y:19.97, Z:4.12 [[ 8.40146779e-01 -5.37908849e-01 -6.93358454e-02 5.46901426e+01] [ 5.35872535e-01 8.43000207e-01 -4.68110870e-02 1.99664179e+01] [ 8.36302299e-02 2.17300878e-03 9.96494487e-01 4.12495487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.72, Y:19.98, Z:4.13 [[ 8.39221293e-01 -5.39300837e-01 -6.97296818e-02 5.47153673e+01] [ 5.37243713e-01 8.42110637e-01 -4.71048657e-02 1.99792612e+01] [ 8.41238002e-02 2.06957313e-03 9.96453162e-01 4.12758526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.74, Y:19.99, Z:4.13 [[ 8.38751107e-01 -5.40063833e-01 -6.94811980e-02 5.47395424e+01] [ 5.38021647e-01 8.41621660e-01 -4.69647500e-02 1.99937835e+01] [ 8.38408441e-02 2.00934744e-03 9.96477132e-01 4.12944625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.256874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.76, Y:20.01, Z:4.13 [[ 8.38656159e-01 -5.40209605e-01 -6.94941028e-02 5.47635762e+01] [ 5.38164801e-01 8.41528079e-01 -4.70014833e-02 2.00077680e+01] [ 8.38718916e-02 2.01880344e-03 9.96474501e-01 4.13151206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.286874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.79, Y:20.02, Z:4.13 [[ 8.37081884e-01 -5.42611155e-01 -6.97642817e-02 5.47870892e+01] [ 5.40556394e-01 8.39982062e-01 -4.72114368e-02 2.00208272e+01] [ 8.42181975e-02 1.80830988e-03 9.96445696e-01 4.13203325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.316874999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.81, Y:20.03, Z:4.13 [[ 8.33639452e-01 -5.47941656e-01 -6.93195943e-02 5.48116789e+01] [ 5.45929688e-01 8.36515573e-01 -4.69304900e-02 2.00340684e+01] [ 8.37020906e-02 1.27948347e-03 9.96490001e-01 4.13432462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.84, Y:20.05, Z:4.14 [[ 8.32407679e-01 -5.49828126e-01 -6.91844458e-02 5.48358471e+01] [ 5.47828204e-01 8.35277079e-01 -4.68664177e-02 2.00479988e+01] [ 8.35566564e-02 1.11077539e-03 9.96502409e-01 4.13823475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.376875 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:54.86, Y:20.06, Z:4.14 [[ 8.31573970e-01 -5.51115045e-01 -6.89705723e-02 5.48592225e+01] [ 5.49129717e-01 8.34428671e-01 -4.67476904e-02 2.00622832e+01] [ 8.33143785e-02 1.00037161e-03 9.96522811e-01 4.14035655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.88, Y:20.08, Z:4.14 [[ 8.30889680e-01 -5.52082281e-01 -6.94801752e-02 5.48831578e+01] [ 5.50069397e-01 8.33789122e-01 -4.71100578e-02 2.00770959e+01] [ 8.39404425e-02 9.24342768e-04 9.96470345e-01 4.14093995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.43687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.91, Y:20.09, Z:4.14 [[ 8.31107996e-01 -5.51597021e-01 -7.07122783e-02 5.49066486e+01] [ 5.49507805e-01 8.34110123e-01 -4.79736808e-02 2.00925434e+01] [ 8.54439666e-02 1.01436085e-03 9.96342461e-01 4.14227917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.466874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.93, Y:20.11, Z:4.14 [[ 8.31673309e-01 -5.50592970e-01 -7.18810784e-02 5.49308837e+01] [ 5.48427726e-01 8.34773044e-01 -4.87954308e-02 2.01074209e+01] [ 8.68708078e-02 1.16028107e-03 9.96218910e-01 4.14378012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.496874999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:54.95, Y:20.12, Z:4.15 [[ 8.31566817e-01 -5.50678787e-01 -7.24534548e-02 5.49537140e+01] [ 5.48476776e-01 8.34716403e-01 -4.92113063e-02 2.01216935e+01] [ 8.75777096e-02 1.18345206e-03 9.96156988e-01 4.14686432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.526875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:54.98, Y:20.14, Z:4.15 [[ 8.31490573e-01 -5.50792217e-01 -7.24662731e-02 5.49758162e+01] [ 5.48588444e-01 8.34641557e-01 -4.92360644e-02 2.01366610e+01] [ 8.76022041e-02 1.18516337e-03 9.96154832e-01 4.14948964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.00, Y:20.15, Z:4.15 [[ 8.31748748e-01 -5.50544491e-01 -7.13777558e-02 5.49990135e+01] [ 5.48404146e-01 8.34804951e-01 -4.85137840e-02 2.01522012e+01] [ 8.62955004e-02 1.20742193e-03 9.96268854e-01 4.15301385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.02, Y:20.17, Z:4.16 [[ 8.31833504e-01 -5.50509598e-01 -7.06555311e-02 5.50219839e+01] [ 5.48409916e-01 8.34827940e-01 -4.80507593e-02 2.01681904e+01] [ 8.54376156e-02 1.22203767e-03 9.96342773e-01 4.15519470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.04, Y:20.18, Z:4.16 [[ 8.32008836e-01 -5.50512623e-01 -6.85357533e-02 5.50445409e+01] [ 5.48535064e-01 8.34825967e-01 -4.66356959e-02 2.01849578e+01] [ 8.28889658e-02 1.20704722e-03 9.96558058e-01 4.15708716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.646874999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.07, Y:20.20, Z:4.16 [[ 8.32086962e-01 -5.50504917e-01 -6.76433582e-02 5.50673253e+01] [ 5.48576393e-01 8.34831038e-01 -4.60551665e-02 2.02008559e+01] [ 8.18243705e-02 1.21435414e-03 9.96646024e-01 4.15885479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.676874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.09, Y:20.22, Z:4.16 [[ 8.31946961e-01 -5.50717999e-01 -6.76309050e-02 5.50908600e+01] [ 5.48788693e-01 8.34690486e-01 -4.60734470e-02 2.02170162e+01] [ 8.18243495e-02 1.21558825e-03 9.96646025e-01 4.16095262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.11, Y:20.23, Z:4.16 [[ 8.32544406e-01 -5.49947154e-01 -6.65427731e-02 5.51137478e+01] [ 5.48075083e-01 8.35198456e-01 -4.53568422e-02 2.02329395e+01] [ 8.05202876e-02 1.29114935e-03 9.96752134e-01 4.16406531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.14, Y:20.25, Z:4.17 [[ 8.33145886e-01 -5.49144954e-01 -6.56334641e-02 5.51356321e+01] [ 5.47319269e-01 8.35725995e-01 -4.47624739e-02 2.02486321e+01] [ 7.94326787e-02 1.37121142e-03 9.96839290e-01 4.16649519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.16, Y:20.27, Z:4.17 [[ 8.34757781e-01 -5.46711632e-01 -6.54663181e-02 5.51579996e+01] [ 5.44886535e-01 8.37319410e-01 -4.46639758e-02 2.02659803e+01] [ 7.92345339e-02 1.61188615e-03 9.96854699e-01 4.16880075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.18, Y:20.28, Z:4.17 [[ 8.35337962e-01 -5.45748282e-01 -6.61006877e-02 5.51810690e+01] [ 5.43882416e-01 8.37947359e-01 -4.51236213e-02 2.02829059e+01] [ 8.00150355e-02 1.74247206e-03 9.96792134e-01 4.17005755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.826874999999994 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:55.20, Y:20.30, Z:4.17 [[ 8.35916156e-01 -5.44682138e-01 -6.75688400e-02 5.52040934e+01] [ 5.42726550e-01 8.38640401e-01 -4.61537576e-02 2.02997514e+01] [ 8.18050865e-02 1.90926821e-03 9.96646518e-01 4.17076535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.856874999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.23, Y:20.32, Z:4.17 [[ 8.36959624e-01 -5.42809758e-01 -6.96861170e-02 5.52264478e+01] [ 5.40720510e-01 8.39852845e-01 -4.76290755e-02 2.03161616e+01] [ 8.43796106e-02 2.18290038e-03 9.96431290e-01 4.17192973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.886874999999996 meters Centerline goodness : 0.999878 Centerline is valid? [True, True] Translation: X:55.25, Y:20.33, Z:4.17 [[ 8.37323355e-01 -5.42176326e-01 -7.02455015e-02 5.52493042e+01] [ 5.40048652e-01 8.40261621e-01 -4.80402100e-02 2.03331733e+01] [ 8.50708635e-02 2.28920143e-03 9.96372274e-01 4.17388293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.27, Y:20.35, Z:4.18 [[ 8.38130057e-01 -5.41062216e-01 -6.92075573e-02 5.52718017e+01] [ 5.38990930e-01 8.40979170e-01 -4.73583372e-02 2.03504579e+01] [ 8.38259210e-02 2.39020012e-03 9.96477547e-01 4.17631998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.29, Y:20.37, Z:4.18 [[ 8.38314746e-01 -5.40803666e-01 -6.89911752e-02 5.52948516e+01] [ 5.38742115e-01 8.41145338e-01 -4.72382615e-02 2.03665855e+01] [ 8.35782304e-02 2.43207954e-03 9.96498251e-01 4.17929891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.976875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:55.32, Y:20.38, Z:4.18 [[ 8.38198428e-01 -5.41084458e-01 -6.81982811e-02 5.53175807e+01] [ 5.39068744e-01 8.40964834e-01 -4.67229831e-02 2.03828668e+01] [ 8.26334361e-02 2.39956923e-03 9.96577121e-01 4.18241703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.34, Y:20.40, Z:4.19 [[ 8.38320446e-01 -5.41037216e-01 -6.70638538e-02 5.53388562e+01] [ 5.39085871e-01 8.40995267e-01 -4.59715647e-02 2.03986054e+01] [ 8.12727110e-02 2.38572654e-03 9.96689046e-01 4.18648499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.36, Y:20.42, Z:4.19 [[ 8.38064994e-01 -5.41410848e-01 -6.72410546e-02 5.53615669e+01] [ 5.39449250e-01 8.40754834e-01 -4.61065819e-02 2.04153904e+01] [ 8.14958453e-02 2.36717578e-03 9.96670870e-01 4.18887173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.38, Y:20.43, Z:4.19 [[ 8.37794183e-01 -5.41850977e-01 -6.70703103e-02 5.53831089e+01] [ 5.39898617e-01 8.40471321e-01 -4.60156808e-02 2.04320788e+01] [ 8.13043139e-02 2.34050197e-03 9.96686576e-01 4.18937802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.41, Y:20.45, Z:4.19 [[ 8.37082741e-01 -5.42942009e-01 -6.71301681e-02 5.54056895e+01] [ 5.40988548e-01 8.39767183e-01 -4.60702654e-02 2.04487616e+01] [ 8.13871946e-02 2.24797183e-03 9.96680024e-01 4.19121385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.43, Y:20.46, Z:4.19 [[ 8.36652759e-01 -5.43682376e-01 -6.64953771e-02 5.54283796e+01] [ 5.41765910e-01 8.39288229e-01 -4.56614462e-02 2.04646997e+01] [ 8.06341109e-02 2.17784651e-03 9.96741389e-01 4.19366054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.45, Y:20.48, Z:4.20 [[ 8.35126846e-01 -5.46058405e-01 -6.62070167e-02 5.54504327e+01] [ 5.44163910e-01 8.37744812e-01 -4.54892271e-02 2.04806502e+01] [ 8.03043596e-02 1.96180570e-03 9.96768459e-01 4.19678946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.47, Y:20.50, Z:4.20 [[ 8.33987476e-01 -5.47775952e-01 -6.63806939e-02 5.54733247e+01] [ 5.45875849e-01 8.36623106e-01 -4.56216524e-02 2.04972924e+01] [ 8.05260664e-02 1.81226912e-03 9.96750856e-01 4.19874015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.50, Y:20.51, Z:4.20 [[ 8.32967195e-01 -5.49296301e-01 -6.66275168e-02 5.54950215e+01] [ 5.47384750e-01 8.35625936e-01 -4.58173522e-02 2.05127681e+01] [ 8.08429832e-02 1.69346470e-03 9.96725411e-01 4.20043229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.52, Y:20.53, Z:4.20 [[ 8.30974444e-01 -5.52406150e-01 -6.57945181e-02 5.55176881e+01] [ 5.50550637e-01 8.33573945e-01 -4.52600678e-02 2.05297097e+01] [ 7.98465359e-02 1.38674586e-03 9.96806204e-01 4.20146859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.54, Y:20.55, Z:4.20 [[ 8.30031253e-01 -5.53833979e-01 -6.56965887e-02 5.55405658e+01] [ 5.51986333e-01 8.32626153e-01 -4.52192126e-02 2.05462020e+01] [ 7.97446344e-02 1.26974059e-03 9.96814517e-01 4.20306954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.30687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.56, Y:20.56, Z:4.21 [[ 8.28566878e-01 -5.55959474e-01 -6.62268266e-02 5.55624893e+01] [ 5.54086472e-01 8.31208675e-01 -4.56105209e-02 2.05620733e+01] [ 8.04059140e-02 1.09597822e-03 9.96761600e-01 4.20505527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.59, Y:20.58, Z:4.21 [[ 8.28389879e-01 -5.56102337e-01 -6.72339207e-02 5.55858642e+01] [ 5.54170708e-01 8.31113078e-01 -4.63236313e-02 2.05784131e+01] [ 8.16396704e-02 1.11495791e-03 9.96661287e-01 4.20758856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.61, Y:20.59, Z:4.21 [[ 8.28532025e-01 -5.55819700e-01 -6.78169920e-02 5.56079452e+01] [ 5.53851273e-01 8.31302040e-01 -4.67513205e-02 2.05941383e+01] [ 8.23617087e-02 1.17443894e-03 9.96601811e-01 4.20991729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.396875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:55.63, Y:20.61, Z:4.21 [[ 8.28711162e-01 -5.55615770e-01 -6.72972966e-02 5.56307610e+01] [ 5.53675472e-01 8.31438319e-01 -4.64089715e-02 2.06108122e+01] [ 8.17391076e-02 1.19877029e-03 9.96653040e-01 4.21169949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.65, Y:20.63, Z:4.21 [[ 8.29409536e-01 -5.54614312e-01 -6.69536085e-02 5.56533455e+01] [ 5.52688364e-01 8.32106507e-01 -4.61988371e-02 2.06275271e+01] [ 8.13350696e-02 1.31327573e-03 9.96685949e-01 4.21310989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.68, Y:20.64, Z:4.22 [[ 8.29800131e-01 -5.54023317e-01 -6.70067710e-02 5.56763263e+01] [ 5.52090172e-01 8.32499981e-01 -4.62625406e-02 2.06430126e+01] [ 8.14136618e-02 1.39488249e-03 9.96679422e-01 4.21514866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.70, Y:20.66, Z:4.22 [[ 8.29140715e-01 -5.55127981e-01 -6.60196828e-02 5.57002625e+01] [ 5.53252841e-01 8.31763946e-01 -4.56073728e-02 2.06584538e+01] [ 8.02307206e-02 1.28935266e-03 9.96775486e-01 4.21670269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.72, Y:20.67, Z:4.22 [[ 8.27365652e-01 -5.57861832e-01 -6.52399701e-02 5.57236999e+01] [ 5.56037180e-01 8.29933194e-01 -4.50948763e-02 2.06734776e+01] [ 7.93015271e-02 1.03410272e-03 9.96850138e-01 4.21965428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.75, Y:20.69, Z:4.22 [[ 8.25962522e-01 -5.59996362e-01 -6.47301025e-02 5.57460567e+01] [ 5.58204708e-01 8.28494637e-01 -4.47676392e-02 2.06879819e+01] [ 7.86982578e-02 8.43744283e-04 9.96898125e-01 4.22173360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.77, Y:20.70, Z:4.22 [[ 8.24450906e-01 -5.62234520e-01 -6.45991347e-02 5.57699546e+01] [ 5.60455782e-01 8.26977590e-01 -4.46920856e-02 2.07032763e+01] [ 7.85494700e-02 6.41471963e-04 9.96910011e-01 4.22405373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.79, Y:20.72, Z:4.23 [[ 8.24304693e-01 -5.62391635e-01 -6.50954765e-02 5.57930728e+01] [ 5.60583859e-01 8.26870741e-01 -4.50612332e-02 2.07192626e+01] [ 7.91676055e-02 6.52712564e-04 9.96861106e-01 4.22606638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.82, Y:20.74, Z:4.23 [[ 8.24635060e-01 -5.61859065e-01 -6.55088517e-02 5.58166793e+01] [ 5.60024419e-01 8.27232650e-01 -4.53739195e-02 2.07354755e+01] [ 7.96848090e-02 7.30368242e-04 9.96819842e-01 4.22704645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.84, Y:20.75, Z:4.23 [[ 8.26291968e-01 -5.59242126e-01 -6.70061802e-02 5.58389072e+01] [ 5.57311721e-01 8.29003732e-01 -4.64376787e-02 2.07501781e+01] [ 8.15182796e-02 1.02775134e-03 9.96671317e-01 4.22906004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69687499999999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:55.86, Y:20.77, Z:4.23 [[ 8.27277087e-01 -5.57735792e-01 -6.74048054e-02 5.58617400e+01] [ 5.55775965e-01 8.30017683e-01 -4.67303221e-02 2.07668385e+01] [ 8.20103536e-02 1.19695396e-03 9.96630759e-01 4.23079604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.88, Y:20.78, Z:4.23 [[ 8.28770329e-01 -5.55539791e-01 -6.71958494e-02 5.58844157e+01] [ 5.53582695e-01 8.31488719e-01 -4.66123407e-02 2.07831069e+01] [ 8.17676007e-02 1.43246553e-03 9.96650394e-01 4.23250512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.91, Y:20.80, Z:4.24 [[ 8.30552936e-01 -5.52938571e-01 -6.66390056e-02 5.59067452e+01] [ 5.51003282e-01 8.33220293e-01 -4.62528596e-02 2.08001000e+01] [ 8.10999619e-02 1.69713764e-03 9.96704528e-01 4.23531600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.786875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:55.93, Y:20.82, Z:4.24 [[ 8.31216899e-01 -5.51971197e-01 -6.63797050e-02 5.59297544e+01] [ 5.50045692e-01 8.33861219e-01 -4.60999438e-02 2.08168508e+01] [ 8.07973029e-02 1.80718151e-03 9.96728915e-01 4.23777415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.95, Y:20.83, Z:4.24 [[ 8.32872408e-01 -5.49490420e-01 -6.62105067e-02 5.59508081e+01] [ 5.47564921e-01 8.35497469e-01 -4.60069113e-02 2.08331515e+01] [ 8.05990678e-02 2.06333609e-03 9.96744467e-01 4.23963663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.97, Y:20.85, Z:4.24 [[ 8.33481684e-01 -5.48558327e-01 -6.62724976e-02 5.59734134e+01] [ 5.46625193e-01 8.36109482e-01 -4.60633478e-02 2.08494382e+01] [ 8.06794967e-02 2.16673994e-03 9.96737741e-01 4.24176177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.00, Y:20.86, Z:4.24 [[ 8.34109778e-01 -5.47653829e-01 -6.58495388e-02 5.59952657e+01] [ 5.45740430e-01 8.36701960e-01 -4.57953497e-02 2.08647536e+01] [ 8.01764368e-02 2.26159337e-03 9.96778122e-01 4.24344326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.02, Y:20.88, Z:4.25 [[ 8.34036085e-01 -5.47802022e-01 -6.55496304e-02 5.60176661e+01] [ 5.45905460e-01 8.36604979e-01 -4.55997482e-02 2.08810627e+01] [ 7.98187814e-02 2.24793428e-03 9.96806856e-01 4.24520707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.04, Y:20.90, Z:4.25 [[ 8.34518752e-01 -5.47059350e-01 -6.56088412e-02 5.60406860e+01] [ 5.45154876e-01 8.37090541e-01 -4.56682437e-02 2.08971213e+01] [ 7.99037800e-02 2.34402611e-03 9.96799825e-01 4.24746653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.06, Y:20.91, Z:4.25 [[ 8.34620898e-01 -5.46931489e-01 -6.53750987e-02 5.60633885e+01] [ 5.45038043e-01 8.37174013e-01 -4.55324497e-02 2.09125671e+01] [ 7.96334642e-02 2.37041812e-03 9.96821394e-01 4.24961626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.09, Y:20.93, Z:4.25 [[ 8.34658060e-01 -5.46877708e-01 -6.53505591e-02 5.60861659e+01] [ 5.44983970e-01 8.37209087e-01 -4.55347839e-02 2.09283824e+01] [ 7.96140402e-02 2.39096719e-03 9.96822897e-01 4.25190471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.11, Y:20.95, Z:4.25 [[ 8.35139583e-01 -5.46053546e-01 -6.60863176e-02 5.61087627e+01] [ 5.44112026e-01 8.37746483e-01 -4.60753049e-02 2.09451794e+01] [ 8.05231638e-02 2.52095081e-03 9.96749550e-01 4.25332834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.13, Y:20.96, Z:4.25 [[ 8.35446477e-01 -5.45504591e-01 -6.67377400e-02 5.61306044e+01] [ 5.43520616e-01 8.38103733e-01 -4.65561239e-02 2.09608250e+01] [ 8.13297283e-02 2.62181214e-03 9.96683802e-01 4.25459577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.08687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.15, Y:20.98, Z:4.26 [[ 8.35298529e-01 -5.45661680e-01 -6.73030386e-02 5.61537006e+01] [ 5.43643258e-01 8.38001408e-01 -4.69643282e-02 2.09769749e+01] [ 8.20266753e-02 2.64039103e-03 9.96626637e-01 4.25682513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.18, Y:20.99, Z:4.26 [[ 8.35325847e-01 -5.45550202e-01 -6.78653573e-02 5.61765610e+01] [ 5.43495128e-01 8.38073804e-01 -4.73850813e-02 2.09923453e+01] [ 8.27271188e-02 2.69749218e-03 9.96568586e-01 4.25965658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.20, Y:21.01, Z:4.26 [[ 8.32949938e-01 -5.49035201e-01 -6.89546905e-02 5.61991783e+01] [ 5.46922937e-01 8.35795741e-01 -4.81744751e-02 2.10086819e+01] [ 8.40815193e-02 2.41402417e-03 9.96455955e-01 4.25998826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.22, Y:21.03, Z:4.24 [[ 8.30505125e-01 -5.55033974e-01 -4.68884410e-02 5.62178360e+01] [ 5.51552795e-01 8.31203650e-01 -6.99285826e-02 2.10326972e+01] [ 7.77865824e-02 3.22145955e-02 9.96449430e-01 4.23657030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.25, Y:21.04, Z:4.28 [[ 8.29221865e-01 -5.52513594e-01 -8.43790676e-02 5.62468456e+01] [ 5.52769163e-01 8.33032261e-01 -2.24388901e-02 2.10352125e+01] [ 8.26882773e-02 -2.80353282e-02 9.96181042e-01 4.28098150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.27, Y:21.06, Z:4.27 [[ 8.26813764e-01 -5.58623588e-01 -6.57167141e-02 5.62680536e+01] [ 5.56730023e-01 8.29420065e-01 -4.59786747e-02 2.10555143e+01] [ 8.01915335e-02 1.42933330e-03 9.96778448e-01 4.26843543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.29, Y:21.07, Z:4.27 [[ 8.25529383e-01 -5.60590210e-01 -6.51141575e-02 5.62905598e+01] [ 5.58735234e-01 8.28092420e-01 -4.55838063e-02 2.10717844e+01] [ 7.94743758e-02 1.24919754e-03 9.96836127e-01 4.27060483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.31, Y:21.09, Z:4.27 [[ 8.24546540e-01 -5.62119605e-01 -6.43782016e-02 5.63130486e+01] [ 5.60308967e-01 8.27055207e-01 -4.50948678e-02 2.10881891e+01] [ 7.85930361e-02 1.11113354e-03 9.96906164e-01 4.27242470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.34, Y:21.10, Z:4.27 [[ 8.23934241e-01 -5.63048276e-01 -6.41015292e-02 5.63351812e+01] [ 5.61253986e-01 8.26423353e-01 -4.49266620e-02 2.11041859e+01] [ 7.82708802e-02 1.03937640e-03 9.96931587e-01 4.27479454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.36, Y:21.12, Z:4.28 [[ 8.23980274e-01 -5.62925269e-01 -6.45883054e-02 5.63577545e+01] [ 5.61101971e-01 8.26507104e-01 -4.52833893e-02 2.11202956e+01] [ 7.88738573e-02 1.07199403e-03 9.96884028e-01 4.27682169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.386875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:56.38, Y:21.14, Z:4.28 [[ 8.24056445e-01 -5.62778812e-01 -6.48921037e-02 5.63804667e+01] [ 5.60935756e-01 8.26606781e-01 -4.55225961e-02 2.11369868e+01] [ 7.92594055e-02 1.11288740e-03 9.96853404e-01 4.27830373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.40, Y:21.15, Z:4.28 [[ 8.25029037e-01 -5.61229687e-01 -6.59418433e-02 5.64017615e+01] [ 5.59319365e-01 8.27659071e-01 -4.62851043e-02 2.11531178e+01] [ 8.05539394e-02 1.30400511e-03 9.96749398e-01 4.27928224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.44687499999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:56.42, Y:21.17, Z:4.28 [[ 8.25429118e-01 -5.60558348e-01 -6.66416531e-02 5.64245383e+01] [ 5.58603449e-01 8.28113747e-01 -4.67953949e-02 2.11695039e+01] [ 8.14184183e-02 1.40002431e-03 9.96679026e-01 4.28144115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.45, Y:21.19, Z:4.28 [[ 8.25867222e-01 -5.59865991e-01 -6.70328502e-02 5.64473734e+01] [ 5.57883519e-01 8.28581814e-01 -4.70973044e-02 2.11858706e+01] [ 8.19103796e-02 1.49959759e-03 9.96638571e-01 4.28349854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.47, Y:21.20, Z:4.29 [[ 8.26223465e-01 -5.59369794e-01 -6.67848707e-02 5.64690978e+01] [ 5.57398222e-01 8.28916754e-01 -4.69493170e-02 2.12019146e+01] [ 8.16211280e-02 1.56485924e-03 9.96662201e-01 4.28555798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.49, Y:21.22, Z:4.29 [[ 8.27482407e-01 -5.57723064e-01 -6.49449770e-02 5.64915190e+01] [ 5.55852517e-01 8.30025373e-01 -4.56712119e-02 2.12188398e+01] [ 7.93778670e-02 1.69229541e-03 9.96843162e-01 4.28731178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.51, Y:21.23, Z:4.29 [[ 8.27628323e-01 -5.57588255e-01 -6.42393707e-02 5.65133106e+01] [ 5.55755788e-01 8.30115908e-01 -4.52004705e-02 2.12342669e+01] [ 7.85293750e-02 1.70778749e-03 9.96910337e-01 4.28997622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.54, Y:21.25, Z:4.29 [[ 8.27489097e-01 -5.57795679e-01 -6.42321936e-02 5.65365856e+01] [ 5.55963045e-01 8.29976559e-01 -4.52106672e-02 2.12507857e+01] [ 7.85295298e-02 1.70060827e-03 9.96910337e-01 4.29207758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.56, Y:21.27, Z:4.29 [[ 8.27398524e-01 -5.58002926e-01 -6.35957356e-02 5.65594442e+01] [ 5.56205247e-01 8.29837272e-01 -4.47864331e-02 2.12665871e+01] [ 7.77650725e-02 1.68394679e-03 9.96970289e-01 4.29487163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.58, Y:21.28, Z:4.30 [[ 8.26800260e-01 -5.58943237e-01 -6.31172543e-02 5.65820584e+01] [ 5.57173297e-01 8.29204367e-01 -4.44750974e-02 2.12819937e+01] [ 7.71961579e-02 1.60477346e-03 9.97014633e-01 4.29639662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.61, Y:21.30, Z:4.30 [[ 8.26294250e-01 -5.59681589e-01 -6.32007194e-02 5.66055517e+01] [ 5.57907928e-01 8.28706290e-01 -4.45491820e-02 2.12977998e+01] [ 7.73081907e-02 1.55055052e-03 9.97006038e-01 4.29887759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.63, Y:21.31, Z:4.30 [[ 8.25768630e-01 -5.60382577e-01 -6.38555910e-02 5.66282923e+01] [ 5.58571937e-01 8.28232485e-01 -4.50371143e-02 2.13129822e+01] [ 7.81252890e-02 1.52229506e-03 9.96942386e-01 4.30111199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.65, Y:21.33, Z:4.30 [[ 8.24684606e-01 -5.61935232e-01 -6.42191146e-02 5.66524465e+01] [ 5.60107573e-01 8.27180060e-01 -4.53062233e-02 2.13283889e+01] [ 7.85799342e-02 1.39373251e-03 9.96906842e-01 4.30210765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.68, Y:21.34, Z:4.30 [[ 8.23875187e-01 -5.63114182e-01 -6.42813678e-02 5.66756029e+01] [ 5.61284463e-01 8.26378071e-01 -4.53765906e-02 2.13441322e+01] [ 7.86729145e-02 1.30451406e-03 9.96899629e-01 4.30353699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.80687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.70, Y:21.36, Z:4.30 [[ 8.22890975e-01 -5.64601778e-01 -6.38378770e-02 5.66988299e+01] [ 5.62799690e-01 8.25362617e-01 -4.50894636e-02 2.13595801e+01] [ 7.81469886e-02 1.17577536e-03 9.96941155e-01 4.30495919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.72, Y:21.37, Z:4.31 [[ 8.21019863e-01 -5.67303826e-01 -6.39746401e-02 5.67235596e+01] [ 5.65500112e-01 8.23508034e-01 -4.52121852e-02 2.13735849e+01] [ 7.83326757e-02 9.42435949e-04 9.96926830e-01 4.30822784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.75, Y:21.39, Z:4.31 [[ 8.20257071e-01 -5.68393752e-01 -6.40849544e-02 5.67473213e+01] [ 5.66585048e-01 8.22756222e-01 -4.53164707e-02 2.13888415e+01] [ 7.84838938e-02 8.61578541e-04 9.96915009e-01 4.31127733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.896875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:56.77, Y:21.40, Z:4.31 [[ 8.19261822e-01 -5.69876873e-01 -6.36428829e-02 5.67703166e+01] [ 5.68095516e-01 8.21729766e-01 -4.50297376e-02 2.14046491e+01] [ 7.79586573e-02 7.35908470e-04 9.96956321e-01 4.31230398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.79, Y:21.42, Z:4.31 [[ 8.19045724e-01 -5.70224103e-01 -6.33132978e-02 5.67939169e+01] [ 5.68460202e-01 8.21488863e-01 -4.48223876e-02 2.14203639e+01] [ 7.75699749e-02 7.20494846e-04 9.96986650e-01 4.31458616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.82, Y:21.44, Z:4.32 [[ 8.19017693e-01 -5.70264225e-01 -6.33145431e-02 5.68171669e+01] [ 5.68498368e-01 8.21460997e-01 -4.48490459e-02 2.14358829e+01] [ 7.75862341e-02 7.37947661e-04 9.96985372e-01 4.31601467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.84, Y:21.45, Z:4.32 [[ 8.19017230e-01 -5.70264123e-01 -6.33214610e-02 5.68395469e+01] [ 5.68495885e-01 8.21461048e-01 -4.48795595e-02 2.14516503e+01] [ 7.76093164e-02 7.59142419e-04 9.96983559e-01 4.31773270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.86, Y:21.47, Z:4.32 [[ 8.19142300e-01 -5.70062250e-01 -6.35210523e-02 5.68616949e+01] [ 5.68281087e-01 8.21601122e-01 -4.50355765e-02 2.14669666e+01] [ 7.78620499e-02 7.92733078e-04 9.96963827e-01 4.31975159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.89, Y:21.48, Z:4.32 [[ 8.19320177e-01 -5.69751022e-01 -6.40173397e-02 5.68850101e+01] [ 5.67939724e-01 8.21816929e-01 -4.54027001e-02 2.14818355e+01] [ 7.84787683e-02 8.41358114e-04 9.96915430e-01 4.32252827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.91, Y:21.50, Z:4.32 [[ 8.19342119e-01 -5.69696355e-01 -6.42226923e-02 5.69072344e+01] [ 5.67871182e-01 8.21854795e-01 -4.55742917e-02 2.14973587e+01] [ 7.87452355e-02 8.70720622e-04 9.96894392e-01 4.32483266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.93, Y:21.51, Z:4.33 [[ 8.19475046e-01 -5.69516208e-01 -6.41243966e-02 5.69303203e+01] [ 5.67694864e-01 8.21979611e-01 -4.55199010e-02 2.15137142e+01] [ 7.86332679e-02 8.99332337e-04 9.96903205e-01 4.32684011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.95, Y:21.53, Z:4.33 [[ 8.19802250e-01 -5.69075344e-01 -6.38554919e-02 5.69530910e+01] [ 5.67265894e-01 8.22284825e-01 -4.53549597e-02 2.15298336e+01] [ 7.83177912e-02 9.59055288e-04 9.96927983e-01 4.32849963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.98, Y:21.55, Z:4.33 [[ 8.20356480e-01 -5.68250787e-01 -6.40803317e-02 5.69751305e+01] [ 5.66424017e-01 8.22854734e-01 -4.55402964e-02 2.15453410e+01] [ 7.86071135e-02 1.06263835e-03 9.96905107e-01 4.33021658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.00, Y:21.56, Z:4.33 [[ 8.20568020e-01 -5.67979146e-01 -6.37794162e-02 5.69979760e+01] [ 5.66167520e-01 8.23042215e-01 -4.53414895e-02 2.15612503e+01] [ 7.82461725e-02 1.09594236e-03 9.96933466e-01 4.33173593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.02, Y:21.58, Z:4.33 [[ 8.20534538e-01 -5.68014126e-01 -6.38985504e-02 5.70208226e+01] [ 5.66193797e-01 8.23018048e-01 -4.54519219e-02 2.15772364e+01] [ 7.84069940e-02 1.11590887e-03 9.96920808e-01 4.33352273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.04, Y:21.59, Z:4.33 [[ 8.20628634e-01 -5.67914013e-01 -6.35792305e-02 5.70449476e+01] [ 5.66109568e-01 8.23087099e-01 -4.52502450e-02 2.15926231e+01] [ 7.80294926e-02 1.14083605e-03 9.96950398e-01 4.33476142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.07, Y:21.61, Z:4.34 [[ 8.20358329e-01 -5.68261935e-01 -6.39576816e-02 5.70682213e+01] [ 5.66434926e-01 8.22846938e-01 -4.55454840e-02 2.16081184e+01] [ 7.85091473e-02 1.13575252e-03 9.96912746e-01 4.33747096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.09, Y:21.62, Z:4.34 [[ 8.20354537e-01 -5.68256460e-01 -6.40548989e-02 5.70916695e+01] [ 5.66421825e-01 8.22850686e-01 -4.56405947e-02 2.16232971e+01] [ 7.86431803e-02 1.15937613e-03 9.96902155e-01 4.33967926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.12, Y:21.64, Z:4.34 [[ 8.20819460e-01 -5.67515435e-01 -6.46656436e-02 5.71159325e+01] [ 5.65641203e-01 8.23361788e-01 -4.61020207e-02 2.16376444e+01] [ 7.94068282e-02 1.26388325e-03 9.96841491e-01 4.34208138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.14, Y:21.65, Z:4.34 [[ 8.20215596e-01 -5.68398173e-01 -6.45747149e-02 5.71389899e+01] [ 5.66529837e-01 8.22752746e-01 -4.60636840e-02 2.16535979e+01] [ 7.93115378e-02 1.19864932e-03 9.96849158e-01 4.34237324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.406875 meters Centerline goodness : 0.999924 Centerline is valid? [True, True] Translation: X:57.16, Y:21.67, Z:4.34 [[ 8.17209475e-01 -5.72658353e-01 -6.50467850e-02 5.71618347e+01] [ 5.70773796e-01 8.19793723e-01 -4.64276421e-02 2.16692660e+01] [ 7.99121231e-02 8.14108572e-04 9.96801580e-01 4.34317288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.18, Y:21.68, Z:4.35 [[ 8.14789848e-01 -5.76107915e-01 -6.49397767e-02 5.71841491e+01] [ 5.74238408e-01 8.17373491e-01 -4.63770161e-02 2.16837766e+01] [ 7.97982180e-02 4.96607914e-04 9.96810914e-01 4.34512170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.21, Y:21.70, Z:4.35 [[ 8.12570981e-01 -5.79243937e-01 -6.48449107e-02 5.72081281e+01] [ 5.77388591e-01 8.15154231e-01 -4.63248761e-02 2.16991330e+01] [ 7.96920070e-02 2.01538348e-04 9.96819514e-01 4.34750336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.23, Y:21.71, Z:4.35 [[ 8.10747609e-01 -5.81745646e-01 -6.52711158e-02 5.72318353e+01] [ 5.79871706e-01 8.13370766e-01 -4.66562128e-02 2.17137416e+01] [ 8.02316661e-02 -2.24602810e-05 9.96776243e-01 4.34993059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.52687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.25, Y:21.73, Z:4.35 [[ 8.10307508e-01 -5.82312941e-01 -6.56763465e-02 5.72542100e+01] [ 5.80415240e-01 8.12964720e-01 -4.69735321e-02 2.17300792e+01] [ 8.07458483e-02 -5.65467774e-05 9.96734721e-01 4.35086573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.28, Y:21.75, Z:4.35 [[ 8.10687546e-01 -5.81759585e-01 -6.58899652e-02 5.72757862e+01] [ 5.79845411e-01 8.13360796e-01 -4.71541555e-02 2.17457214e+01] [ 8.10246965e-02 2.12926403e-05 9.96712094e-01 4.35269010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.58687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.29, Y:21.77, Z:4.32 [[ 8.10473517e-01 -5.84603624e-01 -3.70308087e-02 5.72931550e+01] [ 5.81149230e-01 8.10393834e-01 -7.43465257e-02 2.17731246e+01] [ 7.34727874e-02 3.87354642e-02 9.96544687e-01 4.32205751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.32, Y:21.77, Z:4.38 [[ 8.11702645e-01 -5.77612154e-01 -8.66199493e-02 5.73236558e+01] [ 5.78651973e-01 8.15434069e-01 -1.51384584e-02 2.17732508e+01] [ 7.93770153e-02 -3.78348778e-02 9.96126403e-01 4.37977211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.34, Y:21.80, Z:4.36 [[ 8.12196205e-01 -5.79815171e-01 -6.44336293e-02 5.73436081e+01] [ 5.77972413e-01 8.14747993e-01 -4.61908910e-02 2.17970175e+01] [ 7.92793494e-02 2.75206144e-04 9.96852401e-01 4.36027058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.36, Y:21.81, Z:4.36 [[ 8.13801552e-01 -5.77554400e-01 -6.44821574e-02 5.73638039e+01] [ 5.75699674e-01 8.16352036e-01 -4.62519027e-02 2.18148447e+01] [ 7.93531304e-02 5.17513239e-04 9.96846434e-01 4.36130139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.39, Y:21.83, Z:4.36 [[ 8.14590904e-01 -5.76350810e-01 -6.52794252e-02 5.73860233e+01] [ 5.74444682e-01 8.17202125e-01 -4.68400907e-02 2.18326468e+01] [ 8.03428092e-02 6.56093165e-04 9.96767075e-01 4.36349008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.41, Y:21.85, Z:4.36 [[ 8.15249984e-01 -5.75392172e-01 -6.55081117e-02 5.74080248e+01] [ 5.73467361e-01 8.17877281e-01 -4.70312539e-02 2.18506792e+01] [ 8.06390117e-02 7.75465024e-04 9.96743070e-01 4.36474040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.43, Y:21.87, Z:4.37 [[ 8.16197428e-01 -5.74074908e-01 -6.52668278e-02 5.74295038e+01] [ 5.72157978e-01 8.18802263e-01 -4.68839132e-02 2.18679758e+01] [ 8.03555045e-02 9.23593159e-04 9.96765840e-01 4.36606766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.796875 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:57.45, Y:21.89, Z:4.37 [[ 8.17626515e-01 -5.72011247e-01 -6.54982126e-02 5.74495240e+01] [ 5.70072846e-01 8.20244980e-01 -4.70650971e-02 2.18858607e+01] [ 8.06463450e-02 1.14291888e-03 9.96742124e-01 4.36709555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.47, Y:21.90, Z:4.37 [[ 8.18205425e-01 -5.71153206e-01 -6.57563473e-02 5.74717700e+01] [ 5.69195406e-01 8.20842533e-01 -4.72665505e-02 2.19030417e+01] [ 8.09720485e-02 1.24553725e-03 9.96715594e-01 4.36983579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.49, Y:21.92, Z:4.37 [[ 8.18705727e-01 -5.70460070e-01 -6.55457120e-02 5.74927600e+01] [ 5.68510466e-01 8.21324257e-01 -4.71414385e-02 2.19193716e+01] [ 8.07265915e-02 1.33154241e-03 9.96735393e-01 4.37197319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.51, Y:21.94, Z:4.37 [[ 8.18716867e-01 -5.70450908e-01 -6.54862768e-02 5.75143203e+01] [ 5.68503268e-01 8.21330595e-01 -4.71178010e-02 2.19367117e+01] [ 8.06642751e-02 1.34697612e-03 9.96740418e-01 4.37391737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.54, Y:21.95, Z:4.38 [[ 8.18183503e-01 -5.71246299e-01 -6.52182524e-02 5.75369026e+01] [ 5.69314959e-01 8.20777688e-01 -4.69517286e-02 2.19530761e+01] [ 8.03506876e-02 1.28540310e-03 9.96765827e-01 4.37550187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.56, Y:21.97, Z:4.38 [[ 8.17545371e-01 -5.72163692e-01 -6.51788013e-02 5.75594182e+01] [ 5.70235405e-01 8.20138542e-01 -4.69505488e-02 2.19693323e+01] [ 8.03190464e-02 1.21694372e-03 9.96768464e-01 4.37853491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.58, Y:21.99, Z:4.38 [[ 8.17034589e-01 -5.72921497e-01 -6.49264045e-02 5.75824171e+01] [ 5.71008365e-01 8.19609427e-01 -4.67956644e-02 2.19857148e+01] [ 8.00245352e-02 1.16015635e-03 9.96792219e-01 4.38099199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.60, Y:22.00, Z:4.38 [[ 8.16509034e-01 -5.73610865e-01 -6.54490141e-02 5.76040622e+01] [ 5.71666829e-01 8.19127166e-01 -4.71987529e-02 2.20015130e+01] [ 8.06847829e-02 1.12317773e-03 9.96739035e-01 4.38260990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.63, Y:22.02, Z:4.38 [[ 8.16233546e-01 -5.73904308e-01 -6.63071991e-02 5.76268281e+01] [ 5.71908464e-01 8.18921599e-01 -4.78343306e-02 2.20176523e+01] [ 8.17527259e-02 1.12233691e-03 9.96652012e-01 4.38497683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.65, Y:22.03, Z:4.39 [[ 8.16101426e-01 -5.74029707e-01 -6.68457770e-02 5.76500993e+01] [ 5.71999376e-01 8.18833678e-01 -4.82506068e-02 2.20336841e+01] [ 8.24328552e-02 1.14164628e-03 9.96595967e-01 4.38809904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.67, Y:22.05, Z:4.39 [[ 8.16012400e-01 -5.74091412e-01 -6.74003931e-02 5.76734830e+01] [ 5.72025055e-01 8.18790380e-01 -4.86790483e-02 2.20494543e+01] [ 8.31330170e-02 1.16799348e-03 9.96537775e-01 4.39050872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.70, Y:22.06, Z:4.39 [[ 8.16028114e-01 -5.74059947e-01 -6.74780980e-02 5.76955561e+01] [ 5.71986446e-01 8.18812402e-01 -4.87622430e-02 2.20649184e+01] [ 8.32443541e-02 1.19480376e-03 9.96528449e-01 4.39243669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.156875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:57.72, Y:22.08, Z:4.39 [[ 8.15911086e-01 -5.74255108e-01 -6.72322154e-02 5.77187401e+01] [ 5.72195715e-01 8.18675553e-01 -4.86045436e-02 2.20812287e+01] [ 8.29527786e-02 1.18700035e-03 9.96552772e-01 4.39446028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.74, Y:22.10, Z:4.40 [[ 8.16718522e-01 -5.73206090e-01 -6.63749532e-02 5.77410025e+01] [ 5.71193383e-01 8.19410210e-01 -4.80106940e-02 2.20959180e+01] [ 8.19083365e-02 1.29828900e-03 9.96639021e-01 4.39789783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.76, Y:22.11, Z:4.40 [[ 8.17226394e-01 -5.72514087e-01 -6.60956929e-02 5.77636231e+01] [ 5.70514727e-01 8.19893730e-01 -4.78248642e-02 2.21119752e+01] [ 8.15718527e-02 1.37517520e-03 9.96666515e-01 4.39998992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.79, Y:22.13, Z:4.40 [[ 8.17949638e-01 -5.71474113e-01 -6.61492880e-02 5.77856918e+01] [ 5.69465958e-01 8.20618720e-01 -4.78898689e-02 2.21277369e+01] [ 8.16511644e-02 1.50173328e-03 9.96659838e-01 4.40221235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27687499999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:57.80, Y:22.15, Z:4.38 [[ 8.18813527e-01 -5.72386593e-01 -4.37949387e-02 5.78012747e+01] [ 5.69038739e-01 8.19354528e-01 -6.96639810e-02 2.21521584e+01] [ 7.57583100e-02 3.21207933e-02 9.96608716e-01 4.37764039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.30687499999999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:57.83, Y:22.16, Z:4.42 [[ 8.20266145e-01 -5.65800360e-01 -8.38653944e-02 5.78334606e+01] [ 5.65958384e-01 8.24079170e-01 -2.41791031e-02 2.21561559e+01] [ 8.27922699e-02 -2.76310234e-02 9.96183701e-01 4.42175135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.85, Y:22.18, Z:4.41 [[ 8.21256642e-01 -5.66594165e-01 -6.71459641e-02 5.78537192e+01] [ 5.64504317e-01 8.23994421e-01 -4.86628196e-02 2.21775976e+01] [ 8.28999695e-02 2.06047718e-03 9.96555743e-01 4.40691755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.86, Y:22.21, Z:4.35 [[ 8.19665252e-01 -5.72437444e-01 -2.15464117e-02 5.78596835e+01] [ 5.68668347e-01 8.17648913e-01 -8.98140644e-02 2.22111335e+01] [ 6.90303336e-02 6.13647054e-02 9.95725457e-01 4.35182712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.396875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:57.90, Y:22.20, Z:4.44 [[ 8.22334019e-01 -5.59242372e-01 -1.04951088e-01 5.79037014e+01] [ 5.62008124e-01 8.27122768e-01 -3.84654605e-03 2.22004814e+01] [ 8.89585860e-02 -5.58202185e-02 9.94469946e-01 4.44368300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.92, Y:22.23, Z:4.41 [[ 8.22888799e-01 -5.63630335e-01 -7.19365689e-02 5.79226427e+01] [ 5.61216468e-01 8.26023183e-01 -5.21706548e-02 2.22270887e+01] [ 8.88262373e-02 2.55866031e-03 9.96043851e-01 4.41348277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.95, Y:22.24, Z:4.42 [[ 8.22794547e-01 -5.63719430e-01 -7.23155427e-02 5.79456872e+01] [ 5.61277604e-01 8.25962292e-01 -5.24761320e-02 2.22434582e+01] [ 8.93117266e-02 2.58798068e-03 9.96000360e-01 4.41533768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.97, Y:22.26, Z:4.42 [[ 8.22698146e-01 -5.63861844e-01 -7.23020219e-02 5.79686931e+01] [ 5.61418932e-01 8.25865052e-01 -5.24947553e-02 2.22602921e+01] [ 8.93115026e-02 2.59561399e-03 9.96000361e-01 4.41745254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.98, Y:22.29, Z:4.36 [[ 8.18669668e-01 -5.73663634e-01 -2.62680292e-02 5.79752512e+01] [ 5.69714938e-01 8.17079944e-01 -8.83473519e-02 2.22921286e+01] [ 7.21447427e-02 5.73620086e-02 9.95743308e-01 4.36382371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.02, Y:22.28, Z:4.45 [[ 8.20761301e-01 -5.61499899e-01 -1.05208125e-01 5.80188693e+01] [ 5.63705765e-01 8.25911707e-01 -1.02792692e-02 2.22818639e+01] [ 9.26644308e-02 -5.08696003e-02 9.94397097e-01 4.45286309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.04, Y:22.31, Z:4.42 [[ 8.20615861e-01 -5.66782554e-01 -7.31241725e-02 5.80378184e+01] [ 5.64289336e-01 8.23864053e-01 -5.31560674e-02 2.23070884e+01] [ 9.03723088e-02 2.35752128e-03 9.95905261e-01 4.42486750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.06, Y:22.32, Z:4.43 [[ 8.19836098e-01 -5.67979697e-01 -7.25798628e-02 5.80611399e+01] [ 5.65525437e-01 8.23039532e-01 -5.27911784e-02 2.23234318e+01] [ 8.97204138e-02 2.23435509e-03 9.95964485e-01 4.42718930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.08, Y:22.34, Z:4.43 [[ 8.18895952e-01 -5.69530853e-01 -7.10213126e-02 5.80842820e+01] [ 5.67184404e-01 8.21967416e-01 -5.16857620e-02 2.23378746e+01] [ 8.78138409e-02 2.04308046e-03 9.96134808e-01 4.43116972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.11, Y:22.35, Z:4.43 [[ 8.18350277e-01 -5.70398442e-01 -7.03451636e-02 5.81075909e+01] [ 5.68097862e-01 8.21365825e-01 -5.12152301e-02 2.23539670e+01] [ 8.69922008e-02 1.94906066e-03 9.96207086e-01 4.43400522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69687499999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:58.13, Y:22.37, Z:4.44 [[ 8.17231256e-01 -5.72056770e-01 -6.98865159e-02 5.81302929e+01] [ 5.69789611e-01 8.20212085e-01 -5.09110529e-02 2.23699070e+01] [ 8.64457774e-02 1.78549298e-03 9.96254957e-01 4.43619881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.15, Y:22.39, Z:4.44 [[ 8.15077526e-01 -5.75191639e-01 -6.93051554e-02 5.81529603e+01] [ 5.72971026e-01 8.18017381e-01 -5.05150196e-02 2.23852573e+01] [ 8.57486386e-02 1.46381120e-03 9.96315727e-01 4.43830470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.18, Y:22.40, Z:4.44 [[ 8.14183095e-01 -5.76496813e-01 -6.89732733e-02 5.81755964e+01] [ 5.74300594e-01 8.17098307e-01 -5.02910002e-02 2.24017188e+01] [ 8.53505462e-02 1.33469044e-03 9.96350091e-01 4.44025586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.20, Y:22.42, Z:4.44 [[ 8.13566146e-01 -5.77367451e-01 -6.89706641e-02 5.81974558e+01] [ 5.75172028e-01 8.16483448e-01 -5.03181582e-02 2.24173120e+01] [ 8.53654724e-02 1.26715327e-03 9.96348900e-01 4.44153537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.22, Y:22.43, Z:4.44 [[ 8.12762097e-01 -5.78408119e-01 -6.97267709e-02 5.82207947e+01] [ 5.76165471e-01 8.15746665e-01 -5.08992089e-02 2.24336339e+01] [ 8.63198964e-02 1.19479001e-03 9.96266755e-01 4.44328394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.23, Y:22.47, Z:4.38 [[ 8.09824724e-01 -5.86367904e-01 -1.88837916e-02 5.82259483e+01] [ 5.82255250e-01 8.07253846e-01 -9.65404161e-02 2.24696377e+01] [ 7.18522149e-02 6.71856290e-02 9.95149914e-01 4.38270935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.27, Y:22.46, Z:4.48 [[ 8.12250806e-01 -5.73448649e-01 -1.06795483e-01 5.82710352e+01] [ 5.76861116e-01 8.16841202e-01 1.30551297e-03 2.24568650e+01] [ 8.64863057e-02 -6.26665652e-02 9.94280152e-01 4.48324257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.29, Y:22.48, Z:4.45 [[ 8.13055179e-01 -5.78141379e-01 -6.85114775e-02 5.82886288e+01] [ 5.75969371e-01 8.15935634e-01 -5.00831815e-02 2.24839113e+01] [ 8.48561154e-02 1.25987752e-03 9.96392419e-01 4.44899362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.31, Y:22.50, Z:4.45 [[ 8.13866382e-01 -5.77216215e-01 -6.66554837e-02 5.83107050e+01] [ 5.75156021e-01 8.16590267e-01 -4.87430731e-02 2.25018027e+01] [ 8.25655114e-02 1.33304574e-03 9.96584748e-01 4.44997184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.33, Y:22.52, Z:4.45 [[ 8.14412192e-01 -5.76469782e-01 -6.64482567e-02 5.83327218e+01] [ 5.74417631e-01 8.17117221e-01 -4.86192504e-02 2.25191327e+01] [ 8.23235436e-02 1.42706004e-03 9.96604635e-01 4.45138981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.35, Y:22.54, Z:4.45 [[ 8.14980918e-01 -5.75706320e-01 -6.60933867e-02 5.83543580e+01] [ 5.73671395e-01 8.17655141e-01 -4.83859691e-02 2.25361351e+01] [ 8.18977056e-02 1.51775621e-03 9.96639585e-01 4.45262140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.38, Y:22.55, Z:4.45 [[ 8.15391367e-01 -5.75164112e-01 -6.57507554e-02 5.83767583e+01] [ 5.73147181e-01 8.18036525e-01 -4.81513566e-02 2.25535300e+01] [ 8.14814517e-02 1.57734037e-03 9.96673610e-01 4.45434704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.40, Y:22.57, Z:4.46 [[ 8.16173565e-01 -5.74092864e-01 -6.54071543e-02 5.83979657e+01] [ 5.72091393e-01 8.18788436e-01 -4.79263500e-02 2.25707241e+01] [ 8.10687971e-02 1.69734989e-03 9.96707063e-01 4.45570949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.08687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.42, Y:22.59, Z:4.46 [[ 8.16282193e-01 -5.73915393e-01 -6.56087133e-02 5.84206460e+01] [ 5.71899635e-01 8.18912765e-01 -4.80904484e-02 2.25880956e+01] [ 8.13276614e-02 1.73377745e-03 9.96685911e-01 4.45761415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.44, Y:22.61, Z:4.46 [[ 8.16103100e-01 -5.74227631e-01 -6.51026708e-02 5.84428699e+01] [ 5.72241681e-01 8.18693897e-01 -4.77468523e-02 2.26057202e+01] [ 8.07167212e-02 1.71189245e-03 9.96735612e-01 4.45867140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.46, Y:22.62, Z:4.46 [[ 8.15476379e-01 -5.75153145e-01 -6.47853044e-02 5.84648748e+01] [ 5.73187253e-01 8.18044123e-01 -4.75414047e-02 2.26236533e+01] [ 8.03408259e-02 1.63478188e-03 9.96766111e-01 4.45967326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.49, Y:22.64, Z:4.46 [[ 8.15116461e-01 -5.75733266e-01 -6.41588735e-02 5.84864260e+01] [ 5.73804948e-01 8.17636042e-01 -4.71082174e-02 2.26401330e+01] [ 7.95803753e-02 1.58400445e-03 9.96827194e-01 4.46151889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.51, Y:22.66, Z:4.46 [[ 8.14521023e-01 -5.76635241e-01 -6.36184117e-02 5.85087493e+01] [ 5.74740835e-01 8.17000343e-01 -4.67269935e-02 2.26572281e+01] [ 7.89206953e-02 1.49601940e-03 9.96879775e-01 4.46323614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.53, Y:22.67, Z:4.46 [[ 8.13945296e-01 -5.77502915e-01 -6.31144851e-02 5.85308216e+01] [ 5.75638950e-01 8.16387383e-01 -4.63836137e-02 2.26739748e+01] [ 7.83125415e-02 1.42256823e-03 9.96927842e-01 4.46449717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.55, Y:22.69, Z:4.47 [[ 8.11904723e-01 -5.80480091e-01 -6.20772408e-02 5.85529088e+01] [ 5.78683636e-01 8.14273644e-01 -4.56473629e-02 2.26919550e+01] [ 7.70452465e-02 1.13822616e-03 9.97026948e-01 4.46506701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.57, Y:22.71, Z:4.47 [[ 8.09773919e-01 -5.83461806e-01 -6.19557965e-02 5.85748648e+01] [ 5.81679081e-01 8.12140109e-01 -4.55838849e-02 2.27078920e+01] [ 7.69132431e-02 8.74250393e-04 9.97037406e-01 4.46745705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.60, Y:22.72, Z:4.47 [[ 8.07750008e-01 -5.86320885e-01 -6.13819605e-02 5.85976981e+01] [ 5.84578197e-01 8.10078669e-01 -4.51761161e-02 2.27249074e+01] [ 7.62119172e-02 6.08452297e-04 9.97091457e-01 4.46905166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.62, Y:22.74, Z:4.47 [[ 8.05969092e-01 -5.88774490e-01 -6.13059762e-02 5.86203203e+01] [ 5.87041246e-01 8.08297249e-01 -4.51456863e-02 2.27412025e+01] [ 7.61340803e-02 3.96891125e-04 9.97097510e-01 4.47115976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.64, Y:22.76, Z:4.47 [[ 8.03323911e-01 -5.92293283e-01 -6.21237587e-02 5.86424315e+01] [ 5.90521821e-01 8.05722446e-01 -4.57746581e-02 2.27576380e+01] [ 7.71665293e-02 8.64422231e-05 9.97018214e-01 4.47284604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.66, Y:22.77, Z:4.47 [[ 8.01937343e-01 -5.94132078e-01 -6.24785742e-02 5.86646318e+01] [ 5.92343790e-01 8.04367496e-01 -4.60626310e-02 2.27742393e+01] [ 7.76230210e-02 -6.94514871e-05 9.96982779e-01 4.47412781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.68, Y:22.80, Z:4.44 [[ 7.98408990e-01 -6.01210098e-01 -3.30076056e-02 5.86790960e+01] [ 5.98205440e-01 7.98268713e-01 -7.01235531e-02 2.28020232e+01] [ 6.85079272e-02 3.62419460e-02 9.96992069e-01 4.43927111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.71, Y:22.80, Z:4.50 [[ 7.99950479e-01 -5.94258556e-01 -8.32826512e-02 5.87134618e+01] [ 5.95109446e-01 8.03466609e-01 -1.69161281e-02 2.28006132e+01] [ 7.69673832e-02 -3.60302277e-02 9.96382379e-01 4.49725548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.73, Y:22.82, Z:4.48 [[ 7.99873078e-01 -5.96983488e-01 -6.17557626e-02 5.87334921e+01] [ 5.95240350e-01 8.02253469e-01 -4.55883406e-02 2.28236806e+01] [ 7.67592613e-02 -2.94635389e-04 9.97049612e-01 4.47950984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.75, Y:22.85, Z:4.44 [[ 7.97678969e-01 -6.02497194e-01 -2.65592458e-02 5.87455580e+01] [ 5.99558224e-01 7.97002330e-01 -7.29192805e-02 2.28527171e+01] [ 6.51014427e-02 4.22423623e-02 9.96984145e-01 4.43937836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.78, Y:22.85, Z:4.51 [[ 8.01834249e-01 -5.91343572e-01 -8.58755940e-02 5.87810116e+01] [ 5.92699576e-01 8.05341649e-01 -1.14909032e-02 2.28499180e+01] [ 7.59542643e-02 -4.16846284e-02 9.96239600e-01 4.50746311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.80, Y:22.87, Z:4.49 [[ 8.03338959e-01 -5.92434390e-01 -6.05640932e-02 5.87999853e+01] [ 5.90740786e-01 8.05618681e-01 -4.47645446e-02 2.28747594e+01] [ 7.53116206e-02 1.83422651e-04 9.97160030e-01 4.48616971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.82, Y:22.89, Z:4.49 [[ 8.04935883e-01 -5.90340778e-01 -5.97995874e-02 5.88216951e+01] [ 5.88682094e-01 8.07154019e-01 -4.42242286e-02 2.28919390e+01] [ 7.43748428e-02 3.94722095e-04 9.97230278e-01 4.48810413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.84, Y:22.91, Z:4.49 [[ 8.06804769e-01 -5.87777805e-01 -5.98608172e-02 5.88430611e+01] [ 5.86106755e-01 8.09022142e-01 -4.42949844e-02 2.29084010e+01] [ 7.44643353e-02 6.52575313e-04 9.97223464e-01 4.49024170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.86, Y:22.93, Z:4.49 [[ 8.10351344e-01 -5.82882878e-01 -5.98184761e-02 5.88649695e+01] [ 5.81199774e-01 8.12555420e-01 -4.42776843e-02 2.29262437e+01] [ 7.44145310e-02 1.11399628e-03 9.97226773e-01 4.49257590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.89, Y:22.94, Z:4.49 [[ 8.10509241e-01 -5.82547837e-01 -6.09326575e-02 5.88862213e+01] [ 5.80798387e-01 8.12795550e-01 -4.51290018e-02 2.29435779e+01] [ 7.58155952e-02 1.18788375e-03 9.97121148e-01 4.49368377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.91, Y:22.96, Z:4.49 [[ 8.10511529e-01 -5.82493991e-01 -6.14150813e-02 5.89086625e+01] [ 5.80715372e-01 8.12834101e-01 -4.55014392e-02 2.29611462e+01] [ 7.64245873e-02 1.21475928e-03 9.97074625e-01 4.49488720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.93, Y:22.98, Z:4.50 [[ 8.08197477e-01 -5.85655334e-01 -6.18438925e-02 5.89310585e+01] [ 5.83858964e-01 8.10559645e-01 -4.58450785e-02 2.29780911e+01] [ 7.69775783e-02 9.43765765e-04 9.97032377e-01 4.49724221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.80687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.95, Y:22.99, Z:4.50 [[ 8.07182851e-01 -5.87124792e-01 -6.11581818e-02 5.89521928e+01] [ 5.85370280e-01 8.09496024e-01 -4.53632333e-02 2.29944048e+01] [ 7.61411839e-02 8.16241990e-04 9.97096712e-01 4.49932066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.97, Y:23.01, Z:4.50 [[ 8.06398205e-01 -5.88231874e-01 -6.08703366e-02 5.89733465e+01] [ 5.86495643e-01 8.08691993e-01 -4.51677016e-02 2.30107028e+01] [ 7.57944356e-02 7.22966308e-04 9.97123202e-01 4.50183319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.00, Y:23.03, Z:4.50 [[ 8.05986012e-01 -5.88854167e-01 -6.03101886e-02 5.89956519e+01] [ 5.87150488e-01 8.08239025e-01 -4.47658648e-02 2.30283821e+01] [ 7.51056141e-02 6.69504178e-04 9.97175360e-01 4.50417540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.02, Y:23.04, Z:4.51 [[ 8.06607647e-01 -5.87965963e-01 -6.06640762e-02 5.90167871e+01] [ 5.86237727e-01 8.08885296e-01 -4.50544738e-02 2.30449023e+01] [ 7.55607763e-02 7.77712932e-04 9.97140895e-01 4.50739416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.926875 meters Centerline goodness : 0.999926 Centerline is valid? [True, True] Translation: X:59.04, Y:23.06, Z:4.51 [[ 8.07135846e-01 -5.87218130e-01 -6.08818020e-02 5.90388075e+01] [ 5.85474219e-01 8.09428270e-01 -4.52306935e-02 2.30614928e+01] [ 7.58397349e-02 8.62588580e-04 9.97119647e-01 4.50963233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.06, Y:23.08, Z:4.51 [[ 8.08213471e-01 -5.85714393e-01 -6.10707363e-02 5.90603440e+01] [ 5.83953392e-01 8.10516868e-01 -4.53965019e-02 2.30774194e+01] [ 7.60882465e-02 1.02760086e-03 9.97100558e-01 4.51129463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.08, Y:23.10, Z:4.51 [[ 8.10742839e-01 -5.82267406e-01 -6.05038578e-02 5.90823471e+01] [ 5.80528321e-01 8.12996214e-01 -4.49891572e-02 2.30951044e+01] [ 7.53851272e-02 1.35043407e-03 9.97153578e-01 4.51264386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.10, Y:23.11, Z:4.51 [[ 8.12096815e-01 -5.80445110e-01 -5.98517859e-02 5.91037006e+01] [ 5.78736559e-01 8.14297951e-01 -4.45291179e-02 2.31111860e+01] [ 7.45838954e-02 1.52353823e-03 9.97213579e-01 4.51483636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.13, Y:23.13, Z:4.52 [[ 8.13463211e-01 -5.78510309e-01 -6.00285483e-02 5.91267065e+01] [ 5.76785316e-01 8.15673263e-01 -4.46746801e-02 2.31278905e+01] [ 7.48084448e-02 1.71762354e-03 9.97196443e-01 4.51847217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.15, Y:23.14, Z:4.52 [[ 8.15298172e-01 -5.75915135e-01 -6.00886645e-02 5.91480545e+01] [ 5.74177670e-01 8.17507088e-01 -4.47455549e-02 2.31449512e+01] [ 7.48925514e-02 1.97939973e-03 9.97189645e-01 4.52066787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.106875 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:59.17, Y:23.16, Z:4.53 [[ 8.15355750e-01 -5.75118962e-01 -6.65821316e-02 5.91721673e+01] [ 5.73780679e-01 8.18048691e-01 -3.96493519e-02 2.31609732e+01] [ 7.72705198e-02 -5.87521363e-03 9.96992853e-01 4.52746373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.19, Y:23.18, Z:4.52 [[ 8.15634500e-01 -5.75295575e-01 -6.14439861e-02 5.91949754e+01] [ 5.73367645e-01 8.17939165e-01 -4.71706059e-02 2.31799278e+01] [ 7.73944835e-02 3.24398004e-03 9.96995271e-01 4.52448173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.21, Y:23.20, Z:4.52 [[ 8.15009743e-01 -5.76509941e-01 -5.82701232e-02 5.92147406e+01] [ 5.74281430e-01 8.17047267e-01 -5.13283766e-02 2.31985191e+01] [ 7.72007643e-02 8.36967733e-03 9.96980436e-01 4.52120339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.24, Y:23.21, Z:4.53 [[ 8.14182530e-01 -5.77296665e-01 -6.19303481e-02 5.92362492e+01] [ 5.75446975e-01 8.16532050e-01 -4.62189387e-02 2.32138872e+01] [ 7.72501532e-02 1.99302101e-03 9.97009750e-01 4.52547773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.26, Y:23.23, Z:4.53 [[ 8.13443091e-01 -5.78378332e-01 -6.15535865e-02 5.92586761e+01] [ 5.76553014e-01 8.15766467e-01 -4.59531744e-02 2.32304367e+01] [ 7.67916721e-02 1.89138638e-03 9.97045366e-01 4.52883862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.28, Y:23.25, Z:4.53 [[ 8.12183986e-01 -5.80172816e-01 -6.12917343e-02 5.92805428e+01] [ 5.78366109e-01 8.14491554e-01 -4.57837623e-02 2.32465752e+01] [ 7.64840942e-02 1.73577664e-03 9.97069291e-01 4.53199527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.30, Y:23.26, Z:4.53 [[ 8.11298030e-01 -5.81390009e-01 -6.14911645e-02 5.93029343e+01] [ 5.79573821e-01 8.13623360e-01 -4.59479630e-02 2.32636542e+01] [ 7.67443345e-02 1.63882271e-03 9.97049458e-01 4.53335145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.32, Y:23.28, Z:4.53 [[ 8.10487831e-01 -5.82477483e-01 -6.18826128e-02 5.93243001e+01] [ 5.80639159e-01 8.12845326e-01 -4.62670720e-02 2.32801629e+01] [ 7.72505203e-02 1.56743059e-03 9.97010482e-01 4.53465546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.34, Y:23.31, Z:4.51 [[ 8.08230592e-01 -5.87578637e-01 -3.89185886e-02 5.93430989e+01] [ 5.84588958e-01 8.08557077e-01 -6.70164381e-02 2.33056227e+01] [ 7.08453275e-02 3.14133582e-02 9.96992548e-01 4.50791683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.37, Y:23.31, Z:4.55 [[ 8.08463622e-01 -5.83031746e-01 -8.03775852e-02 5.93726288e+01] [ 5.83283744e-01 8.11949750e-01 -2.27525153e-02 2.33077600e+01] [ 7.85279989e-02 -2.84883579e-02 9.96504775e-01 4.55423504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.39, Y:23.33, Z:4.54 [[ 8.08428466e-01 -5.85271447e-01 -6.24559665e-02 5.93928718e+01] [ 5.83402841e-01 8.10836290e-01 -4.67507771e-02 2.33303662e+01] [ 7.80034592e-02 1.35767065e-03 9.96952164e-01 4.54000692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.42, Y:23.35, Z:4.54 [[ 8.07954248e-01 -5.85929327e-01 -6.24240097e-02 5.94159582e+01] [ 5.84062766e-01 8.10361093e-01 -4.67502368e-02 2.33465012e+01] [ 7.79783235e-02 1.31251264e-03 9.96954191e-01 4.54290767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.44, Y:23.36, Z:4.55 [[ 8.07401205e-01 -5.86767808e-01 -6.16995451e-02 5.94380605e+01] [ 5.84944843e-01 8.09754288e-01 -4.62333618e-02 2.33623074e+01] [ 7.70897195e-02 1.23804133e-03 9.97023391e-01 4.54521226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.46, Y:23.38, Z:4.55 [[ 8.06337377e-01 -5.88230110e-01 -6.16876905e-02 5.94617623e+01] [ 5.86410952e-01 8.08692837e-01 -4.62394943e-02 2.33767314e+01] [ 7.70858563e-02 1.11029524e-03 9.97023840e-01 4.54818490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.52687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.49, Y:23.39, Z:4.55 [[ 8.05545428e-01 -5.89345233e-01 -6.13902224e-02 5.94853253e+01] [ 5.87544803e-01 8.07880657e-01 -4.60428954e-02 2.33928853e+01] [ 7.67311341e-02 1.02013773e-03 9.97051299e-01 4.55046705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55687499999999 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:59.51, Y:23.41, Z:4.55 [[ 8.05304241e-01 -5.89687765e-01 -6.12651588e-02 5.95076806e+01] [ 5.87893668e-01 8.07630687e-01 -4.59750837e-02 2.34079037e+01] [ 7.65905667e-02 1.00653095e-03 9.97062120e-01 4.55292188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.58687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.53, Y:23.42, Z:4.55 [[ 8.04876025e-01 -5.90279225e-01 -6.11965828e-02 5.95299288e+01] [ 5.88489735e-01 8.07198559e-01 -4.59382060e-02 2.34230864e+01] [ 7.65141620e-02 9.60999814e-04 9.97068032e-01 4.55424783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.55, Y:23.44, Z:4.56 [[ 8.03799230e-01 -5.91683593e-01 -6.17844904e-02 5.95539305e+01] [ 5.89862456e-01 8.06169837e-01 -4.63947924e-02 2.34373839e+01] [ 7.72598300e-02 8.47747173e-04 9.97010632e-01 4.55664101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.58, Y:23.45, Z:4.56 [[ 8.03256320e-01 -5.92485185e-01 -6.11603608e-02 5.95772606e+01] [ 5.90701063e-01 8.05580965e-01 -4.59517437e-02 2.34530540e+01] [ 7.64953498e-02 7.83538398e-04 9.97069630e-01 4.55923095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.60, Y:23.47, Z:4.56 [[ 8.02767867e-01 -5.93231507e-01 -6.03335061e-02 5.96002309e+01] [ 5.91495529e-01 8.05031587e-01 -4.53561763e-02 2.34688477e+01] [ 7.54770910e-02 7.23481732e-04 9.97147274e-01 4.56117578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.62, Y:23.48, Z:4.56 [[ 8.01881151e-01 -5.94498391e-01 -5.96513354e-02 5.96234799e+01] [ 5.92803070e-01 8.04096562e-01 -4.48691407e-02 2.34836117e+01] [ 7.46400656e-02 6.18223454e-04 9.97210348e-01 4.56352259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.65, Y:23.50, Z:4.57 [[ 8.01679881e-01 -5.94790336e-01 -5.94459785e-02 5.96451674e+01] [ 5.93106416e-01 8.03880648e-01 -4.47289933e-02 2.34988363e+01] [ 7.43918447e-02 6.00542815e-04 9.97228907e-01 4.56603996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.67, Y:23.52, Z:4.57 [[ 8.02049253e-01 -5.94281998e-01 -5.95474882e-02 5.96672897e+01] [ 5.92589866e-01 8.04256471e-01 -4.48194109e-02 2.35156320e+01] [ 7.45268218e-02 6.60136938e-04 9.97218791e-01 4.56818215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.69, Y:23.53, Z:4.57 [[ 8.02753490e-01 -5.93305524e-01 -5.97945567e-02 5.96880761e+01] [ 5.91594657e-01 8.04976990e-01 -4.50311750e-02 2.35322347e+01] [ 7.48504872e-02 7.74792665e-04 9.97194467e-01 4.56971291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.71, Y:23.55, Z:4.57 [[ 8.03981279e-01 -5.91499239e-01 -6.11780376e-02 5.97105957e+01] [ 5.89701775e-01 8.06304964e-01 -4.60881949e-02 2.35494367e+01] [ 7.65892876e-02 9.77248563e-04 9.97062248e-01 4.57048540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.73, Y:23.57, Z:4.57 [[ 8.04450947e-01 -5.90771157e-01 -6.20331699e-02 5.97330400e+01] [ 5.88918730e-01 8.06838439e-01 -4.67596302e-02 2.35658113e+01] [ 7.76749868e-02 1.08333317e-03 9.96978146e-01 4.57253178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.88687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.76, Y:23.58, Z:4.57 [[ 8.04658376e-01 -5.90384400e-01 -6.30171339e-02 5.97550478e+01] [ 5.88469329e-01 8.07121375e-01 -4.75282469e-02 2.35820045e+01] [ 7.89224113e-02 1.16035147e-03 9.96880086e-01 4.57455164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.78, Y:23.60, Z:4.58 [[ 8.04758116e-01 -5.90197010e-01 -6.34969643e-02 5.97775179e+01] [ 5.88250748e-01 8.07258352e-01 -4.79062619e-02 2.35984022e+01] [ 7.95325873e-02 1.20081630e-03 9.96831543e-01 4.57645749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.80, Y:23.61, Z:4.58 [[ 8.04785515e-01 -5.90159659e-01 -6.34968643e-02 5.97995701e+01] [ 5.88211175e-01 8.07285621e-01 -4.79326533e-02 2.36140681e+01] [ 7.95480239e-02 1.22593993e-03 9.96830281e-01 4.57802151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.82, Y:23.63, Z:4.58 [[ 8.03390933e-01 -5.92074291e-01 -6.33327952e-02 5.98212462e+01] [ 5.90140619e-01 8.05882709e-01 -4.78237288e-02 2.36294539e+01] [ 7.93540049e-02 1.04589509e-03 9.96845950e-01 4.58043689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.84, Y:23.64, Z:4.58 [[ 8.01606733e-01 -5.94474818e-01 -6.34534226e-02 5.98432373e+01] [ 5.92540060e-01 8.04113807e-01 -4.79297633e-02 2.36449011e+01] [ 7.95168105e-02 8.22126083e-04 9.96833186e-01 4.58270675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.87, Y:23.66, Z:4.58 [[ 8.01168665e-01 -5.95062088e-01 -6.34813471e-02 5.98657896e+01] [ 5.93126220e-01 8.03679357e-01 -4.79664400e-02 2.36616382e+01] [ 7.95616581e-02 7.76757327e-04 9.96829644e-01 4.58454149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.066875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:59.89, Y:23.68, Z:4.59 [[ 8.01069261e-01 -5.95096100e-01 -6.44101764e-02 5.98882511e+01] [ 5.93100983e-01 8.03654142e-01 -4.86954192e-02 2.36781299e+01] [ 8.07419591e-02 8.06664591e-04 9.96734712e-01 4.58631380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.91, Y:23.69, Z:4.59 [[ 8.00954347e-01 -5.95135627e-01 -6.54654041e-02 5.99104552e+01] [ 5.93072349e-01 8.03624839e-01 -4.95207704e-02 2.36946671e+01] [ 8.20811997e-02 8.38155333e-04 9.96625293e-01 4.58760604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.93, Y:23.71, Z:4.59 [[ 8.00541147e-01 -5.95711408e-01 -6.52823878e-02 5.99321862e+01] [ 5.93659397e-01 8.03198158e-01 -4.94088962e-02 2.37107017e+01] [ 8.18681367e-02 7.98351438e-04 9.96642850e-01 4.58945233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.95, Y:23.73, Z:4.59 [[ 8.00484736e-01 -5.95861346e-01 -6.46022033e-02 5.99541294e+01] [ 5.93851133e-01 8.03086942e-01 -4.89100714e-02 2.37273040e+01] [ 8.10248068e-02 7.87673952e-04 9.96711774e-01 4.59200712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.98, Y:23.74, Z:4.60 [[ 8.00692260e-01 -5.95563924e-01 -6.47728130e-02 5.99765818e+01] [ 5.93539949e-01 8.03307479e-01 -4.90655095e-02 2.37443907e+01] [ 8.12541324e-02 8.41121562e-04 9.96693061e-01 4.59514614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.00, Y:23.76, Z:4.60 [[ 8.00999919e-01 -5.95164673e-01 -6.46385406e-02 5.99980506e+01] [ 5.93145609e-01 8.03603260e-01 -4.89906822e-02 2.37612363e+01] [ 8.11012653e-02 9.01465959e-04 9.96705459e-01 4.59785161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.02, Y:23.78, Z:4.60 [[ 8.01774096e-01 -5.94114475e-01 -6.47015427e-02 6.00196412e+01] [ 5.92086716e-01 8.04379852e-01 -4.90548125e-02 2.37782798e+01] [ 8.11887915e-02 1.02195407e-03 9.96698217e-01 4.60074629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.04, Y:23.80, Z:4.60 [[ 8.02992560e-01 -5.92469435e-01 -6.46754683e-02 6.00407307e+01] [ 5.90435864e-01 8.05592022e-01 -4.90610219e-02 2.37974113e+01] [ 8.11691972e-02 1.20891959e-03 9.96699604e-01 4.60273545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.30687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.06, Y:23.81, Z:4.60 [[ 8.02114499e-01 -5.93739897e-01 -6.39160759e-02 6.00621933e+01] [ 5.91755726e-01 8.04656292e-01 -4.85119832e-02 2.38149175e+01] [ 8.02339726e-02 1.08946120e-03 9.96775463e-01 4.60480180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.08, Y:23.83, Z:4.61 [[ 8.00059412e-01 -5.96555785e-01 -6.34518109e-02 6.00820655e+01] [ 5.94607132e-01 8.02571192e-01 -4.81854676e-02 2.38325705e+01] [ 7.96699150e-02 8.22337488e-04 9.96820961e-01 4.60836023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.10, Y:23.85, Z:4.61 [[ 7.99260171e-01 -5.97556287e-01 -6.41066511e-02 6.01037601e+01] [ 5.95569049e-01 8.01826622e-01 -4.86988264e-02 2.38509994e+01] [ 8.05027093e-02 7.43095075e-04 9.96754113e-01 4.60946989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.13, Y:23.87, Z:4.61 [[ 7.98785597e-01 -5.98106771e-01 -6.48834456e-02 6.01255569e+01] [ 5.96070532e-01 8.01416106e-01 -4.93167972e-02 2.38696142e+01] [ 8.14953487e-02 7.18437377e-04 9.96673463e-01 4.61058235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.15, Y:23.89, Z:4.61 [[ 7.98568662e-01 -5.98283460e-01 -6.59165665e-02 6.01464444e+01] [ 5.96180056e-01 8.01284196e-01 -5.01296132e-02 2.38872291e+01] [ 8.28096215e-02 7.33795773e-04 9.96565115e-01 4.61179156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.17, Y:23.91, Z:4.61 [[ 7.98857248e-01 -5.97759643e-01 -6.71603039e-02 6.01669710e+01] [ 5.95572621e-01 8.01674960e-01 -5.10931638e-02 2.39063461e+01] [ 8.43821653e-02 8.17306004e-04 9.96433130e-01 4.61303124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.19, Y:23.92, Z:4.62 [[ 7.99376172e-01 -5.97060411e-01 -6.72056638e-02 6.01881013e+01] [ 5.94865520e-01 8.02195755e-01 -5.11564637e-02 2.39241273e+01] [ 8.44555974e-02 9.14925976e-04 9.96426824e-01 4.61575966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.21, Y:23.94, Z:4.62 [[ 7.99957456e-01 -5.96265550e-01 -6.73458492e-02 6.02094179e+01] [ 5.94056204e-01 8.02786612e-01 -5.12921147e-02 2.39416815e+01] [ 8.46480671e-02 1.02429005e-03 9.96410385e-01 4.61838595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.23, Y:23.96, Z:4.62 [[ 8.00533103e-01 -5.95501853e-01 -6.72628799e-02 6.02313237e+01] [ 5.93292810e-01 8.03353144e-01 -5.12578658e-02 2.39597553e+01] [ 8.45600000e-02 1.12703537e-03 9.96417752e-01 4.62113189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.25, Y:23.98, Z:4.62 [[ 8.01532276e-01 -5.94128047e-01 -6.75120253e-02 6.02521058e+01] [ 5.91895228e-01 8.04369426e-01 -5.14768490e-02 2.39791126e+01] [ 8.48884488e-02 1.30031032e-03 9.96389613e-01 4.62283924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.27, Y:24.00, Z:4.62 [[ 8.02121835e-01 -5.93391103e-01 -6.69892629e-02 6.02728927e+01] [ 5.91187925e-01 8.04913081e-01 -5.11054651e-02 2.39970794e+01] [ 8.42460623e-02 1.38956611e-03 9.96444013e-01 4.62449972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.29, Y:24.02, Z:4.63 [[ 8.03290609e-01 -5.92030694e-01 -6.49911949e-02 6.02935335e+01] [ 5.89951432e-01 8.05914021e-01 -4.95973685e-02 2.40166548e+01] [ 8.17404797e-02 1.49945182e-03 9.96652520e-01 4.62691805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.31, Y:24.03, Z:4.63 [[ 8.03678119e-01 -5.91578418e-01 -6.43152922e-02 6.03148186e+01] [ 5.89538571e-01 8.06245972e-01 -4.91091145e-02 2.40345727e+01] [ 8.09058376e-02 1.55157522e-03 9.96720542e-01 4.62926423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.34, Y:24.05, Z:4.63 [[ 8.04082211e-01 -5.91064056e-01 -6.39928011e-02 6.03355510e+01] [ 5.89040852e-01 8.06623001e-01 -4.88897609e-02 2.40517467e+01] [ 8.05150457e-02 1.61701295e-03 9.96752082e-01 4.63188133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.36, Y:24.07, Z:4.63 [[ 8.04206292e-01 -5.90983962e-01 -6.31680039e-02 6.03557859e+01] [ 5.89011207e-01 8.06681688e-01 -4.82747720e-02 2.40692047e+01] [ 7.94860879e-02 1.61621319e-03 9.96834665e-01 4.63424390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.38, Y:24.09, Z:4.64 [[ 8.03948890e-01 -5.91333133e-01 -6.31768008e-02 6.03767334e+01] [ 5.89359638e-01 8.06425807e-01 -4.82973604e-02 2.40879225e+01] [ 7.95072320e-02 1.59475283e-03 9.96833014e-01 4.63714409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.40, Y:24.11, Z:4.64 [[ 8.03353474e-01 -5.92048001e-01 -6.40496761e-02 6.03982674e+01] [ 5.90019518e-01 8.05901177e-01 -4.89924660e-02 2.41051242e+01] [ 8.06236009e-02 1.56770870e-03 9.96743386e-01 4.63974447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.42, Y:24.12, Z:4.64 [[ 8.02180907e-01 -5.93623833e-01 -6.41602500e-02 6.04192830e+01] [ 5.91591201e-01 8.04741381e-01 -4.91035686e-02 2.41219493e+01] [ 8.07814568e-02 1.43330584e-03 9.96730807e-01 4.64168112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.44, Y:24.14, Z:4.64 [[ 7.98727758e-01 -5.98239657e-01 -6.43683286e-02 6.04409342e+01] [ 5.96207371e-01 8.01316633e-01 -4.92790525e-02 2.41391157e+01] [ 8.10600958e-02 9.83675154e-04 9.96708730e-01 4.64499092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.46, Y:24.16, Z:4.65 [[ 7.96314539e-01 -6.01436909e-01 -6.44732441e-02 6.04627399e+01] [ 5.99406135e-01 7.98920008e-01 -4.93873005e-02 2.41564496e+01] [ 8.12123101e-02 6.82167378e-04 9.96696591e-01 4.64699331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.48, Y:24.17, Z:4.65 [[ 7.93893519e-01 -6.04573279e-01 -6.49940903e-02 6.04848281e+01] [ 6.02517638e-01 7.96549434e-01 -4.98146066e-02 2.41738611e+01] [ 8.18875858e-02 3.87407518e-04 9.96641497e-01 4.64917752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.51, Y:24.19, Z:4.65 [[ 7.89157347e-01 -6.10719630e-01 -6.52090049e-02 6.05066705e+01] [ 6.08668843e-01 7.91846880e-01 -5.00075748e-02 2.41915130e+01] [ 8.21761547e-02 -2.26844543e-04 9.96617794e-01 4.65158750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.53, Y:24.21, Z:4.65 [[ 7.87058983e-01 -6.13458744e-01 -6.48577467e-02 6.05276760e+01] [ 6.11437035e-01 7.89726618e-01 -4.97656637e-02 2.42078311e+01] [ 8.17490705e-02 -4.87915700e-04 9.96652824e-01 4.65445737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.55, Y:24.23, Z:4.66 [[ 7.85093284e-01 -6.15996877e-01 -6.46249416e-02 6.05501223e+01] [ 6.13996874e-01 7.87748250e-01 -4.96037662e-02 2.42252449e+01] [ 8.14639498e-02 -7.35928431e-04 9.96676017e-01 4.65776267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.57, Y:24.24, Z:4.66 [[ 7.81634937e-01 -6.20304020e-01 -6.53433151e-02 6.05703690e+01] [ 6.18271930e-01 7.84360594e-01 -5.01824583e-02 2.42431517e+01] [ 8.23811021e-02 -1.17557491e-03 9.96600207e-01 4.66038048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05687499999999 meters Centerline goodness : 0.999878 Centerline is valid? [True, True] Translation: X:60.59, Y:24.26, Z:4.66 [[ 7.80246247e-01 -6.22053861e-01 -6.53053416e-02 6.05921858e+01] [ 6.20028850e-01 7.82973296e-01 -5.01701501e-02 2.42613688e+01] [ 8.23408742e-02 -1.34612447e-03 9.96603315e-01 4.66193128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.08687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.61, Y:24.28, Z:4.66 [[ 7.79223234e-01 -6.23370443e-01 -6.49649245e-02 6.06135765e+01] [ 6.21368788e-01 7.81925298e-01 -4.99365257e-02 2.42794331e+01] [ 8.19266721e-02 -1.45547534e-03 9.96637297e-01 4.66409184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.63, Y:24.30, Z:4.67 [[ 7.78849576e-01 -6.23763168e-01 -6.56722722e-02 6.06343065e+01] [ 6.21716635e-01 7.81611980e-01 -5.05087982e-02 2.42985647e+01] [ 8.28357626e-02 -1.49078799e-03 9.96562097e-01 4.66715107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.66, Y:24.32, Z:4.67 [[ 7.79157382e-01 -6.23270500e-01 -6.66907625e-02 6.06556694e+01] [ 6.21155632e-01 7.82004997e-01 -5.13212055e-02 2.43170779e+01] [ 8.41395029e-02 -1.43804661e-03 9.96452947e-01 4.66880906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.176875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:60.68, Y:24.34, Z:4.67 [[ 7.79849114e-01 -6.22370860e-01 -6.70065008e-02 6.06767366e+01] [ 6.20230098e-01 7.82721380e-01 -5.15932905e-02 2.43358191e+01] [ 8.45575813e-02 -1.32446664e-03 9.96417714e-01 4.67008753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.70, Y:24.35, Z:4.67 [[ 7.80843048e-01 -6.21113076e-01 -6.71020260e-02 6.06973974e+01] [ 6.18959072e-01 7.83720094e-01 -5.16960571e-02 2.43545173e+01] [ 8.46983032e-02 -1.16690095e-03 9.96405959e-01 4.67150687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.72, Y:24.37, Z:4.67 [[ 7.84354475e-01 -6.16622780e-01 -6.75603760e-02 6.07170488e+01] [ 6.14420067e-01 7.87258475e-01 -5.20775774e-02 2.43732726e+01] [ 8.52996992e-02 -6.63169833e-04 9.96355118e-01 4.67437413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.74, Y:24.39, Z:4.68 [[ 7.86230442e-01 -6.14256666e-01 -6.73085543e-02 6.07383145e+01] [ 6.12060155e-01 7.89106201e-01 -5.19015394e-02 2.43918229e+01] [ 8.49944641e-02 -3.90314004e-04 9.96381347e-01 4.67746679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.76, Y:24.41, Z:4.68 [[ 7.86069967e-01 -6.14463590e-01 -6.72941561e-02 6.07608643e+01] [ 6.12266239e-01 7.88945084e-01 -5.19202017e-02 2.44093209e+01] [ 8.49944672e-02 -3.89028597e-04 9.96381347e-01 4.67958088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.78, Y:24.43, Z:4.68 [[ 7.88472653e-01 -6.11454677e-01 -6.65886861e-02 6.07810065e+01] [ 6.09290276e-01 7.91279455e-01 -5.14021675e-02 2.44272077e+01] [ 8.41203550e-02 -4.26355785e-05 9.96455601e-01 4.68125685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.80, Y:24.45, Z:4.68 [[ 7.93702594e-01 -6.04807095e-01 -6.51503663e-02 6.08003563e+01] [ 6.02711438e-01 7.96371734e-01 -5.03088932e-02 2.44476230e+01] [ 8.23110857e-02 6.63428161e-04 9.96606464e-01 4.68163342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.38687499999999 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:60.82, Y:24.47, Z:4.68 [[ 7.96204419e-01 -6.01497947e-01 -6.52590372e-02 6.08214846e+01] [ 5.99381800e-01 7.98873680e-01 -5.04212262e-02 2.44663726e+01] [ 8.24619913e-02 1.03052393e-03 9.96593677e-01 4.68239531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41687499999999 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:60.84, Y:24.48, Z:4.68 [[ 7.98717555e-01 -5.98096323e-01 -6.58107601e-02 6.08430155e+01] [ 5.95930207e-01 8.01422972e-01 -5.08764125e-02 2.44845785e+01] [ 8.31712502e-02 1.41726386e-03 9.96534262e-01 4.68340816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.44687499999999 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:60.86, Y:24.50, Z:4.68 [[ 8.00757781e-01 -5.95320816e-01 -6.61823361e-02 6.08645898e+01] [ 5.93118208e-01 8.03486217e-01 -5.11926773e-02 2.45031227e+01] [ 8.36526614e-02 1.73898610e-03 9.96493456e-01 4.68495714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47687499999999 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:60.89, Y:24.52, Z:4.69 [[ 8.03629585e-01 -5.91402822e-01 -6.64995696e-02 6.08858642e+01] [ 5.89163099e-01 8.06373327e-01 -5.14674648e-02 2.45213079e+01] [ 8.40614831e-02 2.18168485e-03 9.96458181e-01 4.68680016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.506875 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:60.91, Y:24.54, Z:4.69 [[ 8.04679122e-01 -5.89946029e-01 -6.67472314e-02 6.09070183e+01] [ 5.87682167e-01 8.07439215e-01 -5.16873656e-02 2.45379734e+01] [ 8.43870882e-02 2.36558642e-03 9.96430240e-01 4.68849780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.536875 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:60.93, Y:24.56, Z:4.69 [[ 8.05213111e-01 -5.89196743e-01 -6.69256574e-02 6.09285227e+01] [ 5.86916620e-01 8.07985841e-01 -5.18436218e-02 2.45556691e+01] [ 8.46210767e-02 2.46538335e-03 9.96410154e-01 4.68974156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.566875 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:60.95, Y:24.57, Z:4.69 [[ 8.05690169e-01 -5.88478836e-01 -6.74982216e-02 6.09502357e+01] [ 5.86154380e-01 8.08508483e-01 -5.23170752e-02 2.45734883e+01] [ 8.53603763e-02 2.58697498e-03 9.96346784e-01 4.68834564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.596875 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:60.97, Y:24.59, Z:4.69 [[ 8.05545524e-01 -5.88650388e-01 -6.77283575e-02 6.09718188e+01] [ 5.86308170e-01 8.08383546e-01 -5.25240233e-02 2.45895249e+01] [ 8.56687764e-02 2.60080257e-03 9.96320278e-01 4.68944353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.626875 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:60.99, Y:24.61, Z:4.69 [[ 8.05205602e-01 -5.89080120e-01 -6.80334540e-02 6.09943498e+01] [ 5.86716354e-01 8.08070500e-01 -5.27824448e-02 2.46061469e+01] [ 8.60689161e-02 2.58438019e-03 9.96285834e-01 4.69110452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.656875 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:61.02, Y:24.62, Z:4.69 [[ 8.04932416e-01 -5.89419891e-01 -6.83227492e-02 6.10163773e+01] [ 5.87034543e-01 8.07822702e-01 -5.30370435e-02 2.46227395e+01] [ 8.64537563e-02 2.58342176e-03 9.96252515e-01 4.69293471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.686875 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:61.04, Y:24.64, Z:4.69 [[ 8.04697583e-01 -5.89840045e-01 -6.74575511e-02 6.10394067e+01] [ 5.87513796e-01 8.07516143e-01 -5.23948291e-02 2.46388118e+01] [ 8.53776298e-02 2.52975046e-03 9.96345452e-01 4.69424407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.716875 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:61.06, Y:24.65, Z:4.70 [[ 8.04824286e-01 -5.89729456e-01 -6.69106680e-02 6.10613286e+01] [ 5.87437938e-01 8.07596863e-01 -5.19997761e-02 2.46544145e+01] [ 8.47026452e-02 2.54481789e-03 9.96403024e-01 4.69759529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.746875 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:61.08, Y:24.67, Z:4.70 [[ 8.04716817e-01 -5.89896478e-01 -6.67307252e-02 6.10831855e+01] [ 5.87615487e-01 8.07474877e-01 -5.18879772e-02 2.46707048e+01] [ 8.44919192e-02 2.54312027e-03 9.96420919e-01 4.70010679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77687499999999 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:61.11, Y:24.69, Z:4.70 [[ 8.04689654e-01 -5.89967041e-01 -6.64338129e-02 6.11060379e+01] [ 5.87705103e-01 8.07423338e-01 -5.16746172e-02 2.46877227e+01] [ 8.41265320e-02 2.53853901e-03 9.96451847e-01 4.70218915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.80687499999999 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:61.13, Y:24.70, Z:4.70 [[ 8.05070578e-01 -5.89493669e-01 -6.60195303e-02 6.11288734e+01] [ 5.87255913e-01 8.07768828e-01 -5.13810566e-02 2.47037750e+01] [ 8.36173262e-02 2.59501736e-03 9.96494560e-01 4.70409644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83687499999999 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:61.15, Y:24.72, Z:4.71 [[ 8.05180164e-01 -5.89356254e-01 -6.59098555e-02 6.11509428e+01] [ 5.87123072e-01 8.07868986e-01 -5.13244590e-02 2.47205264e+01] [ 8.34949190e-02 2.62823944e-03 9.96504737e-01 4.70620068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.866875 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:61.17, Y:24.74, Z:4.71 [[ 8.05408430e-01 -5.89060802e-01 -6.57619407e-02 6.11732753e+01] [ 5.86834260e-01 8.08084283e-01 -5.12380900e-02 2.47375440e+01] [ 8.33235411e-02 2.67622971e-03 9.96518954e-01 4.70788729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.896875 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:61.20, Y:24.75, Z:4.71 [[ 8.06020743e-01 -5.88238549e-01 -6.56199046e-02 6.11956011e+01] [ 5.86016502e-01 8.08682687e-01 -5.11563407e-02 2.47540034e+01] [ 8.31578124e-02 2.77872477e-03 9.96532517e-01 4.70908077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.926875 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:61.22, Y:24.77, Z:4.71 [[ 8.06239902e-01 -5.87957676e-01 -6.54445677e-02 6.12179748e+01] [ 5.85744207e-01 8.08886765e-01 -5.10482612e-02 2.47708138e+01] [ 8.29514617e-02 2.82336873e-03 9.96549589e-01 4.71138171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.956875 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:61.24, Y:24.79, Z:4.71 [[ 8.06347263e-01 -5.87881185e-01 -6.48058874e-02 6.12403065e+01] [ 5.85708216e-01 8.08942349e-01 -5.05782773e-02 2.47875372e+01] [ 8.21582444e-02 2.82631485e-03 9.96615289e-01 4.71386185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.986875 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:61.26, Y:24.80, Z:4.72 [[ 8.06431245e-01 -5.87864102e-01 -6.39096682e-02 6.12623438e+01] [ 5.85748585e-01 8.08954815e-01 -4.99069317e-02 2.48043453e+01] [ 8.10385274e-02 2.81151131e-03 9.96707004e-01 4.71679733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.016875 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:61.28, Y:24.82, Z:4.72 [[ 8.06337044e-01 -5.88076837e-01 -6.31364076e-02 6.12848719e+01] [ 5.86010723e-01 8.08800293e-01 -4.93307085e-02 2.48217563e+01] [ 8.00749920e-02 2.77856578e-03 9.96784969e-01 4.71942363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.046875 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:61.31, Y:24.84, Z:4.72 [[ 8.05812393e-01 -5.88829727e-01 -6.28167269e-02 6.13070155e+01] [ 5.86784574e-01 8.08252557e-01 -4.91087465e-02 2.48393843e+01] [ 7.96884699e-02 2.71255018e-03 9.96816126e-01 4.72052962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.076875 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:61.33, Y:24.86, Z:4.72 [[ 8.05292273e-01 -5.89565631e-01 -6.25837152e-02 6.13285316e+01] [ 5.87535730e-01 8.07716123e-01 -4.89533523e-02 2.48564539e+01] [ 7.94110899e-02 2.65158756e-03 9.96838426e-01 4.72188503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.106875 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:61.35, Y:24.87, Z:4.72 [[ 8.04332134e-01 -5.90940885e-01 -6.19571592e-02 6.13509553e+01] [ 5.88954308e-01 8.06710979e-01 -4.84790501e-02 2.48740986e+01] [ 7.86297733e-02 2.50332195e-03 9.96900743e-01 4.72319234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13687499999999 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:61.37, Y:24.89, Z:4.72 [[ 8.03776553e-01 -5.91665831e-01 -6.22478682e-02 6.13721215e+01] [ 5.89660488e-01 8.06179546e-01 -4.87344650e-02 2.48904318e+01] [ 7.90174759e-02 2.46651197e-03 9.96870180e-01 4.72494864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.16687499999999 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:61.39, Y:24.91, Z:4.73 [[ 8.03153407e-01 -5.92461744e-01 -6.27191113e-02 6.13933862e+01] [ 5.90426733e-01 8.05594945e-01 -4.91228856e-02 2.49062321e+01] [ 7.96296295e-02 2.42217294e-03 9.96821576e-01 4.72781197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19687499999999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:61.42, Y:24.92, Z:4.73 [[ 8.02266039e-01 -5.93669055e-01 -6.26598466e-02 6.14156727e+01] [ 5.91639990e-01 8.04705964e-01 -4.90961634e-02 2.49236364e+01] [ 7.95696252e-02 2.31611359e-03 9.96826620e-01 4.72997327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.22687499999999 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:61.44, Y:24.94, Z:4.73 [[ 8.01059684e-01 -5.95280567e-01 -6.28046896e-02 6.14358737e+01] [ 5.93244828e-01 8.03514953e-01 -4.92371228e-02 2.49410674e+01] [ 7.97744096e-02 2.18331675e-03 9.96810552e-01 4.73133404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.256875 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:61.46, Y:24.96, Z:4.73 [[ 8.00456859e-01 -5.96115285e-01 -6.25730347e-02 6.14580126e+01] [ 5.94095553e-01 8.02896085e-01 -4.90749426e-02 2.49587944e+01] [ 7.94939680e-02 2.10801274e-03 9.96833118e-01 4.73292455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.286875 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:61.48, Y:24.98, Z:4.73 [[ 7.99533321e-01 -5.97360778e-01 -6.25025602e-02 6.14798087e+01] [ 5.95347227e-01 8.01970128e-01 -4.90468516e-02 2.49757137e+01] [ 7.94238516e-02 2.00386623e-03 9.96838922e-01 4.73479776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.316875 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:61.50, Y:24.99, Z:4.74 [[ 7.98341647e-01 -5.98973482e-01 -6.23007504e-02 6.15024319e+01] [ 5.96975678e-01 8.00766702e-01 -4.89155234e-02 2.49927979e+01] [ 7.91874678e-02 1.85926677e-03 9.96858008e-01 4.73695712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.346875 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:61.52, Y:25.01, Z:4.74 [[ 7.96145671e-01 -6.01887241e-01 -6.23203007e-02 6.15246975e+01] [ 5.99894848e-01 7.98579497e-01 -4.89587510e-02 2.50090719e+01] [ 7.92353619e-02 1.59267042e-03 9.96854664e-01 4.73937590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.376875 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:61.55, Y:25.03, Z:4.74 [[ 7.94692841e-01 -6.03762441e-01 -6.27232280e-02 6.15466685e+01] [ 6.01747721e-01 7.97163000e-01 -4.93034664e-02 2.50261506e+01] [ 7.97682178e-02 1.43755228e-03 9.96812402e-01 4.74157482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.406875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:61.57, Y:25.04, Z:4.74 [[ 7.93585877e-01 -6.05235670e-01 -6.25399031e-02 6.15692840e+01] [ 6.03235064e-01 7.96045271e-01 -4.91872383e-02 2.50434465e+01] [ 7.95544652e-02 1.30803514e-03 9.96829663e-01 4.74386974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.436875 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:61.59, Y:25.06, Z:4.74 [[ 7.92008236e-01 -6.07685362e-01 -5.86639187e-02 6.15921231e+01] [ 6.04987783e-01 7.94107455e-01 -5.81647027e-02 2.50619147e+01] [ 8.19312936e-02 1.05759694e-02 9.96581864e-01 4.74213182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.466875 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:61.62, Y:25.07, Z:4.75 [[ 7.91620143e-01 -6.07213586e-01 -6.80382983e-02 6.16155493e+01] [ 6.05844616e-01 7.94495302e-01 -4.15874541e-02 2.50749506e+01] [ 7.93085755e-02 -8.29917033e-03 9.96815567e-01 4.75430608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.496875 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:61.64, Y:25.09, Z:4.75 [[ 7.90925993e-01 -6.08730027e-01 -6.23203613e-02 6.16371184e+01] [ 6.06748837e-01 7.93376795e-01 -4.90826824e-02 2.50940245e+01] [ 7.93216311e-02 1.00796260e-03 9.96848566e-01 4.75147964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.52687499999999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:61.66, Y:25.11, Z:4.75 [[ 7.89840680e-01 -6.10100021e-01 -6.26870310e-02 6.16588617e+01] [ 6.08097539e-01 7.92323898e-01 -4.93986268e-02 2.51101092e+01] [ 7.98065360e-02 8.97215722e-04 9.96809968e-01 4.75344161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55687499999999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:61.68, Y:25.13, Z:4.76 [[ 7.89095629e-01 -6.11081400e-01 -6.25108814e-02 6.16815861e+01] [ 6.09091964e-01 7.91567350e-01 -4.92758594e-02 2.51271784e+01] [ 7.95931339e-02 8.08489830e-04 9.96827106e-01 4.75525632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.58687499999999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:61.70, Y:25.14, Z:4.76 [[ 7.88401667e-01 -6.11961577e-01 -6.26565207e-02 6.17034790e+01] [ 6.09963474e-01 7.90887146e-01 -4.94174407e-02 2.51431907e+01] [ 7.97958118e-02 7.42603650e-04 9.96810953e-01 4.75786396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.616875 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:61.73, Y:25.16, Z:4.76 [[ 7.87385783e-01 -6.13199274e-01 -6.33267650e-02 6.17257902e+01] [ 6.11160780e-01 7.89928000e-01 -4.99625492e-02 2.51596252e+01] [ 8.06605836e-02 6.36965837e-04 9.96741423e-01 4.76026847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.646875 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:61.75, Y:25.18, Z:4.76 [[ 7.85797018e-01 -6.15163791e-01 -6.40043511e-02 6.17495036e+01] [ 6.13085556e-01 7.88399199e-01 -5.05252930e-02 2.51752148e+01] [ 8.15423099e-02 4.62481437e-04 9.96669774e-01 4.76304249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.676875 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:61.77, Y:25.19, Z:4.77 [[ 7.84961727e-01 -6.16170376e-01 -6.45689943e-02 6.17724844e+01] [ 6.14056283e-01 7.87612798e-01 -5.09996177e-02 2.51917137e+01] [ 8.22798199e-02 3.83751303e-04 9.96609193e-01 4.76634090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.706875 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:61.80, Y:25.21, Z:4.77 [[ 7.83990818e-01 -6.17398814e-01 -6.46305025e-02 6.17951533e+01] [ 6.15282499e-01 7.86650257e-01 -5.10766064e-02 2.52084005e+01] [ 8.23762376e-02 2.77573359e-04 9.96601264e-01 4.76882372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.736875 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:61.82, Y:25.22, Z:4.77 [[ 7.83455055e-01 -6.18137111e-01 -6.40678481e-02 6.18177129e+01] [ 6.16057719e-01 7.86070266e-01 -5.06598806e-02 2.52243455e+01] [ 8.16765826e-02 2.20247155e-04 9.96658862e-01 4.77142201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.766875 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:61.84, Y:25.24, Z:4.77 [[ 7.83341704e-01 -6.18294513e-01 -6.39348959e-02 6.18400597e+01] [ 6.16221999e-01 7.85946464e-01 -5.05826371e-02 2.52413986e+01] [ 8.15243723e-02 2.25399764e-04 9.96671323e-01 4.77292790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.796875 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:61.86, Y:25.26, Z:4.77 [[ 7.83235475e-01 -6.18370981e-01 -6.44943428e-02 6.18621030e+01] [ 6.16259893e-01 7.85886297e-01 -5.10536326e-02 2.52585690e+01] [ 8.22553051e-02 2.41739411e-04 9.96611261e-01 4.77493298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.826875 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:61.88, Y:25.28, Z:4.78 [[ 7.83871276e-01 -6.17547000e-01 -6.46647116e-02 6.18845995e+01] [ 6.15419692e-01 7.86533902e-01 -5.12154561e-02 2.52755142e+01] [ 8.24889393e-02 3.50388075e-04 9.96591919e-01 4.77717636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.856875 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:61.91, Y:25.29, Z:4.78 [[ 7.84169070e-01 -6.17124471e-01 -6.50865290e-02 6.19065003e+01] [ 6.14965411e-01 7.86865433e-01 -5.15784152e-02 2.52930476e+01] [ 8.30446421e-02 4.20233845e-04 9.96545739e-01 4.77943666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.88687499999999 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:61.93, Y:25.31, Z:4.78 [[ 7.84952826e-01 -6.16086973e-01 -6.54667990e-02 6.19284491e+01] [ 6.13896550e-01 7.87677937e-01 -5.19085047e-02 2.53102079e+01] [ 8.35469067e-02 5.55885429e-04 9.96503691e-01 4.78214104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91687499999999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:61.95, Y:25.33, Z:4.79 [[ 7.85351772e-01 -6.15477832e-01 -6.64050708e-02 6.19506622e+01] [ 6.13219396e-01 7.88153927e-01 -5.26816878e-02 2.53277942e+01] [ 8.47618283e-02 6.52779423e-04 9.96401027e-01 4.78548224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.97, Y:25.34, Z:4.79 [[ 7.86028460e-01 -6.14086684e-01 -7.11112119e-02 6.19748284e+01] [ 6.12208363e-01 7.89219011e-01 -4.83143141e-02 2.53448664e+01] [ 8.57914973e-02 -5.55845275e-03 9.96297607e-01 4.79226510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.99, Y:25.36, Z:4.79 [[ 7.87023260e-01 -6.13656123e-01 -6.34078149e-02 6.19935036e+01] [ 6.10957788e-01 7.89543959e-01 -5.78871141e-02 2.53639753e+01] [ 8.55860393e-02 6.81900697e-03 9.96307448e-01 4.78625964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.02, Y:25.38, Z:4.79 [[ 7.87150131e-01 -6.13091093e-01 -6.71861796e-02 6.20160483e+01] [ 6.10764347e-01 7.90011618e-01 -5.33718550e-02 2.53804006e+01] [ 8.57996714e-02 9.76739500e-04 9.96311930e-01 4.79142030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.036875 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:62.03, Y:25.40, Z:4.77 [[ 7.86485788e-01 -6.15869659e-01 -4.63105747e-02 6.20343477e+01] [ 6.12172653e-01 7.87295578e-01 -7.35548538e-02 2.54047471e+01] [ 8.17603134e-02 2.94997797e-02 9.96215345e-01 4.77047253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.066875 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:62.06, Y:25.41, Z:4.81 [[ 7.86263189e-01 -6.11990313e-01 -8.51942173e-02 6.20632412e+01] [ 6.11713388e-01 7.90416164e-01 -3.23885366e-02 2.54106494e+01] [ 8.71603571e-02 -2.66485293e-02 9.95837802e-01 4.81207269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.08, Y:25.43, Z:4.80 [[ 7.86311537e-01 -6.14149199e-01 -6.73418837e-02 6.20820998e+01] [ 6.11809733e-01 7.89189408e-01 -5.35623771e-02 2.54320153e+01] [ 8.60407924e-02 9.16295130e-04 9.96291194e-01 4.80007672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.10, Y:25.45, Z:4.80 [[ 7.85606469e-01 -6.15141193e-01 -6.65115582e-02 6.21039928e+01] [ 6.12861202e-01 7.88416548e-01 -5.29196947e-02 2.54497254e+01] [ 8.49918973e-02 8.11701000e-04 9.96381312e-01 4.80274745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.156875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:62.13, Y:25.47, Z:4.80 [[ 7.85161056e-01 -6.15726884e-01 -6.63514884e-02 6.21263690e+01] [ 6.13457456e-01 7.87959270e-01 -5.28217539e-02 2.54674471e+01] [ 8.48060443e-02 7.69768743e-04 9.96397181e-01 4.80479499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.186875 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:62.15, Y:25.48, Z:4.81 [[ 7.84759374e-01 -6.16158065e-01 -6.70966799e-02 6.21480407e+01] [ 6.13836252e-01 7.87622161e-01 -5.34451766e-02 2.54844438e+01] [ 8.57775087e-02 7.55228853e-04 9.96314031e-01 4.80709205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.216875 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:62.17, Y:25.50, Z:4.81 [[ 7.84602303e-01 -6.16359632e-01 -6.70822680e-02 6.21703000e+01] [ 6.14037009e-01 7.87464432e-01 -5.34632604e-02 2.55023090e+01] [ 8.57774956e-02 7.56402015e-04 9.96314031e-01 4.80922309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.19, Y:25.52, Z:4.81 [[ 7.84161796e-01 -6.16700486e-01 -6.90708924e-02 6.21921520e+01] [ 6.14236502e-01 7.87197514e-01 -5.50780717e-02 2.55194481e+01] [ 8.83391084e-02 7.64256322e-04 9.96090166e-01 4.81150687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.21, Y:25.54, Z:4.81 [[ 7.84088058e-01 -6.16732433e-01 -6.96205623e-02 6.22140551e+01] [ 6.14226336e-01 7.87172458e-01 -5.55475400e-02 2.55371092e+01] [ 8.90613587e-02 7.91379882e-04 9.96025827e-01 4.81374542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.30687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.24, Y:25.55, Z:4.82 [[ 7.84201345e-01 -6.16545837e-01 -6.99962956e-02 6.22357692e+01] [ 6.14009034e-01 7.87318565e-01 -5.58782885e-02 2.55543192e+01] [ 8.95609092e-02 8.41471192e-04 9.95980992e-01 4.81648356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.26, Y:25.57, Z:4.82 [[ 7.84421429e-01 -6.16268641e-01 -6.99713124e-02 6.22579373e+01] [ 6.13729776e-01 7.87535496e-01 -5.58892124e-02 2.55721641e+01] [ 8.95476611e-02 8.97217927e-04 9.95982134e-01 4.81901869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.28, Y:25.59, Z:4.82 [[ 7.85196348e-01 -6.15349575e-01 -6.93656710e-02 6.22795569e+01] [ 6.12848259e-01 7.88253681e-01 -5.54359599e-02 2.55898529e+01] [ 8.87902398e-02 1.01748255e-03 9.96049827e-01 4.82085461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.30, Y:25.61, Z:4.82 [[ 7.85565331e-01 -6.14911224e-01 -6.90745814e-02 6.23006377e+01] [ 6.12426662e-01 7.88595593e-01 -5.52320033e-02 2.56070774e+01] [ 8.84346892e-02 1.08523159e-03 9.96081386e-01 4.82316858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.32, Y:25.62, Z:4.83 [[ 7.85778162e-01 -6.14678358e-01 -6.87255203e-02 6.23225244e+01] [ 6.12216323e-01 7.88777066e-01 -5.49719354e-02 2.56244543e+01] [ 8.79991733e-02 1.12086100e-03 9.96119917e-01 4.82501069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.34, Y:25.64, Z:4.83 [[ 7.86158329e-01 -6.14273436e-01 -6.79943200e-02 6.23433216e+01] [ 6.11859661e-01 7.89092366e-01 -5.44149987e-02 2.56408108e+01] [ 8.70794871e-02 1.17582280e-03 9.96200673e-01 4.82769562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.37, Y:25.66, Z:4.83 [[ 7.86410784e-01 -6.13935802e-01 -6.81242173e-02 6.23650930e+01] [ 6.11509894e-01 7.89355001e-01 -5.45374460e-02 2.56579801e+01] [ 8.72566822e-02 1.23020277e-03 9.96185102e-01 4.83077783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.39, Y:25.68, Z:4.83 [[ 7.86730198e-01 -6.13557627e-01 -6.78427215e-02 6.23870331e+01] [ 6.11147785e-01 7.89648893e-01 -5.43416176e-02 2.56757395e+01] [ 8.69136438e-02 1.29026263e-03 9.96215014e-01 4.83353764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.546875 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:62.41, Y:25.69, Z:4.84 [[ 7.87046985e-01 -6.13134019e-01 -6.79979278e-02 6.24085418e+01] [ 6.10708938e-01 7.89977731e-01 -5.44956724e-02 2.56933389e+01] [ 8.71299994e-02 1.36371243e-03 9.96196017e-01 4.83551630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.43, Y:25.71, Z:4.84 [[ 7.87528897e-01 -6.12480600e-01 -6.83063024e-02 6.24303868e+01] [ 6.10028260e-01 7.90484258e-01 -5.47737199e-02 2.57115444e+01] [ 8.75428976e-02 1.46711245e-03 9.96159670e-01 4.83757259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.45, Y:25.73, Z:4.84 [[ 7.87562136e-01 -6.12425913e-01 -6.84133321e-02 6.24521489e+01] [ 6.09962941e-01 7.90526566e-01 -5.48904296e-02 2.57294646e+01] [ 8.76988779e-02 1.50002665e-03 9.96145901e-01 4.83943702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.47, Y:25.75, Z:4.84 [[ 7.87391599e-01 -6.12601613e-01 -6.88021417e-02 6.24736519e+01] [ 6.10108393e-01 7.90390392e-01 -5.52338318e-02 2.57470225e+01] [ 8.82168862e-02 1.51389095e-03 9.96100140e-01 4.84105472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.49, Y:25.76, Z:4.84 [[ 7.87422056e-01 -6.12541164e-01 -6.89915034e-02 6.24942412e+01] [ 6.10031355e-01 7.90437174e-01 -5.54149842e-02 2.57641001e+01] [ 8.84774079e-02 1.54800056e-03 9.96076981e-01 4.84247352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.52, Y:25.78, Z:4.85 [[ 7.87115019e-01 -6.12936260e-01 -6.89861460e-02 6.25158338e+01] [ 6.10426631e-01 7.90130897e-01 -5.54300724e-02 2.57817402e+01] [ 8.84831867e-02 1.51886175e-03 9.96076512e-01 4.84502388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.54, Y:25.80, Z:4.85 [[ 7.86955226e-01 -6.13151417e-01 -6.88971111e-02 6.25380092e+01] [ 6.10646343e-01 7.89963947e-01 -5.53895880e-02 2.57989965e+01] [ 8.83884381e-02 1.51735676e-03 9.96084927e-01 4.84808867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.56, Y:25.82, Z:4.85 [[ 7.86682582e-01 -6.13532974e-01 -6.86134384e-02 6.25600279e+01] [ 6.11047274e-01 7.89667691e-01 -5.51920912e-02 2.58170189e+01] [ 8.80439833e-02 1.49260232e-03 9.96115470e-01 4.85097471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.58, Y:25.83, Z:4.85 [[ 7.86932032e-01 -6.13221629e-01 -6.85362014e-02 6.25806272e+01] [ 6.10737824e-01 7.89909385e-01 -5.51586264e-02 2.58347729e+01] [ 8.79618514e-02 1.54843949e-03 9.96122641e-01 4.85182766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.60, Y:25.85, Z:4.85 [[ 7.86732612e-01 -6.13462745e-01 -6.86677391e-02 6.26017320e+01] [ 6.10968631e-01 7.89722161e-01 -5.52832799e-02 2.58525303e+01] [ 8.81426680e-02 1.53932463e-03 9.96106671e-01 4.85369180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.62, Y:25.87, Z:4.86 [[ 7.86629647e-01 -6.13610783e-01 -6.85244890e-02 6.26236189e+01] [ 6.11125115e-01 7.89607135e-01 -5.51966129e-02 2.58706441e+01] [ 8.79766623e-02 1.54225596e-03 9.96121342e-01 4.85565843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.65, Y:25.89, Z:4.86 [[ 7.86768468e-01 -6.13459786e-01 -6.82822736e-02 6.26450347e+01] [ 6.10988640e-01 7.89724387e-01 -5.50297600e-02 2.58876753e+01] [ 8.76827215e-02 1.57598648e-03 9.96147206e-01 4.85819926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.67, Y:25.90, Z:4.86 [[ 7.86367872e-01 -6.13912564e-01 -6.88253840e-02 6.26663056e+01] [ 6.11402094e-01 7.89372509e-01 -5.54844353e-02 2.59045825e+01] [ 8.83914580e-02 1.55119340e-03 9.96084607e-01 4.86156720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.69, Y:25.92, Z:4.86 [[ 7.86187356e-01 -6.14214161e-01 -6.81938830e-02 6.26883519e+01] [ 6.11749153e-01 7.89137923e-01 -5.49937573e-02 2.59226682e+01] [ 8.75923237e-02 1.51784653e-03 9.96155249e-01 4.86380013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.71, Y:25.94, Z:4.87 [[ 7.85936905e-01 -6.14578411e-01 -6.77979129e-02 6.27096837e+01] [ 6.12140705e-01 7.88854327e-01 -5.47047375e-02 2.59406189e+01] [ 8.71030275e-02 1.49260990e-03 9.96198190e-01 4.86703700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.73, Y:25.96, Z:4.87 [[ 7.85968837e-01 -6.14548229e-01 -6.77012591e-02 6.27307746e+01] [ 6.12114865e-01 7.88877794e-01 -5.46554525e-02 2.59578522e+01] [ 8.69964315e-02 1.51653538e-03 9.96207469e-01 4.86933264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.75, Y:25.98, Z:4.87 [[ 7.85942670e-01 -6.14622867e-01 -6.73264527e-02 6.27525721e+01] [ 6.12215093e-01 7.88819648e-01 -5.43713410e-02 2.59757475e+01] [ 8.65262982e-02 1.51448639e-03 9.96248416e-01 4.87197808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05687499999999 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:62.77, Y:26.00, Z:4.85 [[ 7.85299773e-01 -6.17578080e-01 -4.36071212e-02 6.27691490e+01] [ 6.13716211e-01 7.85799592e-01 -7.66251419e-02 2.60018426e+01] [ 8.15884661e-02 3.34113094e-02 9.96105921e-01 4.84825125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.08687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.80, Y:26.01, Z:4.89 [[ 7.86341006e-01 -6.11653509e-01 -8.68781182e-02 6.27982833e+01] [ 6.11670088e-01 7.90560600e-01 -2.95574181e-02 2.60067713e+01] [ 8.67613158e-02 -2.98985364e-02 9.95780373e-01 4.89457222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.82, Y:26.03, Z:4.88 [[ 7.86606798e-01 -6.13825399e-01 -6.68440443e-02 6.28167467e+01] [ 6.11442862e-01 7.89440094e-01 -5.40552088e-02 2.60300303e+01] [ 8.59498286e-02 1.64888094e-03 9.96298102e-01 4.87933563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.84, Y:26.05, Z:4.88 [[ 7.86445770e-01 -6.14019985e-01 -6.69515459e-02 6.28377922e+01] [ 6.11627931e-01 7.89288746e-01 -5.41714807e-02 2.60480469e+01] [ 8.61064735e-02 1.65349633e-03 9.96284568e-01 4.88077630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.86, Y:26.07, Z:4.88 [[ 7.86278864e-01 -6.14229536e-01 -6.69897486e-02 6.28591971e+01] [ 6.11832978e-01 7.89125681e-01 -5.42316093e-02 2.60660475e+01] [ 8.61739871e-02 1.65463076e-03 9.96278729e-01 4.88218299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.88, Y:26.08, Z:4.88 [[ 7.85872667e-01 -6.14727736e-01 -6.71860198e-02 6.28801784e+01] [ 6.12316527e-01 7.88737703e-01 -5.44178820e-02 2.60835366e+01] [ 8.64443284e-02 1.62641572e-03 9.96255355e-01 4.88464497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.90, Y:26.10, Z:4.89 [[ 7.85451658e-01 -6.15270307e-01 -6.71426955e-02 6.29022855e+01] [ 6.12862656e-01 7.88314629e-01 -5.44004732e-02 2.61015308e+01] [ 8.64005649e-02 1.57969122e-03 9.96259227e-01 4.88710002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.266875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:62.92, Y:26.12, Z:4.89 [[ 7.84439633e-01 -6.16576890e-01 -6.69880670e-02 6.29233132e+01] [ 6.14182620e-01 7.87293352e-01 -5.43036555e-02 2.61196898e+01] [ 8.62216388e-02 1.45503306e-03 9.96274918e-01 4.88887866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.94, Y:26.14, Z:4.89 [[ 7.82315207e-01 -6.19294529e-01 -6.67622847e-02 6.29436015e+01] [ 6.16923843e-01 7.85157887e-01 -5.41485340e-02 2.61369714e+01] [ 8.59528253e-02 1.17397636e-03 9.96298516e-01 4.89153186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.97, Y:26.15, Z:4.89 [[ 7.81037175e-01 -6.20927904e-01 -6.65542590e-02 6.29654980e+01] [ 6.18575713e-01 7.83867027e-01 -5.40052970e-02 2.61546607e+01] [ 8.57030850e-02 1.01129647e-03 9.96320209e-01 4.89441297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.99, Y:26.17, Z:4.90 [[ 7.79512583e-01 -6.22806554e-01 -6.68739827e-02 6.29871069e+01] [ 6.20436150e-01 7.82375425e-01 -5.42925238e-02 2.61726318e+01] [ 8.61343003e-02 8.30669117e-04 9.96283189e-01 4.89623415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.38687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.01, Y:26.19, Z:4.90 [[ 7.77688230e-01 -6.25070948e-01 -6.69875140e-02 6.30085419e+01] [ 6.22698454e-01 7.80567708e-01 -5.44122140e-02 2.61904457e+01] [ 8.62997844e-02 6.02717045e-04 9.96269032e-01 4.89790789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.03, Y:26.21, Z:4.90 [[ 7.74283839e-01 -6.29288320e-01 -6.69383764e-02 6.30286930e+01] [ 6.26932639e-01 7.77171916e-01 -5.43992682e-02 2.62083567e+01] [ 8.62554504e-02 1.54621296e-04 9.96273042e-01 4.89988011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.05, Y:26.23, Z:4.90 [[ 7.72833227e-01 -6.31106853e-01 -6.65803455e-02 6.30496853e+01] [ 6.28780989e-01 7.75695906e-01 -5.41325120e-02 2.62261471e+01] [ 8.58095008e-02 -2.90515186e-05 9.96311562e-01 4.90176068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.07, Y:26.24, Z:4.90 [[ 7.71269745e-01 -6.33036117e-01 -6.63946875e-02 6.30711406e+01] [ 6.30728216e-01 7.74122228e-01 -5.40064208e-02 2.62446234e+01] [ 8.55856183e-02 -2.23484387e-04 9.96330794e-01 4.90401088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.09, Y:26.26, Z:4.91 [[ 7.70105705e-01 -6.34520823e-01 -6.57307267e-02 6.30919958e+01] [ 6.32261810e-01 7.72905682e-01 -5.34958796e-02 2.62628447e+01] [ 8.47479018e-02 -3.61546212e-04 9.96402360e-01 4.90656166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.11, Y:26.28, Z:4.91 [[ 7.68596349e-01 -6.36458200e-01 -6.46576579e-02 6.31127481e+01] [ 6.34276900e-01 7.71311004e-01 -5.26512009e-02 2.62810366e+01] [ 8.33814516e-02 -5.43338044e-04 9.96517555e-01 4.91011870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.13, Y:26.30, Z:4.91 [[ 7.67834069e-01 -6.37413526e-01 -6.43027168e-02 6.31328396e+01] [ 6.35257213e-01 7.70521647e-01 -5.23895381e-02 2.62984371e+01] [ 8.29404355e-02 -6.22292434e-04 9.96554312e-01 4.91218548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.15, Y:26.32, Z:4.91 [[ 7.67551425e-01 -6.37750707e-01 -6.43338561e-02 6.31525096e+01] [ 6.35592058e-01 7.70242571e-01 -5.24320297e-02 2.63180983e+01] [ 8.29912387e-02 -6.45808854e-04 9.96550068e-01 4.91384450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.17, Y:26.34, Z:4.92 [[ 7.68089567e-01 -6.37127381e-01 -6.40867980e-02 6.31726738e+01] [ 6.34980853e-01 7.70758323e-01 -5.22582372e-02 2.63367531e+01] [ 8.26905868e-02 -5.54882807e-04 9.96575115e-01 4.91531371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.19, Y:26.36, Z:4.92 [[ 7.69122306e-01 -6.35918979e-01 -6.37018949e-02 6.31940104e+01] [ 6.33792672e-01 7.71755716e-01 -5.19611819e-02 2.63554037e+01] [ 8.22054032e-02 -4.09290135e-04 9.96615324e-01 4.91741595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.21, Y:26.38, Z:4.92 [[ 7.71913038e-01 -6.32406995e-01 -6.48972596e-02 6.32145341e+01] [ 6.30185133e-01 7.74636297e-01 -5.29651347e-02 2.63752157e+01] [ 8.37672945e-02 -1.28101546e-05 9.96485344e-01 4.92103394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.23, Y:26.39, Z:4.92 [[ 7.73593525e-01 -6.30274132e-01 -6.56321286e-02 6.32348565e+01] [ 6.27991497e-01 7.76372629e-01 -5.35930943e-02 2.63934021e+01] [ 8.47333292e-02 2.42851979e-04 9.96403635e-01 4.92232217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.25, Y:26.41, Z:4.92 [[ 7.75549058e-01 -6.27834512e-01 -6.59354550e-02 6.32544943e+01] [ 6.25520449e-01 7.78346677e-01 -5.38573949e-02 2.64115053e+01] [ 8.51341735e-02 5.25076451e-04 9.96369358e-01 4.92402641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.27, Y:26.43, Z:4.93 [[ 7.79557618e-01 -6.22861174e-01 -6.58321970e-02 6.32745889e+01] [ 6.20534899e-01 7.82331633e-01 -5.37927042e-02 2.64318053e+01] [ 8.50079971e-02 1.08333667e-03 9.96379680e-01 4.92500042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.80687499999999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:63.29, Y:26.45, Z:4.93 [[ 7.81427690e-01 -6.20548559e-01 -6.55000140e-02 6.32942242e+01] [ 6.18235218e-01 7.84166859e-01 -5.35495358e-02 2.64500946e+01] [ 8.45930274e-02 1.35067460e-03 9.96414670e-01 4.92628085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83687499999999 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:63.32, Y:26.47, Z:4.93 [[ 7.83492661e-01 -6.17980534e-01 -6.51099751e-02 6.33151392e+01] [ 6.15684337e-01 7.86191703e-01 -5.32485096e-02 2.64685306e+01] [ 8.40954646e-02 1.63262469e-03 9.96456365e-01 4.92903706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.34, Y:26.49, Z:4.93 [[ 7.85352232e-01 -6.15628390e-01 -6.49889039e-02 6.33355696e+01] [ 6.13330290e-01 7.88034302e-01 -5.31779428e-02 2.64865658e+01] [ 8.39513368e-02 1.90375277e-03 9.96468037e-01 4.93142178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.36, Y:26.51, Z:4.93 [[ 7.88476531e-01 -6.11613407e-01 -6.50676653e-02 6.33564018e+01] [ 6.09294508e-01 7.91153285e-01 -5.32605079e-02 2.65060766e+01] [ 8.40533379e-02 2.34928943e-03 9.96458487e-01 4.93405637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.38, Y:26.52, Z:4.94 [[ 7.89756594e-01 -6.09907493e-01 -6.55543470e-02 6.33769321e+01] [ 6.07545366e-01 7.92468440e-01 -5.36879875e-02 2.65240618e+01] [ 8.46944569e-02 2.57320244e-03 9.96403647e-01 4.93612975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.40, Y:26.54, Z:4.94 [[ 7.90819130e-01 -6.08511843e-01 -6.57148430e-02 6.33982873e+01] [ 6.06131728e-01 7.93540047e-01 -5.38379286e-02 2.65429305e+01] [ 8.49083768e-02 2.74421252e-03 9.96384984e-01 4.93788125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.42, Y:26.56, Z:4.94 [[ 7.92921583e-01 -6.05754806e-01 -6.58519335e-02 6.34185510e+01] [ 6.03352666e-01 7.95645454e-01 -5.39802910e-02 2.65622004e+01] [ 8.50936122e-02 3.07019818e-03 9.96368231e-01 4.93843352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.44, Y:26.58, Z:4.94 [[ 7.93789156e-01 -6.04608467e-01 -6.59346439e-02 6.34393078e+01] [ 6.02193875e-01 7.96516310e-01 -5.40768480e-02 2.65803619e+01] [ 8.52133395e-02 3.22017687e-03 9.96357525e-01 4.94065853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.046875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:63.46, Y:26.60, Z:4.94 [[ 7.94212943e-01 -6.04038121e-01 -6.60586791e-02 6.34602963e+01] [ 6.01609816e-01 7.96948541e-01 -5.42093313e-02 2.65984000e+01] [ 8.53898706e-02 3.31220278e-03 9.96342110e-01 4.94263496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.48, Y:26.62, Z:4.95 [[ 7.95077559e-01 -6.02874295e-01 -6.62892079e-02 6.34800547e+01] [ 6.00422399e-01 7.97828630e-01 -5.44281175e-02 2.66162725e+01] [ 8.57007409e-02 3.47304956e-03 9.96314870e-01 4.94509747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.50, Y:26.63, Z:4.95 [[ 7.94975693e-01 -6.03009726e-01 -6.62790943e-02 6.35020090e+01] [ 6.00557275e-01 7.97726268e-01 -5.44404307e-02 2.66344388e+01] [ 8.57006838e-02 3.47442685e-03 9.96314870e-01 4.94722770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.52, Y:26.65, Z:4.95 [[ 7.95023901e-01 -6.02948153e-01 -6.62610128e-02 6.35233984e+01] [ 6.00495087e-01 7.97772712e-01 -5.44458400e-02 2.66527735e+01] [ 8.56892466e-02 3.49633141e-03 9.96315778e-01 4.94947774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.54, Y:26.67, Z:4.95 [[ 7.94888436e-01 -6.03201782e-01 -6.55742630e-02 6.35445372e+01] [ 6.00797745e-01 7.97581132e-01 -5.39111019e-02 2.66707645e+01] [ 8.48200677e-02 3.45644215e-03 9.96390290e-01 4.95135444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.57, Y:26.69, Z:4.95 [[ 7.94366957e-01 -6.03923707e-01 -6.52479414e-02 6.35656260e+01] [ 6.01543445e-01 7.97034935e-01 -5.36730501e-02 2.66886849e+01] [ 8.44193161e-02 3.38662605e-03 9.96424563e-01 4.95366890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.59, Y:26.71, Z:4.96 [[ 7.93417490e-01 -6.05168929e-01 -6.52629592e-02 6.35867429e+01] [ 6.02789150e-01 7.96090329e-01 -5.37161880e-02 2.67071079e+01] [ 8.44625786e-02 3.27955943e-03 9.96421255e-01 4.95546752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.61, Y:26.72, Z:4.96 [[ 7.92499730e-01 -6.06298283e-01 -6.59285260e-02 6.36070656e+01] [ 6.03870970e-01 7.95230818e-01 -5.42936267e-02 2.67244096e+01] [ 8.53465283e-02 3.21536157e-03 9.96346140e-01 4.95768566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.63, Y:26.74, Z:4.96 [[ 7.91440676e-01 -6.07630421e-01 -6.63846869e-02 6.36286837e+01] [ 6.05172341e-01 7.94213830e-01 -5.46884776e-02 2.67418827e+01] [ 8.59540192e-02 3.10850930e-03 9.96294256e-01 4.95968568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.65, Y:26.76, Z:4.96 [[ 7.90338443e-01 -6.09080866e-01 -6.62241992e-02 6.36497245e+01] [ 6.06637187e-01 7.93102574e-01 -5.45859862e-02 2.67588744e+01] [ 8.57698626e-02 2.96734137e-03 9.96310557e-01 4.96225573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.67, Y:26.78, Z:4.97 [[ 7.88323581e-01 -6.11752911e-01 -6.56072293e-02 6.36716853e+01] [ 6.09362225e-01 7.91044414e-01 -5.40963445e-02 2.67769098e+01] [ 8.49918284e-02 2.66685680e-03 9.96378079e-01 4.96596256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.69, Y:26.79, Z:4.97 [[ 7.87107550e-01 -6.13393415e-01 -6.48862315e-02 6.36926789e+01] [ 6.11058058e-01 7.89773598e-01 -5.35323578e-02 2.67949349e+01] [ 8.40818282e-02 2.48646839e-03 9.96455751e-01 4.96787494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.71, Y:26.81, Z:4.97 [[ 7.85957325e-01 -6.14897835e-01 -6.45889786e-02 6.37135179e+01] [ 6.12586492e-01 7.88603315e-01 -5.33160623e-02 2.68125686e+01] [ 8.37190138e-02 2.33781392e-03 9.96486659e-01 4.97001665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.73, Y:26.83, Z:4.97 [[ 7.84378102e-01 -6.16971533e-01 -6.40087493e-02 6.37344837e+01] [ 6.14707092e-01 7.86982638e-01 -5.28537543e-02 2.68301360e+01] [ 8.29830362e-02 2.11069537e-03 9.96548725e-01 4.97263993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.76, Y:26.85, Z:4.97 [[ 7.83618969e-01 -6.17906645e-01 -6.42859951e-02 6.37555018e+01] [ 6.15624136e-01 7.86248840e-01 -5.31007092e-02 2.68483861e+01] [ 8.33560701e-02 2.03471279e-03 9.96517750e-01 4.97468966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.78, Y:26.87, Z:4.98 [[ 7.82883405e-01 -6.18827942e-01 -6.43859656e-02 6.37754021e+01] [ 6.16539042e-01 7.85524111e-01 -5.32116610e-02 2.68660921e+01] [ 8.35055910e-02 1.96206478e-03 9.96505377e-01 4.97612602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.52687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.80, Y:26.88, Z:4.98 [[ 7.82173767e-01 -6.19682694e-01 -6.47885615e-02 6.37960368e+01] [ 6.17366413e-01 7.84850152e-01 -5.35625913e-02 2.68847496e+01] [ 8.40411232e-02 1.89697201e-03 9.96460481e-01 4.97759456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.82, Y:26.90, Z:4.98 [[ 7.81543827e-01 -6.20427479e-01 -6.52609332e-02 6.38175830e+01] [ 6.18077247e-01 7.84261631e-01 -5.39834341e-02 2.69033903e+01] [ 8.46744518e-02 1.85412177e-03 9.96406945e-01 4.97993355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.58687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.84, Y:26.92, Z:4.98 [[ 7.80921781e-01 -6.21156218e-01 -6.57732830e-02 6.38379901e+01] [ 6.18768980e-01 7.83684675e-01 -5.44360034e-02 2.69215821e+01] [ 8.53587760e-02 1.81179347e-03 9.96348632e-01 4.98079804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.86, Y:26.94, Z:4.98 [[ 7.80330054e-01 -6.21888332e-01 -6.58779969e-02 6.38594394e+01] [ 6.19494492e-01 7.83103980e-01 -5.45410854e-02 2.69403346e+01] [ 8.55077862e-02 1.74899189e-03 9.96335967e-01 4.98309645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.88, Y:26.96, Z:4.99 [[ 7.80183742e-01 -6.22087900e-01 -6.57265141e-02 6.38809498e+01] [ 6.19703206e-01 7.82945460e-01 -5.44457743e-02 2.69586239e+01] [ 8.53303332e-02 1.74677642e-03 9.96351185e-01 4.98530818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.90, Y:26.98, Z:4.99 [[ 7.80371927e-01 -6.21903228e-01 -6.52382544e-02 6.39013756e+01] [ 6.19550809e-01 7.83092089e-01 -5.40700977e-02 2.69761446e+01] [ 8.47139292e-02 1.77637307e-03 9.96403731e-01 4.98779241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.92, Y:26.99, Z:4.99 [[ 7.80628257e-01 -6.21648935e-01 -6.45919973e-02 6.39224960e+01] [ 6.19340594e-01 7.83293918e-01 -5.35524722e-02 2.69948195e+01] [ 8.38853559e-02 1.80012710e-03 9.96473786e-01 4.99007869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.94, Y:27.01, Z:4.99 [[ 7.81904590e-01 -6.20096528e-01 -6.40742392e-02 6.39429420e+01] [ 6.17817443e-01 7.84523039e-01 -5.31526995e-02 2.70135937e+01] [ 8.32275213e-02 1.97415707e-03 9.96528616e-01 4.99222620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.96, Y:27.03, Z:4.99 [[ 7.82727365e-01 -6.19084922e-01 -6.38101193e-02 6.39642677e+01] [ 6.16818774e-01 7.85321248e-01 -5.29635438e-02 2.70321685e+01] [ 8.29003739e-02 2.09673548e-03 9.96555634e-01 4.99404442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.98, Y:27.05, Z:5.00 [[ 7.84752027e-01 -6.16523670e-01 -6.37402575e-02 6.39845298e+01] [ 6.14251544e-01 7.87332749e-01 -5.29356518e-02 2.70510352e+01] [ 8.28208745e-02 2.38880853e-03 9.96561587e-01 4.99571641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.01, Y:27.07, Z:5.00 [[ 7.85696913e-01 -6.15310867e-01 -6.38192638e-02 6.40060501e+01] [ 6.13026600e-01 7.88280450e-01 -5.30313182e-02 2.70696749e+01] [ 8.29382243e-02 2.54363671e-03 9.96551444e-01 4.99753881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.03, Y:27.09, Z:5.00 [[ 7.86510191e-01 -6.14232139e-01 -6.41918929e-02 6.40275738e+01] [ 6.11914912e-01 7.89120779e-01 -5.33716934e-02 2.70882131e+01] [ 8.34377659e-02 2.69740423e-03 9.96509339e-01 4.99884583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.88687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.05, Y:27.11, Z:5.00 [[ 7.87163882e-01 -6.13373331e-01 -6.43908430e-02 6.40487827e+01] [ 6.11036239e-01 7.89788070e-01 -5.35678948e-02 2.71058408e+01] [ 8.37122377e-02 2.82157351e-03 9.96485976e-01 5.00065782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.07, Y:27.12, Z:5.00 [[ 7.88218464e-01 -6.11938272e-01 -6.51398867e-02 6.40695670e+01] [ 6.09538926e-01 7.90899711e-01 -5.42212632e-02 2.71222719e+01] [ 8.46991836e-02 3.03290421e-03 9.96401952e-01 5.00323622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.09, Y:27.14, Z:5.01 [[ 7.88226229e-01 -6.11931287e-01 -6.51115360e-02 6.40914867e+01] [ 6.09532116e-01 7.90905049e-01 -5.42199446e-02 2.71400861e+01] [ 8.46759231e-02 3.05001009e-03 9.96403877e-01 5.00509076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97687499999999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:64.11, Y:27.16, Z:5.01 [[ 7.88216989e-01 -6.11919066e-01 -6.53378471e-02 6.41128335e+01] [ 6.09500572e-01 7.90914366e-01 -5.44381948e-02 2.71572145e+01] [ 8.49884113e-02 3.08565484e-03 9.96377162e-01 5.00716044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.14, Y:27.17, Z:5.01 [[ 7.87515952e-01 -6.12837820e-01 -6.51799899e-02 6.41351323e+01] [ 6.10432545e-01 7.90203038e-01 -5.43255695e-02 2.71739040e+01] [ 8.47981896e-02 2.99426548e-03 9.96393648e-01 5.00935891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.16, Y:27.19, Z:5.01 [[ 7.87156876e-01 -6.13371754e-01 -6.44914239e-02 6.41568120e+01] [ 6.11016472e-01 7.89788906e-01 -5.37806230e-02 2.71904280e+01] [ 8.39221262e-02 2.92846485e-03 9.96468013e-01 5.01147705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.18, Y:27.21, Z:5.01 [[ 7.86462353e-01 -6.14267408e-01 -6.44400347e-02 6.41788450e+01] [ 6.11917328e-01 7.89092806e-01 -5.37561942e-02 2.72073302e+01] [ 8.38698458e-02 2.84524917e-03 9.96472656e-01 5.01406106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.096875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:64.20, Y:27.22, Z:5.02 [[ 7.85678159e-01 -6.15301760e-01 -6.41371618e-02 6.42012496e+01] [ 6.12974648e-01 7.88286880e-01 -5.35338765e-02 2.72247156e+01] [ 8.34979716e-02 2.74594332e-03 9.96504164e-01 5.01627128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.22, Y:27.24, Z:5.02 [[ 7.85170467e-01 -6.16029390e-01 -6.33650458e-02 6.42242126e+01] [ 6.13758072e-01 7.87718682e-01 -5.29179371e-02 2.72397449e+01] [ 8.25128349e-02 2.65879305e-03 9.96586455e-01 5.01949189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.25, Y:27.26, Z:5.02 [[ 7.84970287e-01 -6.16326742e-01 -6.29523254e-02 6.42455044e+01] [ 6.14084552e-01 7.87486168e-01 -5.25899044e-02 2.72554936e+01] [ 8.19866499e-02 2.62346176e-03 9.96629975e-01 5.02247253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.186875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:64.27, Y:27.27, Z:5.02 [[ 7.85111714e-01 -6.16271517e-01 -6.17171995e-02 6.42683442e+01] [ 6.14114822e-01 7.87529487e-01 -5.15780216e-02 2.72712117e+01] [ 8.03901801e-02 2.59306198e-03 9.96760099e-01 5.02484793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.29, Y:27.29, Z:5.03 [[ 7.85215764e-01 -6.16165142e-01 -6.14550396e-02 6.42905711e+01] [ 6.14024166e-01 7.87612645e-01 -5.13872056e-02 2.72886094e+01] [ 8.00657712e-02 2.61516447e-03 9.96786152e-01 5.02681556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.246875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:64.31, Y:27.31, Z:5.03 [[ 7.85159461e-01 -6.16228038e-01 -6.15437005e-02 6.43128609e+01] [ 6.14078740e-01 7.87563369e-01 -5.14901903e-02 2.73057019e+01] [ 8.01992631e-02 2.63533196e-03 9.96775367e-01 5.02851788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.34, Y:27.32, Z:5.03 [[ 7.85238074e-01 -6.15980928e-01 -6.29973233e-02 6.43357737e+01] [ 6.13725447e-01 7.87756274e-01 -5.27364100e-02 2.73211274e+01] [ 8.21111594e-02 2.74757662e-03 9.96619390e-01 5.02909705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.30687499999999 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:64.36, Y:27.34, Z:5.03 [[ 7.85121921e-01 -6.16086904e-01 -6.34073747e-02 6.43582768e+01] [ 6.13800462e-01 7.87673311e-01 -5.31012962e-02 2.73380643e+01] [ 8.26593099e-02 2.77151581e-03 9.96574010e-01 5.03038603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.38, Y:27.36, Z:5.03 [[ 7.85197339e-01 -6.15934489e-01 -6.39518879e-02 6.43810793e+01] [ 6.13605446e-01 7.87792271e-01 -5.35882039e-02 2.73552652e+01] [ 8.33876260e-02 2.83608843e-03 9.96513151e-01 5.03264759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.40, Y:27.37, Z:5.03 [[ 7.85278558e-01 -6.15803256e-01 -6.42178782e-02 6.44023196e+01] [ 6.13451840e-01 7.87894679e-01 -5.38406528e-02 2.73715386e+01] [ 8.37521738e-02 2.88533465e-03 9.96482437e-01 5.03479849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.43, Y:27.39, Z:5.04 [[ 7.85689691e-01 -6.15298440e-01 -6.40276470e-02 6.44251762e+01] [ 6.12957744e-01 7.88288752e-01 -5.36996020e-02 2.73877234e+01] [ 8.35135553e-02 2.94498163e-03 9.96502290e-01 5.03779181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.45, Y:27.41, Z:5.04 [[ 7.85645205e-01 -6.15443160e-01 -6.31769610e-02 6.44476983e+01] [ 6.13162339e-01 7.88175884e-01 -5.30162492e-02 2.74053114e+01] [ 8.24230450e-02 2.91422878e-03 9.96593171e-01 5.03971868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.47, Y:27.42, Z:5.04 [[ 7.85336700e-01 -6.15931077e-01 -6.22509132e-02 6.44697203e+01] [ 6.13715957e-01 7.87794913e-01 -5.22675823e-02 2.74206127e+01] [ 8.12341810e-02 2.84327183e-03 9.96690987e-01 5.04169502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.49, Y:27.44, Z:5.04 [[ 7.84819753e-01 -6.16637169e-01 -6.17782868e-02 6.44916131e+01] [ 6.14456393e-01 7.87242637e-01 -5.18880708e-02 2.74374703e+01] [ 8.06306145e-02 2.76271960e-03 9.96740223e-01 5.04331317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.51, Y:27.45, Z:5.05 [[ 7.84436236e-01 -6.17142308e-01 -6.16048914e-02 6.45127833e+01] [ 6.14973005e-01 7.86846835e-01 -5.17712494e-02 2.74534366e+01] [ 8.04238421e-02 2.72589887e-03 9.96757029e-01 5.04569937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.54, Y:27.47, Z:5.05 [[ 7.84080872e-01 -6.17626053e-01 -6.12800455e-02 6.45354127e+01] [ 6.15479699e-01 7.86467354e-01 -5.15154461e-02 2.74707211e+01] [ 8.00120369e-02 2.67565196e-03 9.96790306e-01 5.04815754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.56, Y:27.49, Z:5.05 [[ 7.83218185e-01 -6.18790429e-01 -6.05613684e-02 6.45577401e+01] [ 6.16695437e-01 7.85551977e-01 -5.09394744e-02 2.74867381e+01] [ 7.90949619e-02 2.54880313e-03 9.96863828e-01 5.04963214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.58, Y:27.50, Z:5.05 [[ 7.82498272e-01 -6.19709098e-01 -6.04738581e-02 6.45796532e+01] [ 6.17621300e-01 7.84827714e-01 -5.08860391e-02 2.75037284e+01] [ 7.89961012e-02 2.46829484e-03 9.96871869e-01 5.05182782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.60, Y:27.52, Z:5.05 [[ 7.81927729e-01 -6.20417339e-01 -6.05916760e-02 6.46009003e+01] [ 6.18321235e-01 7.84268098e-01 -5.10137337e-02 2.75196797e+01] [ 7.91699235e-02 2.42393308e-03 9.96858188e-01 5.05396652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.62, Y:27.54, Z:5.06 [[ 7.80994951e-01 -6.21547204e-01 -6.10406347e-02 6.46230460e+01] [ 6.19421936e-01 7.83373217e-01 -5.14088411e-02 2.75363033e+01] [ 7.97706198e-02 2.34013722e-03 9.96810500e-01 5.05595194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.65, Y:27.55, Z:5.06 [[ 7.79676318e-01 -6.23064052e-01 -6.24181655e-02 6.46464927e+01] [ 6.20843942e-01 7.82167556e-01 -5.25995654e-02 2.75523899e+01] [ 8.15943623e-02 2.25869560e-03 9.96663062e-01 5.05627622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.67, Y:27.57, Z:5.06 [[ 7.79034944e-01 -6.23843272e-01 -6.26428606e-02 6.46684870e+01] [ 6.21607153e-01 7.81546348e-01 -5.28190612e-02 2.75698619e+01] [ 8.19091149e-02 2.20864413e-03 9.96637356e-01 5.05721813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.69, Y:27.59, Z:5.06 [[ 7.78336401e-01 -6.24707043e-01 -6.27180842e-02 6.46902820e+01] [ 6.22465862e-01 7.80856270e-01 -5.29125336e-02 2.75868646e+01] [ 8.20286417e-02 2.14388457e-03 9.96627667e-01 5.05915448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.71, Y:27.60, Z:5.06 [[ 7.78027217e-01 -6.25167338e-01 -6.19632886e-02 6.47125421e+01] [ 6.22978975e-01 7.80487937e-01 -5.23046525e-02 2.76019870e+01] [ 8.10607597e-02 2.09261723e-03 9.96706965e-01 5.06199565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.73, Y:27.62, Z:5.06 [[ 7.77754717e-01 -6.25557799e-01 -6.14413613e-02 6.47346073e+01] [ 6.23406019e-01 7.80175138e-01 -5.18814967e-02 2.76189321e+01] [ 8.03898974e-02 2.04816434e-03 9.96761390e-01 5.06478502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.76, Y:27.64, Z:5.07 [[ 7.77575912e-01 -6.25799079e-01 -6.12471537e-02 6.47567613e+01] [ 6.23659334e-01 7.79981637e-01 -5.17463201e-02 2.76358960e+01] [ 8.01544547e-02 2.03933302e-03 9.96780369e-01 5.06773846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.78, Y:27.65, Z:5.07 [[ 7.77319084e-01 -6.26200752e-01 -6.03958559e-02 6.47783937e+01] [ 6.24119168e-01 7.79659317e-01 -5.10550008e-02 2.76515828e+01] [ 7.90588717e-02 1.99181519e-03 9.96867959e-01 5.07070128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.80, Y:27.67, Z:5.07 [[ 7.77311181e-01 -6.26230575e-01 -6.01879972e-02 6.47991519e+01] [ 6.24162147e-01 7.79635357e-01 -5.08952396e-02 2.76681537e+01] [ 7.87968458e-02 1.99436929e-03 9.96888700e-01 5.07228651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.82, Y:27.69, Z:5.07 [[ 7.76934538e-01 -6.26672765e-01 -6.04480673e-02 6.48219035e+01] [ 6.24586407e-01 7.79280027e-01 -5.11317859e-02 2.76853746e+01] [ 7.91488692e-02 1.97100930e-03 9.96860859e-01 5.07378470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.84, Y:27.70, Z:5.08 [[ 7.76951156e-01 -6.26669190e-01 -6.02712837e-02 6.48433540e+01] [ 6.24592826e-01 7.79282860e-01 -5.10100453e-02 2.77021771e+01] [ 7.89348022e-02 1.98730223e-03 9.96877800e-01 5.07622811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.87, Y:27.72, Z:5.08 [[ 7.76559328e-01 -6.27168431e-01 -6.01279395e-02 6.48652424e+01] [ 6.25102145e-01 7.78881235e-01 -5.09051117e-02 2.77198971e+01] [ 7.87586028e-02 1.94473539e-03 9.96891820e-01 5.07829504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.89, Y:27.74, Z:5.08 [[ 7.76396078e-01 -6.27371870e-01 -6.01137822e-02 6.48869574e+01] [ 6.25304900e-01 7.78717374e-01 -5.09218248e-02 2.77384291e+01] [ 7.87585672e-02 1.94606246e-03 9.96891820e-01 5.08042481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.91, Y:27.75, Z:5.08 [[ 7.75879875e-01 -6.27935574e-01 -6.08878848e-02 6.49094107e+01] [ 6.25814446e-01 7.78262919e-01 -5.16053186e-02 2.77549014e+01] [ 7.97915983e-02 1.93501032e-03 9.96809689e-01 5.08290232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.08687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.93, Y:27.77, Z:5.08 [[ 7.75214718e-01 -6.28739554e-01 -6.10631989e-02 6.49312001e+01] [ 6.26606311e-01 7.77613681e-01 -5.17831423e-02 2.77721663e+01] [ 8.00416887e-02 1.88046819e-03 9.96789743e-01 5.08461661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.95, Y:27.79, Z:5.09 [[ 7.74656455e-01 -6.29412614e-01 -6.12138777e-02 6.49526800e+01] [ 6.27268588e-01 7.77069099e-01 -5.19397166e-02 2.77886992e+01] [ 8.02589255e-02 1.83789411e-03 9.96772355e-01 5.08670247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.97, Y:27.81, Z:5.09 [[ 7.73819491e-01 -6.30452727e-01 -6.10962714e-02 6.49749971e+01] [ 6.28318526e-01 7.76225690e-01 -5.18604704e-02 2.78064808e+01] [ 8.01200704e-02 1.74272361e-03 9.96783696e-01 5.08891504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.00, Y:27.82, Z:5.09 [[ 7.73237818e-01 -6.31198482e-01 -6.07597905e-02 6.49970392e+01] [ 6.29087778e-01 7.75619532e-01 -5.16033806e-02 2.78237959e+01] [ 7.96984558e-02 1.67844380e-03 9.96817606e-01 5.09130749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.02, Y:27.84, Z:5.09 [[ 7.72253069e-01 -6.32344894e-01 -6.13606649e-02 6.50184940e+01] [ 6.30193470e-01 7.74685343e-01 -5.21421950e-02 2.78406990e+01] [ 8.05070586e-02 1.59787978e-03 9.96752758e-01 5.09137641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.04, Y:27.86, Z:5.09 [[ 7.72059603e-01 -6.32508676e-01 -6.21026901e-02 6.50404967e+01] [ 6.30303903e-01 7.74551593e-01 -5.27903361e-02 2.78580401e+01] [ 8.14920831e-02 1.61371795e-03 9.96672683e-01 5.09333954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.06, Y:27.87, Z:5.10 [[ 7.71735692e-01 -6.32867542e-01 -6.24715518e-02 6.50614209e+01] [ 6.30635270e-01 7.74258413e-01 -5.31325367e-02 2.78749554e+01] [ 8.19949824e-02 1.60751104e-03 9.96631446e-01 5.09588930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.08, Y:27.89, Z:5.10 [[ 7.71269762e-01 -6.33372746e-01 -6.31024424e-02 6.50840498e+01] [ 6.31095272e-01 7.73845241e-01 -5.36870613e-02 2.78915307e+01] [ 8.28354462e-02 1.58355391e-03 9.96561981e-01 5.09789137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.11, Y:27.91, Z:5.10 [[ 7.71089130e-01 -6.33551362e-01 -6.35155446e-02 6.51059497e+01] [ 6.31242011e-01 7.73698984e-01 -5.40685285e-02 2.79087248e+01] [ 8.33971022e-02 1.59797457e-03 9.96515113e-01 5.09993789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.13, Y:27.93, Z:5.10 [[ 7.70833974e-01 -6.33848989e-01 -6.36430915e-02 6.51280951e+01] [ 6.31528788e-01 7.73455185e-01 -5.42076275e-02 2.79260403e+01] [ 8.35845290e-02 1.59263648e-03 9.96499418e-01 5.10206382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.15, Y:27.94, Z:5.11 [[ 7.70227286e-01 -6.34680043e-01 -6.26990510e-02 6.51509985e+01] [ 6.32428586e-01 7.72773566e-01 -5.34331325e-02 2.79427115e+01] [ 8.23651120e-02 1.50298445e-03 9.96601088e-01 5.10508081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.17, Y:27.96, Z:5.11 [[ 7.68651146e-01 -6.36597063e-01 -6.26066716e-02 6.51724260e+01] [ 6.34356098e-01 7.71195461e-01 -5.33844719e-02 2.79601682e+01] [ 8.22663790e-02 1.31911159e-03 9.96609504e-01 5.10712022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.19, Y:27.98, Z:5.11 [[ 7.66571658e-01 -6.39090193e-01 -6.27026227e-02 6.51927223e+01] [ 6.36848217e-01 7.69131047e-01 -5.34956264e-02 2.79779307e+01] [ 8.24150641e-02 1.07617754e-03 9.96597511e-01 5.10796314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.22, Y:27.99, Z:5.11 [[ 7.60434111e-01 -6.46585990e-01 -6.05518009e-02 6.52154427e+01] [ 6.44517388e-01 7.62841060e-01 -5.16803050e-02 2.79934482e+01] [ 7.96071612e-02 2.72778179e-04 9.96826276e-01 5.11355378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.24, Y:28.01, Z:5.12 [[ 7.56891180e-01 -6.50826132e-01 -5.95070461e-02 6.52377222e+01] [ 6.48839227e-01 7.59226794e-01 -5.08166670e-02 2.80109013e+01] [ 7.82521586e-02 -1.47818702e-04 9.96933587e-01 5.11855885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.26, Y:28.03, Z:5.12 [[ 7.54246596e-01 -6.53849600e-01 -5.99397369e-02 6.52579638e+01] [ 6.51840901e-01 7.56624414e-01 -5.12145988e-02 2.80283485e+01] [ 7.88385132e-02 -4.42735255e-04 9.96887302e-01 5.12122491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.28, Y:28.05, Z:5.12 [[ 7.51149791e-01 -6.57225523e-01 -6.18757129e-02 6.52781597e+01] [ 6.55094677e-01 7.53693544e-01 -5.28867233e-02 2.80487221e+01] [ 8.13938297e-02 -8.08598986e-04 9.96681690e-01 5.11897549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.30, Y:28.07, Z:5.12 [[ 7.50921375e-01 -6.57363815e-01 -6.31656846e-02 6.52986957e+01] [ 6.55141089e-01 7.53572919e-01 -5.40185943e-02 2.80679315e+01] [ 8.31098186e-02 -8.18718335e-04 9.96540058e-01 5.11960893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.32, Y:28.09, Z:5.12 [[ 7.51382367e-01 -6.56740689e-01 -6.41576694e-02 6.53200289e+01] [ 6.54442614e-01 7.54116120e-01 -5.48975597e-02 2.80868253e+01] [ 8.44357939e-02 -7.38454563e-04 9.96428648e-01 5.12115371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.34, Y:28.11, Z:5.12 [[ 7.53524101e-01 -6.54179057e-01 -6.52011544e-02 6.53409436e+01] [ 6.51793197e-01 7.56339588e-01 -5.58216351e-02 2.81059176e+01] [ 8.58315589e-02 -4.34721517e-04 9.96309568e-01 5.12484527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.36, Y:28.12, Z:5.13 [[ 7.54899342e-01 -6.52614768e-01 -6.49688281e-02 6.53616863e+01] [ 6.50237521e-01 7.57689851e-01 -5.56529869e-02 2.81244946e+01] [ 8.55461828e-02 -2.32766604e-04 9.96334179e-01 5.12773783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.38, Y:28.14, Z:5.13 [[ 7.56524640e-01 -6.50776759e-01 -6.44986716e-02 6.53812649e+01] [ 6.48424835e-01 7.59269129e-01 -5.52776977e-02 2.81428468e+01] [ 8.49452912e-02 -3.60011909e-06 9.96385617e-01 5.13145017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.40, Y:28.16, Z:5.13 [[ 7.58590566e-01 -6.48441197e-01 -6.37523865e-02 6.54015412e+01] [ 6.46133683e-01 7.61264699e-01 -5.46564047e-02 2.81620379e+01] [ 8.39739058e-02 2.69268681e-04 9.96467918e-01 5.13407223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.42, Y:28.18, Z:5.14 [[ 7.62821835e-01 -6.43576105e-01 -6.25511399e-02 6.54206453e+01] [ 6.41336073e-01 7.65381693e-01 -5.36554386e-02 2.81822257e+01] [ 8.24068555e-02 8.13237677e-04 9.96598439e-01 5.13669033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.80687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.44, Y:28.20, Z:5.14 [[ 7.64606378e-01 -6.41488792e-01 -6.22030265e-02 6.54402812e+01] [ 6.39264400e-01 7.67131682e-01 -5.33854748e-02 2.82010080e+01] [ 8.19640961e-02 1.05469411e-03 9.96634725e-01 5.13812812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.46, Y:28.22, Z:5.14 [[ 7.68029339e-01 -6.37405838e-01 -6.20059049e-02 6.54601224e+01] [ 6.35180492e-01 7.70526793e-01 -5.32372379e-02 2.82213977e+01] [ 8.17109373e-02 1.50281940e-03 9.96654937e-01 5.13897670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.48, Y:28.24, Z:5.14 [[ 7.69452619e-01 -6.35672882e-01 -6.21502489e-02 6.54799933e+01] [ 6.33429055e-01 7.71956637e-01 -5.33908466e-02 2.82406503e+01] [ 8.19164104e-02 1.71395330e-03 9.96637730e-01 5.14036720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.50, Y:28.26, Z:5.14 [[ 7.71092176e-01 -6.33682344e-01 -6.21574093e-02 6.54993907e+01] [ 6.31429125e-01 7.73590906e-01 -5.34263053e-02 2.82589939e+01] [ 8.19397129e-02 1.94860744e-03 9.96635383e-01 5.14226018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.52, Y:28.28, Z:5.14 [[ 7.72180990e-01 -6.32279708e-01 -6.29197086e-02 6.55189952e+01] [ 6.29964694e-01 7.74737249e-01 -5.40987909e-02 2.82775451e+01] [ 8.29518097e-02 2.13686300e-03 9.96551269e-01 5.14379783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.54, Y:28.30, Z:5.15 [[ 7.73851744e-01 -6.30173388e-01 -6.35214954e-02 6.55384361e+01] [ 6.27805262e-01 7.76450737e-01 -5.46333900e-02 2.82957042e+01] [ 8.37498203e-02 2.39901508e-03 9.96483925e-01 5.14601450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.56, Y:28.31, Z:5.15 [[ 7.74217630e-01 -6.29712910e-01 -6.36294953e-02 6.55595018e+01] [ 6.27333607e-01 7.76824023e-01 -5.47447060e-02 2.83144356e+01] [ 8.39023686e-02 2.46739574e-03 9.96470925e-01 5.14819263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.58, Y:28.33, Z:5.15 [[ 7.74088960e-01 -6.29857908e-01 -6.37596913e-02 6.55798544e+01] [ 6.27466765e-01 7.76706420e-01 -5.48871115e-02 2.83328732e+01] [ 8.40936428e-02 2.48041984e-03 9.96454769e-01 5.15021558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.60, Y:28.35, Z:5.15 [[ 7.73887429e-01 -6.30123408e-01 -6.35825251e-02 6.56003015e+01] [ 6.27744573e-01 7.76491100e-01 -5.47569371e-02 2.83514182e+01] [ 8.38748927e-02 2.46212021e-03 9.96473251e-01 5.15231873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.62, Y:28.37, Z:5.15 [[ 7.73660859e-01 -6.30470375e-01 -6.28965848e-02 6.56205803e+01] [ 6.28141409e-01 7.76209537e-01 -5.41952433e-02 2.83696986e+01] [ 8.29894244e-02 2.42078906e-03 9.96547488e-01 5.15354205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.64, Y:28.39, Z:5.16 [[ 7.73104927e-01 -6.31200633e-01 -6.24061882e-02 6.56408407e+01] [ 6.28908867e-01 7.75616076e-01 -5.37897672e-02 2.83878128e+01] [ 8.23553779e-02 2.33732891e-03 9.96600285e-01 5.15553325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.66, Y:28.41, Z:5.16 [[ 7.72757645e-01 -6.31655405e-01 -6.21053308e-02 6.56622326e+01] [ 6.29385455e-01 7.75245888e-01 -5.35514979e-02 2.84062528e+01] [ 8.19729954e-02 2.29413750e-03 9.96631910e-01 5.15793757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.68, Y:28.42, Z:5.16 [[ 7.71812996e-01 -6.32806129e-01 -6.21377681e-02 6.56833366e+01] [ 6.30535058e-01 7.74307161e-01 -5.36093392e-02 2.84247064e+01] [ 8.20380372e-02 2.19634348e-03 9.96626779e-01 5.16026575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.70, Y:28.44, Z:5.16 [[ 7.71297566e-01 -6.33431793e-01 -6.21629214e-02 6.57044948e+01] [ 6.31158443e-01 7.73795532e-01 -5.36609311e-02 2.84427748e+01] [ 8.20919306e-02 2.15389285e-03 9.96622434e-01 5.16279109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.72, Y:28.46, Z:5.16 [[ 7.70769264e-01 -6.34067217e-01 -6.22375051e-02 6.57245191e+01] [ 6.31788071e-01 7.73275053e-01 -5.37543139e-02 2.84602926e+01] [ 8.22105582e-02 2.11125965e-03 9.96612747e-01 5.16474747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.75, Y:28.48, Z:5.17 [[ 7.69991190e-01 -6.35002513e-01 -6.23327840e-02 6.57455864e+01] [ 6.32717947e-01 7.72507407e-01 -5.38544918e-02 2.84787288e+01] [ 8.23502749e-02 2.02841311e-03 9.96601384e-01 5.16614976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.77, Y:28.50, Z:5.17 [[ 7.69386684e-01 -6.35717092e-01 -6.25132719e-02 6.57661832e+01] [ 6.33419173e-01 7.71919593e-01 -5.40397381e-02 2.84971360e+01] [ 8.26092045e-02 1.98034990e-03 9.96580051e-01 5.16739541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.79, Y:28.52, Z:5.17 [[ 7.69001730e-01 -6.36191379e-01 -6.24249005e-02 6.57874962e+01] [ 6.33899061e-01 7.71528825e-01 -5.39930747e-02 2.85159364e+01] [ 8.25125388e-02 1.94968205e-03 9.96588119e-01 5.16838239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.81, Y:28.53, Z:5.17 [[ 7.68694180e-01 -6.36522939e-01 -6.28315728e-02 6.58084680e+01] [ 6.34199132e-01 7.71255304e-01 -5.43756962e-02 2.85343464e+01] [ 8.30705617e-02 1.95055221e-03 9.96541759e-01 5.17111772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.83, Y:28.55, Z:5.17 [[ 7.68880319e-01 -6.36266562e-01 -6.31499515e-02 6.58289030e+01] [ 6.33915752e-01 7.71466666e-01 -5.46809186e-02 2.85526779e+01] [ 8.35097226e-02 2.01133313e-03 9.96504933e-01 5.17339042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.85, Y:28.57, Z:5.18 [[ 7.68972529e-01 -6.36115688e-01 -6.35458934e-02 6.58498687e+01] [ 6.33733157e-01 7.71590959e-01 -5.50425089e-02 2.85711700e+01] [ 8.40448402e-02 2.05503761e-03 9.96459855e-01 5.17634107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.87, Y:28.59, Z:5.18 [[ 7.68824219e-01 -6.36292746e-01 -6.35677781e-02 6.58707477e+01] [ 6.33906588e-01 7.71444941e-01 -5.50921060e-02 2.85897766e+01] [ 8.40937482e-02 2.06011202e-03 9.96455718e-01 5.17855765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.89, Y:28.61, Z:5.18 [[ 7.68620633e-01 -6.36655290e-01 -6.23888138e-02 6.58913802e+01] [ 6.34355724e-01 7.71145913e-01 -5.40998727e-02 2.86083356e+01] [ 8.25538490e-02 2.00557723e-03 9.96584587e-01 5.18157410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.91, Y:28.63, Z:5.18 [[ 7.68147652e-01 -6.37264903e-01 -6.19889303e-02 6.59111721e+01] [ 6.34994380e-01 7.70642356e-01 -5.37819298e-02 2.86260332e+01] [ 8.20446316e-02 1.94984077e-03 9.96626749e-01 5.18398791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.52687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.93, Y:28.64, Z:5.19 [[ 7.67725004e-01 -6.37828185e-01 -6.14290252e-02 6.59325692e+01] [ 6.35598932e-01 7.70176375e-01 -5.33136837e-02 2.86448832e+01] [ 8.13161541e-02 1.88602519e-03 9.96686574e-01 5.18590816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.95, Y:28.66, Z:5.19 [[ 7.64957780e-01 -6.41145258e-01 -6.14194841e-02 6.59537834e+01] [ 6.38924909e-01 7.67417966e-01 -5.33350309e-02 2.86629465e+01] [ 8.13299178e-02 1.55660854e-03 9.96686019e-01 5.18735212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.58687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.97, Y:28.68, Z:5.19 [[ 7.60395531e-01 -6.46490232e-01 -6.20404385e-02 6.59743539e+01] [ 6.44239896e-01 7.62921582e-01 -5.39037685e-02 2.86803826e+01] [ 8.21802493e-02 1.01925905e-03 9.96616961e-01 5.18907249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.00, Y:28.70, Z:5.19 [[ 7.56844262e-01 -6.50639303e-01 -6.20907515e-02 6.59959946e+01] [ 6.48397435e-01 7.59386696e-01 -5.39686173e-02 2.86980654e+01] [ 8.22649942e-02 5.86354283e-04 9.96610318e-01 5.19195336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.02, Y:28.71, Z:5.20 [[ 7.51422561e-01 -6.56917810e-01 -6.18314253e-02 6.60182806e+01] [ 6.54713331e-01 7.53962191e-01 -5.37723909e-02 2.87147810e+01] [ 8.19425982e-02 -7.60707006e-05 9.96637048e-01 5.19507286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.04, Y:28.73, Z:5.20 [[ 7.49581721e-01 -6.58936823e-01 -6.26857756e-02 6.60397005e+01] [ 6.56675433e-01 7.52198235e-01 -5.45453074e-02 2.87333553e+01] [ 8.30940414e-02 -2.78043486e-04 9.96541671e-01 5.19684767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.06, Y:28.75, Z:5.20 [[ 7.48404743e-01 -6.60270372e-01 -6.27166369e-02 6.60610110e+01] [ 6.58008957e-01 7.51027878e-01 -5.46016508e-02 2.87524791e+01] [ 8.31537950e-02 -4.03974312e-04 9.96536644e-01 5.19787217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.08, Y:28.77, Z:5.20 [[ 7.48746409e-01 -6.59896624e-01 -6.25720463e-02 6.60816203e+01] [ 6.57641870e-01 7.51356327e-01 -5.45054174e-02 2.87711107e+01] [ 8.29818439e-02 -3.39261996e-04 9.96551001e-01 5.19928745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.10, Y:28.79, Z:5.20 [[ 7.49864865e-01 -6.58691018e-01 -6.18775105e-02 6.61028975e+01] [ 6.56479656e-01 7.52413523e-01 -5.39291434e-02 2.87892249e+01] [ 8.20801180e-02 -1.81756958e-04 9.96625718e-01 5.20215355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.12, Y:28.81, Z:5.21 [[ 7.51230905e-01 -6.57197510e-01 -6.11846337e-02 6.61237519e+01] [ 6.55028190e-01 7.53718404e-01 -5.33538907e-02 2.88074570e+01] [ 8.11800286e-02 3.43173628e-06 9.96699455e-01 5.20514535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.14, Y:28.83, Z:5.21 [[ 7.53120638e-01 -6.55058494e-01 -6.08906645e-02 6.61444819e+01] [ 6.52900657e-01 7.55578126e-01 -5.31265325e-02 2.88260186e+01] [ 8.08086405e-02 2.55133208e-04 9.96729602e-01 5.20887110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.16, Y:28.85, Z:5.21 [[ 7.57057400e-01 -6.50491358e-01 -6.10334843e-02 6.61641287e+01] [ 6.48306112e-01 7.59513267e-01 -5.32802179e-02 2.88455793e+01] [ 8.10140623e-02 7.67802304e-04 9.96712663e-01 5.21146807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.18, Y:28.86, Z:5.21 [[ 7.59278712e-01 -6.47872556e-01 -6.12942708e-02 6.61836024e+01] [ 6.45657698e-01 7.61747988e-01 -5.35363331e-02 2.88639342e+01] [ 8.13755085e-02 1.07388026e-03 9.96682935e-01 5.21328001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.21, Y:28.88, Z:5.22 [[ 7.59116211e-01 -6.48063912e-01 -6.12841249e-02 6.62050229e+01] [ 6.45848739e-01 7.61585205e-01 -5.35479450e-02 2.88827966e+01] [ 8.13755735e-02 1.06883838e-03 9.96682935e-01 5.21541322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.23, Y:28.90, Z:5.22 [[ 7.61354470e-01 -6.45419534e-01 -6.14247211e-02 6.62250176e+01] [ 6.43183304e-01 7.63827030e-01 -5.36982886e-02 2.89018504e+01] [ 8.15757867e-02 1.37607704e-03 9.96666192e-01 5.21695932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.25, Y:28.92, Z:5.22 [[ 7.63386327e-01 -6.43020597e-01 -6.13663453e-02 6.62452990e+01] [ 6.40778493e-01 7.65847098e-01 -5.36763028e-02 2.89204351e+01] [ 8.15122057e-02 1.65352139e-03 9.96670972e-01 5.21906443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.27, Y:28.94, Z:5.22 [[ 7.66083650e-01 -6.39834246e-01 -6.10571790e-02 6.62651336e+01] [ 6.37602444e-01 7.68510328e-01 -5.34321977e-02 2.89398374e+01] [ 8.11108226e-02 2.00332646e-03 9.96703076e-01 5.22050997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.29, Y:28.96, Z:5.22 [[ 7.66628674e-01 -6.39191373e-01 -6.09496927e-02 6.62860649e+01] [ 6.36963007e-01 7.69044874e-01 -5.33676872e-02 2.89591938e+01] [ 8.09852140e-02 2.09049972e-03 9.96713111e-01 5.22235832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.066875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:66.31, Y:28.98, Z:5.22 [[ 7.67225652e-01 -6.38453179e-01 -6.11746439e-02 6.63064327e+01] [ 6.36203574e-01 7.69657523e-01 -5.35939383e-02 2.89776199e+01] [ 8.13007452e-02 2.19911718e-03 9.96687189e-01 5.22456348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.33, Y:29.00, Z:5.23 [[ 7.67812523e-01 -6.37815640e-01 -6.04577370e-02 6.63271712e+01] [ 6.35615178e-01 7.70185777e-01 -5.29831412e-02 2.89962710e+01] [ 8.03571653e-02 2.25326408e-03 9.96763587e-01 5.22742722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.35, Y:29.01, Z:5.23 [[ 7.67781635e-01 -6.37853938e-01 -6.04459650e-02 6.63469168e+01] [ 6.35652098e-01 7.70154007e-01 -5.30020347e-02 2.90139411e+01] [ 8.03602587e-02 2.27138448e-03 9.96763297e-01 5.22981204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.156875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:66.37, Y:29.03, Z:5.23 [[ 7.67821223e-01 -6.37823833e-01 -6.02604949e-02 6.63677824e+01] [ 6.35634017e-01 7.70178912e-01 -5.28567945e-02 2.90325606e+01] [ 8.01246856e-02 2.28094818e-03 9.96782239e-01 5.23168972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.39, Y:29.05, Z:5.23 [[ 7.67987163e-01 -6.37691405e-01 -5.95431639e-02 6.63875973e+01] [ 6.35550840e-01 7.70288537e-01 -5.22560989e-02 2.90515785e+01] [ 7.91886818e-02 2.28930538e-03 9.96857017e-01 5.23343092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.41, Y:29.07, Z:5.24 [[ 7.68370714e-01 -6.37254814e-01 -5.92684368e-02 6.64084709e+01] [ 6.35131356e-01 7.70649624e-01 -5.20318930e-02 2.90703495e+01] [ 7.88327728e-02 2.33654012e-03 9.96885116e-01 5.23555457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.43, Y:29.09, Z:5.24 [[ 7.68678749e-01 -6.36856429e-01 -5.95555910e-02 6.64284537e+01] [ 6.34708792e-01 7.70978646e-01 -5.23132596e-02 2.90880906e+01] [ 7.92321246e-02 2.41163377e-03 9.96853276e-01 5.23757323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.45, Y:29.11, Z:5.24 [[ 7.68855890e-01 -6.36622963e-01 -5.97647368e-02 6.64493073e+01] [ 6.34457820e-01 7.71171284e-01 -5.25178580e-02 2.91066137e+01] [ 7.95229232e-02 2.46045979e-03 9.96830001e-01 5.23903699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.30687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.47, Y:29.13, Z:5.24 [[ 7.69642461e-01 -6.35586830e-01 -6.06618835e-02 6.64705037e+01] [ 6.33350449e-01 7.72024914e-01 -5.33361149e-02 2.91254219e+01] [ 8.07322176e-02 2.62950752e-03 9.96732359e-01 5.24044468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.49, Y:29.14, Z:5.24 [[ 7.69699014e-01 -6.35473352e-01 -6.11313939e-02 6.64910634e+01] [ 6.33199478e-01 7.72118135e-01 -5.37773821e-02 2.91438802e+01] [ 8.13747511e-02 2.68403130e-03 9.96679962e-01 5.24233981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.51, Y:29.16, Z:5.24 [[ 7.69631808e-01 -6.35551514e-01 -6.11649583e-02 6.65124417e+01] [ 6.33272911e-01 7.72053741e-01 -5.38371703e-02 2.91628536e+01] [ 8.14389300e-02 2.70068748e-03 9.96674675e-01 5.24364400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.53, Y:29.18, Z:5.25 [[ 7.69257498e-01 -6.36013051e-01 -6.10761975e-02 6.65344783e+01] [ 6.33740032e-01 7.71673676e-01 -5.37894963e-02 2.91807070e+01] [ 8.13417155e-02 2.67154201e-03 9.96682692e-01 5.24632944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.55, Y:29.20, Z:5.25 [[ 7.68504778e-01 -6.36937932e-01 -6.09136837e-02 6.65549249e+01] [ 6.34677515e-01 7.70910738e-01 -5.36757597e-02 2.91976704e+01] [ 8.11471402e-02 2.58953248e-03 9.96698769e-01 5.24819980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.58, Y:29.22, Z:5.25 [[ 7.67933660e-01 -6.37645207e-01 -6.07164264e-02 6.65769644e+01] [ 6.35400189e-01 7.70326060e-01 -5.35197332e-02 2.92156672e+01] [ 8.08980469e-02 2.52037574e-03 9.96719195e-01 5.25143597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.60, Y:29.23, Z:5.25 [[ 7.66576731e-01 -6.39348943e-01 -5.99420114e-02 6.65983185e+01] [ 6.37163744e-01 7.68913184e-01 -5.28666157e-02 2.92333558e+01] [ 7.98904176e-02 2.33344100e-03 9.96800921e-01 5.25319022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.62, Y:29.25, Z:5.25 [[ 7.66244588e-01 -6.39757315e-01 -5.98315095e-02 6.66193156e+01] [ 6.37579051e-01 7.68573512e-01 -5.27987648e-02 2.92515853e+01] [ 7.97633094e-02 2.30945070e-03 9.96811156e-01 5.25457351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.64, Y:29.27, Z:5.26 [[ 7.65913472e-01 -6.40143510e-01 -5.99403032e-02 6.66399969e+01] [ 6.37956079e-01 7.68251920e-01 -5.29247467e-02 2.92694369e+01] [ 7.99286861e-02 2.29649573e-03 9.96797939e-01 5.25568008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.576875 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:66.66, Y:29.29, Z:5.26 [[ 7.66173120e-01 -6.39782516e-01 -6.04738237e-02 6.66616242e+01] [ 6.37552338e-01 7.68552325e-01 -5.34260257e-02 2.92871858e+01] [ 8.06583349e-02 2.37835702e-03 9.96738971e-01 5.25796852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.68, Y:29.31, Z:5.26 [[ 7.66550573e-01 -6.39281943e-01 -6.09820989e-02 6.66831219e+01] [ 6.37009959e-01 7.68968446e-01 -5.39058607e-02 2.93053521e+01] [ 8.13543532e-02 2.47536412e-03 9.96682167e-01 5.26050905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.70, Y:29.32, Z:5.26 [[ 7.66747004e-01 -6.39047004e-01 -6.09750634e-02 6.67038995e+01] [ 6.36772295e-01 7.69163544e-01 -5.39303890e-02 2.93238690e+01] [ 8.13638493e-02 2.52373313e-03 9.96681270e-01 5.26297326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.66687499999999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:66.73, Y:29.34, Z:5.27 [[ 7.67648058e-01 -6.37941496e-01 -6.12136156e-02 6.67250844e+01] [ 6.35642883e-01 7.70080185e-01 -5.41722598e-02 2.93428821e+01] [ 8.16981248e-02 2.67523096e-03 9.96653530e-01 5.26517164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.75, Y:29.36, Z:5.27 [[ 7.67784627e-01 -6.37789030e-01 -6.10894446e-02 6.67456634e+01] [ 6.35496763e-01 7.70206344e-01 -5.40930024e-02 2.93614537e+01] [ 8.15514012e-02 2.70963135e-03 9.96665454e-01 5.26673130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.77, Y:29.38, Z:5.27 [[ 7.67920142e-01 -6.37634715e-01 -6.09969289e-02 6.67665224e+01] [ 6.35346417e-01 7.70333975e-01 -5.40416294e-02 2.93798388e+01] [ 8.14468257e-02 2.74547550e-03 9.96673907e-01 5.26855216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.79, Y:29.40, Z:5.27 [[ 7.67711306e-01 -6.37932020e-01 -6.05151907e-02 6.67876360e+01] [ 6.35678282e-01 7.70087894e-01 -5.36447349e-02 2.93986135e+01] [ 8.08237098e-02 2.71547709e-03 9.96724713e-01 5.26999616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.81, Y:29.42, Z:5.27 [[ 7.67168444e-01 -6.38582893e-01 -6.05348411e-02 6.68087315e+01] [ 6.36327329e-01 7.69548412e-01 -5.36914524e-02 2.94161976e+01] [ 8.08709338e-02 2.67041426e-03 9.96721005e-01 5.27250512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.83, Y:29.43, Z:5.27 [[ 7.66833868e-01 -6.39018291e-01 -6.01784263e-02 6.68305614e+01] [ 6.36789172e-01 7.69187068e-01 -5.33929222e-02 2.94344327e+01] [ 8.04075211e-02 2.62253080e-03 9.96758623e-01 5.27498979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.85, Y:29.45, Z:5.28 [[ 7.66158004e-01 -6.39826202e-01 -6.02025253e-02 6.68515767e+01] [ 6.37595373e-01 7.68515366e-01 -5.34440980e-02 2.94520517e+01] [ 8.04615001e-02 2.56177185e-03 9.96754425e-01 5.27771631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.87, Y:29.47, Z:5.28 [[ 7.64852425e-01 -6.41360329e-01 -6.04788930e-02 6.68732085e+01] [ 6.39111278e-01 7.67235949e-01 -5.37193911e-02 2.94699660e+01] [ 8.08550672e-02 2.43466399e-03 9.96722896e-01 5.27997661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.89, Y:29.49, Z:5.28 [[ 7.64181767e-01 -6.42160244e-01 -6.04685687e-02 6.68949097e+01] [ 6.39911990e-01 7.66566755e-01 -5.37406266e-02 2.94883587e+01] [ 8.08632884e-02 2.37304484e-03 9.96722377e-01 5.28189075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.92, Y:29.51, Z:5.28 [[ 7.63252961e-01 -6.43209337e-01 -6.10464239e-02 6.69156472e+01] [ 6.40918676e-01 7.65686898e-01 -5.42846680e-02 2.95059975e+01] [ 8.16588523e-02 2.30714042e-03 9.96657669e-01 5.28352726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.94, Y:29.52, Z:5.28 [[ 7.62060518e-01 -6.44621577e-01 -6.10474356e-02 6.69374643e+01] [ 6.42333836e-01 7.64498733e-01 -5.43040473e-02 2.95243947e+01] [ 8.16762478e-02 2.17013692e-03 9.96656551e-01 5.28478160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.96, Y:29.54, Z:5.29 [[ 7.59790775e-01 -6.47336603e-01 -6.06077622e-02 6.69592805e+01] [ 6.45087867e-01 7.62201913e-01 -5.39433736e-02 2.95416622e+01] [ 8.11148726e-02 1.88834558e-03 9.96702971e-01 5.28658242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.98, Y:29.56, Z:5.29 [[ 7.58174718e-01 -6.49285264e-01 -5.99978663e-02 6.69801497e+01] [ 6.47085281e-01 7.60543098e-01 -5.34306578e-02 2.95600199e+01] [ 8.03227018e-02 1.68603771e-03 9.96767486e-01 5.28907719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.00, Y:29.58, Z:5.29 [[ 7.56888075e-01 -6.50857204e-01 -5.92059282e-02 6.70005109e+01] [ 6.48717531e-01 7.59198648e-01 -5.27539372e-02 2.95773438e+01] [ 7.92843407e-02 1.52090248e-03 9.96850882e-01 5.29160860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.08687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.02, Y:29.59, Z:5.30 [[ 7.54695210e-01 -6.53449111e-01 -5.86463905e-02 6.70217094e+01] [ 6.51356237e-01 7.56969417e-01 -5.22719358e-02 2.95946737e+01] [ 7.85505739e-02 1.24968737e-03 9.96909347e-01 5.29565810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.04, Y:29.61, Z:5.30 [[ 7.53276317e-01 -6.55100053e-01 -5.84697428e-02 6.70422325e+01] [ 6.53022718e-01 7.55541345e-01 -5.21402546e-02 2.96133208e+01] [ 7.83333917e-02 1.09394861e-03 9.96926619e-01 5.29713566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.06, Y:29.63, Z:5.30 [[ 7.51859208e-01 -6.56685047e-01 -5.89277460e-02 6.70630871e+01] [ 6.54577574e-01 7.54164326e-01 -5.25772689e-02 2.96316776e+01] [ 7.89679102e-02 9.57922787e-04 9.96876698e-01 5.29970224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.08, Y:29.65, Z:5.30 [[ 7.50301695e-01 -6.58502362e-01 -5.84979144e-02 6.70840336e+01] [ 6.56428839e-01 7.52578253e-01 -5.22221402e-02 2.96500918e+01] [ 7.84126609e-02 7.82642249e-04 9.96920680e-01 5.30158254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.11, Y:29.67, Z:5.30 [[ 7.47842882e-01 -6.61306197e-01 -5.83535500e-02 6.71052949e+01] [ 6.59249133e-01 7.50115893e-01 -5.21222341e-02 2.96686334e+01] [ 7.82406817e-02 5.09714500e-04 9.96934369e-01 5.30371366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.13, Y:29.69, Z:5.31 [[ 7.46636843e-01 -6.62631498e-01 -5.87615785e-02 6.71255516e+01] [ 6.60547321e-01 7.48945487e-01 -5.25156555e-02 2.96869267e+01] [ 7.88077465e-02 3.95319956e-04 9.96889755e-01 5.30508881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.15, Y:29.71, Z:5.31 [[ 7.45702083e-01 -6.63621856e-01 -5.94511182e-02 6.71463469e+01] [ 6.61489401e-01 7.48068134e-01 -5.31586203e-02 2.97053964e+01] [ 7.97507094e-02 3.14209356e-04 9.96814790e-01 5.30667788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.17, Y:29.72, Z:5.31 [[ 7.44502080e-01 -6.64833131e-01 -6.09389950e-02 6.71669635e+01] [ 6.62594037e-01 7.46991877e-01 -5.45186046e-02 2.97241693e+01] [ 8.17667088e-02 2.11399784e-04 9.96651474e-01 5.30805350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.19, Y:29.74, Z:5.31 [[ 7.43965803e-01 -6.65428963e-01 -6.09850745e-02 6.71876630e+01] [ 6.63186090e-01 7.46461163e-01 -5.45888534e-02 2.97436997e+01] [ 8.18479937e-02 1.67787115e-04 9.96644810e-01 5.30929090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.21, Y:29.76, Z:5.31 [[ 7.43926916e-01 -6.65527295e-01 -6.03834676e-02 6.72071866e+01] [ 6.63326507e-01 7.46373491e-01 -5.40791789e-02 2.97618946e+01] [ 8.10597892e-02 1.77002114e-04 9.96709225e-01 5.31090172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.23, Y:29.78, Z:5.31 [[ 7.44414340e-01 -6.65062176e-01 -5.94944668e-02 6.72276977e+01] [ 6.62922264e-01 7.46787950e-01 -5.33088078e-02 2.97807399e+01] [ 7.98834226e-02 2.43634323e-04 9.96804183e-01 5.31405618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.25, Y:29.80, Z:5.32 [[ 7.44747777e-01 -6.64718656e-01 -5.91595990e-02 6.72487051e+01] [ 6.62599442e-01 7.47093715e-01 -5.30373486e-02 2.98000291e+01] [ 7.94526797e-02 3.00330111e-04 9.96838594e-01 5.31630366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.27, Y:29.82, Z:5.32 [[ 7.45015511e-01 -6.64455282e-01 -5.87457752e-02 6.72692224e+01] [ 6.62362557e-01 7.47327945e-01 -5.26952127e-02 2.98193232e+01] [ 7.89159719e-02 3.47748961e-04 9.96881211e-01 5.31878193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.29, Y:29.84, Z:5.32 [[ 7.45880749e-01 -6.63512579e-01 -5.84205896e-02 6.72895566e+01] [ 6.61437858e-01 7.48164982e-01 -5.24320561e-02 2.98383044e+01] [ 7.84975681e-02 4.66471649e-04 9.96914196e-01 5.32111286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.31, Y:29.86, Z:5.32 [[ 7.46515344e-01 -6.62803139e-01 -5.83681482e-02 6.73096108e+01] [ 6.60727727e-01 7.48793485e-01 -5.24136191e-02 2.98574873e+01] [ 7.84456003e-02 5.62117001e-04 9.96918237e-01 5.32287373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.33, Y:29.88, Z:5.32 [[ 7.48526909e-01 -6.60512049e-01 -5.85772915e-02 6.73296911e+01] [ 6.58412400e-01 7.50814990e-01 -5.26304315e-02 2.98772989e+01] [ 7.87437427e-02 8.27279164e-04 9.96894547e-01 5.32369336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.35, Y:29.90, Z:5.33 [[ 7.49314820e-01 -6.59610131e-01 -5.86666531e-02 6.73501561e+01] [ 6.57498993e-01 7.51607332e-01 -5.27398630e-02 2.98967178e+01] [ 7.88820346e-02 9.45495621e-04 9.96883509e-01 5.32578582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.37, Y:29.92, Z:5.33 [[ 7.49802790e-01 -6.59020921e-01 -5.90525252e-02 6.73709109e+01] [ 6.56877703e-01 7.52123893e-01 -5.31162103e-02 2.99161768e+01] [ 7.94195090e-02 1.03639558e-03 9.96840743e-01 5.32822118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.39, Y:29.93, Z:5.33 [[ 7.50383120e-01 -6.58245426e-01 -6.03169392e-02 6.73904202e+01] [ 6.56004298e-01 7.52802498e-01 -5.42840728e-02 2.99348100e+01] [ 8.11389851e-02 1.16568056e-03 9.96702115e-01 5.32948139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.41, Y:29.95, Z:5.33 [[ 7.50201702e-01 -6.58442082e-01 -6.04270764e-02 6.74108302e+01] [ 6.56191143e-01 7.52630495e-01 -5.44106716e-02 2.99543287e+01] [ 8.13055364e-02 1.16726608e-03 9.96688541e-01 5.33067537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.43, Y:29.97, Z:5.33 [[ 7.50377183e-01 -6.58222195e-01 -6.06434261e-02 6.74316666e+01] [ 6.55951920e-01 7.52822727e-01 -5.46353346e-02 2.99732030e+01] [ 8.16159393e-02 1.21793665e-03 9.96663110e-01 5.33234537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.45, Y:29.99, Z:5.33 [[ 7.50873763e-01 -6.57662596e-01 -6.05681583e-02 6.74520674e+01] [ 6.55393664e-01 7.53311502e-01 -5.45978609e-02 2.99922312e+01] [ 8.15336613e-02 1.30011403e-03 9.96669741e-01 5.33477571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.47, Y:30.01, Z:5.34 [[ 7.51211680e-01 -6.57285849e-01 -6.04675449e-02 6.74723594e+01] [ 6.55020781e-01 7.53640139e-01 -5.45373083e-02 3.00113457e+01] [ 8.14173699e-02 1.36156457e-03 9.96679165e-01 5.33722204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.49, Y:30.03, Z:5.34 [[ 7.52151595e-01 -6.56256624e-01 -5.99601576e-02 6.74924573e+01] [ 6.54023806e-01 7.54536310e-01 -5.41093069e-02 3.00300906e+01] [ 8.07517072e-02 1.48303105e-03 9.96733145e-01 5.33894503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.80687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.51, Y:30.05, Z:5.34 [[ 7.53187756e-01 -6.55085747e-01 -5.97567430e-02 6.75127476e+01] [ 6.52862214e-01 7.55552796e-01 -5.39527748e-02 3.00496142e+01] [ 8.04930681e-02 1.62364986e-03 9.96753846e-01 5.34132143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.53, Y:30.07, Z:5.34 [[ 7.53017297e-01 -6.55283038e-01 -5.97418655e-02 6.75338617e+01] [ 6.53058818e-01 7.55381692e-01 -5.39692440e-02 3.00688284e+01] [ 8.04930416e-02 1.62482215e-03 9.96753846e-01 5.34345126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.55, Y:30.09, Z:5.35 [[ 7.54161720e-01 -6.54009188e-01 -5.92628209e-02 6.75537403e+01] [ 6.51814397e-01 7.56484538e-01 -5.35643107e-02 3.00879383e+01] [ 7.98629591e-02 1.76779280e-03 9.96804285e-01 5.34520097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.57, Y:30.11, Z:5.35 [[ 7.56704931e-01 -6.51073823e-01 -5.91652293e-02 6.75738162e+01] [ 6.48875124e-01 7.59011520e-01 -5.35031414e-02 3.01079003e+01] [ 7.97415854e-02 2.09524545e-03 9.96813367e-01 5.34667526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.59, Y:30.13, Z:5.35 [[ 7.57762815e-01 -6.49805409e-01 -5.95688396e-02 6.75941536e+01] [ 6.47570197e-01 7.60097224e-01 -5.38985138e-02 3.01274788e+01] [ 8.03016554e-02 2.26728437e-03 9.96768029e-01 5.34806590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.61, Y:30.15, Z:5.35 [[ 7.58722522e-01 -6.48669392e-01 -5.97340304e-02 6.76143118e+01] [ 6.46415762e-01 7.61066472e-01 -5.40785310e-02 3.01466558e+01] [ 8.05406556e-02 2.41758066e-03 9.96748393e-01 5.34923728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.63, Y:30.16, Z:5.35 [[ 7.59076197e-01 -6.48262742e-01 -5.96552205e-02 6.76341690e+01] [ 6.46011408e-01 7.61412678e-01 -5.40369722e-02 3.01647524e+01] [ 8.04523970e-02 2.48022638e-03 9.96755366e-01 5.35135524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.65, Y:30.18, Z:5.35 [[ 7.57039622e-01 -6.50654815e-01 -5.94922023e-02 6.76543988e+01] [ 6.48421747e-01 7.59370347e-01 -5.39065265e-02 3.01826219e+01] [ 8.02511553e-02 2.23333871e-03 9.96772173e-01 5.35368811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.67, Y:30.20, Z:5.36 [[ 7.54843973e-01 -6.53204004e-01 -5.94567456e-02 6.76743503e+01] [ 6.50979763e-01 7.57179383e-01 -5.38955574e-02 3.02000611e+01] [ 8.02242158e-02 1.97759854e-03 9.96774881e-01 5.35636319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.70, Y:30.22, Z:5.36 [[ 7.52111382e-01 -6.56373937e-01 -5.91753558e-02 6.76955175e+01] [ 6.54178358e-01 7.54433910e-01 -5.36670460e-02 3.02182604e+01] [ 7.98695453e-02 1.65235900e-03 9.96803955e-01 5.35909988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.72, Y:30.24, Z:5.36 [[ 7.51171809e-01 -6.57474130e-01 -5.88955113e-02 6.77161546e+01] [ 6.55300382e-01 7.53475525e-01 -5.34419602e-02 3.02371353e+01] [ 7.95130326e-02 1.54984294e-03 9.96832622e-01 5.36036168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.74, Y:30.26, Z:5.36 [[ 7.50469868e-01 -6.58266741e-01 -5.89904677e-02 6.77363631e+01] [ 6.56086061e-01 7.52783286e-01 -5.35574860e-02 3.02561166e+01] [ 7.96621499e-02 1.49045579e-03 9.96820807e-01 5.36086260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.76, Y:30.28, Z:5.36 [[ 7.49872723e-01 -6.58970295e-01 -5.87286134e-02 6.77573214e+01] [ 6.56808790e-01 7.52167602e-01 -5.33489695e-02 3.02754786e+01] [ 7.93291465e-02 1.43146754e-03 9.96847449e-01 5.36212013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.78, Y:30.29, Z:5.36 [[ 7.49855812e-01 -6.59039584e-01 -5.81643244e-02 6.77785852e+01] [ 6.56917421e-01 7.52106891e-01 -5.28651738e-02 3.02937648e+01] [ 7.85860313e-02 1.43209986e-03 9.96906307e-01 5.36453952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.80, Y:30.31, Z:5.37 [[ 7.50009789e-01 -6.58877589e-01 -5.80141170e-02 6.77994360e+01] [ 6.56763621e-01 7.52248742e-01 -5.27577220e-02 3.03117090e+01] [ 7.84019272e-02 1.46724642e-03 9.96920752e-01 5.36778059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.82, Y:30.33, Z:5.37 [[ 7.50236430e-01 -6.58653614e-01 -5.76256489e-02 6.78198004e+01] [ 6.56564977e-01 7.52444788e-01 -5.24334943e-02 3.03301969e+01] [ 7.78956297e-02 1.50253477e-03 9.96960387e-01 5.37021518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.84, Y:30.35, Z:5.37 [[ 7.50840204e-01 -6.58006910e-01 -5.71480059e-02 6.78400688e+01] [ 6.55948915e-01 7.53010240e-01 -5.20249818e-02 3.03492154e+01] [ 7.72658312e-02 1.57627552e-03 9.97009281e-01 5.37139622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.86, Y:30.37, Z:5.37 [[ 7.50663007e-01 -6.58190601e-01 -5.73601109e-02 6.78603946e+01] [ 6.56115574e-01 7.52849667e-01 -5.22468451e-02 3.03681205e+01] [ 7.75719227e-02 1.58491173e-03 9.96985499e-01 5.37298799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.88, Y:30.39, Z:5.37 [[ 7.50454974e-01 -6.58432769e-01 -5.73028957e-02 6.78814253e+01] [ 6.56360323e-01 7.52637889e-01 -5.22238840e-02 3.03872812e+01] [ 7.75142470e-02 1.58032634e-03 9.96989992e-01 5.37422988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.376875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:67.90, Y:30.41, Z:5.37 [[ 7.49114573e-01 -6.60021446e-01 -5.65601262e-02 6.79021648e+01] [ 6.58004800e-01 7.51245418e-01 -5.15752406e-02 3.04058203e+01] [ 7.65313005e-02 1.41892984e-03 9.97066170e-01 5.37492358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.92, Y:30.42, Z:5.38 [[ 7.48262948e-01 -6.60999799e-01 -5.64076847e-02 6.79236028e+01] [ 6.58994626e-01 7.50384888e-01 -5.14645847e-02 3.04244909e+01] [ 7.63455543e-02 1.33668074e-03 9.97080523e-01 5.37757573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.94, Y:30.44, Z:5.38 [[ 7.46949783e-01 -6.62492011e-01 -5.63059234e-02 6.79446353e+01] [ 6.60496123e-01 7.49068013e-01 -5.14002404e-02 3.04430525e+01] [ 7.62292148e-02 1.20355439e-03 9.97089594e-01 5.38034869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.96, Y:30.46, Z:5.38 [[ 7.44252618e-01 -6.65562839e-01 -5.58045436e-02 6.79648972e+01] [ 6.63608856e-01 7.46341271e-01 -5.09705210e-02 3.04611263e+01] [ 7.55733187e-02 9.02554348e-04 9.97139839e-01 5.38255173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.98, Y:30.48, Z:5.38 [[ 7.42285249e-01 -6.67815687e-01 -5.50891688e-02 6.79847143e+01] [ 6.65915884e-01 7.44326367e-01 -5.03417724e-02 3.04789947e+01] [ 7.46233462e-02 6.83202561e-04 9.97211557e-01 5.38475760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.01, Y:30.50, Z:5.39 [[ 7.40339957e-01 -6.70017640e-01 -5.45262375e-02 6.80052969e+01] [ 6.68160670e-01 7.42345025e-01 -4.98516049e-02 3.04973199e+01] [ 7.38787359e-02 4.74847611e-04 9.97267119e-01 5.38707136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.03, Y:30.52, Z:5.39 [[ 7.36084487e-01 -6.74709314e-01 -5.42859932e-02 6.80264738e+01] [ 6.72879377e-01 7.38083560e-01 -4.96588637e-02 3.05159629e+01] [ 7.35728970e-02 2.51939687e-05 9.97289842e-01 5.38933095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.05, Y:30.53, Z:5.39 [[ 7.33956310e-01 -6.77040628e-01 -5.40751640e-02 6.80468770e+01] [ 6.75229219e-01 7.35945618e-01 -4.94929246e-02 3.05348802e+01] [ 7.33051008e-02 -1.87486424e-04 9.97309544e-01 5.39137895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.07, Y:30.55, Z:5.39 [[ 7.31899033e-01 -6.79264171e-01 -5.40739501e-02 6.80674877e+01] [ 6.77456913e-01 7.33893749e-01 -4.95186541e-02 3.05543911e+01] [ 7.33207814e-02 -3.90116250e-04 9.97308333e-01 5.39291012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.09, Y:30.57, Z:5.39 [[ 7.30262701e-01 -6.81055768e-01 -5.36603039e-02 6.80878637e+01] [ 6.79278985e-01 7.32231345e-01 -4.91662276e-02 3.05730507e+01] [ 7.27766994e-02 -5.46054582e-04 9.97348111e-01 5.39491645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.11, Y:30.59, Z:5.40 [[ 7.28259383e-01 -6.83227138e-01 -5.32817920e-02 6.81080263e+01] [ 6.81479221e-01 7.30205542e-01 -4.88460502e-02 3.05912573e+01] [ 7.22796069e-02 -7.37839736e-04 9.97384136e-01 5.39830012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.13, Y:30.61, Z:5.40 [[ 7.27904744e-01 -6.83574776e-01 -5.36675818e-02 6.81288070e+01] [ 6.81801055e-01 7.29880086e-01 -4.92176847e-02 3.06104773e+01] [ 7.28148670e-02 -7.64827698e-04 9.97345181e-01 5.39993634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.15, Y:30.63, Z:5.40 [[ 7.28012931e-01 -6.83422730e-01 -5.41344994e-02 6.81486564e+01] [ 6.81615569e-01 7.30022486e-01 -4.96727874e-02 3.06297218e+01] [ 7.34669137e-02 -7.36486087e-04 9.97297383e-01 5.40100795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.17, Y:30.65, Z:5.40 [[ 7.28615161e-01 -6.82760060e-01 -5.43934536e-02 6.81679395e+01] [ 6.80931693e-01 7.30642371e-01 -4.99375094e-02 3.06489181e+01] [ 7.38374988e-02 -6.52999993e-04 9.97270072e-01 5.40193702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.19, Y:30.67, Z:5.40 [[ 7.31633582e-01 -6.79416249e-01 -5.57302711e-02 6.81870952e+01] [ 6.77485123e-01 7.33753003e-01 -5.11902314e-02 3.06696055e+01] [ 7.56717287e-02 -3.03937203e-04 9.97132738e-01 5.40243756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.21, Y:30.69, Z:5.40 [[ 7.33947615e-01 -6.76851313e-01 -5.65083944e-02 6.82068684e+01] [ 6.74856034e-01 7.36119759e-01 -5.19329743e-02 3.06891545e+01] [ 7.67478475e-02 -1.89482915e-05 9.97050534e-01 5.40371248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.23, Y:30.71, Z:5.41 [[ 7.36458357e-01 -6.74087123e-01 -5.68826830e-02 6.82258449e+01] [ 6.72055648e-01 7.38651792e-01 -5.22947055e-02 3.07079513e+01] [ 7.72676833e-02 2.84544528e-04 9.97010343e-01 5.40592224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.88687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.25, Y:30.73, Z:5.41 [[ 7.41719070e-01 -6.68280896e-01 -5.70391599e-02 6.82453391e+01] [ 6.66219413e-01 7.43908475e-01 -5.24583198e-02 3.07284192e+01] [ 7.74888074e-02 9.08740593e-04 9.96992808e-01 5.40928849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.26, Y:30.75, Z:5.41 [[ 7.44144854e-01 -6.65593835e-01 -5.68619639e-02 6.82645583e+01] [ 6.63535077e-01 7.46313198e-01 -5.23241052e-02 3.07484354e+01] [ 7.72634360e-02 1.20680608e-03 9.97009982e-01 5.41145414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.28, Y:30.77, Z:5.41 [[ 7.46434445e-01 -6.63040359e-01 -5.66842259e-02 6.82831224e+01] [ 6.60985028e-01 7.48582174e-01 -5.21873623e-02 3.07677882e+01] [ 7.70351285e-02 1.48702016e-03 9.97027270e-01 5.41329441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.30, Y:30.79, Z:5.41 [[ 7.49630880e-01 -6.59349705e-01 -5.75457216e-02 6.83016488e+01] [ 6.57218328e-01 7.51833955e-01 -5.30072964e-02 3.07882996e+01] [ 7.82151728e-02 1.91580330e-03 9.96934660e-01 5.41374854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.32, Y:30.81, Z:5.42 [[ 7.50530768e-01 -6.58322078e-01 -5.75813193e-02 6.83212098e+01] [ 6.56182997e-01 7.52733594e-01 -5.30660973e-02 3.08068199e+01] [ 7.82779769e-02 2.04385605e-03 9.96929476e-01 5.41562280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.34, Y:30.83, Z:5.42 [[ 7.50698319e-01 -6.58178756e-01 -5.70329696e-02 6.83417703e+01] [ 6.56078343e-01 7.52858889e-01 -5.25804270e-02 3.08260932e+01] [ 7.75450981e-02 2.05394191e-03 9.96986730e-01 5.41776709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.36, Y:30.85, Z:5.42 [[ 7.50382200e-01 -6.58580183e-01 -5.65570120e-02 6.83626896e+01] [ 6.56513729e-01 7.52507857e-01 -5.21694243e-02 3.08451915e+01] [ 7.69173450e-02 2.01655257e-03 9.97035433e-01 5.42015501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.096875 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:68.38, Y:30.86, Z:5.42 [[ 7.49318213e-01 -6.59796975e-01 -5.64815712e-02 6.83824759e+01] [ 6.57737285e-01 7.51441482e-01 -5.21283243e-02 3.08633792e+01] [ 7.68367062e-02 1.91066748e-03 9.97041860e-01 5.42209430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.40, Y:30.88, Z:5.42 [[ 7.48220558e-01 -6.61090288e-01 -5.59073094e-02 6.84035095e+01] [ 6.59074001e-01 7.50304250e-01 -5.16235870e-02 3.08820196e+01] [ 7.60753438e-02 1.77877500e-03 9.97100485e-01 5.42455817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.42, Y:30.90, Z:5.43 [[ 7.47030330e-01 -6.62416449e-01 -5.61260582e-02 6.84239790e+01] [ 6.60385833e-01 7.49133935e-01 -5.18545916e-02 3.08996115e+01] [ 7.63952693e-02 1.67209902e-03 9.97076209e-01 5.42690840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.45, Y:30.92, Z:5.43 [[ 7.43792689e-01 -6.65951131e-01 -5.72846166e-02 6.84457913e+01] [ 6.63844738e-01 7.45994148e-01 -5.29423799e-02 3.09172851e+01] [ 7.79910265e-02 1.35006377e-03 9.96953147e-01 5.42867498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.47, Y:30.94, Z:5.43 [[ 7.41874161e-01 -6.68039166e-01 -5.78480946e-02 6.84667369e+01] [ 6.65895048e-01 7.44125203e-01 -5.34926827e-02 3.09359324e+01] [ 7.87814323e-02 1.16407938e-03 9.96891233e-01 5.42974846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.246875 meters Centerline goodness : 0.999926 Centerline is valid? [True, True] Translation: X:68.49, Y:30.95, Z:5.43 [[ 7.39880191e-01 -6.70188232e-01 -5.85238153e-02 6.84869054e+01] [ 6.67997950e-01 7.42190538e-01 -5.41474265e-02 3.09539765e+01] [ 7.97247900e-02 9.68819675e-04 9.96816442e-01 5.43054444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27687499999999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:68.50, Y:30.98, Z:5.40 [[ 7.36269420e-01 -6.75874760e-01 -3.31760521e-02 6.85006632e+01] [ 6.72458951e-01 7.36260576e-01 -7.56262058e-02 3.09808526e+01] [ 7.55400630e-02 3.33717295e-02 9.96584179e-01 5.40482018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.53, Y:30.98, Z:5.45 [[ 7.33906759e-01 -6.74331956e-01 -8.15921729e-02 6.85329536e+01] [ 6.74327322e-01 7.37748029e-01 -3.17885009e-02 3.09846559e+01] [ 8.16304667e-02 -3.16900358e-02 9.96158727e-01 5.45203769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33687499999999 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:68.55, Y:31.01, Z:5.44 [[ 7.32095396e-01 -6.78535884e-01 -6.02111766e-02 6.85506749e+01] [ 6.76238045e-01 7.34567245e-01 -5.57948790e-02 3.10081420e+01] [ 8.20879856e-02 1.30085626e-04 9.96625078e-01 5.43651576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.57, Y:31.03, Z:5.44 [[ 7.30634503e-01 -6.80117016e-01 -6.01171201e-02 6.85710815e+01] [ 6.77829223e-01 7.33103570e-01 -5.57377821e-02 3.10255622e+01] [ 8.19802893e-02 -2.51941097e-05 9.96633951e-01 5.43956533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.59, Y:31.04, Z:5.44 [[ 7.29048960e-01 -6.81819434e-01 -6.00822124e-02 6.85924943e+01] [ 6.79537813e-01 7.31520485e-01 -5.57327539e-02 3.10442833e+01] [ 8.19510439e-02 -1.96228911e-04 9.96636337e-01 5.44220055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.61, Y:31.06, Z:5.45 [[ 7.27597869e-01 -6.83421678e-01 -5.94655455e-02 6.86136231e+01] [ 6.81189683e-01 7.30023758e-01 -5.51899373e-02 3.10629560e+01] [ 8.11292605e-02 -3.51235312e-04 9.96703526e-01 5.44583400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.63, Y:31.08, Z:5.45 [[ 7.27442761e-01 -6.83651318e-01 -5.87188619e-02 6.86345410e+01] [ 6.81473511e-01 7.29808710e-01 -5.45261522e-02 3.10820464e+01] [ 8.01304126e-02 -3.50694191e-04 9.96784327e-01 5.44882016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.65, Y:31.10, Z:5.45 [[ 7.27302294e-01 -6.83889671e-01 -5.76739999e-02 6.86542749e+01] [ 6.81787250e-01 7.29585359e-01 -5.35849731e-02 3.11006600e+01] [ 7.87243156e-02 -3.48923932e-04 9.96896364e-01 5.45121910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.67, Y:31.12, Z:5.45 [[ 7.27370271e-01 -6.83938279e-01 -5.62220533e-02 6.86737426e+01] [ 6.81939173e-01 7.29539801e-01 -5.22555539e-02 3.11192910e+01] [ 7.67557992e-02 -3.30884144e-04 9.97049867e-01 5.45344514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.69, Y:31.14, Z:5.46 [[ 7.27446198e-01 -6.83859859e-01 -5.61936176e-02 6.86936786e+01] [ 6.81860573e-01 7.29613323e-01 -5.22547366e-02 3.11383160e+01] [ 7.67345288e-02 -3.03702894e-04 9.97051513e-01 5.45580971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.71, Y:31.16, Z:5.46 [[ 7.27939084e-01 -6.83349296e-01 -5.60216849e-02 6.87144218e+01] [ 6.81358573e-01 7.30091561e-01 -5.21230047e-02 3.11577949e+01] [ 7.65191780e-02 -2.28482966e-04 9.97068084e-01 5.45783735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.73, Y:31.18, Z:5.46 [[ 7.29348717e-01 -6.81729620e-01 -5.74036034e-02 6.87342363e+01] [ 6.79631964e-01 7.31604213e-01 -5.34384623e-02 3.11776249e+01] [ 7.84273007e-02 -3.80497614e-05 9.96919835e-01 5.45913272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.75, Y:31.20, Z:5.46 [[ 7.30195711e-01 -6.80767124e-01 -5.80546827e-02 6.87546461e+01] [ 6.78616143e-01 7.32499908e-01 -5.40741709e-02 3.11976467e+01] [ 7.93369675e-02 8.78828088e-05 9.96847851e-01 5.46067084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.77, Y:31.22, Z:5.46 [[ 7.31089343e-01 -6.79760562e-01 -5.85999213e-02 6.87739184e+01] [ 6.77563313e-01 7.33434066e-01 -5.46116019e-02 3.12166158e+01] [ 8.01019918e-02 2.20803313e-04 9.96786648e-01 5.46159777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.79, Y:31.24, Z:5.46 [[ 7.32267976e-01 -6.78468777e-01 -5.88534562e-02 6.87943845e+01] [ 6.76246096e-01 7.34629139e-01 -5.48748219e-02 3.12358133e+01] [ 8.04663171e-02 3.83654730e-04 9.96757255e-01 5.46334550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.82, Y:31.26, Z:5.47 [[ 7.32153856e-01 -6.78593181e-01 -5.88389825e-02 6.88151588e+01] [ 6.76369654e-01 7.34514222e-01 -5.48903371e-02 3.12553292e+01] [ 8.04662779e-02 3.91269800e-04 9.96757255e-01 5.46547115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.84, Y:31.27, Z:5.47 [[ 7.34101051e-01 -6.76424979e-01 -5.95390184e-02 6.88353825e+01] [ 6.74139437e-01 7.36511251e-01 -5.55625397e-02 3.12736830e+01] [ 8.14350467e-02 6.50918421e-04 9.96678438e-01 5.46800079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.86, Y:31.29, Z:5.47 [[ 7.34748375e-01 -6.75728953e-01 -5.94576053e-02 6.88556977e+01] [ 6.73445657e-01 7.37149801e-01 -5.55078181e-02 3.12925841e+01] [ 8.13374018e-02 7.42813111e-04 9.96686348e-01 5.47065456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.88, Y:31.31, Z:5.47 [[ 7.35547077e-01 -6.74916629e-01 -5.88051162e-02 6.88754934e+01] [ 6.72678272e-01 7.37893508e-01 -5.49282508e-02 3.13111140e+01] [ 8.04639033e-02 8.45390329e-04 9.96757165e-01 5.47269228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.90, Y:31.33, Z:5.48 [[ 7.37278107e-01 -6.73127997e-01 -5.76167770e-02 6.88953314e+01] [ 6.70971811e-01 7.39525267e-01 -5.38442992e-02 3.13302294e+01] [ 7.88531676e-02 1.03898980e-03 9.96885700e-01 5.47504225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.92, Y:31.35, Z:5.48 [[ 7.37919879e-01 -6.72426888e-01 -5.75876053e-02 6.89159231e+01] [ 6.70268634e-01 7.40162682e-01 -5.38438672e-02 3.13494771e+01] [ 7.88302605e-02 1.13329446e-03 9.96887409e-01 5.47783793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.94, Y:31.37, Z:5.48 [[ 7.38792764e-01 -6.71480417e-01 -5.74395566e-02 6.89356760e+01] [ 6.69328090e-01 7.41021241e-01 -5.37347905e-02 3.13679838e+01] [ 7.86457910e-02 1.25296567e-03 9.96901836e-01 5.47985686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.96, Y:31.39, Z:5.48 [[ 7.39363479e-01 -6.70809160e-01 -5.79371844e-02 6.89561222e+01] [ 6.68615098e-01 7.41628769e-01 -5.42274769e-02 3.13875978e+01] [ 7.93441710e-02 1.35613973e-03 9.96846359e-01 5.48212883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.98, Y:31.41, Z:5.48 [[ 7.41311690e-01 -6.68620818e-01 -5.83367783e-02 6.89750999e+01] [ 6.66387193e-01 7.43601752e-01 -5.46309759e-02 3.14074333e+01] [ 7.99067383e-02 1.62369911e-03 9.96801022e-01 5.48335887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.00, Y:31.43, Z:5.48 [[ 7.41921608e-01 -6.67896667e-01 -5.88758789e-02 6.89950654e+01] [ 6.65617481e-01 7.44251998e-01 -5.51573370e-02 3.14275511e+01] [ 8.06578921e-02 1.73360597e-03 9.96740337e-01 5.48471445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.02, Y:31.45, Z:5.49 [[ 7.42599315e-01 -6.67103774e-01 -5.93195769e-02 6.90150405e+01] [ 6.64784997e-01 7.44962488e-01 -5.56039564e-02 3.14473157e+01] [ 8.12844687e-02 1.85669522e-03 9.96689213e-01 5.48657754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.03, Y:31.47, Z:5.49 [[ 7.43283013e-01 -6.66308594e-01 -5.96927095e-02 6.90345904e+01] [ 6.63955428e-01 7.45673482e-01 -5.59843659e-02 3.14665918e+01] [ 8.18141346e-02 1.97892970e-03 9.96645640e-01 5.48836983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.08687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.05, Y:31.49, Z:5.49 [[ 7.43085595e-01 -6.66499705e-01 -6.00161703e-02 6.90549620e+01] [ 6.64119220e-01 7.45502639e-01 -5.63158710e-02 3.14854945e+01] [ 8.22767248e-02 1.98962030e-03 9.96607537e-01 5.49056702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.08, Y:31.50, Z:5.49 [[ 7.42806865e-01 -6.66812866e-01 -5.99880233e-02 6.90752301e+01] [ 6.64433089e-01 7.45222580e-01 -5.63203084e-02 3.15042705e+01] [ 8.22595357e-02 1.97708415e-03 9.96608980e-01 5.49294432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.09, Y:31.52, Z:5.50 [[ 7.42075631e-01 -6.67598004e-01 -6.03047468e-02 6.90945367e+01] [ 6.65192968e-01 7.44519446e-01 -5.66490068e-02 3.15227662e+01] [ 8.27168205e-02 1.92355390e-03 9.96571236e-01 5.49549235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.12, Y:31.54, Z:5.50 [[ 7.41428392e-01 -6.68409882e-01 -5.92635610e-02 6.91151408e+01] [ 6.66087647e-01 7.43790905e-01 -5.56986126e-02 3.15421783e+01] [ 8.13092007e-02 1.82180687e-03 9.96687260e-01 5.49832826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.206875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:69.14, Y:31.56, Z:5.50 [[ 7.40720579e-01 -6.69229005e-01 -5.88690319e-02 6.91353039e+01] [ 6.66937781e-01 7.43054171e-01 -5.53578794e-02 3.15614126e+01] [ 8.07899783e-02 1.74273894e-03 9.96729623e-01 5.50051622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.16, Y:31.58, Z:5.50 [[ 7.40231491e-01 -6.69788920e-01 -5.86527315e-02 6.91557435e+01] [ 6.67513791e-01 7.42549607e-01 -5.51853240e-02 3.15806189e+01] [ 8.05150813e-02 1.69840752e-03 9.96751944e-01 5.50362789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.18, Y:31.60, Z:5.51 [[ 7.40112508e-01 -6.69948109e-01 -5.83352950e-02 6.91754289e+01] [ 6.67695630e-01 7.42405994e-01 -5.49170882e-02 3.15990938e+01] [ 8.01000721e-02 1.69460231e-03 9.96785387e-01 5.50597834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.20, Y:31.62, Z:5.51 [[ 7.39692386e-01 -6.70398661e-01 -5.84876851e-02 6.91951567e+01] [ 6.68133527e-01 7.41999220e-01 -5.50885381e-02 3.16184155e+01] [ 8.03290989e-02 1.67098885e-03 9.96766996e-01 5.50801950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.22, Y:31.64, Z:5.51 [[ 7.39225524e-01 -6.70876038e-01 -5.89148974e-02 6.92156643e+01] [ 6.68576683e-01 7.41567668e-01 -5.55212782e-02 3.16379643e+01] [ 8.09372783e-02 1.65361930e-03 9.96717825e-01 5.50946306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.24, Y:31.66, Z:5.51 [[ 7.37959913e-01 -6.72177883e-01 -5.99338102e-02 6.92353485e+01] [ 6.69799881e-01 7.40388047e-01 -5.65124744e-02 3.16559035e+01] [ 8.23607120e-02 1.56028178e-03 9.96601364e-01 5.51127728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38687499999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:69.26, Y:31.67, Z:5.51 [[ 7.37217526e-01 -6.72985859e-01 -6.00029492e-02 6.92561314e+01] [ 6.70602709e-01 7.39653842e-01 -5.66056542e-02 3.16748398e+01] [ 8.24762167e-02 1.49254009e-03 9.96591915e-01 5.51357590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.28, Y:31.69, Z:5.52 [[ 7.36281998e-01 -6.74033034e-01 -5.97351486e-02 6.92767740e+01] [ 6.71672092e-01 7.38699894e-01 -5.63832195e-02 3.16943207e+01] [ 8.21305004e-02 1.39151728e-03 9.96620612e-01 5.51618326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.30, Y:31.71, Z:5.52 [[ 7.35344877e-01 -6.75096470e-01 -5.92677681e-02 6.92963282e+01] [ 6.72773397e-01 7.37728341e-01 -5.59718797e-02 3.17126479e+01] [ 8.15099307e-02 1.28485729e-03 9.96671701e-01 5.51872031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.32, Y:31.73, Z:5.52 [[ 7.34160395e-01 -6.76423607e-01 -5.88185133e-02 6.93165657e+01] [ 6.74138182e-01 7.36511909e-01 -5.55690432e-02 3.17315843e+01] [ 8.09087482e-02 1.14478512e-03 9.96720856e-01 5.52096787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.506875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:69.34, Y:31.75, Z:5.52 [[ 7.33715048e-01 -6.76893898e-01 -5.89650696e-02 6.93370167e+01] [ 6.74596111e-01 7.36079752e-01 -5.57376477e-02 3.17514668e+01] [ 8.11314673e-02 1.11794418e-03 9.96702782e-01 5.52260339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.36, Y:31.77, Z:5.52 [[ 7.33566255e-01 -6.77060942e-01 -5.88984752e-02 6.93563242e+01] [ 6.74766411e-01 7.35926101e-01 -5.57051599e-02 3.17702431e+01] [ 8.10607132e-02 1.12071280e-03 9.96708536e-01 5.52415789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.38, Y:31.79, Z:5.53 [[ 7.33150513e-01 -6.77503440e-01 -5.89865624e-02 6.93766561e+01] [ 6.75201178e-01 7.35518791e-01 -5.58164558e-02 3.17901816e+01] [ 8.12015659e-02 1.09406681e-03 9.96697100e-01 5.52594213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.40, Y:31.81, Z:5.53 [[ 7.32313229e-01 -6.78391763e-01 -5.91772887e-02 6.93967614e+01] [ 6.76074937e-01 7.34699648e-01 -5.60277307e-02 3.18104116e+01] [ 8.14862842e-02 1.02156659e-03 9.96673940e-01 5.52699411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.626875 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:69.42, Y:31.83, Z:5.53 [[ 7.31462400e-01 -6.79307170e-01 -5.91990352e-02 6.94160723e+01] [ 6.76989159e-01 7.33853446e-01 -5.60784920e-02 3.18291372e+01] [ 8.15379377e-02 9.42203253e-04 9.96669793e-01 5.52850860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.44, Y:31.85, Z:5.53 [[ 7.30666221e-01 -6.80173789e-01 -5.90803658e-02 6.94366613e+01] [ 6.77865646e-01 7.33050387e-01 -5.59937151e-02 3.18484565e+01] [ 8.13943424e-02 8.64165849e-04 9.96681601e-01 5.53160651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.46, Y:31.87, Z:5.53 [[ 7.28538571e-01 -6.82459469e-01 -5.89968107e-02 6.94565394e+01] [ 6.80162844e-01 7.30923166e-01 -5.59448911e-02 3.18672943e+01] [ 8.13022563e-02 6.30572446e-04 9.96689292e-01 5.53445823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.48, Y:31.89, Z:5.54 [[ 7.27330670e-01 -6.83788165e-01 -5.85135960e-02 6.94759288e+01] [ 6.81531156e-01 7.29680407e-01 -5.55138441e-02 3.18860968e+01] [ 8.06559342e-02 4.98082690e-04 9.96741878e-01 5.53625945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.50, Y:31.91, Z:5.54 [[ 7.25898227e-01 -6.85350679e-01 -5.80190580e-02 6.94960075e+01] [ 6.83134554e-01 7.28213108e-01 -5.50713257e-02 3.19052903e+01] [ 7.99934090e-02 3.41354431e-04 9.96795334e-01 5.53837014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.52, Y:31.92, Z:5.54 [[ 7.22991785e-01 -6.88460804e-01 -5.74856482e-02 6.95165031e+01] [ 6.86292775e-01 7.25273549e-01 -5.45940166e-02 3.19238667e+01] [ 7.92786606e-02 1.90405069e-05 9.96852493e-01 5.54060542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.80687499999999 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:69.54, Y:31.94, Z:5.54 [[ 7.21497844e-01 -6.90046297e-01 -5.72448193e-02 6.95365446e+01] [ 6.87899081e-01 7.23765218e-01 -5.43945151e-02 3.19428417e+01] [ 7.89665428e-02 -1.33133241e-04 9.96877258e-01 5.54262504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.56, Y:31.96, Z:5.54 [[ 7.20363483e-01 -6.91238429e-01 -5.71479487e-02 6.95561509e+01] [ 6.89099864e-01 7.22626720e-01 -5.43323147e-02 3.19614316e+01] [ 7.88532186e-02 -2.41628273e-04 9.96886208e-01 5.54478072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.58, Y:31.98, Z:5.55 [[ 7.18361087e-01 -6.93323862e-01 -5.70909008e-02 6.95758431e+01] [ 6.91193998e-01 7.20625992e-01 -5.43050374e-02 3.19799178e+01] [ 7.87921653e-02 -4.50262268e-04 9.96890963e-01 5.54761491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.60, Y:32.00, Z:5.55 [[ 7.17518546e-01 -6.94240891e-01 -5.65395619e-02 6.95959197e+01] [ 6.92152796e-01 7.19742529e-01 -5.38070542e-02 3.19988457e+01] [ 7.80489845e-02 -5.26456557e-04 9.96949386e-01 5.54955515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.62, Y:32.02, Z:5.55 [[ 7.16667951e-01 -6.95126260e-01 -5.64493610e-02 6.96154263e+01] [ 6.93045288e-01 7.18887419e-01 -5.37504170e-02 3.20181095e+01] [ 7.79440618e-02 -6.00762404e-04 9.96957553e-01 5.55150198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.63, Y:32.04, Z:5.55 [[ 7.15861163e-01 -6.95914685e-01 -5.69697056e-02 6.96349458e+01] [ 6.93795474e-01 7.18124152e-01 -5.42728469e-02 3.20382752e+01] [ 7.86805927e-02 -6.73500679e-04 9.96899649e-01 5.55201586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.65, Y:32.06, Z:5.55 [[ 7.15565132e-01 -6.96177408e-01 -5.74765877e-02 6.96549408e+01] [ 6.94018694e-01 7.17869448e-01 -5.47860259e-02 3.20584863e+01] [ 7.94014798e-02 -6.86856461e-04 9.96842482e-01 5.55385995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.67, Y:32.08, Z:5.56 [[ 7.15498942e-01 -6.96213489e-01 -5.78622676e-02 6.96736974e+01] [ 6.94023341e-01 7.17834468e-01 -5.51840386e-02 3.20777558e+01] [ 7.99554022e-02 -6.73643108e-04 9.96798214e-01 5.55560479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.046875 meters Centerline goodness : 0.999926 Centerline is valid? [True, True] Translation: X:69.69, Y:32.10, Z:5.56 [[ 7.15563841e-01 -6.96109534e-01 -5.83087208e-02 6.96936709e+01] [ 6.93882812e-01 7.17935302e-01 -5.56376181e-02 3.20981151e+01] [ 8.05917655e-02 -6.47151517e-04 9.96746983e-01 5.55787708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.71, Y:32.12, Z:5.56 [[ 7.15680799e-01 -6.95997331e-01 -5.82126239e-02 6.97127212e+01] [ 6.93775148e-01 7.18044108e-01 -5.55760958e-02 3.21187741e+01] [ 8.04800459e-02 -6.11727103e-04 9.96756032e-01 5.56063144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.73, Y:32.14, Z:5.56 [[ 7.15562808e-01 -6.96171046e-01 -5.75824924e-02 6.97319983e+01] [ 6.93994964e-01 7.17875694e-01 -5.50043472e-02 3.21386908e+01] [ 7.96295056e-02 -6.02894597e-04 9.96824347e-01 5.56258414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.75, Y:32.16, Z:5.56 [[ 7.15893625e-01 -6.95879998e-01 -5.69854861e-02 6.97512644e+01] [ 6.93745606e-01 7.18157875e-01 -5.44637657e-02 3.21587134e+01] [ 7.88248208e-02 -5.43167922e-04 9.96888335e-01 5.56484985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.77, Y:32.18, Z:5.57 [[ 7.18061125e-01 -6.93702214e-01 -5.62624093e-02 6.97694170e+01] [ 6.91612749e-01 7.20261870e-01 -5.38018973e-02 3.21805712e+01] [ 7.78461634e-02 -2.78748630e-04 9.96965344e-01 5.56673193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.79, Y:32.20, Z:5.57 [[ 7.19488048e-01 -6.92223449e-01 -5.62462964e-02 6.97881933e+01] [ 6.90128355e-01 7.21683232e-01 -5.38160403e-02 3.22015567e+01] [ 7.78447340e-02 -9.71662123e-05 9.96965490e-01 5.56831539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.81, Y:32.22, Z:5.57 [[ 7.21625709e-01 -6.89989784e-01 -5.63065983e-02 6.98065729e+01] [ 6.87881095e-01 7.23819087e-01 -5.39029587e-02 3.22219559e+01] [ 7.79482814e-02 1.65516318e-04 9.96957390e-01 5.56922907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.82, Y:32.24, Z:5.57 [[ 7.26316544e-01 -6.85052460e-01 -5.62797119e-02 6.98242309e+01] [ 6.82928821e-01 7.28493387e-01 -5.39037147e-02 3.22434012e+01] [ 7.79262703e-02 7.16122479e-04 9.96958868e-01 5.57097830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.84, Y:32.26, Z:5.57 [[ 7.28791634e-01 -6.82435021e-01 -5.60820501e-02 6.98433843e+01] [ 6.80316239e-01 7.30945560e-01 -5.37438566e-02 3.22635949e+01] [ 7.76696154e-02 1.01454363e-03 9.96978636e-01 5.57354114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.86, Y:32.28, Z:5.58 [[ 7.30916773e-01 -6.80155638e-01 -5.61157530e-02 6.98627215e+01] [ 6.78025278e-01 7.33066621e-01 -5.38056915e-02 3.22840815e+01] [ 7.77328299e-02 1.27958346e-03 9.96973405e-01 5.57590152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.88, Y:32.30, Z:5.58 [[ 7.33092826e-01 -6.77778240e-01 -5.64939461e-02 6.98815139e+01] [ 6.75609649e-01 7.35264722e-01 -5.41977033e-02 3.23041511e+01] [ 7.82720295e-02 1.56409235e-03 9.96930812e-01 5.57745839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.90, Y:32.33, Z:5.58 [[ 7.36084416e-01 -6.74516048e-01 -5.66377344e-02 6.99002411e+01] [ 6.72325082e-01 7.38257657e-01 -5.43563778e-02 3.23257823e+01] [ 7.84774903e-02 1.93191324e-03 9.96914014e-01 5.57788037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.92, Y:32.35, Z:5.58 [[ 7.36911845e-01 -6.73616861e-01 -5.65796543e-02 6.99202111e+01] [ 6.71425414e-01 7.39077893e-01 -5.43303056e-02 3.23459548e+01] [ 7.84145816e-02 2.04762792e-03 9.96918733e-01 5.57949286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.436875 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:69.94, Y:32.37, Z:5.58 [[ 7.37249327e-01 -6.73295913e-01 -5.60003834e-02 6.99398336e+01] [ 6.71145935e-01 7.39370189e-01 -5.38038692e-02 3.23654256e+01] [ 7.76309393e-02 2.08243668e-03 9.96979990e-01 5.58128256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.96, Y:32.38, Z:5.58 [[ 7.37921449e-01 -6.72627338e-01 -5.51760779e-02 6.99607780e+01] [ 6.70536178e-01 7.39978293e-01 -5.30411148e-02 3.23842104e+01] [ 7.65060038e-02 2.14261991e-03 9.97066819e-01 5.58471696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.98, Y:32.40, Z:5.59 [[ 7.37578437e-01 -6.72989936e-01 -5.53407133e-02 6.99814860e+01] [ 6.70884974e-01 7.39648561e-01 -5.32292897e-02 3.24033282e+01] [ 7.67554552e-02 2.13352337e-03 9.97047666e-01 5.58765464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.52687499999999 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:70.00, Y:32.42, Z:5.59 [[ 7.36489832e-01 -6.74216606e-01 -5.49062509e-02 7.00021141e+01] [ 6.72145777e-01 7.38530922e-01 -5.28406356e-02 3.24208372e+01] [ 7.61759981e-02 2.01158617e-03 9.97092358e-01 5.58951157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.02, Y:32.44, Z:5.59 [[ 7.35906100e-01 -6.74807919e-01 -5.54660669e-02 7.00232721e+01] [ 6.72694931e-01 7.37990745e-01 -5.33965290e-02 3.24394021e+01] [ 7.69658446e-02 1.98308939e-03 9.97031758e-01 5.59190733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.58687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.04, Y:32.46, Z:5.59 [[ 7.35201175e-01 -6.75536394e-01 -5.59447276e-02 7.00438232e+01] [ 6.73386478e-01 7.37324077e-01 -5.38874411e-02 3.24573512e+01] [ 7.76523223e-02 1.94568688e-03 9.96978601e-01 5.59346664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.06, Y:32.48, Z:5.60 [[ 7.34687306e-01 -6.76036372e-01 -5.66514493e-02 7.00648533e+01] [ 6.73831782e-01 7.36865727e-01 -5.45859922e-02 3.24759808e+01] [ 7.86466274e-02 1.93008847e-03 9.96900689e-01 5.59519399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.09, Y:32.50, Z:5.60 [[ 7.34512071e-01 -6.76228023e-01 -5.66363735e-02 7.00853349e+01] [ 6.74022798e-01 7.36689847e-01 -5.46016300e-02 3.24958594e+01] [ 7.86465937e-02 1.93134935e-03 9.96900689e-01 5.59732271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.11, Y:32.51, Z:5.60 [[ 7.34138871e-01 -6.76535301e-01 -5.77936451e-02 7.01064068e+01] [ 6.74237455e-01 7.36407596e-01 -5.57468035e-02 3.25135245e+01] [ 8.02743597e-02 1.95925514e-03 9.96770881e-01 5.59731482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.13, Y:32.53, Z:5.60 [[ 7.34016510e-01 -6.76610545e-01 -5.84630976e-02 7.01273542e+01] [ 6.74256962e-01 7.36338367e-01 -5.64212614e-02 3.25322672e+01] [ 8.12238422e-02 1.99498680e-03 9.96693889e-01 5.59879069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.15, Y:32.55, Z:5.60 [[ 7.34157737e-01 -6.76444050e-01 -5.86162558e-02 7.01481249e+01] [ 6.74074992e-01 7.36491193e-01 -5.66005954e-02 3.25503152e+01] [ 8.14574921e-02 2.04201286e-03 9.96674725e-01 5.60126851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.17, Y:32.57, Z:5.60 [[ 7.34677202e-01 -6.75905705e-01 -5.83171310e-02 7.01702697e+01] [ 6.73556799e-01 7.36985087e-01 -5.63402201e-02 3.25679514e+01] [ 8.10595320e-02 2.11197514e-03 9.96707024e-01 5.60431820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.19, Y:32.59, Z:5.61 [[ 7.34737946e-01 -6.75864022e-01 -5.80342474e-02 7.01910226e+01] [ 6.73535272e-01 7.37023264e-01 -5.60976486e-02 3.25865984e+01] [ 8.06869729e-02 2.12895855e-03 9.96737217e-01 5.60649746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.21, Y:32.61, Z:5.61 [[ 7.34752278e-01 -6.75864961e-01 -5.78415480e-02 7.02112640e+01] [ 6.73549211e-01 7.37022358e-01 -5.59419698e-02 3.26053278e+01] [ 8.04397313e-02 2.14436070e-03 9.96757168e-01 5.60849103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.23, Y:32.62, Z:5.61 [[ 7.34968530e-01 -6.75674509e-01 -5.73168182e-02 7.02317888e+01] [ 6.73397675e-01 7.37196893e-01 -5.54645208e-02 3.26241833e+01] [ 7.97297431e-02 2.16766521e-03 9.96814160e-01 5.61064183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.88687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.25, Y:32.64, Z:5.61 [[ 7.34877735e-01 -6.75882330e-01 -5.60159901e-02 7.02532475e+01] [ 6.73706166e-01 7.37006508e-01 -5.42347574e-02 3.26430214e+01] [ 7.79404634e-02 2.11759771e-03 9.96955766e-01 5.61193158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.27, Y:32.66, Z:5.61 [[ 7.34309292e-01 -6.76519936e-01 -5.57731122e-02 7.02734585e+01] [ 6.74362147e-01 7.36421428e-01 -5.40293886e-02 3.26615603e+01] [ 7.76244735e-02 2.06300643e-03 9.96980534e-01 5.61437982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.29, Y:32.68, Z:5.62 [[ 7.33439846e-01 -6.77504792e-01 -5.52562203e-02 7.02942112e+01] [ 6.75388084e-01 7.35515760e-01 -5.35490746e-02 3.26808720e+01] [ 7.69215755e-02 1.95563226e-03 9.97035228e-01 5.61612082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.32, Y:32.70, Z:5.62 [[ 7.32270668e-01 -6.78747691e-01 -5.55089309e-02 7.03155149e+01] [ 6.76612826e-01 7.34369206e-01 -5.38233521e-02 3.26995539e+01] [ 7.72965255e-02 1.85520737e-03 9.97006422e-01 5.61811359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.34, Y:32.72, Z:5.62 [[ 7.31359436e-01 -6.79713692e-01 -5.57016360e-02 7.03362478e+01] [ 6.77564406e-01 7.33475373e-01 -5.40402839e-02 3.27188071e+01] [ 7.75876992e-02 1.78142560e-03 9.96983939e-01 5.61991206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.36, Y:32.74, Z:5.62 [[ 7.30581619e-01 -6.80548897e-01 -5.57108291e-02 7.03570498e+01] [ 6.78398986e-01 7.32700660e-01 -5.40791937e-02 3.27379115e+01] [ 7.76228968e-02 1.71509495e-03 9.96981316e-01 5.62182109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.38, Y:32.76, Z:5.62 [[ 7.28885380e-01 -6.82313619e-01 -5.63402828e-02 7.03779536e+01] [ 6.80117612e-01 7.31057911e-01 -5.47207935e-02 3.27565710e+01] [ 7.85247521e-02 1.56716777e-03 9.96910932e-01 5.62290143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.40, Y:32.78, Z:5.62 [[ 7.27834563e-01 -6.83447839e-01 -5.61773931e-02 7.03978400e+01] [ 6.81265581e-01 7.29997886e-01 -5.45920774e-02 3.27752449e+01] [ 7.83202155e-02 1.46227643e-03 9.96927182e-01 5.62423007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.42, Y:32.79, Z:5.63 [[ 7.26862860e-01 -6.84447294e-01 -5.65887300e-02 7.04177819e+01] [ 6.82234263e-01 7.29061038e-01 -5.50128429e-02 3.27933079e+01] [ 7.89100297e-02 1.38002180e-03 9.96880787e-01 5.62625953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.44, Y:32.81, Z:5.63 [[ 7.25241038e-01 -6.86167918e-01 -5.65599186e-02 7.04396011e+01] [ 6.83960217e-01 7.27442176e-01 -5.50118406e-02 3.28116459e+01] [ 7.88914304e-02 1.21211022e-03 9.96882477e-01 5.62800332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.46, Y:32.83, Z:5.63 [[ 7.24482672e-01 -6.86993504e-01 -5.62564094e-02 7.04595345e+01] [ 6.84809607e-01 7.26662666e-01 -5.47464318e-02 3.28301431e+01] [ 7.84898754e-02 1.13791155e-03 9.96914261e-01 5.62977214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.48, Y:32.85, Z:5.63 [[ 7.23643634e-01 -6.87882341e-01 -5.61940864e-02 7.04804768e+01] [ 6.85703821e-01 7.25821439e-01 -5.47129737e-02 3.28487294e+01] [ 7.84229611e-02 1.06019537e-03 9.96919613e-01 5.63126182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.50, Y:32.87, Z:5.63 [[ 7.23178659e-01 -6.88397117e-01 -5.58751925e-02 7.05001942e+01] [ 6.86242530e-01 7.25333282e-01 -5.44317999e-02 3.28670929e+01] [ 7.79988308e-02 1.01998261e-03 9.96952929e-01 5.63236478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.52, Y:32.89, Z:5.63 [[ 7.22930948e-01 -6.88642217e-01 -5.60601518e-02 7.05214938e+01] [ 6.86472417e-01 7.25100595e-01 -5.46328554e-02 3.28860854e+01] [ 7.82717400e-02 1.01203410e-03 9.96931548e-01 5.63492543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.30687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.54, Y:32.90, Z:5.64 [[ 7.22624879e-01 -6.88935039e-01 -5.64074170e-02 7.05413282e+01] [ 6.86736749e-01 7.24822389e-01 -5.50012849e-02 3.29039169e+01] [ 7.87776711e-02 1.00825072e-03 9.96891700e-01 5.63722932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.56, Y:32.92, Z:5.64 [[ 7.22639992e-01 -6.88979660e-01 -5.56639016e-02 7.05625647e+01] [ 6.86837565e-01 7.24779979e-01 -5.42967847e-02 3.29228666e+01] [ 7.77534617e-02 1.00496944e-03 9.96972111e-01 5.63917418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.58, Y:32.94, Z:5.64 [[ 7.22780674e-01 -6.88841771e-01 -5.55437782e-02 7.05827449e+01] [ 6.86706236e-01 7.24910984e-01 -5.42089565e-02 3.29420289e+01] [ 7.76056885e-02 1.03892732e-03 9.96983590e-01 5.64083091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.60, Y:32.96, Z:5.64 [[ 7.23004259e-01 -6.88580425e-01 -5.58734297e-02 7.06030916e+01] [ 6.86416317e-01 7.25159155e-01 -5.45604285e-02 3.29620076e+01] [ 7.80863720e-02 1.09498833e-03 9.96945996e-01 5.64230241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.62, Y:32.98, Z:5.64 [[ 7.23539894e-01 -6.88013815e-01 -5.59196987e-02 7.06223430e+01] [ 6.85842098e-01 7.25696632e-01 -5.46352996e-02 3.29805840e+01] [ 7.81705779e-02 1.17873537e-03 9.96939302e-01 5.64353730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.64, Y:33.00, Z:5.65 [[ 7.24693025e-01 -6.86785495e-01 -5.60865701e-02 7.06428888e+01] [ 6.84594971e-01 7.26858929e-01 -5.48253874e-02 3.29993667e+01] [ 7.84203051e-02 1.33499201e-03 9.96919492e-01 5.64541501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.66, Y:33.02, Z:5.65 [[ 7.25385030e-01 -6.86051565e-01 -5.61231554e-02 7.06631498e+01] [ 6.83853670e-01 7.27551500e-01 -5.48905481e-02 3.30183915e+01] [ 7.84902324e-02 1.43675610e-03 9.96913847e-01 5.64719678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.68, Y:33.04, Z:5.65 [[ 7.25709428e-01 -6.85668828e-01 -5.66046241e-02 7.06834678e+01] [ 6.83429463e-01 7.27912062e-01 -5.53913301e-02 3.30377735e+01] [ 7.91832971e-02 1.51274265e-03 9.96858925e-01 5.64936686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.70, Y:33.06, Z:5.65 [[ 7.25108050e-01 -6.86307358e-01 -5.65731985e-02 7.07036964e+01] [ 6.84070102e-01 7.27310160e-01 -5.53897681e-02 3.30559762e+01] [ 7.91606675e-02 1.46353308e-03 9.96860796e-01 5.65085721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.72, Y:33.08, Z:5.65 [[ 7.24597955e-01 -6.86881945e-01 -5.61337376e-02 7.07240618e+01] [ 6.84679026e-01 7.26767644e-01 -5.49856606e-02 3.30756166e+01] [ 7.85648417e-02 1.40890450e-03 9.96908010e-01 5.65284956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.74, Y:33.09, Z:5.65 [[ 7.23852585e-01 -6.87673888e-01 -5.60540727e-02 7.07442928e+01] [ 6.85477328e-01 7.26018473e-01 -5.49364149e-02 3.30948842e+01] [ 7.84746303e-02 1.34206996e-03 9.96915208e-01 5.65426097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.77, Y:33.11, Z:5.66 [[ 7.19405926e-01 -6.92358254e-01 -5.56341772e-02 7.07650987e+01] [ 6.90206083e-01 7.21553414e-01 -5.45548773e-02 3.31135841e+01] [ 7.79145501e-02 8.48054480e-04 9.96959680e-01 5.65727815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.78, Y:33.13, Z:5.66 [[ 7.17886578e-01 -6.93948247e-01 -5.54498939e-02 7.07846254e+01] [ 6.91812739e-01 7.20024546e-01 -5.44039263e-02 3.31322412e+01] [ 7.76787940e-02 6.94905548e-04 9.96978195e-01 5.65898828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.81, Y:33.15, Z:5.66 [[ 7.14978887e-01 -6.96875754e-01 -5.62972009e-02 7.08051638e+01] [ 6.94681706e-01 7.17191763e-01 -5.52567000e-02 3.31520855e+01] [ 7.88829432e-02 3.98738266e-04 9.96883806e-01 5.65951364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.83, Y:33.17, Z:5.66 [[ 7.13053182e-01 -6.98830341e-01 -5.64917209e-02 7.08250661e+01] [ 6.96624772e-01 7.15287434e-01 -5.54780542e-02 3.31720357e+01] [ 7.91775655e-02 2.05270884e-04 9.96860507e-01 5.66143748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.84, Y:33.19, Z:5.66 [[ 7.12272242e-01 -6.99615378e-01 -5.66266415e-02 7.08447805e+01] [ 6.97399325e-01 7.14519631e-01 -5.56406165e-02 3.31920396e+01] [ 7.93878780e-02 1.39885050e-04 9.96843792e-01 5.66274825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.86, Y:33.21, Z:5.66 [[ 7.07039991e-01 -7.04898864e-01 -5.66748758e-02 7.08642260e+01] [ 7.02693447e-01 7.09307695e-01 -5.57181629e-02 3.32116540e+01] [ 7.94755952e-02 -4.30094431e-04 9.96836719e-01 5.66494753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.88, Y:33.23, Z:5.67 [[ 7.05454069e-01 -7.06499163e-01 -5.65109605e-02 7.08831635e+01] [ 7.04309182e-01 7.07713634e-01 -5.55876602e-02 3.32306171e+01] [ 7.92662127e-02 -5.86647338e-04 9.96853311e-01 5.66768370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.90, Y:33.25, Z:5.67 [[ 7.02928456e-01 -7.09008413e-01 -5.65566578e-02 7.09022457e+01] [ 7.06820754e-01 7.05199509e-01 -5.56603583e-02 3.32505271e+01] [ 7.93473896e-02 -8.50169823e-04 9.96846663e-01 5.66971335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.92, Y:33.27, Z:5.67 [[ 6.99706048e-01 -7.12205711e-01 -5.63424415e-02 7.09213191e+01] [ 7.10042519e-01 7.01969813e-01 -5.54797498e-02 3.32710934e+01] [ 7.90636878e-02 -1.18601262e-03 9.96868861e-01 5.67234997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.94, Y:33.29, Z:5.67 [[ 6.97908418e-01 -7.13992754e-01 -5.60195276e-02 7.09394265e+01] [ 7.11857716e-01 7.00151769e-01 -5.51914264e-02 3.32915380e+01] [ 7.86284498e-02 -1.35937188e-03 9.96903064e-01 5.67382996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.96, Y:33.31, Z:5.67 [[ 6.96804199e-01 -7.15115363e-01 -5.54429859e-02 7.09569729e+01] [ 7.13025585e-01 6.99004942e-01 -5.46498536e-02 3.33142996e+01] [ 7.78358710e-02 -1.45201998e-03 9.96965129e-01 5.67437300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.98, Y:33.34, Z:5.68 [[ 6.97417997e-01 -7.14528566e-01 -5.52907415e-02 7.09756318e+01] [ 7.12446134e-01 6.99604941e-01 -5.45292016e-02 3.33356412e+01] [ 7.76443481e-02 -1.36202845e-03 9.96980190e-01 5.67639954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.99, Y:33.36, Z:5.68 [[ 7.00370163e-01 -7.11727755e-01 -5.40854700e-02 7.09929633e+01] [ 7.09724706e-01 7.02454687e-01 -5.33690382e-02 3.33584045e+01] [ 7.59768176e-02 -1.00771237e-03 9.97109075e-01 5.67895951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.01, Y:33.38, Z:5.68 [[ 7.02240580e-01 -7.09886539e-01 -5.40302661e-02 7.10113806e+01] [ 7.07879921e-01 7.04315613e-01 -5.33435564e-02 3.33798644e+01] [ 7.59222326e-02 -7.86930534e-04 9.97113432e-01 5.68205984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.03, Y:33.40, Z:5.68 [[ 7.04459345e-01 -7.07717042e-01 -5.36061514e-02 7.10289660e+01] [ 7.05733400e-01 7.06495796e-01 -5.29533693e-02 3.34005597e+01] [ 7.53485225e-02 -5.28155554e-04 9.97157120e-01 5.68460235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.08687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.05, Y:33.42, Z:5.69 [[ 7.06776659e-01 -7.05412902e-01 -5.34732813e-02 7.10469906e+01] [ 7.03430545e-01 7.08796563e-01 -5.28478958e-02 3.34217944e+01] [ 7.51812656e-02 -2.63080227e-04 9.97169849e-01 5.68727838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.06, Y:33.44, Z:5.69 [[ 7.11342561e-01 -7.00868453e-01 -5.26799086e-02 7.10633014e+01] [ 6.98929995e-01 7.13290514e-01 -5.20913141e-02 3.34448085e+01] [ 7.40852378e-02 2.35200488e-04 9.97251885e-01 5.68905442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.08, Y:33.47, Z:5.69 [[ 7.12879914e-01 -6.99308458e-01 -5.26299288e-02 7.10816025e+01] [ 6.97367326e-01 7.14819912e-01 -5.20702071e-02 3.34662603e+01] [ 7.40340573e-02 4.17412068e-04 9.97255626e-01 5.69050464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.10, Y:33.49, Z:5.69 [[ 7.14134519e-01 -6.98021946e-01 -5.26996251e-02 7.11003366e+01] [ 6.96070052e-01 7.16076138e-01 -5.21674928e-02 3.34873987e+01] [ 7.41509988e-02 5.71976589e-04 9.97246861e-01 5.69172955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.12, Y:33.51, Z:5.69 [[ 7.15219408e-01 -6.96868308e-01 -5.32518570e-02 7.11171831e+01] [ 6.94869860e-01 7.17198748e-01 -5.27431032e-02 3.35084978e+01] [ 7.49471622e-02 7.19780668e-04 9.97187247e-01 5.69144528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.14, Y:33.53, Z:5.69 [[ 7.15121193e-01 -6.96947673e-01 -5.35314834e-02 7.11364738e+01] [ 6.94926399e-01 7.17121609e-01 -5.30461905e-02 3.35288890e+01] [ 7.53590026e-02 7.34014073e-04 9.97156197e-01 5.69324446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.15, Y:33.55, Z:5.70 [[ 7.14747556e-01 -6.97320971e-01 -5.36599908e-02 7.11547926e+01] [ 6.95288807e-01 7.16758641e-01 -5.32026866e-02 3.35485257e+01] [ 7.55606111e-02 7.17299231e-04 9.97140953e-01 5.69521635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.296875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:71.17, Y:33.57, Z:5.70 [[ 7.14591836e-01 -6.97449803e-01 -5.40581203e-02 7.11747357e+01] [ 6.95385671e-01 7.16633269e-01 -5.36239350e-02 3.35688402e+01] [ 7.61398504e-02 7.27983927e-04 9.97096883e-01 5.69762691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.19, Y:33.59, Z:5.70 [[ 7.14553575e-01 -6.97499602e-01 -5.39211747e-02 7.11932042e+01] [ 6.95443837e-01 7.16584785e-01 -5.35174304e-02 3.35882994e+01] [ 7.59674798e-02 7.41922654e-04 9.97110020e-01 5.69932782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.21, Y:33.61, Z:5.70 [[ 7.14673527e-01 -6.97362283e-01 -5.41072624e-02 7.12129303e+01] [ 6.95289642e-01 7.16718381e-01 -5.37315266e-02 3.36086272e+01] [ 7.62500096e-02 7.80280506e-04 9.97088425e-01 5.70125042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.38687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.23, Y:33.63, Z:5.70 [[ 7.16081876e-01 -6.95866480e-01 -5.47410997e-02 7.12316432e+01] [ 6.93738219e-01 7.18170520e-01 -5.43910596e-02 3.36275203e+01] [ 7.71623593e-02 9.72458991e-04 9.97018066e-01 5.70315073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.25, Y:33.65, Z:5.70 [[ 7.16726171e-01 -6.95236388e-01 -5.43135401e-02 7.12510376e+01] [ 6.93137466e-01 7.18780397e-01 -5.39925352e-02 3.36475729e+01] [ 7.65770831e-02 1.05111347e-03 9.97063110e-01 5.70385170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.27, Y:33.67, Z:5.71 [[ 7.17508908e-01 -6.94431710e-01 -5.42730704e-02 7.12705533e+01] [ 6.92331396e-01 7.19557684e-01 -5.39812707e-02 3.36674836e+01] [ 7.65389110e-02 1.15709201e-03 9.97065924e-01 5.70536489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.29, Y:33.69, Z:5.71 [[ 7.19985537e-01 -6.91889104e-01 -5.39471424e-02 7.12909537e+01] [ 6.89804630e-01 7.22002350e-01 -5.36859265e-02 3.36862562e+01] [ 7.60946712e-02 1.44010198e-03 9.97099557e-01 5.70897423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.31, Y:33.71, Z:5.71 [[ 7.21043930e-01 -6.90801543e-01 -5.37482905e-02 7.13114941e+01] [ 6.88727182e-01 7.23042711e-01 -5.35173592e-02 3.37060741e+01] [ 7.58321840e-02 1.57045838e-03 9.97119358e-01 5.71116819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.33, Y:33.73, Z:5.71 [[ 7.20864148e-01 -6.90990301e-01 -5.37334472e-02 7.13316470e+01] [ 6.88915353e-01 7.22862320e-01 -5.35322584e-02 3.37262866e+01] [ 7.58321556e-02 1.57168907e-03 9.97119358e-01 5.71329691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.35, Y:33.75, Z:5.71 [[ 7.22607931e-01 -6.89215612e-01 -5.31000815e-02 7.13522243e+01] [ 6.87182518e-01 7.24554175e-01 -5.29285746e-02 3.37454627e+01] [ 7.49530857e-02 1.75716001e-03 9.97185513e-01 5.71449819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.37, Y:33.76, Z:5.72 [[ 7.23644577e-01 -6.88137358e-01 -5.29669953e-02 7.13718421e+01] [ 6.86109356e-01 7.25577991e-01 -5.28254752e-02 3.37641179e+01] [ 7.47828690e-02 1.88571762e-03 9.97198058e-01 5.71655165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.39, Y:33.78, Z:5.72 [[ 7.24685036e-01 -6.87032777e-01 -5.30807185e-02 7.13926024e+01] [ 6.84991067e-01 7.26623608e-01 -5.29657386e-02 3.37836247e+01] [ 7.49589016e-02 2.02366012e-03 9.97184571e-01 5.71905917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.41, Y:33.80, Z:5.72 [[ 7.25805249e-01 -6.85796988e-01 -5.37515830e-02 7.14134512e+01] [ 6.83697624e-01 7.27789564e-01 -5.36647824e-02 3.38030598e+01] [ 7.59229873e-02 2.20035115e-03 9.97111257e-01 5.72108152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.43, Y:33.82, Z:5.72 [[ 7.28110307e-01 -6.83234002e-01 -5.51967311e-02 7.14339938e+01] [ 6.81010274e-01 7.30195014e-01 -5.51384500e-02 3.38217877e+01] [ 7.79768417e-02 2.55733275e-03 9.96951891e-01 5.72226673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.44, Y:33.85, Z:5.69 [[ 7.27326896e-01 -6.85750116e-01 -2.72463670e-02 7.14448044e+01] [ 6.82748738e-01 7.27030753e-01 -7.26666749e-02 3.38488126e+01] [ 6.96401275e-02 3.42500044e-02 9.96984047e-01 5.69429241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.74687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.48, Y:33.86, Z:5.74 [[ 7.30061269e-01 -6.78916616e-01 -7.79921224e-02 7.14784926e+01] [ 6.78636808e-01 7.33680759e-01 -3.41266381e-02 3.38552428e+01] [ 8.03904612e-02 -2.80137882e-02 9.96369711e-01 5.74227626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.48, Y:33.89, Z:5.69 [[ 7.28852647e-01 -6.84214952e-01 -2.49743669e-02 7.14847684e+01] [ 6.81138869e-01 7.28310632e-01 -7.49230550e-02 3.38871587e+01] [ 6.94525714e-02 3.75968549e-02 9.96876530e-01 5.69404785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.80687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.52, Y:33.89, Z:5.75 [[ 7.29535690e-01 -6.79088949e-01 -8.13380386e-02 7.15209555e+01] [ 6.79013209e-01 7.33390231e-01 -3.28607793e-02 3.38918764e+01] [ 8.19679150e-02 -3.12564914e-02 9.96144715e-01 5.74803510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83687499999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:71.54, Y:33.92, Z:5.73 [[ 7.28356369e-01 -6.82803731e-01 -5.72369058e-02 7.15377070e+01] [ 6.80403106e-01 7.30596595e-01 -5.72732742e-02 3.39160642e+01] [ 8.09234939e-02 2.77118558e-03 9.96716464e-01 5.73168214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.55, Y:33.94, Z:5.70 [[ 7.23265977e-01 -6.90264784e-01 -2.05147467e-02 7.15462741e+01] [ 6.87164766e-01 7.22328648e-01 -7.77554409e-02 3.39422352e+01] [ 6.84902319e-02 4.21408538e-02 9.96761374e-01 5.69748587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.57, Y:33.95, Z:5.72 [[ 7.22548690e-01 -6.89532124e-01 -4.96874317e-02 7.15739085e+01] [ 6.87747871e-01 7.24253184e-01 -4.96003172e-02 3.39536657e+01] [ 7.01872926e-02 1.66621877e-03 9.97532439e-01 5.72327863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.61, Y:33.97, Z:5.76 [[ 7.23402097e-01 -6.85402317e-01 -8.31448655e-02 7.16065658e+01] [ 6.85613428e-01 7.27326137e-01 -3.05109377e-02 3.39650580e+01] [ 8.13857013e-02 -3.49335599e-02 9.96070286e-01 5.76096840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.62, Y:33.99, Z:5.74 [[ 7.21060890e-01 -6.90533547e-01 -5.68736595e-02 7.16220052e+01] [ 6.88183351e-01 7.23297794e-01 -5.69559236e-02 3.39900192e+01] [ 8.04665684e-02 1.92918339e-03 9.96755441e-01 5.74132351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.63, Y:34.02, Z:5.71 [[ 7.14719511e-01 -6.99086166e-01 -2.13202638e-02 7.16305674e+01] [ 6.95959282e-01 7.13886377e-01 -7.75043131e-02 3.40167820e+01] [ 6.94024389e-02 4.05558092e-02 9.96764028e-01 5.70546822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.67, Y:34.02, Z:5.77 [[ 7.15912785e-01 -6.93112615e-01 -8.40463397e-02 7.16696294e+01] [ 6.93436918e-01 7.19890732e-01 -3.00428729e-02 3.40195145e+01] [ 8.13272752e-02 -3.67727579e-02 9.96008855e-01 5.76718128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.69, Y:34.04, Z:5.75 [[ 7.14000631e-01 -6.97802518e-01 -5.72253784e-02 7.16867229e+01] [ 6.95440472e-01 7.16289239e-01 -5.73783657e-02 3.40442392e+01] [ 8.10286908e-02 1.17134520e-03 9.96711081e-01 5.74866949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.71, Y:34.06, Z:5.75 [[ 7.12309592e-01 -6.99496424e-01 -5.76176924e-02 7.17066584e+01] [ 6.97104719e-01 7.14635387e-01 -5.78037546e-02 3.40638265e+01] [ 8.16091615e-02 1.00860353e-03 9.96663899e-01 5.75096640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.71, Y:34.09, Z:5.72 [[ 7.09294945e-01 -7.04537236e-01 -2.29774667e-02 7.17149673e+01] [ 7.01308490e-01 7.08585847e-01 -7.79262431e-02 3.40931678e+01] [ 7.11834477e-02 3.91583979e-02 9.96694305e-01 5.71650462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.75, Y:34.10, Z:5.78 [[ 7.06158650e-01 -7.03184491e-01 -8.28947047e-02 7.17503622e+01] [ 7.03508807e-01 7.10044554e-01 -3.02008317e-02 3.40962326e+01] [ 8.00956900e-02 -3.69905762e-02 9.96100586e-01 5.77669109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.77, Y:34.12, Z:5.76 [[ 7.02852673e-01 -7.09170983e-01 -5.54494104e-02 7.17660294e+01] [ 7.06980249e-01 7.05036534e-01 -5.56993137e-02 3.41219321e+01] [ 7.85941971e-02 -5.32264096e-05 9.96906690e-01 5.75937566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.77, Y:34.15, Z:5.72 [[ 6.96891688e-01 -7.17057434e-01 -1.30618359e-02 7.17718391e+01] [ 7.14077909e-01 6.95456913e-01 -8.02023849e-02 3.41543469e+01] [ 6.65936604e-02 4.65652069e-02 9.96693015e-01 5.71591230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.81, Y:34.16, Z:5.79 [[ 6.97532426e-01 -7.10945123e-01 -8.94737152e-02 7.18093877e+01] [ 7.12037301e-01 7.01708253e-01 -2.46659483e-02 3.41558170e+01] [ 8.03205801e-02 -4.65033240e-02 9.95683707e-01 5.78678138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.82, Y:34.18, Z:5.76 [[ 6.97009709e-01 -7.14706944e-01 -5.80641812e-02 7.18230586e+01] [ 7.12318464e-01 6.99423721e-01 -5.83854747e-02 3.41846496e+01] [ 8.23399699e-02 -6.64945599e-04 9.96604077e-01 5.76186872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.83, Y:34.22, Z:5.72 [[ 6.94087627e-01 -7.19717980e-01 -1.57605264e-02 7.18278482e+01] [ 7.16355656e-01 6.92680818e-01 -8.38323240e-02 3.42174170e+01] [ 7.12526452e-02 4.68968366e-02 9.96355231e-01 5.71676604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.86, Y:34.23, Z:5.75 [[ 6.95381167e-01 -7.16572400e-01 -5.44887871e-02 7.18554665e+01] [ 7.14866119e-01 6.97498545e-01 -4.96206674e-02 3.42268528e+01] [ 7.35626505e-02 -4.44691012e-03 9.97280683e-01 5.74974419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.88, Y:34.24, Z:5.79 [[ 7.00334903e-01 -7.08249891e-01 -8.89556899e-02 7.18845215e+01] [ 7.08850598e-01 7.04714428e-01 -3.01397421e-02 3.42378972e+01] [ 8.40348272e-02 -4.19483807e-02 9.95579470e-01 5.79436824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.88, Y:34.28, Z:5.73 [[ 6.99189920e-01 -7.14642823e-01 -2.04717267e-02 7.18845121e+01] [ 7.11126658e-01 6.98131302e-01 -8.31357991e-02 3.42772472e+01] [ 7.37043553e-02 4.35697221e-02 9.96327932e-01 5.73042618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.91, Y:34.29, Z:5.75 [[ 7.01184064e-01 -7.11208457e-01 -5.02338530e-02 7.19085739e+01] [ 7.08815392e-01 7.02960075e-01 -5.85480313e-02 3.42907778e+01] [ 7.69522481e-02 5.44641828e-03 9.97019904e-01 5.75476533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.94, Y:34.30, Z:5.80 [[ 7.07443557e-01 -7.00517213e-01 -9.38043007e-02 7.19398729e+01] [ 7.01056634e-01 7.12358426e-01 -3.26353900e-02 3.43019380e+01] [ 8.96839364e-02 -4.26744310e-02 9.95055619e-01 5.80199125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.94, Y:34.34, Z:5.74 [[ 7.05425811e-01 -7.08453848e-01 -2.16233625e-02 7.19376470e+01] [ 7.04541850e-01 7.04210317e-01 -8.77986997e-02 3.43419135e+01] [ 7.74287216e-02 4.67009051e-02 9.95903519e-01 5.73518043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.98, Y:34.34, Z:5.81 [[ 7.10017545e-01 -6.97794259e-01 -9.46480768e-02 7.19772362e+01] [ 6.98446279e-01 7.14965157e-01 -3.15851097e-02 3.43426333e+01] [ 8.97099853e-02 -4.36806150e-02 9.95009609e-01 5.80691102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.52687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.98, Y:34.38, Z:5.74 [[ 7.08690568e-01 -7.05138621e-01 -2.31776718e-02 7.19750119e+01] [ 7.01295226e-01 7.07656705e-01 -8.60638938e-02 3.43830914e+01] [ 7.70888102e-02 4.47382791e-02 9.96019981e-01 5.74261169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.00, Y:34.39, Z:5.78 [[ 7.10824653e-01 -7.00355845e-01 -6.50384725e-02 7.20048104e+01] [ 6.98667256e-01 7.13721754e-01 -4.96520319e-02 3.43924034e+01] [ 8.11934635e-02 -1.01463627e-02 9.96646714e-01 5.78029527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.58687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.02, Y:34.42, Z:5.76 [[ 7.10081989e-01 -7.02823199e-01 -4.26980112e-02 7.20170849e+01] [ 6.99863315e-01 7.11148423e-01 -6.67776929e-02 3.44186399e+01] [ 7.72975351e-02 1.75348653e-02 9.96853861e-01 5.76230111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.04, Y:34.44, Z:5.77 [[ 7.11313953e-01 -7.01176995e-01 -4.88188664e-02 7.20374097e+01] [ 6.98674614e-01 7.12937597e-01 -5.97809884e-02 3.44382564e+01] [ 7.67218591e-02 8.41454851e-03 9.97017027e-01 5.76862661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.07, Y:34.45, Z:5.83 [[ 7.14946871e-01 -6.91980196e-01 -1.00071873e-01 7.20723656e+01] [ 6.93180089e-01 7.20223637e-01 -2.79155241e-02 3.44453801e+01] [ 9.13911185e-02 -4.94097134e-02 9.94588530e-01 5.82547143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.07, Y:34.49, Z:5.75 [[ 7.11563285e-01 -7.02480786e-01 -1.40867570e-02 7.20679686e+01] [ 6.98530106e-01 7.09437710e-01 -9.35618882e-02 3.44887052e+01] [ 7.57191054e-02 5.67351806e-02 9.95513805e-01 5.74748941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.10, Y:34.50, Z:5.79 [[ 7.14000965e-01 -6.96934467e-01 -6.69699155e-02 7.20995950e+01] [ 6.95539852e-01 7.17005041e-01 -4.61311736e-02 3.44956334e+01] [ 8.01681719e-02 -1.36425426e-02 9.96687988e-01 5.79197181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.13, Y:34.51, Z:5.83 [[ 7.16809357e-01 -6.91371093e-01 -9.05005886e-02 7.21281341e+01] [ 6.91355278e-01 7.21586396e-01 -3.66190192e-02 3.45092290e+01] [ 9.06213249e-02 -3.63192039e-02 9.95222935e-01 5.82502374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.14, Y:34.54, Z:5.81 [[ 7.17283895e-01 -6.93893546e-01 -6.33684432e-02 7.21422436e+01] [ 6.90959885e-01 7.20074942e-01 -6.37692394e-02 3.45352094e+01] [ 8.98790918e-02 1.95559622e-03 9.95950764e-01 5.80673753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.796875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:72.16, Y:34.56, Z:5.81 [[ 7.17828855e-01 -6.93304902e-01 -6.36399807e-02 7.21613631e+01] [ 6.90340825e-01 7.20641426e-01 -6.40740230e-02 3.45554797e+01] [ 9.02844407e-02 2.06090578e-03 9.95913888e-01 5.80957032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.17, Y:34.59, Z:5.77 [[ 7.15073352e-01 -6.98619187e-01 -2.45220820e-02 7.21681369e+01] [ 6.94556740e-01 7.14011087e-01 -8.81992175e-02 3.45870998e+01] [ 7.91267041e-02 4.60369328e-02 9.95800967e-01 5.76992882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.20, Y:34.60, Z:5.80 [[ 7.15775087e-01 -6.95977011e-01 -5.72889543e-02 7.21959419e+01] [ 6.93526836e-01 7.18061112e-01 -5.83846437e-02 3.45982917e+01] [ 8.17713400e-02 2.05884620e-03 9.96648990e-01 5.79667909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.88687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.23, Y:34.61, Z:5.84 [[ 7.18466869e-01 -6.88957285e-01 -9.56201714e-02 7.22270212e+01] [ 6.89149562e-01 7.23708297e-01 -3.63205335e-02 3.46072375e+01] [ 9.42244076e-02 -3.98014993e-02 9.94755046e-01 5.83909468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.23, Y:34.64, Z:5.78 [[ 7.16626802e-01 -6.96653627e-01 -3.34626777e-02 7.22314250e+01] [ 6.92361247e-01 7.16360895e-01 -8.63884925e-02 3.46440976e+01] [ 8.41542104e-02 3.87400478e-02 9.95699391e-01 5.78389211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.27, Y:34.65, Z:5.84 [[ 7.20584570e-01 -6.87267853e-01 -9.17647822e-02 7.22677251e+01] [ 6.86849171e-01 7.25635877e-01 -4.11192182e-02 3.46470382e+01] [ 9.48477350e-02 -3.33986904e-02 9.94931372e-01 5.84277214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.28, Y:34.67, Z:5.83 [[ 7.21648216e-01 -6.89100725e-01 -6.60609061e-02 7.22830496e+01] [ 6.85880154e-01 7.24660341e-01 -6.66018296e-02 3.46729442e+01] [ 9.37670879e-02 2.75322705e-03 9.95590354e-01 5.82571874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.30, Y:34.69, Z:5.83 [[ 7.22414114e-01 -6.88280012e-01 -6.62455508e-02 7.23024806e+01] [ 6.85034472e-01 7.25439348e-01 -6.68245798e-02 3.46935238e+01] [ 9.40511518e-02 2.89453367e-03 9.95563158e-01 5.82698025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.32, Y:34.71, Z:5.83 [[ 7.23737079e-01 -6.86961880e-01 -6.54829454e-02 7.23222152e+01] [ 6.83782030e-01 7.26687024e-01 -6.60916431e-02 3.47132515e+01] [ 9.29880461e-02 3.05691132e-03 9.95662532e-01 5.82932661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.34, Y:34.73, Z:5.83 [[ 7.23993695e-01 -6.86723875e-01 -6.51417630e-02 7.23416372e+01] [ 6.83572731e-01 7.26911768e-01 -6.57845134e-02 3.47322776e+01] [ 9.25281101e-02 3.09844009e-03 9.95705252e-01 5.83240825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.35, Y:34.76, Z:5.81 [[ 7.21642933e-01 -6.91284379e-01 -3.68427062e-02 7.23513055e+01] [ 6.87117925e-01 7.21739943e-01 -8.34290836e-02 3.47596673e+01] [ 8.42640749e-02 3.48907247e-02 9.95832417e-01 5.80522995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.126875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:72.38, Y:34.77, Z:5.86 [[ 7.23244012e-01 -6.85070703e-01 -8.71563624e-02 7.23845929e+01] [ 6.84305225e-01 7.27920309e-01 -4.31089704e-02 3.47650066e+01] [ 9.29755789e-02 -2.84632495e-02 9.95261466e-01 5.85577887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.39, Y:34.80, Z:5.81 [[ 7.19391759e-01 -6.93956539e-01 -2.99969810e-02 7.23903152e+01] [ 6.89912003e-01 7.18876498e-01 -8.50764835e-02 3.47991195e+01] [ 8.06035067e-02 4.05080439e-02 9.95922775e-01 5.80706420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.43, Y:34.80, Z:5.87 [[ 7.20673469e-01 -6.87403820e-01 -9.00318783e-02 7.24261303e+01] [ 6.87223311e-01 7.25454397e-01 -3.79478498e-02 3.48022303e+01] [ 9.13995188e-02 -3.45239969e-02 9.95215666e-01 5.86648425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.43, Y:34.84, Z:5.81 [[ 7.16987993e-01 -6.96394924e-01 -3.10213973e-02 7.24312249e+01] [ 6.92334775e-01 7.16582793e-01 -8.47446748e-02 3.48376754e+01] [ 8.12451609e-02 3.92837222e-02 9.95919682e-01 5.81305120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.24687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.47, Y:34.84, Z:5.87 [[ 7.16989074e-01 -6.91181256e-01 -9.05270126e-02 7.24667504e+01] [ 6.90869933e-01 7.21881607e-01 -3.98206259e-02 3.48406034e+01] [ 9.28730555e-02 -3.39914374e-02 9.95097572e-01 5.86917608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.48, Y:34.87, Z:5.85 [[ 7.15896708e-01 -6.95154406e-01 -6.52093105e-02 7.24826573e+01] [ 6.92019723e-01 7.18857369e-01 -6.59756474e-02 3.48666263e+01] [ 9.27394554e-02 2.10561981e-03 9.95688184e-01 5.85133096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.30687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.50, Y:34.89, Z:5.85 [[ 7.14392559e-01 -6.96686674e-01 -6.53525064e-02 7.25026573e+01] [ 6.93541124e-01 7.17372932e-01 -6.61572812e-02 3.48854538e+01] [ 9.29730153e-02 1.93761864e-03 9.95666743e-01 5.85395910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.51, Y:34.92, Z:5.81 [[ 7.10849874e-01 -7.02852404e-01 -2.62860282e-02 7.25098747e+01] [ 6.98558294e-01 7.09872321e-01 -8.99866551e-02 3.49168579e+01] [ 8.19070607e-02 4.56046795e-02 9.95596026e-01 5.81450313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.55, Y:34.92, Z:5.88 [[ 7.12704149e-01 -6.94798964e-01 -9.64738098e-02 7.25475970e+01] [ 6.95098603e-01 7.18011870e-01 -3.60123057e-02 3.49173193e+01] [ 9.42906533e-02 -4.13926907e-02 9.94683828e-01 5.88273208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.56, Y:34.94, Z:5.86 [[ 7.12358097e-01 -6.98726171e-01 -6.57850979e-02 7.25627983e+01] [ 6.95542260e-01 7.15387148e-01 -6.66497766e-02 3.49443487e+01] [ 9.36317568e-02 1.72219236e-03 9.95605408e-01 5.86247970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.58, Y:34.96, Z:5.87 [[ 7.11694787e-01 -6.99478712e-01 -6.49620034e-02 7.25820865e+01] [ 6.96373937e-01 7.14651579e-01 -6.58518065e-02 3.49637640e+01] [ 9.24871351e-02 1.62854124e-03 9.95712548e-01 5.86520541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.60, Y:34.98, Z:5.87 [[ 7.11517223e-01 -6.99660860e-01 -6.49455332e-02 7.26020347e+01] [ 6.96555360e-01 7.14473254e-01 -6.58680463e-02 3.49841422e+01] [ 9.24871404e-02 1.62809012e-03 9.95712548e-01 5.86766628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.62, Y:35.00, Z:5.87 [[ 7.11115375e-01 -7.00102301e-01 -6.45886336e-02 7.26211091e+01] [ 6.97029643e-01 7.14040792e-01 -6.55394880e-02 3.50043980e+01] [ 9.20032655e-02 1.58594535e-03 9.95757442e-01 5.86938757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.64, Y:35.02, Z:5.87 [[ 7.10989557e-01 -7.00280800e-01 -6.40363287e-02 7.26397680e+01] [ 6.97258105e-01 7.13865760e-01 -6.50139394e-02 3.50237823e+01] [ 9.12413560e-02 1.57438281e-03 9.95827564e-01 5.87116629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.66, Y:35.04, Z:5.87 [[ 7.10686185e-01 -7.00741710e-01 -6.23394063e-02 7.26587418e+01] [ 6.97877088e-01 7.13413506e-01 -6.33146051e-02 3.50439615e+01] [ 8.88409591e-02 1.49157181e-03 9.96044707e-01 5.87376665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.68, Y:35.06, Z:5.88 [[ 7.10250105e-01 -7.01211729e-01 -6.20233833e-02 7.26783069e+01] [ 6.98374837e-01 7.12951617e-01 -6.30284014e-02 3.50640398e+01] [ 8.84159257e-02 1.45035855e-03 9.96082587e-01 5.87683715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.70, Y:35.08, Z:5.88 [[ 7.09753707e-01 -7.01752968e-01 -6.15828503e-02 7.26976446e+01] [ 6.98955321e-01 7.12418991e-01 -6.26150269e-02 3.50839990e+01] [ 8.78130731e-02 1.39758655e-03 9.96135990e-01 5.88012618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.72, Y:35.10, Z:5.88 [[ 7.08920078e-01 -7.02582037e-01 -6.17317176e-02 7.27170992e+01] [ 6.99770880e-01 7.11601526e-01 -6.28011462e-02 3.51042864e+01] [ 8.80513416e-02 1.32293516e-03 9.96115059e-01 5.88223076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.74, Y:35.12, Z:5.88 [[ 7.07501802e-01 -7.03890472e-01 -6.30825206e-02 7.27361541e+01] [ 7.00956646e-01 7.10307494e-01 -6.42109367e-02 3.51235692e+01] [ 9.00054537e-02 1.21124137e-03 9.95940536e-01 5.88365594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.76, Y:35.14, Z:5.89 [[ 7.06585909e-01 -7.04748544e-01 -6.37639614e-02 7.27562072e+01] [ 7.01752037e-01 7.09456277e-01 -6.49297324e-02 3.51437926e+01] [ 9.09968770e-02 1.13194423e-03 9.95850535e-01 5.88609359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.76, Y:35.18, Z:5.85 [[ 7.03111388e-01 -7.10683592e-01 -2.37320144e-02 7.27635930e+01] [ 7.06635929e-01 7.02053514e-01 -8.82413025e-02 3.51757213e+01] [ 7.93727899e-02 4.52735706e-02 9.95816381e-01 5.84562673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.80, Y:35.18, Z:5.91 [[ 7.04860398e-01 -7.02898844e-01 -9.54203052e-02 7.28010202e+01] [ 7.03348130e-01 7.10004308e-01 -3.45729768e-02 3.51756726e+01] [ 9.20501331e-02 -4.27445711e-02 9.94836506e-01 5.91488041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.82, Y:35.20, Z:5.89 [[ 7.05155472e-01 -7.06123264e-01 -6.43870797e-02 7.28162250e+01] [ 7.03068341e-01 7.08088220e-01 -6.56199640e-02 3.52032301e+01] [ 9.19275158e-02 1.00375936e-03 9.95765195e-01 5.89395661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.84, Y:35.22, Z:5.90 [[ 7.05490532e-01 -7.05786003e-01 -6.44145010e-02 7.28360280e+01] [ 7.02723769e-01 7.08424284e-01 -6.56836274e-02 3.52237235e+01] [ 9.19913816e-02 1.07357633e-03 9.95759224e-01 5.89657209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.85, Y:35.24, Z:5.90 [[ 7.06127430e-01 -7.05139620e-01 -6.45148720e-02 7.28549474e+01] [ 7.02061826e-01 7.09067494e-01 -6.58215871e-02 3.52439301e+01] [ 9.21588076e-02 1.18499932e-03 9.95743617e-01 5.89827941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.87, Y:35.26, Z:5.90 [[ 7.08467759e-01 -7.02806681e-01 -6.43133284e-02 7.28736692e+01] [ 6.99735215e-01 7.11379287e-01 -6.56516520e-02 3.52641400e+01] [ 9.18915893e-02 1.50977808e-03 9.95767873e-01 5.89910006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.906875 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:72.89, Y:35.28, Z:5.90 [[ 7.09435974e-01 -7.01826273e-01 -6.43465745e-02 7.28932317e+01] [ 6.98744602e-01 7.12346211e-01 -6.57180179e-02 3.52839580e+01] [ 9.19596701e-02 1.66090446e-03 9.95761347e-01 5.90150368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.91, Y:35.30, Z:5.91 [[ 7.12177328e-01 -6.99086283e-01 -6.38891438e-02 7.29130527e+01] [ 6.96034153e-01 7.15034451e-01 -6.52854623e-02 3.53032093e+01] [ 9.13231099e-02 2.02579997e-03 9.95819254e-01 5.90518938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.93, Y:35.32, Z:5.91 [[ 7.13208666e-01 -6.98072554e-01 -6.34673796e-02 7.29329078e+01] [ 6.95053675e-01 7.16023758e-01 -6.48873384e-02 3.53235584e+01] [ 9.07402217e-02 2.16497661e-03 9.95872243e-01 5.90808591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.95, Y:35.34, Z:5.91 [[ 7.13908025e-01 -6.97386514e-01 -6.31457193e-02 7.29515077e+01] [ 6.94392292e-01 7.16691644e-01 -6.45943676e-02 3.53429095e+01] [ 9.03032502e-02 2.26653663e-03 9.95911736e-01 5.90998068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.97, Y:35.36, Z:5.91 [[ 7.15116033e-01 -6.96132542e-01 -6.33130599e-02 7.29721253e+01] [ 6.93115193e-01 7.17909105e-01 -6.47907853e-02 3.53623256e+01] [ 9.05559963e-02 2.44968562e-03 9.95888352e-01 5.91186459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.99, Y:35.38, Z:5.91 [[ 7.14762103e-01 -6.96472457e-01 -6.35708518e-02 7.29924816e+01] [ 6.93428507e-01 7.17579370e-01 -6.50903452e-02 3.53820863e+01] [ 9.09507644e-02 2.44227116e-03 9.95852396e-01 5.91397695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.08687499999999 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:73.01, Y:35.41, Z:5.90 [[ 7.12999763e-01 -6.99628074e-01 -4.63885324e-02 7.30090419e+01] [ 6.95581403e-01 7.14105141e-01 -7.88692537e-02 3.54072851e+01] [ 8.83054336e-02 2.39667588e-02 9.95805074e-01 5.89777267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.04, Y:35.42, Z:5.93 [[ 7.13148583e-01 -6.96447345e-01 -7.98761202e-02 7.30354865e+01] [ 6.94832321e-01 7.17354619e-01 -5.10920471e-02 3.54168293e+01] [ 9.28824243e-02 -1.90642890e-02 9.95494555e-01 5.92942534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.05, Y:35.44, Z:5.92 [[ 7.12415818e-01 -6.98766251e-01 -6.47257926e-02 7.30531647e+01] [ 6.95611651e-01 7.15346526e-01 -6.63609754e-02 3.54401194e+01] [ 9.26721809e-02 2.25259307e-03 9.95694126e-01 5.91969702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.07, Y:35.46, Z:5.92 [[ 7.11523308e-01 -6.99651938e-01 -6.49749775e-02 7.30737588e+01] [ 6.96473080e-01 7.14480542e-01 -6.66543649e-02 3.54597825e+01] [ 9.30582127e-02 2.17281149e-03 9.95658299e-01 5.92235162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.09, Y:35.48, Z:5.93 [[ 7.09912265e-01 -7.01296946e-01 -6.48626897e-02 7.30941286e+01] [ 6.98132503e-01 7.12866517e-01 -6.65757924e-02 3.54777888e+01] [ 9.29278397e-02 1.98021968e-03 9.95670877e-01 5.92533620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.11, Y:35.50, Z:5.93 [[ 7.08784423e-01 -7.02478177e-01 -6.44131397e-02 7.31144883e+01] [ 6.99360008e-01 7.11702928e-01 -6.61401617e-02 3.54970499e+01] [ 9.23050403e-02 1.83114245e-03 9.95729093e-01 5.92804997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.13, Y:35.52, Z:5.93 [[ 7.07371153e-01 -7.03931234e-01 -6.40848708e-02 7.31343267e+01] [ 7.00847403e-01 7.10266193e-01 -6.58395954e-02 3.55157964e+01] [ 9.18638648e-02 1.65931522e-03 9.95770193e-01 5.93133341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.16, Y:35.53, Z:5.93 [[ 7.05269907e-01 -7.06084966e-01 -6.35482365e-02 7.31557994e+01] [ 7.03058385e-01 7.08125756e-01 -6.53209108e-02 3.55345128e+01] [ 9.11222561e-02 1.39075222e-03 9.95838742e-01 5.93429504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.18, Y:35.55, Z:5.94 [[ 7.04549191e-01 -7.06866561e-01 -6.28498390e-02 7.31756084e+01] [ 7.03906176e-01 7.07345724e-01 -6.46383903e-02 3.55537032e+01] [ 9.01472815e-02 1.30053569e-03 9.95927596e-01 5.93698891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.20, Y:35.57, Z:5.94 [[ 7.03669167e-01 -7.07756421e-01 -6.26941117e-02 7.31957096e+01] [ 7.04811025e-01 7.06455509e-01 -6.45138136e-02 3.55736467e+01] [ 8.99506664e-02 1.20888030e-03 9.95945489e-01 5.94019765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.38687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.22, Y:35.59, Z:5.94 [[ 7.03377702e-01 -7.08093468e-01 -6.21566425e-02 7.32156146e+01] [ 7.05196661e-01 7.06117729e-01 -6.39954891e-02 3.55932062e+01] [ 8.92046951e-02 1.18034338e-03 9.96012615e-01 5.94347069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.23, Y:35.61, Z:5.94 [[ 7.03300454e-01 -7.08165065e-01 -6.22150429e-02 7.32349144e+01] [ 7.05259895e-01 7.06045895e-01 -6.40911363e-02 3.56134718e+01] [ 8.93137794e-02 1.19755063e-03 9.96002819e-01 5.94463053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.25, Y:35.63, Z:5.95 [[ 7.02516331e-01 -7.08888839e-01 -6.28284861e-02 7.32544019e+01] [ 7.05925568e-01 7.05319296e-01 -6.47594172e-02 3.56338282e+01] [ 9.02213716e-02 1.14231347e-03 9.95921081e-01 5.94637169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.27, Y:35.65, Z:5.95 [[ 7.01327092e-01 -7.09963616e-01 -6.39685291e-02 7.32734605e+01] [ 7.06892651e-01 7.04237576e-01 -6.59713313e-02 3.56530478e+01] [ 9.18862868e-02 1.04859884e-03 9.95768955e-01 5.94796904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.29, Y:35.67, Z:5.95 [[ 7.00585502e-01 -7.10684510e-01 -6.40896399e-02 7.32930042e+01] [ 7.07601835e-01 7.03510176e-01 -6.61292251e-02 3.56733872e+01] [ 9.20847298e-02 9.79229470e-04 9.95750694e-01 5.95024201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.31, Y:35.69, Z:5.95 [[ 6.98902899e-01 -7.12352519e-01 -6.39423706e-02 7.33126943e+01] [ 7.09287603e-01 7.01821398e-01 -6.60138010e-02 3.56934434e+01] [ 9.19012213e-02 7.83706083e-04 9.95767820e-01 5.95269330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.33, Y:35.71, Z:5.95 [[ 6.97840151e-01 -7.13408105e-01 -6.37808650e-02 7.33315766e+01] [ 7.10359642e-01 7.00748477e-01 -6.58843743e-02 3.57130950e+01] [ 9.16967906e-02 6.69409313e-04 9.95786750e-01 5.95452311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.35, Y:35.73, Z:5.96 [[ 6.96756806e-01 -7.14489655e-01 -6.35176061e-02 7.33506778e+01] [ 7.11467740e-01 6.99645790e-01 -6.56461981e-02 3.57334438e+01] [ 9.13433552e-02 5.48707673e-04 9.95819306e-01 5.95656095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.37, Y:35.75, Z:5.96 [[ 6.94982106e-01 -7.16290589e-01 -6.26710852e-02 7.33704860e+01] [ 7.13352971e-01 6.97802036e-01 -6.48063068e-02 3.57534175e+01] [ 9.01521585e-02 3.32618770e-04 9.95927948e-01 5.95964286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.39, Y:35.77, Z:5.96 [[ 6.93982870e-01 -7.17266186e-01 -6.25858996e-02 7.33896482e+01] [ 7.14337302e-01 6.96799229e-01 -6.47537865e-02 3.57733672e+01] [ 9.00555081e-02 2.30575942e-04 9.95936721e-01 5.96213854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.41, Y:35.79, Z:5.96 [[ 6.93322430e-01 -7.17912559e-01 -6.24945167e-02 7.34080593e+01] [ 7.14991674e-01 6.96133269e-01 -6.46945051e-02 3.57928083e+01] [ 8.99495099e-02 1.71092396e-04 9.95946312e-01 5.96495115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.43, Y:35.81, Z:5.97 [[ 6.93053696e-01 -7.18136279e-01 -6.29035652e-02 7.34269998e+01] [ 7.15174918e-01 6.95902476e-01 -6.51504415e-02 3.58139067e+01] [ 9.05616425e-02 1.65702202e-04 9.95890838e-01 5.96742849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.74687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.45, Y:35.83, Z:5.97 [[ 6.92971183e-01 -7.18162088e-01 -6.35149996e-02 7.34459236e+01] [ 7.15139536e-01 6.95875837e-01 -6.58199352e-02 3.58345119e+01] [ 9.14679356e-02 1.89231029e-04 9.95808004e-01 5.96959913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.46, Y:35.85, Z:5.97 [[ 6.92990716e-01 -7.18130113e-01 -6.36632465e-02 7.34635645e+01] [ 7.15089894e-01 6.95908825e-01 -6.60102264e-02 3.58545405e+01] [ 9.17077464e-02 2.19529860e-04 9.95785941e-01 5.97111787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.80687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.48, Y:35.88, Z:5.97 [[ 6.93308634e-01 -7.17792977e-01 -6.40029764e-02 7.34822418e+01] [ 7.14715626e-01 6.96256532e-01 -6.63958920e-02 3.58756523e+01] [ 9.22209953e-02 2.88917806e-04 9.95738522e-01 5.97296247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.50, Y:35.90, Z:5.97 [[ 6.93824579e-01 -7.17285015e-01 -6.41066322e-02 7.35002226e+01] [ 7.14192102e-01 6.96779779e-01 -6.65400620e-02 3.58977852e+01] [ 9.23963944e-02 3.82680150e-04 9.95722230e-01 5.97458737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.52, Y:35.92, Z:5.98 [[ 6.94055135e-01 -7.17074625e-01 -6.39644619e-02 7.35178430e+01] [ 7.13991138e-01 6.96996265e-01 -6.64293755e-02 3.59178470e+01] [ 9.22178105e-02 4.35590214e-04 9.95738764e-01 5.97667532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.896875 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:73.53, Y:35.95, Z:5.95 [[ 6.94255862e-01 -7.18708541e-01 -3.82992406e-02 7.35288227e+01] [ 7.14443696e-01 6.94618518e-01 -8.41149208e-02 3.59466607e+01] [ 8.70574737e-02 3.10346258e-02 9.95719764e-01 5.95382890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.56, Y:35.95, Z:6.00 [[ 6.95885908e-01 -7.13011598e-01 -8.57744996e-02 7.35580082e+01] [ 7.12092011e-01 7.00557980e-01 -4.62977833e-02 3.59548531e+01] [ 9.31008666e-02 -2.88613610e-02 9.95238288e-01 5.99970238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.57, Y:35.98, Z:5.99 [[ 6.97056184e-01 -7.14106890e-01 -6.45292604e-02 7.35725377e+01] [ 7.10947146e-01 7.00036096e-01 -6.71090105e-02 3.59804615e+01] [ 9.30958183e-02 9.01857217e-04 9.95656746e-01 5.98606933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.59, Y:36.00, Z:5.99 [[ 7.00103649e-01 -7.11113626e-01 -6.45932741e-02 7.35894463e+01] [ 7.07931696e-01 7.03075852e-01 -6.72090782e-02 3.60027651e+01] [ 9.32072625e-02 1.32569481e-03 9.95645845e-01 5.98769778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.61, Y:36.02, Z:5.99 [[ 7.01585170e-01 -7.09607951e-01 -6.50753865e-02 7.36071305e+01] [ 7.06368255e-01 7.04594998e-01 -6.77478934e-02 3.60236499e+01] [ 9.39262357e-02 1.56373012e-03 9.95577931e-01 5.98966864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.63, Y:36.04, Z:5.99 [[ 7.02787893e-01 -7.08398665e-01 -6.52725751e-02 7.36254506e+01] [ 7.05130837e-01 7.05810351e-01 -6.79871379e-02 3.60448854e+01] [ 9.42320569e-02 1.75483191e-03 9.95548713e-01 5.99179595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.64, Y:36.07, Z:5.99 [[ 7.05050510e-01 -7.06078197e-01 -6.60102841e-02 7.36436420e+01] [ 7.02722115e-01 7.08130710e-01 -6.87933605e-02 3.60664100e+01] [ 9.53174013e-02 2.11590741e-03 9.95444683e-01 5.99362789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.66, Y:36.09, Z:6.00 [[ 7.05727203e-01 -7.05369570e-01 -6.63542388e-02 7.36628458e+01] [ 7.01971592e-01 7.08836164e-01 -6.91894232e-02 3.60868543e+01] [ 9.58383978e-02 2.25006741e-03 9.95394363e-01 5.99600507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.68, Y:36.11, Z:6.00 [[ 7.05976787e-01 -7.05097696e-01 -6.65884018e-02 7.36814716e+01] [ 7.01670888e-01 7.09106375e-01 -6.94702339e-02 3.61067946e+01] [ 9.62015620e-02 2.32122953e-03 9.95359167e-01 5.99859883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.70, Y:36.13, Z:6.00 [[ 7.06381425e-01 -7.04767476e-01 -6.57882007e-02 7.36998160e+01] [ 7.01418845e-01 7.09434462e-01 -6.86611177e-02 3.61270522e+01] [ 9.50625394e-02 2.35585445e-03 9.95468515e-01 6.00097375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.72, Y:36.15, Z:6.00 [[ 7.06466426e-01 -7.04693939e-01 -6.56630806e-02 7.37185806e+01] [ 7.01354563e-01 7.09507409e-01 -6.85639429e-02 3.61474008e+01] [ 9.49050373e-02 2.38502252e-03 9.95483473e-01 6.00397297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.74, Y:36.17, Z:6.01 [[ 7.06741988e-01 -7.04424173e-01 -6.55922749e-02 7.37370420e+01] [ 7.01087247e-01 7.09775037e-01 -6.85278686e-02 3.61673376e+01] [ 9.48284465e-02 2.44561465e-03 9.95490625e-01 6.00605179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.76, Y:36.19, Z:6.01 [[ 7.06592105e-01 -7.04552138e-01 -6.58322263e-02 7.37557455e+01] [ 7.01187914e-01 7.09647956e-01 -6.88134289e-02 3.61876498e+01] [ 9.52003533e-02 2.46226412e-03 9.95455087e-01 6.00840549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.77, Y:36.21, Z:6.01 [[ 7.06065862e-01 -7.05078886e-01 -6.58389203e-02 7.37744702e+01] [ 7.01712578e-01 7.09124752e-01 -6.88588734e-02 3.62077910e+01] [ 9.52389458e-02 2.41890133e-03 9.95451502e-01 6.01069027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.79, Y:36.23, Z:6.01 [[ 7.05727925e-01 -7.05415013e-01 -6.58616442e-02 7.37938090e+01] [ 7.02044469e-01 7.08790450e-01 -6.89177856e-02 3.62286116e+01] [ 9.52977450e-02 2.39940278e-03 9.95445922e-01 6.01338351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.81, Y:36.25, Z:6.02 [[ 7.05547993e-01 -7.05596728e-01 -6.58428903e-02 7.38134263e+01] [ 7.02225304e-01 7.08609549e-01 -6.89356985e-02 3.62493066e+01] [ 9.52977041e-02 2.40090008e-03 9.95445922e-01 6.01585388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.83, Y:36.27, Z:6.02 [[ 7.05238988e-01 -7.05894456e-01 -6.59620133e-02 7.38323751e+01] [ 7.02508655e-01 7.08312998e-01 -6.90962197e-02 3.62699778e+01] [ 9.54963898e-02 2.39046283e-03 9.95426906e-01 6.01830537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.85, Y:36.29, Z:6.02 [[ 7.04522576e-01 -7.06617906e-01 -6.58716525e-02 7.38500374e+01] [ 7.03240887e-01 7.07591527e-01 -6.90397431e-02 3.62907271e+01] [ 9.53949419e-02 2.31641836e-03 9.95436808e-01 6.01927864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.87, Y:36.31, Z:6.02 [[ 7.03874955e-01 -7.07261582e-01 -6.58870463e-02 7.38692681e+01] [ 7.03882441e-01 7.06948351e-01 -6.90907961e-02 3.63117353e+01] [ 9.54440045e-02 2.25454598e-03 9.95432247e-01 6.02095464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.89, Y:36.33, Z:6.02 [[ 7.03108631e-01 -7.08057585e-01 -6.55187619e-02 7.38886132e+01] [ 7.04716038e-01 7.06151389e-01 -6.87424312e-02 3.63323092e+01] [ 9.49397646e-02 2.16127444e-03 9.95480673e-01 6.02341826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.91, Y:36.35, Z:6.03 [[ 7.01232524e-01 -7.09931497e-01 -6.53468936e-02 7.39071721e+01] [ 7.06612070e-01 7.04268094e-01 -6.85990835e-02 3.63519249e+01] [ 9.47223822e-02 1.92900478e-03 9.95501858e-01 6.02673468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.90, Y:36.39, Z:5.97 [[ 6.94695400e-01 -7.19254032e-01 -8.48163254e-03 7.39030183e+01] [ 7.15175130e-01 6.91921322e-01 -9.88403622e-02 3.63874222e+01] [ 7.69599514e-02 6.25980923e-02 9.95067156e-01 5.97007971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55687499999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:73.95, Y:36.38, Z:6.06 [[ 6.97704831e-01 -7.08274635e-01 -1.07494234e-01 7.39517384e+01] [ 7.10111745e-01 7.03579397e-01 -2.67832524e-02 3.63830973e+01] [ 9.46006270e-02 -5.76461138e-02 9.93844881e-01 6.06432412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.96, Y:36.41, Z:6.03 [[ 6.97173222e-01 -7.14073052e-01 -6.36331298e-02 7.39633721e+01] [ 7.10939737e-01 7.00069881e-01 -6.68345095e-02 3.64132699e+01] [ 9.22723598e-02 1.35590976e-03 9.95732882e-01 6.03472493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.98, Y:36.43, Z:6.04 [[ 6.96374557e-01 -7.14918096e-01 -6.28855476e-02 7.39825426e+01] [ 7.11858642e-01 6.99207086e-01 -6.60811956e-02 3.64339654e+01] [ 9.12126630e-02 1.25164278e-03 9.95830650e-01 6.03751501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.00, Y:36.45, Z:6.04 [[ 6.95984952e-01 -7.15304501e-01 -6.28045977e-02 7.40017764e+01] [ 7.12251250e-01 6.98811828e-01 -6.60317028e-02 3.64547504e+01] [ 9.11213700e-02 1.22441823e-03 9.95839042e-01 6.03994096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.02, Y:36.48, Z:6.04 [[ 6.96401196e-01 -7.14887099e-01 -6.29429120e-02 7.40204566e+01] [ 7.11815376e-01 6.99238677e-01 -6.62128627e-02 3.64760163e+01] [ 9.13468399e-02 1.30698419e-03 9.95818280e-01 6.04175121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.04, Y:36.50, Z:6.04 [[ 6.96935986e-01 -7.14325571e-01 -6.33972472e-02 7.40390961e+01] [ 7.11203596e-01 6.99812099e-01 -6.67268365e-02 3.64969034e+01] [ 9.20308462e-02 1.41598339e-03 9.95755150e-01 6.04362565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.04, Y:36.53, Z:5.99 [[ 6.92974189e-01 -7.20875906e-01 -1.11669837e-02 7.40361970e+01] [ 7.16973236e-01 6.90684348e-01 -9.43637106e-02 3.65323680e+01] [ 7.57373862e-02 5.73851874e-02 9.95475157e-01 5.99096579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.766875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:74.08, Y:36.53, Z:6.08 [[ 6.99467824e-01 -7.07257489e-01 -1.02623615e-01 7.40828287e+01] [ 7.08631932e-01 7.04993764e-01 -2.87154566e-02 3.65302878e+01] [ 9.26582302e-02 -5.26368324e-02 9.94305696e-01 6.07660500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.09, Y:36.56, Z:6.05 [[ 7.00293224e-01 -7.11067874e-01 -6.30228510e-02 7.40945040e+01] [ 7.07965684e-01 7.03120904e-01 -6.63745717e-02 3.65596645e+01] [ 9.15095095e-02 1.86364698e-03 9.95802459e-01 6.05019035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.826875 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:74.11, Y:36.58, Z:6.05 [[ 7.00330796e-01 -7.11027060e-01 -6.30658113e-02 7.41128609e+01] [ 7.07917419e-01 7.03162097e-01 -6.64529385e-02 3.65805543e+01] [ 9.15953256e-02 1.89365293e-03 9.95794512e-01 6.05224241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.13, Y:36.60, Z:6.05 [[ 7.00608285e-01 -7.10731455e-01 -6.33153282e-02 7.41309894e+01] [ 7.07592500e-01 7.03460684e-01 -6.67526752e-02 3.66004471e+01] [ 9.19830700e-02 1.96602590e-03 9.95758630e-01 6.05449706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.88687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.15, Y:36.62, Z:6.05 [[ 7.00616136e-01 -7.10688502e-01 -6.37093645e-02 7.41491369e+01] [ 7.07506959e-01 7.03503960e-01 -6.72017929e-02 3.66217490e+01] [ 9.25793317e-02 2.00784174e-03 9.95703287e-01 6.05499391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.17, Y:36.64, Z:6.06 [[ 7.00437708e-01 -7.10871452e-01 -6.36301468e-02 7.41668882e+01] [ 7.07695157e-01 7.03319095e-01 -6.71551577e-02 3.66416837e+01] [ 9.24909818e-02 2.00725802e-03 9.95711499e-01 6.05669008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.19, Y:36.66, Z:6.06 [[ 7.00208123e-01 -7.11194617e-01 -6.25363918e-02 7.41853162e+01] [ 7.08125146e-01 7.02992461e-01 -6.60331555e-02 3.66629924e+01] [ 9.09250368e-02 1.95336034e-03 9.95855824e-01 6.05922065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.20, Y:36.68, Z:6.06 [[ 6.99660894e-01 -7.11777088e-01 -6.20323265e-02 7.42039780e+01] [ 7.08756041e-01 7.02402885e-01 -6.55367125e-02 3.66836143e+01] [ 9.02192155e-02 1.88768875e-03 9.95920142e-01 6.06159507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.22, Y:36.70, Z:6.06 [[ 6.99108036e-01 -7.12335668e-01 -6.18534631e-02 7.42223015e+01] [ 7.09330981e-01 7.01836538e-01 -6.53837309e-02 3.67032410e+01] [ 8.99861840e-02 1.83571396e-03 9.95941322e-01 6.06415645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.036875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:74.24, Y:36.72, Z:6.07 [[ 6.97103418e-01 -7.14321861e-01 -6.15719330e-02 7.42415069e+01] [ 7.11349321e-01 6.99815500e-01 -6.51184311e-02 3.67242928e+01] [ 8.96045120e-02 1.59512820e-03 9.95976148e-01 6.06617529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.26, Y:36.75, Z:6.07 [[ 6.95907948e-01 -7.15517494e-01 -6.12114632e-02 7.42604069e+01] [ 7.12581191e-01 6.98593295e-01 -6.47723328e-02 3.67450828e+01] [ 8.91076550e-02 1.45744390e-03 9.96020934e-01 6.06834313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.28, Y:36.77, Z:6.07 [[ 6.95115002e-01 -7.16324317e-01 -6.07832712e-02 7.42792008e+01] [ 7.13429008e-01 6.97766149e-01 -6.43541180e-02 3.67654829e+01] [ 8.85109287e-02 1.36896404e-03 9.96074265e-01 6.06982891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.30, Y:36.79, Z:6.07 [[ 6.93959829e-01 -7.17453109e-01 -6.06695343e-02 7.42982351e+01] [ 7.14569862e-01 6.96605686e-01 -6.42684225e-02 3.67862265e+01] [ 8.83723221e-02 1.24708267e-03 9.96086732e-01 6.07184941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.32, Y:36.81, Z:6.07 [[ 6.91355020e-01 -7.19923515e-01 -6.11422013e-02 7.43171591e+01] [ 7.17001496e-01 6.94052738e-01 -6.48047229e-02 3.68074267e+01] [ 8.90903561e-02 9.64020657e-04 9.96023082e-01 6.07347268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.34, Y:36.83, Z:6.08 [[ 6.89824982e-01 -7.21358969e-01 -6.15039226e-02 7.43364701e+01] [ 7.18404665e-01 6.92560889e-01 -6.52238634e-02 3.68279689e+01] [ 8.96450301e-02 8.08345467e-04 9.95973451e-01 6.07593779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.36, Y:36.85, Z:6.08 [[ 6.86658049e-01 -7.24340534e-01 -6.18992371e-02 7.43553495e+01] [ 7.21356817e-01 6.89442232e-01 -6.56791589e-02 3.68487365e+01] [ 9.02500252e-02 4.47686514e-04 9.95919039e-01 6.07786332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.24687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.37, Y:36.87, Z:6.08 [[ 6.84971280e-01 -7.25907974e-01 -6.22250686e-02 7.43740852e+01] [ 7.22895840e-01 6.87791787e-01 -6.60610471e-02 3.68690859e+01] [ 9.07521320e-02 2.67676711e-04 9.95873475e-01 6.08068319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.39, Y:36.89, Z:6.08 [[ 6.83416095e-01 -7.27380702e-01 -6.21269329e-02 7.43933685e+01] [ 7.24380877e-01 6.86234148e-01 -6.59927290e-02 3.68900604e+01] [ 9.06354604e-02 9.69310722e-05 9.95884132e-01 6.08302734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.41, Y:36.91, Z:6.09 [[ 6.81941941e-01 -7.28779733e-01 -6.19297143e-02 7.44114896e+01] [ 7.25801397e-01 6.84748200e-01 -6.58197187e-02 3.69100024e+01] [ 9.03743373e-02 -6.34464211e-05 9.95907865e-01 6.08649261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.43, Y:36.93, Z:6.09 [[ 6.80131563e-01 -7.30503915e-01 -6.15230669e-02 7.44290290e+01] [ 7.27569419e-01 6.82908453e-01 -6.54124195e-02 3.69318622e+01] [ 8.97986510e-02 -2.73250989e-04 9.95959903e-01 6.08840653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.45, Y:36.95, Z:6.09 [[ 6.79699297e-01 -7.30960206e-01 -6.08772697e-02 7.44466490e+01] [ 7.28085831e-01 6.82420020e-01 -6.47606356e-02 3.69525756e+01] [ 8.88813151e-02 -3.06118959e-04 9.96042177e-01 6.09058815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.46, Y:36.97, Z:6.09 [[ 6.80562712e-01 -7.30160779e-01 -6.08246037e-02 7.44649484e+01] [ 7.27286057e-01 6.83275349e-01 -6.47285831e-02 3.69739762e+01] [ 8.88222249e-02 -1.85026133e-04 9.96047478e-01 6.09429038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.48, Y:37.00, Z:6.10 [[ 6.81307558e-01 -7.29413357e-01 -6.14505166e-02 7.44836299e+01] [ 7.26472787e-01 6.84073206e-01 -6.54304178e-02 3.69953637e+01] [ 8.97624726e-02 -6.38898370e-05 9.95963199e-01 6.09748062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.50, Y:37.02, Z:6.10 [[ 6.82140736e-01 -7.28601319e-01 -6.18395898e-02 7.45018532e+01] [ 7.25616732e-01 6.84938036e-01 -6.58805363e-02 3.70171174e+01] [ 9.03569329e-02 6.79564561e-05 9.95909444e-01 6.09940514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.52, Y:37.04, Z:6.10 [[ 6.85023679e-01 -7.25816239e-01 -6.27163989e-02 7.45183553e+01] [ 7.22731165e-01 6.87888486e-01 -6.68512809e-02 3.70397112e+01] [ 9.16636339e-02 4.67614319e-04 9.95789917e-01 6.10106145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.54, Y:37.06, Z:6.10 [[ 6.86753877e-01 -7.24185021e-01 -6.26511550e-02 7.45360644e+01] [ 7.21096261e-01 6.89605359e-01 -6.68179027e-02 3.70614476e+01] [ 9.15930965e-02 7.09940188e-04 9.95796265e-01 6.10266329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.546875 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:74.55, Y:37.08, Z:6.10 [[ 6.88605089e-01 -7.22409080e-01 -6.28343230e-02 7.45539418e+01] [ 7.19291404e-01 6.91465234e-01 -6.70500283e-02 3.70828355e+01] [ 9.18852992e-02 9.74802357e-04 9.95769121e-01 6.10458449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.57, Y:37.10, Z:6.11 [[ 6.91918465e-01 -7.19155830e-01 -6.37473960e-02 7.45717133e+01] [ 7.15929299e-01 6.94847304e-01 -6.80621974e-02 3.71042011e+01] [ 9.32420323e-02 1.45486254e-03 9.95642409e-01 6.10739851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.59, Y:37.12, Z:6.11 [[ 6.93156856e-01 -7.17888429e-01 -6.45738126e-02 7.45906057e+01] [ 7.14568374e-01 6.96156163e-01 -6.89828654e-02 3.71247953e+01] [ 9.44754584e-02 1.67354187e-03 9.95525784e-01 6.11024427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.61, Y:37.15, Z:6.11 [[ 6.95691793e-01 -7.15458095e-01 -6.42856405e-02 7.46096261e+01] [ 7.12153753e-01 6.98652723e-01 -6.87124743e-02 3.71459609e+01] [ 9.40742337e-02 2.02144428e-03 9.95563133e-01 6.11275970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.63, Y:37.17, Z:6.12 [[ 6.96507430e-01 -7.14712674e-01 -6.37431811e-02 7.46277107e+01] [ 7.11457409e-01 6.99414939e-01 -6.81696282e-02 3.71659197e+01] [ 9.33046303e-02 2.13009408e-03 9.95635329e-01 6.11503917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.65, Y:37.19, Z:6.12 [[ 6.97487957e-01 -7.13802381e-01 -6.32195412e-02 7.46466129e+01] [ 7.10593367e-01 7.00343528e-01 -6.76462112e-02 3.71864055e+01] [ 9.25614232e-02 2.25903106e-03 9.95704414e-01 6.11714604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.67, Y:37.21, Z:6.12 [[ 6.98477840e-01 -7.12845681e-01 -6.30851949e-02 7.46659766e+01] [ 7.09642964e-01 7.01316791e-01 -6.75397873e-02 3.72066669e+01] [ 9.23881521e-02 2.40708009e-03 9.95720159e-01 6.11989095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.69, Y:37.23, Z:6.12 [[ 7.00537064e-01 -7.10899792e-01 -6.22037596e-02 7.46860483e+01] [ 7.07629068e-01 7.03283194e-01 -6.82191406e-02 3.72260550e+01] [ 9.22438316e-02 3.77284805e-03 9.95729301e-01 6.12192032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.71, Y:37.24, Z:6.13 [[ 7.01202365e-01 -7.10037926e-01 -6.45088051e-02 7.47054946e+01] [ 7.06818656e-01 7.04161192e-01 -6.75603756e-02 3.72449717e+01] [ 9.33950261e-02 1.77746831e-03 9.95627546e-01 6.12594636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.72, Y:37.26, Z:6.13 [[ 7.01705088e-01 -7.09558678e-01 -6.43152477e-02 7.47239612e+01] [ 7.06204831e-01 7.04640059e-01 -6.89719125e-02 3.72644007e+01] [ 9.42587190e-02 2.97820333e-03 9.95543281e-01 6.12772565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.74, Y:37.28, Z:6.13 [[ 7.03588578e-01 -7.07711764e-01 -6.40872123e-02 7.47434469e+01] [ 7.04370828e-01 7.06493856e-01 -6.87616787e-02 3.72846754e+01] [ 9.39406707e-02 3.23876899e-03 9.95572529e-01 6.12886322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.76, Y:37.31, Z:6.13 [[ 7.04611497e-01 -7.06739874e-01 -6.35719187e-02 7.47624347e+01] [ 7.03445116e-01 7.07465482e-01 -6.82463195e-02 3.73051123e+01] [ 9.32073334e-02 3.36778565e-03 9.95641025e-01 6.13108669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.78, Y:37.32, Z:6.13 [[ 7.05564048e-01 -7.05767844e-01 -6.38053619e-02 7.47809702e+01] [ 7.02441281e-01 7.08434363e-01 -6.85346607e-02 3.73240743e+01] [ 9.35714707e-02 3.53607250e-03 9.95606286e-01 6.13432738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.80, Y:37.34, Z:6.14 [[ 7.06444162e-01 -7.04817179e-01 -6.45708120e-02 7.48002248e+01] [ 7.01402857e-01 7.09379181e-01 -6.93917133e-02 3.73424645e+01] [ 9.47136613e-02 3.73121875e-03 9.95497564e-01 6.13698086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.82, Y:37.36, Z:6.14 [[ 7.06286010e-01 -7.04918943e-01 -6.51870882e-02 7.48196499e+01] [ 7.01436017e-01 7.09277807e-01 -7.00892781e-02 3.73629640e+01] [ 9.56430148e-02 3.77850508e-03 9.95408528e-01 6.13898379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.84, Y:37.38, Z:6.14 [[ 7.06086276e-01 -7.05084355e-01 -6.55608346e-02 7.48390056e+01] [ 7.01558252e-01 7.09113229e-01 -7.05297589e-02 3.73835010e+01] [ 9.62194847e-02 3.80535025e-03 9.95352867e-01 6.14060153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.86, Y:37.40, Z:6.14 [[ 7.05581230e-01 -7.05579169e-01 -6.56746878e-02 7.48573011e+01] [ 7.02039210e-01 7.08621063e-01 -7.06904316e-02 3.74028596e+01] [ 9.64161631e-02 3.77163575e-03 9.95333963e-01 6.14286753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.88, Y:37.42, Z:6.15 [[ 7.03794333e-01 -7.07349625e-01 -6.58030802e-02 7.48779695e+01] [ 7.03800050e-01 7.06854883e-01 -7.08636986e-02 3.74219948e+01] [ 9.66386392e-02 3.56125828e-03 9.95313162e-01 6.14581064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.90, Y:37.44, Z:6.15 [[ 7.02653129e-01 -7.08484508e-01 -6.57896731e-02 7.48974984e+01] [ 7.04937530e-01 7.05718018e-01 -7.08883539e-02 3.74407259e+01] [ 9.66522582e-02 3.43231407e-03 9.95312293e-01 6.14896629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.92, Y:37.46, Z:6.15 [[ 7.01223306e-01 -7.09921772e-01 -6.55511510e-02 7.49175881e+01] [ 7.06403326e-01 7.04273051e-01 -7.06668985e-02 3.74603153e+01] [ 9.63338789e-02 3.24772505e-03 9.95343778e-01 6.15268136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.94, Y:37.48, Z:6.16 [[ 6.98519640e-01 -7.12628748e-01 -6.50429040e-02 7.49388263e+01] [ 7.09172766e-01 7.01535442e-01 -7.01570500e-02 3.74788612e+01] [ 9.56258331e-02 2.87942122e-03 9.95413185e-01 6.15631116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.96, Y:37.50, Z:6.16 [[ 6.96911732e-01 -7.14201527e-01 -6.50401102e-02 7.49587539e+01] [ 7.10748864e-01 6.99934950e-01 -7.01934322e-02 3.74982402e+01] [ 9.56561028e-02 2.69144200e-03 9.95410803e-01 6.15918586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.98, Y:37.52, Z:6.16 [[ 6.93299917e-01 -7.17757265e-01 -6.44959941e-02 7.49790670e+01] [ 7.14373869e-01 6.96289899e-01 -6.96444688e-02 3.75158609e+01] [ 9.48957327e-02 2.21025165e-03 9.95484764e-01 6.16179088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.236875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:75.00, Y:37.53, Z:6.17 [[ 6.91363965e-01 -7.19657578e-01 -6.41002208e-02 7.49992016e+01] [ 7.16320525e-01 6.94326380e-01 -6.92515968e-02 3.75345650e+01] [ 9.43439107e-02 1.96175471e-03 9.95537733e-01 6.16512004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.266875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:75.02, Y:37.56, Z:6.17 [[ 6.91181410e-01 -7.19834437e-01 -6.40830853e-02 7.50184900e+01] [ 7.16496674e-01 6.94143023e-01 -6.92674501e-02 3.75555560e+01] [ 9.43439226e-02 1.96105628e-03 9.95537733e-01 6.16763368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.04, Y:37.57, Z:6.17 [[ 6.89105705e-01 -7.21860665e-01 -6.36436080e-02 7.50388118e+01] [ 7.18573915e-01 6.92036344e-01 -6.88275186e-02 3.75743977e+01] [ 9.37275681e-02 1.69679921e-03 9.95596436e-01 6.17061259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.06, Y:37.59, Z:6.17 [[ 6.87033936e-01 -7.23830262e-01 -6.36719906e-02 7.50591597e+01] [ 7.20545433e-01 6.89976546e-01 -6.88959037e-02 3.75932468e+01] [ 9.38011202e-02 1.45526192e-03 9.95589892e-01 6.17405455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.08, Y:37.61, Z:6.18 [[ 6.83067878e-01 -7.27556023e-01 -6.38788458e-02 7.50806301e+01] [ 7.24262325e-01 6.86047581e-01 -6.91577933e-02 3.76113802e+01] [ 9.41400967e-02 9.74425731e-04 9.95558483e-01 6.17701318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.38687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.10, Y:37.63, Z:6.18 [[ 6.80915561e-01 -7.29575642e-01 -6.38230386e-02 7.50994499e+01] [ 7.26292973e-01 6.83899746e-01 -6.91350446e-02 3.76303461e+01] [ 9.40878044e-02 7.20903253e-04 9.95563642e-01 6.17851436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.12, Y:37.65, Z:6.18 [[ 6.79304771e-01 -7.31077477e-01 -6.38024421e-02 7.51196260e+01] [ 7.27800306e-01 6.82294244e-01 -6.91467938e-02 3.76503112e+01] [ 9.40837025e-02 5.36310086e-04 9.95564146e-01 6.18052938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.14, Y:37.67, Z:6.18 [[ 6.76752710e-01 -7.33362068e-01 -6.46981139e-02 7.51402364e+01] [ 7.29998725e-01 6.79838227e-01 -7.01558715e-02 3.76695950e+01] [ 9.54339061e-02 2.48635544e-04 9.95435738e-01 6.18244877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.16, Y:37.69, Z:6.18 [[ 6.75845144e-01 -7.34169902e-01 -6.50222689e-02 7.51597783e+01] [ 7.30772718e-01 6.78965779e-01 -7.05457692e-02 3.76895084e+01] [ 9.59404759e-02 1.61515342e-04 9.95387060e-01 6.18481230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.18, Y:37.71, Z:6.19 [[ 6.75311420e-01 -7.34682857e-01 -6.47733382e-02 7.51787368e+01] [ 7.31310416e-01 6.78410706e-01 -7.03135087e-02 3.77082888e+01] [ 9.56010556e-02 1.14098484e-04 9.95419723e-01 6.18767610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.20, Y:37.73, Z:6.19 [[ 6.75451765e-01 -7.34546082e-01 -6.48611394e-02 7.51978132e+01] [ 7.31160500e-01 6.78558788e-01 -7.04435568e-02 3.77287960e+01] [ 9.57561348e-02 1.57321642e-04 9.95404811e-01 6.19068607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.22, Y:37.75, Z:6.19 [[ 6.77180360e-01 -7.32806069e-01 -6.64983065e-02 7.52160861e+01] [ 7.29234700e-01 6.80437411e-01 -7.22612003e-02 3.77493005e+01] [ 9.82013816e-02 4.40993029e-04 9.95166466e-01 6.19231978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.23, Y:37.77, Z:6.19 [[ 6.78449341e-01 -7.31601625e-01 -6.68248042e-02 7.52349739e+01] [ 7.27985620e-01 6.81732095e-01 -7.26518284e-02 3.77706490e+01] [ 9.87088095e-02 6.43088504e-04 9.95116153e-01 6.19354207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.25, Y:37.79, Z:6.20 [[ 6.80001208e-01 -7.30120304e-01 -6.72510071e-02 7.52535713e+01] [ 7.26446680e-01 6.83318042e-01 -7.31551429e-02 3.77915727e+01] [ 9.93658817e-02 8.91314727e-04 9.95050565e-01 6.19565116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.27, Y:37.81, Z:6.20 [[ 6.81916593e-01 -7.28354915e-01 -6.69990991e-02 7.52710760e+01] [ 7.24696280e-01 6.85199054e-01 -7.29215846e-02 3.78115880e+01] [ 9.90205139e-02 1.17244055e-03 9.95084702e-01 6.19769190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.29, Y:37.83, Z:6.20 [[ 6.83818353e-01 -7.26580143e-01 -6.68861447e-02 7.52892551e+01] [ 7.22921696e-01 6.87080188e-01 -7.28356805e-02 3.78322802e+01] [ 9.88771040e-02 1.45292991e-03 9.95098592e-01 6.20007308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.31, Y:37.85, Z:6.20 [[ 6.87949964e-01 -7.22702646e-01 -6.65261808e-02 7.53067792e+01] [ 7.19061491e-01 6.91156112e-01 -7.24831008e-02 3.78540336e+01] [ 9.83637053e-02 2.02833183e-03 9.95148465e-01 6.20215305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.33, Y:37.87, Z:6.20 [[ 6.89584003e-01 -7.21184768e-01 -6.60789954e-02 7.53252497e+01] [ 7.17581722e-01 6.92739082e-01 -7.20349637e-02 3.78749711e+01] [ 9.77260212e-02 2.25707929e-03 9.95210797e-01 6.20454154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.34, Y:37.90, Z:6.21 [[ 6.90927839e-01 -7.19941334e-01 -6.55987623e-02 7.53438928e+01] [ 7.16381198e-01 6.94030626e-01 -7.15504656e-02 3.78951801e+01] [ 9.70396877e-02 2.44248860e-03 9.95277516e-01 6.20788793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.36, Y:37.92, Z:6.21 [[ 6.93577362e-01 -7.17430806e-01 -6.51420011e-02 7.53620109e+01] [ 7.13905329e-01 6.96624135e-01 -7.10914543e-02 3.79152835e+01] [ 9.63826896e-02 2.80220162e-03 9.95340407e-01 6.21127585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.38, Y:37.94, Z:6.21 [[ 6.94136959e-01 -7.16872987e-01 -6.53222970e-02 7.53807077e+01] [ 7.13321929e-01 6.97197700e-01 -7.13245568e-02 3.79364233e+01] [ 9.66732033e-02 2.91318407e-03 9.95311913e-01 6.21238866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.40, Y:37.96, Z:6.21 [[ 6.94459488e-01 -7.16534595e-01 -6.56063588e-02 7.53996608e+01] [ 7.12947129e-01 6.97545101e-01 -7.16744228e-02 3.79574699e+01] [ 9.71205976e-02 3.00111778e-03 9.95268096e-01 6.21457648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.42, Y:37.98, Z:6.22 [[ 6.92308192e-01 -7.18569957e-01 -6.60801360e-02 7.54189089e+01] [ 7.14935611e-01 6.95449191e-01 -7.22322268e-02 3.79785384e+01] [ 9.78592852e-02 2.76391993e-03 9.95196423e-01 6.21540898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.44, Y:38.00, Z:6.22 [[ 6.91379158e-01 -7.19474656e-01 -6.59627021e-02 7.54377305e+01] [ 7.15853420e-01 6.94513605e-01 -7.21438366e-02 3.79975949e+01] [ 9.77176561e-02 2.65911916e-03 9.95210625e-01 6.21811109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.46, Y:38.02, Z:6.22 [[ 6.89961983e-01 -7.20829652e-01 -6.60081413e-02 7.54576341e+01] [ 7.17205975e-01 6.93107776e-01 -7.22301808e-02 3.80178060e+01] [ 9.78164122e-02 2.49464541e-03 9.95201350e-01 6.22159202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.48, Y:38.04, Z:6.22 [[ 6.87176942e-01 -7.23420156e-01 -6.67167774e-02 7.54782829e+01] [ 7.19726153e-01 6.90404617e-01 -7.30460827e-02 3.80368791e+01] [ 9.89045797e-02 2.17777414e-03 9.95094539e-01 6.22462128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.50, Y:38.06, Z:6.23 [[ 6.85664767e-01 -7.24844577e-01 -6.68144193e-02 7.54974836e+01] [ 7.21142401e-01 6.88909518e-01 -7.31936692e-02 3.80568716e+01] [ 9.90831236e-02 2.00360930e-03 9.95077143e-01 6.22661931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.52, Y:38.08, Z:6.23 [[ 6.84280138e-01 -7.26161977e-01 -6.67043969e-02 7.55158596e+01] [ 7.22474367e-01 6.87521206e-01 -7.31121061e-02 3.80762261e+01] [ 9.89519189e-02 1.83694505e-03 9.95090520e-01 6.22837681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.54, Y:38.09, Z:6.23 [[ 6.82543275e-01 -7.27835608e-01 -6.62571108e-02 7.55369036e+01] [ 7.24202449e-01 6.85749777e-01 -7.26502373e-02 3.80944471e+01] [ 9.83132286e-02 1.60336899e-03 9.95154228e-01 6.23203174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.56, Y:38.11, Z:6.24 [[ 6.81795721e-01 -7.28539394e-01 -6.62189248e-02 7.55572710e+01] [ 7.24909802e-01 6.85002201e-01 -7.26482169e-02 3.81138692e+01] [ 9.82871972e-02 1.52849576e-03 9.95156918e-01 6.23501384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.58, Y:38.13, Z:6.24 [[ 6.81281249e-01 -7.28996023e-01 -6.64880327e-02 7.55762513e+01] [ 7.25334988e-01 6.84516296e-01 -7.29835273e-02 3.81329331e+01] [ 9.87168430e-02 1.49621216e-03 9.95114439e-01 6.23790985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.60, Y:38.15, Z:6.24 [[ 6.79535175e-01 -7.30643478e-01 -6.62725753e-02 7.55971400e+01] [ 7.27010387e-01 6.82757991e-01 -7.27833967e-02 3.81525271e+01] [ 9.84268445e-02 1.27802757e-03 9.95143469e-01 6.23990470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.62, Y:38.17, Z:6.24 [[ 6.78900113e-01 -7.31226457e-01 -6.63513744e-02 7.56167016e+01] [ 7.27583542e-01 6.82133692e-01 -7.29096416e-02 3.81724246e+01] [ 9.85739669e-02 1.22219593e-03 9.95128976e-01 6.24254562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.64, Y:38.19, Z:6.25 [[ 6.77328701e-01 -7.32701416e-01 -6.61397445e-02 7.56371261e+01] [ 7.29084852e-01 6.80549462e-01 -7.27166295e-02 3.81922980e+01] [ 9.82909450e-02 1.03157435e-03 9.95157187e-01 6.24563471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.66, Y:38.21, Z:6.25 [[ 6.76929322e-01 -7.33067994e-01 -6.61665258e-02 7.56567786e+01] [ 7.29446279e-01 6.80154618e-01 -7.27861442e-02 3.82127412e+01] [ 9.83606608e-02 1.00614922e-03 9.95150324e-01 6.24848778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.68, Y:38.23, Z:6.25 [[ 6.77085070e-01 -7.32765669e-01 -6.78990527e-02 7.56764890e+01] [ 7.29362601e-01 6.80478816e-01 -7.05604518e-02 3.82324007e+01] [ 9.79081437e-02 -1.74760123e-03 9.95193921e-01 6.25287530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.69, Y:38.25, Z:6.25 [[ 6.76381456e-01 -7.33727518e-01 -6.44364476e-02 7.56936396e+01] [ 7.29881141e-01 6.79433308e-01 -7.51258912e-02 3.82533429e+01] [ 9.89022024e-02 3.78281177e-03 9.95089968e-01 6.25256202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.71, Y:38.27, Z:6.26 [[ 6.76180163e-01 -7.33756736e-01 -6.61924393e-02 7.57125270e+01] [ 7.30125683e-01 6.79411586e-01 -7.29135344e-02 3.82732980e+01] [ 9.84727072e-02 9.73885593e-04 9.95139275e-01 6.25599206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.73, Y:38.29, Z:6.26 [[ 6.75713455e-01 -7.34222951e-01 -6.57874247e-02 7.57313999e+01] [ 7.30634617e-01 6.78907798e-01 -7.25069534e-02 3.82933184e+01] [ 9.78998650e-02 9.27354186e-04 9.95195838e-01 6.25942708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.75, Y:38.31, Z:6.26 [[ 6.75143948e-01 -7.34757129e-01 -6.56704728e-02 7.57502626e+01] [ 7.31180206e-01 6.78329710e-01 -7.24176135e-02 3.83136320e+01] [ 9.77555905e-02 8.75363718e-04 9.95210067e-01 6.26254208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.77, Y:38.33, Z:6.27 [[ 6.73442717e-01 -7.36334786e-01 -6.54674817e-02 7.57689732e+01] [ 7.32783518e-01 6.76617050e-01 -7.22335312e-02 3.83340244e+01] [ 9.74844760e-02 6.71653892e-04 9.95236819e-01 6.26537853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.79, Y:38.36, Z:6.27 [[ 6.72490536e-01 -7.37212802e-01 -6.53740235e-02 7.57877666e+01] [ 7.33671918e-01 6.75660387e-01 -7.21703445e-02 3.83551014e+01] [ 9.73755399e-02 5.70788384e-04 9.95247546e-01 6.26775762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.81, Y:38.38, Z:6.27 [[ 6.72362333e-01 -7.37331462e-01 -6.53544857e-02 7.58068045e+01] [ 7.33789417e-01 6.75530887e-01 -7.21880333e-02 3.83762795e+01] [ 9.73754817e-02 5.80084490e-04 9.95247547e-01 6.27026639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.82, Y:38.40, Z:6.27 [[ 6.71495676e-01 -7.38164066e-01 -6.48642261e-02 7.58247422e+01] [ 7.34676512e-01 6.74621069e-01 -7.16717210e-02 3.83967150e+01] [ 9.66642626e-02 4.73027316e-04 9.95316933e-01 6.27360734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.84, Y:38.42, Z:6.28 [[ 6.71243721e-01 -7.38398610e-01 -6.48024612e-02 7.58435853e+01] [ 7.34916031e-01 6.74364355e-01 -7.16320118e-02 3.84174465e+01] [ 9.65934479e-02 4.58170631e-04 9.95323815e-01 6.27628882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.86, Y:38.44, Z:6.28 [[ 6.70660873e-01 -7.38873351e-01 -6.54229650e-02 7.58610883e+01] [ 7.35321856e-01 6.73844191e-01 -7.23586443e-02 3.84373857e+01] [ 9.75487589e-02 4.21175505e-04 9.95230658e-01 6.27872569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.88, Y:38.46, Z:6.28 [[ 6.70156399e-01 -7.39369882e-01 -6.49813719e-02 7.58788702e+01] [ 7.35865054e-01 6.73299368e-01 -7.19067673e-02 3.84589858e+01] [ 9.69176147e-02 3.71259493e-04 9.95292338e-01 6.28126844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.90, Y:38.48, Z:6.28 [[ 6.70238924e-01 -7.39350432e-01 -6.43484534e-02 7.58962128e+01] [ 7.35909824e-01 6.73320712e-01 -7.12456970e-02 3.84796374e+01] [ 9.60026833e-02 3.96980313e-04 9.95380996e-01 6.28387655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.91, Y:38.50, Z:6.29 [[ 6.70529967e-01 -7.39083944e-01 -6.43776825e-02 7.59135991e+01] [ 7.35635520e-01 6.73613177e-01 -7.13138869e-02 3.85006950e+01] [ 9.60726041e-02 4.59588357e-04 9.95374223e-01 6.28582646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.93, Y:38.52, Z:6.29 [[ 6.70745352e-01 -7.38896361e-01 -6.42871647e-02 7.59312291e+01] [ 7.35453411e-01 6.73818898e-01 -7.12486655e-02 3.85222263e+01] [ 9.59632862e-02 5.09496681e-04 9.95384744e-01 6.28812074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.95, Y:38.54, Z:6.29 [[ 6.72348531e-01 -7.37427640e-01 -6.44044195e-02 7.59476410e+01] [ 7.33961570e-01 6.75425731e-01 -7.14177606e-02 3.85445173e+01] [ 9.61658328e-02 7.47257603e-04 9.95365046e-01 6.29074964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.96, Y:38.57, Z:6.29 [[ 6.73168868e-01 -7.36674698e-01 -6.44520303e-02 7.59649482e+01] [ 7.33196237e-01 6.76246709e-01 -7.15099112e-02 3.85657884e+01] [ 9.62650156e-02 8.82259907e-04 9.95355348e-01 6.29292505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.98, Y:38.59, Z:6.30 [[ 6.73719725e-01 -7.36167291e-01 -6.44938047e-02 7.59817554e+01] [ 7.32678520e-01 6.76798906e-01 -7.15920940e-02 3.85872743e+01] [ 9.63530944e-02 9.79780530e-04 9.95346734e-01 6.29506076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.00, Y:38.61, Z:6.30 [[ 6.75810855e-01 -7.34196866e-01 -6.50741815e-02 7.59984309e+01] [ 7.30632305e-01 6.78935402e-01 -7.22713934e-02 3.86090527e+01] [ 9.72425962e-02 1.29649294e-03 9.95259864e-01 6.29818973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.02, Y:38.63, Z:6.30 [[ 6.76411767e-01 -7.33602149e-01 -6.55363166e-02 7.60156903e+01] [ 7.29981142e-01 6.79577734e-01 -7.28123357e-02 3.86302400e+01] [ 9.79523075e-02 1.41084539e-03 9.95190110e-01 6.30058285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.88687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.03, Y:38.65, Z:6.30 [[ 6.76924181e-01 -7.33114948e-01 -6.56972277e-02 7.60335842e+01] [ 7.29470286e-01 6.80103077e-01 -7.30267560e-02 3.86522163e+01] [ 9.82178931e-02 1.50940153e-03 9.95163789e-01 6.30364357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.04, Y:38.68, Z:6.28 [[ 6.76163350e-01 -7.35901781e-01 -3.53792851e-02 7.60424253e+01] [ 7.31125405e-01 6.76148915e-01 -9.09850876e-02 3.86829475e+01] [ 9.08777532e-02 3.56540874e-02 9.95223603e-01 6.27507610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.07, Y:38.69, Z:6.33 [[ 6.77082724e-01 -7.30468129e-01 -8.93045231e-02 7.60731220e+01] [ 7.29441384e-01 6.82224866e-01 -4.98447570e-02 3.86899288e+01] [ 9.73357727e-02 -3.13933911e-02 9.94756353e-01 6.32529301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97687499999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:76.09, Y:38.72, Z:6.31 [[ 6.76757836e-01 -7.33406325e-01 -6.41404167e-02 7.60869576e+01] [ 7.29923843e-01 6.79788863e-01 -7.14022742e-02 3.87171328e+01] [ 9.59688206e-02 1.50442913e-03 9.95383204e-01 6.30989803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.10, Y:38.74, Z:6.31 [[ 6.75633902e-01 -7.34546078e-01 -6.29355972e-02 7.61043849e+01] [ 7.31194874e-01 6.78557482e-01 -7.00985018e-02 3.87373939e+01] [ 9.41959999e-02 1.34273819e-03 9.95552766e-01 6.31237309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.12, Y:38.76, Z:6.32 [[ 6.74906629e-01 -7.35223434e-01 -6.28294820e-02 7.61232346e+01] [ 7.31883931e-01 6.77823652e-01 -7.00071990e-02 3.87580567e+01] [ 9.40582422e-02 1.26443441e-03 9.95565893e-01 6.31519282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.14, Y:38.78, Z:6.32 [[ 6.74060829e-01 -7.35997474e-01 -6.28467795e-02 7.61423145e+01] [ 7.32655841e-01 6.76983249e-01 -7.00649602e-02 3.87792521e+01] [ 9.41138506e-02 1.18298505e-03 9.95560738e-01 6.31725145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.16, Y:38.80, Z:6.32 [[ 6.72741360e-01 -7.37158725e-01 -6.33725226e-02 7.61606708e+01] [ 7.33762203e-01 6.75718802e-01 -7.06903843e-02 3.87990404e+01] [ 9.49320386e-02 1.05598347e-03 9.95483196e-01 6.31930932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.18, Y:38.82, Z:6.32 [[ 6.72076325e-01 -7.37726778e-01 -6.38170379e-02 7.61792802e+01] [ 7.34281416e-01 6.75098650e-01 -7.12222952e-02 3.88194580e+01] [ 9.56253905e-02 1.00715349e-03 9.95416883e-01 6.32204041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.20, Y:38.84, Z:6.32 [[ 6.71890362e-01 -7.37897806e-01 -6.37978743e-02 7.61982264e+01] [ 7.34451584e-01 6.74911705e-01 -7.12394574e-02 3.88407614e+01] [ 9.56253715e-02 1.00865496e-03 9.95416883e-01 6.32456196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.22, Y:38.86, Z:6.33 [[ 6.71522542e-01 -7.38190462e-01 -6.42831052e-02 7.62167436e+01] [ 7.34689242e-01 6.74591612e-01 -7.18183456e-02 3.88615813e+01] [ 9.63804613e-02 9.99532120e-04 9.95344065e-01 6.32655212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.24, Y:38.88, Z:6.33 [[ 6.71706314e-01 -7.38006231e-01 -6.44781433e-02 7.62351543e+01] [ 7.34479112e-01 6.74793072e-01 -7.20745672e-02 3.88815129e+01] [ 9.67008841e-02 1.05509238e-03 9.95312929e-01 6.32866439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.24687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.25, Y:38.90, Z:6.33 [[ 6.71905061e-01 -7.37828189e-01 -6.44449570e-02 7.62541233e+01] [ 7.34301189e-01 6.74987671e-01 -7.20653035e-02 3.89026094e+01] [ 9.66713638e-02 1.09903371e-03 9.95315749e-01 6.33163170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.27, Y:38.92, Z:6.33 [[ 6.72307370e-01 -7.37444051e-01 -6.46457425e-02 7.62725340e+01] [ 7.33889410e-01 6.75407187e-01 -7.23288723e-02 3.89227268e+01] [ 9.70006957e-02 1.18440814e-03 9.95283609e-01 6.33459897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.30687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.29, Y:38.94, Z:6.34 [[ 6.72577447e-01 -7.37187108e-01 -6.47668581e-02 7.62912914e+01] [ 7.33614100e-01 6.75687505e-01 -7.25034294e-02 3.89437699e+01] [ 9.72107502e-02 1.25029113e-03 9.95263034e-01 6.33633884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.31, Y:38.96, Z:6.34 [[ 6.73570266e-01 -7.36239374e-01 -6.52279187e-02 7.63102052e+01] [ 7.32606786e-01 6.76719702e-01 -7.30598535e-02 3.89645092e+01] [ 9.79305586e-02 1.42452906e-03 9.95192231e-01 6.33850498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.33, Y:38.98, Z:6.34 [[ 6.73874795e-01 -7.35993805e-01 -6.48527501e-02 7.63288813e+01] [ 7.32397930e-01 6.76986655e-01 -7.26797113e-02 3.89847718e+01] [ 9.73962636e-02 1.47900567e-03 9.95244583e-01 6.34081943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.35, Y:39.00, Z:6.34 [[ 6.74305623e-01 -7.35670236e-01 -6.40408504e-02 7.63473404e+01] [ 7.32158736e-01 6.77338137e-01 -7.18097059e-02 3.90047618e+01] [ 9.62055736e-02 1.53362046e-03 9.95360304e-01 6.34467875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.37, Y:39.03, Z:6.35 [[ 6.75354432e-01 -7.34856621e-01 -6.23068052e-02 7.63661936e+01] [ 7.31526421e-01 6.78220536e-01 -6.98999219e-02 3.90251675e+01] [ 9.36241752e-02 1.62814781e-03 9.95606279e-01 6.34865849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.38, Y:39.05, Z:6.35 [[ 6.75661624e-01 -7.34614120e-01 -6.18341696e-02 7.63846494e+01] [ 7.31329787e-01 6.78483079e-01 -6.94078779e-02 3.90457410e+01] [ 9.29414449e-02 1.67506944e-03 9.95670167e-01 6.35150313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.40, Y:39.07, Z:6.35 [[ 6.75818853e-01 -7.34460343e-01 -6.19425740e-02 7.64024534e+01] [ 7.31160221e-01 6.78649414e-01 -6.95679816e-02 3.90658869e+01] [ 9.31322152e-02 1.72540741e-03 9.95652255e-01 6.35404590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.42, Y:39.09, Z:6.36 [[ 6.76101694e-01 -7.34202049e-01 -6.19180937e-02 7.64213942e+01] [ 7.30900204e-01 6.78928692e-01 -6.95753090e-02 3.90869136e+01] [ 9.31203048e-02 1.78403703e-03 9.95653266e-01 6.35618143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.44, Y:39.11, Z:6.36 [[ 6.75399444e-01 -7.34891051e-01 -6.14063094e-02 7.64391990e+01] [ 7.31643002e-01 6.78183051e-01 -6.90381516e-02 3.91073898e+01] [ 9.23802380e-02 1.70083257e-03 9.95722350e-01 6.35749587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.46, Y:39.13, Z:6.36 [[ 6.73496993e-01 -7.36467534e-01 -6.33827435e-02 7.64555275e+01] [ 7.33009941e-01 6.76471096e-01 -7.12971398e-02 3.91310027e+01] [ 9.53846227e-02 1.55822817e-03 9.95439273e-01 6.35702535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.47, Y:39.15, Z:6.36 [[ 6.71495467e-01 -7.38239195e-01 -6.40056918e-02 7.64724944e+01] [ 7.34717308e-01 6.74537676e-01 -7.20374913e-02 3.91528436e+01] [ 9.63551502e-02 1.34675921e-03 9.95346106e-01 6.35730297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.49, Y:39.17, Z:6.36 [[ 6.69601529e-01 -7.40036016e-01 -6.30911086e-02 7.64918373e+01] [ 7.36618905e-01 6.72566349e-01 -7.10429103e-02 3.91724416e+01] [ 9.50072688e-02 1.09633802e-03 9.95475975e-01 6.36255571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.51, Y:39.19, Z:6.37 [[ 6.65464266e-01 -7.43767576e-01 -6.29849456e-02 7.65104472e+01] [ 7.40374839e-01 6.68438063e-01 -7.09623419e-02 3.91920598e+01] [ 9.48810241e-02 5.90433887e-04 9.95488444e-01 6.36985189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.53, Y:39.21, Z:6.37 [[ 6.63159709e-01 -7.45774211e-01 -6.35611954e-02 7.65279489e+01] [ 7.42324664e-01 6.66198706e-01 -7.16475929e-02 3.92140383e+01] [ 9.57773132e-02 3.30753875e-04 9.95402731e-01 6.37159093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.55, Y:39.24, Z:6.37 [[ 6.60955358e-01 -7.47714139e-01 -6.37305407e-02 7.65453493e+01] [ 7.44251311e-01 6.64020753e-01 -7.18778471e-02 3.92360644e+01] [ 9.60624841e-02 7.65096333e-05 9.95375303e-01 6.37338494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.56, Y:39.26, Z:6.38 [[ 6.59183605e-01 -7.49317894e-01 -6.32429341e-02 7.65623715e+01] [ 7.45911617e-01 6.62210448e-01 -7.13665389e-02 3.92577719e+01] [ 9.53563563e-02 -1.29986799e-04 9.95443192e-01 6.37590753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.58, Y:39.28, Z:6.38 [[ 6.58862669e-01 -7.49608994e-01 -6.31374599e-02 7.65798761e+01] [ 7.46211739e-01 6.61880906e-01 -7.12860883e-02 3.92786771e+01] [ 9.52261722e-02 -1.46171373e-04 9.95455652e-01 6.37713790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.60, Y:39.30, Z:6.38 [[ 6.58688314e-01 -7.49773872e-01 -6.29987750e-02 7.65979057e+01] [ 7.46388973e-01 6.61694128e-01 -7.11644723e-02 3.92995510e+01] [ 9.50431815e-02 -1.46384728e-04 9.95473140e-01 6.37974938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.62, Y:39.32, Z:6.38 [[ 6.59296370e-01 -7.49273255e-01 -6.25930125e-02 7.66163063e+01] [ 7.45926086e-01 6.62260966e-01 -7.07438127e-02 3.93204674e+01] [ 9.44593557e-02 -4.86219013e-05 9.95528718e-01 6.38488718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.63, Y:39.34, Z:6.39 [[ 6.59471975e-01 -7.49045206e-01 -6.34664827e-02 7.66333319e+01] [ 7.45598995e-01 6.62518890e-01 -7.17694836e-02 3.93414967e+01] [ 9.58063313e-02 9.41732507e-06 9.95399993e-01 6.38729605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.65, Y:39.37, Z:6.38 [[ 6.59808388e-01 -7.49221007e-01 -5.76261606e-02 7.66465428e+01] [ 7.45397543e-01 6.62281522e-01 -7.59321340e-02 3.93656135e+01] [ 9.50546912e-02 7.14626041e-03 9.95446401e-01 6.38204524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.67, Y:39.39, Z:6.39 [[ 6.60575790e-01 -7.48390851e-01 -5.95882479e-02 7.66653838e+01] [ 7.45120788e-01 6.63255584e-01 -6.99073795e-02 3.93860833e+01] [ 9.18402814e-02 1.77868023e-03 9.95772162e-01 6.38686278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.69, Y:39.40, Z:6.40 [[ 6.62556628e-01 -7.45975830e-01 -6.73704365e-02 7.66879616e+01] [ 7.43157982e-01 6.65937223e-01 -6.51446820e-02 3.94048893e+01] [ 9.34608396e-02 -6.90483673e-03 9.95599013e-01 6.39990682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99687499999999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:76.70, Y:39.43, Z:6.40 [[ 6.63046778e-01 -7.45980208e-01 -6.23097088e-02 7.67049345e+01] [ 7.42634557e-01 6.65967911e-01 -7.05737634e-02 3.94272188e+01] [ 9.41428973e-02 5.20363389e-04 9.95558559e-01 6.39853711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.72, Y:39.45, Z:6.40 [[ 6.62329354e-01 -7.46529173e-01 -6.33563006e-02 7.67210311e+01] [ 7.43068721e-01 6.65352514e-01 -7.17976864e-02 3.94489958e+01] [ 9.57533413e-02 4.75629994e-04 9.95404979e-01 6.39900563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.73, Y:39.47, Z:6.39 [[ 6.60512404e-01 -7.48560648e-01 -5.81405254e-02 7.67341898e+01] [ 7.44889825e-01 6.63041447e-01 -7.42643122e-02 3.94714488e+01] [ 9.41409198e-02 5.74421367e-03 9.95542310e-01 6.39485226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.76, Y:39.49, Z:6.41 [[ 6.61588960e-01 -7.46905839e-01 -6.65711277e-02 7.67579791e+01] [ 7.43770800e-01 6.64916551e-01 -6.84907082e-02 3.94904197e+01] [ 9.54203544e-02 -4.20096451e-03 9.95428203e-01 6.40645641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.78, Y:39.51, Z:6.41 [[ 6.59908318e-01 -7.48664602e-01 -6.34218157e-02 7.67753385e+01] [ 7.45202147e-01 6.62948923e-01 -7.19199906e-02 3.95108508e+01] [ 9.58893755e-02 1.98526727e-04 9.95391977e-01 6.40834409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.79, Y:39.54, Z:6.39 [[ 6.56117044e-01 -7.53150453e-01 -4.76950676e-02 7.67854662e+01] [ 7.49015725e-01 6.57623368e-01 -8.06656657e-02 3.95354944e+01] [ 9.21187737e-02 1.72017625e-02 9.95599433e-01 6.39431268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.81, Y:39.55, Z:6.40 [[ 6.54751914e-01 -7.53654684e-01 -5.74851963e-02 7.68067827e+01] [ 7.50159746e-01 6.57255633e-01 -7.26318661e-02 3.95546933e+01] [ 9.25218152e-02 4.43277306e-03 9.95700791e-01 6.40280359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.83, Y:39.58, Z:6.41 [[ 6.52936146e-01 -7.54706665e-01 -6.39706068e-02 7.68268294e+01] [ 7.51669220e-01 6.56051103e-01 -6.77520016e-02 3.95754687e+01] [ 9.31008744e-02 -3.84700526e-03 9.95649249e-01 6.40992950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.85, Y:39.59, Z:6.42 [[ 6.49809725e-01 -7.56427166e-01 -7.46006975e-02 7.68486808e+01] [ 7.53906990e-01 6.53906233e-01 -6.34892823e-02 3.95941685e+01] [ 9.68068790e-02 -1.49860343e-02 9.95190357e-01 6.42314109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.87, Y:39.62, Z:6.42 [[ 6.47625047e-01 -7.59267491e-01 -6.39896555e-02 7.68653833e+01] [ 7.55771815e-01 6.50777518e-01 -7.27845177e-02 3.96183540e+01] [ 9.69059473e-02 -1.22450130e-03 9.95292790e-01 6.41794497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.88, Y:39.64, Z:6.42 [[ 6.44456766e-01 -7.61951490e-01 -6.40734297e-02 7.68828501e+01] [ 7.58455975e-01 6.47632114e-01 -7.29189875e-02 3.96380534e+01] [ 9.70567419e-02 -1.60374076e-03 9.95277558e-01 6.42241369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.90, Y:39.66, Z:6.43 [[ 6.42548971e-01 -7.63568781e-01 -6.39807555e-02 7.69005645e+01] [ 7.60088579e-01 6.45723920e-01 -7.28420953e-02 3.96594182e+01] [ 9.69338541e-02 -1.82642815e-03 9.95289150e-01 6.42606988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.92, Y:39.68, Z:6.43 [[ 6.41239284e-01 -7.64719575e-01 -6.33731258e-02 7.69182138e+01] [ 7.61307100e-01 6.44360262e-01 -7.21896967e-02 3.96811590e+01] [ 9.60399981e-02 -1.95554118e-03 9.95375555e-01 6.42915716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.38687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.94, Y:39.70, Z:6.43 [[ 6.40208429e-01 -7.65616129e-01 -6.29691197e-02 7.69352260e+01] [ 7.62247679e-01 6.43294439e-01 -7.17686645e-02 3.97029867e+01] [ 9.54549317e-02 -2.05116139e-03 9.95431639e-01 6.43196794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.95, Y:39.73, Z:6.43 [[ 6.39505703e-01 -7.66303039e-01 -6.17422688e-02 7.69505293e+01] [ 7.63064418e-01 6.42475913e-01 -7.04087747e-02 3.97260828e+01] [ 9.36223786e-02 -2.08651540e-03 9.95605593e-01 6.43439976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.97, Y:39.75, Z:6.44 [[ 6.39320652e-01 -7.66472321e-01 -6.15571648e-02 7.69678546e+01] [ 7.63250597e-01 6.42273964e-01 -7.02330495e-02 3.97486479e+01] [ 9.33682527e-02 -2.08210381e-03 9.95629466e-01 6.43676700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.98, Y:39.77, Z:6.44 [[ 6.39897576e-01 -7.65966057e-01 -6.18634969e-02 7.69832830e+01] [ 7.62706109e-01 6.42877925e-01 -7.06212752e-02 3.97720515e+01] [ 9.38641762e-02 -1.99328421e-03 9.95583017e-01 6.43813389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.00, Y:39.79, Z:6.44 [[ 6.40274583e-01 -7.65623244e-01 -6.22053598e-02 7.69994486e+01] [ 7.62321771e-01 6.43286350e-01 -7.10506069e-02 3.97939476e+01] [ 9.44138551e-02 -1.92860232e-03 9.95531167e-01 6.44015211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.02, Y:39.82, Z:6.44 [[ 6.40596600e-01 -7.65318845e-01 -6.26343456e-02 7.70161842e+01] [ 7.61966694e-01 6.43648627e-01 -7.15765558e-02 3.98161338e+01] [ 9.50933976e-02 -1.87358695e-03 9.95466592e-01 6.44262036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.03, Y:39.84, Z:6.45 [[ 6.41612992e-01 -7.64479383e-01 -6.24823311e-02 7.70313755e+01] [ 7.61135793e-01 6.44645885e-01 -7.14421980e-02 3.98397816e+01] [ 9.48950651e-02 -1.71929622e-03 9.95485796e-01 6.44577551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.05, Y:39.86, Z:6.45 [[ 6.41562896e-01 -7.64534983e-01 -6.23162155e-02 7.70484328e+01] [ 7.61205714e-01 6.44580001e-01 -7.12915343e-02 3.98625234e+01] [ 9.46726582e-02 -1.69745620e-03 9.95507010e-01 6.44835579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.06, Y:39.88, Z:6.45 [[ 6.41088493e-01 -7.64947347e-01 -6.21377556e-02 7.70646497e+01] [ 7.61635447e-01 6.44090498e-01 -7.11257817e-02 3.98840806e+01] [ 9.44298159e-02 -1.72839701e-03 9.95530021e-01 6.45062586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.08, Y:39.91, Z:6.45 [[ 6.40046885e-01 -7.65797483e-01 -6.24035315e-02 7.70816673e+01] [ 7.62458484e-01 6.43079168e-01 -7.14579899e-02 3.99069121e+01] [ 9.48527599e-02 -1.84363820e-03 9.95489606e-01 6.45322229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.10, Y:39.93, Z:6.46 [[ 6.38841140e-01 -7.66811925e-01 -6.23014448e-02 7.70981117e+01] [ 7.63484868e-01 6.41868842e-01 -7.13809993e-02 3.99287329e+01] [ 9.47251577e-02 -1.96509134e-03 9.95501523e-01 6.45550281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.11, Y:39.95, Z:6.46 [[ 6.36066026e-01 -7.69169551e-01 -6.16296389e-02 7.71127140e+01] [ 7.65921640e-01 6.39040734e-01 -7.06468732e-02 3.99514214e+01] [ 9.37232735e-02 -2.26739823e-03 9.95595705e-01 6.45714465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.13, Y:39.97, Z:6.46 [[ 6.34666220e-01 -7.70373130e-01 -6.10248192e-02 7.71296839e+01] [ 7.67191090e-01 6.37588807e-01 -6.99881706e-02 3.99741794e+01] [ 9.28257478e-02 -2.39856987e-03 9.95679480e-01 6.45898569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.15, Y:40.00, Z:6.46 [[ 6.33127037e-01 -7.71662801e-01 -6.07180062e-02 7.71459815e+01] [ 7.68515069e-01 6.36026745e-01 -6.96747318e-02 3.99964233e+01] [ 9.23836746e-02 -2.54974620e-03 9.95720219e-01 6.46185502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.80687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.16, Y:40.02, Z:6.46 [[ 6.31168351e-01 -7.73325971e-01 -5.99454373e-02 7.71605281e+01] [ 7.70261960e-01 6.34002740e-01 -6.88261464e-02 4.00197408e+01] [ 9.12306180e-02 -2.73280465e-03 9.95826042e-01 6.46447162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.18, Y:40.04, Z:6.47 [[ 6.30509333e-01 -7.73841680e-01 -6.02248787e-02 7.71766437e+01] [ 7.70748837e-01 6.33372872e-01 -6.91739423e-02 4.00412457e+01] [ 9.16744841e-02 -2.80343903e-03 9.95785082e-01 6.46701332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.19, Y:40.06, Z:6.47 [[ 6.29793770e-01 -7.74361498e-01 -6.10252288e-02 7.71933144e+01] [ 7.71184841e-01 6.32736825e-01 -7.01288169e-02 4.00641749e+01] [ 9.29179652e-02 -2.89503943e-03 9.95669559e-01 6.46942409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.21, Y:40.09, Z:6.47 [[ 6.29879538e-01 -7.74135901e-01 -6.29712203e-02 7.72065574e+01] [ 7.70747891e-01 6.33012666e-01 -7.24061673e-02 4.00887847e+01] [ 9.59137936e-02 -2.92777199e-03 9.95385339e-01 6.46989577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.22, Y:40.11, Z:6.47 [[ 6.30284544e-01 -7.73768123e-01 -6.34372459e-02 7.72226085e+01] [ 7.70324224e-01 6.33462434e-01 -7.29789938e-02 4.01125919e+01] [ 9.66539313e-02 -2.86971540e-03 9.95313911e-01 6.47092929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.956875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:77.24, Y:40.14, Z:6.47 [[ 6.30594733e-01 -7.73503112e-01 -6.35863052e-02 7.72380205e+01] [ 7.70037702e-01 6.33786273e-01 -7.31908366e-02 4.01358149e+01] [ 9.69134672e-02 -2.81009626e-03 9.95288844e-01 6.47202069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.25, Y:40.16, Z:6.47 [[ 6.31668182e-01 -7.72697436e-01 -6.27214473e-02 7.72518252e+01] [ 7.69318112e-01 6.34769080e-01 -7.22347324e-02 4.01608499e+01] [ 9.56292279e-02 -2.62436330e-03 9.95413564e-01 6.47495977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.27, Y:40.18, Z:6.48 [[ 6.31776832e-01 -7.72662254e-01 -6.20570350e-02 7.72670280e+01] [ 7.69350376e-01 6.34812143e-01 -7.15090375e-02 4.01829998e+01] [ 9.46468935e-02 -2.56585002e-03 9.95507600e-01 6.47711440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.28, Y:40.21, Z:6.48 [[ 6.31753689e-01 -7.72697907e-01 -6.18483680e-02 7.72831372e+01] [ 7.69405054e-01 6.34768852e-01 -7.13047549e-02 4.02059025e+01] [ 9.43564525e-02 -2.53940490e-03 9.95535239e-01 6.48020570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.30, Y:40.23, Z:6.48 [[ 6.31621150e-01 -7.72807786e-01 -6.18291837e-02 7.73017119e+01] [ 7.69513831e-01 6.34635110e-01 -7.13213863e-02 4.02274650e+01] [ 9.43566935e-02 -2.53031595e-03 9.95535239e-01 6.48270208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.31, Y:40.25, Z:6.48 [[ 6.32148625e-01 -7.72421324e-01 -6.12651117e-02 7.73144116e+01] [ 7.69183208e-01 6.35105797e-01 -7.06952533e-02 4.02520249e+01] [ 9.35163488e-02 -2.43418799e-03 9.95614769e-01 6.48494787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.33, Y:40.28, Z:6.49 [[ 6.33171956e-01 -7.71626880e-01 -6.07061206e-02 7.73305447e+01] [ 7.68441544e-01 6.36071355e-01 -7.00772800e-02 4.02757771e+01] [ 9.26869373e-02 -2.27813665e-03 9.95692694e-01 6.48689251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.35, Y:40.30, Z:6.49 [[ 6.34782429e-01 -7.70319666e-01 -6.04886818e-02 7.73463940e+01] [ 7.67147591e-01 6.37654602e-01 -6.98654569e-02 4.02989122e+01] [ 9.23896217e-02 -2.05438207e-03 9.95720813e-01 6.48903354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.36, Y:40.32, Z:6.49 [[ 6.36353291e-01 -7.69083797e-01 -5.97042992e-02 7.73618562e+01] [ 7.65984643e-01 6.39145353e-01 -6.89981541e-02 4.03219301e+01] [ 9.12250877e-02 -1.82537394e-03 9.95828626e-01 6.49133816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.37, Y:40.35, Z:6.49 [[ 6.41181790e-01 -7.65133104e-01 -5.87983518e-02 7.73743906e+01] [ 7.62107372e-01 6.43870990e-01 -6.79889812e-02 4.03466186e+01] [ 8.98791732e-02 -1.21736072e-03 9.95951933e-01 6.49324777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.256875 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:77.39, Y:40.37, Z:6.50 [[ 6.43658430e-01 -7.63081541e-01 -5.83985243e-02 7.73895315e+01] [ 7.60085389e-01 6.46301593e-01 -6.75607317e-02 4.03690458e+01] [ 8.92974065e-02 -9.01830554e-04 9.96004598e-01 6.49522097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.41, Y:40.39, Z:6.50 [[ 6.45364076e-01 -7.61646756e-01 -5.83046125e-02 7.74054663e+01] [ 7.58651365e-01 6.47992096e-01 -6.74859254e-02 4.03921771e+01] [ 8.91813642e-02 -6.79881969e-04 9.96015172e-01 6.49763736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.42, Y:40.41, Z:6.50 [[ 6.47147733e-01 -7.60117001e-01 -5.84974960e-02 7.74213629e+01] [ 7.57092045e-01 6.49786078e-01 -6.77472405e-02 4.04143992e+01] [ 8.95066877e-02 -4.45515770e-04 9.95986122e-01 6.50002767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.44, Y:40.44, Z:6.50 [[ 6.51129057e-01 -7.56726544e-01 -5.82742570e-02 7.74359935e+01] [ 7.53708718e-01 6.53731547e-01 -6.75146803e-02 4.04383435e+01] [ 8.91858709e-02 3.89545428e-05 9.96014999e-01 6.50272169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.45, Y:40.46, Z:6.51 [[ 6.53466388e-01 -7.54698916e-01 -5.84057018e-02 7.74518761e+01] [ 7.51655802e-01 6.56071207e-01 -6.77061833e-02 4.04598086e+01] [ 8.94160824e-02 3.42730390e-04 9.95994301e-01 6.50506943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.406875 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:77.47, Y:40.48, Z:6.51 [[ 6.58777143e-01 -7.50005710e-01 -5.91955341e-02 7.74657480e+01] [ 7.46858419e-01 6.61430581e-01 -6.86446568e-02 4.04832856e+01] [ 9.06376211e-02 1.01084787e-03 9.95883427e-01 6.50709815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.48, Y:40.51, Z:6.51 [[ 6.61363149e-01 -7.47697371e-01 -5.95602813e-02 7.74820074e+01] [ 7.44498489e-01 6.64038247e-01 -6.91028739e-02 4.05063242e+01] [ 9.12183419e-02 1.35955487e-03 9.95829988e-01 6.50886618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.50, Y:40.53, Z:6.51 [[ 6.63514216e-01 -7.45735975e-01 -6.02224289e-02 7.74988509e+01] [ 7.42453750e-01 6.66239487e-01 -6.99097684e-02 4.05292601e+01] [ 9.22567894e-02 1.67375705e-03 9.95733842e-01 6.51044493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49687499999999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:77.51, Y:40.55, Z:6.51 [[ 6.68254201e-01 -7.41430138e-01 -6.09727263e-02 7.75143994e+01] [ 7.38043693e-01 6.71026037e-01 -7.08206510e-02 4.05508964e+01] [ 9.34228519e-02 2.32566148e-03 9.95623805e-01 6.51291485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.52687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.53, Y:40.57, Z:6.52 [[ 6.69986636e-01 -7.39877471e-01 -6.08213491e-02 7.75323085e+01] [ 7.36499281e-01 6.72736811e-01 -7.06681866e-02 4.05727913e+01] [ 9.32025596e-02 2.55186068e-03 9.95643898e-01 6.51602812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55687499999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.55, Y:40.59, Z:6.52 [[ 6.71598589e-01 -7.38459477e-01 -6.02738394e-02 7.75497624e+01] [ 7.35132658e-01 6.74292249e-01 -7.00709522e-02 4.05938491e+01] [ 9.23867414e-02 2.75028495e-03 9.95719401e-01 6.51896857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.57, Y:40.61, Z:6.52 [[ 6.73998866e-01 -7.36313137e-01 -5.97368588e-02 7.75673155e+01] [ 7.33034956e-01 6.76634144e-01 -6.94693339e-02 4.06149630e+01] [ 9.15711815e-02 3.03304667e-03 9.95793914e-01 6.52186197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.59, Y:40.64, Z:6.52 [[ 6.75032001e-01 -7.35381322e-01 -5.95492094e-02 7.75855414e+01] [ 7.32116494e-01 6.77646088e-01 -6.92908263e-02 4.06360280e+01] [ 9.13084682e-02 3.17656674e-03 9.95817590e-01 6.52382112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.60, Y:40.66, Z:6.53 [[ 6.75748339e-01 -7.34722499e-01 -5.95569562e-02 7.76041191e+01] [ 7.31450620e-01 6.78359790e-01 -6.93396488e-02 4.06575801e+01] [ 9.13464444e-02 3.29318001e-03 9.95813729e-01 6.52606064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.62, Y:40.68, Z:6.53 [[ 6.76422146e-01 -7.34074626e-01 -5.98959414e-02 7.76231838e+01] [ 7.30759068e-01 6.79060156e-01 -6.97745647e-02 4.06784641e+01] [ 9.18926848e-02 3.42755851e-03 9.95763017e-01 6.52836361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.64, Y:40.70, Z:6.53 [[ 6.78110288e-01 -7.32485928e-01 -6.02561394e-02 7.76425454e+01] [ 7.29120343e-01 6.80772159e-01 -7.02338528e-02 4.06972350e+01] [ 9.24660110e-02 3.69232117e-03 9.95708995e-01 6.53056300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.736875 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:77.66, Y:40.72, Z:6.53 [[ 6.78452588e-01 -7.32200362e-01 -5.98724986e-02 7.76615008e+01] [ 7.28874388e-01 6.81079122e-01 -6.98094265e-02 4.07173721e+01] [ 9.18923962e-02 3.72285536e-03 9.95761984e-01 6.53385906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.766875 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:77.68, Y:40.74, Z:6.54 [[ 6.78986801e-01 -7.31792055e-01 -5.87989143e-02 7.76819552e+01] [ 7.28579571e-01 6.81517741e-01 -6.85957518e-02 4.07368810e+01] [ 9.02703294e-02 3.73592224e-03 9.95910292e-01 6.53800935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.796875 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:77.70, Y:40.76, Z:6.54 [[ 6.79274444e-01 -7.31566313e-01 -5.82834471e-02 7.77011915e+01] [ 7.28405764e-01 6.81759929e-01 -6.80326536e-02 4.07568793e+01] [ 8.95057164e-02 3.75884409e-03 9.95979216e-01 6.54145256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.826875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.72, Y:40.78, Z:6.54 [[ 6.79090878e-01 -7.31774627e-01 -5.78054793e-02 7.77206810e+01] [ 7.28663123e-01 6.81536503e-01 -6.75133222e-02 4.07772524e+01] [ 8.88010804e-02 3.72696018e-03 9.96042408e-01 6.54416546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.856875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.74, Y:40.80, Z:6.55 [[ 6.78746436e-01 -7.32132132e-01 -5.73220385e-02 7.77410673e+01] [ 7.29070455e-01 6.81152724e-01 -6.69868499e-02 4.07964485e+01] [ 8.80882879e-02 3.67528094e-03 9.96105891e-01 6.54620771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.88687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.76, Y:40.82, Z:6.55 [[ 6.78463512e-01 -7.32392824e-01 -5.73412082e-02 7.77607580e+01] [ 7.29326580e-01 6.80872446e-01 -6.70481290e-02 4.08168875e+01] [ 8.81476172e-02 3.66924177e-03 9.96100665e-01 6.54811698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.78, Y:40.84, Z:6.55 [[ 6.77761080e-01 -7.33014822e-01 -5.76991271e-02 7.77804301e+01] [ 7.29908806e-01 6.80202938e-01 -6.75062833e-02 4.08368208e+01] [ 8.87302220e-02 3.63803055e-03 9.96049051e-01 6.55033115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.80, Y:40.85, Z:6.55 [[ 6.76885356e-01 -7.33728349e-01 -5.88975826e-02 7.78013732e+01] [ 7.30490660e-01 6.79433155e-01 -6.89491315e-02 4.08544268e+01] [ 9.06069028e-02 3.64652341e-03 9.95880059e-01 6.55292000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.82, Y:40.87, Z:6.56 [[ 6.76076448e-01 -7.34434030e-01 -5.93910113e-02 7.78214587e+01] [ 7.31142295e-01 6.78670546e-01 -6.95502318e-02 4.08744587e+01] [ 9.13869871e-02 3.59799340e-03 9.95808954e-01 6.55581659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.84, Y:40.89, Z:6.56 [[ 6.75492920e-01 -7.34944680e-01 -5.97129153e-02 7.78413490e+01] [ 7.31615325e-01 6.78117638e-01 -6.99677394e-02 4.08942805e+01] [ 9.19147989e-02 3.57582863e-03 9.95760455e-01 6.55864148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.86, Y:40.91, Z:6.56 [[ 6.75076306e-01 -7.35305847e-01 -5.99774355e-02 7.78624461e+01] [ 7.31944532e-01 6.77726027e-01 -7.03181028e-02 4.09116307e+01] [ 9.23535811e-02 3.56992918e-03 9.95719876e-01 6.56209720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.88, Y:40.93, Z:6.56 [[ 6.75023042e-01 -7.35356569e-01 -5.99550566e-02 7.78813002e+01] [ 7.31995419e-01 6.77670936e-01 -7.03193357e-02 4.09304857e+01] [ 9.23395848e-02 3.58034509e-03 9.95721137e-01 6.56450486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.90, Y:40.95, Z:6.57 [[ 6.74877379e-01 -7.35491452e-01 -5.99403722e-02 7.79021813e+01] [ 7.32130312e-01 6.77524561e-01 -7.03255050e-02 4.09489359e+01] [ 9.23348821e-02 3.57692912e-03 9.95721585e-01 6.56696020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.92, Y:40.97, Z:6.57 [[ 6.75064368e-01 -7.35348372e-01 -5.95891846e-02 7.79210106e+01] [ 7.32022356e-01 6.77679714e-01 -6.99533853e-02 4.09678883e+01] [ 9.18224896e-02 3.60242257e-03 9.95768875e-01 6.56936489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.94, Y:40.99, Z:6.57 [[ 6.75298600e-01 -7.35141614e-01 -5.94862009e-02 7.79404973e+01] [ 7.31824157e-01 6.77903796e-01 -6.98558999e-02 4.09874928e+01] [ 9.16799004e-02 3.64015262e-03 9.95781876e-01 6.57224058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.96, Y:41.01, Z:6.58 [[ 6.75126007e-01 -7.35312569e-01 -5.93321261e-02 7.79604344e+01] [ 7.32009295e-01 6.77718389e-01 -6.97149671e-02 4.10073700e+01] [ 9.14727645e-02 3.63471957e-03 9.95800945e-01 6.57519935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.98, Y:41.03, Z:6.58 [[ 6.74627921e-01 -7.35792021e-01 -5.90531080e-02 7.79829417e+01] [ 7.32518004e-01 6.77198115e-01 -6.94268452e-02 4.10252607e+01] [ 9.10743722e-02 3.57982341e-03 9.95837659e-01 6.57880256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.00, Y:41.04, Z:6.58 [[ 6.74110294e-01 -7.36246127e-01 -5.93038934e-02 7.80036262e+01] [ 7.32942233e-01 6.76704485e-01 -6.97618965e-02 4.10443309e+01] [ 9.14931368e-02 3.56088446e-03 9.95799340e-01 6.58238796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.02, Y:41.06, Z:6.59 [[ 6.73167652e-01 -7.37113561e-01 -5.92360649e-02 7.80231978e+01] [ 7.33816938e-01 6.75760006e-01 -6.97217011e-02 4.10627240e+01] [ 9.14221750e-02 3.46596604e-03 9.95806192e-01 6.58542113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.04, Y:41.08, Z:6.59 [[ 6.72450371e-01 -7.37796099e-01 -5.88847591e-02 7.80424874e+01] [ 7.34537924e-01 6.75015194e-01 -6.93435350e-02 4.10816724e+01] [ 9.09094967e-02 3.37699709e-03 9.95853433e-01 6.58751518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.06, Y:41.10, Z:6.59 [[ 6.71340610e-01 -7.38902357e-01 -5.76636190e-02 7.80646968e+01] [ 7.35779219e-01 6.73804999e-01 -6.79394191e-02 4.10998435e+01] [ 8.90546316e-02 3.18279851e-03 9.96021658e-01 6.59110940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.08, Y:41.12, Z:6.59 [[ 6.70551572e-01 -7.39614231e-01 -5.77180947e-02 7.80849994e+01] [ 7.36484324e-01 6.73023826e-01 -6.80424118e-02 4.11197478e+01] [ 8.91707890e-02 3.11747423e-03 9.96011472e-01 6.59390393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.10, Y:41.14, Z:6.60 [[ 6.69920361e-01 -7.40161214e-01 -5.80352295e-02 7.81044496e+01] [ 7.36995247e-01 6.72422368e-01 -6.84555718e-02 4.11386511e+01] [ 8.96923456e-02 3.08809302e-03 9.95964732e-01 6.59581070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.13, Y:41.16, Z:6.60 [[ 6.68519746e-01 -7.41404223e-01 -5.83191807e-02 7.81271367e+01] [ 7.38208611e-01 6.71052172e-01 -6.88260774e-02 4.11564113e+01] [ 9.01631573e-02 2.95987041e-03 9.95922610e-01 6.59836464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.15, Y:41.18, Z:6.60 [[ 6.67096278e-01 -7.42668796e-01 -5.85287630e-02 7.81473053e+01] [ 7.39451461e-01 6.69652954e-01 -6.91119289e-02 4.11758765e+01] [ 9.05212321e-02 2.82513126e-03 9.95890519e-01 6.60145733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.17, Y:41.20, Z:6.60 [[ 6.66002760e-01 -7.43635990e-01 -5.87012671e-02 7.81668015e+01] [ 7.40399758e-01 6.68579144e-01 -6.93550750e-02 4.11953825e+01] [ 9.08213727e-02 2.72826738e-03 9.95863462e-01 6.60376681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.19, Y:41.22, Z:6.61 [[ 6.65088530e-01 -7.44441583e-01 -5.88555589e-02 7.81862582e+01] [ 7.41188158e-01 6.67682343e-01 -6.95730046e-02 4.12150194e+01] [ 9.10898552e-02 2.64916406e-03 9.95839154e-01 6.60598967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.21, Y:41.23, Z:6.61 [[ 6.63923632e-01 -7.45431246e-01 -5.94782987e-02 7.82078837e+01] [ 7.42108709e-01 6.66577578e-01 -7.03491070e-02 4.12331304e+01] [ 9.20873228e-02 2.56707113e-03 9.95747626e-01 6.60835007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.576875 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:78.23, Y:41.25, Z:6.61 [[ 6.63349447e-01 -7.45904591e-01 -5.99487381e-02 7.82277732e+01] [ 7.42527288e-01 6.66047930e-01 -7.09463246e-02 4.12524306e+01] [ 9.28479221e-02 2.54863123e-03 9.95677040e-01 6.61091918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.25, Y:41.27, Z:6.61 [[ 6.62884067e-01 -7.46287911e-01 -6.03246889e-02 7.82472071e+01] [ 7.42865806e-01 6.65618445e-01 -7.14316476e-02 4.12714482e+01] [ 9.34618007e-02 2.53775241e-03 9.95619632e-01 6.61302935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.27, Y:41.29, Z:6.62 [[ 6.61991598e-01 -7.47008470e-01 -6.12002414e-02 7.82693999e+01] [ 7.43485537e-01 6.64809830e-01 -7.25061802e-02 4.12899348e+01] [ 9.48492528e-02 2.49698780e-03 9.95488515e-01 6.61516394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.29, Y:41.31, Z:6.62 [[ 6.61291456e-01 -7.47632542e-01 -6.11489342e-02 7.82892533e+01] [ 7.44114347e-01 6.64108173e-01 -7.24856698e-02 4.13096597e+01] [ 9.48021526e-02 2.43235479e-03 9.95493162e-01 6.61706532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.31, Y:41.33, Z:6.62 [[ 6.60861979e-01 -7.48017386e-01 -6.10854783e-02 7.83098826e+01] [ 7.44504314e-01 6.63674787e-01 -7.24506978e-02 4.13294719e+01] [ 9.47352734e-02 2.40150944e-03 9.95499604e-01 6.62030322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.33, Y:41.35, Z:6.62 [[ 6.60336937e-01 -7.48493960e-01 -6.09255401e-02 7.83298476e+01] [ 7.44997526e-01 6.63137431e-01 -7.23010029e-02 4.13487615e+01] [ 9.45188701e-02 2.35364616e-03 9.95520288e-01 6.62338451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.35, Y:41.37, Z:6.63 [[ 6.60179776e-01 -7.48630286e-01 -6.09537380e-02 7.83514477e+01] [ 7.45127345e-01 6.62983495e-01 -7.23748898e-02 4.13662198e+01] [ 9.45933567e-02 2.36214159e-03 9.95513193e-01 6.62713176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.37, Y:41.39, Z:6.63 [[ 6.60283450e-01 -7.48544605e-01 -6.08830055e-02 7.83715383e+01] [ 7.45045966e-01 6.63080111e-01 -7.23275513e-02 4.13860094e+01] [ 9.45107083e-02 2.39604747e-03 9.95520962e-01 6.62977988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.39, Y:41.40, Z:6.63 [[ 6.60248986e-01 -7.48576099e-01 -6.08695380e-02 7.83929061e+01] [ 7.45075374e-01 6.63044478e-01 -7.23512781e-02 4.14043421e+01] [ 9.45196486e-02 2.41746423e-03 9.95520061e-01 6.63210464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.41, Y:41.42, Z:6.63 [[ 6.59938375e-01 -7.48834233e-01 -6.10625391e-02 7.84129423e+01] [ 7.45308432e-01 6.62752939e-01 -7.26214995e-02 4.14246477e+01] [ 9.48508421e-02 2.41528904e-03 9.95488566e-01 6.63443904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.43, Y:41.44, Z:6.64 [[ 6.59440702e-01 -7.49272005e-01 -6.10690011e-02 7.84324321e+01] [ 7.45743482e-01 6.62258108e-01 -7.26695128e-02 4.14441134e+01] [ 9.48926726e-02 2.37942501e-03 9.95484665e-01 6.63648026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.45, Y:41.46, Z:6.64 [[ 6.58506787e-01 -7.50030065e-01 -6.18361810e-02 7.84545052e+01] [ 7.46411791e-01 6.61399652e-01 -7.36202343e-02 4.14626327e+01] [ 9.61158177e-02 2.32416938e-03 9.95367444e-01 6.63794257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.47, Y:41.48, Z:6.64 [[ 6.57861450e-01 -7.50549853e-01 -6.23957650e-02 7.84747993e+01] [ 7.46863822e-01 6.60809838e-01 -7.43289277e-02 4.14827582e+01] [ 9.70193011e-02 2.29699666e-03 9.95279850e-01 6.63977469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.49, Y:41.50, Z:6.64 [[ 6.57665826e-01 -7.50722991e-01 -6.23750885e-02 7.84930501e+01] [ 7.47036093e-01 6.60613130e-01 -7.43462754e-02 4.15046692e+01] [ 9.70192607e-02 2.29856224e-03 9.95279850e-01 6.64227386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.51, Y:41.52, Z:6.64 [[ 6.57028160e-01 -7.51265632e-01 -6.25615436e-02 7.85120595e+01] [ 7.47555178e-01 6.59996122e-01 -7.46081429e-02 4.15236179e+01] [ 9.73409098e-02 2.25144504e-03 9.95248551e-01 6.64424433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.02687499999999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:78.53, Y:41.54, Z:6.65 [[ 6.56450930e-01 -7.51717882e-01 -6.31854585e-02 7.85335499e+01] [ 7.47931080e-01 6.59481040e-01 -7.53913610e-02 4.15417537e+01] [ 9.83426461e-02 2.23236077e-03 9.95150110e-01 6.64702519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.55, Y:41.56, Z:6.65 [[ 6.56569730e-01 -7.51583891e-01 -6.35440400e-02 7.85524108e+01] [ 7.47749034e-01 6.59633531e-01 -7.58616297e-02 4.15611138e+01] [ 9.89321583e-02 2.29345516e-03 9.95091538e-01 6.64994586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.57, Y:41.58, Z:6.65 [[ 6.56739328e-01 -7.51420918e-01 -6.37185921e-02 7.85718628e+01] [ 7.47560241e-01 6.59818974e-01 -7.61091827e-02 4.15813937e+01] [ 9.92327681e-02 2.35040746e-03 9.95061472e-01 6.65240395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.59, Y:41.60, Z:6.65 [[ 6.56981739e-01 -7.51198932e-01 -6.38369781e-02 7.85913109e+01] [ 7.47318532e-01 6.60071453e-01 -7.62934341e-02 4.16017041e+01] [ 9.94485131e-02 2.41683621e-03 9.95039774e-01 6.65466134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.61, Y:41.62, Z:6.66 [[ 6.55013074e-01 -7.52826770e-01 -6.48824015e-02 7.86125238e+01] [ 7.48821332e-01 6.58214902e-01 -7.75870779e-02 4.16204147e+01] [ 1.01116193e-01 2.23522410e-03 9.94872112e-01 6.65798576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.63, Y:41.64, Z:6.66 [[ 6.53406318e-01 -7.54213248e-01 -6.49812261e-02 7.86318992e+01] [ 7.50197877e-01 6.56626348e-01 -7.77494996e-02 4.16413263e+01] [ 1.01308088e-01 2.05323645e-03 9.94852982e-01 6.66080451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.65, Y:41.66, Z:6.66 [[ 6.52047367e-01 -7.55408593e-01 -6.47463441e-02 7.86506262e+01] [ 7.51423685e-01 6.55251316e-01 -7.75123149e-02 4.16615467e+01] [ 1.00978596e-01 1.88976439e-03 9.94886804e-01 6.66335298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.67, Y:41.68, Z:6.67 [[ 6.50525014e-01 -7.56735959e-01 -6.45592246e-02 7.86692553e+01] [ 7.52776011e-01 6.53718416e-01 -7.73337542e-02 4.16818084e+01] [ 1.00724787e-01 1.70890596e-03 9.94912859e-01 6.66657295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.69, Y:41.70, Z:6.67 [[ 6.48781460e-01 -7.58316225e-01 -6.35540683e-02 7.86881538e+01] [ 7.54482243e-01 6.51885224e-01 -7.61721708e-02 4.17016828e+01] [ 9.91925511e-02 1.46867617e-03 9.95067174e-01 6.67028531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.71, Y:41.72, Z:6.67 [[ 6.47663313e-01 -7.59323161e-01 -6.29330615e-02 7.87065275e+01] [ 7.55564315e-01 6.50712353e-01 -7.54718478e-02 4.17230577e+01] [ 9.82588426e-02 1.33037148e-03 9.95160002e-01 6.67301211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.72, Y:41.74, Z:6.68 [[ 6.42810152e-01 -7.63466877e-01 -6.25574610e-02 7.87244454e+01] [ 7.59768127e-01 6.45846580e-01 -7.50638920e-02 4.17431859e+01] [ 9.77113174e-02 7.22666833e-04 9.95214538e-01 6.67593764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.74, Y:41.76, Z:6.68 [[ 6.41584387e-01 -7.64511097e-01 -6.23879524e-02 7.87429770e+01] [ 7.60833019e-01 6.44610296e-01 -7.49045000e-02 4.17646884e+01] [ 9.74812379e-02 5.90743554e-04 9.95237187e-01 6.67874275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.38687499999999 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:78.76, Y:41.79, Z:6.68 [[ 6.40614129e-01 -7.65284405e-01 -6.28754041e-02 7.87612270e+01] [ 7.61548013e-01 6.43692104e-01 -7.55321066e-02 4.17864626e+01] [ 9.82759444e-02 5.04295678e-04 9.95159075e-01 6.68107124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.78, Y:41.81, Z:6.68 [[ 6.40445028e-01 -7.65324796e-01 -6.40946362e-02 7.87784268e+01] [ 7.61437497e-01 6.43644055e-01 -7.70406938e-02 4.18079312e+01] [ 1.00215285e-01 5.36269905e-04 9.94965632e-01 6.68289900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.80, Y:41.83, Z:6.69 [[ 6.40650676e-01 -7.65093731e-01 -6.47942440e-02 7.87952038e+01] [ 7.61115007e-01 6.43918637e-01 -7.79277547e-02 4.18287333e+01] [ 1.01344258e-01 6.08597270e-04 9.94851231e-01 6.68564727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.81, Y:41.85, Z:6.69 [[ 6.41393866e-01 -7.64450850e-01 -6.50292730e-02 7.88128239e+01] [ 7.60435221e-01 6.44681586e-01 -7.82555270e-02 4.18498468e+01] [ 1.01745679e-01 7.42065454e-04 9.94810166e-01 6.68853983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.83, Y:41.87, Z:6.69 [[ 6.41940217e-01 -7.63932000e-01 -6.57317057e-02 7.88302441e+01] [ 7.59821684e-01 6.45296178e-01 -7.91444952e-02 4.18719745e+01] [ 1.02877431e-01 8.61659121e-04 9.94693667e-01 6.69103592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.85, Y:41.89, Z:6.69 [[ 6.42307634e-01 -7.63639396e-01 -6.55421699e-02 7.88475351e+01] [ 7.59546779e-01 6.45642316e-01 -7.89600587e-02 4.18939242e+01] [ 1.02613810e-01 9.34304476e-04 9.94720832e-01 6.69336985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.86, Y:41.92, Z:6.70 [[ 6.42325438e-01 -7.63627925e-01 -6.55013203e-02 7.88644706e+01] [ 7.59536038e-01 6.45655841e-01 -7.89527874e-02 4.19155021e+01] [ 1.02581863e-01 9.62770508e-04 9.94724100e-01 6.69535904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.88, Y:41.94, Z:6.70 [[ 6.42897602e-01 -7.63128774e-01 -6.57049999e-02 7.88820753e+01] [ 7.59005251e-01 6.46245568e-01 -7.92319056e-02 4.19378363e+01] [ 1.02925712e-01 1.06756218e-03 9.94688473e-01 6.69805428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.626875 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:78.90, Y:41.96, Z:6.70 [[ 6.42667177e-01 -7.63363565e-01 -6.52301193e-02 7.88987348e+01] [ 7.59296389e-01 6.45968239e-01 -7.87021500e-02 4.19588013e+01] [ 1.02214939e-01 1.05029453e-03 9.94761782e-01 6.70025258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.92, Y:41.98, Z:6.70 [[ 6.42981433e-01 -7.63164004e-01 -6.44637908e-02 7.89162329e+01] [ 7.59186618e-01 6.46203914e-01 -7.78214611e-02 4.19801353e+01] [ 1.01047292e-01 1.09770726e-03 9.94881018e-01 6.70373977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.93, Y:42.00, Z:6.71 [[ 6.43160414e-01 -7.63071119e-01 -6.37742070e-02 7.89339862e+01] [ 7.59173934e-01 6.46313544e-01 -7.70307826e-02 4.20016407e+01] [ 9.99980992e-02 1.12743436e-03 9.94986989e-01 6.70711453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.95, Y:42.02, Z:6.71 [[ 6.42980307e-01 -7.63275873e-01 -6.31368840e-02 7.89512197e+01] [ 7.59453166e-01 6.46071749e-01 -7.63032324e-02 4.20232251e+01] [ 9.90313734e-02 1.11196939e-03 9.95083690e-01 6.70995897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.74687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.97, Y:42.04, Z:6.71 [[ 6.43175902e-01 -7.63122565e-01 -6.29977006e-02 7.89679862e+01] [ 7.59311783e-01 6.46252740e-01 -7.61775001e-02 4.20437082e+01] [ 9.88452059e-02 1.16063601e-03 9.95102145e-01 6.71317553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.98, Y:42.07, Z:6.72 [[ 6.43110631e-01 -7.63207979e-01 -6.26282523e-02 7.89846750e+01] [ 7.59437956e-01 6.46151851e-01 -7.57745115e-02 4.20658017e+01] [ 9.82990728e-02 1.16912198e-03 9.95156232e-01 6.71537415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.00, Y:42.09, Z:6.72 [[ 6.42346540e-01 -7.63843927e-01 -6.27166421e-02 7.90021052e+01] [ 7.60062268e-01 6.45400067e-01 -7.59216909e-02 4.20880671e+01] [ 9.84696475e-02 1.09948224e-03 9.95139447e-01 6.71719851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.02, Y:42.11, Z:6.72 [[ 6.41293234e-01 -7.64712618e-01 -6.29094555e-02 7.90193550e+01] [ 7.60907616e-01 6.44370715e-01 -7.61969913e-02 4.21093843e+01] [ 9.88058116e-02 9.96331169e-04 9.95106235e-01 6.71910202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.04, Y:42.13, Z:6.72 [[ 6.38455208e-01 -7.67077765e-01 -6.29813421e-02 7.90372911e+01] [ 7.63271109e-01 6.41553791e-01 -7.63279003e-02 4.21305666e+01] [ 9.89553539e-02 6.60106641e-04 9.95091655e-01 6.72168752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.06, Y:42.15, Z:6.73 [[ 6.37035882e-01 -7.68268239e-01 -6.28426419e-02 7.90557377e+01] [ 7.64479831e-01 6.40127847e-01 -7.62032012e-02 4.21522107e+01] [ 9.87718243e-02 5.02241253e-04 9.95109981e-01 6.72524481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.07, Y:42.17, Z:6.73 [[ 6.35624734e-01 -7.69434034e-01 -6.28686372e-02 7.90729130e+01] [ 7.65643892e-01 6.38726190e-01 -7.62776832e-02 4.21730741e+01] [ 9.88464906e-02 3.48993981e-04 9.95102633e-01 6.72821106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.09, Y:42.19, Z:6.73 [[ 6.33323235e-01 -7.71329882e-01 -6.28640796e-02 7.90900665e+01] [ 7.67545667e-01 6.36435548e-01 -7.63114826e-02 4.21947344e+01] [ 9.88702618e-02 7.87831047e-05 9.95100329e-01 6.72959584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.11, Y:42.22, Z:6.73 [[ 6.32306431e-01 -7.72161931e-01 -6.28850609e-02 7.91076466e+01] [ 7.68375062e-01 6.35425804e-01 -7.63793982e-02 4.22160436e+01] [ 9.89360540e-02 -2.41279481e-05 9.95093793e-01 6.73242529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.12, Y:42.24, Z:6.73 [[ 6.31550243e-01 -7.72825657e-01 -6.23281134e-02 7.91244601e+01] [ 7.69104855e-01 6.34618384e-01 -7.57444983e-02 4.22367651e+01] [ 9.80918582e-02 -1.00398328e-04 9.95177360e-01 6.73472298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.14, Y:42.26, Z:6.74 [[ 6.30943255e-01 -7.73343317e-01 -6.20541970e-02 7.91417293e+01] [ 7.69653961e-01 6.33987452e-01 -7.54499191e-02 4.22591181e+01] [ 9.76902729e-02 -1.55641023e-04 9.95216854e-01 6.73672867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.16, Y:42.28, Z:6.74 [[ 6.30731272e-01 -7.73511726e-01 -6.21101523e-02 7.91586081e+01] [ 7.69812356e-01 6.33781970e-01 -7.55602471e-02 4.22803415e+01] [ 9.78110318e-02 -1.54951928e-04 9.95204993e-01 6.73900356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.18, Y:42.30, Z:6.74 [[ 6.30943195e-01 -7.73345145e-01 -6.20320114e-02 7.91753168e+01] [ 7.69650533e-01 6.33985233e-01 -7.55035242e-02 4.23009620e+01] [ 9.77176631e-02 -1.04535765e-04 9.95214172e-01 6.74184953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.19, Y:42.32, Z:6.75 [[ 6.31796782e-01 -7.72667287e-01 -6.17906926e-02 7.91922527e+01] [ 7.68994478e-01 6.34811203e-01 -7.52477890e-02 4.23234387e+01] [ 9.73669289e-02 2.46095175e-05 9.95248552e-01 6.74522481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.21, Y:42.35, Z:6.75 [[ 6.32090646e-01 -7.72414174e-01 -6.19496469e-02 7.92094544e+01] [ 7.68717083e-01 6.35119150e-01 -7.54831810e-02 4.23455756e+01] [ 9.76496860e-02 9.04607048e-05 9.95220845e-01 6.74756674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.23, Y:42.37, Z:6.75 [[ 6.32385483e-01 -7.72175574e-01 -6.19151267e-02 7.92267458e+01] [ 7.68477346e-01 6.35409206e-01 -7.54831791e-02 4.23677809e+01] [ 9.76277086e-02 1.54094504e-04 9.95222993e-01 6.74991525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.24, Y:42.39, Z:6.75 [[ 6.33003176e-01 -7.71597863e-01 -6.27990256e-02 7.92434851e+01] [ 7.67785878e-01 6.36110575e-01 -7.66040622e-02 4.23909433e+01] [ 9.90546549e-02 2.74409686e-04 9.95081956e-01 6.75110644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.26, Y:42.41, Z:6.75 [[ 6.33551159e-01 -7.71114165e-01 -6.32129240e-02 7.92600882e+01] [ 7.67244893e-01 6.36696788e-01 -7.71522795e-02 4.24126152e+01] [ 9.97406813e-02 3.80122980e-04 9.95013393e-01 6.75320255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.28, Y:42.43, Z:6.76 [[ 6.34335602e-01 -7.70456716e-01 -6.33623927e-02 7.92765682e+01] [ 7.66561422e-01 6.37492107e-01 -7.73782863e-02 4.24337162e+01] [ 1.00009646e-01 5.12636028e-04 9.94986336e-01 6.75573654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.29, Y:42.46, Z:6.76 [[ 6.34929237e-01 -7.69990749e-01 -6.30801981e-02 7.92935197e+01] [ 7.66123374e-01 6.38054757e-01 -7.70785585e-02 4.24556774e+01] [ 9.95983974e-02 6.12216152e-04 9.95027529e-01 6.75868313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.31, Y:42.48, Z:6.76 [[ 6.36059122e-01 -7.69070017e-01 -6.29293336e-02 7.93097383e+01] [ 7.65212399e-01 6.39164061e-01 -7.69369062e-02 4.24780411e+01] [ 9.93920362e-02 7.82114710e-04 9.95048045e-01 6.76150495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.33, Y:42.50, Z:6.76 [[ 6.36586865e-01 -7.68642403e-01 -6.28173507e-02 7.93268268e+01] [ 7.64792244e-01 6.39678116e-01 -7.68422531e-02 4.25002762e+01] [ 9.92470986e-02 8.74546453e-04 9.95062435e-01 6.76401585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.406875 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:79.34, Y:42.52, Z:6.77 [[ 6.37037185e-01 -7.68264396e-01 -6.28764090e-02 7.93431766e+01] [ 7.64400896e-01 6.40131934e-01 -7.69569817e-02 4.25217080e+01] [ 9.93725063e-02 9.61675568e-04 9.95049838e-01 6.76605082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.36, Y:42.54, Z:6.77 [[ 6.37669177e-01 -7.67730996e-01 -6.29852270e-02 7.93601313e+01] [ 7.63847549e-01 6.40771385e-01 -7.71294619e-02 4.25434584e+01] [ 9.95738098e-02 1.07196920e-03 9.95029601e-01 6.76869645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.38, Y:42.57, Z:6.77 [[ 6.38986290e-01 -7.66604559e-01 -6.33559040e-02 7.93776888e+01] [ 7.62665246e-01 6.42118216e-01 -7.76267945e-02 4.25657553e+01] [ 1.00191035e-01 1.28311136e-03 9.94967392e-01 6.77114694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49687499999999 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:79.39, Y:42.59, Z:6.77 [[ 6.39532776e-01 -7.66125997e-01 -6.36300687e-02 7.93944942e+01] [ 7.62145651e-01 6.42688897e-01 -7.80063366e-02 4.25871382e+01] [ 1.00657021e-01 1.39222889e-03 9.94920211e-01 6.77362917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.52687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.41, Y:42.61, Z:6.78 [[ 6.40288262e-01 -7.65498431e-01 -6.35853273e-02 7.94115213e+01] [ 7.61516033e-01 6.43435968e-01 -7.79967088e-02 4.26091943e+01] [ 1.00619445e-01 1.51913096e-03 9.94923826e-01 6.77584804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.43, Y:42.63, Z:6.78 [[ 6.42162557e-01 -7.63952824e-01 -6.32718935e-02 7.94289029e+01] [ 7.59997880e-01 6.45269642e-01 -7.76550750e-02 4.26315327e+01] [ 1.00152246e-01 1.78067665e-03 9.94970531e-01 6.77936346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.45, Y:42.65, Z:6.78 [[ 6.42718596e-01 -7.63483488e-01 -6.32911551e-02 7.94466958e+01] [ 7.59519436e-01 6.45824603e-01 -7.77226387e-02 4.26531968e+01] [ 1.00214936e-01 1.88292286e-03 9.94964030e-01 6.78245610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.46, Y:42.67, Z:6.79 [[ 6.42812101e-01 -7.63425968e-01 -6.30348711e-02 7.94638210e+01] [ 7.59489465e-01 6.45892511e-01 -7.74507318e-02 4.26744617e+01] [ 9.98416510e-02 1.91194708e-03 9.95001502e-01 6.78512283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.48, Y:42.70, Z:6.79 [[ 6.43096920e-01 -7.63203391e-01 -6.28246339e-02 7.94816927e+01] [ 7.59288169e-01 6.46155337e-01 -7.72318349e-02 4.26964067e+01] [ 9.95380708e-02 1.96555388e-03 9.95031813e-01 6.78837925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.50, Y:42.72, Z:6.79 [[ 6.43521421e-01 -7.62854139e-01 -6.27195595e-02 7.94982726e+01] [ 7.58946090e-01 6.46567386e-01 -7.71456275e-02 4.27172317e+01] [ 9.94032828e-02 2.04409942e-03 9.95045129e-01 6.79115541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.52, Y:42.74, Z:6.79 [[ 6.43621381e-01 -7.62768322e-01 -6.27375898e-02 7.95159444e+01] [ 7.58853661e-01 6.46668498e-01 -7.72073569e-02 4.27394414e+01] [ 9.94617490e-02 2.08365597e-03 9.95039205e-01 6.79285050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.53, Y:42.76, Z:6.80 [[ 6.43521995e-01 -7.62832145e-01 -6.29806325e-02 7.95337170e+01] [ 7.58882984e-01 6.46593123e-01 -7.75496689e-02 4.27616928e+01] [ 9.98802241e-02 2.10998734e-03 9.94997231e-01 6.79540799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.55, Y:42.78, Z:6.80 [[ 6.43561534e-01 -7.62827231e-01 -6.26351968e-02 7.95516045e+01] [ 7.58917068e-01 6.46598865e-01 -7.71672997e-02 4.27837406e+01] [ 9.93651647e-02 2.12698593e-03 9.95048763e-01 6.79821708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.796875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:79.57, Y:42.80, Z:6.80 [[ 6.37100192e-01 -7.68311298e-01 -6.16530129e-02 7.95695031e+01] [ 7.64544299e-01 6.40075077e-01 -7.59994116e-02 4.28041287e+01] [ 9.78537636e-02 1.28278018e-03 9.95199978e-01 6.80240800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.59, Y:42.83, Z:6.80 [[ 6.34437408e-01 -7.70487144e-01 -6.19575456e-02 7.95866769e+01] [ 7.66689197e-01 6.37454787e-01 -7.64137997e-02 4.28254703e+01] [ 9.83709843e-02 9.77592075e-04 9.95149332e-01 6.80497816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.60, Y:42.85, Z:6.81 [[ 6.30724419e-01 -7.73454800e-01 -6.28838644e-02 7.96040870e+01] [ 7.69552772e-01 6.33851221e-01 -7.75961405e-02 4.28477120e+01] [ 9.98761216e-02 5.49328436e-04 9.94999728e-01 6.80512729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.88687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.62, Y:42.87, Z:6.81 [[ 6.30530991e-01 -7.73614170e-01 -6.28632302e-02 7.96219534e+01] [ 7.69711265e-01 6.33656700e-01 -7.76128540e-02 4.28699336e+01] [ 9.98761106e-02 5.50773267e-04 9.94999728e-01 6.80762652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.64, Y:42.89, Z:6.81 [[ 6.29357500e-01 -7.74573246e-01 -6.28126112e-02 7.96390593e+01] [ 7.70677346e-01 6.32484076e-01 -7.75907322e-02 4.28917183e+01] [ 9.98276817e-02 4.24052760e-04 9.95004650e-01 6.80870393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.66, Y:42.91, Z:6.81 [[ 6.28605435e-01 -7.75179830e-01 -6.28604672e-02 7.96558501e+01] [ 7.71276604e-01 6.31740535e-01 -7.76936011e-02 4.29124079e+01] [ 9.99380178e-02 3.55812233e-04 9.94993601e-01 6.81099378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.67, Y:42.93, Z:6.81 [[ 6.28343091e-01 -7.75419550e-01 -6.25258525e-02 7.96730636e+01] [ 7.71555100e-01 6.31446281e-01 -7.73196057e-02 4.29341755e+01] [ 9.94368508e-02 3.41099660e-04 9.95043816e-01 6.81381514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.69, Y:42.96, Z:6.82 [[ 6.29184846e-01 -7.74791385e-01 -6.18444766e-02 7.96902392e+01] [ 7.71003784e-01 6.32216811e-01 -7.65184218e-02 4.29562268e+01] [ 9.83849318e-02 4.61905906e-04 9.95148327e-01 6.81753372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.036875 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:79.71, Y:42.98, Z:6.82 [[ 6.29711947e-01 -7.74379916e-01 -6.16328635e-02 7.97077191e+01] [ 7.70612179e-01 6.32720667e-01 -7.62982781e-02 4.29781931e+01] [ 9.80802407e-02 5.50902012e-04 9.95178357e-01 6.82029746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.72, Y:43.00, Z:6.82 [[ 6.30450302e-01 -7.73789513e-01 -6.14996466e-02 7.97248297e+01] [ 7.70031157e-01 6.33442455e-01 -7.61752842e-02 4.29997476e+01] [ 9.79001232e-02 6.68086946e-04 9.95196021e-01 6.82357201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.74, Y:43.02, Z:6.83 [[ 6.30846053e-01 -7.73435935e-01 -6.18878978e-02 7.97421465e+01] [ 7.69623955e-01 6.33874030e-01 -7.66986491e-02 4.30217363e+01] [ 9.85506225e-02 7.54631369e-04 9.95131753e-01 6.82556593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.76, Y:43.04, Z:6.83 [[ 6.31794742e-01 -7.72588884e-01 -6.27839219e-02 7.97593693e+01] [ 7.68656875e-01 6.34905943e-01 -7.78527570e-02 4.30431929e+01] [ 1.00010060e-01 9.27669218e-04 9.94985994e-01 6.82812447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.78, Y:43.06, Z:6.83 [[ 6.31691584e-01 -7.72627717e-01 -6.33415553e-02 7.97764480e+01] [ 7.68621082e-01 6.34858640e-01 -7.85884180e-02 4.30642419e+01] [ 1.00932524e-01 9.57987453e-04 9.94892812e-01 6.83049507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.79, Y:43.09, Z:6.83 [[ 6.31321788e-01 -7.72905164e-01 -6.36428088e-02 7.97942612e+01] [ 7.68856929e-01 6.34520850e-01 -7.90083179e-02 4.30861567e+01] [ 1.01448626e-01 9.47457996e-04 9.94840328e-01 6.83374532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.81, Y:43.11, Z:6.84 [[ 6.30227512e-01 -7.73883285e-01 -6.25934867e-02 7.98116381e+01] [ 7.69968296e-01 6.33327731e-01 -7.77483641e-02 4.31082422e+01] [ 9.98103503e-02 8.04157758e-04 9.95006154e-01 6.83634090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.24687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.83, Y:43.13, Z:6.84 [[ 6.29327704e-01 -7.74698230e-01 -6.15572281e-02 7.98287717e+01] [ 7.70911862e-01 6.32330748e-01 -7.65031115e-02 4.31299718e+01] [ 9.81913532e-02 6.90330266e-04 9.95167313e-01 6.83884550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.85, Y:43.15, Z:6.84 [[ 6.28217619e-01 -7.75663873e-01 -6.07303838e-02 7.98463828e+01] [ 7.71979259e-01 6.31145977e-01 -7.55167457e-02 4.31520226e+01] [ 9.69053489e-02 5.58353406e-04 9.95293445e-01 6.84249135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.86, Y:43.17, Z:6.85 [[ 6.27158730e-01 -7.76564036e-01 -6.01683093e-02 7.98638696e+01] [ 7.72947679e-01 6.30038176e-01 -7.48584084e-02 4.31734910e+01] [ 9.60406797e-02 4.41149299e-04 9.95377312e-01 6.84532122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.88, Y:43.20, Z:6.85 [[ 6.25413778e-01 -7.77957594e-01 -6.03289999e-02 7.98809585e+01] [ 7.74324489e-01 6.28316734e-01 -7.50977199e-02 4.31950594e+01] [ 9.63285617e-02 2.52926694e-04 9.95349559e-01 6.84841017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.90, Y:43.22, Z:6.85 [[ 6.24880658e-01 -7.78388108e-01 -6.03002116e-02 7.98982602e+01] [ 7.74756427e-01 6.27783328e-01 -7.51037398e-02 4.32174641e+01] [ 9.63153256e-02 2.12897883e-04 9.95350849e-01 6.84986885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.91, Y:43.24, Z:6.85 [[ 6.24379857e-01 -7.78771565e-01 -6.05363006e-02 7.99147932e+01] [ 7.75108995e-01 6.27307593e-01 -7.54402406e-02 4.32391507e+01] [ 9.67255953e-02 1.81135551e-04 9.95311070e-01 6.85201559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.93, Y:43.26, Z:6.85 [[ 6.24064493e-01 -7.79003964e-01 -6.07974690e-02 7.99318215e+01] [ 7.75307701e-01 6.27018977e-01 -7.57969147e-02 4.32617174e+01] [ 9.71672638e-02 1.65417288e-04 9.95268052e-01 6.85415635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.95, Y:43.28, Z:6.86 [[ 6.24293428e-01 -7.78785192e-01 -6.12481941e-02 7.99481791e+01] [ 7.75028420e-01 6.27290661e-01 -7.64027171e-02 4.32829500e+01] [ 9.79217248e-02 2.28623026e-04 9.95194093e-01 6.85661121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.96, Y:43.31, Z:6.86 [[ 6.24665997e-01 -7.78347139e-01 -6.29930415e-02 7.99648847e+01] [ 7.74366227e-01 6.27834071e-01 -7.86214066e-02 4.33061331e+01] [ 1.00743925e-01 3.32435479e-04 9.94912333e-01 6.85831686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.98, Y:43.33, Z:6.86 [[ 6.25173048e-01 -7.77895809e-01 -6.35355878e-02 7.99819217e+01] [ 7.73839020e-01 6.28393125e-01 -7.93426212e-02 4.33288154e+01] [ 1.01645619e-01 4.36551319e-04 9.94820576e-01 6.86064637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.00, Y:43.35, Z:6.86 [[ 6.25617403e-01 -7.77500648e-01 -6.39969267e-02 7.99977591e+01] [ 7.73377895e-01 6.28881911e-01 -7.99635757e-02 4.33503351e+01] [ 1.02418242e-01 5.32796050e-04 9.94741283e-01 6.86242224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.01, Y:43.37, Z:6.86 [[ 6.26167238e-01 -7.77081336e-01 -6.37117559e-02 8.00134234e+01] [ 7.72989043e-01 6.29399879e-01 -7.96475443e-02 4.33717845e+01] [ 1.01992792e-01 6.24193566e-04 9.94784942e-01 6.86455901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.60687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.03, Y:43.39, Z:6.87 [[ 6.27542968e-01 -7.76101480e-01 -6.20992413e-02 8.00286382e+01] [ 7.72205551e-01 6.30607542e-01 -7.76705599e-02 4.33948603e+01] [ 9.94404864e-02 7.88234890e-04 9.95043199e-01 6.86728328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.04, Y:43.42, Z:6.87 [[ 6.28086661e-01 -7.75711898e-01 -6.14670456e-02 8.00443412e+01] [ 7.71889069e-01 6.31086601e-01 -7.69218203e-02 4.34169938e+01] [ 9.84602001e-02 8.67828615e-04 9.95140611e-01 6.87007129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.05, Y:43.45, Z:6.85 [[ 6.27463515e-01 -7.77903859e-01 -3.39871161e-02 8.00529299e+01] [ 7.73297632e-01 6.27666891e-01 -8.96941882e-02 4.34463628e+01] [ 9.11060426e-02 2.99976741e-02 9.95389285e-01 6.84703599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.08, Y:43.46, Z:6.89 [[ 6.30441286e-01 -7.71777376e-01 -8.30871032e-02 8.00793288e+01] [ 7.70049637e-01 6.35310810e-01 -5.83415032e-02 4.34574905e+01] [ 9.78127871e-02 -2.72003014e-02 9.94833052e-01 6.89139596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72687499999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:80.09, Y:43.48, Z:6.88 [[ 6.31514124e-01 -7.72969840e-01 -6.08895546e-02 8.00927661e+01] [ 7.69194685e-01 6.34441317e-01 -7.63135128e-02 4.34844019e+01] [ 9.76188930e-02 1.35713946e-03 9.95222945e-01 6.87829963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.11, Y:43.51, Z:6.88 [[ 6.32435744e-01 -7.72202325e-01 -6.10622572e-02 8.01090174e+01] [ 7.68397899e-01 6.35374927e-01 -7.65726537e-02 4.35065666e+01] [ 9.79270084e-02 1.50717308e-03 9.95192459e-01 6.88108566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.13, Y:43.53, Z:6.88 [[ 6.33149820e-01 -7.71588299e-01 -6.14231449e-02 8.01254633e+01] [ 7.67731871e-01 6.36120128e-01 -7.70646273e-02 4.35297454e+01] [ 9.85346635e-02 1.63694892e-03 9.95132273e-01 6.88391921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.14, Y:43.55, Z:6.88 [[ 6.34324872e-01 -7.70586917e-01 -6.18689020e-02 8.01404401e+01] [ 7.66665120e-01 6.37332286e-01 -7.76669186e-02 4.35534519e+01] [ 9.92801601e-02 1.83332903e-03 9.95057832e-01 6.88427033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.16, Y:43.58, Z:6.89 [[ 6.34309764e-01 -7.70624985e-01 -6.15488103e-02 8.01569244e+01] [ 7.66739735e-01 6.37286222e-01 -7.73075009e-02 4.35765513e+01] [ 9.87993005e-02 1.84498415e-03 9.95105670e-01 6.88613263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.876875 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:80.17, Y:43.60, Z:6.89 [[ 6.33672679e-01 -7.71165129e-01 -6.13455784e-02 8.01735934e+01] [ 7.67303849e-01 6.36632678e-01 -7.70949784e-02 4.35992353e+01] [ 9.85075588e-02 1.78228306e-03 9.95134707e-01 6.88832555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.19, Y:43.62, Z:6.89 [[ 6.32387228e-01 -7.72248782e-01 -6.09771484e-02 8.01906829e+01] [ 7.68434696e-01 6.35318156e-01 -7.66743723e-02 4.36213623e+01] [ 9.79515801e-02 1.63093725e-03 9.95189845e-01 6.89135162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.21, Y:43.64, Z:6.89 [[ 6.30321529e-01 -7.73959769e-01 -6.06716275e-02 8.02068998e+01] [ 7.70187615e-01 6.33233256e-01 -7.63327063e-02 4.36422943e+01] [ 9.74977359e-02 1.38561211e-03 9.95234782e-01 6.89459320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.22, Y:43.67, Z:6.90 [[ 6.24281847e-01 -7.78941468e-01 -5.93495173e-02 8.02231427e+01] [ 7.75350970e-01 6.27096327e-01 -7.47065555e-02 4.36653373e+01] [ 9.54098983e-02 6.21240581e-04 9.95437876e-01 6.89757797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.24, Y:43.69, Z:6.90 [[ 6.21543643e-01 -7.81209182e-01 -5.82727444e-02 8.02399717e+01] [ 7.77754178e-01 6.24269274e-01 -7.33914920e-02 4.36878183e+01] [ 9.37119914e-02 2.94144884e-04 9.95599305e-01 6.90005535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.26, Y:43.71, Z:6.90 [[ 6.17813963e-01 -7.84189645e-01 -5.79008464e-02 8.02567983e+01] [ 7.80787871e-01 6.20521219e-01 -7.29638092e-02 4.37100951e+01] [ 9.31461675e-02 -1.30218483e-04 9.95652437e-01 6.90356854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.27, Y:43.73, Z:6.91 [[ 6.11991586e-01 -7.88830454e-01 -5.66816896e-02 8.02732052e+01] [ 7.85586472e-01 6.14610358e-01 -7.14702913e-02 4.37327565e+01] [ 9.12150958e-02 -7.89151678e-04 9.95830901e-01 6.90635498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.29, Y:43.75, Z:6.91 [[ 6.09459187e-01 -7.90786936e-01 -5.67055585e-02 8.02890473e+01] [ 7.87544878e-01 6.12090602e-01 -7.15413156e-02 4.37548546e+01] [ 9.12828772e-02 -1.05666007e-03 9.95824442e-01 6.90876816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.31, Y:43.78, Z:6.91 [[ 6.07263507e-01 -7.92520084e-01 -5.60620161e-02 8.03052482e+01] [ 7.89355410e-01 6.09844472e-01 -7.07655062e-02 4.37772233e+01] [ 9.02721955e-02 -1.27954621e-03 9.95916308e-01 6.91040670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.32, Y:43.80, Z:6.91 [[ 6.05012106e-01 -7.94297744e-01 -5.52398824e-02 8.03201518e+01] [ 7.91229209e-01 6.07526832e-01 -6.97673755e-02 4.38004840e+01] [ 8.89757798e-02 -1.49730169e-03 9.96032664e-01 6.91221289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.34, Y:43.82, Z:6.92 [[ 6.05108803e-01 -7.94237897e-01 -5.50408900e-02 8.03361082e+01] [ 7.91188021e-01 6.07605158e-01 -6.95520490e-02 4.38235507e+01] [ 8.86840017e-02 -1.46113569e-03 9.96058740e-01 6.91526068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.35, Y:43.85, Z:6.92 [[ 6.05843097e-01 -7.93713727e-01 -5.45221132e-02 8.03511590e+01] [ 7.90715578e-01 6.08289984e-01 -6.89359862e-02 4.38458257e+01] [ 8.78806939e-02 -1.34709286e-03 9.96130096e-01 6.91736673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.37, Y:43.87, Z:6.92 [[ 6.07004749e-01 -7.92873861e-01 -5.38170520e-02 8.03663982e+01] [ 7.89946558e-01 6.09384631e-01 -6.80794141e-02 4.38690626e+01] [ 8.67736723e-02 -1.18806736e-03 9.96227343e-01 6.91929378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.38, Y:43.89, Z:6.92 [[ 6.10453567e-01 -7.90192825e-01 -5.42378259e-02 8.03803636e+01] [ 7.87205389e-01 6.12857796e-01 -6.86512816e-02 4.38936488e+01] [ 8.74878246e-02 -7.87889105e-04 9.96165277e-01 6.92255751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.40, Y:43.92, Z:6.93 [[ 6.11937726e-01 -7.88995113e-01 -5.49448024e-02 8.03954790e+01] [ 7.85920720e-01 6.14399180e-01 -6.95864195e-02 4.39161360e+01] [ 8.86613865e-02 -5.99703372e-04 9.96061644e-01 6.92531990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.326875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:80.41, Y:43.94, Z:6.93 [[ 6.13021015e-01 -7.88101168e-01 -5.56936656e-02 8.04109203e+01] [ 7.84935214e-01 6.15545565e-01 -7.05717176e-02 4.39399188e+01] [ 8.98996420e-02 -4.53973333e-04 9.95950726e-01 6.92682867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.42, Y:43.97, Z:6.93 [[ 6.15194196e-01 -7.86332996e-01 -5.67143805e-02 8.04239534e+01] [ 7.83038409e-01 6.17802873e-01 -7.19059144e-02 4.39650138e+01] [ 9.15803002e-02 -1.73437038e-04 9.95797680e-01 6.92694951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.38687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.44, Y:43.99, Z:6.93 [[ 6.16123989e-01 -7.85586595e-01 -5.69642967e-02 8.04393698e+01] [ 7.82255925e-01 6.18751727e-01 -7.22631846e-02 4.39882717e+01] [ 9.20157461e-02 -3.75770406e-05 9.95757551e-01 6.92920691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.45, Y:44.01, Z:6.93 [[ 6.16574571e-01 -7.85216851e-01 -5.71864887e-02 8.04539221e+01] [ 7.81854615e-01 6.19220877e-01 -7.25869577e-02 4.40106155e+01] [ 9.24075701e-02 4.37522797e-05 9.95721266e-01 6.93126717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.47, Y:44.03, Z:6.93 [[ 6.17174761e-01 -7.84739826e-01 -5.72600985e-02 8.04699204e+01] [ 7.81363332e-01 6.19825286e-01 -7.27183498e-02 4.40338729e+01] [ 9.25562421e-02 1.38988812e-04 9.95707448e-01 6.93398841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.48, Y:44.06, Z:6.94 [[ 6.17709200e-01 -7.84275165e-01 -5.78602536e-02 8.04838457e+01] [ 7.80821349e-01 6.20413095e-01 -7.35228701e-02 4.40568421e+01] [ 9.35594201e-02 2.37231985e-04 9.95613669e-01 6.93602125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.50, Y:44.08, Z:6.94 [[ 6.17637681e-01 -7.84294094e-01 -5.83649636e-02 8.04993382e+01] [ 7.80776028e-01 6.20389157e-01 -7.42030121e-02 4.40797317e+01] [ 9.44059748e-02 2.60611877e-04 9.95533748e-01 6.93861084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.50, Y:44.11, Z:6.90 [[ 6.13689948e-01 -7.89360092e-01 -1.71841035e-02 8.05003261e+01] [ 7.85181823e-01 6.12437875e-01 -9.17025305e-02 4.41115485e+01] [ 8.29105138e-02 4.27842754e-02 9.95638163e-01 6.90073263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.53, Y:44.12, Z:6.96 [[ 6.17933264e-01 -7.80890788e-01 -9.14770922e-02 8.05346654e+01] [ 7.80344493e-01 6.23352021e-01 -4.99472737e-02 4.41214569e+01] [ 9.60257962e-02 -4.05195632e-02 9.94553775e-01 6.96257422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.55, Y:44.15, Z:6.95 [[ 6.18466593e-01 -7.83587951e-01 -5.90677298e-02 8.05458041e+01] [ 7.79970520e-01 6.21280716e-01 -7.52081078e-02 4.41504910e+01] [ 9.56298085e-02 4.42614252e-04 9.95416869e-01 6.94603665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.56, Y:44.17, Z:6.95 [[ 6.18616709e-01 -7.83483586e-01 -5.88798561e-02 8.05618986e+01] [ 7.79884699e-01 6.21412292e-01 -7.50108002e-02 4.41729402e+01] [ 9.53583971e-02 4.83435495e-04 9.95442888e-01 6.94973166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.58, Y:44.20, Z:6.95 [[ 6.19060570e-01 -7.83131959e-01 -5.88926627e-02 8.05778643e+01] [ 7.79525883e-01 6.21855302e-01 -7.50691698e-02 4.41952986e+01] [ 9.54117805e-02 5.64008091e-04 9.95437730e-01 6.95299465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.59, Y:44.22, Z:6.96 [[ 6.20557165e-01 -7.81936461e-01 -5.90269049e-02 8.05926358e+01] [ 7.78304385e-01 6.23357656e-01 -7.52829127e-02 4.42196068e+01] [ 9.56613275e-02 7.76451984e-04 9.95413636e-01 6.95584150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.61, Y:44.24, Z:6.96 [[ 6.21538501e-01 -7.81120191e-01 -5.95074599e-02 8.06085501e+01] [ 7.77420663e-01 6.24379988e-01 -7.59390836e-02 4.42423781e+01] [ 9.64728186e-02 9.36735310e-04 9.95335179e-01 6.95793906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.74687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.63, Y:44.27, Z:6.96 [[ 6.22579274e-01 -7.80274988e-01 -5.97159137e-02 8.06252156e+01] [ 7.76541342e-01 6.25435637e-01 -7.62483276e-02 4.42650746e+01] [ 9.68431234e-02 1.09875268e-03 9.95299052e-01 6.96034473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.64, Y:44.29, Z:6.96 [[ 6.22379502e-01 -7.80435936e-01 -5.96951043e-02 8.06427099e+01] [ 7.76701467e-01 6.25234788e-01 -7.62646163e-02 4.42875689e+01] [ 9.68431031e-02 1.10025882e-03 9.95299052e-01 6.96284343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.66, Y:44.31, Z:6.96 [[ 6.23368785e-01 -7.79619415e-01 -6.00410375e-02 8.06585784e+01] [ 7.75833607e-01 6.26252329e-01 -7.67478672e-02 4.43113943e+01] [ 9.74349669e-02 1.26036997e-03 9.95241096e-01 6.96442511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.67, Y:44.33, Z:6.97 [[ 6.23829040e-01 -7.79237057e-01 -6.02240712e-02 8.06747543e+01] [ 7.75421920e-01 6.26727837e-01 -7.70263908e-02 4.43335124e+01] [ 9.77659199e-02 1.35223453e-03 9.95208519e-01 6.96737385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.69, Y:44.36, Z:6.97 [[ 6.23698271e-01 -7.79366086e-01 -5.99080089e-02 8.06911632e+01] [ 7.75587633e-01 6.26567379e-01 -7.66625266e-02 4.43562202e+01] [ 9.72845774e-02 1.35037447e-03 9.95255690e-01 6.96933653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.71, Y:44.38, Z:6.97 [[ 6.23374427e-01 -7.79644780e-01 -5.96518284e-02 8.07077022e+01] [ 7.75895614e-01 6.26220609e-01 -7.63789552e-02 4.43784325e+01] [ 9.69036580e-02 1.32909542e-03 9.95292879e-01 6.97205163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.72, Y:44.40, Z:6.97 [[ 6.22458734e-01 -7.80398419e-01 -5.93584996e-02 8.07240946e+01] [ 7.76685283e-01 6.25281366e-01 -7.60472602e-02 4.44000288e+01] [ 9.64629253e-02 1.23340830e-03 9.95335814e-01 6.97457228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.74, Y:44.42, Z:6.98 [[ 6.22048709e-01 -7.80735691e-01 -5.92214892e-02 8.07414834e+01] [ 7.77037361e-01 6.24860250e-01 -7.59118362e-02 4.44220549e+01] [ 9.62722344e-02 1.20355000e-03 9.95354313e-01 6.97763713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.76, Y:44.44, Z:6.98 [[ 6.21853427e-01 -7.80924167e-01 -5.87857208e-02 8.07584463e+01] [ 7.77276924e-01 6.24624706e-01 -7.53960144e-02 4.44439300e+01] [ 9.55975833e-02 1.19248571e-03 9.95419349e-01 6.98055466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.78, Y:44.47, Z:6.98 [[ 6.21790691e-01 -7.81014414e-01 -5.82479238e-02 8.07751662e+01] [ 7.77430065e-01 6.24511855e-01 -7.47491539e-02 4.44654202e+01] [ 9.47566856e-02 1.19464091e-03 9.95499746e-01 6.98305376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.046875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:80.79, Y:44.49, Z:6.98 [[ 6.22488233e-01 -7.80503406e-01 -5.76440128e-02 8.07920898e+01] [ 7.76987337e-01 6.25150210e-01 -7.40127855e-02 4.44876134e+01] [ 9.38033980e-02 1.28342008e-03 9.95589913e-01 6.98487985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.81, Y:44.51, Z:6.99 [[ 6.22924943e-01 -7.80158675e-01 -5.75930266e-02 8.08093544e+01] [ 7.76643366e-01 6.25580202e-01 -7.39898102e-02 4.45102592e+01] [ 9.37528496e-02 1.36085624e-03 9.95594572e-01 6.98723708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.10687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.83, Y:44.53, Z:6.99 [[ 6.23744641e-01 -7.79497381e-01 -5.76754368e-02 8.08267631e+01] [ 7.75965140e-01 6.26403716e-01 -7.41382914e-02 4.45327391e+01] [ 9.39187119e-02 1.48923357e-03 9.95578755e-01 6.98903868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.84, Y:44.55, Z:6.99 [[ 6.25000334e-01 -7.78495642e-01 -5.76117856e-02 8.08431905e+01] [ 7.74962882e-01 6.27647800e-01 -7.40997352e-02 4.45537176e+01] [ 9.38462315e-02 1.66536381e-03 9.95585311e-01 6.99121153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.86, Y:44.58, Z:6.99 [[ 6.27632459e-01 -7.76387169e-01 -5.74496278e-02 8.08609662e+01] [ 7.72861795e-01 6.30253094e-01 -7.39302648e-02 4.45755523e+01] [ 9.36063146e-02 2.00041142e-03 9.95607280e-01 6.99385232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19687499999999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:80.88, Y:44.60, Z:7.00 [[ 6.28598338e-01 -7.75628112e-01 -5.71415888e-02 8.08773029e+01] [ 7.72133580e-01 6.31186584e-01 -7.35746586e-02 4.45965874e+01] [ 9.31335777e-02 2.12796859e-03 9.95651349e-01 6.99537198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.89, Y:44.62, Z:7.00 [[ 6.29778561e-01 -7.74653445e-01 -5.73672809e-02 8.08946347e+01] [ 7.71124374e-01 6.32381807e-01 -7.38948496e-02 4.46184610e+01] [ 9.35209246e-02 2.30008343e-03 9.95614658e-01 6.99777512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.91, Y:44.64, Z:7.00 [[ 6.30656169e-01 -7.73915259e-01 -5.76885389e-02 8.09116155e+01] [ 7.70339302e-01 6.33284427e-01 -7.43518233e-02 4.46396333e+01] [ 9.40752639e-02 2.45068722e-03 9.95562072e-01 6.99976255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.93, Y:44.66, Z:7.00 [[ 6.31793752e-01 -7.72955203e-01 -5.81111768e-02 8.09298277e+01] [ 7.69318709e-01 6.34455116e-01 -7.49361712e-02 4.46607575e+01] [ 9.47912368e-02 2.63818925e-03 9.95493677e-01 7.00192738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.95, Y:44.68, Z:7.00 [[ 6.31861027e-01 -7.72883057e-01 -5.83388581e-02 8.09477125e+01] [ 7.69213546e-01 6.34542797e-01 -7.52725672e-02 4.46823343e+01] [ 9.51953941e-02 2.68676177e-03 9.95454981e-01 7.00455695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.97, Y:44.70, Z:7.01 [[ 6.32147572e-01 -7.72641629e-01 -5.84325265e-02 8.09653117e+01] [ 7.68955169e-01 6.34836455e-01 -7.54362213e-02 4.47037585e+01] [ 9.53802629e-02 2.75483083e-03 9.95437098e-01 7.00656373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.98, Y:44.73, Z:7.01 [[ 6.32245455e-01 -7.72552634e-01 -5.85500877e-02 8.09831498e+01] [ 7.68846803e-01 6.34944550e-01 -7.56307653e-02 4.47256809e+01] [ 9.56048060e-02 2.80115992e-03 9.95415428e-01 7.00858374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.00, Y:44.75, Z:7.01 [[ 6.32822441e-01 -7.72048309e-01 -5.89675100e-02 8.10020124e+01] [ 7.68282935e-01 6.35557116e-01 -7.62134094e-02 4.47470755e+01] [ 9.63176545e-02 2.92582405e-03 9.95346346e-01 7.01080695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.02, Y:44.77, Z:7.01 [[ 6.33190470e-01 -7.71700521e-01 -5.95662288e-02 8.10201273e+01] [ 7.67852208e-01 6.35978835e-01 -7.70318670e-02 4.47686700e+01] [ 9.73283927e-02 3.03778379e-03 9.95247686e-01 7.01304430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.04, Y:44.79, Z:7.02 [[ 6.33742681e-01 -7.71230991e-01 -5.97743546e-02 8.10377754e+01] [ 7.67349377e-01 6.36547600e-01 -7.73439534e-02 4.47895558e+01] [ 9.76992758e-02 3.14835063e-03 9.95211002e-01 7.01568183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.06, Y:44.81, Z:7.02 [[ 6.34127801e-01 -7.70916751e-01 -5.97435823e-02 8.10557166e+01] [ 7.67034665e-01 6.36927803e-01 -7.73356141e-02 4.48111362e+01] [ 9.76716689e-02 3.21526430e-03 9.95213498e-01 7.01797097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.52687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.07, Y:44.83, Z:7.02 [[ 6.36203144e-01 -7.69245330e-01 -5.92214587e-02 8.10736117e+01] [ 7.65419660e-01 6.38944122e-01 -7.67017210e-02 4.48307565e+01] [ 9.68416436e-02 3.46860733e-03 9.95293758e-01 7.02118414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.09, Y:44.85, Z:7.02 [[ 6.37364079e-01 -7.68283276e-01 -5.92270058e-02 8.10916467e+01] [ 7.64449729e-01 6.40099674e-01 -7.67399407e-02 4.48526953e+01] [ 9.68692002e-02 3.63521309e-03 9.95290482e-01 7.02382597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58687499999999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:81.11, Y:44.87, Z:7.03 [[ 6.38351549e-01 -7.67464414e-01 -5.92087231e-02 8.11090754e+01] [ 7.63625491e-01 6.41080366e-01 -7.67598404e-02 4.48740962e+01] [ 9.68679958e-02 3.78647274e-03 9.95290035e-01 7.02555739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.13, Y:44.89, Z:7.03 [[ 6.41028104e-01 -7.65169017e-01 -5.99945372e-02 8.11272672e+01] [ 7.61212656e-01 6.43815635e-01 -7.78249378e-02 4.48941794e+01] [ 9.81746522e-02 4.21937139e-03 9.95160256e-01 7.02768849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.15, Y:44.92, Z:7.03 [[ 6.42069975e-01 -7.64281967e-01 -6.01599747e-02 8.11452751e+01] [ 7.60295641e-01 6.44867244e-01 -7.80818580e-02 4.49160661e+01] [ 9.84717531e-02 4.39465008e-03 9.95130143e-01 7.03037787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.16, Y:44.94, Z:7.03 [[ 6.43198930e-01 -7.63332345e-01 -6.01570253e-02 8.11625810e+01] [ 7.59337760e-01 6.45989821e-01 -7.81237291e-02 4.49366055e+01] [ 9.84951954e-02 4.56959815e-03 9.95127035e-01 7.03298045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.18, Y:44.96, Z:7.04 [[ 6.43880766e-01 -7.62778475e-01 -5.98878668e-02 8.11804372e+01] [ 7.58813157e-01 6.46643084e-01 -7.78159030e-02 4.49584119e+01] [ 9.80823708e-02 4.66046199e-03 9.95167387e-01 7.03633371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.20, Y:44.98, Z:7.04 [[ 6.44302739e-01 -7.62462941e-01 -5.93653496e-02 8.11986695e+01] [ 7.58560994e-01 6.47014845e-01 -7.71816551e-02 4.49785168e+01] [ 9.72584142e-02 4.69611317e-03 9.95248083e-01 7.03951566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.22, Y:45.00, Z:7.04 [[ 6.43364768e-01 -7.63263186e-01 -5.92544007e-02 8.12168402e+01] [ 7.59374827e-01 6.46071349e-01 -7.70823291e-02 4.50003001e+01] [ 9.71166747e-02 4.59575448e-03 9.95262393e-01 7.04200669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.23, Y:45.02, Z:7.04 [[ 6.42409326e-01 -7.64102797e-01 -5.87977374e-02 8.12345701e+01] [ 7.60273393e-01 6.45079060e-01 -7.65334836e-02 4.50207364e+01] [ 9.64086380e-02 4.46346824e-03 9.95331830e-01 7.04462760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.826875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:81.25, Y:45.04, Z:7.05 [[ 6.38770011e-01 -7.67226188e-01 -5.77654765e-02 8.12542831e+01] [ 7.63539208e-01 6.41364474e-01 -7.52295732e-02 4.50405310e+01] [ 9.47668231e-02 3.94818906e-03 9.95491668e-01 7.04854422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.27, Y:45.06, Z:7.05 [[ 6.36979678e-01 -7.68744505e-01 -5.73478443e-02 8.12719767e+01] [ 7.65112776e-01 6.39545169e-01 -7.47289607e-02 4.50609696e+01] [ 9.41240146e-02 3.72326104e-03 9.95553518e-01 7.05152722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.88687499999999 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:81.29, Y:45.08, Z:7.05 [[ 6.34928328e-01 -7.70468881e-01 -5.69536781e-02 8.12898980e+01] [ 7.66890205e-01 6.37468171e-01 -7.42545996e-02 4.50823594e+01] [ 9.35170152e-02 3.46913091e-03 9.95611638e-01 7.05341046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.31, Y:45.10, Z:7.06 [[ 6.33398210e-01 -7.71729286e-01 -5.69264200e-02 8.13072776e+01] [ 7.68154984e-01 6.35942573e-01 -7.42628085e-02 4.51024318e+01] [ 9.35127181e-02 3.30961668e-03 9.95612584e-01 7.05633147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.33, Y:45.12, Z:7.06 [[ 6.30671867e-01 -7.73907795e-01 -5.76170246e-02 8.13266430e+01] [ 7.70251176e-01 6.33290948e-01 -7.52044010e-02 4.51229601e+01] [ 9.46896122e-02 3.04971904e-03 9.95502173e-01 7.05881021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.33, Y:45.15, Z:7.01 [[ 6.25779731e-01 -7.79949670e-01 -8.84536898e-03 8.13277996e+01] [ 7.75828476e-01 6.23564348e-01 -9.62168369e-02 4.51544824e+01] [ 8.05599469e-02 5.33480571e-02 9.95321094e-01 7.01383194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.37, Y:45.16, Z:7.09 [[ 6.28589601e-01 -7.71514895e-01 -9.81828903e-02 8.13687189e+01] [ 7.71525671e-01 6.34503649e-01 -4.64032235e-02 4.51589526e+01] [ 9.80981803e-02 -4.65820365e-02 9.94085942e-01 7.08868117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.38, Y:45.19, Z:7.06 [[ 6.28570238e-01 -7.75480277e-01 -5.94120867e-02 8.13818702e+01] [ 7.71592162e-01 6.31364931e-01 -7.76135263e-02 4.51877216e+01] [ 9.76984668e-02 2.94365230e-03 9.95211708e-01 7.06491153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.40, Y:45.21, Z:7.07 [[ 6.28439031e-01 -7.75610508e-01 -5.90992702e-02 8.13994722e+01] [ 7.71759501e-01 6.31204972e-01 -7.72499585e-02 4.52096905e+01] [ 9.72196328e-02 2.93646580e-03 9.95258620e-01 7.06740245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.42, Y:45.23, Z:7.07 [[ 6.28653428e-01 -7.75477098e-01 -5.85673823e-02 8.14172105e+01] [ 7.71690353e-01 6.31368765e-01 -7.65994873e-02 4.52315208e+01] [ 9.63787639e-02 2.95864638e-03 9.95340334e-01 7.07068499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.43, Y:45.25, Z:7.07 [[ 6.28756488e-01 -7.75421698e-01 -5.81933793e-02 8.14338394e+01] [ 7.71678795e-01 6.31436722e-01 -7.61544712e-02 4.52523693e+01] [ 9.57972660e-02 2.97602103e-03 9.95396417e-01 7.07298851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.45, Y:45.27, Z:7.08 [[ 6.29722711e-01 -7.74666213e-01 -5.78062879e-02 8.14518115e+01] [ 7.70966059e-01 6.32362772e-01 -7.56879123e-02 4.52736689e+01] [ 9.51874128e-02 3.09571130e-03 9.95454556e-01 7.07566542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.47, Y:45.30, Z:7.08 [[ 6.30265702e-01 -7.74221727e-01 -5.78434294e-02 8.14691071e+01] [ 7.70510730e-01 6.32906409e-01 -7.57805534e-02 4.52956575e+01] [ 9.52804281e-02 3.19290071e-03 9.95445350e-01 7.07838376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.49, Y:45.32, Z:7.08 [[ 6.30858707e-01 -7.73743443e-01 -5.77786734e-02 8.14858933e+01] [ 7.70034570e-01 6.33490539e-01 -7.57396731e-02 4.53173072e+01] [ 9.52053184e-02 3.28945630e-03 9.95452222e-01 7.08074865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.24687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.50, Y:45.34, Z:7.08 [[ 6.31493955e-01 -7.73220926e-01 -5.78341076e-02 8.15029784e+01] [ 7.69498548e-01 6.34127624e-01 -7.58560518e-02 4.53392919e+01] [ 9.53276919e-02 3.39937627e-03 9.95440142e-01 7.08297477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.52, Y:45.36, Z:7.08 [[ 6.33065541e-01 -7.71957639e-01 -5.75276002e-02 8.15200492e+01] [ 7.68265413e-01 6.35663793e-01 -7.54970061e-02 4.53615156e+01] [ 9.48487031e-02 3.59808751e-03 9.95485197e-01 7.08365319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.54, Y:45.38, Z:7.09 [[ 6.33365387e-01 -7.71725784e-01 -5.73375990e-02 8.15367809e+01] [ 7.68052944e-01 6.35944970e-01 -7.52905735e-02 4.53833772e+01] [ 9.45672345e-02 3.64813153e-03 9.95511793e-01 7.08539034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.55, Y:45.41, Z:7.09 [[ 6.33072425e-01 -7.71975762e-01 -5.72077541e-02 8.15538989e+01] [ 7.68316901e-01 6.35641616e-01 -7.51589981e-02 4.54050621e+01] [ 9.43845541e-02 3.62740484e-03 9.95529205e-01 7.08813768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.57, Y:45.42, Z:7.09 [[ 6.31600249e-01 -7.73156441e-01 -5.75347176e-02 8.15718813e+01] [ 7.69456294e-01 6.34205707e-01 -7.56315621e-02 4.54248955e+01] [ 9.49638756e-02 3.49846290e-03 9.95474572e-01 7.09107745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.59, Y:45.45, Z:7.09 [[ 6.30475269e-01 -7.74073072e-01 -5.75483651e-02 8.15894134e+01] [ 7.70371233e-01 6.33087208e-01 -7.56885028e-02 4.54463601e+01] [ 9.50215657e-02 3.38612425e-03 9.95469455e-01 7.09340700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.61, Y:45.47, Z:7.10 [[ 6.29364186e-01 -7.74970741e-01 -5.76287506e-02 8.16074246e+01] [ 7.71258177e-01 6.31988589e-01 -7.58369857e-02 4.54681715e+01] [ 9.51921578e-02 3.28243762e-03 9.95453504e-01 7.09619164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.63, Y:45.49, Z:7.10 [[ 6.26977827e-01 -7.76869290e-01 -5.80767763e-02 8.16251068e+01] [ 7.73102416e-01 6.29654529e-01 -7.64710915e-02 4.54883347e+01] [ 9.59763478e-02 3.04638269e-03 9.95378953e-01 7.09803595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.64, Y:45.51, Z:7.10 [[ 6.25800325e-01 -7.77824996e-01 -5.79847328e-02 8.16425396e+01] [ 7.74071087e-01 6.28474165e-01 -7.63817811e-02 4.55099953e+01] [ 9.58535651e-02 2.91543830e-03 9.95391177e-01 7.09984790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.66, Y:45.53, Z:7.10 [[ 6.25017740e-01 -7.78455915e-01 -5.79587221e-02 8.16601773e+01] [ 7.74703789e-01 6.27692832e-01 -7.63920700e-02 4.55321533e+01] [ 9.58481331e-02 2.84555733e-03 9.95391902e-01 7.10198949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.68, Y:45.55, Z:7.10 [[ 6.24068142e-01 -7.79227180e-01 -5.78269485e-02 8.16766443e+01] [ 7.75491076e-01 6.26735544e-01 -7.62636797e-02 4.55531060e+01] [ 9.56689362e-02 2.74945040e-03 9.95409411e-01 7.10391724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.69, Y:45.57, Z:7.11 [[ 6.23715119e-01 -7.79510125e-01 -5.78222743e-02 8.16946239e+01] [ 7.75771845e-01 6.26383670e-01 -7.62990382e-02 4.55748419e+01] [ 9.56948012e-02 2.73197133e-03 9.95406973e-01 7.10681298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.60687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.71, Y:45.59, Z:7.11 [[ 6.23521513e-01 -7.79624903e-01 -5.83603726e-02 8.17126208e+01] [ 7.75812626e-01 6.26240645e-01 -7.70546759e-02 4.55947152e+01] [ 9.66213816e-02 2.76853420e-03 9.95317358e-01 7.10959196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.73, Y:45.62, Z:7.11 [[ 6.23482200e-01 -7.79641202e-01 -5.85623034e-02 8.17298767e+01] [ 7.75798434e-01 6.26220206e-01 -7.73630666e-02 4.56161838e+01] [ 9.69883319e-02 2.80195165e-03 9.95281575e-01 7.11226828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.75, Y:45.64, Z:7.12 [[ 6.23221906e-01 -7.79895908e-01 -5.79381524e-02 8.17479604e+01] [ 7.76131639e-01 6.25903150e-01 -7.65828001e-02 4.56381531e+01] [ 9.59902845e-02 2.76044539e-03 9.95378443e-01 7.11519488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.77, Y:45.66, Z:7.12 [[ 6.23018876e-01 -7.80059685e-01 -5.79169076e-02 8.17650755e+01] [ 7.76294631e-01 6.25699017e-01 -7.65988638e-02 4.56609568e+01] [ 9.59902377e-02 2.76195361e-03 9.95378444e-01 7.11771036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72687499999999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:81.78, Y:45.68, Z:7.12 [[ 6.22943027e-01 -7.80168341e-01 -5.72655587e-02 8.17817404e+01] [ 7.76484276e-01 6.25563629e-01 -7.57780671e-02 4.56821915e+01] [ 9.49428996e-02 2.73961262e-03 9.95478950e-01 7.12102317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.80, Y:45.70, Z:7.12 [[ 6.22984017e-01 -7.80194005e-01 -5.64643997e-02 8.17983049e+01] [ 7.76608995e-01 6.25531700e-01 -7.47566791e-02 4.57033635e+01] [ 9.36449849e-02 2.72145557e-03 9.95601934e-01 7.12412114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.81, Y:45.73, Z:7.13 [[ 6.22821659e-01 -7.80363530e-01 -5.59101222e-02 8.18149347e+01] [ 7.76845276e-01 6.25320308e-01 -7.40670687e-02 4.57258262e+01] [ 9.27609740e-02 2.69706034e-03 9.95684753e-01 7.12646104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.83, Y:45.75, Z:7.13 [[ 6.20190689e-01 -7.82477799e-01 -5.56057815e-02 8.18312446e+01] [ 7.79002335e-01 6.22673878e-01 -7.37062029e-02 4.57471187e+01] [ 9.22977350e-02 2.39486715e-03 9.95728574e-01 7.12797304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.85, Y:45.77, Z:7.13 [[ 6.14506551e-01 -7.86940897e-01 -5.57290139e-02 8.18480910e+01] [ 7.83465321e-01 6.17025901e-01 -7.38994521e-02 4.57682277e+01] [ 9.25407461e-02 1.74994768e-03 9.95707361e-01 7.13128176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.87, Y:45.79, Z:7.13 [[ 6.12500546e-01 -7.88474016e-01 -5.61409577e-02 8.18654163e+01] [ 7.84949502e-01 6.15066103e-01 -7.44846923e-02 4.57907781e+01] [ 9.32596445e-02 1.55409794e-03 9.95640610e-01 7.13336165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.88, Y:45.81, Z:7.14 [[ 6.10816147e-01 -7.89731331e-01 -5.68160146e-02 8.18818950e+01] [ 7.86122617e-01 6.13451260e-01 -7.54240227e-02 4.58120316e+01] [ 9.44185696e-02 1.40585683e-03 9.95531595e-01 7.13543387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.90, Y:45.83, Z:7.14 [[ 6.09380169e-01 -7.90817362e-01 -5.71288851e-02 8.18985920e+01] [ 7.87169105e-01 6.12050880e-01 -7.58849085e-02 4.58346666e+01] [ 9.49768876e-02 1.27266501e-03 9.95478664e-01 7.13722652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.92, Y:45.86, Z:7.14 [[ 6.07908059e-01 -7.91895568e-01 -5.78722775e-02 8.19159729e+01] [ 7.88152148e-01 6.10655464e-01 -7.69161600e-02 4.58568393e+01] [ 9.62495887e-02 1.14579376e-03 9.95356571e-01 7.13803439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.93, Y:45.88, Z:7.14 [[ 6.07659626e-01 -7.92088018e-01 -5.78476574e-02 8.19322646e+01] [ 7.88344390e-01 6.10405823e-01 -7.69275968e-02 4.58781955e+01] [ 9.62439745e-02 1.14191850e-03 9.95357119e-01 7.13966796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.95, Y:45.90, Z:7.14 [[ 6.09025227e-01 -7.91057875e-01 -5.75822206e-02 8.19494095e+01] [ 7.87339605e-01 6.11739878e-01 -7.66202888e-02 4.58999902e+01] [ 9.58364234e-02 1.32692593e-03 9.95396212e-01 7.14297351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05687499999999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:81.97, Y:45.92, Z:7.15 [[ 6.09724668e-01 -7.90513209e-01 -5.76601728e-02 8.19658147e+01] [ 7.86778259e-01 6.12443295e-01 -7.67670604e-02 4.59220544e+01] [ 9.59989615e-02 1.44100007e-03 9.95380391e-01 7.14575134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08687499999999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:81.98, Y:45.95, Z:7.13 [[ 6.10020428e-01 -7.91580454e-01 -3.57136207e-02 8.19781736e+01] [ 7.86984229e-01 6.10500027e-01 -8.91377659e-02 4.59495676e+01] [ 9.23628796e-02 2.62698018e-02 9.95378820e-01 7.12912638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.00, Y:45.96, Z:7.16 [[ 6.11562380e-01 -7.87400382e-01 -7.74086164e-02 8.20017122e+01] [ 7.85271968e-01 6.16021458e-01 -6.21731413e-02 4.59624787e+01] [ 9.66405240e-02 -2.27640622e-02 9.95058997e-01 7.16433031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.146875 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:82.01, Y:45.99, Z:7.15 [[ 6.14774356e-01 -7.86629701e-01 -5.71507281e-02 8.20147824e+01] [ 7.82930758e-01 6.17421442e-01 -7.62246145e-02 4.59889912e+01] [ 9.52466306e-02 2.11587544e-03 9.95451457e-01 7.15361292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.03, Y:46.01, Z:7.16 [[ 6.16166723e-01 -7.85568490e-01 -5.67513579e-02 8.20315809e+01] [ 7.81912547e-01 6.18770473e-01 -7.57355315e-02 4.60119437e+01] [ 9.46115117e-02 2.29111549e-03 9.95511634e-01 7.15658522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.05, Y:46.04, Z:7.16 [[ 6.17180774e-01 -7.84786621e-01 -5.65495461e-02 8.20481596e+01] [ 7.81149288e-01 6.19761290e-01 -7.55098264e-02 4.60350512e+01] [ 9.43063212e-02 2.42957539e-03 9.95540263e-01 7.15854314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.06, Y:46.06, Z:7.16 [[ 6.19217710e-01 -7.83231111e-01 -5.58431189e-02 8.20631892e+01] [ 7.79674024e-01 6.21724981e-01 -7.46087372e-02 4.60578073e+01] [ 9.31549462e-02 2.65962217e-03 9.95648072e-01 7.16015249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.08, Y:46.08, Z:7.16 [[ 6.19755922e-01 -7.82799565e-01 -5.59235010e-02 8.20789753e+01] [ 7.79227666e-01 6.22267864e-01 -7.47458993e-02 4.60800467e+01] [ 9.33104550e-02 2.74707454e-03 9.95633272e-01 7.16243435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.10, Y:46.10, Z:7.16 [[ 6.20138572e-01 -7.82514710e-01 -5.56675900e-02 8.20955378e+01] [ 7.78971395e-01 6.22625816e-01 -7.44356098e-02 4.61030345e+01] [ 9.29070383e-02 2.79693252e-03 9.95670859e-01 7.16486556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.11, Y:46.12, Z:7.17 [[ 6.20131047e-01 -7.82504993e-01 -5.58875719e-02 8.21110482e+01] [ 7.78929499e-01 6.22637850e-01 -7.47726144e-02 4.61247645e+01] [ 9.33076616e-02 2.83634134e-03 9.95633284e-01 7.16711020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35687499999999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:82.13, Y:46.15, Z:7.17 [[ 6.19470911e-01 -7.82999367e-01 -5.62830429e-02 8.21268041e+01] [ 7.79371919e-01 6.22016189e-01 -7.53344066e-02 4.61477802e+01] [ 9.39957566e-02 2.80205039e-03 9.95568655e-01 7.16960923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.38687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.14, Y:46.17, Z:7.17 [[ 6.18477317e-01 -7.83763531e-01 -5.65732834e-02 8.21428644e+01] [ 7.80097500e-01 6.21053371e-01 -7.57667546e-02 4.61705147e+01] [ 9.45182474e-02 2.72734209e-03 9.95519393e-01 7.17193112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.16, Y:46.19, Z:7.17 [[ 6.17586036e-01 -7.84438857e-01 -5.69488195e-02 8.21592379e+01] [ 7.80722489e-01 6.20200415e-01 -7.63140916e-02 4.61933209e+01] [ 9.51834203e-02 2.66929317e-03 9.95456173e-01 7.17438734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.18, Y:46.22, Z:7.18 [[ 6.16280531e-01 -7.85442642e-01 -5.72552493e-02 8.21752492e+01] [ 7.81686065e-01 6.18929175e-01 -7.67696077e-02 4.62156803e+01] [ 9.57350677e-02 2.55598405e-03 9.95403568e-01 7.17617258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.19, Y:46.24, Z:7.18 [[ 6.12717024e-01 -7.88182952e-01 -5.78401453e-02 8.21919612e+01] [ 7.84357088e-01 6.15437158e-01 -7.75955132e-02 4.62379616e+01] [ 9.67564353e-02 2.17676403e-03 9.95305709e-01 7.17839558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.21, Y:46.26, Z:7.18 [[ 6.10513885e-01 -7.89890375e-01 -5.78445516e-02 8.22083882e+01] [ 7.86067277e-01 6.13245021e-01 -7.76452224e-02 4.62592914e+01] [ 9.68040971e-02 1.93377716e-03 9.95301576e-01 7.18127507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.23, Y:46.28, Z:7.18 [[ 6.07953069e-01 -7.91878087e-01 -5.76381853e-02 8.22255077e+01] [ 7.88088110e-01 6.10677029e-01 -7.73995927e-02 4.62820342e+01] [ 9.64893572e-02 1.63135140e-03 9.95332679e-01 7.18418005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.24, Y:46.30, Z:7.19 [[ 6.03404658e-01 -7.95405649e-01 -5.68565841e-02 8.22427828e+01] [ 7.91729541e-01 6.06076469e-01 -7.63914042e-02 4.63040763e+01] [ 9.52215922e-02 1.07989188e-03 9.95455515e-01 7.18705155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.26, Y:46.33, Z:7.19 [[ 6.02065632e-01 -7.96445254e-01 -5.64971899e-02 8.22591399e+01] [ 7.92816018e-01 6.04709915e-01 -7.59518313e-02 4.63252158e+01] [ 9.46558865e-02 9.36110151e-04 9.95509612e-01 7.18941939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.28, Y:46.35, Z:7.19 [[ 6.00931556e-01 -7.97304502e-01 -5.64517192e-02 8.22759823e+01] [ 7.93680568e-01 6.03576711e-01 -7.59362183e-02 4.63478210e+01] [ 9.46172317e-02 8.27837278e-04 9.95513382e-01 7.19244893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.29, Y:46.37, Z:7.19 [[ 6.00270834e-01 -7.97800018e-01 -5.64805833e-02 8.22920580e+01] [ 7.94170458e-01 6.02921660e-01 -7.60181288e-02 4.63700019e+01] [ 9.47006316e-02 7.76254909e-04 9.95505494e-01 7.19485989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.31, Y:46.39, Z:7.20 [[ 6.00562418e-01 -7.97646967e-01 -5.55346484e-02 8.23082749e+01] [ 7.94133477e-01 6.03124078e-01 -7.47888195e-02 4.63933489e+01] [ 9.31493587e-02 8.13430862e-04 9.95651814e-01 7.19665316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.32, Y:46.42, Z:7.20 [[ 6.01309207e-01 -7.97114323e-01 -5.50998536e-02 8.23246811e+01] [ 7.93649617e-01 6.03827724e-01 -7.42453068e-02 4.64160806e+01] [ 9.24528166e-02 9.14408943e-04 9.95716647e-01 7.19907110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.34, Y:46.44, Z:7.20 [[ 6.02402359e-01 -7.96329522e-01 -5.45040362e-02 8.23402823e+01] [ 7.92932472e-01 6.04862127e-01 -7.34840332e-02 4.64382264e+01] [ 9.14849322e-02 1.04893486e-03 9.95805908e-01 7.20144877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.36, Y:46.46, Z:7.20 [[ 6.04893659e-01 -7.94459787e-01 -5.41969312e-02 8.23560864e+01] [ 7.91089479e-01 6.07315256e-01 -7.31137215e-02 4.64614924e+01] [ 9.10005348e-02 1.35140444e-03 9.95849927e-01 7.20402133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.37, Y:46.48, Z:7.21 [[ 6.06092419e-01 -7.93548138e-01 -5.41602463e-02 8.23724001e+01] [ 7.90175021e-01 6.08505600e-01 -7.31052032e-02 4.64844029e+01] [ 9.09693110e-02 1.51243572e-03 9.95852548e-01 7.20649820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.39, Y:46.51, Z:7.21 [[ 6.07322528e-01 -7.92600246e-01 -5.42604536e-02 8.23880134e+01] [ 7.89206989e-01 6.09739302e-01 -7.32824111e-02 4.65066236e+01] [ 9.11683882e-02 1.68332997e-03 9.95834068e-01 7.20827510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.40, Y:46.53, Z:7.21 [[ 6.10104302e-01 -7.90417615e-01 -5.48883840e-02 8.24041748e+01] [ 7.86932747e-01 6.12564903e-01 -7.41693408e-02 4.65302235e+01] [ 9.22474511e-02 2.05756711e-03 9.95733988e-01 7.20984008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.42, Y:46.55, Z:7.21 [[ 6.11082058e-01 -7.89631609e-01 -5.53230533e-02 8.24202185e+01] [ 7.86083999e-01 6.13577211e-01 -7.47994128e-02 4.65534237e+01] [ 9.30089454e-02 2.22001215e-03 9.95662798e-01 7.21115187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.44, Y:46.58, Z:7.21 [[ 6.11994778e-01 -7.88870393e-01 -5.60882786e-02 8.24359612e+01] [ 7.85216407e-01 6.14554933e-01 -7.58777253e-02 4.65751753e+01] [ 9.43270193e-02 2.39533510e-03 9.95538385e-01 7.21296878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.45, Y:46.60, Z:7.22 [[ 6.12396971e-01 -7.88512175e-01 -5.67318279e-02 8.24523592e+01] [ 7.84767683e-01 6.15014034e-01 -7.67946734e-02 4.65983015e+01] [ 9.54444053e-02 2.50752024e-03 9.95431604e-01 7.21500334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.47, Y:46.62, Z:7.22 [[ 6.13155345e-01 -7.87912144e-01 -5.68768475e-02 8.24689172e+01] [ 7.84141537e-01 6.15782029e-01 -7.70359842e-02 4.66208238e+01] [ 9.57213280e-02 2.63552684e-03 9.95404682e-01 7.21665124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.49, Y:46.64, Z:7.22 [[ 6.12871211e-01 -7.88148527e-01 -5.66637318e-02 8.24855299e+01] [ 7.84402883e-01 6.15479531e-01 -7.67923452e-02 4.66428061e+01] [ 9.53991408e-02 2.61662295e-03 9.95435662e-01 7.21968545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.50, Y:46.66, Z:7.22 [[ 6.12513936e-01 -7.88479032e-01 -5.59240025e-02 8.25020856e+01] [ 7.84828029e-01 6.15056315e-01 -7.58333362e-02 4.66645804e+01] [ 9.41894065e-02 2.55825055e-03 9.95551009e-01 7.22300229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.52, Y:46.69, Z:7.23 [[ 6.11845372e-01 -7.89053531e-01 -5.51340630e-02 8.25193292e+01] [ 7.85503867e-01 6.14319526e-01 -7.48010386e-02 4.66866944e+01] [ 9.28919551e-02 2.45864965e-03 9.95673159e-01 7.22676273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.54, Y:46.71, Z:7.23 [[ 6.10351509e-01 -7.90245618e-01 -5.46159189e-02 8.25358437e+01] [ 7.86763280e-01 6.12785977e-01 -7.41409906e-02 4.67079245e+01] [ 9.20574622e-02 2.28226595e-03 9.95751081e-01 7.22974469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.55, Y:46.73, Z:7.23 [[ 6.09498303e-01 -7.90909923e-01 -5.45280968e-02 8.25527759e+01] [ 7.87437824e-01 6.11928626e-01 -7.40609905e-02 4.67303847e+01] [ 9.19428757e-02 2.20256210e-03 9.95761847e-01 7.23160103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.57, Y:46.75, Z:7.23 [[ 6.08494343e-01 -7.91673247e-01 -5.46635554e-02 8.25697359e+01] [ 7.88182885e-01 6.10941060e-01 -7.42883616e-02 4.67532804e+01] [ 9.22083189e-02 2.11916896e-03 9.95737483e-01 7.23306999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.59, Y:46.78, Z:7.23 [[ 6.06853297e-01 -7.92953387e-01 -5.43507195e-02 8.25876759e+01] [ 7.89504078e-01 6.09279214e-01 -7.39063637e-02 4.67752082e+01] [ 9.17190652e-02 1.94020585e-03 9.95783033e-01 7.23489715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.60, Y:46.80, Z:7.24 [[ 6.06124011e-01 -7.93494456e-01 -5.45914951e-02 8.26045508e+01] [ 7.90012629e-01 6.08574534e-01 -7.42770667e-02 4.67962208e+01] [ 9.21614343e-02 1.89314304e-03 9.95742279e-01 7.23765826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.62, Y:46.82, Z:7.24 [[ 6.05173197e-01 -7.94187763e-01 -5.50563185e-02 8.26216520e+01] [ 7.90645406e-01 6.07669695e-01 -7.49492081e-02 4.68181271e+01] [ 9.29798002e-02 1.82722661e-03 9.95666319e-01 7.23956192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.64, Y:46.84, Z:7.24 [[ 6.04653837e-01 -7.94562275e-01 -5.53581914e-02 8.26386769e+01] [ 7.90978344e-01 6.07179981e-01 -7.54037722e-02 4.68386316e+01] [ 9.35253784e-02 1.80604956e-03 9.95615258e-01 7.24257186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.316875 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:82.66, Y:46.86, Z:7.25 [[ 6.04442802e-01 -7.94724406e-01 -5.53355035e-02 8.26558113e+01] [ 7.91140396e-01 6.06967761e-01 -7.54122723e-02 4.68610805e+01] [ 9.35188400e-02 1.80425300e-03 9.95615875e-01 7.24507480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.66, Y:46.89, Z:7.21 [[ 6.01366335e-01 -7.98870663e-01 -1.28138615e-02 8.26589348e+01] [ 7.94781869e-01 5.99775164e-01 -9.26905261e-02 4.68921242e+01] [ 8.17331779e-02 4.55567372e-02 9.95612511e-01 7.20617554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.70, Y:46.90, Z:7.27 [[ 6.05224903e-01 -7.90921893e-01 -9.02517394e-02 8.26954604e+01] [ 7.90370406e-01 6.10553188e-01 -5.03927279e-02 4.68977814e+01] [ 9.49601990e-02 -4.08333701e-02 9.94643251e-01 7.27222145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.71, Y:46.93, Z:7.25 [[ 6.05903721e-01 -7.93580647e-01 -5.57712922e-02 8.27062818e+01] [ 7.89924695e-01 6.08461585e-01 -7.61148924e-02 4.69259068e+01] [ 9.43379944e-02 2.06317563e-03 9.95538089e-01 7.25088002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.72, Y:46.95, Z:7.25 [[ 6.06981683e-01 -7.92752687e-01 -5.58248481e-02 8.27227115e+01] [ 7.89083238e-01 6.09539399e-01 -7.62191854e-02 4.69470616e+01] [ 9.44504083e-02 2.21319755e-03 9.95527108e-01 7.25346508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.74, Y:46.97, Z:7.26 [[ 6.09424889e-01 -7.90853058e-01 -5.61493112e-02 8.27400543e+01] [ 7.87128185e-01 6.12000759e-01 -7.67091337e-02 4.69690555e+01] [ 9.50290741e-02 2.55174991e-03 9.95471227e-01 7.25576288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.76, Y:46.99, Z:7.25 [[ 6.11074682e-01 -7.89963895e-01 -5.04457908e-02 8.27559958e+01] [ 7.85981970e-01 6.13086209e-01 -7.97348277e-02 4.69924074e+01] [ 9.39152536e-02 9.07445247e-03 9.95538839e-01 7.25261899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.52687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.77, Y:47.01, Z:7.26 [[ 6.12226785e-01 -7.88280143e-01 -6.15855510e-02 8.27746236e+01] [ 7.84843461e-01 6.15307803e-01 -7.36006083e-02 4.70120987e+01] [ 9.59119681e-02 -3.27475327e-03 9.95384433e-01 7.26446689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.79, Y:47.03, Z:7.26 [[ 6.14470871e-01 -7.86906675e-01 -5.65988906e-02 8.27913574e+01] [ 7.83094146e-01 6.17063416e-01 -7.74357775e-02 4.70348538e+01] [ 9.58598349e-02 3.25976977e-03 9.95389505e-01 7.26308039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.81, Y:47.06, Z:7.27 [[ 6.14264601e-01 -7.87069248e-01 -5.65773691e-02 8.28080912e+01] [ 7.83255962e-01 6.16856031e-01 -7.74514990e-02 4.70579433e+01] [ 9.58597845e-02 3.26115247e-03 9.95389505e-01 7.26559762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.83, Y:47.08, Z:7.27 [[ 6.12772712e-01 -7.88231603e-01 -5.65733464e-02 8.28253571e+01] [ 7.84419626e-01 6.15370858e-01 -7.74890765e-02 4.70800910e+01] [ 9.58929277e-02 3.10594833e-03 9.95386809e-01 7.26743067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.84, Y:47.10, Z:7.27 [[ 6.06917271e-01 -7.92781044e-01 -5.61216745e-02 8.28426313e+01] [ 7.89044684e-01 6.09501814e-01 -7.69157044e-02 4.71005507e+01] [ 9.51835749e-02 2.39896055e-03 9.95456846e-01 7.27128834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.86, Y:47.12, Z:7.28 [[ 6.02381256e-01 -7.96280971e-01 -5.54385824e-02 8.28596207e+01] [ 7.92645489e-01 6.04924110e-01 -7.60259785e-02 4.71212144e+01] [ 9.40741752e-02 1.85348215e-03 9.95563466e-01 7.27512950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.88, Y:47.14, Z:7.28 [[ 5.96152353e-01 -8.01015211e-01 -5.45619220e-02 8.28778903e+01] [ 7.97509446e-01 5.98642948e-01 -7.48685871e-02 4.71423692e+01] [ 9.26339869e-02 1.11943620e-03 9.95699599e-01 7.27806822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.89, Y:47.17, Z:7.28 [[ 5.93893541e-01 -8.02680435e-01 -5.47227649e-02 8.28948442e+01] [ 7.99156905e-01 5.96408694e-01 -7.51326300e-02 4.71653659e+01] [ 9.29446248e-02 8.88708283e-04 9.95670883e-01 7.27935934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.91, Y:47.19, Z:7.28 [[ 5.92418129e-01 -8.03716719e-01 -5.54995068e-02 8.29114016e+01] [ 8.00092566e-01 5.95011641e-01 -7.62432480e-02 4.71876326e+01] [ 9.43008257e-02 7.63139596e-04 9.95543456e-01 7.27998707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.93, Y:47.21, Z:7.28 [[ 5.91368594e-01 -8.04477780e-01 -5.56658523e-02 8.29279444e+01] [ 8.00831134e-01 5.93982368e-01 -7.65143152e-02 4.72087845e+01] [ 9.46186012e-02 6.69215389e-04 9.95513371e-01 7.28003027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.95, Y:47.23, Z:7.28 [[ 5.91833790e-01 -8.04131040e-01 -5.57318216e-02 8.29451492e+01] [ 8.00471112e-01 5.94451610e-01 -7.66373488e-02 4.72312599e+01] [ 9.47563420e-02 7.44859448e-04 9.95500216e-01 7.28317059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.96, Y:47.25, Z:7.29 [[ 5.93105101e-01 -8.03201090e-01 -5.56268724e-02 8.29623610e+01] [ 7.99546821e-01 5.95707284e-01 -7.65356955e-02 4.72531081e+01] [ 9.46108871e-02 9.17422373e-04 9.95513907e-01 7.28664375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.88687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.98, Y:47.28, Z:7.29 [[ 5.94274595e-01 -8.02328590e-01 -5.57363394e-02 8.29788778e+01] [ 7.98651974e-01 5.96881611e-01 -7.67291730e-02 4.72752508e+01] [ 9.48300053e-02 1.08426069e-03 9.95492890e-01 7.29006703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91687499999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:82.99, Y:47.30, Z:7.29 [[ 5.97103919e-01 -8.00291243e-01 -5.47798913e-02 8.29949942e+01] [ 7.96727443e-01 5.99609822e-01 -7.54549045e-02 4.72984161e+01] [ 9.32324602e-02 1.40977648e-03 9.95643370e-01 7.29257275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.01, Y:47.32, Z:7.30 [[ 5.98519485e-01 -7.99231262e-01 -5.48070897e-02 8.30112063e+01] [ 7.95655362e-01 6.01021483e-01 -7.55362292e-02 4.73214780e+01] [ 9.33111541e-02 1.60235022e-03 9.95635707e-01 7.29553704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.03, Y:47.34, Z:7.30 [[ 5.99777911e-01 -7.98308775e-01 -5.44936407e-02 8.30273375e+01] [ 7.94765942e-01 6.02245793e-01 -7.51472073e-02 4.73445922e+01] [ 9.28092409e-02 1.76194533e-03 9.95682349e-01 7.29737295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.04, Y:47.37, Z:7.30 [[ 6.00934453e-01 -7.97456456e-01 -5.42308383e-02 8.30431107e+01] [ 7.93940278e-01 6.03373474e-01 -7.48283792e-02 4.73669417e+01] [ 9.23938234e-02 1.91090433e-03 9.95720709e-01 7.29944294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.06, Y:47.39, Z:7.30 [[ 6.02844583e-01 -7.95989094e-01 -5.45872793e-02 8.30591973e+01] [ 7.92416058e-01 6.05307042e-01 -7.53669436e-02 4.73893628e+01] [ 9.30333297e-02 2.17871695e-03 9.95660611e-01 7.30097258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.08, Y:47.41, Z:7.30 [[ 6.03250819e-01 -7.95650292e-01 -5.50369158e-02 8.30758391e+01] [ 7.92012220e-01 6.05751949e-01 -7.60343355e-02 4.74118801e+01] [ 9.38354603e-02 2.27786532e-03 9.95585113e-01 7.30353296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.096875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:83.09, Y:47.43, Z:7.31 [[ 6.04765013e-01 -7.94511609e-01 -5.48687826e-02 8.30920989e+01] [ 7.90886980e-01 6.07243924e-01 -7.58459035e-02 4.74335273e+01] [ 9.35791856e-02 2.47394300e-03 9.95608766e-01 7.30664989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.11, Y:47.46, Z:7.31 [[ 6.05352584e-01 -7.94073551e-01 -5.47306568e-02 8.31086875e+01] [ 7.90461102e-01 6.07816276e-01 -7.57008648e-02 4.74565882e+01] [ 9.33782385e-02 2.56325878e-03 9.95627407e-01 7.30893879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.13, Y:47.48, Z:7.31 [[ 6.05826836e-01 -7.93725383e-01 -5.45331303e-02 8.31253147e+01] [ 7.90133447e-01 6.08270561e-01 -7.54722454e-02 4.74797875e+01] [ 9.30751346e-02 2.63466137e-03 9.95655602e-01 7.31102053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.14, Y:47.50, Z:7.31 [[ 6.05840975e-01 -7.93706357e-01 -5.46528341e-02 8.31416026e+01] [ 7.90094289e-01 6.08295228e-01 -7.56830893e-02 4.75019978e+01] [ 9.33152073e-02 2.67102454e-03 9.95633034e-01 7.31322217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.16, Y:47.52, Z:7.32 [[ 6.04489637e-01 -7.94741506e-01 -5.45730407e-02 8.31586235e+01] [ 7.91139772e-01 6.06942752e-01 -7.56198210e-02 4.75239443e+01] [ 9.32209220e-02 2.53649519e-03 9.95642218e-01 7.31566825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.24687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.18, Y:47.55, Z:7.32 [[ 6.03224850e-01 -7.95704411e-01 -5.45368670e-02 8.31753157e+01] [ 7.92107222e-01 6.05680333e-01 -7.56140380e-02 4.75460973e+01] [ 9.31983314e-02 2.41322055e-03 9.95644639e-01 7.31765411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.19, Y:47.57, Z:7.32 [[ 6.01616341e-01 -7.96934446e-01 -5.43439664e-02 8.31915863e+01] [ 7.93363529e-01 6.04061637e-01 -7.53913070e-02 4.75676419e+01] [ 9.29090348e-02 2.24212134e-03 9.95672077e-01 7.32006394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.21, Y:47.59, Z:7.32 [[ 5.99901497e-01 -7.98231935e-01 -5.42583851e-02 8.32086545e+01] [ 7.94673176e-01 6.02346667e-01 -7.53195583e-02 4.75904008e+01] [ 9.28048342e-02 2.06663256e-03 9.95682174e-01 7.32294898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.23, Y:47.61, Z:7.33 [[ 5.97601819e-01 -7.99946782e-01 -5.43802603e-02 8.32257809e+01] [ 7.96374806e-01 6.00068154e-01 -7.55339550e-02 4.76113541e+01] [ 9.30550067e-02 1.83215968e-03 9.95659284e-01 7.32622360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.24, Y:47.63, Z:7.33 [[ 5.96720459e-01 -8.00594149e-01 -5.45316705e-02 8.32431900e+01] [ 7.97000446e-01 5.99204385e-01 -7.57917781e-02 4.76338189e+01] [ 9.33540701e-02 1.76473893e-03 9.95631409e-01 7.32909806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.26, Y:47.66, Z:7.33 [[ 5.95803260e-01 -8.01275385e-01 -5.45548648e-02 8.32598341e+01] [ 7.97677315e-01 5.98293337e-01 -7.58682003e-02 4.76560430e+01] [ 9.34311335e-02 1.68534301e-03 9.95624318e-01 7.33180139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.28, Y:47.68, Z:7.33 [[ 5.94608116e-01 -8.02128537e-01 -5.50545029e-02 8.32765663e+01] [ 7.98463434e-01 5.97149288e-01 -7.66085639e-02 4.76776558e+01] [ 9.43256725e-02 1.59306641e-03 9.95540120e-01 7.33395894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.29, Y:47.70, Z:7.34 [[ 5.94379010e-01 -8.02290419e-01 -5.51695168e-02 8.32931894e+01] [ 7.98606140e-01 5.96931760e-01 -7.68160545e-02 4.77003265e+01] [ 9.45612213e-02 1.59913553e-03 9.95517764e-01 7.33594769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.31, Y:47.72, Z:7.34 [[ 5.94405945e-01 -8.02276363e-01 -5.50836694e-02 8.33098929e+01] [ 7.98599330e-01 5.96950581e-01 -7.67405669e-02 4.77233604e+01] [ 9.44493713e-02 1.62526771e-03 9.95528340e-01 7.33805441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.33, Y:47.75, Z:7.34 [[ 5.92895465e-01 -8.03374088e-01 -5.53628183e-02 8.33267972e+01] [ 7.99660022e-01 5.95472811e-01 -7.71750063e-02 4.77457406e+01] [ 9.49674534e-02 1.48527876e-03 9.95479270e-01 7.34114341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.34, Y:47.77, Z:7.34 [[ 5.92559128e-01 -8.03631199e-01 -5.52320183e-02 8.33424851e+01] [ 7.99931574e-01 5.95125822e-01 -7.70372203e-02 4.77675812e+01] [ 9.47795140e-02 1.46727283e-03 9.95497208e-01 7.34416716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.36, Y:47.79, Z:7.35 [[ 5.92892599e-01 -8.03396443e-01 -5.50683301e-02 8.33587900e+01] [ 7.99714568e-01 5.95442561e-01 -7.68424783e-02 4.77900050e+01] [ 9.45250013e-02 1.52039088e-03 9.95521327e-01 7.34734562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.60687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.37, Y:47.81, Z:7.35 [[ 5.93253497e-01 -8.03074966e-01 -5.58649034e-02 8.33747432e+01] [ 7.99279696e-01 5.95875799e-01 -7.80000044e-02 4.78126548e+01] [ 9.59283948e-02 1.62209234e-03 9.95386916e-01 7.34981839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.39, Y:47.84, Z:7.35 [[ 5.93333684e-01 -8.02981085e-01 -5.63605961e-02 8.33910229e+01] [ 7.99113033e-01 5.96002144e-01 -7.87388372e-02 4.78351714e+01] [ 9.68168331e-02 1.67991748e-03 9.95300798e-01 7.35289031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.41, Y:47.86, Z:7.36 [[ 5.93338545e-01 -8.02963831e-01 -5.65549095e-02 8.34070312e+01] [ 7.99064357e-01 5.96025284e-01 -7.90570266e-02 4.78583246e+01] [ 9.71880889e-02 1.71656868e-03 9.95264552e-01 7.35513404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.42, Y:47.88, Z:7.36 [[ 5.93594840e-01 -8.02734840e-01 -5.71134184e-02 8.34227631e+01] [ 7.98751987e-01 5.96333410e-01 -7.98857195e-02 4.78807532e+01] [ 9.81856898e-02 1.80029443e-03 9.95166483e-01 7.35740770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.44, Y:47.90, Z:7.36 [[ 5.94281744e-01 -8.02201523e-01 -5.74623875e-02 8.34386108e+01] [ 7.98162274e-01 5.97050242e-01 -8.04238349e-02 4.79033293e+01] [ 9.88240551e-02 1.93010701e-03 9.95103050e-01 7.36018102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.45, Y:47.93, Z:7.36 [[ 5.94272529e-01 -8.02236278e-01 -5.70711422e-02 8.34547982e+01] [ 7.98247562e-01 5.97003513e-01 -7.99226837e-02 4.79266220e+01] [ 9.81885487e-02 1.93895521e-03 9.95165941e-01 7.36261656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.47, Y:47.95, Z:7.37 [[ 5.94585761e-01 -8.01908562e-01 -5.83989022e-02 8.34681447e+01] [ 7.97818419e-01 5.97444869e-01 -8.09036394e-02 4.79479003e+01] [ 9.97674456e-02 1.51243216e-03 9.95009633e-01 7.36675324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.49, Y:47.97, Z:7.37 [[ 5.94263140e-01 -8.02394456e-01 -5.49040745e-02 8.34861296e+01] [ 7.98479211e-01 5.96785214e-01 -7.92360878e-02 4.79723952e+01] [ 9.63445374e-02 3.24732421e-03 9.95342748e-01 7.36833432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.50, Y:47.99, Z:7.37 [[ 5.93675175e-01 -8.02783475e-01 -5.55740858e-02 8.35018115e+01] [ 7.98990704e-01 5.96267679e-01 -7.79660780e-02 4.79947874e+01] [ 9.57269102e-02 1.88334700e-03 9.95405853e-01 7.37148140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.52, Y:48.02, Z:7.37 [[ 5.91898316e-01 -8.04107179e-01 -5.53897865e-02 8.35173164e+01] [ 8.00340755e-01 5.94481943e-01 -7.77553638e-02 4.80170585e+01] [ 9.54518741e-02 1.69256539e-03 9.95432607e-01 7.37360740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.53, Y:48.04, Z:7.38 [[ 5.87337307e-01 -8.07469169e-01 -5.50311669e-02 8.35328130e+01] [ 8.03761599e-01 5.89908617e-01 -7.72988763e-02 4.80404287e+01] [ 9.48798189e-02 1.16857523e-03 9.95488048e-01 7.37620643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.936875 meters Centerline goodness : 0.999925 Centerline is valid? [True, True] Translation: X:83.55, Y:48.06, Z:7.38 [[ 5.85423107e-01 -8.08825828e-01 -5.55028451e-02 8.35489195e+01] [ 8.05055955e-01 5.88047457e-01 -7.80070410e-02 4.80635373e+01] [ 9.57324165e-02 9.84228373e-04 9.95406618e-01 7.37870537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.56, Y:48.09, Z:7.38 [[ 5.83895144e-01 -8.09879835e-01 -5.62237784e-02 8.35646179e+01] [ 8.06011510e-01 5.86595202e-01 -7.90665265e-02 4.80862381e+01] [ 9.70149841e-02 8.49548395e-04 9.95282558e-01 7.38105224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.58, Y:48.11, Z:7.38 [[ 5.82546317e-01 -8.10760636e-01 -5.75063519e-02 8.35795403e+01] [ 8.06712992e-01 5.85377344e-01 -8.09167160e-02 4.81093350e+01] [ 9.92670036e-02 7.46613719e-04 9.95060553e-01 7.38272875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.60, Y:48.13, Z:7.38 [[ 5.82127880e-01 -8.11024220e-01 -5.80245238e-02 8.35950825e+01] [ 8.06900776e-01 5.85012122e-01 -8.16820358e-02 4.81331401e+01] [ 1.00191159e-01 7.29357063e-04 9.94967939e-01 7.38495679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.61, Y:48.16, Z:7.39 [[ 5.82478237e-01 -8.10751864e-01 -5.83139640e-02 8.36107098e+01] [ 8.06580891e-01 5.85389410e-01 -8.21371115e-02 4.81566530e+01] [ 1.00729193e-01 8.08150897e-04 9.94913552e-01 7.38755331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.63, Y:48.18, Z:7.39 [[ 5.83422719e-01 -8.10034298e-01 -5.88418854e-02 8.36256987e+01] [ 8.05778531e-01 5.86381698e-01 -8.29304743e-02 4.81789418e+01] [ 1.01680333e-01 9.69994786e-04 9.94816651e-01 7.39058762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.64, Y:48.20, Z:7.39 [[ 5.86097519e-01 -8.08132751e-01 -5.84050904e-02 8.36399086e+01] [ 8.03925487e-01 5.88998907e-01 -8.23656460e-02 4.82019193e+01] [ 1.00962911e-01 1.32096008e-03 9.94889313e-01 7.39402481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.65, Y:48.23, Z:7.40 [[ 5.87531880e-01 -8.07097824e-01 -5.83043090e-02 8.36549515e+01] [ 8.02894947e-01 5.90415764e-01 -8.22735037e-02 4.82251600e+01] [ 1.00826549e-01 1.52607121e-03 9.94902849e-01 7.39700444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.67, Y:48.25, Z:7.40 [[ 5.89150611e-01 -8.05950683e-01 -5.78364460e-02 8.36696317e+01] [ 8.01804866e-01 5.91980135e-01 -8.16607431e-02 4.82485393e+01] [ 1.00052559e-01 1.73693286e-03 9.94980637e-01 7.39961394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.68, Y:48.27, Z:7.40 [[ 5.92872577e-01 -8.03276342e-01 -5.70019825e-02 8.36834446e+01] [ 7.99232618e-01 5.95602504e-01 -8.05287522e-02 4.82733720e+01] [ 9.86373650e-02 2.18544510e-03 9.95121045e-01 7.40285304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.70, Y:48.30, Z:7.41 [[ 5.94579979e-01 -8.02048828e-01 -5.65006750e-02 8.36978566e+01] [ 7.98066008e-01 5.97253662e-01 -7.98668295e-02 4.82967882e+01] [ 9.78023321e-02 2.39594967e-03 9.95202976e-01 7.40534249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.71, Y:48.32, Z:7.41 [[ 5.95395099e-01 -8.01465092e-01 -5.61994926e-02 8.37125733e+01] [ 7.97517402e-01 5.98036302e-01 -7.94894644e-02 4.83210904e+01] [ 9.73173676e-02 2.50756422e-03 9.95250241e-01 7.40854463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.73, Y:48.35, Z:7.41 [[ 5.92267914e-01 -8.03706156e-01 -5.72287803e-02 8.37261318e+01] [ 7.99617664e-01 5.95022298e-01 -8.09941704e-02 4.83461093e+01] [ 9.91479137e-02 2.20910470e-03 9.95070254e-01 7.40817311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.74, Y:48.37, Z:7.41 [[ 5.89480737e-01 -8.05860345e-01 -5.56916940e-02 8.37395257e+01] [ 8.01994155e-01 5.92102841e-01 -7.88644474e-02 4.83698293e+01] [ 9.65289411e-02 1.82465945e-03 9.95328506e-01 7.41266776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.75, Y:48.39, Z:7.42 [[ 5.87769238e-01 -8.07127044e-01 -5.54369617e-02 8.37544693e+01] [ 8.03297172e-01 5.90375517e-01 -7.85519056e-02 4.83938076e+01] [ 9.61299923e-02 1.63803916e-03 9.95367440e-01 7.41636017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.38687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.77, Y:48.42, Z:7.42 [[ 5.86248237e-01 -8.08213949e-01 -5.57065322e-02 8.37687753e+01] [ 8.04347110e-01 5.88887069e-01 -7.89794080e-02 4.84184089e+01] [ 9.66371157e-02 1.49415044e-03 9.95318560e-01 7.41883651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.78, Y:48.44, Z:7.42 [[ 5.85036992e-01 -8.09065437e-01 -5.60788431e-02 8.37828789e+01] [ 8.05145941e-01 5.87716927e-01 -7.95539305e-02 4.84427319e+01] [ 9.73228209e-02 1.39033934e-03 9.95251896e-01 7.42031926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.80, Y:48.47, Z:7.42 [[ 5.83038465e-01 -8.10451732e-01 -5.68694925e-02 8.37963200e+01] [ 8.06422485e-01 5.85804183e-01 -8.07232010e-02 4.84670700e+01] [ 9.87366446e-02 1.20389370e-03 9.95112871e-01 7.42222229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47687499999999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:83.81, Y:48.49, Z:7.42 [[ 5.82825391e-01 -8.10589348e-01 -5.70917870e-02 8.38112164e+01] [ 8.06524413e-01 5.85613727e-01 -8.10859657e-02 4.84902531e+01] [ 9.91611543e-02 1.21303965e-03 9.95070648e-01 7.42475213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.506875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:83.83, Y:48.51, Z:7.43 [[ 5.82688835e-01 -8.10689013e-01 -5.70705379e-02 8.38275204e+01] [ 8.06623091e-01 5.85475730e-01 -8.11009191e-02 4.85135909e+01] [ 9.91610389e-02 1.22218643e-03 9.95070648e-01 7.42726581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.84, Y:48.54, Z:7.43 [[ 5.83115611e-01 -8.10384058e-01 -5.70426419e-02 8.38426457e+01] [ 8.06317565e-01 5.85897610e-01 -8.10923816e-02 4.85375124e+01] [ 9.91371209e-02 1.29174948e-03 9.95072943e-01 7.42911058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.86, Y:48.56, Z:7.43 [[ 5.83894655e-01 -8.09826243e-01 -5.69955081e-02 8.38578083e+01] [ 8.05759162e-01 5.86668100e-01 -8.10722784e-02 4.85612175e+01] [ 9.90919051e-02 1.41301722e-03 9.95077282e-01 7.43189726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.87, Y:48.59, Z:7.43 [[ 5.85662759e-01 -8.08506194e-01 -5.75922495e-02 8.38718474e+01] [ 8.04342071e-01 5.88485263e-01 -8.19690750e-02 4.85856856e+01] [ 1.00164695e-01 1.68236543e-03 9.94969449e-01 7.43484302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.89, Y:48.61, Z:7.44 [[ 5.86411469e-01 -8.07937278e-01 -5.79564006e-02 8.38866381e+01] [ 8.03712499e-01 5.89265682e-01 -8.25359070e-02 4.86098939e+01] [ 1.00835554e-01 1.81971892e-03 9.94901442e-01 7.43676574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.90, Y:48.63, Z:7.44 [[ 5.88858774e-01 -8.06231127e-01 -5.68921215e-02 8.39009773e+01] [ 8.02147880e-01 5.91596954e-01 -8.10667858e-02 4.86337846e+01] [ 9.90157718e-02 2.10099345e-03 9.95083646e-01 7.44039324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.92, Y:48.66, Z:7.44 [[ 5.89999596e-01 -8.05452054e-01 -5.61022677e-02 8.39161893e+01] [ 8.01473594e-01 5.92656749e-01 -7.99878440e-02 4.86558766e+01] [ 9.76757608e-02 2.22830954e-03 9.95215796e-01 7.44428479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.93, Y:48.68, Z:7.45 [[ 5.90927993e-01 -8.04770785e-01 -5.61078474e-02 8.39322249e+01] [ 8.00783641e-01 5.93580967e-01 -8.00449590e-02 4.86791975e+01] [ 9.77223948e-02 2.37056060e-03 9.95210889e-01 7.44807903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.95, Y:48.70, Z:7.45 [[ 5.91579231e-01 -8.04287517e-01 -5.61747546e-02 8.39478525e+01] [ 8.00284091e-01 5.94235167e-01 -8.01869048e-02 4.87024236e+01] [ 9.78743412e-02 2.48114505e-03 9.95195688e-01 7.45048234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.96, Y:48.73, Z:7.45 [[ 5.92709160e-01 -8.03500411e-01 -5.55242367e-02 8.39614942e+01] [ 7.99581469e-01 5.95298485e-01 -7.93044022e-02 4.87255603e+01] [ 9.67746138e-02 2.60829483e-03 9.95302904e-01 7.45177037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.98, Y:48.75, Z:7.45 [[ 5.93200835e-01 -8.03154476e-01 -5.52779970e-02 8.39768499e+01] [ 7.99264695e-01 5.95764814e-01 -7.89951503e-02 4.87489263e+01] [ 9.63779942e-02 2.67823775e-03 9.95341202e-01 7.45376931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.99, Y:48.77, Z:7.46 [[ 5.94139585e-01 -8.02497867e-01 -5.47295911e-02 8.39917719e+01] [ 7.98677932e-01 5.96648491e-01 -7.82568757e-02 4.87708882e+01] [ 9.54553038e-02 2.78419099e-03 9.95429823e-01 7.45623548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.01, Y:48.79, Z:7.46 [[ 5.96134218e-01 -8.01045871e-01 -5.43093540e-02 8.40080121e+01] [ 7.97274201e-01 5.98595345e-01 -7.77011114e-02 4.87941373e+01] [ 9.47514810e-02 3.02084447e-03 9.95496374e-01 7.45989930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.02, Y:48.82, Z:7.46 [[ 5.97362031e-01 -8.00109418e-01 -5.46216485e-02 8.40237466e+01] [ 7.96285777e-01 5.99845461e-01 -7.81945312e-02 4.88168440e+01] [ 9.53287288e-02 3.21600213e-03 9.95440652e-01 7.46280367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.04, Y:48.84, Z:7.46 [[ 5.98809915e-01 -7.99001063e-01 -5.49907923e-02 8.40392152e+01] [ 7.95116151e-01 6.01319744e-01 -7.87710113e-02 4.88403299e+01] [ 9.60051709e-02 3.44479547e-03 9.95374874e-01 7.46470764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.05, Y:48.86, Z:7.46 [[ 6.02276851e-01 -7.96315267e-01 -5.60766450e-02 8.40538175e+01] [ 7.92258542e-01 6.04868701e-01 -8.03757237e-02 4.88638777e+01] [ 9.79234232e-02 3.98123675e-03 9.95185989e-01 7.46489442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.07, Y:48.89, Z:7.47 [[ 6.04081877e-01 -7.94919670e-01 -5.64606382e-02 8.40690445e+01] [ 7.90796565e-01 6.06699708e-01 -8.09707150e-02 4.88859568e+01] [ 9.86198667e-02 4.26406270e-03 9.95116043e-01 7.46667687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.09, Y:48.91, Z:7.47 [[ 6.05451923e-01 -7.93872971e-01 -5.65126003e-02 8.40853753e+01] [ 7.89733322e-01 6.08067233e-01 -8.10895813e-02 4.89092030e+01] [ 9.87382874e-02 4.46595933e-03 9.95103415e-01 7.46915935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.10, Y:48.93, Z:7.47 [[ 6.07927053e-01 -7.91974204e-01 -5.65823210e-02 8.41014505e+01] [ 7.87811266e-01 6.10535597e-01 -8.12385005e-02 4.89306002e+01] [ 9.88843179e-02 4.81089223e-03 9.95087306e-01 7.47248406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.12, Y:48.95, Z:7.47 [[ 6.08361714e-01 -7.91635529e-01 -5.66499329e-02 8.41172027e+01] [ 7.87456712e-01 6.10973966e-01 -8.13802156e-02 4.89525504e+01] [ 9.90351042e-02 4.89923752e-03 9.95071880e-01 7.47438305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.13, Y:48.98, Z:7.48 [[ 6.08597037e-01 -7.91438487e-01 -5.68750229e-02 8.41334728e+01] [ 7.87220929e-01 6.11228543e-01 -8.17488591e-02 4.89751872e+01] [ 9.94628307e-02 4.97890509e-03 9.95028822e-01 7.47679380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.15, Y:49.00, Z:7.48 [[ 6.08217335e-01 -7.91760319e-01 -5.64559188e-02 8.41505183e+01] [ 7.87601392e-01 6.10812078e-01 -8.11951458e-02 4.89967694e+01] [ 9.87710517e-02 4.91953495e-03 9.95098024e-01 7.47902740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.17, Y:49.02, Z:7.48 [[ 6.07392294e-01 -7.92424784e-01 -5.60139596e-02 8.41675097e+01] [ 7.88328755e-01 6.09950721e-01 -8.06095060e-02 4.90189527e+01] [ 9.80427254e-02 4.80417770e-03 9.95170610e-01 7.48248505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.18, Y:49.04, Z:7.48 [[ 6.06662096e-01 -7.93009087e-01 -5.56568904e-02 8.41845241e+01] [ 7.88963069e-01 6.09191612e-01 -8.01427196e-02 4.90409261e+01] [ 9.74596157e-02 4.70831919e-03 9.95228343e-01 7.48459730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22687499999999 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:84.20, Y:49.06, Z:7.49 [[ 6.05263028e-01 -7.94099771e-01 -5.53373333e-02 8.42013025e+01] [ 7.90100015e-01 6.07770498e-01 -7.97307211e-02 4.90628259e+01] [ 9.69465459e-02 4.53602978e-03 9.95279253e-01 7.48702899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.22, Y:49.08, Z:7.49 [[ 6.02542200e-01 -7.96149460e-01 -5.55781833e-02 8.42196645e+01] [ 7.92118485e-01 6.05085058e-01 -8.01272600e-02 4.90839412e+01] [ 9.74228031e-02 4.25554920e-03 9.95233986e-01 7.48971887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.286875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:84.24, Y:49.11, Z:7.49 [[ 6.01150651e-01 -7.97203829e-01 -5.55333147e-02 8.42371736e+01] [ 7.93179062e-01 6.03696243e-01 -8.01113094e-02 4.91065492e+01] [ 9.73902961e-02 4.11110330e-03 9.95237775e-01 7.49156646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.25, Y:49.13, Z:7.49 [[ 5.99686653e-01 -7.98312353e-01 -5.54373963e-02 8.42533352e+01] [ 7.94301594e-01 6.02230654e-01 -8.00201035e-02 4.91279320e+01] [ 9.72671366e-02 3.95297574e-03 9.95250460e-01 7.49334864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.27, Y:49.15, Z:7.49 [[ 5.97154199e-01 -8.00175860e-01 -5.59057705e-02 8.42718107e+01] [ 7.96101286e-01 5.99754013e-01 -8.07333015e-02 4.91493686e+01] [ 9.81305492e-02 3.70357422e-03 9.95166659e-01 7.49486865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.29, Y:49.17, Z:7.50 [[ 5.96027595e-01 -8.01003455e-01 -5.60764723e-02 8.42895808e+01] [ 7.96902732e-01 5.98648854e-01 -8.10283053e-02 4.91714936e+01] [ 9.84740684e-02 3.60761197e-03 9.95133078e-01 7.49780876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.31, Y:49.19, Z:7.50 [[ 5.94674025e-01 -8.02010195e-01 -5.60575586e-02 8.43072290e+01] [ 7.97911910e-01 5.97300271e-01 -8.10491885e-02 4.91939389e+01] [ 9.84854704e-02 3.46885353e-03 9.95132443e-01 7.50033030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.33, Y:49.22, Z:7.50 [[ 5.93178788e-01 -8.03103495e-01 -5.62467925e-02 8.43260585e+01] [ 7.98977471e-01 5.95830262e-01 -8.13713700e-02 4.92150412e+01] [ 9.88631727e-02 3.32785059e-03 9.95095472e-01 7.50237249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.34, Y:49.24, Z:7.50 [[ 5.92564142e-01 -8.03559367e-01 -5.62146005e-02 8.43434713e+01] [ 7.99435329e-01 5.95215585e-01 -8.13729790e-02 4.92370248e+01] [ 9.88478259e-02 3.27877179e-03 9.95097160e-01 7.50496880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.36, Y:49.26, Z:7.51 [[ 5.92012515e-01 -8.03988784e-01 -5.58857498e-02 8.43606708e+01] [ 7.99910063e-01 5.94635757e-01 -8.09457102e-02 4.92583953e+01] [ 9.83111083e-02 3.21729987e-03 9.95150529e-01 7.50742163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.38, Y:49.28, Z:7.51 [[ 5.90301344e-01 -8.05267056e-01 -5.55813993e-02 8.43789504e+01] [ 8.01233340e-01 5.92904593e-01 -8.05560637e-02 4.92780309e+01] [ 9.78236112e-02 3.01868248e-03 9.95199190e-01 7.51013230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.40, Y:49.30, Z:7.51 [[ 5.89179345e-01 -8.06100422e-01 -5.54058606e-02 8.43959315e+01] [ 8.02090927e-01 5.91771656e-01 -8.03520486e-02 4.93001796e+01] [ 9.75594381e-02 2.90122924e-03 9.95225471e-01 7.51267012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.41, Y:49.32, Z:7.52 [[ 5.88281194e-01 -8.06760644e-01 -5.53398511e-02 8.44132740e+01] [ 8.02758921e-01 5.90871668e-01 -8.03043421e-02 4.93223295e+01] [ 9.74851329e-02 2.81697513e-03 9.95232995e-01 7.51603359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.43, Y:49.34, Z:7.52 [[ 5.83201483e-01 -8.10441265e-01 -5.53261891e-02 8.44302716e+01] [ 8.06453162e-01 5.85815649e-01 -8.03325782e-02 4.93430317e+01] [ 9.75157836e-02 2.23209857e-03 9.95231475e-01 7.51818798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.45, Y:49.37, Z:7.52 [[ 5.80390768e-01 -8.12446770e-01 -5.54689348e-02 8.44470261e+01] [ 8.08442111e-01 5.83032177e-01 -8.05905321e-02 4.93656009e+01] [ 9.78156913e-02 1.93057812e-03 9.95202675e-01 7.52073740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.46, Y:49.39, Z:7.52 [[ 5.78465524e-01 -8.13825989e-01 -5.53615127e-02 8.44633833e+01] [ 8.09838529e-01 5.81106096e-01 -8.04814443e-02 4.93883520e+01] [ 9.76688035e-02 1.72185481e-03 9.95217484e-01 7.52339946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.706875 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:84.48, Y:49.41, Z:7.52 [[ 5.77535152e-01 -8.14628058e-01 -5.32379040e-02 8.44782533e+01] [ 8.10415596e-01 5.79964553e-01 -8.28714650e-02 4.94100553e+01] [ 9.83855178e-02 4.71635643e-03 9.95137200e-01 7.52243824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.49, Y:49.43, Z:7.53 [[ 5.76567312e-01 -8.15041353e-01 -5.72514442e-02 8.44944306e+01] [ 8.11238125e-01 5.79401754e-01 -7.86531113e-02 4.94333610e+01] [ 9.72771254e-02 -1.09574128e-03 9.95256731e-01 7.52836064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.51, Y:49.46, Z:7.53 [[ 5.76925024e-01 -8.14948906e-01 -5.49162766e-02 8.45092869e+01] [ 8.11015621e-01 5.79530580e-01 -7.99873089e-02 4.94563502e+01] [ 9.70112315e-02 1.60872192e-03 9.95281987e-01 7.52955667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.52, Y:49.48, Z:7.53 [[ 5.77951337e-01 -8.14472635e-01 -5.10546595e-02 8.45237621e+01] [ 8.10105420e-01 5.80153297e-01 -8.45657141e-02 4.94801843e+01] [ 9.84959890e-02 7.51521119e-03 9.95109070e-01 7.52900626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.54, Y:49.50, Z:7.54 [[ 5.80582419e-01 -8.12063797e-01 -5.89613909e-02 8.45401070e+01] [ 8.08503826e-01 5.83558023e-01 -7.60368202e-02 4.95021391e+01] [ 9.61541416e-02 -3.52486919e-03 9.95360214e-01 7.53741647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.55, Y:49.53, Z:7.54 [[ 5.81126783e-01 -8.11999633e-01 -5.42978722e-02 8.45545804e+01] [ 8.08131195e-01 5.83654011e-01 -7.91957482e-02 4.95260863e+01] [ 9.59980893e-02 2.14296599e-03 9.95379211e-01 7.53665458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.88687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.57, Y:49.55, Z:7.54 [[ 5.81359867e-01 -8.11801551e-01 -5.47626396e-02 8.45694305e+01] [ 8.07860967e-01 5.83929194e-01 -7.99209267e-02 4.95486582e+01] [ 9.68574363e-02 2.22222040e-03 9.95295785e-01 7.53913497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91687499999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:84.59, Y:49.57, Z:7.54 [[ 5.82273348e-01 -8.11125936e-01 -5.50678101e-02 8.45850360e+01] [ 8.07134612e-01 5.84866739e-01 -8.04028324e-02 4.95721322e+01] [ 9.74241532e-02 2.36929090e-03 9.95240132e-01 7.54124758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.60, Y:49.60, Z:7.54 [[ 5.83624887e-01 -8.10143900e-01 -5.52164185e-02 8.46000124e+01] [ 8.06121871e-01 5.86225438e-01 -8.06676220e-02 4.95961743e+01] [ 9.77216510e-02 2.56846912e-03 9.95210471e-01 7.54268771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.62, Y:49.62, Z:7.55 [[ 5.83976989e-01 -8.09900759e-01 -5.50603016e-02 8.46158124e+01] [ 8.05895698e-01 5.86561031e-01 -8.04877703e-02 4.96198438e+01] [ 9.74833335e-02 2.63014564e-03 9.95233682e-01 7.54502880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.63, Y:49.64, Z:7.55 [[ 5.84434330e-01 -8.09565549e-01 -5.51374210e-02 8.46316332e+01] [ 8.05542961e-01 5.87023194e-01 -8.06492904e-02 4.96430946e+01] [ 9.76578321e-02 2.71865267e-03 9.95216337e-01 7.54790257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.65, Y:49.67, Z:7.55 [[ 5.84843086e-01 -8.09248550e-01 -5.54558250e-02 8.46463261e+01] [ 8.05173101e-01 5.87459662e-01 -8.11629390e-02 4.96653470e+01] [ 9.82590509e-02 2.81604517e-03 9.95156887e-01 7.55033824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.66, Y:49.69, Z:7.55 [[ 5.85121540e-01 -8.09038029e-01 -5.55900289e-02 8.46617295e+01] [ 8.04938140e-01 5.87749242e-01 -8.13966814e-02 4.96883679e+01] [ 9.85260081e-02 2.88041714e-03 9.95130308e-01 7.55184520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.68, Y:49.71, Z:7.55 [[ 5.85058082e-01 -8.09092065e-01 -5.54713497e-02 8.46774546e+01] [ 8.05005066e-01 5.87674785e-01 -8.12723306e-02 4.97117725e+01] [ 9.83559113e-02 2.89431636e-03 9.95147093e-01 7.55488492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.69, Y:49.73, Z:7.56 [[ 5.81649291e-01 -8.11576017e-01 -5.50315496e-02 8.46929063e+01] [ 8.07559881e-01 5.84241556e-01 -8.06773987e-02 4.97339530e+01] [ 9.76275600e-02 2.48468003e-03 9.95219918e-01 7.55706062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.71, Y:49.76, Z:7.56 [[ 5.71385142e-01 -8.18923960e-01 -5.36895395e-02 8.47070313e+01] [ 8.15128747e-01 5.73900701e-01 -7.87598370e-02 4.97563985e+01] [ 9.53107820e-02 1.23831359e-03 9.95446795e-01 7.56227271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.72, Y:49.78, Z:7.57 [[ 5.67690796e-01 -8.21533799e-01 -5.30035631e-02 8.47222814e+01] [ 8.17841892e-01 5.70159229e-01 -7.78016290e-02 4.97799225e+01] [ 9.41371386e-02 8.18734361e-04 9.95558903e-01 7.56572004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.74, Y:49.80, Z:7.57 [[ 5.64806547e-01 -8.23509294e-01 -5.31602030e-02 8.47370811e+01] [ 8.19799780e-01 5.67302542e-01 -7.80778283e-02 4.98035773e+01] [ 9.44557356e-02 5.18145922e-04 9.95528928e-01 7.56786579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.75, Y:49.83, Z:7.57 [[ 5.62368562e-01 -8.25154676e-01 -5.34916997e-02 8.47510691e+01] [ 8.21401566e-01 5.64906796e-01 -7.86115751e-02 4.98276135e+01] [ 9.50845334e-02 2.70512484e-04 9.95469165e-01 7.56931794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.76, Y:49.85, Z:7.57 [[ 5.59655997e-01 -8.26945978e-01 -5.42725933e-02 8.47629033e+01] [ 8.23086107e-01 5.62281379e-01 -7.98054553e-02 4.98522328e+01] [ 9.65112689e-02 -7.41594174e-06 9.95331892e-01 7.56944647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.78, Y:49.88, Z:7.57 [[ 5.59302453e-01 -8.27184678e-01 -5.42795953e-02 8.47775164e+01] [ 8.23321512e-01 5.61930163e-01 -7.98509889e-02 4.98757192e+01] [ 9.65528563e-02 -2.87045446e-05 9.95327858e-01 7.57247343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.79, Y:49.90, Z:7.58 [[ 5.59991308e-01 -8.26748524e-01 -5.38201976e-02 8.47917949e+01] [ 8.22944212e-01 5.62571661e-01 -7.92208946e-02 4.98994150e+01] [ 9.57734756e-02 7.19922759e-05 9.95403153e-01 7.57723622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.81, Y:49.92, Z:7.58 [[ 5.60137312e-01 -8.26673597e-01 -5.34504991e-02 8.48067260e+01] [ 8.22916807e-01 5.62681750e-01 -7.87221465e-02 4.99235988e+01] [ 9.51531404e-02 1.09897474e-04 9.95462640e-01 7.58073409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.82, Y:49.95, Z:7.58 [[ 5.59928640e-01 -8.26816327e-01 -5.34292031e-02 8.48226534e+01] [ 8.23058806e-01 5.62471999e-01 -7.87365979e-02 4.99472445e+01] [ 9.51531353e-02 1.11500070e-04 9.95462640e-01 7.58325233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.84, Y:49.97, Z:7.59 [[ 5.60202027e-01 -8.26622847e-01 -5.35570603e-02 8.48373413e+01] [ 8.22842237e-01 5.62756289e-01 -7.89684240e-02 4.99715291e+01] [ 9.54166759e-02 1.69259883e-04 9.95437406e-01 7.58641713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.85, Y:50.00, Z:7.59 [[ 5.60973201e-01 -8.26092276e-01 -5.36713969e-02 8.48512972e+01] [ 8.22288605e-01 5.63534798e-01 -7.91832132e-02 4.99955002e+01] [ 9.56583407e-02 2.86282479e-04 9.95414185e-01 7.58786864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.86, Y:50.02, Z:7.59 [[ 5.63097708e-01 -8.24622745e-01 -5.40212859e-02 8.48648984e+01] [ 8.20757879e-01 5.65682780e-01 -7.97464526e-02 5.00207110e+01] [ 9.63196498e-02 5.66648619e-04 9.95350292e-01 7.58889903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.88, Y:50.04, Z:7.59 [[ 5.64125019e-01 -8.23920149e-01 -5.40236208e-02 8.48789218e+01] [ 8.20047098e-01 5.66705460e-01 -7.97977377e-02 5.00434229e+01] [ 9.63624448e-02 7.13986799e-04 9.95346055e-01 7.59149371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.89, Y:50.07, Z:7.59 [[ 5.65258371e-01 -8.23160693e-01 -5.37535776e-02 8.48938536e+01] [ 8.19318166e-01 5.67807820e-01 -7.94482295e-02 5.00674791e+01] [ 9.59203614e-02 8.67494148e-04 9.95388634e-01 7.59426412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.91, Y:50.09, Z:7.60 [[ 5.66323657e-01 -8.22439494e-01 -5.35797872e-02 8.49084950e+01] [ 8.18614178e-01 5.68851696e-01 -7.92374662e-02 5.00910740e+01] [ 9.56469745e-02 1.01287819e-03 9.95414803e-01 7.59704480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.92, Y:50.12, Z:7.60 [[ 5.68391082e-01 -8.21019865e-01 -5.34598841e-02 8.49223061e+01] [ 8.17200965e-01 5.70898199e-01 -7.91064453e-02 5.01153858e+01] [ 9.54681146e-02 1.27592922e-03 9.95431671e-01 7.59993311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.94, Y:50.14, Z:7.60 [[ 5.69705816e-01 -8.20092018e-01 -5.37062787e-02 8.49366314e+01] [ 8.16229141e-01 5.72229792e-01 -7.95176336e-02 5.01382558e+01] [ 9.59441093e-02 1.46502858e-03 9.95385645e-01 7.60229484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.95, Y:50.16, Z:7.60 [[ 5.70784095e-01 -8.19350603e-01 -5.35733847e-02 8.49512603e+01] [ 8.15500193e-01 5.73290511e-01 -7.93563154e-02 5.01626759e+01] [ 9.57337580e-02 1.60621709e-03 9.95405680e-01 7.60407626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69687499999999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:84.96, Y:50.19, Z:7.61 [[ 5.73527999e-01 -8.17431919e-01 -5.35788323e-02 8.49648789e+01] [ 8.13567820e-01 5.76021906e-01 -7.94113735e-02 5.01857399e+01] [ 9.57759725e-02 1.95463239e-03 9.95400996e-01 7.60518383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.98, Y:50.21, Z:7.61 [[ 5.74853310e-01 -8.16472635e-01 -5.40010008e-02 8.49798710e+01] [ 8.12538167e-01 5.77380090e-01 -8.00871917e-02 5.02084337e+01] [ 9.65681031e-02 2.16051303e-03 9.95324035e-01 7.60766988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.756875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:84.99, Y:50.23, Z:7.61 [[ 5.75501819e-01 -8.15994720e-01 -5.43164110e-02 8.49945386e+01] [ 8.12007070e-01 5.78054846e-01 -8.06046680e-02 5.02319734e+01] [ 9.71708481e-02 2.28282327e-03 9.95265098e-01 7.60924112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.01, Y:50.26, Z:7.61 [[ 5.76418083e-01 -8.15339116e-01 -5.44455751e-02 8.50096325e+01] [ 8.11324762e-01 5.78978613e-01 -8.08448887e-02 5.02555821e+01] [ 9.74388236e-02 2.42741247e-03 9.95238556e-01 7.61117830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.03, Y:50.28, Z:7.61 [[ 5.77669706e-01 -8.14436255e-01 -5.46927483e-02 8.50251204e+01] [ 8.10376407e-01 5.80247120e-01 -8.12610549e-02 5.02781602e+01] [ 9.79172590e-02 2.62033687e-03 9.95191109e-01 7.61387863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.04, Y:50.30, Z:7.62 [[ 5.78163975e-01 -8.14097830e-01 -5.45081753e-02 8.50411133e+01] [ 8.10058938e-01 5.80721486e-01 -8.10374777e-02 5.03004834e+01] [ 9.76265032e-02 2.69811570e-03 9.95219466e-01 7.61702254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.06, Y:50.32, Z:7.62 [[ 5.78228330e-01 -8.14076640e-01 -5.41407713e-02 8.50562824e+01] [ 8.10087649e-01 5.80751137e-01 -8.05364406e-02 5.03222240e+01] [ 9.70051494e-02 2.70968141e-03 9.95280191e-01 7.61980144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.07, Y:50.35, Z:7.62 [[ 5.78355181e-01 -8.14007728e-01 -5.38210252e-02 8.50721475e+01] [ 8.10060667e-01 5.80847606e-01 -8.01110107e-02 5.03451442e+01] [ 9.64727955e-02 2.73432254e-03 9.95331866e-01 7.62238284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.09, Y:50.37, Z:7.62 [[ 5.78424126e-01 -8.13981484e-01 -5.34759280e-02 8.50877431e+01] [ 8.10080308e-01 5.80884316e-01 -7.96448779e-02 5.03669997e+01] [ 9.58927837e-02 2.74872265e-03 9.95387873e-01 7.62397912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.10, Y:50.39, Z:7.63 [[ 5.78382888e-01 -8.14013813e-01 -5.34298306e-02 8.51040198e+01] [ 8.10114716e-01 5.80838909e-01 -7.96260527e-02 5.03903518e+01] [ 9.58508313e-02 2.77005425e-03 9.95391855e-01 7.62595209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.12, Y:50.41, Z:7.63 [[ 5.78204426e-01 -8.14142005e-01 -5.34082148e-02 8.51202244e+01] [ 8.10241978e-01 5.80659187e-01 -7.96419842e-02 5.04129238e+01] [ 9.58518553e-02 2.77577013e-03 9.95391740e-01 7.62827714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.14, Y:50.43, Z:7.63 [[ 5.78231183e-01 -8.14102000e-01 -5.37273944e-02 8.51370955e+01] [ 8.10150119e-01 5.80715020e-01 -8.01676365e-02 5.04335970e+01] [ 9.64649381e-02 2.82817231e-03 9.95332365e-01 7.63086761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.15, Y:50.46, Z:7.63 [[ 5.78229090e-01 -8.14099211e-01 -5.37921383e-02 8.51529863e+01] [ 8.10133329e-01 5.80718780e-01 -8.03099494e-02 5.04554836e+01] [ 9.66183715e-02 2.85874485e-03 9.95317396e-01 7.63304343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.17, Y:50.48, Z:7.64 [[ 5.78163600e-01 -8.14147462e-01 -5.37658093e-02 8.51689604e+01] [ 8.10180696e-01 5.80651032e-01 -8.03219712e-02 5.04781296e+01] [ 9.66131017e-02 2.87921920e-03 9.95317848e-01 7.63542356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.17, Y:50.51, Z:7.60 [[ 5.74980002e-01 -8.18004307e-01 -1.63386231e-02 8.51742170e+01] [ 8.13630899e-01 5.73777877e-01 -9.37214399e-02 5.05086999e+01] [ 8.60392820e-02 4.05943451e-02 9.95464385e-01 7.60113226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.21, Y:50.52, Z:7.66 [[ 5.76629949e-01 -8.12728621e-01 -8.34870721e-02 8.52075313e+01] [ 8.11209335e-01 5.81692520e-01 -5.97764708e-02 5.05183855e+01] [ 9.71458541e-02 -3.32565889e-02 9.94714372e-01 7.65943172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.22, Y:50.54, Z:7.64 [[ 5.75870954e-01 -8.15796712e-01 -5.33701188e-02 8.52187095e+01] [ 8.11889076e-01 5.78332824e-01 -7.97951935e-02 5.05448985e+01] [ 9.59623480e-02 2.62111781e-03 9.95381514e-01 7.64262177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.24, Y:50.57, Z:7.65 [[ 5.74589498e-01 -8.16700400e-01 -5.33607070e-02 8.52351367e+01] [ 8.12794658e-01 5.77056544e-01 -7.98159666e-02 5.05673619e+01] [ 9.59778770e-02 2.49011853e-03 9.95380353e-01 7.64535424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.25, Y:50.59, Z:7.65 [[ 5.73135522e-01 -8.17718908e-01 -5.33990755e-02 8.52513799e+01] [ 8.13807239e-01 5.75612950e-01 -7.99219019e-02 5.05899325e+01] [ 9.60908497e-02 2.34952681e-03 9.95369795e-01 7.64806055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.27, Y:50.61, Z:7.65 [[ 5.70837365e-01 -8.19332610e-01 -5.32801752e-02 8.52680756e+01] [ 8.15440686e-01 5.73314623e-01 -7.97924179e-02 5.06110399e+01] [ 9.59228336e-02 2.10167093e-03 9.95386555e-01 7.64934116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.28, Y:50.63, Z:7.65 [[ 5.69264491e-01 -8.20428748e-01 -5.32410461e-02 8.52845626e+01] [ 8.16542422e-01 5.71745474e-01 -7.97846257e-02 5.06341208e+01] [ 9.58979277e-02 1.94498166e-03 9.95389273e-01 7.65150087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.326875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:85.30, Y:50.66, Z:7.65 [[ 5.67938797e-01 -8.21347461e-01 -5.32341203e-02 8.53011335e+01] [ 8.17461551e-01 5.70425321e-01 -7.98220921e-02 5.06566329e+01] [ 9.59277629e-02 1.81721640e-03 9.95386639e-01 7.65397584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.32, Y:50.68, Z:7.66 [[ 5.65363595e-01 -8.23145578e-01 -5.28711875e-02 8.53189613e+01] [ 8.19315888e-01 5.67828336e-01 -7.93250117e-02 5.06782606e+01] [ 9.53177910e-02 1.52926994e-03 9.95445719e-01 7.65619023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.34, Y:50.70, Z:7.66 [[ 5.64302751e-01 -8.23892620e-01 -5.25676278e-02 8.53351893e+01] [ 8.20105589e-01 5.66744147e-01 -7.89170166e-02 5.06997615e+01] [ 9.48115429e-02 1.42208420e-03 9.95494224e-01 7.65925449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.35, Y:50.72, Z:7.66 [[ 5.62949549e-01 -8.24853087e-01 -5.20114478e-02 8.53517246e+01] [ 8.21145410e-01 5.65345699e-01 -7.81310187e-02 5.07227870e+01] [ 9.38510603e-02 1.27486011e-03 9.95585432e-01 7.66183876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.37, Y:50.74, Z:7.66 [[ 5.61688249e-01 -8.25755724e-01 -5.13205178e-02 8.53692299e+01] [ 8.22145678e-01 5.64026770e-01 -7.71381114e-02 5.07449034e+01] [ 9.26433829e-02 1.13462879e-03 9.95698708e-01 7.66440979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.39, Y:50.77, Z:7.67 [[ 5.61055463e-01 -8.26206671e-01 -5.09833649e-02 8.53850653e+01] [ 8.22641646e-01 5.63366109e-01 -7.66769180e-02 5.07674667e+01] [ 9.20732811e-02 1.07896460e-03 9.95751649e-01 7.66658231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.40, Y:50.79, Z:7.67 [[ 5.61136540e-01 -8.26146817e-01 -5.10609570e-02 8.54014409e+01] [ 8.22566390e-01 5.63453805e-01 -7.68397270e-02 5.07905432e+01] [ 9.22513864e-02 1.11655148e-03 9.95735123e-01 7.66839126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.536875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:85.41, Y:50.82, Z:7.65 [[ 5.60205956e-01 -8.27859349e-01 -2.86039255e-02 8.54120193e+01] [ 8.23502335e-01 5.60324745e-01 -8.87698432e-02 5.08193002e+01] [ 8.95164319e-02 2.61739954e-02 9.95641366e-01 7.64958960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.44, Y:50.83, Z:7.69 [[ 5.58303897e-01 -8.26470111e-01 -7.24148712e-02 8.54364585e+01] [ 8.24327113e-01 5.62472850e-01 -6.41022904e-02 5.08314929e+01] [ 9.37100260e-02 -2.39049832e-02 9.95312505e-01 7.68651839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.45, Y:50.86, Z:7.68 [[ 5.54854734e-01 -8.30348028e-01 -5.15594576e-02 8.54491834e+01] [ 8.26699779e-01 5.57244906e-01 -7.77533940e-02 5.08576658e+01] [ 9.32936225e-02 5.17646511e-04 9.95638505e-01 7.67653622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.46, Y:50.88, Z:7.68 [[ 5.52152740e-01 -8.32153126e-01 -5.14638291e-02 8.54644198e+01] [ 8.28521883e-01 5.54545866e-01 -7.76554719e-02 5.08804877e+01] [ 9.31602974e-02 2.38773001e-04 9.95651095e-01 7.67881804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.48, Y:50.90, Z:7.68 [[ 5.50451992e-01 -8.33266719e-01 -5.16641057e-02 8.54799282e+01] [ 8.29607363e-01 5.52871205e-01 -7.80067591e-02 5.09043655e+01] [ 9.35640325e-02 7.80534843e-05 9.95613261e-01 7.68148146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.49, Y:50.93, Z:7.68 [[ 5.49395741e-01 -8.33930936e-01 -5.21872868e-02 8.54935374e+01] [ 8.30195371e-01 5.51868819e-01 -7.88444851e-02 5.09280922e+01] [ 9.45513917e-02 -8.81955422e-06 9.95519982e-01 7.68126499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.51, Y:50.95, Z:7.68 [[ 5.49408876e-01 -8.33914513e-01 -5.23112980e-02 8.55081721e+01] [ 8.30157635e-01 5.51893636e-01 -7.90677935e-02 5.09525547e+01] [ 9.48060529e-02 1.39241482e-05 9.95495762e-01 7.68243816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.74687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.52, Y:50.98, Z:7.69 [[ 5.51157604e-01 -8.32727595e-01 -5.28209058e-02 8.55222529e+01] [ 8.28886961e-01 5.53682844e-01 -7.98856281e-02 5.09758145e+01] [ 9.57689962e-02 2.47011322e-04 9.95403556e-01 7.68506142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.54, Y:51.00, Z:7.69 [[ 5.52340554e-01 -8.31944393e-01 -5.28056837e-02 8.55373185e+01] [ 8.28097639e-01 5.54858864e-01 -7.99120841e-02 5.09988421e+01] [ 9.57821120e-02 4.10422825e-04 9.95402240e-01 7.68887371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80687499999999 meters Centerline goodness : 0.999926 Centerline is valid? [True, True] Translation: X:85.55, Y:51.03, Z:7.67 [[ 5.52566730e-01 -8.32886014e-01 -3.11592041e-02 8.55492112e+01] [ 8.28358844e-01 5.52928514e-01 -8.99537912e-02 5.10283424e+01] [ 9.21500671e-02 2.38944700e-02 9.95458397e-01 7.67355335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.57, Y:51.05, Z:7.69 [[ 5.53143543e-01 -8.31261094e-01 -5.51109333e-02 8.55673543e+01] [ 8.27997525e-01 5.55861111e-01 -7.37463512e-02 5.10474460e+01] [ 9.19364972e-02 -4.83939841e-03 9.95753112e-01 7.69328741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.58, Y:51.07, Z:7.72 [[ 5.56323277e-01 -8.27846225e-01 -7.19377444e-02 8.55840003e+01] [ 8.25275583e-01 5.60553298e-01 -6.85580975e-02 5.10660935e+01] [ 9.70805021e-02 -2.12279985e-02 9.95050123e-01 7.71575390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.60, Y:51.09, Z:7.71 [[ 5.57485280e-01 -8.28478811e-01 -5.32261531e-02 8.55953690e+01] [ 8.24535309e-01 5.60019275e-01 -8.07461241e-02 5.10931479e+01] [ 9.67041245e-02 1.12793300e-03 9.95312534e-01 7.70597537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.61, Y:51.12, Z:7.71 [[ 5.58719520e-01 -8.27656723e-01 -5.30739711e-02 8.56096392e+01] [ 8.23727469e-01 5.61233174e-01 -8.05629067e-02 5.11169084e+01] [ 9.64653046e-02 1.29358070e-03 9.95335507e-01 7.70780063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.62, Y:51.14, Z:7.71 [[ 5.60013697e-01 -8.26781786e-01 -5.30710574e-02 8.56238005e+01] [ 8.22844344e-01 5.62520855e-01 -8.06069042e-02 5.11400772e+01] [ 9.64978968e-02 1.47175103e-03 9.95332100e-01 7.70990631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.64, Y:51.16, Z:7.71 [[ 5.60930860e-01 -8.26136441e-01 -5.34336174e-02 8.56388067e+01] [ 8.22136921e-01 5.63467787e-01 -8.12092076e-02 5.11642817e+01] [ 9.71980079e-02 1.62300095e-03 9.95263740e-01 7.71258422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.65, Y:51.19, Z:7.72 [[ 5.63424062e-01 -8.24431126e-01 -5.35410592e-02 8.56532245e+01] [ 8.20402930e-01 5.65958936e-01 -8.14218313e-02 5.11885977e+01] [ 9.74287329e-02 1.94977707e-03 9.95240594e-01 7.71663606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.67, Y:51.21, Z:7.72 [[ 5.64502326e-01 -8.23679071e-01 -5.37579035e-02 8.56676227e+01] [ 8.19609813e-01 5.67052298e-01 -8.18012595e-02 5.12127703e+01] [ 9.78615282e-02 2.11649608e-03 9.95197790e-01 7.71882865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.68, Y:51.24, Z:7.72 [[ 5.67192814e-01 -8.21820976e-01 -5.38757356e-02 8.56805176e+01] [ 8.17720455e-01 5.69740443e-01 -8.20310006e-02 5.12366747e+01] [ 9.81099825e-02 2.47210308e-03 9.95172508e-01 7.72105040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.10687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.70, Y:51.26, Z:7.72 [[ 5.68260235e-01 -8.21078158e-01 -5.39533466e-02 8.56951446e+01] [ 8.16957213e-01 5.70809703e-01 -8.22021617e-02 5.12608924e+01] [ 9.82914933e-02 2.63464406e-03 9.95154180e-01 7.72388279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.70, Y:51.29, Z:7.70 [[ 5.68554755e-01 -8.22253401e-01 -2.53935886e-02 8.57046100e+01] [ 8.17495417e-01 5.68174795e-01 -9.42265661e-02 5.12908479e+01] [ 9.19061115e-02 3.28138199e-02 9.95226869e-01 7.70182748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.73, Y:51.30, Z:7.75 [[ 5.69725578e-01 -8.18055102e-01 -7.87312887e-02 8.57280222e+01] [ 8.15910680e-01 5.74499235e-01 -6.51182856e-02 5.13028122e+01] [ 9.85014109e-02 -2.71381464e-02 9.94766803e-01 7.74599199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.74, Y:51.33, Z:7.73 [[ 5.70559361e-01 -8.19525910e-01 -5.32850733e-02 8.57379686e+01] [ 8.15485810e-01 5.73034540e-01 -8.13284131e-02 5.13304247e+01] [ 9.71849292e-02 2.94946618e-03 9.95261971e-01 7.73246831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.75, Y:51.35, Z:7.74 [[ 5.70283022e-01 -8.19730061e-01 -5.31027486e-02 8.57531748e+01] [ 8.15713388e-01 5.72742537e-01 -8.11027434e-02 5.13541540e+01] [ 9.68965597e-02 2.93489467e-03 9.95290130e-01 7.73583944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.77, Y:51.38, Z:7.74 [[ 5.69108553e-01 -8.20544272e-01 -5.31277046e-02 8.57677467e+01] [ 8.16522547e-01 5.71575989e-01 -8.11900144e-02 5.13765034e+01] [ 9.69865216e-02 2.82596286e-03 9.95281683e-01 7.73846070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.78, Y:51.40, Z:7.74 [[ 5.65962639e-01 -8.22723910e-01 -5.30250778e-02 8.57819751e+01] [ 8.18723592e-01 5.68435807e-01 -8.10704145e-02 5.13994747e+01] [ 9.68399213e-02 2.46994358e-03 9.95296905e-01 7.74054068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.80, Y:51.42, Z:7.74 [[ 5.65761210e-01 -8.22863951e-01 -5.30016121e-02 8.57974634e+01] [ 8.18862812e-01 5.68233048e-01 -8.10857531e-02 5.14233967e+01] [ 9.68398108e-02 2.47412468e-03 9.95296905e-01 7.74314239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.346875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:85.81, Y:51.45, Z:7.75 [[ 5.60471191e-01 -8.26475711e-01 -5.30088934e-02 8.58128219e+01] [ 8.22485130e-01 5.62969246e-01 -8.11408571e-02 5.14463720e+01] [ 9.69033243e-02 1.87808622e-03 9.95292027e-01 7.74663486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.83, Y:51.47, Z:7.75 [[ 5.58321597e-01 -8.27916815e-01 -5.32047207e-02 8.58285180e+01] [ 8.23898201e-01 5.60848449e-01 -8.14909313e-02 5.14699484e+01] [ 9.73074973e-02 1.66287328e-03 9.95252976e-01 7.74864155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.84, Y:51.49, Z:7.75 [[ 5.56436630e-01 -8.29172013e-01 -5.34045814e-02 8.58428952e+01] [ 8.25123850e-01 5.58991582e-01 -8.18476804e-02 5.14924145e+01] [ 9.77185174e-02 1.47765363e-03 9.95212996e-01 7.75086087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.86, Y:51.52, Z:7.75 [[ 5.54134357e-01 -8.30677147e-01 -5.39498971e-02 8.58583922e+01] [ 8.26547444e-01 5.56752999e-01 -8.27370575e-02 5.15161751e+01] [ 9.87645499e-02 1.25529658e-03 9.95110038e-01 7.75241426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.87, Y:51.54, Z:7.75 [[ 5.53368769e-01 -8.31193869e-01 -5.38493895e-02 8.58735268e+01] [ 8.27077114e-01 5.55981419e-01 -8.26323759e-02 5.15395288e+01] [ 9.86227843e-02 1.18857844e-03 9.95124180e-01 7.75451726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.89, Y:51.56, Z:7.76 [[ 5.53335910e-01 -8.31194225e-01 -5.41805432e-02 8.58883797e+01] [ 8.27021423e-01 5.55980809e-01 -8.31919851e-02 5.15618302e+01] [ 9.92720398e-02 1.22464285e-03 9.95059577e-01 7.75738259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.90, Y:51.58, Z:7.76 [[ 5.53884628e-01 -8.30841690e-01 -5.39806029e-02 8.59036645e+01] [ 8.26692742e-01 5.56507290e-01 -8.29382101e-02 5.15847995e+01] [ 9.89491216e-02 1.31282708e-03 9.95091628e-01 7.76041452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.92, Y:51.61, Z:7.76 [[ 5.56101708e-01 -8.29370142e-01 -5.38150329e-02 8.59186214e+01] [ 8.25234819e-01 5.58697246e-01 -8.27337967e-02 5.16089051e+01] [ 9.86832514e-02 1.59836669e-03 9.95117612e-01 7.76383207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.93, Y:51.63, Z:7.77 [[ 5.57544098e-01 -8.28397838e-01 -5.38665099e-02 8.59327938e+01] [ 8.24245067e-01 5.60137287e-01 -8.28630725e-02 5.16316122e+01] [ 9.88162308e-02 1.80061199e-03 9.95104070e-01 7.76627770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.95, Y:51.66, Z:7.77 [[ 5.59132235e-01 -8.27319874e-01 -5.39719450e-02 8.59477426e+01] [ 8.23140514e-01 5.61727448e-01 -8.30780894e-02 5.16558863e+01] [ 9.90496773e-02 2.02514324e-03 9.95080429e-01 7.76866374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.96, Y:51.68, Z:7.77 [[ 5.62893575e-01 -8.24794690e-01 -5.35214317e-02 8.59619953e+01] [ 8.20668715e-01 5.65426901e-01 -8.24334877e-02 5.16805289e+01] [ 9.82531601e-02 2.47791590e-03 9.95158368e-01 7.77032140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.98, Y:51.70, Z:7.77 [[ 5.64623989e-01 -8.23616320e-01 -5.34407052e-02 8.59767230e+01] [ 8.19492969e-01 5.67140932e-01 -8.23555518e-02 5.17041873e+01] [ 9.81377879e-02 2.70563801e-03 9.95169159e-01 7.77258427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.706875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:85.99, Y:51.73, Z:7.78 [[ 5.66022342e-01 -8.22678466e-01 -5.30928465e-02 8.59916123e+01] [ 8.18599751e-01 5.68499656e-01 -8.18693455e-02 5.17281690e+01] [ 9.75354125e-02 2.87808773e-03 9.95227893e-01 7.77511578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.01, Y:51.75, Z:7.78 [[ 5.68423130e-01 -8.21041548e-01 -5.27818320e-02 8.60057606e+01] [ 8.16998690e-01 5.70859642e-01 -8.14396072e-02 5.17521311e+01] [ 9.69963189e-02 3.16946879e-03 9.95279694e-01 7.77659875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.02, Y:51.77, Z:7.78 [[ 5.69233441e-01 -8.20472497e-01 -5.28977326e-02 8.60199542e+01] [ 8.16404348e-01 5.71676455e-01 -8.16698935e-02 5.17747040e+01] [ 9.72482897e-02 3.30329567e-03 9.95254670e-01 7.77894858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.03, Y:51.80, Z:7.78 [[ 5.69757820e-01 -8.20104264e-01 -5.29624695e-02 8.60349685e+01] [ 8.16019240e-01 5.72204008e-01 -8.18240441e-02 5.17978666e+01] [ 9.74095848e-02 3.40149484e-03 9.95238566e-01 7.78102737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.05, Y:51.82, Z:7.78 [[ 5.70431743e-01 -8.19629003e-01 -5.30652815e-02 8.60502303e+01] [ 8.15520996e-01 5.72883858e-01 -8.20340829e-02 5.18214492e+01] [ 9.76377568e-02 3.51899367e-03 9.95215798e-01 7.78359772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.07, Y:51.85, Z:7.79 [[ 5.71484286e-01 -8.18889127e-01 -5.31630276e-02 8.60651247e+01] [ 8.14757730e-01 5.73939929e-01 -8.22362417e-02 5.18451986e+01] [ 9.78547485e-02 3.68173223e-03 9.95193897e-01 7.78519639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.08, Y:51.87, Z:7.79 [[ 5.72087862e-01 -8.18463194e-01 -5.32304258e-02 8.60801210e+01] [ 8.14314325e-01 5.74546464e-01 -8.23925978e-02 5.18683988e+01] [ 9.80186617e-02 3.78950688e-03 9.95177362e-01 7.78769500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.09, Y:51.89, Z:7.79 [[ 5.72316846e-01 -8.18291164e-01 -5.34134658e-02 8.60946611e+01] [ 8.14107834e-01 5.74790969e-01 -8.27271259e-02 5.18910874e+01] [ 9.83964539e-02 3.86180692e-03 9.95139801e-01 7.78993413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94687499999999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:86.11, Y:51.91, Z:7.79 [[ 5.72767169e-01 -8.17968329e-01 -5.35311325e-02 8.61100955e+01] [ 8.13761215e-01 5.75249703e-01 -8.29485707e-02 5.19137099e+01] [ 9.86430718e-02 3.94865865e-03 9.95115045e-01 7.79173510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.13, Y:51.94, Z:7.79 [[ 5.72929263e-01 -8.17854890e-01 -5.35297954e-02 8.61255979e+01] [ 8.13642159e-01 5.75410624e-01 -8.30003106e-02 5.19369270e+01] [ 9.86838228e-02 3.99920853e-03 9.95110803e-01 7.79422598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.14, Y:51.96, Z:7.80 [[ 5.72781524e-01 -8.17952840e-01 -5.36141571e-02 8.61408032e+01] [ 8.13722105e-01 5.75271244e-01 -8.31825219e-02 5.19600997e+01] [ 9.88820629e-02 4.01838688e-03 9.95091046e-01 7.79626097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.16, Y:51.98, Z:7.80 [[ 5.72484937e-01 -8.18165463e-01 -5.35375828e-02 8.61569375e+01] [ 8.13942633e-01 5.74968894e-01 -8.31153462e-02 5.19832704e+01] [ 9.87845505e-02 4.00576263e-03 9.95100782e-01 7.79797778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.17, Y:52.01, Z:7.80 [[ 5.71776382e-01 -8.18656789e-01 -5.35987979e-02 8.61723156e+01] [ 8.14421197e-01 5.74269462e-01 -8.32628337e-02 5.20060061e+01] [ 9.89438369e-02 3.95572471e-03 9.95085157e-01 7.80088395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.19, Y:52.03, Z:7.80 [[ 5.71015847e-01 -8.19204383e-01 -5.33393054e-02 8.61876256e+01] [ 8.15006805e-01 5.73488602e-01 -8.29140034e-02 5.20291850e+01] [ 9.85129987e-02 3.87331302e-03 9.95128226e-01 7.80414806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.20, Y:52.05, Z:7.81 [[ 5.70264494e-01 -8.19759242e-01 -5.28506458e-02 8.62032130e+01] [ 8.15635852e-01 5.72695871e-01 -8.22045984e-02 5.20524041e+01] [ 9.76553259e-02 3.77148219e-03 9.95213150e-01 7.80705921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.22, Y:52.08, Z:7.81 [[ 5.70078932e-01 -8.19900576e-01 -5.26598174e-02 8.62184612e+01] [ 8.15802679e-01 5.72493571e-01 -8.19579105e-02 5.20757897e+01] [ 9.73447450e-02 3.76245799e-03 9.95243611e-01 7.81002469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.23, Y:52.10, Z:7.81 [[ 5.69660490e-01 -8.20200487e-01 -5.25174972e-02 8.62331047e+01] [ 8.16121010e-01 5.72064021e-01 -8.17878569e-02 5.20988270e+01] [ 9.71258107e-02 3.73067782e-03 9.95265120e-01 7.81198078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.25, Y:52.12, Z:7.81 [[ 5.69203308e-01 -8.20521123e-01 -5.24660057e-02 8.62483155e+01] [ 8.16445746e-01 5.71604210e-01 -8.17616744e-02 5.21224608e+01] [ 9.70769706e-02 3.70336833e-03 9.95269987e-01 7.81468361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.24687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.26, Y:52.15, Z:7.82 [[ 5.68342021e-01 -8.21099598e-01 -5.27522305e-02 8.62643391e+01] [ 8.16976911e-01 5.70773246e-01 -8.22595188e-02 5.21459536e+01] [ 9.76528196e-02 3.65418683e-03 9.95213833e-01 7.81673140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.28, Y:52.17, Z:7.82 [[ 5.67331171e-01 -8.21789300e-01 -5.28931788e-02 8.62794166e+01] [ 8.17642392e-01 5.69780280e-01 -8.25309065e-02 5.21690369e+01] [ 9.79605061e-02 3.57465051e-03 9.95183883e-01 7.81877374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.29, Y:52.19, Z:7.82 [[ 5.66645130e-01 -8.22248194e-01 -5.31150107e-02 8.62949928e+01] [ 8.18063246e-01 5.69118071e-01 -8.29285683e-02 5.21921166e+01] [ 9.84165779e-02 3.53963136e-03 9.95139009e-01 7.82120703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.31, Y:52.22, Z:7.82 [[ 5.65502169e-01 -8.23025486e-01 -5.32573580e-02 8.63118232e+01] [ 8.18816308e-01 5.67994009e-01 -8.32025266e-02 5.22151008e+01] [ 9.87276602e-02 3.44321610e-03 9.95108533e-01 7.82377323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.33, Y:52.24, Z:7.83 [[ 5.64778150e-01 -8.23517517e-01 -5.33342276e-02 8.63271443e+01] [ 8.19293123e-01 5.67280701e-01 -8.33749666e-02 5.22377049e+01] [ 9.89162235e-02 3.39199348e-03 9.95089983e-01 7.82650417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.34, Y:52.26, Z:7.83 [[ 5.64335076e-01 -8.23829212e-01 -5.32104445e-02 8.63428548e+01] [ 8.19620430e-01 5.66828136e-01 -8.32358992e-02 5.22612363e+01] [ 9.87333423e-02 3.36057007e-03 9.95108252e-01 7.82917539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.36, Y:52.28, Z:7.83 [[ 5.59503764e-01 -8.27154370e-01 -5.26420596e-02 8.63585875e+01] [ 8.23044742e-01 5.61967924e-01 -8.23978465e-02 5.22835431e+01] [ 9.77388877e-02 2.77513493e-03 9.95208224e-01 7.83242311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.38, Y:52.31, Z:7.84 [[ 5.50393691e-01 -8.33321540e-01 -5.14003492e-02 8.63753792e+01] [ 8.29425354e-01 5.52786033e-01 -8.05057990e-02 5.23060770e+01] [ 9.55006115e-02 1.67713105e-03 9.95427958e-01 7.83835791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.39, Y:52.33, Z:7.84 [[ 5.47336620e-01 -8.35303823e-01 -5.18666237e-02 8.63902117e+01] [ 8.31340396e-01 5.49786904e-01 -8.12865707e-02 5.23294180e+01] [ 9.64145738e-02 1.37229740e-03 9.95340317e-01 7.84037475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.40, Y:52.35, Z:7.84 [[ 5.44831281e-01 -8.36894073e-01 -5.26040480e-02 8.64047433e+01] [ 8.32819157e-01 5.47363701e-01 -8.24938185e-02 5.23525369e+01] [ 9.78321342e-02 1.13555388e-03 9.95202283e-01 7.84101712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.42, Y:52.38, Z:7.84 [[ 5.40906088e-01 -8.39352361e-01 -5.39278979e-02 8.64194378e+01] [ 8.35075699e-01 5.43587220e-01 -8.46257155e-02 5.23766985e+01] [ 1.00345310e-01 7.40687725e-04 9.94952396e-01 7.83938505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.576875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:86.43, Y:52.40, Z:7.84 [[ 5.39008433e-01 -8.40540913e-01 -5.44139890e-02 8.64348327e+01] [ 8.36187335e-01 5.41747790e-01 -8.54404626e-02 5.24001336e+01] [ 1.01294863e-01 5.52841422e-04 9.94856294e-01 7.84140728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.60687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.45, Y:52.42, Z:7.84 [[ 5.37801896e-01 -8.41316461e-01 -5.43666510e-02 8.64508303e+01] [ 8.36969145e-01 5.40542712e-01 -8.54179569e-02 5.24229967e+01] [ 1.01251030e-01 4.34729781e-04 9.94860814e-01 7.84490924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.47, Y:52.44, Z:7.85 [[ 5.37824342e-01 -8.41364609e-01 -5.33907512e-02 8.64670851e+01] [ 8.37167600e-01 5.40467757e-01 -8.39345723e-02 5.24441972e+01] [ 9.94755581e-02 4.45049000e-04 9.95039906e-01 7.85192046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.48, Y:52.47, Z:7.86 [[ 5.38763257e-01 -8.40791820e-01 -5.29458913e-02 8.64819420e+01] [ 8.36656715e-01 5.41358278e-01 -8.32871903e-02 5.24676403e+01] [ 9.86898849e-02 5.74542412e-04 9.95118072e-01 7.85603583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.50, Y:52.49, Z:7.86 [[ 5.40266477e-01 -8.39854278e-01 -5.25064290e-02 8.64964721e+01] [ 8.35778714e-01 5.42811390e-01 -8.26422118e-02 5.24916840e+01] [ 9.79085029e-02 7.65060879e-04 9.95195126e-01 7.85863712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.51, Y:52.52, Z:7.86 [[ 5.42113806e-01 -8.38662121e-01 -5.25211242e-02 8.65109734e+01] [ 8.34573714e-01 5.44651109e-01 -8.27156890e-02 5.25163551e+01] [ 9.79762036e-02 1.00856729e-03 9.95188247e-01 7.86028442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.52, Y:52.54, Z:7.86 [[ 5.46377933e-01 -8.35867634e-01 -5.28815025e-02 8.65249347e+01] [ 8.31704592e-01 5.48928862e-01 -8.33341204e-02 5.25412599e+01] [ 9.86844770e-02 1.55013595e-03 9.95117566e-01 7.86112032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.54, Y:52.56, Z:7.86 [[ 5.48723726e-01 -8.34339988e-01 -5.27167712e-02 8.65396777e+01] [ 8.30190833e-01 5.51247105e-01 -8.31252696e-02 5.25648606e+01] [ 9.84147039e-02 1.84782742e-03 9.95143774e-01 7.86435234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.55, Y:52.59, Z:7.87 [[ 5.50560076e-01 -8.33143425e-01 -5.24941486e-02 8.65542095e+01] [ 8.29018856e-01 5.53053072e-01 -8.28253352e-02 5.25887336e+01] [ 9.80374336e-02 2.08168383e-03 9.95180551e-01 7.86743757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.57, Y:52.61, Z:7.87 [[ 5.52407921e-01 -8.31922595e-01 -5.24431533e-02 8.65682818e+01] [ 8.27795434e-01 5.54886825e-01 -8.27969303e-02 5.26115217e+01] [ 9.79806519e-02 2.32547736e-03 9.95185603e-01 7.87055067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.58, Y:52.64, Z:7.87 [[ 5.55412158e-01 -8.29933346e-01 -5.22300347e-02 8.65819570e+01] [ 8.25825623e-01 5.57856047e-01 -8.25146745e-02 5.26357768e+01] [ 9.76185205e-02 2.69675249e-03 9.95220253e-01 7.87392646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.60, Y:52.66, Z:7.88 [[ 5.55441270e-01 -8.29930061e-01 -5.19720125e-02 8.65964061e+01] [ 8.25858011e-01 5.57860860e-01 -8.21572022e-02 5.26602214e+01] [ 9.71778834e-02 2.71199782e-03 9.95263334e-01 7.87625398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.936875 meters Centerline goodness : 0.999926 Centerline is valid? [True, True] Translation: X:86.61, Y:52.68, Z:7.88 [[ 5.53723579e-01 -8.31075984e-01 -5.19894800e-02 8.66110656e+01] [ 8.27001288e-01 5.56153087e-01 -8.22351150e-02 5.26841547e+01] [ 9.72577389e-02 2.54015530e-03 9.95255987e-01 7.87932279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.63, Y:52.71, Z:7.88 [[ 5.51339278e-01 -8.32672863e-01 -5.17774440e-02 8.66258497e+01] [ 8.28633469e-01 5.53760521e-01 -8.19503498e-02 5.27081590e+01] [ 9.69101368e-02 2.27792369e-03 9.95290529e-01 7.88201890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.64, Y:52.73, Z:7.88 [[ 5.50153154e-01 -8.33435788e-01 -5.21180787e-02 8.66403934e+01] [ 8.29341275e-01 5.52611985e-01 -8.25411614e-02 5.27321969e+01] [ 9.75938328e-02 2.18660643e-03 9.95223926e-01 7.88411255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.65, Y:52.76, Z:7.89 [[ 5.49023996e-01 -8.34157398e-01 -5.24793892e-02 8.66548253e+01] [ 8.30003896e-01 5.51522454e-01 -8.31655900e-02 5.27562669e+01] [ 9.83167537e-02 2.10180710e-03 9.95152952e-01 7.88616239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.67, Y:52.78, Z:7.89 [[ 5.47941436e-01 -8.34859882e-01 -5.26228177e-02 8.66692783e+01] [ 8.30681689e-01 5.50458843e-01 -8.34445556e-02 5.27804642e+01] [ 9.86312072e-02 2.00991854e-03 9.95122025e-01 7.88788949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.68, Y:52.80, Z:7.89 [[ 5.47663642e-01 -8.35029366e-01 -5.28251259e-02 8.66827360e+01] [ 8.30814495e-01 5.50201685e-01 -8.38175468e-02 5.28035902e+01] [ 9.90545863e-02 2.01594261e-03 9.95079959e-01 7.88973173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.70, Y:52.83, Z:7.89 [[ 5.47941397e-01 -8.34837374e-01 -5.29790891e-02 8.66969922e+01] [ 8.30591508e-01 5.50492692e-01 -8.41162404e-02 5.28272168e+01] [ 9.93879826e-02 2.08678877e-03 9.95046569e-01 7.89244619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.71, Y:52.85, Z:7.89 [[ 5.48515090e-01 -8.34453274e-01 -5.30935951e-02 8.67112717e+01] [ 8.30181919e-01 5.51074348e-01 -8.43507299e-02 5.28505840e+01] [ 9.96452610e-02 2.19030554e-03 9.95020615e-01 7.89496809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.73, Y:52.87, Z:7.90 [[ 5.50074239e-01 -8.33375844e-01 -5.38798216e-02 8.67260386e+01] [ 8.28965808e-01 5.52701264e-01 -8.56563038e-02 5.28748382e+01] [ 1.01163340e-01 2.45279631e-03 9.94866806e-01 7.89800052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.74, Y:52.90, Z:7.90 [[ 5.49857620e-01 -8.33520312e-01 -5.38561662e-02 8.67411209e+01] [ 8.29109513e-01 5.52483363e-01 -8.56711749e-02 5.28990291e+01] [ 1.01163300e-01 2.45428869e-03 9.94866807e-01 7.90060367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.76, Y:52.92, Z:7.90 [[ 5.50589984e-01 -8.33025628e-01 -5.40275145e-02 8.67555110e+01] [ 8.28579131e-01 5.53228379e-01 -8.59940931e-02 5.29228346e+01] [ 1.01524838e-01 2.58141535e-03 9.94829656e-01 7.90291145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.77, Y:52.95, Z:7.91 [[ 5.51664922e-01 -8.32286182e-01 -5.44566327e-02 8.67702749e+01] [ 8.27759437e-01 5.54339283e-01 -8.67310476e-02 5.29467393e+01] [ 1.02372503e-01 2.76948502e-03 9.94742278e-01 7.90595521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.78, Y:52.97, Z:7.91 [[ 5.54076544e-01 -8.30697291e-01 -5.42327850e-02 8.67844105e+01] [ 8.26194904e-01 5.56715840e-01 -8.64260073e-02 5.29699296e+01] [ 1.01986101e-01 3.07977278e-03 9.94781056e-01 7.90825451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.80, Y:52.99, Z:7.91 [[ 5.54893003e-01 -8.30173900e-01 -5.38985229e-02 8.67986950e+01] [ 8.25720491e-01 5.57495465e-01 -8.59329845e-02 5.29938244e+01] [ 1.01387503e-01 3.17849703e-03 9.94841933e-01 7.91072765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.81, Y:53.02, Z:7.91 [[ 5.56129673e-01 -8.29390566e-01 -5.32078562e-02 8.68134029e+01] [ 8.25042099e-01 5.58659422e-01 -8.48833609e-02 5.30177349e+01] [ 1.00126529e-01 3.30743437e-03 9.94969215e-01 7.91355934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.83, Y:53.04, Z:7.92 [[ 5.56908601e-01 -8.28902236e-01 -5.26677622e-02 8.68278031e+01] [ 8.24634554e-01 5.59383228e-01 -8.40729291e-02 5.30418130e+01] [ 9.91497017e-02 3.38928075e-03 9.95066756e-01 7.91658374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.84, Y:53.07, Z:7.92 [[ 5.57906264e-01 -8.28266824e-01 -5.21024748e-02 8.68414663e+01] [ 8.24082603e-01 5.60322998e-01 -8.32226007e-02 5.30668278e+01] [ 9.81247341e-02 3.49366718e-03 9.95167991e-01 7.91873366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.86, Y:53.09, Z:7.92 [[ 5.58599773e-01 -8.27809013e-01 -5.19473822e-02 8.68554294e+01] [ 8.23642587e-01 5.60998509e-01 -8.30274755e-02 5.30911515e+01] [ 9.78732965e-02 3.59305275e-03 9.95192397e-01 7.92091847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.87, Y:53.12, Z:7.92 [[ 5.60338372e-01 -8.26615212e-01 -5.22321806e-02 8.68681299e+01] [ 8.22392381e-01 5.62754337e-01 -8.35363804e-02 5.31156395e+01] [ 9.84463289e-02 3.85329202e-03 9.95134902e-01 7.92211592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.88, Y:53.14, Z:7.92 [[ 5.60794724e-01 -8.26295868e-01 -5.23871836e-02 8.68817049e+01] [ 8.22040874e-01 5.63222436e-01 -8.38408560e-02 5.31385802e+01] [ 9.87829900e-02 3.95310346e-03 9.95101148e-01 7.92439024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.90, Y:53.16, Z:7.93 [[ 5.61033529e-01 -8.26121064e-01 -5.25867622e-02 8.68955691e+01] [ 8.21827174e-01 5.63478252e-01 -8.42161286e-02 5.31616461e+01] [ 9.92042145e-02 4.03084162e-03 9.95058931e-01 7.92675305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.91, Y:53.19, Z:7.93 [[ 5.61314794e-01 -8.25915451e-01 -5.28144902e-02 8.69095566e+01] [ 8.21577995e-01 5.63778978e-01 -8.46336973e-02 5.31855460e+01] [ 9.96759776e-02 4.11492342e-03 9.95011441e-01 7.92895370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.92, Y:53.21, Z:7.93 [[ 5.60173867e-01 -8.26729551e-01 -5.21870447e-02 8.69234732e+01] [ 8.22493088e-01 5.62585663e-01 -8.36808989e-02 5.32100417e+01] [ 9.85411552e-02 3.95236919e-03 9.95125128e-01 7.93090397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.93, Y:53.24, Z:7.94 [[ 5.60309124e-01 -8.26706044e-01 -5.10960038e-02 8.69334056e+01] [ 8.22640282e-01 5.62620558e-01 -8.19821522e-02 5.32366356e+01] [ 9.65228029e-02 3.90171692e-03 9.95323126e-01 7.93685595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.94, Y:53.27, Z:7.94 [[ 5.69333184e-01 -8.20576952e-01 -5.01317431e-02 8.69362701e+01] [ 8.16634875e-01 5.71515194e-01 -8.04851756e-02 5.32666243e+01] [ 9.46953330e-02 4.88355148e-03 9.95494322e-01 7.93751025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.686875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:86.93, Y:53.30, Z:7.94 [[ 5.89320404e-01 -8.06320435e-01 -5.04858208e-02 8.69296224e+01] [ 8.02263922e-01 5.91433962e-01 -8.11077489e-02 5.33042344e+01] [ 9.52578644e-02 7.29549868e-03 9.95425896e-01 7.93760499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.716875 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:86.93, Y:53.33, Z:7.94 [[ 6.00236403e-01 -7.98169180e-01 -5.14025301e-02 8.69327333e+01] [ 7.93928910e-01 6.02369246e-01 -8.26327901e-02 5.33348766e+01] [ 9.69182496e-02 8.78925399e-03 9.95253537e-01 7.93954692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.93, Y:53.37, Z:7.94 [[ 6.12536010e-01 -7.88717069e-01 -5.22017415e-02 8.69337388e+01] [ 7.84304417e-01 6.14666791e-01 -8.39721207e-02 5.33657421e+01] [ 9.83169218e-02 1.04938913e-02 9.95099825e-01 7.94088817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.92, Y:53.41, Z:7.94 [[ 6.41046319e-01 -7.65671772e-01 -5.29750336e-02 8.69184513e+01] [ 7.61044568e-01 6.43071559e-01 -8.52650879e-02 5.34084969e+01] [ 9.93518084e-02 1.43425092e-02 9.94948999e-01 7.94342687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.92, Y:53.44, Z:7.95 [[ 6.56550542e-01 -7.52364271e-01 -5.37530344e-02 8.69159825e+01] [ 7.47554128e-01 6.58536979e-01 -8.65556064e-02 5.34423470e+01] [ 1.00519707e-01 1.66448276e-02 9.94795827e-01 7.94675372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.91, Y:53.48, Z:7.95 [[ 6.72231792e-01 -7.38348703e-01 -5.42734730e-02 8.69119102e+01] [ 7.33397161e-01 6.74151918e-01 -8.74516754e-02 5.34764095e+01] [ 1.01158397e-01 1.89837854e-02 9.94689195e-01 7.94924243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.91, Y:53.51, Z:7.95 [[ 6.87413427e-01 -7.24187339e-01 -5.49133748e-02 8.69077332e+01] [ 7.19072575e-01 6.89271944e-01 -8.85371064e-02 5.35122666e+01] [ 1.01967700e-01 2.13748939e-02 9.94558044e-01 7.95123434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.896875 meters Centerline goodness : 0.999939 Centerline is valid? [True, True] Translation: X:86.88, Y:53.56, Z:7.95 [[ 7.13426150e-01 -6.98510807e-01 -5.57295422e-02 8.68840782e+01] [ 6.93169499e-01 7.15144420e-01 -8.99138696e-02 5.35605379e+01] [ 1.02660481e-01 2.55168869e-02 9.94389116e-01 7.95022567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.926875 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:86.88, Y:53.60, Z:7.95 [[ 7.21710758e-01 -6.89921328e-01 -5.60548255e-02 8.68815735e+01] [ 6.84490553e-01 7.23382678e-01 -9.04996371e-02 5.35954412e+01] [ 1.02986720e-01 2.69455632e-02 9.94317692e-01 7.95100688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.956875 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:86.87, Y:53.63, Z:7.94 [[ 7.25514742e-01 -6.87315943e-01 -3.50022000e-02 8.68733215e+01] [ 6.81641511e-01 7.24672056e-01 -1.01070574e-01 5.36321905e+01] [ 9.48325330e-02 4.94692388e-02 9.94263338e-01 7.93937651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.986875 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:86.87, Y:53.67, Z:7.96 [[ 7.25163802e-01 -6.84347406e-01 -7.61976935e-02 8.68732338e+01] [ 6.79534663e-01 7.29120513e-01 -8.13383051e-02 5.36660438e+01] [ 1.11220959e-01 7.20462059e-03 9.93769587e-01 7.96006826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.016875 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:86.87, Y:53.70, Z:7.96 [[ 7.21411496e-01 -6.90115222e-01 -5.75016062e-02 8.68731403e+01] [ 6.84385722e-01 7.23168577e-01 -9.29698500e-02 5.36986330e+01] [ 1.05743263e-01 2.77162403e-02 9.94007129e-01 7.95827739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.046875 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:86.88, Y:53.73, Z:7.96 [[ 7.14915045e-01 -6.96923018e-01 -5.65224382e-02 8.68777864e+01] [ 6.91400714e-01 7.16664405e-01 -9.14176339e-02 5.37283167e+01] [ 1.04218673e-01 2.62761877e-02 9.94207237e-01 7.96222850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.87, Y:53.76, Z:7.95 [[ 7.04893183e-01 -7.08573755e-01 -3.23857230e-02 8.68737526e+01] [ 7.03340308e-01 7.04141181e-01 -9.74556706e-02 5.37610904e+01] [ 9.18586517e-02 4.59176534e-02 9.94712801e-01 7.95244692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.10687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.89, Y:53.79, Z:7.97 [[ 6.85489807e-01 -7.24516020e-01 -7.19740318e-02 8.68858779e+01] [ 7.20809075e-01 6.89255888e-01 -7.32161097e-02 5.37888714e+01] [ 1.02654770e-01 -1.69063837e-03 9.94715608e-01 7.97428075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13687499999999 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:86.89, Y:53.82, Z:7.97 [[ 6.73357802e-01 -7.37501017e-01 -5.17833950e-02 8.68908729e+01] [ 7.32951292e-01 6.75092177e-01 -8.38627209e-02 5.38194422e+01] [ 9.68074068e-02 1.85149111e-02 9.95130908e-01 7.97266880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.89, Y:53.85, Z:7.96 [[ 6.57799863e-01 -7.52630876e-01 -2.90878768e-02 8.68913294e+01] [ 7.48151208e-01 6.57370284e-01 -9.01891329e-02 5.38502471e+01] [ 8.70006319e-02 3.75642690e-02 9.95499782e-01 7.96161760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19687499999999 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:86.91, Y:53.87, Z:7.98 [[ 6.30981789e-01 -7.72749321e-01 -6.87056672e-02 8.69122819e+01] [ 7.69633561e-01 6.34650520e-01 -6.98777414e-02 5.38713802e+01] [ 9.76020646e-02 -8.78660503e-03 9.95186733e-01 7.98160080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.92, Y:53.90, Z:7.98 [[ 6.15781623e-01 -7.86326885e-01 -5.00302242e-02 8.69210430e+01] [ 7.82204944e-01 6.17715806e-01 -8.11332753e-02 5.38992611e+01] [ 9.47017359e-02 1.08264912e-02 9.95446818e-01 7.97975995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.93, Y:53.92, Z:7.98 [[ 6.00332414e-01 -7.98178354e-01 -5.01229295e-02 8.69342092e+01] [ 7.94074667e-01 6.02353567e-01 -8.13363652e-02 5.39242831e+01] [ 9.51126515e-02 9.02750794e-03 9.95425581e-01 7.98181027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.95, Y:53.95, Z:7.98 [[ 5.85404391e-01 -8.09189860e-01 -5.01345233e-02 8.69470135e+01] [ 8.05117590e-01 5.87502002e-01 -8.14067784e-02 5.39475588e+01] [ 9.53276724e-02 7.29169885e-03 9.95419241e-01 7.98389569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.96, Y:53.97, Z:7.99 [[ 5.58274025e-01 -8.28127827e-01 -5.03429758e-02 8.69600390e+01] [ 8.24090333e-01 5.60523791e-01 -8.17814386e-02 5.39719752e+01] [ 9.59439207e-02 4.16929322e-03 9.95378009e-01 7.98631949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.97, Y:53.99, Z:7.99 [[ 5.46678111e-01 -8.35840156e-01 -5.01425633e-02 8.69734380e+01] [ 8.31861519e-01 5.48965513e-01 -8.15063109e-02 5.39949591e+01] [ 9.56527856e-02 2.84604723e-03 9.95410691e-01 7.98907949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.99, Y:54.02, Z:7.99 [[ 5.36325550e-01 -8.42543512e-01 -4.97527403e-02 8.69876923e+01] [ 8.38651529e-01 5.38625706e-01 -8.09071250e-02 5.40191294e+01] [ 9.49658781e-02 1.66734662e-03 9.95479132e-01 7.99165574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.00, Y:54.04, Z:7.99 [[ 5.19643087e-01 -8.52978587e-01 -4.89754148e-02 8.70019420e+01] [ 8.49247701e-01 5.21945875e-01 -7.96921980e-02 5.40435860e+01] [ 9.35382542e-02 -1.80758563e-04 9.95615670e-01 7.99431421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.02, Y:54.07, Z:8.00 [[ 5.13184494e-01 -8.56922754e-01 -4.82189755e-02 8.70158802e+01] [ 8.53319114e-01 5.15444140e-01 -7.85100486e-02 5.40665821e+01] [ 9.21312354e-02 -8.56033860e-04 9.95746505e-01 7.99630070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.03, Y:54.09, Z:8.00 [[ 5.07766811e-01 -8.60143885e-01 -4.82220086e-02 8.70299031e+01] [ 8.56551603e-01 5.10049479e-01 -7.85422263e-02 5.40890089e+01] [ 9.21532260e-02 -1.42350293e-03 9.95743821e-01 7.99852306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.05, Y:54.11, Z:8.00 [[ 5.01102464e-01 -8.64033208e-01 -4.84038893e-02 8.70450300e+01] [ 8.60429050e-01 5.03430319e-01 -7.88654832e-02 5.41119538e+01] [ 9.25103819e-02 -2.12842450e-03 9.95709445e-01 7.99975358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.52687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.06, Y:54.13, Z:8.00 [[ 4.99715660e-01 -8.64821547e-01 -4.86615856e-02 8.70595237e+01] [ 8.61180025e-01 5.02074223e-01 -7.93122883e-02 5.41345515e+01] [ 9.30227037e-02 -2.27279301e-03 9.95661394e-01 8.00190975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.07, Y:54.16, Z:8.00 [[ 4.99596611e-01 -8.64872733e-01 -4.89732828e-02 8.70736882e+01] [ 8.61180456e-01 5.01986035e-01 -7.98638963e-02 5.41576250e+01] [ 9.36560104e-02 -2.27510212e-03 9.95602017e-01 8.00336414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.58687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.09, Y:54.18, Z:8.01 [[ 5.01000455e-01 -8.64021266e-01 -4.96567720e-02 8.70885230e+01] [ 8.60216594e-01 5.03450835e-01 -8.10226411e-02 5.41814642e+01] [ 9.50050283e-02 -2.12319916e-03 9.95474528e-01 8.00558396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.10, Y:54.21, Z:8.01 [[ 5.07917292e-01 -8.59916091e-01 -5.06393303e-02 8.71026355e+01] [ 8.55933567e-01 5.10433630e-01 -8.26755058e-02 5.42057772e+01] [ 9.69420149e-02 -1.35158365e-03 9.95289113e-01 8.00784845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.12, Y:54.23, Z:8.01 [[ 5.13190081e-01 -8.56784297e-01 -5.05629172e-02 8.71168211e+01] [ 8.52793419e-01 5.15674449e-01 -8.26029463e-02 5.42291668e+01] [ 9.68469118e-02 -7.28710297e-04 9.95299023e-01 8.01080597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.13, Y:54.25, Z:8.01 [[ 5.18963284e-01 -8.53317227e-01 -5.02674784e-02 8.71314414e+01] [ 8.49353665e-01 5.21392084e-01 -8.21501420e-02 5.42532011e+01] [ 9.63091968e-02 -6.19595752e-05 9.95351463e-01 8.01390638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.15, Y:54.28, Z:8.02 [[ 5.31452756e-01 -8.45627684e-01 -4.97170705e-02 8.71464726e+01] [ 8.41711894e-01 5.33771464e-01 -8.12964444e-02 5.42752385e+01] [ 9.52840775e-02 1.35776990e-03 9.95449196e-01 8.01726121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.16, Y:54.30, Z:8.02 [[ 5.37481673e-01 -8.41841931e-01 -4.91488908e-02 8.71621006e+01] [ 8.37995492e-01 5.39720331e-01 -8.04084544e-02 5.42981788e+01] [ 9.42178641e-02 2.03152166e-03 9.95549530e-01 8.01988737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.766875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:87.18, Y:54.32, Z:8.02 [[ 5.42987505e-01 -8.38320344e-01 -4.88218265e-02 8.71781657e+01] [ 8.34506019e-01 5.45171487e-01 -7.99234286e-02 5.43207174e+01] [ 9.36177039e-02 2.65531498e-03 9.95604678e-01 8.02235835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.796875 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:87.20, Y:54.34, Z:8.02 [[ 5.51666461e-01 -8.32639764e-01 -4.87353958e-02 8.71972292e+01] [ 8.28811700e-01 5.53802949e-01 -7.98339587e-02 5.43402177e+01] [ 9.34627344e-02 3.64925120e-03 9.95616091e-01 8.02371340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.22, Y:54.36, Z:8.03 [[ 5.54289866e-01 -8.30867145e-01 -4.92192247e-02 8.72154803e+01] [ 8.26952075e-01 5.56456392e-01 -8.06631792e-02 5.43615483e+01] [ 9.44087376e-02 4.00884276e-03 9.95525449e-01 8.02585450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.23, Y:54.38, Z:8.03 [[ 5.55575226e-01 -8.29990188e-01 -4.95222766e-02 8.72341722e+01] [ 8.26018228e-01 5.57762081e-01 -8.12117506e-02 5.43828633e+01] [ 9.50266042e-02 4.21293353e-03 9.95465818e-01 8.02738437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.88687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.25, Y:54.40, Z:8.03 [[ 5.56092280e-01 -8.29626946e-01 -4.98046740e-02 8.72535827e+01] [ 8.25602916e-01 5.58301340e-01 -8.17278275e-02 5.44043558e+01] [ 9.56096242e-02 4.32932985e-03 9.95409492e-01 8.02955258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.28, Y:54.42, Z:8.03 [[ 5.55424564e-01 -8.30085990e-01 -4.96064806e-02 8.72777595e+01] [ 8.26090897e-01 5.57619121e-01 -8.14539463e-02 5.44207719e+01] [ 9.52753017e-02 4.26206062e-03 9.95441837e-01 8.03204141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.30, Y:54.44, Z:8.04 [[ 5.54473415e-01 -8.30727327e-01 -4.95110232e-02 8.72980114e+01] [ 8.26747342e-01 5.56663992e-01 -8.13267064e-02 5.44412791e+01] [ 9.51213212e-02 4.16038978e-03 9.95456993e-01 8.03527612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.32, Y:54.46, Z:8.04 [[ 5.53287657e-01 -8.31551897e-01 -4.89306745e-02 8.73183221e+01] [ 8.27663247e-01 5.55432664e-01 -8.04245269e-02 5.44620762e+01] [ 9.40548628e-02 3.99977713e-03 9.95558981e-01 8.03845977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.34, Y:54.48, Z:8.04 [[ 5.51281451e-01 -8.32923826e-01 -4.82354940e-02 8.73427246e+01] [ 8.29145630e-01 5.53375019e-01 -7.93322879e-02 5.44782379e+01] [ 9.27700701e-02 3.74016966e-03 9.95680534e-01 8.04195367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.36, Y:54.50, Z:8.04 [[ 5.50548310e-01 -8.33422617e-01 -4.79927129e-02 8.73626224e+01] [ 8.29681131e-01 5.52624077e-01 -7.89674026e-02 5.44989853e+01] [ 9.23351480e-02 3.65672172e-03 9.95721271e-01 8.04484817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.38, Y:54.52, Z:8.05 [[ 5.49678864e-01 -8.33999246e-01 -4.79416738e-02 8.73823744e+01] [ 8.30263205e-01 5.51753941e-01 -7.89341428e-02 5.45194611e+01] [ 9.22830230e-02 3.58422216e-03 9.95726367e-01 8.04756828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.096875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:87.41, Y:54.54, Z:8.05 [[ 5.48598301e-01 -8.34683680e-01 -4.84051499e-02 8.74073259e+01] [ 8.30872675e-01 5.50718332e-01 -7.97490864e-02 5.45357787e+01] [ 9.32228643e-02 3.53169695e-03 9.95639003e-01 8.04865979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.126875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:87.42, Y:54.56, Z:8.05 [[ 5.48380837e-01 -8.34827307e-01 -4.83924123e-02 8.74219975e+01] [ 8.31016178e-01 5.50500647e-01 -7.97568150e-02 5.45601300e+01] [ 9.32232213e-02 3.52223143e-03 9.95639003e-01 8.05129484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.156875 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:87.44, Y:54.58, Z:8.05 [[ 5.47855725e-01 -8.35130199e-01 -4.91086010e-02 8.74413040e+01] [ 8.31201766e-01 5.50040865e-01 -8.09856240e-02 5.45797425e+01] [ 9.46452776e-02 3.54928187e-03 9.95504733e-01 8.05304000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.186875 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:87.46, Y:54.60, Z:8.05 [[ 5.47456609e-01 -8.35352650e-01 -4.97716007e-02 8.74608673e+01] [ 8.31313527e-01 5.49702738e-01 -8.21262447e-02 5.46006438e+01] [ 9.59639613e-02 3.58475051e-03 9.95378354e-01 8.05473234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21687499999999 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:87.48, Y:54.62, Z:8.06 [[ 5.46965029e-01 -8.35621288e-01 -5.06588613e-02 8.74801429e+01] [ 8.31432287e-01 5.49293979e-01 -8.36449445e-02 5.46216236e+01] [ 9.77221037e-02 3.63144661e-03 9.95207116e-01 8.05669377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24687499999999 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:87.50, Y:54.64, Z:8.06 [[ 5.46714022e-01 -8.35730526e-01 -5.15583841e-02 8.75047810e+01] [ 8.31385984e-01 5.49127257e-01 -8.51856838e-02 5.46395808e+01] [ 9.95043903e-02 3.70728986e-03 9.95030217e-01 8.05822520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27687499999999 meters Centerline goodness : 0.999919 Centerline is valid? [True, True] Translation: X:87.52, Y:54.66, Z:8.06 [[ 5.46391494e-01 -8.35940978e-01 -5.15656553e-02 8.75236610e+01] [ 8.31590700e-01 5.48806883e-01 -8.52520506e-02 5.46596016e+01] [ 9.95652691e-02 3.69947581e-03 9.95024156e-01 8.06044416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30687499999999 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:87.54, Y:54.68, Z:8.06 [[ 5.46098777e-01 -8.36139526e-01 -5.14472540e-02 8.75432728e+01] [ 8.31806879e-01 5.48504517e-01 -8.50888455e-02 5.46804758e+01] [ 9.93651981e-02 3.67273468e-03 9.95044255e-01 8.06358245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33687499999999 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:87.57, Y:54.70, Z:8.07 [[ 5.46188821e-01 -8.36090257e-01 -5.12918470e-02 8.75672897e+01] [ 8.31778292e-01 5.48579432e-01 -8.48850985e-02 5.46982016e+01] [ 9.91092561e-02 3.69984700e-03 9.95069679e-01 8.06671776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.366875 meters Centerline goodness : 0.999939 Centerline is valid? [True, True] Translation: X:87.59, Y:54.72, Z:8.07 [[ 5.46761180e-01 -8.35748654e-01 -5.07582489e-02 8.75855931e+01] [ 8.31519449e-01 5.49099365e-01 -8.40553046e-02 5.47181860e+01] [ 9.81204299e-02 3.75170632e-03 9.95167476e-01 8.06905401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.396875 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:87.61, Y:54.74, Z:8.07 [[ 5.47374722e-01 -8.35350930e-01 -5.06925696e-02 8.76053009e+01] [ 8.31126193e-01 5.49703592e-01 -8.39953152e-02 5.47393089e+01] [ 9.80314523e-02 3.84498993e-03 9.95175889e-01 8.07192140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.426875 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:87.62, Y:54.76, Z:8.07 [[ 5.48225572e-01 -8.34788814e-01 -5.07578369e-02 8.76248596e+01] [ 8.30545467e-01 5.50555893e-01 -8.41572057e-02 5.47602289e+01] [ 9.81985202e-02 3.98044083e-03 9.95158885e-01 8.07467857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.456875 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:87.65, Y:54.78, Z:8.08 [[ 5.50125328e-01 -8.33547063e-01 -5.06104486e-02 8.76486669e+01] [ 8.29317935e-01 5.52432339e-01 -8.39659039e-02 5.47769388e+01] [ 9.79483811e-02 4.21961775e-03 9.95182551e-01 8.07655136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.486875 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:87.67, Y:54.80, Z:8.08 [[ 5.50779421e-01 -8.33134041e-01 -5.02961215e-02 8.76683059e+01] [ 8.28952053e-01 5.53054511e-01 -8.34817397e-02 5.47980753e+01] [ 9.73679760e-02 4.28695102e-03 9.95239217e-01 8.07881178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.516875 meters Centerline goodness : 0.999919 Centerline is valid? [True, True] Translation: X:87.69, Y:54.82, Z:8.08 [[ 5.51270468e-01 -8.32848266e-01 -4.96451114e-02 8.76872236e+01] [ 8.28767855e-01 5.53484587e-01 -8.24539547e-02 5.48180852e+01] [ 9.61494372e-02 4.31015764e-03 9.95357578e-01 8.08073531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.71, Y:54.84, Z:8.08 [[ 5.52059859e-01 -8.32363535e-01 -4.89985410e-02 8.77069661e+01] [ 8.28382584e-01 5.54212872e-01 -8.14271885e-02 5.48384472e+01] [ 9.49326447e-02 4.36314417e-03 9.95474136e-01 8.08366958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.73, Y:54.86, Z:8.09 [[ 5.53057702e-01 -8.31739506e-01 -4.83380943e-02 8.77326875e+01] [ 8.27858269e-01 5.55148358e-01 -8.03802677e-02 5.48561498e+01] [ 9.36902579e-02 4.43783508e-03 9.95591503e-01 8.08596889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.60687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.75, Y:54.88, Z:8.09 [[ 5.52908483e-01 -8.31826318e-01 -4.85508668e-02 8.77521959e+01] [ 8.27906069e-01 5.55017996e-01 -8.07871643e-02 5.48765747e+01] [ 9.41474942e-02 4.47235121e-03 9.95548215e-01 8.08776534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63687499999999 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:87.77, Y:54.90, Z:8.09 [[ 5.52744854e-01 -8.31933655e-01 -4.85748810e-02 8.77721771e+01] [ 8.28004919e-01 5.54856982e-01 -8.08800609e-02 5.48976454e+01] [ 9.42389566e-02 4.48579706e-03 9.95539500e-01 8.08993981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66687499999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:87.80, Y:54.91, Z:8.09 [[ 5.52530531e-01 -8.32112923e-01 -4.79384605e-02 8.77962743e+01] [ 8.28282571e-01 5.54588589e-01 -7.98716416e-02 5.49146487e+01] [ 9.30483484e-02 4.42492919e-03 9.95651759e-01 8.09185509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.82, Y:54.94, Z:8.09 [[ 5.52292444e-01 -8.32284099e-01 -4.77098953e-02 8.78156984e+01] [ 8.28486594e-01 5.54331860e-01 -7.95371108e-02 5.49361135e+01] [ 9.26445876e-02 4.40073663e-03 9.95689517e-01 8.09418308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.83, Y:54.96, Z:8.10 [[ 5.52078978e-01 -8.32418026e-01 -4.78438167e-02 8.78345535e+01] [ 8.28594950e-01 5.54130586e-01 -7.98104216e-02 5.49571308e+01] [ 9.29473558e-02 4.41851115e-03 9.95661220e-01 8.09643580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.86, Y:54.98, Z:8.10 [[ 5.52346803e-01 -8.32190772e-01 -4.86983494e-02 8.78583161e+01] [ 8.28223673e-01 5.54470618e-01 -8.12888744e-02 5.49754579e+01] [ 9.46496551e-02 4.56652407e-03 9.95500171e-01 8.09750635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.88, Y:55.00, Z:8.10 [[ 5.52409169e-01 -8.32112827e-01 -4.93188960e-02 8.78765539e+01] [ 8.28038233e-01 5.54586735e-01 -8.23786301e-02 5.49957432e+01] [ 9.58999202e-02 4.66877916e-03 9.95380032e-01 8.09881156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.90, Y:55.02, Z:8.10 [[ 5.52232886e-01 -8.32181206e-01 -5.01326297e-02 8.78954670e+01] [ 8.27967195e-01 5.54483383e-01 -8.37764988e-02 5.50170774e+01] [ 9.75149379e-02 4.75596491e-03 9.95222698e-01 8.10074698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.91, Y:55.04, Z:8.10 [[ 5.51964071e-01 -8.32335568e-01 -5.05288609e-02 8.79145806e+01] [ 8.28049803e-01 5.54251292e-01 -8.44927786e-02 5.50385761e+01] [ 9.83320314e-02 4.79656480e-03 9.95142103e-01 8.10236909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.876875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.94, Y:55.06, Z:8.10 [[ 5.51204661e-01 -8.32814244e-01 -5.09299114e-02 8.79379730e+01] [ 8.28456558e-01 5.53531925e-01 -8.52181888e-02 5.50564010e+01] [ 9.91622534e-02 4.77944375e-03 9.95059799e-01 8.10442722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.96, Y:55.08, Z:8.11 [[ 5.50352267e-01 -8.33370214e-01 -5.10535798e-02 8.79566355e+01] [ 8.28989721e-01 5.52695103e-01 -8.54644098e-02 5.50768500e+01] [ 9.94405571e-02 4.71263879e-03 9.95032345e-01 8.10748274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.98, Y:55.10, Z:8.11 [[ 5.49633082e-01 -8.33865119e-01 -5.07192046e-02 8.79762643e+01] [ 8.29538514e-01 5.51948898e-01 -8.49603907e-02 5.50982114e+01] [ 9.88399154e-02 4.62350777e-03 9.95092606e-01 8.11084612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.00, Y:55.12, Z:8.11 [[ 5.48729937e-01 -8.34536421e-01 -4.94410581e-02 8.79993618e+01] [ 8.30423302e-01 5.50935070e-01 -8.28715110e-02 5.51154851e+01] [ 9.63981071e-02 4.41707231e-03 9.95333057e-01 8.11437265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.02, Y:55.14, Z:8.12 [[ 5.48782922e-01 -8.34537808e-01 -4.88257245e-02 8.80179561e+01] [ 8.30522180e-01 5.50933206e-01 -8.18871802e-02 5.51369536e+01] [ 9.52376608e-02 4.38743892e-03 9.95444895e-01 8.11755689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.04, Y:55.16, Z:8.12 [[ 5.49269877e-01 -8.34250143e-01 -4.82628430e-02 8.80359412e+01] [ 8.30320895e-01 5.51368496e-01 -8.09937874e-02 5.51581465e+01] [ 9.41796898e-02 4.41380065e-03 9.95545431e-01 8.11979426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.05, Y:55.18, Z:8.12 [[ 5.49601870e-01 -8.34040512e-01 -4.81062195e-02 8.80541506e+01] [ 8.30132459e-01 5.51685208e-01 -8.07683814e-02 5.51803882e+01] [ 9.39035919e-02 4.45591919e-03 9.95571324e-01 8.12211615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.08, Y:55.20, Z:8.12 [[ 5.51294213e-01 -8.32937732e-01 -4.78479306e-02 8.80758696e+01] [ 8.29062914e-01 5.53347222e-01 -8.03836823e-02 5.51999327e+01] [ 9.34311216e-02 4.64611408e-03 9.95614905e-01 8.12431406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.09, Y:55.22, Z:8.13 [[ 5.51830583e-01 -8.32574952e-01 -4.79787039e-02 8.80937691e+01] [ 8.28674422e-01 5.53892130e-01 -8.06362871e-02 5.52216771e+01] [ 9.37107794e-02 4.73884463e-03 9.95588185e-01 8.12669808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.11, Y:55.24, Z:8.13 [[ 5.52020133e-01 -8.32449062e-01 -4.79826324e-02 8.81111929e+01] [ 8.28542490e-01 5.54080877e-01 -8.06952561e-02 5.52429469e+01] [ 9.37609493e-02 4.78975623e-03 9.95583217e-01 8.12901742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.13, Y:55.26, Z:8.13 [[ 5.51921866e-01 -8.32508189e-01 -4.80870948e-02 8.81287077e+01] [ 8.28579529e-01 5.53991761e-01 -8.09264654e-02 5.52643195e+01] [ 9.40117995e-02 4.82110347e-03 9.95559410e-01 8.13157537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.15, Y:55.28, Z:8.13 [[ 5.48352105e-01 -8.34816034e-01 -4.89096907e-02 8.81492401e+01] [ 8.30755046e-01 5.50510334e-01 -8.23676246e-02 5.52844469e+01] [ 9.56871039e-02 4.53448797e-03 9.95401134e-01 8.13299627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.17, Y:55.31, Z:8.13 [[ 5.44046690e-01 -8.37590982e-01 -4.95433734e-02 8.81663360e+01] [ 8.33429883e-01 5.46282238e-01 -8.34886002e-02 5.53066436e+01] [ 9.69939635e-02 4.13076875e-03 9.95276398e-01 8.13492441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.18, Y:55.33, Z:8.14 [[ 5.40833721e-01 -8.39679224e-01 -4.93729416e-02 8.81842255e+01] [ 8.35550174e-01 5.43069575e-01 -8.32546890e-02 5.53288414e+01] [ 9.67201751e-02 3.77337331e-03 9.95304461e-01 8.13797816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.20, Y:55.35, Z:8.14 [[ 5.35815243e-01 -8.42911172e-01 -4.90181819e-02 8.82048484e+01] [ 8.38849644e-01 5.38043243e-01 -8.27087893e-02 5.53489376e+01] [ 9.60900640e-02 3.19774561e-03 9.95367507e-01 8.14197807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.22, Y:55.37, Z:8.14 [[ 5.33539183e-01 -8.44338058e-01 -4.92867481e-02 8.82216885e+01] [ 8.40232659e-01 5.35802507e-01 -8.32150959e-02 5.53711014e+01] [ 9.66696356e-02 2.98617890e-03 9.95312044e-01 8.14456019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.24, Y:55.39, Z:8.15 [[ 5.30041740e-01 -8.46541330e-01 -4.92293641e-02 8.82378323e+01] [ 8.42449778e-01 5.32316598e-01 -8.31709793e-02 5.53931031e+01] [ 9.66132791e-02 2.61082376e-03 9.95318571e-01 8.14629316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.25, Y:55.41, Z:8.15 [[ 5.22539896e-01 -8.51225558e-01 -4.86529317e-02 8.82547863e+01] [ 8.47245706e-01 5.24797090e-01 -8.22358028e-02 5.54144764e+01] [ 9.55341341e-02 1.75050032e-03 9.95424615e-01 8.14993061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.27, Y:55.44, Z:8.15 [[ 5.13215068e-01 -8.56866382e-01 -4.88906735e-02 8.82731987e+01] [ 8.52867204e-01 5.15538023e-01 -8.26926766e-02 5.54358772e+01] [ 9.60615758e-02 7.41875605e-04 9.95375117e-01 8.15315622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.29, Y:55.46, Z:8.15 [[ 5.10849484e-01 -8.58266365e-01 -4.91085621e-02 8.82890158e+01] [ 8.54232764e-01 5.13204236e-01 -8.31131542e-02 5.54594737e+01] [ 9.65359468e-02 5.08169182e-04 9.95329369e-01 8.15442910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.30, Y:55.48, Z:8.16 [[ 5.09192583e-01 -8.59227257e-01 -4.95119553e-02 8.83040708e+01] [ 8.55126425e-01 5.11593974e-01 -8.38474979e-02 5.54824876e+01] [ 9.73740736e-02 3.55542749e-04 9.95247790e-01 8.15561045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.32, Y:55.51, Z:8.16 [[ 5.08270182e-01 -8.59762359e-01 -4.97001905e-02 8.83196163e+01] [ 8.55628930e-01 5.10694245e-01 -8.42052366e-02 5.55058732e+01] [ 9.77780941e-02 2.74090102e-04 9.95208204e-01 8.15719216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.34, Y:55.53, Z:8.16 [[ 5.09256186e-01 -8.59182435e-01 -4.96354635e-02 8.83359086e+01] [ 8.55051888e-01 5.11669203e-01 -8.41480557e-02 5.55270996e+01] [ 9.76954695e-02 4.12021127e-04 9.95216271e-01 8.15970441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.35, Y:55.55, Z:8.16 [[ 5.10720892e-01 -8.58350020e-01 -4.89838053e-02 8.83513020e+01] [ 8.54319925e-01 5.13064228e-01 -8.30816706e-02 5.55501512e+01] [ 9.64449919e-02 5.83704094e-04 9.95338145e-01 8.16276785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.37, Y:55.57, Z:8.17 [[ 5.10433422e-01 -8.58560449e-01 -4.82874372e-02 8.83669598e+01] [ 8.54640518e-01 5.12712043e-01 -8.19508730e-02 5.55728321e+01] [ 9.51173289e-02 5.62064187e-04 9.95465910e-01 8.16733011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.38, Y:55.60, Z:8.17 [[ 5.10420306e-01 -8.58600327e-01 -4.77136179e-02 8.83814160e+01] [ 8.54768581e-01 5.12645246e-01 -8.10279221e-02 5.55955519e+01] [ 9.40307598e-02 5.74195283e-04 9.95569127e-01 8.17150579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.39, Y:55.62, Z:8.17 [[ 5.11514477e-01 -8.57931753e-01 -4.80213108e-02 8.83946539e+01] [ 8.54042127e-01 5.13763149e-01 -8.16055869e-02 5.56195186e+01] [ 9.46836042e-02 7.30216745e-04 9.95507148e-01 8.17356128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.41, Y:55.64, Z:8.17 [[ 5.12370779e-01 -8.57396172e-01 -4.84560415e-02 8.84077418e+01] [ 8.53428001e-01 5.14656250e-01 -8.23989775e-02 5.56446568e+01] [ 9.55867725e-02 8.65085712e-04 9.95420725e-01 8.17491533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.42, Y:55.67, Z:8.18 [[ 5.13422923e-01 -8.56742585e-01 -4.88778566e-02 8.84209760e+01] [ 8.52696904e-01 5.15743248e-01 -8.31678562e-02 5.56696256e+01] [ 9.64618686e-02 1.02228688e-03 9.95336156e-01 8.17533039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.43, Y:55.69, Z:8.18 [[ 5.15654030e-01 -8.55379756e-01 -4.92584510e-02 8.84332739e+01] [ 8.51259263e-01 5.17999752e-01 -8.38684889e-02 5.56942165e+01] [ 9.72552730e-02 1.31541158e-03 9.95258600e-01 8.17649394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.45, Y:55.72, Z:8.18 [[ 5.16825087e-01 -8.54685349e-01 -4.90385956e-02 8.84466027e+01] [ 8.50593171e-01 5.19144294e-01 -8.35491460e-02 5.57192140e+01] [ 9.68663380e-02 1.46840009e-03 9.95296316e-01 8.17844148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.46, Y:55.74, Z:8.18 [[ 5.18066582e-01 -8.53927911e-01 -4.91339037e-02 8.84597087e+01] [ 8.49811216e-01 5.20388730e-01 -8.37643492e-02 5.57436566e+01] [ 9.70974454e-02 1.64096759e-03 9.95273527e-01 8.18099670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.47, Y:55.77, Z:8.18 [[ 5.19517031e-01 -8.53044326e-01 -4.91673804e-02 8.84731824e+01] [ 8.48912887e-01 5.21835232e-01 -8.38743233e-02 5.57680340e+01] [ 9.72057870e-02 1.83531663e-03 9.95262612e-01 8.18393951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.49, Y:55.79, Z:8.19 [[ 5.23041714e-01 -8.50882361e-01 -4.92602647e-02 8.84862714e+01] [ 8.46720401e-01 5.25351360e-01 -8.40863320e-02 5.57932540e+01] [ 9.74265237e-02 2.27098808e-03 9.95240129e-01 8.18705211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.50, Y:55.82, Z:8.19 [[ 5.24836524e-01 -8.49785687e-01 -4.91010058e-02 8.84990459e+01] [ 8.45640613e-01 5.27122433e-01 -8.38683165e-02 5.58167617e+01] [ 9.71523366e-02 2.49535102e-03 9.95266395e-01 8.18944264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.51, Y:55.84, Z:8.19 [[ 5.26296788e-01 -8.48905971e-01 -4.86861713e-02 8.85120587e+01] [ 8.44821637e-01 5.28537179e-01 -8.32156924e-02 5.58411049e+01] [ 9.63747498e-02 2.66502058e-03 9.95341552e-01 8.19136279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.52, Y:55.87, Z:8.20 [[ 5.25826627e-01 -8.49304535e-01 -4.67778335e-02 8.85236304e+01] [ 8.45531844e-01 5.27897225e-01 -8.00026283e-02 5.58667260e+01] [ 9.26404835e-02 2.51536437e-03 9.95696447e-01 8.19652015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.54, Y:55.89, Z:8.20 [[ 5.23199400e-01 -8.51010671e-01 -4.52020503e-02 8.85358331e+01] [ 8.47490465e-01 5.25143939e-01 -7.73547335e-02 5.58919181e+01] [ 8.95672864e-02 2.16364356e-03 9.95978423e-01 8.20314932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.55, Y:55.92, Z:8.21 [[ 5.22978096e-01 -8.51147844e-01 -4.51802910e-02 8.85501217e+01] [ 8.47627053e-01 5.24921573e-01 -7.73674401e-02 5.59165816e+01] [ 8.95672393e-02 2.16543955e-03 9.95978424e-01 8.20578098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.56, Y:55.94, Z:8.21 [[ 5.20685714e-01 -8.52572483e-01 -4.47945156e-02 8.85614314e+01] [ 8.49112862e-01 5.22605438e-01 -7.67522270e-02 5.59406827e+01] [ 8.88466941e-02 1.92818881e-03 9.96043446e-01 8.20954282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.57, Y:55.97, Z:8.21 [[ 5.16956017e-01 -8.54693481e-01 -4.74924290e-02 8.85696207e+01] [ 8.50806939e-01 5.19130231e-01 -8.14331416e-02 5.59674443e+01] [ 9.42551308e-02 1.69046435e-03 9.95546640e-01 8.20668236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.10687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.58, Y:55.99, Z:8.21 [[ 5.15012861e-01 -8.55782419e-01 -4.89714665e-02 8.85809091e+01] [ 8.51648723e-01 5.17333540e-01 -8.40265517e-02 5.59941249e+01] [ 9.72430279e-02 1.56826785e-03 9.95259431e-01 8.20506160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.59, Y:56.02, Z:8.20 [[ 5.12907563e-01 -8.56974751e-01 -5.02006756e-02 8.85925648e+01] [ 8.52630585e-01 5.15356481e-01 -8.61903938e-02 5.60206070e+01] [ 9.97342348e-02 1.40507345e-03 9.95013120e-01 8.20402395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.61, Y:56.05, Z:8.21 [[ 5.10489809e-01 -8.58381730e-01 -5.08031516e-02 8.86055214e+01] [ 8.53933781e-01 5.13010165e-01 -8.72792543e-02 5.60461884e+01] [ 1.00981451e-01 1.17264252e-03 9.94887618e-01 8.20501173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.62, Y:56.07, Z:8.21 [[ 5.05837641e-01 -8.61130210e-01 -5.08236484e-02 8.86203844e+01] [ 8.56686811e-01 5.08384041e-01 -8.73691810e-02 5.60700131e+01] [ 1.01074173e-01 6.54671091e-04 9.94878678e-01 8.21061128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.63, Y:56.09, Z:8.22 [[ 5.03547822e-01 -8.62497132e-01 -5.03814217e-02 8.86348485e+01] [ 8.58132326e-01 5.06061788e-01 -8.66624318e-02 5.60939630e+01] [ 1.00242211e-01 4.04752190e-04 9.94962982e-01 8.21572072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.65, Y:56.12, Z:8.22 [[ 5.01208561e-01 -8.63931984e-01 -4.91070796e-02 8.86472649e+01] [ 8.59787495e-01 5.03608486e-01 -8.45219312e-02 5.61186602e+01] [ 9.77519417e-02 1.41462602e-04 9.95210801e-01 8.22073534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.66, Y:56.14, Z:8.22 [[ 5.01710361e-01 -8.63654072e-01 -4.88708255e-02 8.86590646e+01] [ 8.59543045e-01 5.04084909e-01 -8.41674445e-02 5.61425423e+01] [ 9.73266017e-02 2.21100767e-04 9.95252472e-01 8.22299758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.67, Y:56.17, Z:8.22 [[ 5.03010658e-01 -8.62910948e-01 -4.86309894e-02 8.86714004e+01] [ 8.58833000e-01 5.05355863e-01 -8.37933790e-02 5.61677411e+01] [ 9.68821797e-02 3.83064181e-04 9.95295783e-01 8.22447075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.68, Y:56.19, Z:8.23 [[ 5.04774418e-01 -8.61887353e-01 -4.85075006e-02 8.86843573e+01] [ 8.57820369e-01 5.07099423e-01 -8.36324645e-02 5.61930437e+01] [ 9.66798890e-02 6.04806522e-04 9.95315344e-01 8.22614862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.70, Y:56.22, Z:8.23 [[ 5.08727602e-01 -8.59559254e-01 -4.85192355e-02 8.86976605e+01] [ 8.55474555e-01 5.11034961e-01 -8.37051605e-02 5.62181991e+01] [ 9.67445709e-02 1.07615412e-03 9.95308661e-01 8.22916773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.71, Y:56.24, Z:8.23 [[ 5.10062183e-01 -8.58786165e-01 -4.81963886e-02 8.87116791e+01] [ 8.54747310e-01 5.12332686e-01 -8.32000886e-02 5.62425832e+01] [ 9.61436703e-02 1.24148530e-03 9.95366693e-01 8.23293754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.73, Y:56.27, Z:8.24 [[ 5.10996705e-01 -8.58219875e-01 -4.83840214e-02 8.87256366e+01] [ 8.54141796e-01 5.13280372e-01 -8.35766242e-02 5.62673073e+01] [ 9.65616885e-02 1.38056460e-03 9.95326044e-01 8.23652729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.46687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.74, Y:56.29, Z:8.24 [[ 5.11565197e-01 -8.57882067e-01 -4.83674412e-02 8.87386602e+01] [ 8.53800146e-01 5.13844524e-01 -8.36009292e-02 5.62918202e+01] [ 9.65730828e-02 1.47119746e-03 9.95324809e-01 8.23859758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.75, Y:56.32, Z:8.24 [[ 5.11796925e-01 -8.57755669e-01 -4.81572416e-02 8.87509326e+01] [ 8.53703621e-01 5.14055363e-01 -8.32899257e-02 5.63155536e+01] [ 9.61978942e-02 1.51551636e-03 9.95361074e-01 8.23948997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52687499999999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:88.76, Y:56.34, Z:8.24 [[ 5.11265611e-01 -8.58075195e-01 -4.81085733e-02 8.87649020e+01] [ 8.54027417e-01 5.13521920e-01 -8.32610907e-02 5.63393178e+01] [ 9.61490836e-02 1.48249180e-03 9.95365840e-01 8.24190889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.78, Y:56.36, Z:8.24 [[ 5.09981282e-01 -8.58845795e-01 -4.79895087e-02 8.87792873e+01] [ 8.54816479e-01 5.12232417e-01 -8.31067864e-02 5.63633787e+01] [ 9.59576961e-02 1.36068261e-03 9.95384483e-01 8.24460282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.58687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.79, Y:56.39, Z:8.25 [[ 5.08629804e-01 -8.59659594e-01 -4.77609110e-02 8.87939594e+01] [ 8.55667314e-01 5.10865809e-01 -8.27621525e-02 5.63874039e+01] [ 9.55466949e-02 1.22784696e-03 9.95424192e-01 8.24703154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.616875 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:88.81, Y:56.41, Z:8.25 [[ 5.04689210e-01 -8.61966835e-01 -4.79789182e-02 8.88091534e+01] [ 8.57943272e-01 5.06964001e-01 -8.31916091e-02 5.64113013e+01] [ 9.60319924e-02 8.22717412e-04 9.95377908e-01 8.24959814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.82, Y:56.43, Z:8.25 [[ 5.02779795e-01 -8.63079717e-01 -4.80195792e-02 8.88237191e+01] [ 8.59049304e-01 5.05067318e-01 -8.33144533e-02 5.64348280e+01] [ 9.61601348e-02 6.37637695e-04 9.95365672e-01 8.25300783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.676875 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:88.84, Y:56.46, Z:8.26 [[ 5.00901476e-01 -8.64182074e-01 -4.78231682e-02 8.88383955e+01] [ 8.60184619e-01 5.03179034e-01 -8.30257832e-02 5.64577412e+01] [ 9.58130091e-02 4.50983559e-04 9.95399249e-01 8.25610723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.706875 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:88.85, Y:56.48, Z:8.26 [[ 4.98722698e-01 -8.65449620e-01 -4.76720694e-02 8.88535423e+01] [ 8.61477950e-01 5.00995908e-01 -8.28181203e-02 5.64817797e+01] [ 9.55584225e-02 2.34839758e-04 9.95423796e-01 8.25964945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.736875 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:88.87, Y:56.51, Z:8.26 [[ 4.96484701e-01 -8.66728908e-01 -4.77906150e-02 8.88684936e+01] [ 8.62738281e-01 4.98779511e-01 -8.30762159e-02 5.65053912e+01] [ 9.58415375e-02 1.52771397e-05 9.95396604e-01 8.26262928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.88, Y:56.53, Z:8.27 [[ 4.92190713e-01 -8.69192466e-01 -4.74632443e-02 8.88843001e+01] [ 8.65262917e-01 4.94473729e-01 -8.25579490e-02 5.65287208e+01] [ 9.52280747e-02 -4.33929516e-04 9.95455386e-01 8.26571750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.796875 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:88.90, Y:56.55, Z:8.27 [[ 4.89816399e-01 -8.70529624e-01 -4.75191450e-02 8.88987413e+01] [ 8.66592069e-01 4.92115563e-01 -8.27070667e-02 5.65524292e+01] [ 9.53838625e-02 -6.68436567e-04 9.95440341e-01 8.26808230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.91, Y:56.58, Z:8.27 [[ 4.87933984e-01 -8.71597965e-01 -4.73013157e-02 8.89134005e+01] [ 8.67696632e-01 4.90220632e-01 -8.23789158e-02 5.65764812e+01] [ 9.49893763e-02 -8.47719791e-04 9.95477925e-01 8.27033074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85687499999999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:88.93, Y:56.60, Z:8.27 [[ 4.86221098e-01 -8.72563483e-01 -4.71382356e-02 8.89279407e+01] [ 8.68688699e-01 4.88499697e-01 -8.21461449e-02 5.66009618e+01] [ 9.47047401e-02 -1.00726380e-03 9.95504896e-01 8.27282316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88687499999999 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:88.94, Y:56.62, Z:8.28 [[ 4.84828138e-01 -8.73375639e-01 -4.64399500e-02 8.89424607e+01] [ 8.69614089e-01 4.87045921e-01 -8.09790531e-02 5.66243570e+01] [ 9.33435205e-02 -1.12391124e-03 9.95633328e-01 8.27576008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.96, Y:56.65, Z:8.28 [[ 4.84883387e-01 -8.73346058e-01 -4.64194314e-02 8.89563254e+01] [ 8.69582957e-01 4.87099033e-01 -8.09939127e-02 5.66481636e+01] [ 9.33465746e-02 -1.09294375e-03 9.95633076e-01 8.27972205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.97, Y:56.67, Z:8.28 [[ 4.85582333e-01 -8.72935400e-01 -4.68357281e-02 8.89702973e+01] [ 8.69097524e-01 4.87834800e-01 -8.17722568e-02 5.66718791e+01] [ 9.42299958e-02 -9.97652066e-04 9.95549955e-01 8.28392850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97687499999999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:88.98, Y:56.70, Z:8.29 [[ 4.86871907e-01 -8.72203712e-01 -4.70789867e-02 8.89836029e+01] [ 8.68317340e-01 4.89142094e-01 -8.22496710e-02 5.66950078e+01] [ 9.47667825e-02 -8.34446339e-04 9.95499152e-01 8.28703998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.006875 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:89.00, Y:56.72, Z:8.29 [[ 4.90555196e-01 -8.70066213e-01 -4.83775223e-02 8.89969257e+01] [ 8.65945839e-01 4.92934705e-01 -8.45764752e-02 5.67196803e+01] [ 9.74340931e-02 -4.02884728e-04 9.95241898e-01 8.28969012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.01, Y:56.74, Z:8.29 [[ 4.92731362e-01 -8.68821205e-01 -4.86366071e-02 8.90101986e+01] [ 8.64645151e-01 4.95125941e-01 -8.50827013e-02 5.67439926e+01] [ 9.80029009e-02 -1.30491150e-04 9.95186120e-01 8.29176967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.066875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:89.01, Y:56.77, Z:8.27 [[ 4.91675599e-01 -8.70288981e-01 -2.91923661e-02 8.90123161e+01] [ 8.65679873e-01 4.92144508e-01 -9.16086266e-02 5.67708419e+01] [ 9.40928410e-02 1.97704826e-02 9.95367101e-01 8.27308084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.096875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:89.04, Y:56.79, Z:8.31 [[ 4.98223472e-01 -8.64502232e-01 -6.64022797e-02 8.90412927e+01] [ 8.61087331e-01 5.02309936e-01 -7.88247157e-02 5.67903624e+01] [ 1.01498668e-01 -1.79058383e-02 9.94674520e-01 8.30596435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.05, Y:56.82, Z:8.30 [[ 4.99066074e-01 -8.65080976e-01 -5.06750356e-02 8.90528028e+01] [ 8.60517601e-01 5.01631779e-01 -8.87412938e-02 5.68174911e+01] [ 1.02188613e-01 6.81009057e-04 9.94764808e-01 8.29873541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.07, Y:56.84, Z:8.30 [[ 4.98990314e-01 -8.65102131e-01 -5.10584964e-02 8.90675064e+01] [ 8.60463515e-01 5.01595254e-01 -8.94692094e-02 5.68418122e+01] [ 1.03010703e-01 7.10295586e-04 9.94679994e-01 8.30173355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.186875 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:89.08, Y:56.86, Z:8.30 [[ 4.98514642e-01 -8.65359118e-01 -5.13492764e-02 8.90831408e+01] [ 8.60662801e-01 5.01151794e-01 -9.00356754e-02 5.68645520e+01] [ 1.03646975e-01 6.89690455e-04 9.94613910e-01 8.30472716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21687499999999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:89.10, Y:56.89, Z:8.31 [[ 4.97818280e-01 -8.65760633e-01 -5.13369884e-02 8.90983710e+01] [ 8.61062812e-01 5.00457914e-01 -9.00705861e-02 5.68883661e+01] [ 1.03671570e-01 6.34412703e-04 9.94611383e-01 8.30811712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.11, Y:56.91, Z:8.31 [[ 4.97219072e-01 -8.66098041e-01 -5.14526761e-02 8.91135272e+01] [ 8.61374853e-01 4.99873814e-01 -9.03301313e-02 5.69121739e+01] [ 1.03954595e-01 5.93822687e-04 9.94581867e-01 8.31084696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.11, Y:56.94, Z:8.27 [[ 4.91664450e-01 -8.70778247e-01 -3.36335714e-03 8.91057978e+01] [ 8.65916973e-01 4.89320182e-01 -1.03699350e-01 5.69429538e+01] [ 9.19448967e-02 4.80728959e-02 9.94603003e-01 8.26602517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30687499999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:89.15, Y:56.95, Z:8.34 [[ 4.96121729e-01 -8.63471274e-01 -9.09977384e-02 8.91511297e+01] [ 8.61939450e-01 5.02417746e-01 -6.80940062e-02 5.69521396e+01] [ 1.04516097e-01 -4.46516244e-02 9.93520316e-01 8.34225269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33687499999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:89.16, Y:56.98, Z:8.32 [[ 4.96802452e-01 -8.66334485e-01 -5.14964443e-02 8.91583497e+01] [ 8.61596655e-01 4.99463934e-01 -9.04819436e-02 5.69826438e+01] [ 1.04108245e-01 5.82487319e-04 9.94565802e-01 8.32046218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.17, Y:57.01, Z:8.32 [[ 4.97854862e-01 -8.65752381e-01 -5.11209393e-02 8.91723476e+01] [ 8.61074841e-01 5.00472063e-01 -8.98767566e-02 5.70055842e+01] [ 1.03395618e-01 7.26625539e-04 9.94640045e-01 8.32292283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.19, Y:57.03, Z:8.33 [[ 4.98741070e-01 -8.65251211e-01 -5.09675161e-02 8.91864318e+01] [ 8.60594780e-01 5.01337831e-01 -8.96493416e-02 5.70296007e+01] [ 1.03121145e-01 8.49430271e-04 9.94668441e-01 8.32538941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.20, Y:57.05, Z:8.33 [[ 5.01331786e-01 -8.63765047e-01 -5.07580860e-02 8.92011680e+01] [ 8.59133506e-01 5.03893393e-01 -8.93368176e-02 5.70534590e+01] [ 1.02742685e-01 1.17941395e-03 9.94707268e-01 8.32703290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.21, Y:57.08, Z:8.33 [[ 5.02699284e-01 -8.62965241e-01 -5.08372138e-02 8.92145857e+01] [ 8.58309242e-01 5.05261422e-01 -8.95329013e-02 5.70766052e+01] [ 1.02949865e-01 1.37407492e-03 9.94685597e-01 8.32947394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.486875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:89.23, Y:57.10, Z:8.33 [[ 5.04284842e-01 -8.62032761e-01 -5.09540750e-02 8.92287064e+01] [ 8.57344312e-01 5.06850040e-01 -8.97984880e-02 5.71005515e+01] [ 1.03235313e-01 1.59882995e-03 9.94655676e-01 8.33120913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.516875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:89.24, Y:57.12, Z:8.33 [[ 5.07453192e-01 -8.60120234e-01 -5.18115955e-02 8.92442043e+01] [ 8.55256278e-01 5.10087222e-01 -9.13658837e-02 5.71238326e+01] [ 1.05014078e-01 2.05171698e-03 9.94468619e-01 8.33381800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.546875 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:89.26, Y:57.15, Z:8.34 [[ 5.08443925e-01 -8.59504191e-01 -5.23194140e-02 8.92587518e+01] [ 8.54536847e-01 5.11123877e-01 -9.22992941e-02 5.71470733e+01] [ 1.06073332e-01 2.22014830e-03 9.94355831e-01 8.33621176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.27, Y:57.17, Z:8.34 [[ 5.09280678e-01 -8.58994049e-01 -5.25586835e-02 8.92736724e+01] [ 8.53973430e-01 5.11980127e-01 -9.27670724e-02 5.71705263e+01] [ 1.06595365e-01 2.36075821e-03 9.94299681e-01 8.33904754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.29, Y:57.19, Z:8.34 [[ 5.09866042e-01 -8.58636936e-01 -5.27184152e-02 8.92889749e+01] [ 8.53577442e-01 5.12578282e-01 -9.31077682e-02 5.71940924e+01] [ 1.06968083e-01 2.47323920e-03 9.94259379e-01 8.34216106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.30, Y:57.22, Z:8.35 [[ 5.11007528e-01 -8.57983913e-01 -5.22963771e-02 8.92989734e+01] [ 8.52995630e-01 5.13669878e-01 -9.24213852e-02 5.72193578e+01] [ 1.06159135e-01 2.61944244e-03 9.94345703e-01 8.34523885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66687499999999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:89.30, Y:57.25, Z:8.35 [[ 5.16940176e-01 -8.54511134e-01 -5.08289020e-02 8.93039088e+01] [ 8.49776633e-01 5.19422767e-01 -8.98869460e-02 5.72492637e+01] [ 1.03211085e-01 3.27296048e-03 9.94654090e-01 8.34726308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.31, Y:57.28, Z:8.35 [[ 5.24817661e-01 -8.49729700e-01 -5.02579377e-02 8.93081306e+01] [ 8.45073338e-01 5.27201836e-01 -8.89341139e-02 5.72792455e+01] [ 1.02066035e-01 4.20255040e-03 9.94768749e-01 8.34735800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.31, Y:57.31, Z:8.35 [[ 5.33150288e-01 -8.44512385e-01 -5.04935750e-02 8.93118708e+01] [ 8.39782524e-01 5.35510135e-01 -8.94103301e-02 5.73080952e+01] [ 1.02547952e-01 5.26552136e-03 9.94714126e-01 8.34850809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.30, Y:57.35, Z:8.35 [[ 5.54183469e-01 -8.30816858e-01 -5.12253004e-02 8.93025785e+01] [ 8.25882267e-01 5.56488454e-01 -9.07693891e-02 5.73460845e+01] [ 1.03919027e-01 7.99682772e-03 9.94553612e-01 8.35013280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.30, Y:57.38, Z:8.35 [[ 5.66607301e-01 -8.22381882e-01 -5.14218468e-02 8.93014640e+01] [ 8.17368789e-01 5.68854377e-01 -9.11754450e-02 5.73775086e+01] [ 1.04232577e-01 9.63006017e-03 9.94506326e-01 8.35233225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.29, Y:57.42, Z:8.36 [[ 5.91013547e-01 -8.04937916e-01 -5.27061469e-02 8.92861581e+01] [ 7.99596671e-01 5.93214059e-01 -9.34999739e-02 5.74183224e+01] [ 1.06527701e-01 1.31160917e-02 9.94223223e-01 8.35590584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.846875 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:89.29, Y:57.45, Z:8.36 [[ 5.98632979e-01 -7.99242706e-01 -5.33821454e-02 8.92866006e+01] [ 7.93735316e-01 6.00836958e-01 -9.47586299e-02 5.74488123e+01] [ 1.07809110e-01 1.43543468e-02 9.94067980e-01 8.35925752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.876875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.29, Y:57.48, Z:8.36 [[ 6.03191904e-01 -7.95774435e-01 -5.38755493e-02 8.92892097e+01] [ 7.90145123e-01 6.05403557e-01 -9.56933526e-02 5.74790966e+01] [ 1.08766773e-01 1.51519531e-02 9.93951813e-01 8.36296366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.906875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.29, Y:57.51, Z:8.37 [[ 6.04538794e-01 -7.94734965e-01 -5.41219060e-02 8.92921474e+01] [ 7.89043143e-01 6.06759989e-01 -9.61937307e-02 5.75081064e+01] [ 1.09287528e-01 1.54483232e-02 9.93890127e-01 8.36605147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.936875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.31, Y:57.53, Z:8.37 [[ 6.04336694e-01 -7.94890323e-01 -5.40974502e-02 8.93059991e+01] [ 7.89197941e-01 6.06556452e-01 -9.62074829e-02 5.75329703e+01] [ 1.09287555e-01 1.54481159e-02 9.93890128e-01 8.36871297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.96687499999999 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:89.30, Y:57.57, Z:8.37 [[ 6.00411404e-01 -7.97870319e-01 -5.39360774e-02 8.93005086e+01] [ 7.92216535e-01 6.02645012e-01 -9.59789085e-02 5.75685395e+01] [ 1.09083030e-01 1.48977788e-02 9.93920997e-01 8.37021260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99687499999999 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:89.30, Y:57.60, Z:8.37 [[ 5.95714493e-01 -8.01368053e-01 -5.41616743e-02 8.93049304e+01] [ 7.95672952e-01 5.97999236e-01 -9.64441113e-02 5.75965144e+01] [ 1.09675870e-01 1.43581756e-02 9.93863696e-01 8.37173515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02687499999999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:89.31, Y:57.63, Z:8.37 [[ 5.89244335e-01 -8.06107772e-01 -5.46019548e-02 8.93110663e+01] [ 8.00331483e-01 5.91611843e-01 -9.72879468e-02 5.76251557e+01] [ 1.10727733e-01 1.36267080e-02 9.93757356e-01 8.37386299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05687499999999 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:89.32, Y:57.65, Z:8.38 [[ 5.81862312e-01 -8.11446136e-01 -5.46938548e-02 8.93188562e+01] [ 8.05665015e-01 5.84289728e-01 -9.75161427e-02 5.76526523e+01] [ 1.11086155e-01 1.26760429e-02 9.93729935e-01 8.37698520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.08687499999999 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:89.32, Y:57.68, Z:8.38 [[ 5.64199844e-01 -8.23869758e-01 -5.40107179e-02 8.93242968e+01] [ 8.18278306e-01 5.66687895e-01 -9.63610059e-02 5.76810232e+01] [ 1.09996139e-01 1.01710657e-02 9.93879972e-01 8.38292804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.116875 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:89.33, Y:57.71, Z:8.39 [[ 5.54374839e-01 -8.30521142e-01 -5.38810809e-02 8.93348521e+01] [ 8.24979423e-01 5.56916372e-01 -9.61930658e-02 5.77071320e+01] [ 1.09897631e-01 8.87623227e-03 9.93903277e-01 8.38710184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.146875 meters Centerline goodness : 0.998557 Centerline is valid? [True, True] Translation: X:89.34, Y:57.73, Z:8.39 [[ 5.44458140e-01 -8.37065841e-01 -5.37225408e-02 8.93444577e+01] [ 8.31580334e-01 5.47049671e-01 -9.59729473e-02 5.77325868e+01] [ 1.09724574e-01 7.57864401e-03 9.93933138e-01 8.39048486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.176875 meters Centerline goodness : 0.997477 Centerline is valid? [True, True] Translation: X:89.35, Y:57.76, Z:8.39 [[ 5.26172651e-01 -8.48751767e-01 -5.25621448e-02 8.93513384e+01] [ 8.43550713e-01 5.28766910e-01 -9.39561065e-02 5.77606726e+01] [ 1.07538534e-01 5.09829884e-03 9.94187845e-01 8.39332746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.206875 meters Centerline goodness : 0.997210 Centerline is valid? [True, True] Translation: X:89.36, Y:57.79, Z:8.40 [[ 5.17921849e-01 -8.53861508e-01 -5.17444069e-02 8.93614441e+01] [ 8.48839868e-01 5.20484790e-01 -9.25551863e-02 5.77861795e+01] [ 1.05961488e-01 4.01363773e-03 9.94362134e-01 8.39633325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.236875 meters Centerline goodness : 0.996910 Centerline is valid? [True, True] Translation: X:89.37, Y:57.81, Z:8.40 [[ 5.10049718e-01 -8.58652523e-01 -5.06471204e-02 8.93725374e+01] [ 8.53859627e-01 5.12549424e-01 -9.06467055e-02 5.78120682e+01] [ 1.03793175e-01 2.98879524e-03 9.94594412e-01 8.39921600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.266875 meters Centerline goodness : 0.996586 Centerline is valid? [True, True] Translation: X:89.38, Y:57.84, Z:8.40 [[ 5.02875727e-01 -8.62908802e-01 -5.00439998e-02 8.93840366e+01] [ 8.58244296e-01 5.05355223e-01 -8.96260414e-02 5.78370103e+01] [ 1.02629097e-01 2.12078339e-03 9.94717433e-01 8.40277904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.296875 meters Centerline goodness : 0.996140 Centerline is valid? [True, True] Translation: X:89.39, Y:57.86, Z:8.41 [[ 4.91888822e-01 -8.69265562e-01 -4.92216279e-02 8.93948601e+01] [ 8.64778695e-01 4.94344721e-01 -8.82105736e-02 5.78621126e+01] [ 1.01010866e-01 8.23980030e-04 9.94884981e-01 8.40616219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.326875 meters Centerline goodness : 0.995837 Centerline is valid? [True, True] Translation: X:89.39, Y:57.90, Z:8.35 [[ 4.84528982e-01 -8.74483972e-01 2.25709697e-02 8.93851447e+01] [ 8.70975228e-01 4.79861234e-01 -1.05524164e-01 5.78991872e+01] [ 8.14482568e-02 7.07882712e-02 9.94160551e-01 8.35470093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35687499999999 meters Centerline goodness : 0.995375 Centerline is valid? [True, True] Translation: X:89.43, Y:57.91, Z:8.43 [[ 4.84534288e-01 -8.67905748e-01 -1.09389841e-01 8.94313809e+01] [ 8.68689462e-01 4.92109400e-01 -5.66300059e-02 5.79052003e+01] [ 1.02981276e-01 -6.75866221e-02 9.92384454e-01 8.43314116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.38687499999999 meters Centerline goodness : 0.994681 Centerline is valid? [True, True] Translation: X:89.43, Y:57.94, Z:8.40 [[ 4.84988301e-01 -8.73741956e-01 -3.68963664e-02 8.94308903e+01] [ 8.68610541e-01 4.86178508e-01 -9.56357008e-02 5.79413987e+01] [ 1.01499145e-01 1.43336233e-02 9.94732361e-01 8.40357436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41687499999999 meters Centerline goodness : 0.994641 Centerline is valid? [True, True] Translation: X:89.45, Y:57.96, Z:8.41 [[ 4.83524514e-01 -8.73818273e-01 -5.14360701e-02 8.94456100e+01] [ 8.69256141e-01 4.86250048e-01 -8.91888554e-02 5.79641514e+01] [ 1.02945643e-01 -1.58612179e-03 9.94685719e-01 8.41116001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.44687499999999 meters Centerline goodness : 0.994463 Centerline is valid? [True, True] Translation: X:89.46, Y:57.99, Z:8.41 [[ 4.83892813e-01 -8.73672095e-01 -5.04461739e-02 8.94595161e+01] [ 8.68956736e-01 4.86515231e-01 -9.06483381e-02 5.79892547e+01] [ 1.03739755e-01 2.85366772e-05 9.94604475e-01 8.41340911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47687499999999 meters Centerline goodness : 0.994562 Centerline is valid? [True, True] Translation: X:89.48, Y:58.01, Z:8.43 [[ 4.83181787e-01 -8.73250103e-01 -6.30049081e-02 8.94750187e+01] [ 8.69076898e-01 4.87096852e-01 -8.62670383e-02 5.80109832e+01] [ 1.06022192e-01 -1.30734484e-02 9.94277818e-01 8.42550531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.506875 meters Centerline goodness : 0.994782 Centerline is valid? [True, True] Translation: X:89.49, Y:58.04, Z:8.42 [[ 4.84697121e-01 -8.73846446e-01 -3.82242147e-02 8.94865649e+01] [ 8.68639355e-01 4.86016699e-01 -9.61947974e-02 5.80399632e+01] [ 1.02637089e-01 1.34222841e-02 9.94628308e-01 8.41511250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.536875 meters Centerline goodness : 0.994335 Centerline is valid? [True, True] Translation: X:89.50, Y:58.06, Z:8.42 [[ 4.86279345e-01 -8.72453552e-01 -4.85509906e-02 8.95037278e+01] [ 8.67691547e-01 4.88692308e-01 -9.10560636e-02 5.80618897e+01] [ 1.03168682e-01 2.15139885e-03 9.94661548e-01 8.42090904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.566875 meters Centerline goodness : 0.994659 Centerline is valid? [True, True] Translation: X:89.52, Y:58.09, Z:8.42 [[ 4.85976286e-01 -8.72450468e-01 -5.15483362e-02 8.95185074e+01] [ 8.67917148e-01 4.88700038e-01 -8.88374771e-02 5.80862076e+01] [ 1.02697972e-01 -1.56677775e-03 9.94711351e-01 8.42481921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.596875 meters Centerline goodness : 0.994934 Centerline is valid? [True, True] Translation: X:89.53, Y:58.11, Z:8.43 [[ 4.87584995e-01 -8.70763630e-01 -6.34946681e-02 8.95325021e+01] [ 8.66660096e-01 4.91520658e-01 -8.54852036e-02 5.81068627e+01] [ 1.05646347e-01 -1.33469927e-02 9.94314189e-01 8.43465278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.626875 meters Centerline goodness : 0.994955 Centerline is valid? [True, True] Translation: X:89.54, Y:58.13, Z:8.43 [[ 4.88799694e-01 -8.70893727e-01 -5.11759339e-02 8.95435637e+01] [ 8.66008198e-01 4.91470867e-01 -9.21205063e-02 5.81331123e+01] [ 1.05378652e-01 7.09697007e-04 9.94431916e-01 8.43300493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.656875 meters Centerline goodness : 0.995076 Centerline is valid? [True, True] Translation: X:89.56, Y:58.16, Z:8.43 [[ 4.90758661e-01 -8.70370193e-01 -4.01455280e-02 8.95575662e+01] [ 8.65135081e-01 4.92240669e-01 -9.61270764e-02 5.81605365e+01] [ 1.03427404e-01 1.24438906e-02 9.94559160e-01 8.42852056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.686875 meters Centerline goodness : 0.995386 Centerline is valid? [True, True] Translation: X:89.57, Y:58.18, Z:8.44 [[ 4.95248944e-01 -8.66577286e-01 -6.14189754e-02 8.95729240e+01] [ 8.62370070e-01 4.98934233e-01 -8.59214428e-02 5.81797851e+01] [ 1.05101600e-01 -1.04133822e-02 9.94406967e-01 8.44327792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71687499999999 meters Centerline goodness : 0.995447 Centerline is valid? [True, True] Translation: X:89.58, Y:58.21, Z:8.44 [[ 4.98122601e-01 -8.65614127e-01 -5.08532921e-02 8.95833905e+01] [ 8.60747437e-01 5.00708086e-01 -9.16802178e-02 5.82051811e+01] [ 1.04822346e-01 1.89614773e-03 9.94489155e-01 8.44250725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74687499999999 meters Centerline goodness : 0.995724 Centerline is valid? [True, True] Translation: X:89.60, Y:58.23, Z:8.45 [[ 5.01153294e-01 -8.63879686e-01 -5.05693910e-02 8.95965810e+01] [ 8.59052780e-01 5.03693074e-01 -9.12228507e-02 5.82301747e+01] [ 1.04277020e-01 2.27485623e-03 9.94545689e-01 8.44540118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77687499999999 meters Centerline goodness : 0.995794 Centerline is valid? [True, True] Translation: X:89.61, Y:58.25, Z:8.45 [[ 5.07138273e-01 -8.60417190e-01 -4.99302538e-02 8.96097170e+01] [ 8.55688981e-01 5.09581557e-01 -9.01277065e-02 5.82545218e+01] [ 1.02990964e-01 2.98244149e-03 9.94677820e-01 8.44754903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.80687499999999 meters Centerline goodness : 0.995723 Centerline is valid? [True, True] Translation: X:89.62, Y:58.28, Z:8.45 [[ 5.09568421e-01 -8.58978146e-01 -4.99656789e-02 8.96237861e+01] [ 8.54230196e-01 5.12001574e-01 -9.02505455e-02 5.82791769e+01] [ 1.03105752e-01 3.30663637e-03 9.94664903e-01 8.44952570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83687499999999 meters Centerline goodness : 0.995770 Centerline is valid? [True, True] Translation: X:89.64, Y:58.30, Z:8.45 [[ 5.11457163e-01 -8.57846884e-01 -5.01028309e-02 8.96376812e+01] [ 8.53061141e-01 5.13892923e-01 -9.05580064e-02 5.83023415e+01] [ 1.03432394e-01 3.57576293e-03 9.94630059e-01 8.45129336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.866875 meters Centerline goodness : 0.995872 Centerline is valid? [True, True] Translation: X:89.65, Y:58.33, Z:8.45 [[ 5.12722934e-01 -8.57076748e-01 -5.03452207e-02 8.96526727e+01] [ 8.52235021e-01 5.15174897e-01 -9.10510567e-02 5.83260716e+01] [ 1.03974337e-01 3.77800472e-03 9.94572805e-01 8.45291431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.896875 meters Centerline goodness : 0.995577 Centerline is valid? [True, True] Translation: X:89.67, Y:58.35, Z:8.45 [[ 5.14216048e-01 -8.56114666e-01 -5.14736287e-02 8.96708442e+01] [ 8.51041319e-01 5.16769684e-01 -9.31545368e-02 5.83475599e+01] [ 1.06350976e-01 4.09537294e-03 9.94320219e-01 8.45444797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.926875 meters Centerline goodness : 0.995981 Centerline is valid? [True, True] Translation: X:89.69, Y:58.37, Z:8.46 [[ 5.14474281e-01 -8.55949818e-01 -5.16345243e-02 8.96871012e+01] [ 8.50837151e-01 5.17042051e-01 -9.35075423e-02 5.83706613e+01] [ 1.06734984e-01 4.17465407e-03 9.94278741e-01 8.45677017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.956875 meters Centerline goodness : 0.996025 Centerline is valid? [True, True] Translation: X:89.70, Y:58.39, Z:8.46 [[ 5.14497249e-01 -8.55942082e-01 -5.15338054e-02 8.97033597e+01] [ 8.50842780e-01 5.17054651e-01 -9.33865742e-02 5.83936975e+01] [ 1.06579293e-01 4.19996927e-03 9.94295336e-01 8.45852974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.986875 meters Centerline goodness : 0.995692 Centerline is valid? [True, True] Translation: X:89.72, Y:58.42, Z:8.46 [[ 5.14551542e-01 -8.55920563e-01 -5.13488146e-02 8.97201664e+01] [ 8.50851269e-01 5.17090102e-01 -9.31125410e-02 5.84165787e+01] [ 1.06248902e-01 4.22099754e-03 9.94330606e-01 8.46197359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.016875 meters Centerline goodness : 0.996009 Centerline is valid? [True, True] Translation: X:89.74, Y:58.44, Z:8.47 [[ 5.14882697e-01 -8.55780951e-01 -5.03465205e-02 8.97400152e+01] [ 8.50901320e-01 5.17321323e-01 -9.13542157e-02 5.84372415e+01] [ 1.04224526e-01 4.19678420e-03 9.94544939e-01 8.46666883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.046875 meters Centerline goodness : 0.996113 Centerline is valid? [True, True] Translation: X:89.76, Y:58.46, Z:8.47 [[ 5.15030740e-01 -8.55732557e-01 -4.96500539e-02 8.97568143e+01] [ 8.50981068e-01 5.17401520e-01 -9.01492621e-02 5.84602871e+01] [ 1.02832672e-01 4.17838533e-03 9.94689893e-01 8.47090669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.076875 meters Centerline goodness : 0.996295 Centerline is valid? [True, True] Translation: X:89.77, Y:58.48, Z:8.47 [[ 5.15276124e-01 -8.55653654e-01 -4.84493619e-02 8.97725981e+01] [ 8.51123756e-01 5.17532454e-01 -8.80256267e-02 5.84824004e+01] [ 1.00393566e-01 4.12110084e-03 9.94939269e-01 8.47394734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10687499999999 meters Centerline goodness : 0.996453 Centerline is valid? [True, True] Translation: X:89.79, Y:58.50, Z:8.48 [[ 5.16787848e-01 -8.54812406e-01 -4.71812562e-02 8.97916484e+01] [ 8.50508759e-01 5.18920160e-01 -8.57713213e-02 5.85034699e+01] [ 9.78016945e-02 4.19750490e-03 9.95197071e-01 8.47734069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13687499999999 meters Centerline goodness : 0.996575 Centerline is valid? [True, True] Translation: X:89.81, Y:58.53, Z:8.48 [[ 5.17153118e-01 -8.54610781e-01 -4.68301864e-02 8.98079812e+01] [ 8.50364756e-01 5.19251858e-01 -8.51897323e-02 5.85269049e+01] [ 9.71207250e-02 4.23339561e-03 9.95263605e-01 8.47996418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16687499999999 meters Centerline goodness : 0.996675 Centerline is valid? [True, True] Translation: X:89.82, Y:58.55, Z:8.48 [[ 5.17749069e-01 -8.54268762e-01 -4.64842324e-02 8.98238175e+01] [ 8.50078576e-01 5.19813847e-01 -8.46166630e-02 5.85490015e+01] [ 9.64485196e-02 4.29494843e-03 9.95328708e-01 8.48221121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19687499999999 meters Centerline goodness : 0.996651 Centerline is valid? [True, True] Translation: X:89.84, Y:58.57, Z:8.48 [[ 5.18919141e-01 -8.53514290e-01 -4.72893436e-02 8.98431710e+01] [ 8.49169001e-01 5.21049653e-01 -8.61351695e-02 5.85701389e+01] [ 9.81576940e-02 4.54054351e-03 9.95160515e-01 8.48361268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22687499999999 meters Centerline goodness : 0.996923 Centerline is valid? [True, True] Translation: X:89.86, Y:58.59, Z:8.49 [[ 5.19461137e-01 -8.53148395e-01 -4.79368617e-02 8.98591993e+01] [ 8.48675476e-01 5.21647085e-01 -8.73742260e-02 5.85919539e+01] [ 9.95493049e-02 4.70467592e-03 9.95021508e-01 8.48565837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.256875 meters Centerline goodness : 0.996941 Centerline is valid? [True, True] Translation: X:89.88, Y:58.61, Z:8.49 [[ 5.19755887e-01 -8.52946249e-01 -4.83375079e-02 8.98762352e+01] [ 8.48392945e-01 5.21976632e-01 -8.81465035e-02 5.86149679e+01] [ 1.00415279e-01 4.80546346e-03 9.94934007e-01 8.48827417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.286875 meters Centerline goodness : 0.996868 Centerline is valid? [True, True] Translation: X:89.89, Y:58.64, Z:8.49 [[ 5.20029770e-01 -8.52758353e-01 -4.87055341e-02 8.98933177e+01] [ 8.48128481e-01 5.22282572e-01 -8.88762838e-02 5.86377817e+01] [ 1.01228045e-01 4.90976279e-03 9.94851133e-01 8.49066297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.316875 meters Centerline goodness : 0.997169 Centerline is valid? [True, True] Translation: X:89.91, Y:58.66, Z:8.49 [[ 5.20236953e-01 -8.52612360e-01 -4.90476926e-02 8.99100913e+01] [ 8.47910240e-01 5.22519967e-01 -8.95606430e-02 5.86598173e+01] [ 1.01988910e-01 5.00471516e-03 9.94772947e-01 8.49306792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.346875 meters Centerline goodness : 0.997538 Centerline is valid? [True, True] Translation: X:89.93, Y:58.68, Z:8.50 [[ 5.20646450e-01 -8.52359480e-01 -4.90977616e-02 8.99311104e+01] [ 8.47641043e-01 5.22931571e-01 -8.97063752e-02 5.86797537e+01] [ 1.02136849e-01 5.08802798e-03 9.94757345e-01 8.49657139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.376875 meters Centerline goodness : 0.997662 Centerline is valid? [True, True] Translation: X:89.95, Y:58.70, Z:8.50 [[ 5.20541395e-01 -8.52423504e-01 -4.91001507e-02 8.99478541e+01] [ 8.47698830e-01 5.22827018e-01 -8.97697208e-02 5.87011655e+01] [ 1.02192705e-01 5.10671546e-03 9.94751513e-01 8.49934802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.406875 meters Centerline goodness : 0.997647 Centerline is valid? [True, True] Translation: X:89.97, Y:58.72, Z:8.50 [[ 5.20576084e-01 -8.52392024e-01 -4.92785740e-02 8.99698632e+01] [ 8.47627101e-01 5.22877814e-01 -9.01503667e-02 5.87200880e+01] [ 1.02610127e-01 5.16027002e-03 9.94708266e-01 8.50222014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.436875 meters Centerline goodness : 0.997671 Centerline is valid? [True, True] Translation: X:89.99, Y:58.74, Z:8.50 [[ 5.20684986e-01 -8.52328085e-01 -4.92339307e-02 8.99878825e+01] [ 8.47565130e-01 5.22981631e-01 -9.01308153e-02 5.87425485e+01] [ 1.02569467e-01 5.20079941e-03 9.94712248e-01 8.50486604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46687499999999 meters Centerline goodness : 0.997579 Centerline is valid? [True, True] Translation: X:90.01, Y:58.76, Z:8.51 [[ 5.20814291e-01 -8.52247782e-01 -4.92563961e-02 9.00053609e+01] [ 8.47474106e-01 5.23111995e-01 -9.02301499e-02 5.87647519e+01] [ 1.02665057e-01 5.24963131e-03 9.94702130e-01 8.50748860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49687499999999 meters Centerline goodness : 0.997894 Centerline is valid? [True, True] Translation: X:90.02, Y:58.79, Z:8.51 [[ 5.20833871e-01 -8.52244600e-01 -4.91041824e-02 9.00229221e+01] [ 8.47494522e-01 5.23117033e-01 -9.00089198e-02 5.87866143e+01] [ 1.02396850e-01 5.26416858e-03 9.94729699e-01 8.51051374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.52687499999999 meters Centerline goodness : 0.997869 Centerline is valid? [True, True] Translation: X:90.04, Y:58.81, Z:8.51 [[ 5.20938917e-01 -8.52239664e-01 -4.80645328e-02 9.00441122e+01] [ 8.47683537e-01 5.23125898e-01 -8.81584668e-02 5.88055602e+01] [ 1.00275944e-01 5.18166302e-03 9.94946172e-01 8.51404349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55687499999999 meters Centerline goodness : 0.998076 Centerline is valid? [True, True] Translation: X:90.06, Y:58.83, Z:8.52 [[ 5.20876055e-01 -8.52294904e-01 -4.77653805e-02 9.00615515e+01] [ 8.47789835e-01 5.23036017e-01 -8.76682420e-02 5.88279504e+01] [ 9.97022103e-02 5.16928395e-03 9.95003893e-01 8.51792947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58687499999999 meters Centerline goodness : 0.998024 Centerline is valid? [True, True] Translation: X:90.08, Y:58.85, Z:8.52 [[ 5.20905036e-01 -8.52292315e-01 -4.74947770e-02 9.00790199e+01] [ 8.47832840e-01 5.23040241e-01 -8.72260458e-02 5.88506360e+01] [ 9.91837681e-02 5.16885483e-03 9.95055709e-01 8.52127793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.616875 meters Centerline goodness : 0.998014 Centerline is valid? [True, True] Translation: X:90.10, Y:58.87, Z:8.52 [[ 5.21279502e-01 -8.52080439e-01 -4.71869228e-02 9.00963630e+01] [ 8.47672548e-01 5.23384991e-01 -8.67144840e-02 5.88733989e+01] [ 9.85846428e-02 5.20342393e-03 9.95115065e-01 8.52449491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.646875 meters Centerline goodness : 0.997984 Centerline is valid? [True, True] Translation: X:90.12, Y:58.89, Z:8.53 [[ 5.22186813e-01 -8.51514068e-01 -4.73785147e-02 9.01159277e+01] [ 8.47062557e-01 5.24304354e-01 -8.71204332e-02 5.88940513e+01] [ 9.90250361e-02 5.36057551e-03 9.95070503e-01 8.52635092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.676875 meters Centerline goodness : 0.998064 Centerline is valid? [True, True] Translation: X:90.13, Y:58.92, Z:8.53 [[ 5.22849296e-01 -8.51081394e-01 -4.78442677e-02 9.01319475e+01] [ 8.46535791e-01 5.25004771e-01 -8.80178694e-02 5.89175679e+01] [ 1.00028840e-01 5.51819610e-03 9.94969236e-01 8.52844084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.706875 meters Centerline goodness : 0.998104 Centerline is valid? [True, True] Translation: X:90.15, Y:58.94, Z:8.53 [[ 5.23524008e-01 -8.50635032e-01 -4.84009920e-02 9.01481691e+01] [ 8.45975261e-01 5.25725757e-01 -8.90970632e-02 5.89410407e+01] [ 1.01234731e-01 5.69840976e-03 9.94846248e-01 8.52967369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.736875 meters Centerline goodness : 0.998157 Centerline is valid? [True, True] Translation: X:90.17, Y:58.96, Z:8.53 [[ 5.24788846e-01 -8.49800119e-01 -4.93601521e-02 9.01671654e+01] [ 8.44943778e-01 5.27070843e-01 -9.09194046e-02 5.89612232e+01] [ 1.03279618e-01 6.00693598e-03 9.94634223e-01 8.53160217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.766875 meters Centerline goodness : 0.998166 Centerline is valid? [True, True] Translation: X:90.18, Y:58.98, Z:8.53 [[ 5.24684963e-01 -8.49831519e-01 -4.99207236e-02 9.01827494e+01] [ 8.44857739e-01 5.27019128e-01 -9.20121750e-02 5.89835158e+01] [ 1.04504023e-01 6.10149503e-03 9.94505747e-01 8.53438158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.796875 meters Centerline goodness : 0.998091 Centerline is valid? [True, True] Translation: X:90.20, Y:59.01, Z:8.54 [[ 5.24620459e-01 -8.49844958e-01 -5.03678656e-02 9.01985279e+01] [ 8.44774758e-01 5.26996454e-01 -9.28996577e-02 5.90056758e+01] [ 1.05493992e-01 6.18755967e-03 9.94400690e-01 8.53664052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.826875 meters Centerline goodness : 0.998091 Centerline is valid? [True, True] Translation: X:90.21, Y:59.03, Z:8.54 [[ 5.24394865e-01 -8.49985728e-01 -5.03417058e-02 9.02115553e+01] [ 8.44914826e-01 5.26769358e-01 -9.29138318e-02 5.90300641e+01] [ 1.05493899e-01 6.18908273e-03 9.94400690e-01 8.53928052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85687499999999 meters Centerline goodness : 0.998224 Centerline is valid? [True, True] Translation: X:90.23, Y:59.05, Z:8.54 [[ 5.23510321e-01 -8.50517495e-01 -5.05661370e-02 9.02267641e+01] [ 8.45397132e-01 5.25910899e-01 -9.33885143e-02 5.90518463e+01] [ 1.06021848e-01 6.14138387e-03 9.94344835e-01 8.54155480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88687499999999 meters Centerline goodness : 0.998214 Centerline is valid? [True, True] Translation: X:90.25, Y:59.07, Z:8.54 [[ 5.21257213e-01 -8.51896462e-01 -5.06293893e-02 9.02460887e+01] [ 8.46762570e-01 5.23676966e-01 -9.35712826e-02 5.90727309e+01] [ 1.06226490e-01 5.90363419e-03 9.94324434e-01 8.54409340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91687499999999 meters Centerline goodness : 0.998383 Centerline is valid? [True, True] Translation: X:90.26, Y:59.09, Z:8.55 [[ 5.19299547e-01 -8.53090819e-01 -5.06362951e-02 9.02617241e+01] [ 8.47954566e-01 5.21731395e-01 -9.36451061e-02 5.90943521e+01] [ 1.06306325e-01 5.69258359e-03 9.94317132e-01 8.54716194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94687499999999 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:90.28, Y:59.12, Z:8.55 [[ 5.17140573e-01 -8.54422727e-01 -5.02735718e-02 9.02774349e+01] [ 8.49361005e-01 5.19550366e-01 -9.30231153e-02 5.91164544e+01] [ 1.05600716e-01 5.40561563e-03 9.94393920e-01 8.54956744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97687499999999 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:90.29, Y:59.14, Z:8.55 [[ 5.15094516e-01 -8.55658896e-01 -5.02542917e-02 9.02935332e+01] [ 8.50600325e-01 5.17514246e-01 -9.30488706e-02 5.91389141e+01] [ 1.05625406e-01 5.18264616e-03 9.94392485e-01 8.55313305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.006875 meters Centerline goodness : 0.998455 Centerline is valid? [True, True] Translation: X:90.31, Y:59.16, Z:8.56 [[ 5.09714223e-01 -8.58919512e-01 -4.94841597e-02 9.03129207e+01] [ 8.54024041e-01 5.12091086e-01 -9.16823743e-02 5.91600573e+01] [ 1.04088177e-01 4.47114819e-03 9.94558023e-01 8.55714786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.036875 meters Centerline goodness : 0.998584 Centerline is valid? [True, True] Translation: X:90.33, Y:59.18, Z:8.56 [[ 5.06494719e-01 -8.60842296e-01 -4.91288234e-02 9.03288318e+01] [ 8.56019756e-01 5.08855490e-01 -9.10838531e-02 5.91816768e+01] [ 1.03408305e-01 4.07824718e-03 9.94630630e-01 8.56057555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.066875 meters Centerline goodness : 0.998548 Centerline is valid? [True, True] Translation: X:90.34, Y:59.20, Z:8.56 [[ 5.02499772e-01 -8.63188094e-01 -4.89927906e-02 9.03443741e+01] [ 8.58396755e-01 5.04869504e-01 -9.08944190e-02 5.92035329e+01] [ 1.03193946e-01 3.61917234e-03 9.94654669e-01 8.56349800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.096875 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:90.36, Y:59.22, Z:8.57 [[ 4.94194549e-01 -8.67993124e-01 -4.85765841e-02 9.03639655e+01] [ 8.63299472e-01 4.96569240e-01 -9.01832126e-02 5.92247776e+01] [ 1.02400046e-01 2.63191269e-03 9.94739817e-01 8.56662723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.126875 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:90.38, Y:59.25, Z:8.57 [[ 4.89389142e-01 -8.70701948e-01 -4.87481796e-02 9.03797538e+01] [ 8.65982212e-01 4.91806558e-01 -9.05600290e-02 5.92468351e+01] [ 1.02825468e-01 2.10403850e-03 9.94697188e-01 8.56956020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.156875 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:90.39, Y:59.27, Z:8.57 [[ 4.84595950e-01 -8.73371971e-01 -4.88688647e-02 9.03947476e+01] [ 8.68635813e-01 4.87051253e-01 -9.08454870e-02 5.92683381e+01] [ 1.03143544e-01 1.57410907e-03 9.94665236e-01 8.57207761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.186875 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:90.41, Y:59.29, Z:8.57 [[ 4.75881632e-01 -8.78126578e-01 -4.92989437e-02 9.04129736e+01] [ 8.73324787e-01 4.78428017e-01 -9.17084992e-02 5.92899988e+01] [ 1.04117666e-01 5.88400705e-04 9.94564812e-01 8.57395588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21687499999999 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:90.43, Y:59.31, Z:8.58 [[ 4.71602506e-01 -8.80424889e-01 -4.94276406e-02 9.04282566e+01] [ 8.75604237e-01 4.74185621e-01 -9.20066119e-02 5.93135396e+01] [ 1.04442788e-01 1.11497239e-04 9.94530890e-01 8.57586449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24687499999999 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:90.44, Y:59.34, Z:8.58 [[ 4.67518343e-01 -8.82584285e-01 -4.97149750e-02 9.04434840e+01] [ 8.77713086e-01 4.70154084e-01 -9.26006262e-02 5.93369450e+01] [ 1.05101556e-01 -3.42992800e-04 9.94461435e-01 8.57775574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27687499999999 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:90.46, Y:59.36, Z:8.58 [[ 4.63573224e-01 -8.84654355e-01 -4.98651951e-02 9.04582827e+01] [ 8.79759132e-01 4.66246776e-01 -9.29398395e-02 5.93598728e+01] [ 1.05469120e-01 -7.84939657e-04 9.94422269e-01 8.58016168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30687499999999 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:90.47, Y:59.38, Z:8.58 [[ 4.56919058e-01 -8.88106755e-01 -4.99135905e-02 9.04743049e+01] [ 8.83215529e-01 4.59634632e-01 -9.30931539e-02 5.93809824e+01] [ 1.05618674e-01 -1.54842196e-03 9.94405500e-01 8.58277082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33687499999999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:90.49, Y:59.40, Z:8.59 [[ 4.54354438e-01 -8.89426922e-01 -4.98176115e-02 9.04888055e+01] [ 8.84555305e-01 4.57073777e-01 -9.29810492e-02 5.94044717e+01] [ 1.05470172e-01 -1.82008018e-03 9.94420801e-01 8.58558950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.366875 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:90.50, Y:59.43, Z:8.59 [[ 4.51870177e-01 -8.90693762e-01 -4.97791621e-02 9.05028348e+01] [ 8.85830611e-01 4.54599029e-01 -9.29723130e-02 5.94282224e+01] [ 1.05439418e-01 -2.08449006e-03 9.94423544e-01 8.58853773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.396875 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:90.52, Y:59.45, Z:8.59 [[ 4.49739833e-01 -8.91765160e-01 -4.98897031e-02 9.05170485e+01] [ 8.86880429e-01 4.52492598e-01 -9.32392246e-02 5.94522352e+01] [ 1.05722213e-01 -2.31280801e-03 9.94393013e-01 8.59197525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.426875 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:90.53, Y:59.48, Z:8.59 [[ 4.46505060e-01 -8.93409052e-01 -4.95327852e-02 9.05307383e+01] [ 8.88597765e-01 4.49236266e-01 -9.26325524e-02 5.94755178e+01] [ 1.05010684e-01 -2.65381882e-03 9.94467553e-01 8.59477447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.456875 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:90.54, Y:59.50, Z:8.60 [[ 4.45390648e-01 -8.93973877e-01 -4.93748647e-02 9.05434804e+01] [ 8.89190083e-01 4.48110643e-01 -9.24004742e-02 5.94991940e+01] [ 1.04729013e-01 -2.74933300e-03 9.94496996e-01 8.59701311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.486875 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:90.56, Y:59.52, Z:8.60 [[ 4.44696612e-01 -8.94325392e-01 -4.92647612e-02 9.05565005e+01] [ 8.89558547e-01 4.47408390e-01 -9.22568366e-02 5.95241182e+01] [ 1.04549099e-01 -2.79758667e-03 9.94515791e-01 8.59911633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.516875 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:90.57, Y:59.55, Z:8.60 [[ 4.44460878e-01 -8.94437752e-01 -4.93521558e-02 9.05681831e+01] [ 8.89648339e-01 4.47183693e-01 -9.24801467e-02 5.95487009e+01] [ 1.04787214e-01 -2.80225623e-03 9.94490718e-01 8.60204955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.546875 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:90.58, Y:59.57, Z:8.61 [[ 4.44195708e-01 -8.94572909e-01 -4.92897934e-02 9.05805229e+01] [ 8.89789940e-01 4.46913253e-01 -9.24251466e-02 5.95742867e+01] [ 1.04709294e-01 -2.80270879e-03 9.94498923e-01 8.60522672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.576875 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:90.59, Y:59.60, Z:8.61 [[ 4.44437027e-01 -8.94446309e-01 -4.94118433e-02 9.05914316e+01] [ 8.89632509e-01 4.47166883e-01 -9.27134146e-02 5.95978479e+01] [ 1.05022511e-01 -2.75310788e-03 9.94466034e-01 8.60807653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.60687499999999 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:90.60, Y:59.62, Z:8.61 [[ 4.44981955e-01 -8.94169563e-01 -4.95161808e-02 9.06010388e+01] [ 8.89326380e-01 4.47720564e-01 -9.29778781e-02 5.96235689e+01] [ 1.05307401e-01 -2.66256783e-03 9.94436153e-01 8.61119386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63687499999999 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:90.61, Y:59.65, Z:8.61 [[ 4.45264686e-01 -8.94020924e-01 -4.96582991e-02 9.06121555e+01] [ 8.89142010e-01 4.48017630e-01 -9.33096382e-02 5.96489403e+01] [ 1.05668563e-01 -2.60579319e-03 9.94397991e-01 8.61349615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.66687499999999 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:90.62, Y:59.67, Z:8.62 [[ 4.45425984e-01 -8.93941919e-01 -4.96340381e-02 9.06225420e+01] [ 8.89060398e-01 4.48175534e-01 -9.33289873e-02 5.96732801e+01] [ 1.05675456e-01 -2.55650163e-03 9.94397387e-01 8.61569073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69687499999999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:90.63, Y:59.70, Z:8.62 [[ 4.45529014e-01 -8.93892602e-01 -4.95975146e-02 9.06333919e+01] [ 8.89010829e-01 4.48274138e-01 -9.33276113e-02 5.96983060e+01] [ 1.05658144e-01 -2.51256891e-03 9.94399338e-01 8.61813076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.72687499999999 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:90.64, Y:59.72, Z:8.62 [[ 4.45318560e-01 -8.94003211e-01 -4.94938358e-02 9.06443505e+01] [ 8.89135861e-01 4.48053551e-01 -9.31956897e-02 5.97239848e+01] [ 1.05493135e-01 -2.50497405e-03 9.94416876e-01 8.62012558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.756875 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:90.65, Y:59.75, Z:8.62 [[ 4.45043933e-01 -8.94134212e-01 -4.95974646e-02 9.06536641e+01] [ 8.89240803e-01 4.47792016e-01 -9.34510875e-02 5.97502420e+01] [ 1.05767163e-01 -2.51424975e-03 9.94387744e-01 8.62290767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.786875 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:90.67, Y:59.78, Z:8.63 [[ 4.44322667e-01 -8.94494832e-01 -4.95616982e-02 9.06650849e+01] [ 8.89604311e-01 4.47070894e-01 -9.34440176e-02 5.97763184e+01] [ 1.05742784e-01 -2.57100528e-03 9.94390192e-01 8.62622032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.816875 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:90.68, Y:59.80, Z:8.63 [[ 4.43887433e-01 -8.94718216e-01 -4.94293504e-02 9.06758894e+01] [ 8.89848976e-01 4.46623557e-01 -9.32534023e-02 5.98015904e+01] [ 1.05511830e-01 -2.59064347e-03 9.94414673e-01 8.62876334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.846875 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:90.69, Y:59.83, Z:8.63 [[ 4.43212882e-01 -8.95070679e-01 -4.91001139e-02 9.06873492e+01] [ 8.90263643e-01 4.45916506e-01 -9.26774820e-02 5.98274172e+01] [ 1.04847448e-01 -2.63619241e-03 9.94484823e-01 8.63219959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.876875 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:90.70, Y:59.85, Z:8.64 [[ 4.41832383e-01 -8.95788707e-01 -4.84431467e-02 9.06968203e+01] [ 8.91107889e-01 4.44471681e-01 -9.14967476e-02 5.98535917e+01] [ 1.03493360e-01 -2.74184417e-03 9.94626365e-01 8.63566439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.906875 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:90.71, Y:59.88, Z:8.64 [[ 4.41323034e-01 -8.96053103e-01 -4.81956064e-02 9.07080927e+01] [ 8.91415557e-01 4.43938287e-01 -9.10884268e-02 5.98796047e+01] [ 1.03015943e-01 -2.76289251e-03 9.94675868e-01 8.63852180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.936875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:90.72, Y:59.91, Z:8.64 [[ 4.40952464e-01 -8.96248905e-01 -4.79460634e-02 9.07190028e+01] [ 8.91654436e-01 4.43542830e-01 -9.06759340e-02 5.99056953e+01] [ 1.02534339e-01 -2.76754359e-03 9.94725615e-01 8.64128352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96687499999999 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:90.73, Y:59.93, Z:8.64 [[ 4.41339677e-01 -8.96072199e-01 -4.76854661e-02 9.07295804e+01] [ 8.91520647e-01 4.43900217e-01 -9.02415286e-02 5.99314317e+01] [ 1.02030514e-01 -2.68541050e-03 9.94777645e-01 8.64310249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99687499999999 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:90.74, Y:59.96, Z:8.64 [[ 4.43429715e-01 -8.95042838e-01 -4.76277856e-02 9.07384814e+01] [ 8.90490418e-01 4.45973617e-01 -9.01906168e-02 5.99582151e+01] [ 1.01965201e-01 -2.41888718e-03 9.94785025e-01 8.64490279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02687499999999 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:90.75, Y:59.98, Z:8.65 [[ 4.45204500e-01 -8.94143456e-01 -4.79628341e-02 9.07501307e+01] [ 8.89515316e-01 4.47775203e-01 -9.08838316e-02 5.99842328e+01] [ 1.02739751e-01 -2.20178476e-03 9.94705834e-01 8.64751853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05687499999999 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:90.76, Y:60.01, Z:8.65 [[ 4.47648290e-01 -8.92894766e-01 -4.84762436e-02 9.07615324e+01] [ 8.88153207e-01 4.50261364e-01 -9.19161857e-02 6.00100489e+01] [ 1.03898461e-01 -1.90820790e-03 9.94586079e-01 8.65013004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08687499999999 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:90.77, Y:60.03, Z:8.65 [[ 4.50525642e-01 -8.91432881e-01 -4.87243743e-02 9.07720505e+01] [ 8.86627658e-01 4.53150101e-01 -9.24466489e-02 6.00345182e+01] [ 1.04489438e-01 -1.55079206e-03 9.94524787e-01 8.65298346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.116875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:90.78, Y:60.06, Z:8.66 [[ 4.57383600e-01 -8.87946529e-01 -4.84892279e-02 9.07811356e+01] [ 8.83161382e-01 4.59946138e-01 -9.20626089e-02 6.00599694e+01] [ 1.04049107e-01 -7.15886058e-04 9.94571903e-01 8.65589482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.146875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:90.79, Y:60.08, Z:8.65 [[ 4.62143896e-01 -8.85818376e-01 -4.18189440e-02 9.07894850e+01] [ 8.80769753e-01 4.63980379e-01 -9.46934579e-02 6.00849910e+01] [ 1.03284375e-01 6.92914265e-03 9.94627732e-01 8.65323273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.176875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:90.80, Y:60.11, Z:8.66 [[ 4.64494371e-01 -8.83957749e-01 -5.35133366e-02 9.08042964e+01] [ 8.79596161e-01 4.67525281e-01 -8.79244321e-02 6.01090433e+01] [ 1.02740321e-01 -6.22972160e-03 9.94688704e-01 8.66409264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.81, Y:60.13, Z:8.66 [[ 4.67276233e-01 -8.82847538e-01 -4.72561859e-02 9.08147285e+01] [ 8.78261427e-01 4.69659433e-01 -8.98714826e-02 6.01342062e+01] [ 1.01537131e-01 4.91522539e-04 9.94831629e-01 8.66378601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.83, Y:60.16, Z:8.67 [[ 4.70462921e-01 -8.81177035e-01 -4.68153137e-02 9.08261269e+01] [ 8.76661786e-01 4.72785648e-01 -8.90945857e-02 6.01577554e+01] [ 1.00641711e-01 8.74502489e-04 9.94922349e-01 8.66653602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.266875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:90.84, Y:60.18, Z:8.67 [[ 4.71355174e-01 -8.80699562e-01 -4.68250068e-02 9.08389495e+01] [ 8.76173524e-01 4.73674220e-01 -8.91778553e-02 6.01816812e+01] [ 1.00718697e-01 1.00761232e-03 9.94914433e-01 8.66897233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.85, Y:60.21, Z:8.67 [[ 4.72066438e-01 -8.80309702e-01 -4.69905087e-02 9.08518026e+01] [ 8.75743305e-01 4.74398109e-01 -8.95550042e-02 6.02057341e+01] [ 1.01128347e-01 1.12428841e-03 9.94872752e-01 8.67171894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.326875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:90.86, Y:60.23, Z:8.67 [[ 4.72462068e-01 -8.80105099e-01 -4.68466616e-02 9.08648457e+01] [ 8.75559475e-01 4.74777412e-01 -8.93421200e-02 6.02286871e+01] [ 1.00872192e-01 1.19372433e-03 9.94898676e-01 8.67333843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.88, Y:60.25, Z:8.68 [[ 4.71598990e-01 -8.80557328e-01 -4.70444902e-02 9.08783286e+01] [ 8.75968806e-01 4.73938297e-01 -8.97838666e-02 6.02535768e+01] [ 1.01356027e-01 1.13247486e-03 9.94849573e-01 8.67553728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.89, Y:60.28, Z:8.68 [[ 4.70810335e-01 -8.80962718e-01 -4.73531087e-02 9.08921708e+01] [ 8.76309792e-01 4.73184450e-01 -9.04302246e-02 6.02773994e+01] [ 1.02072411e-01 1.07949156e-03 9.94776386e-01 8.67804403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.91, Y:60.30, Z:8.68 [[ 4.68989492e-01 -8.81906537e-01 -4.78509709e-02 9.09059372e+01] [ 8.77153810e-01 4.71423407e-01 -9.14394025e-02 6.03011777e+01] [ 1.03199075e-01 9.11457504e-04 9.94660304e-01 8.68073085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.92, Y:60.32, Z:8.68 [[ 4.63891319e-01 -8.84590814e-01 -4.79993366e-02 9.09222952e+01] [ 8.79815947e-01 4.66367849e-01 -9.17874106e-02 6.03239321e+01] [ 1.03579648e-01 3.48801217e-04 9.94621101e-01 8.68353118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.94, Y:60.35, Z:8.69 [[ 4.60446610e-01 -8.86380498e-01 -4.81511335e-02 9.09361707e+01] [ 8.81578571e-01 4.62957463e-01 -9.21390831e-02 6.03466653e+01] [ 1.03962213e-01 -2.38789923e-05 9.94581247e-01 8.68628263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.95, Y:60.37, Z:8.69 [[ 4.56885786e-01 -8.88211992e-01 -4.83201365e-02 9.09498903e+01] [ 8.83381336e-01 4.59433653e-01 -9.25101748e-02 6.03697493e+01] [ 1.04368544e-01 -4.18522866e-04 9.94538603e-01 8.68886198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.536875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:90.96, Y:60.39, Z:8.69 [[ 4.53250940e-01 -8.90080047e-01 -4.81777493e-02 9.09629779e+01] [ 8.85281707e-01 4.55803516e-01 -9.23008940e-02 6.03921676e+01] [ 1.04114772e-01 -8.15413181e-04 9.94564955e-01 8.69033543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.98, Y:60.41, Z:8.69 [[ 4.46271948e-01 -8.93591525e-01 -4.83273785e-02 9.09775076e+01] [ 8.88776462e-01 4.48878176e-01 -9.26541120e-02 6.04143031e+01] [ 1.04488035e-01 -1.60330544e-03 9.94524851e-01 8.69269661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.99, Y:60.44, Z:8.70 [[ 4.43241530e-01 -8.95108379e-01 -4.81449436e-02 9.09920077e+01] [ 8.90331714e-01 4.45844470e-01 -9.23696280e-02 6.04385197e+01] [ 1.04145985e-01 -1.92291496e-03 9.94560162e-01 8.69573449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.01, Y:60.46, Z:8.70 [[ 4.40215020e-01 -8.96609855e-01 -4.79739933e-02 9.10052813e+01] [ 8.91869527e-01 4.42815700e-01 -9.21032217e-02 6.04616737e+01] [ 1.03824294e-01 -2.24132116e-03 9.94593129e-01 8.69876973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.02, Y:60.49, Z:8.70 [[ 4.37670969e-01 -8.97853027e-01 -4.80006734e-02 9.10189684e+01] [ 8.93108052e-01 4.40288145e-01 -9.22190652e-02 6.04857137e+01] [ 1.03933294e-01 -2.50818029e-03 9.94581107e-01 8.70167399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.03, Y:60.51, Z:8.70 [[ 4.33481332e-01 -8.99870104e-01 -4.82465541e-02 9.10329815e+01] [ 8.95082083e-01 4.36147827e-01 -9.27530988e-02 6.05104025e+01] [ 1.04508370e-01 -2.97788935e-03 9.94519549e-01 8.70439490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.05, Y:60.54, Z:8.71 [[ 4.31870412e-01 -9.00636521e-01 -4.83921904e-02 9.10456697e+01] [ 8.95817768e-01 4.34561803e-01 -9.30943939e-02 6.05352450e+01] [ 1.04873609e-01 -3.14586970e-03 9.94480583e-01 8.70672771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.06, Y:60.56, Z:8.71 [[ 4.31646619e-01 -9.00745126e-01 -4.83674947e-02 9.10587161e+01] [ 8.95925618e-01 4.34336657e-01 -9.31072232e-02 6.05605633e+01] [ 1.04873653e-01 -3.14425949e-03 9.94480583e-01 8.70944711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.07, Y:60.59, Z:8.71 [[ 4.30750079e-01 -9.01179973e-01 -4.82599840e-02 9.10710701e+01] [ 8.96378616e-01 4.33433158e-01 -9.29573785e-02 6.05853727e+01] [ 1.04688805e-01 -3.21781959e-03 9.94499824e-01 8.71151929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.08, Y:60.61, Z:8.71 [[ 4.30217101e-01 -9.01431777e-01 -4.83114675e-02 9.10828998e+01] [ 8.96615185e-01 4.32908943e-01 -9.31185060e-02 6.06106100e+01] [ 1.04854447e-01 -3.25562162e-03 9.94482250e-01 8.71430410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.09, Y:60.64, Z:8.72 [[ 4.31328933e-01 -9.00942174e-01 -4.75242139e-02 9.10931005e+01] [ 8.96272538e-01 4.33928385e-01 -9.16607501e-02 6.06365654e+01] [ 1.03203141e-01 -3.05871432e-03 9.94655597e-01 8.71626586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.866875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:91.10, Y:60.66, Z:8.72 [[ 4.32585965e-01 -9.00345597e-01 -4.74045164e-02 9.11040915e+01] [ 8.95689655e-01 4.35166059e-01 -9.14906746e-02 6.06612060e+01] [ 1.03002063e-01 -2.88215308e-03 9.94676967e-01 8.71965475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.896875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:91.12, Y:60.69, Z:8.72 [[ 4.34253992e-01 -8.99554537e-01 -4.71710247e-02 9.11151575e+01] [ 8.94933293e-01 4.36800409e-01 -9.11032634e-02 6.06874399e+01] [ 1.02556677e-01 -2.65296465e-03 9.94723625e-01 8.72238401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.13, Y:60.71, Z:8.73 [[ 4.36757976e-01 -8.98347373e-01 -4.70581374e-02 9.11258521e+01] [ 8.93735103e-01 4.39279568e-01 -9.09451872e-02 6.07135315e+01] [ 1.02372048e-01 -2.33647345e-03 9.94743437e-01 8.72515432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.13, Y:60.74, Z:8.73 [[ 4.43540744e-01 -8.95023213e-01 -4.69580313e-02 9.11334416e+01] [ 8.90405712e-01 4.46016924e-01 -9.08106317e-02 6.07399160e+01] [ 1.02221700e-01 -1.53348418e-03 9.94760460e-01 8.72812005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.14, Y:60.77, Z:8.73 [[ 4.46801428e-01 -8.93396108e-01 -4.70306164e-02 9.11434040e+01] [ 8.88750595e-01 4.49268397e-01 -9.09960902e-02 6.07659921e+01] [ 1.02424922e-01 -1.14130525e-03 9.94740083e-01 8.73012829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.15, Y:60.79, Z:8.73 [[ 4.49980001e-01 -8.91793867e-01 -4.71348909e-02 9.11535281e+01] [ 8.87112635e-01 4.52441308e-01 -9.12580703e-02 6.07918788e+01] [ 1.02709159e-01 -7.49650682e-04 9.94711147e-01 8.73177574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.046875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:91.16, Y:60.82, Z:8.73 [[ 4.54236849e-01 -8.89647386e-01 -4.68659108e-02 9.11617007e+01] [ 8.85001687e-01 4.56648086e-01 -9.07994493e-02 6.08176969e+01] [ 1.02180721e-01 -2.31954360e-04 9.94765825e-01 8.73355810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.17, Y:60.84, Z:8.74 [[ 4.55361072e-01 -8.89079123e-01 -4.67397904e-02 9.11727241e+01] [ 8.84448793e-01 4.57753545e-01 -9.06202256e-02 6.08430902e+01] [ 1.01963855e-01 -7.40281896e-05 9.94788101e-01 8.73607538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.18, Y:60.87, Z:8.74 [[ 4.55726205e-01 -8.88889922e-01 -4.67796289e-02 9.11835974e+01] [ 8.84244494e-01 4.58120844e-01 -9.07577390e-02 6.08673378e+01] [ 1.02104363e-01 -3.94933275e-06 9.94773692e-01 8.73871935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.19, Y:60.89, Z:8.74 [[ 4.55381182e-01 -8.89061672e-01 -4.68756012e-02 9.11947688e+01] [ 8.84391474e-01 4.57787443e-01 -9.10075714e-02 6.08918378e+01] [ 1.02370405e-01 -1.32466092e-05 9.94746350e-01 8.74141681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.21, Y:60.92, Z:8.74 [[ 4.54233842e-01 -8.89683521e-01 -4.62044299e-02 9.12053544e+01] [ 8.85143430e-01 4.56577723e-01 -8.97657567e-02 6.09182414e+01] [ 1.00959028e-01 -1.22903002e-04 9.94890577e-01 8.74422194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.22, Y:60.94, Z:8.75 [[ 4.53601928e-01 -8.90010164e-01 -4.61215612e-02 9.12162328e+01] [ 8.85481794e-01 4.55940654e-01 -8.96666799e-02 6.09426193e+01] [ 1.00832951e-01 -1.66823853e-04 9.94903356e-01 8.74679844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.23, Y:60.97, Z:8.75 [[ 4.52756978e-01 -8.90446793e-01 -4.59959557e-02 9.12276475e+01] [ 8.85938803e-01 4.55087305e-01 -8.94873329e-02 6.09677153e+01] [ 1.00615884e-01 -2.33587490e-04 9.94925318e-01 8.74863803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.256875 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:91.24, Y:60.99, Z:8.75 [[ 4.52222986e-01 -8.90713895e-01 -4.60774095e-02 9.12394647e+01] [ 8.86184772e-01 4.54564283e-01 -8.97098852e-02 6.09936171e+01] [ 1.00850986e-01 -2.64226454e-04 9.94901507e-01 8.75099850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.25, Y:61.02, Z:8.75 [[ 4.51856122e-01 -8.90897894e-01 -4.61192697e-02 9.12505088e+01] [ 8.86355385e-01 4.54203550e-01 -8.98513631e-02 6.10198643e+01] [ 1.00995926e-01 -2.78174553e-04 9.94886800e-01 8.75304452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.26, Y:61.04, Z:8.76 [[ 4.51836024e-01 -8.90903089e-01 -4.62157322e-02 9.12622830e+01] [ 8.86335378e-01 4.54193376e-01 -9.00998009e-02 6.10447028e+01] [ 1.01261070e-01 -2.52302665e-04 9.94859855e-01 8.75586119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.27, Y:61.07, Z:8.76 [[ 4.52044593e-01 -8.90795613e-01 -4.62478237e-02 9.12742542e+01] [ 8.86214838e-01 4.54404154e-01 -9.02226454e-02 6.10699613e+01] [ 1.01385140e-01 -2.00848528e-04 9.94847231e-01 8.75846484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.28, Y:61.10, Z:8.76 [[ 4.53134610e-01 -8.90266850e-01 -4.57598192e-02 9.12839634e+01] [ 8.85773573e-01 4.55439274e-01 -8.93322201e-02 6.10952132e+01] [ 1.00370333e-01 -5.33178252e-05 9.94950146e-01 8.75998002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.30, Y:61.12, Z:8.76 [[ 4.54374140e-01 -8.89652269e-01 -4.54200608e-02 9.12959742e+01] [ 8.85216126e-01 4.56638619e-01 -8.87332094e-02 6.11209208e+01] [ 9.96822549e-02 1.11505453e-04 9.95019314e-01 8.76253052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.31, Y:61.15, Z:8.77 [[ 4.55441753e-01 -8.89109386e-01 -4.53575779e-02 9.13078515e+01] [ 8.84676867e-01 4.57694695e-01 -8.86702122e-02 6.11457636e+01] [ 9.95974408e-02 2.57316963e-04 9.95027780e-01 8.76508494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.32, Y:61.17, Z:8.77 [[ 4.56685990e-01 -8.88475110e-01 -4.52756501e-02 9.13195154e+01] [ 8.84049563e-01 4.58924612e-01 -8.85695769e-02 6.11696387e+01] [ 9.94699748e-02 4.22566180e-04 9.95040474e-01 8.76797510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.33, Y:61.20, Z:8.77 [[ 4.59776760e-01 -8.86892099e-01 -4.50303867e-02 9.13315039e+01] [ 8.82500701e-01 4.61975952e-01 -8.81517646e-02 6.11950957e+01] [ 9.89840592e-02 7.90784923e-04 9.95088705e-01 8.77080377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.34, Y:61.22, Z:8.77 [[ 4.61422321e-01 -8.86039211e-01 -4.49884264e-02 9.13435001e+01] [ 8.81646041e-01 4.63609226e-01 -8.81291301e-02 6.12194468e+01] [ 9.89429145e-02 1.00087971e-03 9.95092608e-01 8.77323900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.36, Y:61.24, Z:8.78 [[ 4.63095068e-01 -8.85169115e-01 -4.49287993e-02 9.13557994e+01] [ 8.80779106e-01 4.65267862e-01 -8.80567041e-02 6.12441200e+01] [ 9.88490012e-02 1.20627769e-03 9.95101713e-01 8.77555151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.37, Y:61.27, Z:8.78 [[ 4.65059656e-01 -8.84143391e-01 -4.48328169e-02 9.13678416e+01] [ 8.79761466e-01 4.67213402e-01 -8.79283808e-02 6.12683183e+01] [ 9.86877896e-02 1.44975771e-03 9.95117389e-01 8.77807603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.38, Y:61.29, Z:8.78 [[ 4.69107253e-01 -8.81991591e-01 -4.50468538e-02 9.13804435e+01] [ 8.77551305e-01 4.71261134e-01 -8.84118254e-02 6.12932559e+01] [ 9.92073179e-02 1.94370321e-03 9.95064887e-01 8.77935855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.39, Y:61.32, Z:8.78 [[ 4.70544414e-01 -8.81201290e-01 -4.55218830e-02 9.13930710e+01] [ 8.76656745e-01 4.72736303e-01 -8.94054803e-02 6.13169716e+01] [ 1.00304071e-01 2.16218354e-03 9.94954481e-01 8.78210460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.41, Y:61.34, Z:8.78 [[ 4.71429471e-01 -8.80716908e-01 -4.57381863e-02 9.14061263e+01] [ 8.76120156e-01 4.73637420e-01 -8.98947570e-02 6.13413664e+01] [ 1.00835149e-01 2.30689077e-03 9.94900473e-01 8.78419921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.42, Y:61.37, Z:8.79 [[ 4.73068770e-01 -8.79844839e-01 -4.55960231e-02 9.14204907e+01] [ 8.75266452e-01 4.75254391e-01 -8.96766569e-02 6.13657867e+01] [ 1.00571254e-01 2.51455648e-03 9.94926681e-01 8.78631833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.43, Y:61.39, Z:8.79 [[ 4.73017198e-01 -8.79877174e-01 -4.55070221e-02 9.14336905e+01] [ 8.75310606e-01 4.75194430e-01 -8.95633702e-02 6.13901078e+01] [ 1.00429448e-01 2.53223532e-03 9.94940960e-01 8.78895265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.45, Y:61.41, Z:8.79 [[ 4.72787642e-01 -8.80008254e-01 -4.53576744e-02 9.14469003e+01] [ 8.75465960e-01 4.74951673e-01 -8.93323079e-02 6.14133885e+01] [ 1.00155872e-01 2.52611126e-03 9.94968552e-01 8.79146156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.46, Y:61.44, Z:8.79 [[ 4.72125372e-01 -8.80359878e-01 -4.54325636e-02 9.14610033e+01] [ 8.75797444e-01 4.74299798e-01 -8.95463002e-02 6.14374869e+01] [ 1.00381626e-01 2.48735730e-03 9.94945899e-01 8.79456081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.48, Y:61.46, Z:8.80 [[ 4.69459730e-01 -8.81824567e-01 -4.46429730e-02 9.14767029e+01] [ 8.77420334e-01 4.71572629e-01 -8.80500631e-02 6.14605820e+01] [ 9.86971129e-02 2.16530657e-03 9.95115165e-01 8.79736481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.49, Y:61.48, Z:8.80 [[ 4.67108201e-01 -8.83069653e-01 -4.46980550e-02 9.14906312e+01] [ 8.78654023e-01 4.69237942e-01 -8.82205285e-02 6.14831861e+01] [ 9.88788948e-02 1.93440649e-03 9.95097594e-01 8.80045039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88687499999999 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:91.51, Y:61.51, Z:8.80 [[ 4.64190570e-01 -8.84628563e-01 -4.42653454e-02 9.15053621e+01] [ 8.80298974e-01 4.66293566e-01 -8.74301261e-02 6.15075582e+01] [ 9.79838326e-02 1.61750191e-03 9.95186692e-01 8.80306396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.52, Y:61.53, Z:8.81 [[ 4.58646679e-01 -8.87563249e-01 -4.32978344e-02 9.15228525e+01] [ 8.83428667e-01 4.60684796e-01 -8.55763349e-02 6.15302922e+01] [ 9.59010639e-02 9.98753701e-04 9.95390370e-01 8.80861604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.54, Y:61.55, Z:8.81 [[ 4.55415076e-01 -8.89257738e-01 -4.26354768e-02 9.15371798e+01] [ 8.85250958e-01 4.57405991e-01 -8.43237827e-02 6.15540917e+01] [ 9.44872988e-02 6.59225251e-04 9.95525849e-01 8.81176414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.55, Y:61.58, Z:8.81 [[ 4.52188300e-01 -8.90913218e-01 -4.24190882e-02 9.15517723e+01] [ 8.86948983e-01 4.54173450e-01 -8.39522393e-02 6.15782539e+01] [ 9.40597833e-02 3.38653217e-04 9.95566493e-01 8.81474743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.57, Y:61.60, Z:8.82 [[ 4.48920915e-01 -8.92580109e-01 -4.20804201e-02 9.15655881e+01] [ 8.88681004e-01 4.50888844e-01 -8.33386050e-02 6.16010152e+01] [ 9.33599731e-02 1.63727590e-05 9.95632420e-01 8.81716944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.58, Y:61.62, Z:8.82 [[ 4.42557817e-01 -8.95740404e-01 -4.23285558e-02 9.15811892e+01] [ 8.91803532e-01 4.44577036e-01 -8.38911154e-02 6.16246653e+01] [ 9.39629655e-02 -6.22086704e-04 9.95575499e-01 8.81821498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.59, Y:61.65, Z:8.82 [[ 4.39759842e-01 -8.97105270e-01 -4.25842277e-02 9.15946396e+01] [ 8.93121283e-01 4.41815957e-01 -8.44572948e-02 6.16484144e+01] [ 9.45814756e-02 -8.91953468e-04 9.95516725e-01 8.82000161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.61, Y:61.67, Z:8.82 [[ 4.37606548e-01 -8.98132680e-01 -4.31068244e-02 9.16084617e+01] [ 8.94048888e-01 4.39723187e-01 -8.55576107e-02 6.16722233e+01] [ 9.57971564e-02 -1.09903776e-03 9.95400270e-01 8.82315621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.62, Y:61.70, Z:8.83 [[ 4.34209180e-01 -8.99745248e-01 -4.38278059e-02 9.16222529e+01] [ 8.95525802e-01 4.36413083e-01 -8.70468807e-02 6.16963543e+01] [ 9.74470452e-02 -1.45237627e-03 9.95239652e-01 8.82642603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.63, Y:61.72, Z:8.83 [[ 4.33039275e-01 -9.00303337e-01 -4.39418616e-02 9.16348528e+01] [ 8.96058852e-01 4.35260244e-01 -8.73330016e-02 6.17214579e+01] [ 9.77523382e-02 -1.55587432e-03 9.95209556e-01 8.82865654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.65, Y:61.75, Z:8.83 [[ 4.32281892e-01 -9.00676584e-01 -4.37499307e-02 9.16470100e+01] [ 8.96465306e-01 4.34487178e-01 -8.70106136e-02 6.17458937e+01] [ 9.73772062e-02 -1.60718230e-03 9.95246249e-01 8.83088200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.66, Y:61.77, Z:8.83 [[ 4.31645441e-01 -9.00979870e-01 -4.37891311e-02 9.16596040e+01] [ 8.96756451e-01 4.33857756e-01 -8.71511015e-02 6.17712986e+01] [ 9.75196422e-02 -1.64981024e-03 9.95232233e-01 8.83359375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.67, Y:61.80, Z:8.84 [[ 4.30888967e-01 -9.01314116e-01 -4.43572119e-02 9.16715912e+01] [ 8.96975858e-01 4.33162672e-01 -8.83425694e-02 6.17962272e+01] [ 9.88382932e-02 -1.72150971e-03 9.95102019e-01 8.83591117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.68, Y:61.82, Z:8.84 [[ 4.30806874e-01 -9.01322444e-01 -4.49809765e-02 9.16831876e+01] [ 8.96854671e-01 4.33145347e-01 -8.96482463e-02 6.18202135e+01] [ 1.00285277e-01 -1.72031813e-03 9.94957237e-01 8.83828919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.68, Y:61.85, Z:8.80 [[ 4.25187194e-01 -9.05101374e-01 2.71179148e-03 9.16767672e+01] [ 9.00722750e-01 4.22831973e-01 -9.95572702e-02 6.18528385e+01] [ 8.89627898e-02 4.47730486e-02 9.95028138e-01 8.79622901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.71, Y:61.86, Z:8.87 [[ 4.30140132e-01 -8.98597050e-01 -8.66187542e-02 9.17139456e+01] [ 8.97011616e-01 4.36240814e-01 -7.11625767e-02 6.18636505e+01] [ 1.01733117e-01 -4.70881486e-02 9.93696674e-01 8.86559016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.72, Y:61.90, Z:8.85 [[ 4.30868305e-01 -9.01236481e-01 -4.61010704e-02 9.17172460e+01] [ 8.96529329e-01 4.33324307e-01 -9.20065655e-02 6.18956591e+01] [ 1.02896388e-01 -1.68824875e-03 9.94690647e-01 8.84551837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.73, Y:61.92, Z:8.85 [[ 4.31774498e-01 -9.00797278e-01 -4.62065728e-02 9.17291739e+01] [ 8.96059489e-01 4.34237069e-01 -9.22797936e-02 6.19207580e+01] [ 1.03189994e-01 -1.55977644e-03 9.94660441e-01 8.84863457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.74, Y:61.95, Z:8.85 [[ 4.34017241e-01 -8.99694401e-01 -4.66799686e-02 9.17393064e+01] [ 8.94845687e-01 4.36518431e-01 -9.32891008e-02 6.19471202e+01] [ 1.04308348e-01 -1.28229036e-03 9.94544179e-01 8.85070923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.75, Y:61.97, Z:8.85 [[ 4.35156116e-01 -8.99135286e-01 -4.68496658e-02 9.17504303e+01] [ 8.94241174e-01 4.37669365e-01 -9.36923114e-02 6.19724475e+01] [ 1.04746727e-01 -1.12411780e-03 9.94498295e-01 8.85299999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.76, Y:62.00, Z:8.86 [[ 4.37452390e-01 -8.97938557e-01 -4.83916758e-02 9.17612281e+01] [ 8.93053051e-01 4.40114905e-01 -9.35687917e-02 6.19957525e+01] [ 1.05316924e-01 -2.28444211e-03 9.94436085e-01 8.85564188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.77, Y:62.02, Z:8.86 [[ 4.38728797e-01 -8.97463472e-01 -4.55670844e-02 9.17722715e+01] [ 8.92409686e-01 4.41087499e-01 -9.51145105e-02 6.20223354e+01] [ 1.05460870e-01 1.06496729e-03 9.94422883e-01 8.85653089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.78, Y:62.05, Z:8.86 [[ 4.43340438e-01 -8.95133047e-01 -4.67555901e-02 9.17835401e+01] [ 8.90219342e-01 4.45799080e-01 -9.36627161e-02 6.20471985e+01] [ 1.04684191e-01 -9.82611022e-05 9.94505511e-01 8.85984713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.80, Y:62.07, Z:8.86 [[ 4.45690579e-01 -8.93978911e-01 -4.64931639e-02 9.17957577e+01] [ 8.89107018e-01 4.48108989e-01 -9.32043169e-02 6.20722606e+01] [ 1.04156698e-01 2.02887723e-04 9.94560879e-01 8.86262125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.81, Y:62.10, Z:8.87 [[ 4.47845880e-01 -8.92900740e-01 -4.65009265e-02 9.18078831e+01] [ 8.88014786e-01 4.50253301e-01 -9.32829279e-02 6.20969838e+01] [ 1.04229591e-01 4.82864556e-04 9.94553145e-01 8.86589772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.82, Y:62.12, Z:8.87 [[ 4.47620837e-01 -8.93014884e-01 -4.64758294e-02 9.18204953e+01] [ 8.88128246e-01 4.50026868e-01 -9.32954306e-02 6.21225149e+01] [ 1.04229580e-01 4.84481950e-04 9.94553146e-01 8.86863374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.83, Y:62.15, Z:8.87 [[ 4.50006162e-01 -8.91821819e-01 -4.63497347e-02 9.18331436e+01] [ 8.86949187e-01 4.52386146e-01 -9.31016328e-02 6.21475112e+01] [ 1.03998045e-01 7.86448896e-04 9.94577191e-01 8.87165228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.85, Y:62.17, Z:8.87 [[ 4.54846338e-01 -8.89370415e-01 -4.62068645e-02 9.18458868e+01] [ 8.84508492e-01 4.57185274e-01 -9.28781567e-02 6.21714417e+01] [ 1.03728183e-01 1.37492544e-03 9.94604732e-01 8.87398429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.86, Y:62.20, Z:8.88 [[ 4.56767065e-01 -8.88387495e-01 -4.61682366e-02 9.18586991e+01] [ 8.83521751e-01 4.59091502e-01 -9.28671484e-02 6.21962254e+01] [ 1.03697458e-01 1.62801359e-03 9.94607554e-01 8.87622745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.87, Y:62.22, Z:8.88 [[ 4.58712272e-01 -8.87385501e-01 -4.61521871e-02 9.18719593e+01] [ 8.82511401e-01 4.61024320e-01 -9.28988893e-02 6.22210739e+01] [ 1.03714408e-01 1.88402930e-03 9.94605335e-01 8.87852891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.89, Y:62.25, Z:8.88 [[ 4.61977142e-01 -8.85686344e-01 -4.62257528e-02 9.18870333e+01] [ 8.80781462e-01 4.64278374e-01 -9.31107234e-02 6.22450166e+01] [ 1.03928514e-01 2.30023973e-03 9.94582110e-01 8.88144593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.90, Y:62.27, Z:8.88 [[ 4.62701148e-01 -8.85326591e-01 -4.58745552e-02 9.19007162e+01] [ 8.80487791e-01 4.64963550e-01 -9.24670112e-02 6.22691465e+01] [ 1.03193500e-01 2.39260647e-03 9.94658422e-01 8.88406517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.90, Y:62.30, Z:8.84 [[ 4.58675427e-01 -8.88549452e-01 9.83484788e-03 9.18958565e+01] [ 8.84310235e-01 4.55344500e-01 -1.03231751e-01 6.23027421e+01] [ 8.72482716e-02 5.60469240e-02 9.94608708e-01 8.83905803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.92, Y:62.32, Z:8.87 [[ 4.59668320e-01 -8.87392459e-01 -3.52087973e-02 9.19211306e+01] [ 8.83657055e-01 4.60970483e-01 -8.15869002e-02 6.23203087e+01] [ 8.86298163e-02 6.39041116e-03 9.96044135e-01 8.86648416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.95, Y:62.33, Z:8.92 [[ 4.64787087e-01 -8.80333349e-01 -9.47953502e-02 9.19535363e+01] [ 8.79275740e-01 4.71500976e-01 -6.75351973e-02 6.23333520e+01] [ 1.04149587e-01 -5.19617640e-02 9.93203322e-01 8.92193019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.96, Y:62.37, Z:8.90 [[ 4.65915421e-01 -8.83657569e-01 -4.55205696e-02 9.19587269e+01] [ 8.78879361e-01 4.68125658e-01 -9.18119658e-02 6.23655784e+01] [ 1.02439685e-01 2.76952153e-03 9.94735362e-01 8.89669708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.97, Y:62.39, Z:8.90 [[ 4.66930704e-01 -8.83110852e-01 -4.57267955e-02 9.19726456e+01] [ 8.78279801e-01 4.69155217e-01 -9.22928656e-02 6.23895771e+01] [ 1.02957796e-01 2.93345182e-03 9.94681400e-01 8.89879436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.99, Y:62.41, Z:8.90 [[ 4.68957048e-01 -8.81999453e-01 -4.64354694e-02 9.19881459e+01] [ 8.77004620e-01 4.71239156e-01 -9.37899432e-02 6.24136836e+01] [ 1.04604890e-01 3.25933371e-03 9.94508519e-01 8.89951162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.00, Y:62.44, Z:8.90 [[ 4.69413258e-01 -8.81743780e-01 -4.66808259e-02 9.20019183e+01] [ 8.76687581e-01 4.71716630e-01 -9.43520292e-02 6.24378897e+01] [ 1.05214437e-01 3.36559308e-03 9.94443862e-01 8.90137428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.02, Y:62.46, Z:8.90 [[ 4.69961203e-01 -8.81436943e-01 -4.69615111e-02 9.20164328e+01] [ 8.76310951e-01 4.72288850e-01 -9.49860980e-02 6.24619982e+01] [ 1.05903654e-01 3.48689443e-03 9.94370282e-01 8.90401092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.03, Y:62.48, Z:8.91 [[ 4.71447945e-01 -8.80633572e-01 -4.71311630e-02 9.20324811e+01] [ 8.75459562e-01 4.73783428e-01 -9.53929641e-02 6.24847657e+01] [ 1.06336211e-01 3.71138958e-03 9.94323306e-01 8.90738058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.05, Y:62.51, Z:8.91 [[ 4.72126346e-01 -8.80285519e-01 -4.68414188e-02 9.20465231e+01] [ 8.75166302e-01 4.74429108e-01 -9.48734159e-02 6.25092744e+01] [ 1.05738627e-01 3.79820785e-03 9.94386704e-01 8.90972466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.06, Y:62.53, Z:8.91 [[ 4.72339685e-01 -8.80175059e-01 -4.67663149e-02 9.20598585e+01] [ 8.75064779e-01 4.74633604e-01 -9.47869912e-02 6.25332357e+01] [ 1.05626010e-01 3.84810250e-03 9.94398481e-01 8.91282012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.176875 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:92.07, Y:62.56, Z:8.91 [[ 4.72492149e-01 -8.80096328e-01 -4.67078440e-02 9.20740304e+01] [ 8.74993130e-01 4.74779277e-01 -9.47188537e-02 6.25562570e+01] [ 1.05537632e-01 3.88487216e-03 9.94407721e-01 8.91418507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.09, Y:62.58, Z:8.92 [[ 4.71811402e-01 -8.80473656e-01 -4.64773261e-02 9.20876235e+01] [ 8.75415442e-01 4.74079733e-01 -9.43197308e-02 6.25808409e+01] [ 1.05079997e-01 3.81415547e-03 9.94456458e-01 8.91728045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.236875 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:92.10, Y:62.60, Z:8.92 [[ 4.71525473e-01 -8.80539349e-01 -4.81059559e-02 9.21004434e+01] [ 8.75649159e-01 4.73970420e-01 -9.26854376e-02 6.26030631e+01] [ 1.04413975e-01 1.57960496e-03 9.94532667e-01 8.92150756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.11, Y:62.63, Z:8.92 [[ 4.69110998e-01 -8.82061236e-01 -4.36216429e-02 9.21128726e+01] [ 8.77012365e-01 4.71096011e-01 -9.44344223e-02 6.26288960e+01] [ 1.03846925e-01 6.04350587e-03 9.94574930e-01 8.92231371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.13, Y:62.65, Z:8.93 [[ 4.64485474e-01 -8.84406391e-01 -4.55914567e-02 9.21282681e+01] [ 8.79534535e-01 4.66708094e-01 -9.27499697e-02 6.26520859e+01] [ 1.03306568e-01 2.98175295e-03 9.94645094e-01 8.92763270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.13, Y:62.69, Z:8.89 [[ 4.58726500e-01 -8.88571617e-01 3.23728033e-03 9.21259062e+01] [ 8.84071482e-01 4.56030804e-01 -1.02242462e-01 6.26854505e+01] [ 8.93734500e-02 4.97633139e-02 9.94754241e-01 8.88645561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.16, Y:62.69, Z:8.96 [[ 4.60379555e-01 -8.83365350e-01 -8.78426137e-02 9.21622896e+01] [ 8.81549655e-01 4.66583424e-01 -7.19035064e-02 6.26944677e+01] [ 1.04502974e-01 -4.43347216e-02 9.93535888e-01 8.95987092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.15, Y:62.73, Z:8.90 [[ 4.54104196e-01 -8.90947165e-01 -1.58988752e-03 9.21544066e+01] [ 8.86210658e-01 4.51872410e-01 -1.02186078e-01 6.27336222e+01] [ 9.17608225e-02 4.49941514e-02 9.94764031e-01 8.89651068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.18, Y:62.75, Z:8.92 [[ 4.52708960e-01 -8.91059968e-01 -3.26608456e-02 9.21750809e+01] [ 8.86798630e-01 4.53758529e-01 -8.77005585e-02 6.27539466e+01] [ 9.29665941e-02 1.07392355e-02 9.95611310e-01 8.91674567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.19, Y:62.78, Z:8.92 [[ 4.50941050e-01 -8.91726887e-01 -3.84099949e-02 9.21886937e+01] [ 8.87978747e-01 4.52565610e-01 -8.17197236e-02 6.27767716e+01] [ 9.02547176e-02 2.74351883e-03 9.95914936e-01 8.92233814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.22, Y:62.79, Z:8.98 [[ 4.51941648e-01 -8.87289738e-01 -9.20090593e-02 9.22160417e+01] [ 8.85892066e-01 4.58525303e-01 -7.03547680e-02 6.27915011e+01] [ 1.04613545e-01 -4.97138459e-02 9.93269621e-01 8.97633508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.22, Y:62.82, Z:8.95 [[ 4.51156965e-01 -8.91263746e-01 -4.58947429e-02 9.22198195e+01] [ 8.86337531e-01 4.53482684e-01 -9.35907877e-02 6.28224634e+01] [ 1.04226547e-01 1.54590260e-03 9.94552380e-01 8.95172386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.23, Y:62.85, Z:8.95 [[ 4.50111397e-01 -8.91792474e-01 -4.58902223e-02 9.22325797e+01] [ 8.86862869e-01 4.52442336e-01 -9.36492638e-02 6.28472557e+01] [ 1.04278388e-01 1.45426675e-03 9.94547084e-01 8.95483371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.25, Y:62.87, Z:8.96 [[ 4.49144007e-01 -8.92295625e-01 -4.55870344e-02 9.22452204e+01] [ 8.87427019e-01 4.51449525e-01 -9.30946379e-02 6.28719248e+01] [ 1.03648183e-01 1.35773264e-03 9.94613096e-01 8.95758369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.26, Y:62.90, Z:8.96 [[ 4.46349365e-01 -8.93716551e-01 -4.51992420e-02 9.22579685e+01] [ 8.88931227e-01 4.48630836e-01 -9.23669091e-02 6.28956980e+01] [ 1.02827609e-01 1.04889354e-03 9.94698639e-01 8.96099104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.27, Y:62.92, Z:8.96 [[ 4.44527068e-01 -8.94641168e-01 -4.48649717e-02 9.22708052e+01] [ 8.89924340e-01 4.46784559e-01 -9.17509013e-02 6.29204519e+01] [ 1.02129110e-01 8.59328837e-04 9.94770781e-01 8.96449232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.28, Y:62.94, Z:8.97 [[ 4.42852582e-01 -8.95488361e-01 -4.45217496e-02 9.22837744e+01] [ 8.90841454e-01 4.45084400e-01 -9.11119102e-02 6.29446229e+01] [ 1.01405591e-01 6.87324564e-04 9.94844929e-01 8.96771968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.30, Y:62.97, Z:8.97 [[ 4.39079829e-01 -8.97362759e-01 -4.41472923e-02 9.22970627e+01] [ 8.92796606e-01 4.41293552e-01 -9.04113957e-02 6.29689950e+01] [ 1.00613735e-01 2.83267377e-04 9.94925523e-01 8.97088487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.31, Y:62.99, Z:8.97 [[ 4.37027033e-01 -8.98367679e-01 -4.40781698e-02 9.23092596e+01] [ 8.93814542e-01 4.39244245e-01 -9.03330390e-02 6.29932925e+01] [ 1.00513365e-01 8.02708891e-05 9.94935705e-01 8.97327700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.32, Y:63.02, Z:8.98 [[ 4.35283229e-01 -8.99212298e-01 -4.41106957e-02 9.23222154e+01] [ 8.94649988e-01 4.37512555e-01 -9.04663671e-02 6.30186622e+01] [ 1.00647453e-01 -8.51409230e-05 9.94922149e-01 8.97615036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.33, Y:63.04, Z:8.98 [[ 4.33848921e-01 -8.99904070e-01 -4.41336335e-02 9.23344692e+01] [ 8.95334140e-01 4.36087854e-01 -9.05768224e-02 6.30432940e+01] [ 1.00756593e-01 -2.17692083e-04 9.94911082e-01 8.97796399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80687499999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.35, Y:63.07, Z:8.98 [[ 4.32546382e-01 -9.00510854e-01 -4.45401877e-02 9.23461502e+01] [ 8.95854461e-01 4.34833399e-01 -9.14587375e-02 6.30675943e+01] [ 1.01727147e-01 -3.41379782e-04 9.94812279e-01 8.97960730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.36, Y:63.09, Z:8.98 [[ 4.32786823e-01 -9.00371343e-01 -4.50223370e-02 9.23584084e+01] [ 8.95605563e-01 4.35122242e-01 -9.25165394e-02 6.30926311e+01] [ 1.02889461e-01 -2.82316268e-04 9.94692756e-01 8.98279731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.37, Y:63.12, Z:8.99 [[ 4.33474883e-01 -9.00013431e-01 -4.55560103e-02 9.23700555e+01] [ 8.95124843e-01 4.35862129e-01 -9.36788107e-02 6.31172121e+01] [ 1.04168327e-01 -1.70904997e-04 9.94559667e-01 8.98522646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.38, Y:63.14, Z:8.99 [[ 4.34942053e-01 -8.99281767e-01 -4.60186333e-02 9.23816850e+01] [ 8.94283760e-01 4.37369756e-01 -9.46797403e-02 6.31421943e+01] [ 1.05270923e-01 2.64842192e-05 9.94443579e-01 8.98784380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.39, Y:63.17, Z:8.99 [[ 4.38796346e-01 -8.97338214e-01 -4.73486770e-02 9.23923673e+01] [ 8.92027359e-01 4.41343222e-01 -9.74851357e-02 6.31677716e+01] [ 1.08374155e-01 5.39806076e-04 9.94110030e-01 8.98914138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.40, Y:63.19, Z:8.99 [[ 4.41095768e-01 -8.96179831e-01 -4.79190324e-02 9.24036192e+01] [ 8.90725417e-01 4.43690163e-01 -9.87282659e-02 6.31930501e+01] [ 1.09739484e-01 8.65920142e-04 9.93960007e-01 8.99154076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.41, Y:63.22, Z:8.99 [[ 4.46212696e-01 -8.93614820e-01 -4.84436118e-02 9.24149348e+01] [ 8.88016944e-01 4.48831991e-01 -9.98786806e-02 6.32189912e+01] [ 1.10996112e-01 1.54838722e-03 9.93819634e-01 8.99453949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.43, Y:63.24, Z:9.00 [[ 4.48370206e-01 -8.92530541e-01 -4.85117725e-02 9.24265428e+01] [ 8.86902685e-01 4.50983154e-01 -1.00089071e-01 6.32443180e+01] [ 1.11210545e-01 1.85173634e-03 9.93795143e-01 8.99686898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.44, Y:63.27, Z:9.00 [[ 4.50435356e-01 -8.91480009e-01 -4.86968579e-02 9.24381805e+01] [ 8.85794783e-01 4.53054920e-01 -1.00542740e-01 6.32688414e+01] [ 1.11694194e-01 2.15258227e-03 9.93740295e-01 8.99987830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.45, Y:63.29, Z:9.00 [[ 4.52308392e-01 -8.90529163e-01 -4.87332394e-02 9.24499431e+01] [ 8.84821445e-01 4.54919700e-01 -1.00692983e-01 6.32938281e+01] [ 1.11839748e-01 2.42406579e-03 9.93723299e-01 9.00261581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.46, Y:63.32, Z:9.01 [[ 4.52475275e-01 -8.90453872e-01 -4.85595292e-02 9.24613650e+01] [ 8.84778508e-01 4.55066829e-01 -1.00405040e-01 6.33194077e+01] [ 1.11503888e-01 2.46637037e-03 9.93760937e-01 9.00527301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.47, Y:63.34, Z:9.01 [[ 4.51929247e-01 -8.90752151e-01 -4.81721992e-02 9.24734845e+01] [ 8.85161135e-01 4.54483023e-01 -9.96742044e-02 6.33446391e+01] [ 1.10678459e-01 2.40552959e-03 9.93853355e-01 9.00847232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16687499999999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:92.49, Y:63.37, Z:9.01 [[ 4.51434742e-01 -8.91028833e-01 -4.76895536e-02 9.24856260e+01] [ 8.85543638e-01 4.53940657e-01 -9.87438348e-02 6.33687483e+01] [ 1.09631831e-01 2.34521679e-03 9.93969497e-01 9.01223898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.50, Y:63.39, Z:9.02 [[ 4.51582151e-01 -8.90957616e-01 -4.76244357e-02 9.24981950e+01] [ 8.85481201e-01 4.54080219e-01 -9.86620403e-02 6.33937798e+01] [ 1.09529010e-01 2.38347383e-03 9.93980742e-01 9.01630502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.51, Y:63.42, Z:9.02 [[ 4.51946259e-01 -8.90771397e-01 -4.76539348e-02 9.25097949e+01] [ 8.85279342e-01 4.54444997e-01 -9.87938805e-02 6.34177972e+01] [ 1.09658855e-01 2.46248074e-03 9.93966233e-01 9.01888899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.52, Y:63.44, Z:9.02 [[ 4.52198337e-01 -8.90639315e-01 -4.77312688e-02 9.25216204e+01] [ 8.85120493e-01 4.54703417e-01 -9.90278531e-02 6.34428693e+01] [ 1.09901670e-01 2.53230630e-03 9.93939239e-01 9.02109825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.53, Y:63.47, Z:9.02 [[ 4.52726610e-01 -8.90378278e-01 -4.75934824e-02 9.25341805e+01] [ 8.84882316e-01 4.55213861e-01 -9.88110714e-02 6.34679335e+01] [ 1.09644444e-01 2.61977052e-03 9.93967420e-01 9.02406781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.55, Y:63.49, Z:9.03 [[ 4.53339108e-01 -8.90084613e-01 -4.72549997e-02 9.25471740e+01] [ 8.84657709e-01 4.55787315e-01 -9.81766864e-02 6.34925401e+01] [ 1.08923787e-01 2.70283170e-03 9.94046429e-01 9.02704895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.56, Y:63.52, Z:9.03 [[ 4.53789247e-01 -8.89866266e-01 -4.70462240e-02 9.25601467e+01] [ 8.84478649e-01 4.56213031e-01 -9.78120119e-02 6.35172850e+01] [ 1.08502710e-01 2.77465855e-03 9.94092281e-01 9.03050589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.57, Y:63.54, Z:9.03 [[ 4.54171833e-01 -8.89670684e-01 -4.70533744e-02 9.25732776e+01] [ 8.84272812e-01 4.56593835e-01 -9.78961911e-02 6.35423761e+01] [ 1.08579652e-01 2.85367286e-03 9.94083656e-01 9.03368849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.59, Y:63.57, Z:9.04 [[ 4.54244797e-01 -8.89624848e-01 -4.72153990e-02 9.25861670e+01] [ 8.84181647e-01 4.56682799e-01 -9.83038019e-02 6.35676410e+01] [ 1.09015965e-01 2.90700129e-03 9.94035748e-01 9.03666024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.60, Y:63.59, Z:9.04 [[ 4.54675573e-01 -8.89390398e-01 -4.74851910e-02 9.25989876e+01] [ 8.83875540e-01 4.57138538e-01 -9.89362788e-02 6.35926089e+01] [ 1.09700287e-01 3.01291043e-03 9.93960145e-01 9.03883749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.61, Y:63.62, Z:9.04 [[ 4.52836520e-01 -8.90308350e-01 -4.78552722e-02 9.26114436e+01] [ 8.84704016e-01 4.55349253e-01 -9.97790606e-02 6.36177199e+01] [ 1.10624993e-01 2.84585108e-03 9.93858145e-01 9.04121211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.62, Y:63.64, Z:9.04 [[ 4.51443104e-01 -8.90997389e-01 -4.81952010e-02 9.26242459e+01] [ 8.85308671e-01 4.54000223e-01 -1.00560203e-01 6.36423383e+01] [ 1.11479511e-01 2.72958100e-03 9.93762984e-01 9.04406797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.64, Y:63.67, Z:9.05 [[ 4.50035770e-01 -8.91718897e-01 -4.80126446e-02 9.26368787e+01] [ 8.86069189e-01 4.52582345e-01 -1.00252751e-01 6.36659844e+01] [ 1.11126948e-01 2.57479903e-03 9.93802884e-01 9.04643731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.65, Y:63.69, Z:9.05 [[ 4.49806452e-01 -8.91836196e-01 -4.79828614e-02 9.26490730e+01] [ 8.86185635e-01 4.52351133e-01 -1.00267005e-01 6.36917261e+01] [ 1.11126846e-01 2.57902306e-03 9.93802884e-01 9.04928512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.66, Y:63.72, Z:9.05 [[ 4.48405462e-01 -8.92513080e-01 -4.85071405e-02 9.26629586e+01] [ 8.86734107e-01 4.51014748e-01 -1.01431357e-01 6.37164208e+01] [ 1.12406249e-01 2.46943877e-03 9.93659266e-01 9.05249952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.68, Y:63.74, Z:9.05 [[ 4.47689168e-01 -8.92866403e-01 -4.86209302e-02 9.26752611e+01] [ 8.87053812e-01 4.50315143e-01 -1.01743828e-01 6.37405308e+01] [ 1.12738387e-01 2.42022830e-03 9.93621758e-01 9.05482470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.69, Y:63.77, Z:9.06 [[ 4.46862503e-01 -8.93276865e-01 -4.86861878e-02 9.26888686e+01] [ 8.87442251e-01 4.49500719e-01 -1.01957609e-01 6.37651773e+01] [ 1.12960849e-01 2.35485203e-03 9.93596649e-01 9.05832371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.70, Y:63.79, Z:9.06 [[ 4.45346580e-01 -8.94050066e-01 -4.83828818e-02 9.27011046e+01] [ 8.88284487e-01 4.47961756e-01 -1.01394950e-01 6.37890957e+01] [ 1.12325843e-01 2.17813095e-03 9.93669040e-01 9.06116146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.71, Y:63.81, Z:9.06 [[ 4.44309132e-01 -8.94576375e-01 -4.81923706e-02 9.27136108e+01] [ 8.88850272e-01 4.46910295e-01 -1.01076121e-01 6.38136796e+01] [ 1.11957976e-01 2.07324181e-03 9.93710779e-01 9.06432573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.73, Y:63.84, Z:9.07 [[ 4.42900881e-01 -8.95293890e-01 -4.78294970e-02 9.27263900e+01] [ 8.89649343e-01 4.45471876e-01 -1.00393497e-01 6.38386813e+01] [ 1.11188380e-01 1.91288763e-03 9.93797507e-01 9.06785699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.766875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:92.74, Y:63.86, Z:9.07 [[ 4.40914403e-01 -8.96281218e-01 -4.76913869e-02 9.27403532e+01] [ 8.90667228e-01 4.43482942e-01 -1.00173699e-01 6.38634607e+01] [ 1.10934122e-01 1.69087145e-03 9.93826324e-01 9.07155346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.75, Y:63.89, Z:9.07 [[ 4.39824942e-01 -8.96809699e-01 -4.78161559e-02 9.27530259e+01] [ 8.91161307e-01 4.42413635e-01 -1.00507214e-01 6.38887835e+01] [ 1.11290364e-01 1.59367166e-03 9.93786655e-01 9.07368878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.77, Y:63.91, Z:9.08 [[ 4.37422817e-01 -8.97967012e-01 -4.81302886e-02 9.27658880e+01] [ 8.92242710e-01 4.40060732e-01 -1.01239806e-01 6.39140469e+01] [ 1.12090256e-01 1.34070182e-03 9.93697125e-01 9.07589536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.78, Y:63.94, Z:9.08 [[ 4.35114280e-01 -8.99068428e-01 -4.84925201e-02 9.27788365e+01] [ 8.93255839e-01 4.37806756e-01 -1.02074727e-01 6.39393702e+01] [ 1.13002517e-01 1.09794460e-03 9.93594095e-01 9.07918451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.79, Y:63.96, Z:9.08 [[ 4.33604641e-01 -8.99788099e-01 -4.86661322e-02 9.27914024e+01] [ 8.93929970e-01 4.36326120e-01 -1.02512078e-01 6.39630653e+01] [ 1.13473452e-01 9.45598604e-04 9.93540579e-01 9.08192686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.80, Y:63.99, Z:9.08 [[ 4.31834455e-01 -9.00655846e-01 -4.83533932e-02 9.28041665e+01] [ 8.94872104e-01 4.34532511e-01 -1.01908848e-01 6.39881306e+01] [ 1.12795921e-01 7.37649195e-04 9.93617902e-01 9.08437375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.82, Y:64.01, Z:9.09 [[ 4.31741751e-01 -9.00705923e-01 -4.82483142e-02 9.28159330e+01] [ 8.94939576e-01 4.34428672e-01 -1.01758955e-01 6.40131317e+01] [ 1.12615345e-01 7.54263702e-04 9.93638372e-01 9.08747859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.83, Y:64.04, Z:9.09 [[ 4.32605562e-01 -9.00327045e-01 -4.75777233e-02 9.28271189e+01] [ 8.94710146e-01 4.35213110e-01 -1.00415649e-01 6.40370078e+01] [ 1.11113374e-01 8.72096595e-04 9.93807354e-01 9.09100958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.84, Y:64.06, Z:9.09 [[ 4.33056524e-01 -9.00116379e-01 -4.74610563e-02 9.28386634e+01] [ 8.94516681e-01 4.35648463e-01 -1.00251299e-01 6.40622715e+01] [ 1.10914172e-01 9.59772368e-04 9.93829525e-01 9.09413618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.85, Y:64.09, Z:9.10 [[ 4.33210651e-01 -9.00061231e-01 -4.70989607e-02 9.28497487e+01] [ 8.94538768e-01 4.35762304e-01 -9.95570506e-02 6.40871834e+01] [ 1.10131393e-01 9.97328449e-04 9.93916537e-01 9.09724873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.86, Y:64.11, Z:9.10 [[ 4.33670660e-01 -8.99855725e-01 -4.67913673e-02 9.28604672e+01] [ 8.94395798e-01 4.36186331e-01 -9.89830353e-02 6.41109309e+01] [ 1.09480206e-01 1.07603604e-03 9.93988394e-01 9.10023062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.87, Y:64.14, Z:9.10 [[ 4.33773485e-01 -8.99822843e-01 -4.64695002e-02 9.28709817e+01] [ 8.94431123e-01 4.36254092e-01 -9.83632782e-02 6.41354205e+01] [ 1.08782034e-01 1.10361468e-03 9.94065014e-01 9.10349733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.88, Y:64.16, Z:9.11 [[ 4.34073338e-01 -8.99678783e-01 -4.64588422e-02 9.28822425e+01] [ 8.94280224e-01 4.36550924e-01 -9.84183494e-02 6.41599700e+01] [ 1.08826551e-01 1.17355763e-03 9.94060061e-01 9.10588738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.156875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:92.89, Y:64.19, Z:9.11 [[ 4.32563360e-01 -9.00408214e-01 -4.64110805e-02 9.28938085e+01] [ 8.95016496e-01 4.35044827e-01 -9.83944622e-02 6.41859637e+01] [ 1.08786082e-01 1.02315650e-03 9.94064657e-01 9.10857115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.91, Y:64.21, Z:9.11 [[ 4.30357375e-01 -9.01467245e-01 -4.63609416e-02 9.29053751e+01] [ 8.96085543e-01 4.32846611e-01 -9.83590893e-02 6.42114262e+01] [ 1.08734674e-01 7.86189885e-04 9.94070497e-01 9.11173966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21687499999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:92.92, Y:64.24, Z:9.11 [[ 4.28159909e-01 -9.02510930e-01 -4.64016650e-02 9.29165181e+01] [ 8.97117960e-01 4.30666595e-01 -9.85172611e-02 6.42376698e+01] [ 1.08896552e-01 5.53374516e-04 9.94052934e-01 9.11445055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.93, Y:64.26, Z:9.12 [[ 4.27568591e-01 -9.02770653e-01 -4.68000850e-02 9.29271163e+01] [ 8.97277902e-01 4.30121930e-01 -9.94358670e-02 6.42625187e+01] [ 1.09897525e-01 5.22971460e-04 9.93942785e-01 9.11667045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.94, Y:64.29, Z:9.12 [[ 4.26804047e-01 -9.03101957e-01 -4.73831250e-02 9.29380551e+01] [ 8.97464479e-01 4.29425928e-01 -1.00751585e-01 6.42886269e+01] [ 1.11336496e-01 4.76512732e-04 9.93782651e-01 9.11881921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.95, Y:64.32, Z:9.12 [[ 4.25533150e-01 -9.03686778e-01 -4.76628346e-02 9.29480008e+01] [ 8.97977866e-01 4.28193975e-01 -1.01418301e-01 6.43154312e+01] [ 1.12059316e-01 3.56678620e-04 9.93701455e-01 9.11964691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.96, Y:64.34, Z:9.12 [[ 4.24726597e-01 -9.04054584e-01 -4.78813890e-02 9.29593781e+01] [ 8.98287100e-01 4.27416921e-01 -1.01956173e-01 6.43415924e+01] [ 1.12639262e-01 2.92264415e-04 9.93635905e-01 9.12227829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.97, Y:64.37, Z:9.13 [[ 4.24287046e-01 -9.04257460e-01 -4.79473408e-02 9.29710831e+01] [ 8.98466931e-01 4.26987555e-01 -1.02170451e-01 6.43674138e+01] [ 1.12861310e-01 2.70498569e-04 9.93610714e-01 9.12550710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.98, Y:64.39, Z:9.13 [[ 4.23970794e-01 -9.04399443e-01 -4.80667480e-02 9.29818376e+01] [ 8.98572354e-01 4.26686743e-01 -1.02499501e-01 6.43923537e+01] [ 1.13209935e-01 2.65343807e-04 9.93571054e-01 9.12941387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.99, Y:64.42, Z:9.13 [[ 4.23882690e-01 -9.04440231e-01 -4.80763414e-02 9.29927417e+01] [ 8.98602262e-01 4.26600265e-01 -1.02597211e-01 6.44176342e+01] [ 1.13302425e-01 2.87672541e-04 9.93560505e-01 9.13236068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.00, Y:64.44, Z:9.14 [[ 4.24101330e-01 -9.04344741e-01 -4.79442567e-02 9.30040045e+01] [ 8.98529970e-01 4.26802614e-01 -1.02388577e-01 6.44436788e+01] [ 1.13057305e-01 3.43780186e-04 9.93588410e-01 9.13564912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.486875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:93.01, Y:64.47, Z:9.14 [[ 4.24664773e-01 -9.04085926e-01 -4.78379402e-02 9.30146181e+01] [ 8.98287234e-01 4.27350491e-01 -1.02233084e-01 6.44683594e+01] [ 1.12871060e-01 4.42578503e-04 9.93609545e-01 9.13820997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.02, Y:64.49, Z:9.14 [[ 4.26176427e-01 -9.03384782e-01 -4.76401959e-02 9.30240871e+01] [ 8.97623358e-01 4.28830401e-01 -1.01866549e-01 6.44933029e+01] [ 1.12454255e-01 6.50169392e-04 9.93656690e-01 9.14069007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.03, Y:64.52, Z:9.14 [[ 4.27059793e-01 -9.02977676e-01 -4.74473492e-02 9.30349453e+01] [ 8.97251807e-01 4.29686743e-01 -1.01530774e-01 6.45186183e+01] [ 1.12067519e-01 7.87491442e-04 9.93700282e-01 9.14268374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.05, Y:64.54, Z:9.15 [[ 4.28005816e-01 -9.02537299e-01 -4.73016435e-02 9.30462279e+01] [ 8.96835073e-01 4.30610672e-01 -1.01298084e-01 6.45445650e+01] [ 1.11793891e-01 9.34395998e-04 9.93730976e-01 9.14616376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.60687499999999 meters Centerline goodness : 0.999926 Centerline is valid? [True, True] Translation: X:93.06, Y:64.57, Z:9.15 [[ 4.28995324e-01 -9.02079306e-01 -4.70737524e-02 9.30573269e+01] [ 8.96421226e-01 4.31568951e-01 -1.00882238e-01 6.45705697e+01] [ 1.11319349e-01 1.08009758e-03 9.93784099e-01 9.14889234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.07, Y:64.60, Z:9.15 [[ 4.31357362e-01 -9.00949640e-01 -4.71229562e-02 9.30678379e+01] [ 8.95264851e-01 4.33921388e-01 -1.01059762e-01 6.45962527e+01] [ 1.11497415e-01 1.40534597e-03 9.93763730e-01 9.15146965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.08, Y:64.62, Z:9.15 [[ 4.32335821e-01 -9.00486040e-01 -4.70173350e-02 9.30784021e+01] [ 8.94815994e-01 4.34882145e-01 -1.00905186e-01 6.46209502e+01] [ 1.11310711e-01 1.55306321e-03 9.93784440e-01 9.15361549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.09, Y:64.65, Z:9.16 [[ 4.33219763e-01 -9.00057804e-01 -4.70806317e-02 9.30898111e+01] [ 8.94361387e-01 4.35767212e-01 -1.01116991e-01 6.46465500e+01] [ 1.11527332e-01 1.69877982e-03 9.93759915e-01 9.15620019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72687499999999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:93.10, Y:64.67, Z:9.16 [[ 4.36078166e-01 -8.98665904e-01 -4.72802963e-02 9.31004484e+01] [ 8.92904631e-01 4.38628771e-01 -1.01617523e-01 6.46712428e+01] [ 1.12058701e-01 2.09638750e-03 9.93699377e-01 9.15869366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.11, Y:64.70, Z:9.16 [[ 4.37137181e-01 -8.98141911e-01 -4.74572670e-02 9.31106963e+01] [ 8.92327661e-01 4.39699872e-01 -1.02055714e-01 6.46950601e+01] [ 1.12527468e-01 2.26491492e-03 9.93646033e-01 9.16130683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.12, Y:64.72, Z:9.16 [[ 4.38343587e-01 -8.97550018e-01 -4.75275121e-02 9.31218054e+01] [ 8.91705482e-01 4.40905799e-01 -1.02290807e-01 6.47202728e+01] [ 1.12766272e-01 2.45797635e-03 9.93618501e-01 9.16361087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.13, Y:64.75, Z:9.17 [[ 4.38858803e-01 -8.97298873e-01 -4.75150894e-02 9.31331520e+01] [ 8.91448057e-01 4.41416148e-01 -1.02333500e-01 6.47457463e+01] [ 1.12797662e-01 2.55272308e-03 9.93614700e-01 9.16586646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.15, Y:64.77, Z:9.17 [[ 4.38059473e-01 -8.97700987e-01 -4.72951901e-02 9.31450704e+01] [ 8.91898344e-01 4.40598268e-01 -1.01933851e-01 6.47711437e+01] [ 1.12344297e-01 2.47058710e-03 9.93666269e-01 9.16881648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.876875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:93.16, Y:64.80, Z:9.17 [[ 4.36940030e-01 -8.98269645e-01 -4.68514169e-02 9.31570355e+01] [ 8.92570890e-01 4.39438501e-01 -1.01049547e-01 6.47959485e+01] [ 1.11358057e-01 2.33438111e-03 9.93777608e-01 9.17152133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.17, Y:64.82, Z:9.17 [[ 4.35322209e-01 -8.99056960e-01 -4.68098020e-02 9.31690880e+01] [ 8.93364746e-01 4.37826338e-01 -1.01032311e-01 6.48206629e+01] [ 1.11328367e-01 2.16338193e-03 9.93781321e-01 9.17496908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.18, Y:64.85, Z:9.18 [[ 4.31645004e-01 -9.00855116e-01 -4.62887733e-02 9.31821518e+01] [ 8.95291583e-01 4.34116486e-01 -9.99792880e-02 6.48453482e+01] [ 1.10161573e-01 1.71361107e-03 9.93912215e-01 9.17847176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.19, Y:64.87, Z:9.18 [[ 4.29150316e-01 -9.02069106e-01 -4.58403205e-02 9.31941290e+01] [ 8.96612300e-01 4.31589287e-01 -9.90811321e-02 6.48697056e+01] [ 1.09162220e-01 1.41970388e-03 9.94022934e-01 9.18104501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.21, Y:64.89, Z:9.18 [[ 4.26154627e-01 -9.03500451e-01 -4.55978992e-02 9.32065395e+01] [ 8.98103604e-01 4.28585797e-01 -9.86110061e-02 6.48947168e+01] [ 1.08637701e-01 1.07189889e-03 9.94080832e-01 9.18394552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.22, Y:64.92, Z:9.19 [[ 4.18644047e-01 -9.07029363e-01 -4.51098213e-02 9.32204143e+01] [ 9.01760384e-01 4.21067331e-01 -9.76243400e-02 6.49188187e+01] [ 1.07542415e-01 1.91599044e-04 9.94200479e-01 9.18784864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.23, Y:64.94, Z:9.19 [[ 4.14268818e-01 -9.09052967e-01 -4.47666115e-02 9.32333989e+01] [ 9.03868336e-01 4.16680469e-01 -9.69505958e-02 6.49440553e+01] [ 1.06786599e-01 -2.99513904e-04 9.94281918e-01 9.19189105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.25, Y:64.97, Z:9.20 [[ 4.09716600e-01 -9.11128397e-01 -4.44674165e-02 9.32459832e+01] [ 9.06017687e-01 4.12121825e-01 -9.63719521e-02 6.49694541e+01] [ 1.06133215e-01 -8.03077262e-04 9.94351596e-01 9.19553844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.26, Y:64.99, Z:9.20 [[ 4.05209232e-01 -9.13153879e-01 -4.42207236e-02 9.32580515e+01] [ 9.08104501e-01 4.07612949e-01 -9.59056812e-02 6.49946437e+01] [ 1.05601584e-01 -1.29517075e-03 9.94407677e-01 9.19891400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.27, Y:65.02, Z:9.20 [[ 3.96277072e-01 -9.17082665e-01 -4.38619112e-02 9.32690362e+01] [ 9.12131394e-01 3.98690566e-01 -9.51953429e-02 6.50190292e+01] [ 1.04789329e-01 -2.28409444e-03 9.94491820e-01 9.20130089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.28, Y:65.04, Z:9.20 [[ 3.91819284e-01 -9.19002823e-01 -4.37202453e-02 9.32806084e+01] [ 9.14087815e-01 3.94241307e-01 -9.49592432e-02 6.50449886e+01] [ 1.04504139e-01 -2.75728085e-03 9.94520629e-01 9.20353132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.29, Y:65.07, Z:9.21 [[ 3.87726803e-01 -9.20742635e-01 -4.35996210e-02 9.32920389e+01] [ 9.15858583e-01 3.90157448e-01 -9.47640306e-02 6.50700676e+01] [ 1.04264000e-01 -3.18853248e-03 9.94544545e-01 9.20642072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.30, Y:65.09, Z:9.21 [[ 3.83449790e-01 -9.22531363e-01 -4.36135675e-02 9.33029260e+01] [ 9.17648430e-01 3.85904888e-01 -9.48618747e-02 6.50947638e+01] [ 1.04343743e-01 -3.64715585e-03 9.94534605e-01 9.20930491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.31, Y:65.12, Z:9.21 [[ 3.76539941e-01 -9.25356904e-01 -4.39576219e-02 9.33132053e+01] [ 9.20409658e-01 3.79071100e-01 -9.56617141e-02 6.51210982e+01] [ 1.05184292e-01 -4.43856351e-03 9.94442841e-01 9.21304584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.32, Y:65.15, Z:9.22 [[ 3.73627613e-01 -9.26536661e-01 -4.39570652e-02 9.33226023e+01] [ 9.21590309e-01 3.76174581e-01 -9.57287194e-02 6.51459709e+01] [ 1.05231699e-01 -4.74351244e-03 9.94436418e-01 9.21609041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.33, Y:65.17, Z:9.22 [[ 3.70811711e-01 -9.27653108e-01 -4.42536561e-02 9.33318906e+01] [ 9.22638849e-01 3.73408718e-01 -9.64545709e-02 6.51729417e+01] [ 1.06001083e-01 -5.06365777e-03 9.94353121e-01 9.21914299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.34, Y:65.20, Z:9.22 [[ 3.68187842e-01 -9.28694132e-01 -4.43274426e-02 9.33386637e+01] [ 9.23663087e-01 3.70808081e-01 -9.66843730e-02 6.52003856e+01] [ 1.06227184e-01 -5.34561184e-03 9.94327516e-01 9.22222743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.35, Y:65.23, Z:9.22 [[ 3.67451304e-01 -9.28998464e-01 -4.40612485e-02 9.33469023e+01] [ 9.24022767e-01 3.70044540e-01 -9.61715376e-02 6.52275732e+01] [ 1.05647835e-01 -5.37523980e-03 9.94389080e-01 9.22461352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.35, Y:65.25, Z:9.23 [[ 3.67667527e-01 -9.28917548e-01 -4.39633723e-02 9.33546609e+01] [ 9.23956288e-01 3.70248485e-01 -9.60251891e-02 6.52541387e+01] [ 1.05476855e-01 -5.31489045e-03 9.94407555e-01 9.22705603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.36, Y:65.28, Z:9.23 [[ 3.68555993e-01 -9.28565620e-01 -4.39587271e-02 9.33625682e+01] [ 9.23597546e-01 3.71131927e-01 -9.60659433e-02 6.52814494e+01] [ 1.05518019e-01 -5.19449338e-03 9.94403824e-01 9.22956522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.37, Y:65.31, Z:9.23 [[ 3.68400976e-01 -9.28628334e-01 -4.39333458e-02 9.33743078e+01] [ 9.23659333e-01 3.70975121e-01 -9.60775496e-02 6.53073497e+01] [ 1.05518513e-01 -5.18438186e-03 9.94403824e-01 9.23241058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.38, Y:65.34, Z:9.23 [[ 3.71650630e-01 -9.27327243e-01 -4.40453599e-02 9.33762090e+01] [ 9.22319130e-01 3.74220595e-01 -9.63658094e-02 6.53361790e+01] [ 1.05845321e-01 -4.80946419e-03 9.94370976e-01 9.23452762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.38, Y:65.36, Z:9.24 [[ 3.74164735e-01 -9.26315141e-01 -4.40569011e-02 9.33825055e+01] [ 9.21291960e-01 3.76722676e-01 -9.64424652e-02 6.53632343e+01] [ 1.05933349e-01 -4.50389929e-03 9.94363032e-01 9.23696478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.39, Y:65.39, Z:9.24 [[ 3.76495033e-01 -9.25370964e-01 -4.40462181e-02 9.33891449e+01] [ 9.20336182e-01 3.79039395e-01 -9.64906697e-02 6.53911297e+01] [ 1.05984916e-01 -4.20907031e-03 9.94358829e-01 9.23944853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.40, Y:65.42, Z:9.24 [[ 3.78625264e-01 -9.24500329e-01 -4.40687136e-02 9.33960379e+01] [ 9.19447283e-01 3.81160875e-01 -9.66078692e-02 6.54187973e+01] [ 1.06111276e-01 -3.94067907e-03 9.94346453e-01 9.24252665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.40, Y:65.45, Z:9.25 [[ 3.82795936e-01 -9.22776077e-01 -4.41767319e-02 9.33986361e+01] [ 9.17679232e-01 3.85321251e-01 -9.69141872e-02 6.54484607e+01] [ 1.06452327e-01 -3.44171244e-03 9.94311851e-01 9.24554217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.41, Y:65.48, Z:9.25 [[ 3.84318187e-01 -9.22148432e-01 -4.40658781e-02 9.34055066e+01] [ 9.17065706e-01 3.86822728e-01 -9.67402153e-02 6.54760143e+01] [ 1.06254521e-01 -3.23228145e-03 9.94333711e-01 9.24828569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.41, Y:65.50, Z:9.25 [[ 3.85757622e-01 -9.21541072e-01 -4.41940032e-02 9.34126048e+01] [ 9.16417183e-01 3.88268944e-01 -9.70915773e-02 6.55034712e+01] [ 1.06633035e-01 -3.04632795e-03 9.94293777e-01 9.25104592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.42, Y:65.53, Z:9.25 [[ 3.87857725e-01 -9.20652751e-01 -4.43271690e-02 9.34152653e+01] [ 9.15484482e-01 3.90372605e-01 -9.74545670e-02 6.55316972e+01] [ 1.07025928e-01 -2.78232870e-03 9.94252337e-01 9.25268290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.42, Y:65.56, Z:9.25 [[ 3.88129973e-01 -9.20546337e-01 -4.41538756e-02 9.34230656e+01] [ 9.15409984e-01 3.90623961e-01 -9.71467054e-02 6.55591915e+01] [ 1.06675606e-01 -2.71335034e-03 9.94290175e-01 9.25479366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.43, Y:65.59, Z:9.26 [[ 3.87942887e-01 -9.20621801e-01 -4.42246072e-02 9.34309430e+01] [ 9.15461839e-01 3.90446092e-01 -9.73728477e-02 6.55859596e+01] [ 1.06910891e-01 -2.71083661e-03 9.94264911e-01 9.25748504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.44, Y:65.61, Z:9.26 [[ 3.87185581e-01 -9.20949881e-01 -4.40300268e-02 9.34390562e+01] [ 9.15829949e-01 3.89671262e-01 -9.70144974e-02 6.56126725e+01] [ 1.06502726e-01 -2.76140259e-03 9.94308576e-01 9.25982251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.44, Y:65.64, Z:9.26 [[ 3.83748955e-01 -9.22482805e-01 -4.19787321e-02 9.34443003e+01] [ 9.17196217e-01 3.86037618e-01 -9.86207721e-02 6.56417745e+01] [ 1.07181336e-01 -6.57116068e-04 9.94239272e-01 9.26153164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.45, Y:65.67, Z:9.27 [[ 3.81254438e-01 -9.23325727e-01 -4.59853826e-02 9.34532695e+01] [ 9.18425514e-01 3.83971703e-01 -9.51856492e-02 6.56680600e+01] [ 1.05544444e-01 -5.94419746e-03 9.94396821e-01 9.26698116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.46, Y:65.70, Z:9.27 [[ 3.78507477e-01 -9.24574620e-01 -4.35185129e-02 9.34613272e+01] [ 9.19580023e-01 3.80983377e-01 -9.60429531e-02 6.56957284e+01] [ 1.05378707e-01 -3.66577921e-03 9.94425407e-01 9.26885502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.47, Y:65.72, Z:9.27 [[ 3.76166139e-01 -9.25550902e-01 -4.30646375e-02 9.34700527e+01] [ 9.20659343e-01 3.78603412e-01 -9.51095675e-02 6.57227725e+01] [ 1.04333165e-01 -3.87086208e-03 9.94534870e-01 9.27194548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.48, Y:65.75, Z:9.27 [[ 3.72321663e-01 -9.27146532e-01 -4.21412886e-02 9.34754797e+01] [ 9.22466008e-01 3.74675458e-01 -9.31384184e-02 6.57511073e+01] [ 1.02142268e-01 -4.19645550e-03 9.94760950e-01 9.27440376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.48, Y:65.78, Z:9.28 [[ 3.70995664e-01 -9.27685171e-01 -4.19814444e-02 9.34835801e+01] [ 9.23036588e-01 3.73338606e-01 -9.28533335e-02 6.57769091e+01] [ 1.01811955e-01 -4.30222515e-03 9.94794359e-01 9.27728866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.49, Y:65.80, Z:9.28 [[ 3.70404288e-01 -9.27913912e-01 -4.21477885e-02 9.34923294e+01] [ 9.23224546e-01 3.72769007e-01 -9.32722032e-02 6.58040990e+01] [ 1.02259964e-01 -4.36344892e-03 9.94748139e-01 9.27994667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.046875 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:93.50, Y:65.83, Z:9.28 [[ 3.70232191e-01 -9.27948705e-01 -4.28873664e-02 9.34972761e+01] [ 9.23085780e-01 3.72681668e-01 -9.49790367e-02 6.58319206e+01] [ 1.04119009e-01 -4.42442121e-03 9.94555004e-01 9.28152406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.076875 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:93.51, Y:65.86, Z:9.28 [[ 3.70353232e-01 -9.27888398e-01 -4.31463279e-02 9.35052314e+01] [ 9.22958266e-01 3.72832002e-01 -9.56260301e-02 6.58589771e+01] [ 1.04816616e-01 -4.40685071e-03 9.94481803e-01 9.28314885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.106875 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:93.51, Y:65.89, Z:9.29 [[ 3.70767971e-01 -9.27710410e-01 -4.34109119e-02 9.35132813e+01] [ 9.22710612e-01 3.73275256e-01 -9.62845251e-02 6.58856210e+01] [ 1.05528376e-01 -4.35649110e-03 9.94406749e-01 9.28514955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.136875 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:93.52, Y:65.91, Z:9.29 [[ 3.72253021e-01 -9.27096199e-01 -4.38215251e-02 9.35186854e+01] [ 9.21989018e-01 3.74800006e-01 -9.72687333e-02 6.59128026e+01] [ 1.06601781e-01 -4.19438511e-03 9.94292949e-01 9.28716365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.166875 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:93.53, Y:65.94, Z:9.29 [[ 3.73648293e-01 -9.26521157e-01 -4.41078168e-02 9.35269994e+01] [ 9.21334490e-01 3.76221114e-01 -9.79817865e-02 6.59387706e+01] [ 1.07376490e-01 -4.02732566e-03 9.94210275e-01 9.29026756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.196875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:93.54, Y:65.97, Z:9.29 [[ 3.75468635e-01 -9.25802791e-01 -4.37321090e-02 9.35354487e+01] [ 9.20691453e-01 3.77988170e-01 -9.72223857e-02 6.59659617e+01] [ 1.06538976e-01 -3.75982251e-03 9.94301418e-01 9.29278757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.226875 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:93.54, Y:65.99, Z:9.30 [[ 3.77683726e-01 -9.24908625e-01 -4.35779517e-02 9.35432347e+01] [ 9.19819593e-01 3.80173670e-01 -9.69530677e-02 6.59920445e+01] [ 1.06239918e-01 -3.46625792e-03 9.94334483e-01 9.29579505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.256875 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:93.55, Y:66.02, Z:9.30 [[ 3.82660180e-01 -9.22898120e-01 -4.27813910e-02 9.35481175e+01] [ 9.17973453e-01 3.85033893e-01 -9.52556568e-02 6.60191291e+01] [ 1.04383552e-01 -2.82163448e-03 9.94533113e-01 9.29867433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.28687499999998 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:93.56, Y:66.05, Z:9.30 [[ 3.84464766e-01 -9.22154774e-01 -4.26311581e-02 9.35567516e+01] [ 9.17252327e-01 3.86812501e-01 -9.49960967e-02 6.60462648e+01] [ 1.04091369e-01 -2.58087684e-03 9.94564390e-01 9.30166322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.31687499999998 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:93.56, Y:66.07, Z:9.30 [[ 3.85733394e-01 -9.21632994e-01 -4.24543586e-02 9.35648304e+01] [ 9.16760793e-01 3.88055219e-01 -9.46720414e-02 6.60719792e+01] [ 1.03727512e-01 -2.40232366e-03 9.94602851e-01 9.30421482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.34687499999998 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:93.57, Y:66.10, Z:9.31 [[ 3.86651914e-01 -9.21246215e-01 -4.24936307e-02 9.35737540e+01] [ 9.16354907e-01 3.88973329e-01 -9.48337183e-02 6.60990209e+01] [ 1.03894093e-01 -2.27160834e-03 9.94585772e-01 9.30697899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.37687499999998 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:93.58, Y:66.13, Z:9.31 [[ 3.88605954e-01 -9.20409162e-01 -4.28063871e-02 9.35799556e+01] [ 9.15432531e-01 3.90951198e-01 -9.56056613e-02 6.61255243e+01] [ 1.04731535e-01 -2.03343012e-03 9.94498452e-01 9.30926185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.40687499999999 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:93.59, Y:66.15, Z:9.31 [[ 3.89352055e-01 -9.20078156e-01 -4.31412187e-02 9.35888013e+01] [ 9.15013942e-01 3.91730074e-01 -9.64211330e-02 6.61517672e+01] [ 1.05614691e-01 -1.93305033e-03 9.94405250e-01 9.31170164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.436875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:93.60, Y:66.18, Z:9.31 [[ 3.89804237e-01 -9.19877751e-01 -4.33310460e-02 9.35976996e+01] [ 9.14759804e-01 3.92200801e-01 -9.69176638e-02 6.61781921e+01] [ 1.06146874e-01 -1.85858314e-03 9.94348725e-01 9.31397402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.466875 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:93.61, Y:66.21, Z:9.32 [[ 3.90842044e-01 -9.19424160e-01 -4.36086205e-02 9.36050420e+01] [ 9.14229556e-01 3.93263608e-01 -9.76117531e-02 6.62055058e+01] [ 1.06896288e-01 -1.71751264e-03 9.94268693e-01 9.31612155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.496875 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:93.61, Y:66.23, Z:9.32 [[ 3.91208181e-01 -9.19256540e-01 -4.38585548e-02 9.36142617e+01] [ 9.13992961e-01 3.93655541e-01 -9.82455174e-02 6.62309291e+01] [ 1.07577998e-01 -1.65196017e-03 9.94195275e-01 9.31847016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.526875 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:93.62, Y:66.26, Z:9.32 [[ 3.91449372e-01 -9.19152887e-01 -4.38789185e-02 9.36239928e+01] [ 9.13876458e-01 3.93897726e-01 -9.83585379e-02 6.62571239e+01] [ 1.07690340e-01 -1.59752270e-03 9.94183202e-01 9.32104654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.556875 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:93.63, Y:66.28, Z:9.32 [[ 3.91561644e-01 -9.19102539e-01 -4.39317784e-02 9.36338276e+01] [ 9.13805195e-01 3.94015352e-01 -9.85493160e-02 6.62832737e+01] [ 1.07886722e-01 -1.55695513e-03 9.94161974e-01 9.32379306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.586875 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:93.64, Y:66.31, Z:9.33 [[ 3.92565092e-01 -9.18674475e-01 -4.39301404e-02 9.36426892e+01] [ 9.13366982e-01 3.95012936e-01 -9.86181382e-02 6.63102443e+01] [ 1.07950940e-01 -1.41030129e-03 9.94155222e-01 9.32660182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.616875 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:93.65, Y:66.34, Z:9.33 [[ 3.93337422e-01 -9.18349190e-01 -4.38227985e-02 9.36529675e+01] [ 9.13057629e-01 3.95769006e-01 -9.84513060e-02 6.63363821e+01] [ 1.07756382e-01 -1.28815762e-03 9.94176495e-01 9.33006743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.646875 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:93.66, Y:66.36, Z:9.33 [[ 3.94638261e-01 -9.17792821e-01 -4.37833410e-02 9.36629893e+01] [ 9.12499352e-01 3.97058076e-01 -9.84368630e-02 6.63625877e+01] [ 1.07729175e-01 -1.10531792e-03 9.94179663e-01 9.33329018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.676875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:93.67, Y:66.39, Z:9.34 [[ 3.96494918e-01 -9.17000932e-01 -4.36012667e-02 9.36730995e+01] [ 9.11738655e-01 3.98884141e-01 -9.81023257e-02 6.63887847e+01] [ 1.07351778e-01 -8.55886610e-04 9.94220732e-01 9.33638784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.706875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:93.68, Y:66.41, Z:9.34 [[ 4.01497687e-01 -9.14840634e-01 -4.31997941e-02 9.36819519e+01] [ 9.09654690e-01 4.03815003e-01 -9.72717248e-02 6.64146098e+01] [ 1.06432851e-01 -2.42522804e-04 9.94319863e-01 9.33967676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.736875 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:93.69, Y:66.44, Z:9.34 [[ 4.04287856e-01 -9.13618944e-01 -4.30320228e-02 9.36922191e+01] [ 9.08460847e-01 4.06571537e-01 -9.69457306e-02 6.64405391e+01] [ 1.06067052e-01 1.01073676e-04 9.94358975e-01 9.34244452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.766875 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:93.70, Y:66.47, Z:9.35 [[ 4.07336865e-01 -9.12260012e-01 -4.31085621e-02 9.37024142e+01] [ 9.07067956e-01 4.09611319e-01 -9.71920287e-02 6.64660588e+01] [ 1.06322156e-01 4.87500972e-04 9.94331615e-01 9.34501934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.796875 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:93.71, Y:66.49, Z:9.35 [[ 4.13781757e-01 -9.09355364e-01 -4.30984935e-02 9.37128598e+01] [ 9.04141507e-01 4.16018275e-01 -9.72467504e-02 6.64923916e+01] [ 1.06361615e-01 1.27179432e-03 9.94326702e-01 9.34746112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.826875 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:93.72, Y:66.52, Z:9.35 [[ 4.17045725e-01 -9.07860914e-01 -4.31442192e-02 9.37241326e+01] [ 9.02620028e-01 4.19268069e-01 -9.74236723e-02 6.65180945e+01] [ 1.06536138e-01 1.68728974e-03 9.94307399e-01 9.35054695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.856875 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:93.73, Y:66.54, Z:9.35 [[ 4.19835740e-01 -9.06575112e-01 -4.31221217e-02 9.37345356e+01] [ 9.01324904e-01 4.22039553e-01 -9.74475971e-02 6.65424875e+01] [ 1.06542807e-01 2.04494187e-03 9.94306013e-01 9.35255699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.886875 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:93.75, Y:66.57, Z:9.35 [[ 4.22614638e-01 -9.05279099e-01 -4.32044163e-02 9.37458835e+01] [ 8.99994736e-01 4.24810503e-01 -9.77011371e-02 6.65680446e+01] [ 1.06800487e-01 2.40618344e-03 9.94277560e-01 9.35453810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.916875 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:93.76, Y:66.59, Z:9.36 [[ 4.27987317e-01 -9.02746083e-01 -4.33170429e-02 9.37579882e+01] [ 8.97412910e-01 4.30162767e-01 -9.80309306e-02 6.65938059e+01] [ 1.07130418e-01 3.08272145e-03 9.94240198e-01 9.35678396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.946875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:93.77, Y:66.62, Z:9.36 [[ 4.30010426e-01 -9.01780685e-01 -4.33892797e-02 9.37698534e+01] [ 8.96416602e-01 4.32180855e-01 -9.82699534e-02 6.66189658e+01] [ 1.07369962e-01 3.36223381e-03 9.94213451e-01 9.35944038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.976875 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:93.78, Y:66.64, Z:9.36 [[ 4.31721807e-01 -9.00953050e-01 -4.35876501e-02 9.37821410e+01] [ 8.95527169e-01 4.33901497e-01 -9.87956460e-02 6.66441844e+01] [ 1.07922985e-01 3.61830984e-03 9.94152673e-01 9.36181904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.006875 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:93.80, Y:66.67, Z:9.36 [[ 4.33162683e-01 -9.00268747e-01 -4.34312394e-02 9.37957425e+01] [ 8.94870277e-01 4.35317905e-01 -9.85165360e-02 6.66686048e+01] [ 1.07597755e-01 3.80836177e-03 9.94187216e-01 9.36449338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.03687499999998 meters Centerline goodness : 0.999939 Centerline is valid? [True, True] Translation: X:93.81, Y:66.69, Z:9.37 [[ 4.33159395e-01 -9.00282023e-01 -4.31881683e-02 9.38081578e+01] [ 8.94936035e-01 4.35290381e-01 -9.80396701e-02 6.66920737e+01] [ 1.07062747e-01 3.81615607e-03 9.94244942e-01 9.36727966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.06687499999998 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:93.82, Y:66.72, Z:9.37 [[ 4.32440375e-01 -9.00646237e-01 -4.27981205e-02 9.38214364e+01] [ 8.95391265e-01 4.34537120e-01 -9.72212657e-02 6.67167239e+01] [ 1.06159339e-01 3.72133734e-03 9.94342168e-01 9.37031314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.09687499999998 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:93.84, Y:66.74, Z:9.37 [[ 4.29675873e-01 -9.02016477e-01 -4.17722437e-02 9.38370120e+01] [ 8.97010036e-01 4.31688740e-01 -9.49622393e-02 6.67404622e+01] [ 1.03690112e-01 3.33286121e-03 9.94604068e-01 9.37424795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.12687499999998 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:93.85, Y:66.76, Z:9.38 [[ 4.27669025e-01 -9.02989983e-01 -4.13315252e-02 9.38505696e+01] [ 8.98086062e-01 4.29650452e-01 -9.40314554e-02 6.67649061e+01] [ 1.02667571e-01 3.09507415e-03 9.94710908e-01 9.37736779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.15687499999999 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:93.86, Y:66.79, Z:9.38 [[ 4.25111398e-01 -9.04194215e-01 -4.13898642e-02 9.38637144e+01] [ 8.99274553e-01 4.27112110e-01 -9.42365308e-02 6.67880853e+01] [ 1.02886238e-01 2.84017169e-03 9.94689075e-01 9.37990284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.186875 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:93.88, Y:66.81, Z:9.38 [[ 4.22232102e-01 -9.05543988e-01 -4.13537991e-02 9.38774539e+01] [ 9.00634131e-01 4.24244831e-01 -9.42044925e-02 6.68122539e+01] [ 1.02850447e-01 2.53151798e-03 9.94693610e-01 9.38288333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.216875 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:93.89, Y:66.83, Z:9.39 [[ 4.15715752e-01 -9.08558821e-01 -4.12466041e-02 9.38948843e+01] [ 9.03681567e-01 4.17752998e-01 -9.40322141e-02 6.68345670e+01] [ 1.02664690e-01 1.81687674e-03 9.94714361e-01 9.38688366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.91, Y:66.86, Z:9.39 [[ 4.11595334e-01 -9.10436285e-01 -4.11709996e-02 9.39090818e+01] [ 9.05578772e-01 4.13647036e-01 -9.39319784e-02 6.68590437e+01] [ 1.02549343e-01 1.37838077e-03 9.94726964e-01 9.38998930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.92, Y:66.88, Z:9.39 [[ 4.07691360e-01 -9.12185573e-01 -4.12945060e-02 9.39237657e+01] [ 9.07300090e-01 4.09776199e-01 -9.42868679e-02 6.68835623e+01] [ 1.02928626e-01 9.73432375e-04 9.94688268e-01 9.39315402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.306875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:93.94, Y:66.91, Z:9.40 [[ 3.99704143e-01 -9.15689927e-01 -4.18157356e-02 9.39406602e+01] [ 9.10690908e-01 4.01885488e-01 -9.55516827e-02 6.69061365e+01] [ 1.04300851e-01 1.11193204e-04 9.94545786e-01 9.39596947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.336875 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:93.95, Y:66.93, Z:9.40 [[ 3.95897083e-01 -9.17342000e-01 -4.18228920e-02 9.39549070e+01] [ 9.12342242e-01 3.98099950e-01 -9.56455109e-02 6.69302190e+01] [ 1.04389335e-01 -2.91012206e-04 9.94536466e-01 9.39896136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.366875 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:93.97, Y:66.96, Z:9.40 [[ 3.95664586e-01 -9.17443488e-01 -4.17969185e-02 9.39662113e+01] [ 9.12443095e-01 3.97866012e-01 -9.56568601e-02 6.69563200e+01] [ 1.04389337e-01 -2.89277729e-04 9.94536466e-01 9.40181071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.98, Y:66.98, Z:9.41 [[ 3.91904093e-01 -9.19049644e-01 -4.19396476e-02 9.39804309e+01] [ 9.14016951e-01 3.94141186e-01 -9.60507066e-02 6.69808115e+01] [ 1.04805510e-01 -6.90883759e-04 9.94492498e-01 9.40502599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.426875 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:93.99, Y:67.01, Z:9.41 [[ 3.89058246e-01 -9.20249761e-01 -4.21195701e-02 9.39943566e+01] [ 9.15172937e-01 3.91330295e-01 -9.65354649e-02 6.70051418e+01] [ 1.05319402e-01 -9.88771936e-04 9.94437955e-01 9.40794000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.456875 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:94.01, Y:67.03, Z:9.41 [[ 3.85052951e-01 -9.21923698e-01 -4.23192626e-02 9.40100413e+01] [ 9.16800529e-01 3.87368910e-01 -9.70675919e-02 6.70291265e+01] [ 1.05882080e-01 -1.42215964e-03 9.94377676e-01 9.41085184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.02, Y:67.05, Z:9.41 [[ 3.83341556e-01 -9.22647175e-01 -4.20885108e-02 9.40221393e+01] [ 9.17576288e-01 3.85641911e-01 -9.66130047e-02 6.70530738e+01] [ 1.05370810e-01 -1.58363996e-03 9.94431740e-01 9.41301680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.516875 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:94.03, Y:67.08, Z:9.42 [[ 3.82001253e-01 -9.23210575e-01 -4.19198823e-02 9.40345392e+01] [ 9.18175470e-01 3.84290695e-01 -9.63040437e-02 6.70782184e+01] [ 1.05018332e-01 -1.70154228e-03 9.94468830e-01 9.41551396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.546875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:94.05, Y:67.10, Z:9.42 [[ 3.80874355e-01 -9.23686722e-01 -4.16841083e-02 9.40466689e+01] [ 9.18703529e-01 3.83144384e-01 -9.58342674e-02 6.71037110e+01] [ 1.04491872e-01 -1.79452257e-03 9.94524122e-01 9.41831213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.576875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:94.06, Y:67.13, Z:9.42 [[ 3.79847623e-01 -9.24121639e-01 -4.14123113e-02 9.40591604e+01] [ 9.19198456e-01 3.82093817e-01 -9.52812318e-02 6.71282705e+01] [ 1.03874836e-01 -1.87378321e-03 9.94588612e-01 9.42113540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.07, Y:67.15, Z:9.42 [[ 3.79181773e-01 -9.24388806e-01 -4.15513863e-02 9.40704755e+01] [ 9.19426235e-01 3.81446757e-01 -9.56753328e-02 6.71535527e+01] [ 1.04290848e-01 -1.92509233e-03 9.94544978e-01 9.42418252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.08, Y:67.18, Z:9.43 [[ 3.79041053e-01 -9.24443382e-01 -4.16210679e-02 9.40814894e+01] [ 9.19456669e-01 3.81314524e-01 -9.59096880e-02 6.71788326e+01] [ 1.04533794e-01 -1.91505926e-03 9.94519491e-01 9.42643881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.666875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:94.09, Y:67.20, Z:9.43 [[ 3.80086262e-01 -9.23990132e-01 -4.21505585e-02 9.40912503e+01] [ 9.18864467e-01 3.82412152e-01 -9.72061614e-02 6.72042573e+01] [ 1.05936420e-01 -1.78392389e-03 9.94371305e-01 9.42763165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.10, Y:67.23, Z:9.43 [[ 3.80896476e-01 -9.23636633e-01 -4.25822133e-02 9.41017206e+01] [ 9.18394262e-01 3.83265671e-01 -9.82822725e-02 6.72302098e+01] [ 1.07097408e-01 -1.67188913e-03 9.94247127e-01 9.42939434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.11, Y:67.26, Z:9.43 [[ 3.81888223e-01 -9.23198622e-01 -4.31936221e-02 9.41123255e+01] [ 9.17792880e-01 3.84320086e-01 -9.97712415e-02 6.72567330e+01] [ 1.08708849e-01 -1.54133667e-03 9.94072437e-01 9.43112823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.12, Y:67.28, Z:9.43 [[ 3.84431294e-01 -9.22096418e-01 -4.41675926e-02 9.41221090e+01] [ 9.16427097e-01 3.86958259e-01 -1.02101328e-01 6.72817633e+01] [ 1.11238283e-01 -1.22543322e-03 9.93793008e-01 9.43221671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.78687499999998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:94.13, Y:67.31, Z:9.43 [[ 3.85337584e-01 -9.21698087e-01 -4.45823185e-02 9.41325793e+01] [ 9.15909363e-01 3.87906500e-01 -1.03143525e-01 6.73073898e+01] [ 1.12360961e-01 -1.08828608e-03 9.93666861e-01 9.43495662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.81687499999998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:94.14, Y:67.33, Z:9.44 [[ 3.86348892e-01 -9.21262689e-01 -4.48284615e-02 9.41428651e+01] [ 9.15397801e-01 3.88939817e-01 -1.03791547e-01 6.73319695e+01] [ 1.13054854e-01 -9.36125761e-04 9.93588307e-01 9.43694355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.15, Y:67.36, Z:9.44 [[ 3.87097926e-01 -9.20945883e-01 -4.48762348e-02 9.41533785e+01] [ 9.15057024e-01 3.89689647e-01 -1.03983759e-01 6.73574067e+01] [ 1.13251219e-01 -8.12416295e-04 9.93566053e-01 9.43971961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.16, Y:67.38, Z:9.44 [[ 3.88138460e-01 -9.20515128e-01 -4.47262295e-02 9.41646769e+01] [ 9.14654142e-01 3.90706375e-01 -1.03712726e-01 6.73829171e+01] [ 1.12943956e-01 -6.54133257e-04 9.93601145e-01 9.44327660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.90687499999999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:94.18, Y:67.41, Z:9.45 [[ 3.88516167e-01 -9.20374129e-01 -4.43469432e-02 9.41761620e+01] [ 9.14602861e-01 3.91038527e-01 -1.02910039e-01 6.74078114e+01] [ 1.12057101e-01 -5.77627163e-04 9.93701601e-01 9.44656131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.936875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:94.19, Y:67.43, Z:9.45 [[ 3.88645004e-01 -9.20346415e-01 -4.37896842e-02 9.41876479e+01] [ 9.14710728e-01 3.91103815e-01 -1.01696070e-01 6.74331322e+01] [ 1.10721926e-01 -5.31224109e-04 9.93851283e-01 9.44998697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.966875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:94.20, Y:67.46, Z:9.45 [[ 3.88939759e-01 -9.20257721e-01 -4.30301119e-02 9.41985532e+01] [ 9.14807491e-01 3.91312546e-01 -1.00008726e-01 6.74572028e+01] [ 1.08872025e-01 -4.66898965e-04 9.94055665e-01 9.45340783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.996875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:94.21, Y:67.48, Z:9.46 [[ 3.89041645e-01 -9.20230299e-01 -4.26942063e-02 9.42088860e+01] [ 9.14856152e-01 3.91377078e-01 -9.93086365e-02 6.74822895e+01] [ 1.08096350e-01 -4.23862002e-04 9.94140332e-01 9.45616273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.22, Y:67.51, Z:9.46 [[ 3.89643670e-01 -9.19992817e-01 -4.23205308e-02 9.42192498e+01] [ 9.14702662e-01 3.91935086e-01 -9.85186647e-02 6.75074624e+01] [ 1.07223365e-01 -3.23528127e-04 9.94234905e-01 9.45865116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.056875 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:94.23, Y:67.53, Z:9.46 [[ 3.90437587e-01 -9.19665086e-01 -4.21262472e-02 9.42300819e+01] [ 9.14413230e-01 3.92703564e-01 -9.81445654e-02 6.75330202e+01] [ 1.06803258e-01 -2.01470539e-04 9.94280153e-01 9.46139571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.24, Y:67.56, Z:9.46 [[ 3.91932127e-01 -9.19046006e-01 -4.17569942e-02 9.42412616e+01] [ 9.13874757e-01 3.94150275e-01 -9.73575372e-02 6.75580813e+01] [ 1.05934586e-01 -3.11627383e-06 9.94373101e-01 9.46442954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.25, Y:67.58, Z:9.47 [[ 3.95162103e-01 -9.17686154e-01 -4.12193648e-02 9.42514042e+01] [ 9.12632508e-01 3.97305894e-01 -9.61765625e-02 6.75826805e+01] [ 1.04636596e-01 3.87200361e-04 9.94510449e-01 9.46750198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.146875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:94.26, Y:67.61, Z:9.47 [[ 3.96746884e-01 -9.17005945e-01 -4.11339987e-02 9.42622360e+01] [ 9.11963837e-01 3.98873101e-01 -9.60323363e-02 6.76087460e+01] [ 1.04469469e-01 5.87810948e-04 9.94527920e-01 9.46997169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.27, Y:67.63, Z:9.47 [[ 3.98701944e-01 -9.16153082e-01 -4.12345682e-02 9.42735478e+01] [ 9.11073712e-01 4.00827665e-01 -9.63424844e-02 6.76346357e+01] [ 1.04792420e-01 8.44204681e-04 9.94493759e-01 9.47274969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.29, Y:67.66, Z:9.47 [[ 4.02375308e-01 -9.14537107e-01 -4.14245400e-02 9.42850215e+01] [ 9.09394006e-01 4.04499914e-01 -9.68625892e-02 6.76587346e+01] [ 1.05340655e-01 1.30388572e-03 9.94435340e-01 9.47477234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.30, Y:67.68, Z:9.48 [[ 4.03802492e-01 -9.13906117e-01 -4.14627216e-02 9.42962942e+01] [ 9.08741716e-01 4.05922839e-01 -9.70316573e-02 6.76847079e+01] [ 1.05508491e-01 1.50272023e-03 9.94417267e-01 9.47678833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.31, Y:67.71, Z:9.48 [[ 4.05736598e-01 -9.13034927e-01 -4.17736094e-02 9.43077147e+01] [ 9.07779885e-01 4.07877525e-01 -9.78345849e-02 6.77101948e+01] [ 1.06364909e-01 1.77382933e-03 9.94325580e-01 9.47869506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.32, Y:67.74, Z:9.48 [[ 4.09638400e-01 -9.11253652e-01 -4.25812386e-02 9.43203312e+01] [ 9.05774673e-01 4.11839075e-01 -9.98039000e-02 6.77352517e+01] [ 1.08483286e-01 2.31450248e-03 9.94095579e-01 9.48045826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.326875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:94.33, Y:67.76, Z:9.48 [[ 4.11599065e-01 -9.10368814e-01 -4.26008583e-02 9.43325391e+01] [ 9.04871481e-01 4.13789749e-01 -9.99282042e-02 6.77610458e+01] [ 1.08599319e-01 2.58205366e-03 9.94082251e-01 9.48240064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.34, Y:67.79, Z:9.48 [[ 4.13225058e-01 -9.09624149e-01 -4.27663266e-02 9.43442483e+01] [ 9.04071306e-01 4.15422609e-01 -1.00394871e-01 6.77860244e+01] [ 1.09087698e-01 2.82186765e-03 9.94028124e-01 9.48475689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.36, Y:67.81, Z:9.49 [[ 4.14872744e-01 -9.08883970e-01 -4.25503993e-02 9.43564368e+01] [ 9.03374783e-01 4.17038035e-01 -9.99663929e-02 6.78111393e+01] [ 1.08602987e-01 3.03437398e-03 9.94080572e-01 9.48751555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.416875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:94.37, Y:67.84, Z:9.49 [[ 4.17233886e-01 -9.07815535e-01 -4.22710271e-02 9.43710293e+01] [ 9.02364779e-01 4.19356538e-01 -9.93876229e-02 6.78350704e+01] [ 1.07952260e-01 3.32399806e-03 9.94150522e-01 9.49090246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.38, Y:67.86, Z:9.49 [[ 4.17752522e-01 -9.07578144e-01 -4.22462282e-02 9.43837916e+01] [ 9.02124121e-01 4.19869315e-01 -9.94073856e-02 6.78599212e+01] [ 1.07957865e-01 3.41634453e-03 9.94149600e-01 9.49425388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.40, Y:67.88, Z:9.50 [[ 4.17679519e-01 -9.07608066e-01 -4.23251554e-02 9.43962528e+01] [ 9.02125188e-01 4.19804370e-01 -9.96716374e-02 6.78846804e+01] [ 1.08231067e-01 3.44821276e-03 9.94119785e-01 9.49666092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.41, Y:67.91, Z:9.50 [[ 4.17179764e-01 -9.07853767e-01 -4.19831177e-02 9.44107453e+01] [ 9.02452255e-01 4.19273238e-01 -9.89438198e-02 6.79083284e+01] [ 1.07428917e-01 3.38960010e-03 9.94206990e-01 9.49882403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.42, Y:67.93, Z:9.50 [[ 4.16399756e-01 -9.08222509e-01 -4.17506680e-02 9.44236079e+01] [ 9.02873976e-01 4.18474513e-01 -9.84767246e-02 6.79333194e+01] [ 1.06910368e-01 3.31009250e-03 9.94263153e-01 9.50185898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.44, Y:67.96, Z:9.50 [[ 4.15725612e-01 -9.08553243e-01 -4.12700946e-02 9.44366605e+01] [ 9.03321226e-01 4.17756682e-01 -9.74172280e-02 6.79583491e+01] [ 1.05749596e-01 3.21868431e-03 9.94387582e-01 9.50461197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.45, Y:67.98, Z:9.51 [[ 4.15153434e-01 -9.08826973e-01 -4.10019391e-02 9.44495561e+01] [ 9.03656161e-01 4.17161293e-01 -9.68607146e-02 6.79825612e+01] [ 1.05134052e-01 3.16040343e-03 9.94453037e-01 9.50779762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.46, Y:68.01, Z:9.51 [[ 4.13521390e-01 -9.09575617e-01 -4.08932491e-02 9.44646977e+01] [ 9.04427401e-01 4.15527642e-01 -9.66843046e-02 6.80061477e+01] [ 1.04933961e-01 2.99605297e-03 9.94474679e-01 9.51119308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.48, Y:68.03, Z:9.51 [[ 4.12548454e-01 -9.10014856e-01 -4.09479498e-02 9.44777481e+01] [ 9.04847014e-01 4.14565359e-01 -9.68888270e-02 6.80311976e+01] [ 1.05145874e-01 2.91970572e-03 9.94452523e-01 9.51410171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.49, Y:68.06, Z:9.52 [[ 4.10996037e-01 -9.10722297e-01 -4.08308132e-02 9.44901063e+01] [ 9.05579403e-01 4.13010004e-01 -9.66885774e-02 6.80551449e+01] [ 1.04919978e-01 2.76307870e-03 9.94476829e-01 9.51611195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.51, Y:68.08, Z:9.52 [[ 4.07704408e-01 -9.12205877e-01 -4.07130611e-02 9.45058407e+01] [ 9.07091495e-01 4.09725071e-01 -9.64903371e-02 6.80775278e+01] [ 1.04700215e-01 2.40906424e-03 9.94500911e-01 9.51934814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.52, Y:68.10, Z:9.52 [[ 4.05548931e-01 -9.13166568e-01 -4.07048288e-02 9.45197392e+01] [ 9.08050732e-01 4.07580675e-01 -9.65497916e-02 6.81022685e+01] [ 1.04756543e-01 2.19361519e-03 9.94495477e-01 9.52245191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.53, Y:68.13, Z:9.53 [[ 4.03267687e-01 -9.14175026e-01 -4.07332146e-02 9.45335524e+01] [ 9.09049330e-01 4.05314897e-01 -9.66910019e-02 6.81265212e+01] [ 1.04902278e-01 1.96385531e-03 9.94480596e-01 9.52539343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.55, Y:68.15, Z:9.53 [[ 4.00699241e-01 -9.15304276e-01 -4.07210121e-02 9.45472174e+01] [ 9.10179641e-01 4.02759479e-01 -9.67358479e-02 6.81504387e+01] [ 1.04943509e-01 1.69854464e-03 9.94476734e-01 9.52791338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.56, Y:68.17, Z:9.53 [[ 3.95044572e-01 -9.18025246e-01 -3.41969874e-02 9.45641129e+01] [ 9.12518495e-01 3.96428606e-01 -1.00768828e-01 6.81749356e+01] [ 1.06064992e-01 8.60279518e-03 9.94321985e-01 9.52501664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.866875 meters Centerline goodness : 0.997484 Centerline is valid? [True, True] Translation: X:94.58, Y:68.20, Z:9.53 [[ 3.92808852e-01 -9.18639256e-01 -4.24631920e-02 9.45812069e+01] [ 9.13454135e-01 3.95097032e-01 -9.74673254e-02 6.81980637e+01] [ 1.06314392e-01 -5.02150146e-04 9.94332438e-01 9.53172781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.59, Y:68.22, Z:9.54 [[ 3.89777897e-01 -9.19732303e-01 -4.65368932e-02 9.45937557e+01] [ 9.14746537e-01 3.92511232e-01 -9.57794610e-02 6.82191013e+01] [ 1.06357718e-01 -5.23674510e-03 9.94314142e-01 9.53776014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.61, Y:68.24, Z:9.54 [[ 3.88048484e-01 -9.20711177e-01 -4.13437162e-02 9.46066327e+01] [ 9.15436105e-01 3.90244553e-01 -9.84171049e-02 6.82448232e+01] [ 1.06747889e-01 3.43077804e-04 9.94286061e-01 9.53803197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.62, Y:68.27, Z:9.54 [[ 3.86046044e-01 -9.21537017e-01 -4.16890673e-02 9.46226774e+01] [ 9.16169728e-01 3.88290490e-01 -9.93152824e-02 6.82677619e+01] [ 1.07710177e-01 1.46010377e-04 9.94182326e-01 9.54074650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.64, Y:68.29, Z:9.54 [[ 3.85560429e-01 -9.21739444e-01 -4.17079491e-02 9.46357526e+01] [ 9.16359851e-01 3.87809725e-01 -9.94396366e-02 6.82926944e+01] [ 1.07832184e-01 1.20498965e-04 9.94169103e-01 9.54356975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.65, Y:68.32, Z:9.55 [[ 3.86004475e-01 -9.21538256e-01 -4.20450625e-02 9.46500045e+01] [ 9.16061386e-01 3.88287520e-01 -1.00321181e-01 6.83159351e+01] [ 1.08775379e-01 2.08566574e-04 9.94066332e-01 9.54631584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.66, Y:68.34, Z:9.55 [[ 3.86649533e-01 -9.21270172e-01 -4.19929629e-02 9.46622194e+01] [ 9.15796537e-01 3.88923092e-01 -1.00277271e-01 6.83406536e+01] [ 1.08714492e-01 3.15150172e-04 9.94072965e-01 9.54882820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.67, Y:68.37, Z:9.55 [[ 3.87129401e-01 -9.21065927e-01 -4.20521789e-02 9.46745241e+01] [ 9.15567248e-01 3.89406467e-01 -1.00494860e-01 6.83661898e+01] [ 1.08937782e-01 4.02917323e-04 9.94048488e-01 9.55151967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.69, Y:68.39, Z:9.55 [[ 3.87773714e-01 -9.20801302e-01 -4.19107191e-02 9.46863263e+01] [ 9.15329786e-01 3.90031673e-01 -1.00233111e-01 6.83900177e+01] [ 1.08641287e-01 5.05636090e-04 9.94080890e-01 9.55429998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.70, Y:68.41, Z:9.56 [[ 3.88088770e-01 -9.20682528e-01 -4.16027547e-02 9.46976655e+01] [ 9.15282182e-01 3.90311878e-01 -9.95749203e-02 6.84136008e+01] [ 1.07914939e-01 5.65648158e-04 9.94159970e-01 9.55670437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.71, Y:68.44, Z:9.56 [[ 3.89303971e-01 -9.20170081e-01 -4.15865471e-02 9.47102402e+01] [ 9.14763781e-01 3.91518178e-01 -9.96029155e-02 6.84373742e+01] [ 1.07933512e-01 7.33943449e-04 9.94157844e-01 9.55948703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.72, Y:68.46, Z:9.56 [[ 3.89870910e-01 -9.19931712e-01 -4.15489921e-02 9.47222290e+01] [ 9.14524835e-01 3.92077739e-01 -9.95960539e-02 6.84627441e+01] [ 1.07912003e-01 8.32019041e-04 9.94160101e-01 9.56165913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.73, Y:68.49, Z:9.56 [[ 3.90158025e-01 -9.19797472e-01 -4.18249435e-02 9.47344067e+01] [ 9.14309219e-01 3.92392394e-01 -1.00333743e-01 6.84884485e+01] [ 1.08698513e-01 9.05083626e-04 9.94074350e-01 9.56453811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.75, Y:68.51, Z:9.57 [[ 3.91225211e-01 -9.19332863e-01 -4.20704343e-02 9.47475617e+01] [ 9.13769095e-01 3.93479279e-01 -1.00995531e-01 6.85133470e+01] [ 1.09402355e-01 1.06933521e-03 9.93996972e-01 9.56698092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.76, Y:68.54, Z:9.57 [[ 3.90989222e-01 -9.19434527e-01 -4.20425778e-02 9.47584197e+01] [ 9.13870099e-01 3.93241659e-01 -1.01007126e-01 6.85396723e+01] [ 1.09402332e-01 1.07124306e-03 9.93996973e-01 9.56981159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.77, Y:68.56, Z:9.57 [[ 3.91581127e-01 -9.19181010e-01 -4.20772223e-02 9.47701866e+01] [ 9.13597699e-01 3.93833590e-01 -1.01164954e-01 6.85645109e+01] [ 1.09560328e-01 1.17263321e-03 9.93979456e-01 9.57293016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.78, Y:68.59, Z:9.58 [[ 3.92326549e-01 -9.18861616e-01 -4.21094902e-02 9.47819994e+01] [ 9.13258747e-01 3.94577814e-01 -1.01325271e-01 6.85901945e+01] [ 1.09719373e-01 1.29573382e-03 9.93961760e-01 9.57586655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.79, Y:68.62, Z:9.58 [[ 3.94242339e-01 -9.18043374e-01 -4.20635460e-02 9.47937143e+01] [ 9.12439425e-01 3.96476922e-01 -1.01293368e-01 6.86150320e+01] [ 1.09668930e-01 1.55369638e-03 9.93966957e-01 9.57735046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.81, Y:68.64, Z:9.58 [[ 3.94954945e-01 -9.17738976e-01 -4.20209988e-02 9.48057174e+01] [ 9.12135643e-01 3.97180546e-01 -1.01272811e-01 6.86407157e+01] [ 1.09631929e-01 1.66934670e-03 9.93970851e-01 9.58049634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.82, Y:68.67, Z:9.58 [[ 3.95452507e-01 -9.17531570e-01 -4.18704254e-02 9.48176128e+01] [ 9.11958694e-01 3.97659086e-01 -1.00988080e-01 6.86659670e+01] [ 1.09309907e-01 1.75189091e-03 9.94006175e-01 9.58349375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.83, Y:68.69, Z:9.59 [[ 3.96014906e-01 -9.17289666e-01 -4.18552587e-02 9.48290363e+01] [ 9.11711105e-01 3.98216337e-01 -1.01027765e-01 6.86899319e+01] [ 1.09339173e-01 1.84859660e-03 9.94002781e-01 9.58678382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.84, Y:68.72, Z:9.59 [[ 3.97023898e-01 -9.16862885e-01 -4.16470288e-02 9.48413434e+01] [ 9.11331145e-01 3.99197358e-01 -1.00583361e-01 6.87154293e+01] [ 1.08846534e-01 1.97976362e-03 9.94056594e-01 9.58941435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.85, Y:68.74, Z:9.59 [[ 3.97474377e-01 -9.16675766e-01 -4.14687789e-02 9.48527866e+01] [ 9.11182078e-01 3.99626483e-01 -1.00229212e-01 6.87404808e+01] [ 1.08449712e-01 2.05293532e-03 9.94099817e-01 9.59207557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.86, Y:68.76, Z:9.59 [[ 3.98077550e-01 -9.16424467e-01 -4.12366463e-02 9.48642678e+01] [ 9.10982505e-01 4.00201967e-01 -9.97459821e-02 6.87649778e+01] [ 1.07912645e-01 2.14077281e-03 9.94158075e-01 9.59489306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.586875 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:94.88, Y:68.79, Z:9.60 [[ 3.99539523e-01 -9.15593927e-01 -4.53423784e-02 9.48777117e+01] [ 9.10608599e-01 4.02091861e-01 -9.54678695e-02 6.87878151e+01] [ 1.05641603e-01 -3.14597262e-03 9.94399293e-01 9.60009612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.89, Y:68.81, Z:9.60 [[ 3.99919703e-01 -9.15838885e-01 -3.61021991e-02 9.48862617e+01] [ 9.10302309e-01 4.01476650e-01 -1.00827602e-01 6.88132049e+01] [ 1.06836028e-01 7.45902934e-03 9.94248674e-01 9.59773394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.90, Y:68.84, Z:9.60 [[ 4.00712555e-01 -9.15291744e-01 -4.08713943e-02 9.48989977e+01] [ 9.09907524e-01 4.02783481e-01 -9.91653417e-02 6.88375581e+01] [ 1.07227541e-01 2.54760834e-03 9.94231243e-01 9.60277253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.91, Y:68.86, Z:9.60 [[ 4.01993746e-01 -9.14728811e-01 -4.08929127e-02 9.49117861e+01] [ 9.09327563e-01 4.04059083e-01 -9.92957201e-02 6.88617084e+01] [ 1.07351809e-01 2.73120583e-03 9.94217345e-01 9.60437363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.92, Y:68.89, Z:9.61 [[ 4.03042148e-01 -9.14267370e-01 -4.08925780e-02 9.49234633e+01] [ 9.08854958e-01 4.05101020e-01 -9.93771998e-02 6.88860654e+01] [ 1.07422956e-01 2.88777776e-03 9.94209218e-01 9.60669448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.94, Y:68.91, Z:9.61 [[ 4.03794201e-01 -9.13931560e-01 -4.09798369e-02 9.49356413e+01] [ 9.08484991e-01 4.05857109e-01 -9.96746093e-02 6.89106808e+01] [ 1.07727729e-01 3.01846248e-03 9.94175852e-01 9.60978587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.766875 meters Centerline goodness : 0.999926 Centerline is valid? [True, True] Translation: X:94.95, Y:68.94, Z:9.61 [[ 4.02082969e-01 -9.14664526e-01 -4.14498724e-02 9.49488272e+01] [ 9.09085907e-01 4.04203467e-01 -1.00907733e-01 6.89353556e+01] [ 1.09050906e-01 2.89178583e-03 9.94031960e-01 9.61221558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.96, Y:68.96, Z:9.61 [[ 4.00395613e-01 -9.15397736e-01 -4.15973398e-02 9.49598903e+01] [ 9.09774195e-01 4.02541309e-01 -1.01347960e-01 6.89598336e+01] [ 1.09518341e-01 2.73509241e-03 9.93981012e-01 9.61459116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.97, Y:68.98, Z:9.62 [[ 3.99269093e-01 -9.15885881e-01 -4.16802592e-02 9.49710413e+01] [ 9.10232448e-01 4.01430026e-01 -1.01640664e-01 6.89840289e+01] [ 1.09822957e-01 2.64325137e-03 9.93947650e-01 9.61684268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.97, Y:69.01, Z:9.58 [[ 3.93767223e-01 -9.19199224e-01 -4.49011529e-03 9.49694270e+01] [ 9.13681622e-01 3.91929187e-01 -1.07598353e-01 6.90148880e+01] [ 1.00664130e-01 3.82661687e-02 9.94184306e-01 9.58478040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.00, Y:69.03, Z:9.64 [[ 3.95217181e-01 -9.15568645e-01 -7.44139532e-02 9.50017135e+01] [ 9.11815959e-01 4.00832631e-01 -8.90216825e-02 6.90300916e+01] [ 1.11333002e-01 -3.26689316e-02 9.93246044e-01 9.64132397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.01, Y:69.06, Z:9.63 [[ 3.94367988e-01 -9.17998898e-01 -4.18558587e-02 9.50064925e+01] [ 9.12285365e-01 3.96577088e-01 -1.02284047e-01 6.90602745e+01] [ 1.10495717e-01 2.15306655e-03 9.93874268e-01 9.62523999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.00, Y:69.09, Z:9.59 [[ 3.89150078e-01 -9.21172423e-01 1.89325109e-03 9.50008892e+01] [ 9.15825796e-01 3.86668601e-01 -1.08399743e-01 6.90918157e+01] [ 9.91227933e-02 4.39176567e-02 9.94105584e-01 9.58790198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.976875 meters Centerline goodness : 0.999925 Centerline is valid? [True, True] Translation: X:95.04, Y:69.11, Z:9.65 [[ 3.87121074e-01 -9.18546368e-01 -8.00615022e-02 9.50373496e+01] [ 9.15276050e-01 3.93324218e-01 -8.69816795e-02 6.91051537e+01] [ 1.11386833e-01 -3.96059343e-02 9.92987585e-01 9.65419823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.04, Y:69.14, Z:9.63 [[ 3.84305668e-01 -9.22245985e-01 -4.20891659e-02 9.50406828e+01] [ 9.16474257e-01 3.86602259e-01 -1.03022469e-01 6.91366479e+01] [ 1.11283825e-01 1.01848179e-03 9.93788143e-01 9.63383762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.05, Y:69.16, Z:9.64 [[ 3.81363561e-01 -9.23472422e-01 -4.19585465e-02 9.50514623e+01] [ 9.17734830e-01 3.83664186e-01 -1.02784111e-01 6.91620641e+01] [ 1.11016284e-01 6.91295096e-04 9.93818347e-01 9.63648785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.06, Y:69.19, Z:9.64 [[ 3.73225778e-01 -9.26788218e-01 -4.20252061e-02 9.50628682e+01] [ 9.21043625e-01 3.75584258e-01 -1.03029638e-01 6.91881632e+01] [ 1.11270660e-01 -2.53731383e-04 9.93790107e-01 9.63927854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.07, Y:69.21, Z:9.64 [[ 3.69426969e-01 -9.28333580e-01 -4.14786644e-02 9.50727935e+01] [ 9.22738568e-01 3.71747638e-01 -1.01770475e-01 6.92118623e+01] [ 1.09896545e-01 -6.77205295e-04 9.93942801e-01 9.64277350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.08, Y:69.24, Z:9.65 [[ 3.66917356e-01 -9.29350730e-01 -4.09740806e-02 9.50836064e+01] [ 9.23887600e-01 3.69196896e-01 -1.00624821e-01 6.92363865e+01] [ 1.08643254e-01 -9.34451690e-04 9.94080364e-01 9.64721314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.09, Y:69.26, Z:9.65 [[ 3.64613492e-01 -9.30281265e-01 -4.04199270e-02 9.50937185e+01] [ 9.24961678e-01 3.66845223e-01 -9.93502705e-02 6.92617651e+01] [ 1.07251552e-01 -1.16243451e-03 9.94231237e-01 9.65048178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.10, Y:69.29, Z:9.65 [[ 3.62037005e-01 -9.31294563e-01 -4.02448018e-02 9.51031315e+01] [ 9.26018118e-01 3.64264203e-01 -9.90052295e-02 6.92882461e+01] [ 1.06862773e-01 -1.42385887e-03 9.94272760e-01 9.65360546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.11, Y:69.31, Z:9.66 [[ 3.61381374e-01 -9.31550908e-01 -4.02045944e-02 9.51128749e+01] [ 9.26278349e-01 3.63607956e-01 -9.89832019e-02 6.93149915e+01] [ 1.06826602e-01 -1.46995991e-03 9.94276579e-01 9.65567035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.12, Y:69.34, Z:9.66 [[ 3.61652880e-01 -9.31450587e-01 -4.00873748e-02 9.51217147e+01] [ 9.26199919e-01 3.63865114e-01 -9.87719069e-02 6.93396740e+01] [ 1.06587548e-01 -1.40777873e-03 9.94302325e-01 9.65713251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.13, Y:69.37, Z:9.65 [[ 3.63706301e-01 -9.30912607e-01 -3.34581020e-02 9.51277493e+01] [ 9.25569887e-01 3.65203456e-01 -9.97337413e-02 6.93664789e+01] [ 1.05062412e-01 5.30597844e-03 9.94451475e-01 9.65215635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.14, Y:69.39, Z:9.66 [[ 3.64129791e-01 -9.30223931e-01 -4.57485864e-02 9.51406455e+01] [ 9.25204396e-01 3.66923903e-01 -9.67660867e-02 6.93904841e+01] [ 1.06800379e-01 -7.09137830e-03 9.94255194e-01 9.66477272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.336875 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:95.15, Y:69.42, Z:9.66 [[ 3.65954948e-01 -9.30041870e-01 -3.31526018e-02 9.51484577e+01] [ 9.24580730e-01 3.67400433e-01 -1.00833501e-01 6.94174924e+01] [ 1.05959658e-01 6.24826193e-03 9.94350798e-01 9.65807184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.16, Y:69.44, Z:9.67 [[ 3.64963455e-01 -9.29848707e-01 -4.67232246e-02 9.51594201e+01] [ 9.24816089e-01 3.67858665e-01 -9.69288626e-02 6.94397894e+01] [ 1.07316721e-01 -7.83489728e-03 9.94194013e-01 9.67127651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.17, Y:69.47, Z:9.67 [[ 3.64042872e-01 -9.30528949e-01 -3.98580180e-02 9.51670363e+01] [ 9.25288417e-01 3.66217039e-01 -9.86226468e-02 6.94677530e+01] [ 1.06367913e-01 -9.77290725e-04 9.94326361e-01 9.66997189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.16, Y:69.50, Z:9.63 [[ 3.57761538e-01 -9.33762568e-01 9.70297756e-03 9.51578940e+01] [ 9.29083526e-01 3.54885935e-01 -1.04210242e-01 6.95009966e+01] [ 9.38641730e-02 4.62972931e-02 9.94507958e-01 9.62648224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.20, Y:69.51, Z:9.70 [[ 3.61589742e-01 -9.28703736e-01 -8.22327716e-02 9.51958627e+01] [ 9.26514768e-01 3.67773032e-01 -7.94567948e-02 6.95135502e+01] [ 1.04034818e-01 -4.74591154e-02 9.93440682e-01 9.70246961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.20, Y:69.54, Z:9.68 [[ 3.59060800e-01 -9.32527394e-01 -3.83145167e-02 9.51953965e+01] [ 9.27685677e-01 3.61096272e-01 -9.49145238e-02 6.95441654e+01] [ 1.02345623e-01 -1.46374351e-03 9.94747823e-01 9.68092346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.516875 meters Centerline goodness : 0.999926 Centerline is valid? [True, True] Translation: X:95.19, Y:69.58, Z:9.64 [[ 3.52992122e-01 -9.35624008e-01 2.06844031e-03 9.51878333e+01] [ 9.31064913e-01 3.51052317e-01 -9.94001949e-02 6.95755046e+01] [ 9.22750779e-02 3.70133379e-02 9.95045387e-01 9.64468848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.22, Y:69.59, Z:9.71 [[ 3.57129490e-01 -9.31227635e-01 -7.26196849e-02 9.52203997e+01] [ 9.28600580e-01 3.62359089e-01 -7.99803301e-02 6.95922212e+01] [ 1.00794297e-01 -3.88713471e-02 9.94147639e-01 9.70635816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.22, Y:69.62, Z:9.69 [[ 3.55883793e-01 -9.33767631e-01 -3.77456979e-02 9.52218951e+01] [ 9.29060936e-01 3.57875661e-01 -9.36524924e-02 6.96240594e+01] [ 1.00957933e-01 -1.73864919e-03 9.94889176e-01 9.68826107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.23, Y:69.65, Z:9.69 [[ 3.54340602e-01 -9.34332735e-01 -3.82763332e-02 9.52288011e+01] [ 9.29487975e-01 3.56396874e-01 -9.50440541e-02 6.96514462e+01] [ 1.02444337e-01 -1.89942415e-03 9.94736925e-01 9.68908566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.24, Y:69.68, Z:9.69 [[ 3.53254198e-01 -9.34717907e-01 -3.89089350e-02 9.52380304e+01] [ 9.29705576e-01 3.55384811e-01 -9.66911469e-02 6.96779932e+01] [ 1.04206591e-01 -2.01730033e-03 9.94553627e-01 9.69193927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.25, Y:69.70, Z:9.69 [[ 3.51987671e-01 -9.35167464e-01 -3.95789545e-02 9.52470865e+01] [ 9.29975049e-01 3.54199307e-01 -9.84340342e-02 6.97040465e+01] [ 1.06071144e-01 -2.15987372e-03 9.94356197e-01 9.69455657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.25, Y:69.73, Z:9.70 [[ 3.49942810e-01 -9.35907233e-01 -4.02204154e-02 9.52541782e+01] [ 9.30540924e-01 3.52238439e-01 -1.00108296e-01 6.97319980e+01] [ 1.07859254e-01 -2.39456430e-03 9.94163290e-01 9.69628886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.26, Y:69.76, Z:9.70 [[ 3.49009331e-01 -9.36253385e-01 -4.02751273e-02 9.52624309e+01] [ 9.30866129e-01 3.51316757e-01 -1.00323410e-01 6.97585341e+01] [ 1.08077459e-01 -2.47694565e-03 9.94139390e-01 9.69839772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.27, Y:69.79, Z:9.70 [[ 3.48852941e-01 -9.36322692e-01 -4.00180120e-02 9.52711039e+01] [ 9.30995377e-01 3.51132174e-01 -9.97687598e-02 6.97852287e+01] [ 1.07467365e-01 -2.45195885e-03 9.94205589e-01 9.70109252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.28, Y:69.81, Z:9.70 [[ 3.50812476e-01 -9.35614863e-01 -3.94389949e-02 9.52776190e+01] [ 9.30428473e-01 3.53015718e-01 -9.84010151e-02 6.98127474e+01] [ 1.05988037e-01 -2.17486014e-03 9.94365027e-01 9.70433481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.29, Y:69.84, Z:9.71 [[ 3.52242628e-01 -9.35069593e-01 -3.96230767e-02 9.52855337e+01] [ 9.29822790e-01 3.54458584e-01 -9.89378195e-02 6.98393613e+01] [ 1.06558486e-01 -1.99232225e-03 9.94304440e-01 9.70635390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.29, Y:69.87, Z:9.71 [[ 3.54387832e-01 -9.34257549e-01 -3.96496657e-02 9.52934327e+01] [ 9.28990250e-01 3.56594827e-01 -9.90820095e-02 6.98659562e+01] [ 1.06706981e-01 -1.72069429e-03 9.94289022e-01 9.70888081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.30, Y:69.89, Z:9.71 [[ 3.59858894e-01 -9.32168316e-01 -3.95450073e-02 9.52982931e+01] [ 9.26907940e-01 3.62023611e-01 -9.88967943e-02 6.98934073e+01] [ 1.06504685e-01 -1.06569029e-03 9.94311629e-01 9.71139067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.31, Y:69.92, Z:9.71 [[ 3.62681280e-01 -9.31076698e-01 -3.94774822e-02 9.53059244e+01] [ 9.25821671e-01 3.64822782e-01 -9.87854806e-02 6.99207405e+01] [ 1.06379144e-01 -7.21463964e-04 9.94325378e-01 9.71429606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.31, Y:69.95, Z:9.72 [[ 3.65687749e-01 -9.29905820e-01 -3.93400070e-02 9.53134260e+01] [ 9.24672234e-01 3.67797559e-01 -9.85201223e-02 6.99473068e+01] [ 1.06083594e-01 -3.49010405e-04 9.94357154e-01 9.71680370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.32, Y:69.97, Z:9.72 [[ 3.68807760e-01 -9.28676379e-01 -3.92558168e-02 9.53211194e+01] [ 9.23449437e-01 3.70891064e-01 -9.83918528e-02 6.99745759e+01] [ 1.05933821e-01 3.69168632e-05 9.94373182e-01 9.72017096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.33, Y:70.00, Z:9.72 [[ 3.75521205e-01 -9.25992369e-01 -3.90122589e-02 9.53259813e+01] [ 9.20807455e-01 3.77541324e-01 -9.78579556e-02 7.00023322e+01] [ 1.05344460e-01 8.24958570e-04 9.94435450e-01 9.72263183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.33, Y:70.03, Z:9.72 [[ 3.77857818e-01 -9.25043274e-01 -3.89667871e-02 9.53342547e+01] [ 9.19857259e-01 3.79860093e-01 -9.78209196e-02 7.00296659e+01] [ 1.05290511e-01 1.11851728e-03 9.94440877e-01 9.72476717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.34, Y:70.06, Z:9.73 [[ 3.81298168e-01 -9.23631190e-01 -3.89503905e-02 9.53411747e+01] [ 9.18433878e-01 3.83279344e-01 -9.78578361e-02 7.00567431e+01] [ 1.05313430e-01 1.53965541e-03 9.94437887e-01 9.72783371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.086875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:95.35, Y:70.08, Z:9.73 [[ 3.82425506e-01 -9.23167802e-01 -3.88836957e-02 9.53504028e+01] [ 9.17977741e-01 3.84393467e-01 -9.77677333e-02 7.00837182e+01] [ 1.05202662e-01 1.69450770e-03 9.94449359e-01 9.73018132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.36, Y:70.11, Z:9.73 [[ 3.83115562e-01 -9.22882119e-01 -3.88723642e-02 9.53593699e+01] [ 9.17685348e-01 3.85078362e-01 -9.78174725e-02 7.01101759e+01] [ 1.05242903e-01 1.80279696e-03 9.94444911e-01 9.73246239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.35, Y:70.14, Z:9.70 [[ 3.79318994e-01 -9.25260179e-01 3.27139436e-03 9.53509368e+01] [ 9.20395012e-01 3.76957445e-01 -1.03808021e-01 7.01403728e+01] [ 9.48162520e-02 4.23873293e-02 9.94591973e-01 9.69742957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.37, Y:70.16, Z:9.72 [[ 3.79609032e-01 -9.24575850e-01 -3.25035320e-02 9.53707118e+01] [ 9.20162007e-01 3.80972781e-01 -9.03416918e-02 7.01621109e+01] [ 9.59107075e-02 4.38600699e-03 9.95380279e-01 9.71875898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.38, Y:70.19, Z:9.72 [[ 3.80949836e-01 -9.24028238e-01 -3.23888576e-02 9.53817074e+01] [ 9.19469498e-01 3.82288884e-01 -9.18207640e-02 7.01888216e+01] [ 9.72268790e-02 5.19853829e-03 9.95248667e-01 9.72083163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.41, Y:70.21, Z:9.76 [[ 3.85594356e-01 -9.19272274e-01 -7.90915867e-02 9.54098437e+01] [ 9.16084547e-01 3.91655843e-01 -8.59930455e-02 7.02092891e+01] [ 1.10027705e-01 -3.92961474e-02 9.93151407e-01 9.76355314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.41, Y:70.24, Z:9.75 [[ 3.86189905e-01 -9.21515447e-01 -4.08244833e-02 9.54121459e+01] [ 9.15765467e-01 3.88334788e-01 -1.02809055e-01 7.02401585e+01] [ 1.10593699e-01 2.31816726e-03 9.93862998e-01 9.74515569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.42, Y:70.27, Z:9.75 [[ 3.86892704e-01 -9.21209330e-01 -4.10780526e-02 9.54235775e+01] [ 9.15375944e-01 3.89059562e-01 -1.03535201e-01 7.02659010e+01] [ 1.11359402e-01 2.45515270e-03 9.93777166e-01 9.74722987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.42, Y:70.30, Z:9.71 [[ 3.84043045e-01 -9.23313904e-01 1.54078421e-03 9.54187909e+01] [ 9.17787889e-01 3.81561171e-01 -1.09892966e-01 7.02965358e+01] [ 1.00877800e-01 4.36177422e-02 9.93942233e-01 9.71254028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.46, Y:70.31, Z:9.77 [[ 3.89031479e-01 -9.17857447e-01 -7.86906280e-02 9.54557850e+01] [ 9.14197745e-01 3.95183262e-01 -8.98480512e-02 7.03109982e+01] [ 1.13564922e-01 -3.69850744e-02 9.92841937e-01 9.77254650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.46, Y:70.34, Z:9.76 [[ 3.90385680e-01 -9.19733725e-01 -4.10961767e-02 9.54597105e+01] [ 9.13866792e-01 3.92531745e-01 -1.03760861e-01 7.03418209e+01] [ 1.11563918e-01 2.95032328e-03 9.93752881e-01 9.75541075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.47, Y:70.36, Z:9.76 [[ 3.92994182e-01 -9.18642803e-01 -4.06321647e-02 9.54732969e+01] [ 9.12892983e-01 3.95075681e-01 -1.02672330e-01 7.03649508e+01] [ 1.10371978e-01 3.25681050e-03 9.93885013e-01 9.75933521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.49, Y:70.39, Z:9.76 [[ 3.94661999e-01 -9.17939850e-01 -4.03526613e-02 9.54852865e+01] [ 9.12255877e-01 3.96704460e-01 -1.02052864e-01 7.03904005e+01] [ 1.09686472e-01 3.46443498e-03 9.93960198e-01 9.76253128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.50, Y:70.42, Z:9.77 [[ 3.96218826e-01 -9.17279249e-01 -4.01176004e-02 9.54972004e+01] [ 9.11649206e-01 3.98227816e-01 -1.01539804e-01 7.04162563e+01] [ 1.09116299e-01 3.65880323e-03 9.94022257e-01 9.76531927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.51, Y:70.44, Z:9.77 [[ 3.97843096e-01 -9.16583854e-01 -3.99363134e-02 9.55088954e+01] [ 9.10992377e-01 3.99823836e-01 -1.01162196e-01 7.04414811e+01] [ 1.08691126e-01 3.86500421e-03 9.94068057e-01 9.76812603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.52, Y:70.47, Z:9.77 [[ 4.00938020e-01 -9.15249947e-01 -3.95757364e-02 9.55221150e+01] [ 9.09744076e-01 4.02864380e-01 -1.00329496e-01 7.04665422e+01] [ 1.07770220e-01 4.22211773e-03 9.94166864e-01 9.77040159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.53, Y:70.49, Z:9.77 [[ 4.02092129e-01 -9.14752412e-01 -3.93693336e-02 9.55334571e+01] [ 9.09292703e-01 4.03991286e-01 -9.98890407e-02 7.04910101e+01] [ 1.07278609e-01 4.36634926e-03 9.94219410e-01 9.77345732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.55, Y:70.52, Z:9.78 [[ 4.02957433e-01 -9.14381905e-01 -3.91284909e-02 9.55453057e+01] [ 9.08977961e-01 4.04828020e-01 -9.93646866e-02 7.05163236e+01] [ 1.06697581e-01 4.47280317e-03 9.94281459e-01 9.77641992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.55, Y:70.55, Z:9.75 [[ 4.01085881e-01 -9.16027492e-01 -4.87335890e-03 9.55457129e+01] [ 9.10812141e-01 3.99358619e-01 -1.04565469e-01 7.05467477e+01] [ 9.77310625e-02 3.75010189e-02 9.94506065e-01 9.74833007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.58, Y:70.56, Z:9.80 [[ 4.04319517e-01 -9.11986091e-01 -6.93332377e-02 9.55768950e+01] [ 9.08191571e-01 4.09293885e-01 -8.75590504e-02 7.05620046e+01] [ 1.08230306e-01 -2.75660290e-02 9.93743586e-01 9.79760682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.58, Y:70.59, Z:9.78 [[ 4.04412328e-01 -9.13729918e-01 -3.93485067e-02 9.55823537e+01] [ 9.08236820e-01 4.06294132e-01 -1.00154664e-01 7.05919405e+01] [ 1.07501381e-01 4.76601839e-03 9.94193511e-01 9.78345661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.60, Y:70.62, Z:9.78 [[ 4.03297173e-01 -9.14175469e-01 -4.04302187e-02 9.55958102e+01] [ 9.08367144e-01 4.05290063e-01 -1.03000474e-01 7.06154643e+01] [ 1.10546473e-01 4.81431777e-03 9.93859296e-01 9.78460162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.61, Y:70.64, Z:9.79 [[ 4.02127953e-01 -9.14680438e-01 -4.06547146e-02 9.56085140e+01] [ 9.08799062e-01 4.04149998e-01 -1.03667954e-01 7.06410966e+01] [ 1.11253652e-01 4.74081549e-03 9.93780735e-01 9.78709775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.62, Y:70.67, Z:9.79 [[ 4.00197516e-01 -9.15528691e-01 -4.06099016e-02 9.56212864e+01] [ 9.09654994e-01 4.02227109e-01 -1.03639494e-01 7.06664342e+01] [ 1.11219333e-01 4.53526826e-03 9.93785536e-01 9.79067344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.64, Y:70.69, Z:9.79 [[ 3.92722414e-01 -9.18774714e-01 -4.02756778e-02 9.56361279e+01] [ 9.13004717e-01 3.94765579e-01 -1.02871402e-01 7.06904579e+01] [ 1.10415094e-01 3.62802133e-03 9.93878939e-01 9.79384563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.65, Y:70.71, Z:9.80 [[ 3.89234151e-01 -9.20287949e-01 -3.95836598e-02 9.56483819e+01] [ 9.14713506e-01 3.91228818e-01 -1.01189003e-01 7.07141822e+01] [ 1.08609289e-01 3.17850766e-03 9.94079433e-01 9.79745805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.66, Y:70.74, Z:9.80 [[ 3.85263412e-01 -9.21991427e-01 -3.87803045e-02 9.56604653e+01] [ 9.16640752e-01 3.87201021e-01 -9.92224827e-02 7.07381369e+01] [ 1.06498052e-01 2.67918481e-03 9.94309301e-01 9.80093619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.67, Y:70.76, Z:9.79 [[ 3.76051084e-01 -9.26272474e-01 -2.45944385e-02 9.56704420e+01] [ 9.21045669e-01 3.76567245e-01 -9.93578684e-02 7.07646042e+01] [ 1.01293918e-01 1.47110331e-02 9.94747771e-01 9.79274277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.69, Y:70.78, Z:9.82 [[ 3.73978957e-01 -9.26118277e-01 -4.94436728e-02 9.56908270e+01] [ 9.21665638e-01 3.77061501e-01 -9.14170480e-02 7.07847662e+01] [ 1.03306304e-01 -1.13824820e-02 9.94584459e-01 9.81587707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.70, Y:70.81, Z:9.81 [[ 3.70671423e-01 -9.28016083e-01 -3.72672188e-02 9.57004759e+01] [ 9.23084142e-01 3.72538739e-01 -9.55539377e-02 7.08121671e+01] [ 1.02559074e-01 1.01833538e-03 9.94726394e-01 9.81187926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.71, Y:70.84, Z:9.81 [[ 3.65757051e-01 -9.29967647e-01 -3.71746470e-02 9.57132126e+01] [ 9.25062193e-01 3.67641024e-01 -9.53940074e-02 7.08352069e+01] [ 1.02380266e-01 5.02170434e-04 9.94745208e-01 9.81428370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.72, Y:70.86, Z:9.82 [[ 3.64068118e-01 -9.30621407e-01 -3.73925374e-02 9.57243523e+01] [ 9.25654486e-01 3.65983165e-01 -9.60213301e-02 7.08597517e+01] [ 1.03044544e-01 3.45735029e-04 9.94676682e-01 9.81695701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.74, Y:70.89, Z:9.82 [[ 3.62898564e-01 -9.31066055e-01 -3.76913045e-02 9.57360131e+01] [ 9.26012339e-01 3.64850569e-01 -9.68772947e-02 7.08855525e+01] [ 1.03950854e-01 2.54018117e-04 9.94582402e-01 9.81997200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.75, Y:70.91, Z:9.82 [[ 3.61894051e-01 -9.31448175e-01 -3.79077065e-02 9.57471371e+01] [ 9.26330394e-01 3.63873973e-01 -9.75076084e-02 7.09113356e+01] [ 1.04616912e-01 1.72362700e-04 9.94512580e-01 9.82276663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.76, Y:70.94, Z:9.83 [[ 3.61453650e-01 -9.31585687e-01 -3.87216522e-02 9.57589196e+01] [ 9.26236948e-01 3.63521773e-01 -9.96846841e-02 7.09367845e+01] [ 1.06940989e-01 1.65967896e-04 9.94265356e-01 9.82660593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.77, Y:70.96, Z:9.83 [[ 3.61011682e-01 -9.31748138e-01 -3.89355107e-02 9.57681208e+01] [ 9.26331934e-01 3.63105200e-01 -1.00318301e-01 7.09607688e+01] [ 1.07609077e-01 1.48871736e-04 9.94193273e-01 9.82936416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.78, Y:70.99, Z:9.83 [[ 3.61403271e-01 -9.31596775e-01 -3.89246126e-02 9.57776086e+01] [ 9.26172252e-01 3.63493324e-01 -1.00387061e-01 7.09859544e+01] [ 1.07669099e-01 2.29316160e-04 9.94186759e-01 9.83205225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.79, Y:71.01, Z:9.84 [[ 3.61612325e-01 -9.31511443e-01 -3.90250805e-02 9.57873265e+01] [ 9.26048348e-01 3.63711902e-01 -1.00737826e-01 7.10126362e+01] [ 1.08032324e-01 2.88928226e-04 9.94147340e-01 9.83500432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.80, Y:71.04, Z:9.84 [[ 3.62571836e-01 -9.31126022e-01 -3.93191523e-02 9.57961249e+01] [ 9.25568441e-01 3.64697327e-01 -1.01582087e-01 7.10381002e+01] [ 1.08925314e-01 4.38237175e-04 9.94049840e-01 9.83726300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.81, Y:71.06, Z:9.84 [[ 3.62509765e-01 -9.31136209e-01 -3.96488309e-02 9.58054179e+01] [ 9.25474900e-01 3.64671273e-01 -1.02523520e-01 7.10645027e+01] [ 1.09922152e-01 4.71779542e-04 9.93940088e-01 9.84081643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.81, Y:71.09, Z:9.84 [[ 3.61932880e-01 -9.31352475e-01 -3.98391489e-02 9.58140783e+01] [ 9.25628291e-01 3.64118626e-01 -1.03101370e-01 7.10915334e+01] [ 1.10529893e-01 4.39532554e-04 9.93872703e-01 9.84447800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.82, Y:71.12, Z:9.85 [[ 3.60858218e-01 -9.31768531e-01 -3.98591401e-02 9.58230862e+01] [ 9.26031529e-01 3.63052732e-01 -1.03239141e-01 7.11172790e+01] [ 1.10665952e-01 3.43871963e-04 9.93857600e-01 9.84800442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.83, Y:71.14, Z:9.85 [[ 3.59088798e-01 -9.32450192e-01 -3.98983023e-02 9.58321522e+01] [ 9.26696031e-01 3.61298507e-01 -1.03430438e-01 7.11429556e+01] [ 1.10858929e-01 1.67113217e-04 9.93836138e-01 9.85151519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.37687499999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:95.84, Y:71.17, Z:9.85 [[ 3.50878279e-01 -9.35574850e-01 -3.98011800e-02 9.58390800e+01] [ 9.29858011e-01 3.53127600e-01 -1.03271382e-01 7.11681274e+01] [ 1.10673003e-01 -7.73761187e-04 9.93856573e-01 9.85443753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.85, Y:71.19, Z:9.86 [[ 3.46627390e-01 -9.37170074e-01 -3.95184048e-02 9.58475886e+01] [ 9.31536565e-01 3.48870609e-01 -1.02610554e-01 7.11937278e+01] [ 1.09950350e-01 -1.24521058e-03 9.93936301e-01 9.85830015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.85, Y:71.22, Z:9.86 [[ 3.37983885e-01 -9.40339049e-01 -3.91071213e-02 9.58544469e+01] [ 9.34833118e-01 3.40231683e-01 -1.01633872e-01 7.12206859e+01] [ 1.08875781e-01 -2.20802104e-03 9.94052911e-01 9.86196395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.86, Y:71.25, Z:9.86 [[ 3.33664837e-01 -9.41885453e-01 -3.89816539e-02 9.58616119e+01] [ 9.36416374e-01 3.35923573e-01 -1.01388995e-01 7.12454771e+01] [ 1.08591676e-01 -2.67311661e-03 9.94082845e-01 9.86457091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.85, Y:71.27, Z:9.84 [[ 3.25951967e-01 -9.45349481e-01 -8.34711254e-03 9.58548158e+01] [ 9.39884385e-01 3.24993545e-01 -1.04864383e-01 7.12742795e+01] [ 1.01846247e-01 2.63354311e-02 9.94451501e-01 9.83710523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.88, Y:71.29, Z:9.88 [[ 3.25416354e-01 -9.43338189e-01 -6.49404118e-02 9.58816011e+01] [ 9.39380439e-01 3.30368392e-01 -9.17666408e-02 7.12938769e+01] [ 1.08021236e-01 -3.11413869e-02 9.93660720e-01 9.88478608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.88, Y:71.32, Z:9.87 [[ 3.20151626e-01 -9.46545133e-01 -3.94366189e-02 9.58813057e+01] [ 9.40959427e-01 3.22543960e-01 -1.02765516e-01 7.13243511e+01] [ 1.09992242e-01 -4.20771127e-03 9.93923539e-01 9.87376292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.89, Y:71.35, Z:9.88 [[ 3.18975739e-01 -9.46947051e-01 -3.93161687e-02 9.58881664e+01] [ 9.41388387e-01 3.21360807e-01 -1.02543338e-01 7.13508532e+01] [ 1.09737787e-01 -4.30294747e-03 9.93951258e-01 9.87693725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.89, Y:71.38, Z:9.88 [[ 3.19116159e-01 -9.46907072e-01 -3.91391538e-02 9.58948241e+01] [ 9.41388216e-01 3.21479419e-01 -1.02172450e-01 7.13772605e+01] [ 1.09330248e-01 -4.24025838e-03 9.93996437e-01 9.88049846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.90, Y:71.41, Z:9.88 [[ 3.21102363e-01 -9.46243010e-01 -3.89543068e-02 9.58967700e+01] [ 9.40761607e-01 3.23432287e-01 -1.01779934e-01 7.14069931e+01] [ 1.08907632e-01 -3.96493883e-03 9.94043966e-01 9.88246757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.90, Y:71.43, Z:9.89 [[ 3.23427320e-01 -9.45444036e-01 -3.91196177e-02 9.59024499e+01] [ 9.39900829e-01 3.25763731e-01 -1.02295765e-01 7.14347275e+01] [ 1.09458673e-01 -3.68331613e-03 9.93984523e-01 9.88514464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.90, Y:71.46, Z:9.89 [[ 3.28785306e-01 -9.43589636e-01 -3.92278117e-02 9.59038989e+01] [ 9.37993001e-01 3.31103232e-01 -1.02663427e-01 7.14636166e+01] [ 1.09860601e-01 -3.04118666e-03 9.93942352e-01 9.88756433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.91, Y:71.49, Z:9.89 [[ 3.31579730e-01 -9.42607840e-01 -3.93108465e-02 9.59103837e+01] [ 9.36970661e-01 3.33891032e-01 -1.02969700e-01 7.14911404e+01] [ 1.10185585e-01 -2.69044470e-03 9.93907389e-01 9.89141531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.92, Y:71.52, Z:9.89 [[ 3.33630189e-01 -9.41886754e-01 -3.92458865e-02 9.59161237e+01] [ 9.36254054e-01 3.35921851e-01 -1.02882730e-01 7.15183853e+01] [ 1.10087431e-01 -2.41933587e-03 9.93918963e-01 9.89408602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.92, Y:71.55, Z:9.90 [[ 3.35844330e-01 -9.41092932e-01 -3.94040481e-02 9.59223287e+01] [ 9.35399760e-01 3.38141273e-01 -1.03381664e-01 7.15460235e+01] [ 1.10615889e-01 -2.13839135e-03 9.93860932e-01 9.89671178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.92, Y:71.57, Z:9.90 [[ 3.40553790e-01 -9.39390926e-01 -3.95955164e-02 9.59243513e+01] [ 9.33620872e-01 3.42844361e-01 -1.03970243e-01 7.15749144e+01] [ 1.11243803e-01 -1.55974012e-03 9.93791922e-01 9.89856908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.93, Y:71.60, Z:9.90 [[ 3.42575185e-01 -9.38661846e-01 -3.94484732e-02 9.59301080e+01] [ 9.32920329e-01 3.44836600e-01 -1.03669565e-01 7.16015705e+01] [ 1.10913943e-01 -1.28766214e-03 9.93829180e-01 9.90092724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.94, Y:71.63, Z:9.90 [[ 3.44735485e-01 -9.37874221e-01 -3.93622963e-02 9.59364065e+01] [ 9.32142724e-01 3.46973983e-01 -1.03532588e-01 7.16292808e+01] [ 1.10758238e-01 -9.99921025e-04 9.93846876e-01 9.90331830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.94, Y:71.66, Z:9.91 [[ 3.49692345e-01 -9.36039178e-01 -3.93182004e-02 9.59399794e+01] [ 9.30299358e-01 3.51895594e-01 -1.03501670e-01 7.16580099e+01] [ 1.10717520e-01 -3.83954950e-04 9.93851842e-01 9.90538383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.95, Y:71.69, Z:9.91 [[ 3.52194609e-01 -9.35092194e-01 -3.95164127e-02 9.59473804e+01] [ 9.29278503e-01 3.54404552e-01 -1.04109932e-01 7.16855844e+01] [ 1.11357182e-01 -5.47958858e-05 9.93780446e-01 9.90842815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.95, Y:71.71, Z:9.91 [[ 3.54836562e-01 -9.34086390e-01 -3.96690082e-02 9.59545053e+01] [ 9.28211448e-01 3.57046957e-01 -1.04599133e-01 7.17117292e+01] [ 1.11868325e-01 2.94369282e-04 9.93722995e-01 9.91073023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.006875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.96, Y:71.74, Z:9.91 [[ 3.60394951e-01 -9.31955400e-01 -3.96813895e-02 9.59601382e+01] [ 9.26053447e-01 3.62571571e-01 -1.04722819e-01 7.17393742e+01] [ 1.11984340e-01 9.94487535e-04 9.93709474e-01 9.91333863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.97, Y:71.77, Z:9.92 [[ 3.62671098e-01 -9.31069771e-01 -3.97335589e-02 9.59678216e+01] [ 9.25137158e-01 3.64838848e-01 -1.04946909e-01 7.17660135e+01] [ 1.12209241e-01 1.30221914e-03 9.93683748e-01 9.91610643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.98, Y:71.79, Z:9.92 [[ 3.62432496e-01 -9.31163903e-01 -3.97048089e-02 9.59778030e+01] [ 9.25230662e-01 3.64598527e-01 -1.04957786e-01 7.17926555e+01] [ 1.12209216e-01 1.30400564e-03 9.93683748e-01 9.91905050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.99, Y:71.82, Z:9.92 [[ 3.64894759e-01 -9.30198548e-01 -3.97803437e-02 9.59860199e+01] [ 9.24227527e-01 3.67053111e-01 -1.05240159e-01 7.18193260e+01] [ 1.12495742e-01 1.63549401e-03 9.93650861e-01 9.92236125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.99, Y:71.85, Z:9.93 [[ 3.68683693e-01 -9.28718591e-01 -3.94222356e-02 9.59935105e+01] [ 9.22836683e-01 3.70779391e-01 -1.04379591e-01 7.18463636e+01] [ 1.11556219e-01 2.10276801e-03 9.93755900e-01 9.92635260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.00, Y:71.87, Z:9.93 [[ 3.70043027e-01 -9.28195385e-01 -3.90062259e-02 9.60020849e+01] [ 9.22424805e-01 3.72086251e-01 -1.03364892e-01 7.18717678e+01] [ 1.10456496e-01 2.26914720e-03 9.93878370e-01 9.92965720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.01, Y:71.90, Z:9.93 [[ 3.70895729e-01 -9.27868130e-01 -3.86922665e-02 9.60107247e+01] [ 9.22178576e-01 3.72900874e-01 -1.02623643e-01 7.18974582e+01] [ 1.09649587e-01 2.38149150e-03 9.93967452e-01 9.93260018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.216875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:96.02, Y:71.92, Z:9.94 [[ 3.71994662e-01 -9.27448489e-01 -3.82004146e-02 9.60187183e+01] [ 9.21891269e-01 3.73942533e-01 -1.01407446e-01 7.19242530e+01] [ 1.08334942e-01 2.50639977e-03 9.94111291e-01 9.93501208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.03, Y:71.95, Z:9.94 [[ 3.72120131e-01 -9.27404698e-01 -3.80412198e-02 9.60273608e+01] [ 9.21884503e-01 3.74050898e-01 -1.01068733e-01 7.19497051e+01] [ 1.07960970e-01 2.54009899e-03 9.94151888e-01 9.93731758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.04, Y:71.98, Z:9.94 [[ 3.72114784e-01 -9.27399585e-01 -3.82177691e-02 9.60369799e+01] [ 9.21820876e-01 3.74063319e-01 -1.01601700e-01 7.19763545e+01] [ 1.08521240e-01 2.57755721e-03 9.94090789e-01 9.94017728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.05, Y:72.00, Z:9.94 [[ 3.72224034e-01 -9.27350172e-01 -3.83526527e-02 9.60466779e+01] [ 9.21722108e-01 3.74185409e-01 -1.02047225e-01 7.20029361e+01] [ 1.08984515e-01 2.63394208e-03 9.94039958e-01 9.94257949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.06, Y:72.03, Z:9.94 [[ 3.73882963e-01 -9.26657786e-01 -3.89471069e-02 9.60566666e+01] [ 9.20839440e-01 3.75894732e-01 -1.03720182e-01 7.20285215e+01] [ 1.10753126e-01 2.91517681e-03 9.93843673e-01 9.94497613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.07, Y:72.05, Z:9.95 [[ 3.74692944e-01 -9.26325908e-01 -3.90577749e-02 9.60664071e+01] [ 9.20461959e-01 3.76710712e-01 -1.04109658e-01 7.20543390e+01] [ 1.11152956e-01 3.05795819e-03 9.93798606e-01 9.94738217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.08, Y:72.08, Z:9.95 [[ 3.75492670e-01 -9.25989969e-01 -3.93424833e-02 9.60767281e+01] [ 9.20027920e-01 3.77534421e-01 -1.04958980e-01 7.20807869e+01] [ 1.12044104e-01 3.21514452e-03 9.93698033e-01 9.95017758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.09, Y:72.11, Z:9.95 [[ 3.76322313e-01 -9.25647014e-01 -3.94857180e-02 9.60875741e+01] [ 9.19629476e-01 3.78373221e-01 -1.05429279e-01 7.21058436e+01] [ 1.12530635e-01 3.36315977e-03 9.93642564e-01 9.95219176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.456875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:96.10, Y:72.13, Z:9.96 [[ 3.75996795e-01 -9.25781621e-01 -3.94309534e-02 9.60988640e+01] [ 9.19773914e-01 3.78043923e-01 -1.05350555e-01 7.21319050e+01] [ 1.12438240e-01 3.34390875e-03 9.93653089e-01 9.95528870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.11, Y:72.16, Z:9.96 [[ 3.75416991e-01 -9.26023639e-01 -3.92721610e-02 9.61097980e+01] [ 9.20055496e-01 3.77451161e-01 -1.05016686e-01 7.21564839e+01] [ 1.12071257e-01 3.29248067e-03 9.93694718e-01 9.95843822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.12, Y:72.18, Z:9.96 [[ 3.73433131e-01 -9.26834955e-01 -3.90469347e-02 9.61230263e+01] [ 9.20929130e-01 3.75456465e-01 -1.04508277e-01 7.21810410e+01] [ 1.11522348e-01 3.06739327e-03 9.93757192e-01 9.96237942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.13, Y:72.21, Z:9.97 [[ 3.71791647e-01 -9.27495285e-01 -3.90316262e-02 9.61347504e+01] [ 9.21587495e-01 3.73823582e-01 -1.04558204e-01 7.22064204e+01] [ 1.11568184e-01 2.90280830e-03 9.93752542e-01 9.96519575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.15, Y:72.23, Z:9.97 [[ 3.69320644e-01 -9.28493913e-01 -3.87468174e-02 9.61478204e+01] [ 9.22667392e-01 3.71338393e-01 -1.03887826e-01 7.22304435e+01] [ 1.10847395e-01 2.61749384e-03 9.93833992e-01 9.96723530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.16, Y:72.26, Z:9.97 [[ 3.68290131e-01 -9.28900457e-01 -3.88113446e-02 9.61588979e+01] [ 9.23045766e-01 3.70320821e-01 -1.04158549e-01 7.22558116e+01] [ 1.11125573e-01 2.53591830e-03 9.93803138e-01 9.96992981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.17, Y:72.28, Z:9.97 [[ 3.67969581e-01 -9.29027076e-01 -3.88211168e-02 9.61699647e+01] [ 9.23159954e-01 3.70003081e-01 -1.04275688e-01 7.22816462e+01] [ 1.11238870e-01 2.53218078e-03 9.93790472e-01 9.97257976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.18, Y:72.31, Z:9.98 [[ 3.68917521e-01 -9.28661635e-01 -3.85672202e-02 9.61824156e+01] [ 9.22859371e-01 3.70918457e-01 -1.03682594e-01 7.23056645e+01] [ 1.10591341e-01 2.65820490e-03 9.93862410e-01 9.97511618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.19, Y:72.33, Z:9.98 [[ 3.69134844e-01 -9.28567985e-01 -3.87422877e-02 9.61935862e+01] [ 9.22704528e-01 3.71152362e-01 -1.04222254e-01 7.23304117e+01] [ 1.11156740e-01 2.72438109e-03 9.93799153e-01 9.97841453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.20, Y:72.36, Z:9.98 [[ 3.69516836e-01 -9.28411534e-01 -3.88501206e-02 9.62048096e+01] [ 9.22503743e-01 3.71542865e-01 -1.04607570e-01 7.23559452e+01] [ 1.11553360e-01 2.81487689e-03 9.93754459e-01 9.98132131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.756875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.22, Y:72.38, Z:9.98 [[ 3.70442997e-01 -9.28046456e-01 -3.87525731e-02 9.62175935e+01] [ 9.22156438e-01 3.72452773e-01 -1.04433880e-01 7.23814430e+01] [ 1.11352996e-01 2.95086485e-03 9.93776536e-01 9.98324068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.23, Y:72.41, Z:9.99 [[ 3.70515591e-01 -9.28020134e-01 -3.86888670e-02 9.62288043e+01] [ 9.22139478e-01 3.72518066e-01 -1.04350727e-01 7.24071639e+01] [ 1.11251877e-01 2.98703946e-03 9.93787753e-01 9.98602403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.24, Y:72.43, Z:9.99 [[ 3.70657958e-01 -9.27966740e-01 -3.86057989e-02 9.62403118e+01] [ 9.22101244e-01 3.72650709e-01 -1.04214900e-01 7.24329828e+01] [ 1.11094439e-01 3.02962669e-03 9.93805236e-01 9.98898924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.25, Y:72.46, Z:9.99 [[ 3.70511804e-01 -9.28022561e-01 -3.86669150e-02 9.62520299e+01] [ 9.22128828e-01 3.72511503e-01 -1.04468197e-01 7.24582808e+01] [ 1.11352714e-01 3.05082300e-03 9.93776265e-01 9.99185603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.87687499999998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:96.27, Y:72.48, Z:9.99 [[ 3.69083138e-01 -9.28594640e-01 -3.85957356e-02 9.62659536e+01] [ 9.22715879e-01 3.71084287e-01 -1.04364071e-01 7.24831256e+01] [ 1.11234188e-01 2.90612060e-03 9.93789973e-01 9.99478883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.28, Y:72.51, Z:10.00 [[ 3.68193239e-01 -9.28957512e-01 -3.83624702e-02 9.62779323e+01] [ 9.23142057e-01 3.70175679e-01 -1.03820562e-01 7.25079732e+01] [ 1.10645745e-01 2.81201956e-03 9.93855931e-01 9.99782085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.29, Y:72.53, Z:10.00 [[ 3.66294781e-01 -9.29696254e-01 -3.86394605e-02 9.62933430e+01] [ 9.23790234e-01 3.68317657e-01 -1.04659964e-01 7.25324642e+01] [ 1.11533572e-01 2.64164244e-03 9.93757155e-01 1.00010012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.31, Y:72.56, Z:10.00 [[ 3.65047716e-01 -9.30181179e-01 -3.87703436e-02 9.63051197e+01] [ 9.24227083e-01 3.67092003e-01 -1.05108325e-01 7.25563863e+01] [ 1.12002068e-01 2.53695226e-03 9.93704735e-01 1.00037167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.996875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:96.32, Y:72.58, Z:10.01 [[ 3.63791210e-01 -9.30681739e-01 -3.85675450e-02 9.63169759e+01] [ 9.24781946e-01 3.65821967e-01 -1.04654870e-01 7.25817756e+01] [ 1.11509231e-01 2.40595246e-03 9.93760486e-01 1.00054059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.33, Y:72.61, Z:10.01 [[ 3.63069914e-01 -9.30973833e-01 -3.83139754e-02 9.63290345e+01] [ 9.25143427e-01 3.65078456e-01 -1.04054604e-01 7.26072579e+01] [ 1.10859721e-01 2.33317362e-03 9.93833325e-01 1.00080098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.34, Y:72.63, Z:10.01 [[ 3.62335545e-01 -9.31274816e-01 -3.79495635e-02 9.63433562e+01] [ 9.25547182e-01 3.64310510e-01 -1.03151664e-01 7.26309112e+01] [ 1.09887971e-01 2.25140271e-03 9.93941429e-01 1.00119062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.35, Y:72.65, Z:10.01 [[ 3.61885040e-01 -9.31457829e-01 -3.77562077e-02 9.63545781e+01] [ 9.25779434e-01 3.63842538e-01 -1.02718289e-01 7.26549673e+01] [ 1.09415069e-01 2.21829152e-03 9.93993673e-01 1.00147949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.37, Y:72.68, Z:10.02 [[ 3.62238370e-01 -9.31329323e-01 -3.75373766e-02 9.63677601e+01] [ 9.25705111e-01 3.64170963e-01 -1.02223079e-01 7.26787010e+01] [ 1.08873374e-01 2.28058030e-03 9.94053010e-01 1.00175361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.38, Y:72.70, Z:10.02 [[ 3.62473291e-01 -9.31236528e-01 -3.75718261e-02 9.63792084e+01] [ 9.25591013e-01 3.64407776e-01 -1.02412160e-01 7.27042160e+01] [ 1.09061410e-01 2.34552793e-03 9.94032247e-01 1.00203099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.39, Y:72.73, Z:10.02 [[ 3.62721868e-01 -9.31139668e-01 -3.75734764e-02 9.63905575e+01] [ 9.25483763e-01 3.64654810e-01 -1.02502069e-01 7.27293879e+01] [ 1.09145091e-01 2.40609955e-03 9.94022917e-01 1.00232029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.40, Y:72.75, Z:10.03 [[ 3.63301278e-01 -9.30899935e-01 -3.79142749e-02 9.64035675e+01] [ 9.25133020e-01 3.65265590e-01 -1.03488863e-01 7.27541686e+01] [ 1.10186556e-01 2.52188867e-03 9.93907724e-01 1.00257264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.41, Y:72.78, Z:10.03 [[ 3.63332815e-01 -9.30882567e-01 -3.80382964e-02 9.64143142e+01] [ 9.25067420e-01 3.65309520e-01 -1.03919311e-01 7.27790711e+01] [ 1.10632427e-01 2.56930701e-03 9.93858071e-01 1.00278609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.43, Y:72.80, Z:10.03 [[ 3.63143662e-01 -9.30951723e-01 -3.81519282e-02 9.64250150e+01] [ 9.25091182e-01 3.65133089e-01 -1.04327046e-01 7.28040124e+01] [ 1.11053974e-01 2.59169308e-03 9.93810997e-01 1.00299139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.44, Y:72.83, Z:10.03 [[ 3.64085187e-01 -9.30573435e-01 -3.84064935e-02 9.64378079e+01] [ 9.24620646e-01 3.66094863e-01 -1.05124745e-01 7.28287320e+01] [ 1.11886715e-01 2.76292566e-03 9.93717127e-01 1.00328733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.45, Y:72.85, Z:10.04 [[ 3.64410799e-01 -9.30439845e-01 -3.85546927e-02 9.64485920e+01] [ 9.24428710e-01 3.66433569e-01 -1.05631431e-01 7.28540778e+01] [ 1.12411426e-01 2.85216945e-03 9.93657656e-01 1.00358879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.46, Y:72.88, Z:10.04 [[ 3.64722090e-01 -9.30316268e-01 -3.85932306e-02 9.64591622e+01] [ 9.24281827e-01 3.66746602e-01 -1.05830219e-01 7.28789162e+01] [ 1.12609510e-01 2.92759694e-03 9.93635007e-01 1.00384765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.47, Y:72.90, Z:10.04 [[ 3.61949660e-01 -9.31376648e-01 -3.91150021e-02 9.64715683e+01] [ 9.25171872e-01 3.64047253e-01 -1.07362022e-01 7.29029792e+01] [ 1.14234189e-01 2.67154760e-03 9.93450257e-01 1.00406542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.48, Y:72.93, Z:10.04 [[ 3.60029216e-01 -9.32116359e-01 -3.92180636e-02 9.64828107e+01] [ 9.25871014e-01 3.62150427e-01 -1.07749401e-01 7.29278587e+01] [ 1.14637818e-01 2.48206402e-03 9.93404253e-01 1.00440437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.49, Y:72.95, Z:10.05 [[ 3.57490251e-01 -9.33096807e-01 -3.91288772e-02 9.64934522e+01] [ 9.26873699e-01 3.59618550e-01 -1.07608760e-01 7.29523458e+01] [ 1.14480860e-01 2.20155534e-03 9.93423015e-01 1.00465676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.50, Y:72.98, Z:10.05 [[ 3.55683312e-01 -9.33800122e-01 -3.88164145e-02 9.65041496e+01] [ 9.27668261e-01 3.57789519e-01 -1.06856249e-01 7.29770314e+01] [ 1.13670484e-01 1.99822867e-03 9.93516496e-01 1.00496484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.506875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.52, Y:73.00, Z:10.05 [[ 3.52040809e-01 -9.35208822e-01 -3.81015476e-02 9.65157972e+01] [ 9.29298335e-01 3.54093277e-01 -1.04988361e-01 7.30007059e+01] [ 1.11677543e-01 1.55248275e-03 9.93743285e-01 1.00530653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.53, Y:73.03, Z:10.06 [[ 3.50200969e-01 -9.35913634e-01 -3.77485136e-02 9.65265166e+01] [ 9.30104964e-01 3.52226971e-01 -1.04119723e-01 7.30254857e+01] [ 1.10743113e-01 1.35274798e-03 9.93848144e-01 1.00564247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.56687499999998 meters Centerline goodness : 0.999926 Centerline is valid? [True, True] Translation: X:96.54, Y:73.05, Z:10.06 [[ 3.46936412e-01 -9.37144656e-01 -3.73499624e-02 9.65381313e+01] [ 9.31454658e-01 3.48939712e-01 -1.03117882e-01 7.30501263e+01] [ 1.09669257e-01 9.85551461e-04 9.93967647e-01 1.00604758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.55, Y:73.08, Z:10.06 [[ 3.45632386e-01 -9.37637077e-01 -3.70805263e-02 9.65481577e+01] [ 9.32021061e-01 3.47614694e-01 -1.02473247e-01 7.30756614e+01] [ 1.08972452e-01 8.58241394e-04 9.94044400e-01 1.00634050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.56, Y:73.10, Z:10.07 [[ 3.43670947e-01 -9.38364489e-01 -3.69102493e-02 9.65579943e+01] [ 9.32793423e-01 3.45646715e-01 -1.02101807e-01 7.30996602e+01] [ 1.08566616e-01 6.59786781e-04 9.94088957e-01 1.00657343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.57, Y:73.12, Z:10.07 [[ 3.42601256e-01 -9.38749456e-01 -3.70653209e-02 9.65677353e+01] [ 9.33122165e-01 3.44599951e-01 -1.02634785e-01 7.31248275e+01] [ 1.09121056e-01 5.76333610e-04 9.94028301e-01 1.00684731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.58, Y:73.15, Z:10.07 [[ 3.41792561e-01 -9.39042899e-01 -3.70982446e-02 9.65773921e+01] [ 9.33396918e-01 3.43799605e-01 -1.02820351e-01 7.31501458e+01] [ 1.09307082e-01 5.15843912e-04 9.94007895e-01 1.00712293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.59, Y:73.18, Z:10.07 [[ 3.41164644e-01 -9.39261382e-01 -3.73462549e-02 9.65869071e+01] [ 9.33529488e-01 3.43202306e-01 -1.03609226e-01 7.31752725e+01] [ 1.10133465e-01 4.83974413e-04 9.93916689e-01 1.00738972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.60, Y:73.20, Z:10.08 [[ 3.40713091e-01 -9.39423221e-01 -3.73978736e-02 9.65963931e+01] [ 9.33665144e-01 3.42759089e-01 -1.03853773e-01 7.32017930e+01] [ 1.10381107e-01 4.67249096e-04 9.93889226e-01 1.00768412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.61, Y:73.23, Z:10.08 [[ 3.40753126e-01 -9.39402527e-01 -3.75526127e-02 9.66051215e+01] [ 9.33586276e-01 3.42815744e-01 -1.04374472e-01 7.32263633e+01] [ 1.10923270e-01 5.07323646e-04 9.93828844e-01 1.00793712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.61, Y:73.25, Z:10.08 [[ 3.41738723e-01 -9.39036592e-01 -3.77481575e-02 9.66129524e+01] [ 9.33148015e-01 3.43816587e-01 -1.04999701e-01 7.32525849e+01] [ 1.11577004e-01 6.57845679e-04 9.93755573e-01 1.00820047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.62, Y:73.28, Z:10.08 [[ 3.42225396e-01 -9.38861401e-01 -3.76968024e-02 9.66209969e+01] [ 9.32976432e-01 3.44294510e-01 -1.04958409e-01 7.32777410e+01] [ 1.11520201e-01 7.49204928e-04 9.93761885e-01 1.00842522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.63, Y:73.30, Z:10.09 [[ 3.43518339e-01 -9.38381760e-01 -3.78790728e-02 9.66291351e+01] [ 9.32427563e-01 3.45599181e-01 -1.05546418e-01 7.33030484e+01] [ 1.12133810e-01 9.37638784e-04 9.93692674e-01 1.00870490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.64, Y:73.33, Z:10.09 [[ 3.43892978e-01 -9.38240525e-01 -3.79781027e-02 9.66380108e+01] [ 9.32245031e-01 3.45982207e-01 -1.05903329e-01 7.33296971e+01] [ 1.12502543e-01 1.01451366e-03 9.93650919e-01 1.00903125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.65, Y:73.36, Z:10.09 [[ 3.44052622e-01 -9.38189285e-01 -3.77975989e-02 9.66464026e+01] [ 9.32240021e-01 3.46120996e-01 -1.05493125e-01 7.33552933e+01] [ 1.12055062e-01 1.05875173e-03 9.93701435e-01 1.00929755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.65, Y:73.38, Z:10.10 [[ 3.44096329e-01 -9.38181558e-01 -3.75909740e-02 9.66547083e+01] [ 9.32285754e-01 3.46141841e-01 -1.05019515e-01 7.33809966e+01] [ 1.11539181e-01 1.09129985e-03 9.93759438e-01 1.00955601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.66, Y:73.41, Z:10.10 [[ 3.43822939e-01 -9.38283090e-01 -3.75583591e-02 9.66638956e+01] [ 9.32386617e-01 3.45866518e-01 -1.05031178e-01 7.34070903e+01] [ 1.11539157e-01 1.09321693e-03 9.93759438e-01 1.00984177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.67, Y:73.43, Z:10.10 [[ 3.43847406e-01 -9.38280850e-01 -3.73899441e-02 9.66716011e+01] [ 9.32426461e-01 3.45872500e-01 -1.04657102e-01 7.34333502e+01] [ 1.11129908e-01 1.12269968e-03 9.93805254e-01 1.01012084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.68, Y:73.46, Z:10.10 [[ 3.44126029e-01 -9.38186509e-01 -3.71934173e-02 9.66795683e+01] [ 9.32381731e-01 3.46128119e-01 -1.04209564e-01 7.34586256e+01] [ 1.10641695e-01 1.18276074e-03 9.93859656e-01 1.01036713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.69, Y:73.48, Z:10.11 [[ 3.44464151e-01 -9.38068100e-01 -3.70498223e-02 9.66878057e+01] [ 9.32295650e-01 3.46448654e-01 -1.03914157e-01 7.34846352e+01] [ 1.10314417e-01 1.25331367e-03 9.93895950e-01 1.01067065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.69, Y:73.51, Z:10.11 [[ 3.45533004e-01 -9.37691294e-01 -3.66330404e-02 9.66949604e+01] [ 9.32035420e-01 3.47466684e-01 -1.02843959e-01 7.35106521e+01] [ 1.09164646e-01 1.39269083e-03 9.94022706e-01 1.01094550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.70, Y:73.54, Z:10.11 [[ 3.45528897e-01 -9.37694360e-01 -3.65932888e-02 9.67032311e+01] [ 9.32039850e-01 3.47458281e-01 -1.02832200e-01 7.35363898e+01] [ 1.09139815e-01 1.42509334e-03 9.94025387e-01 1.01121926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.71, Y:73.56, Z:10.11 [[ 3.45530788e-01 -9.37683304e-01 -3.68577668e-02 9.67116908e+01] [ 9.31935398e-01 3.47487911e-01 -1.03675288e-01 7.35625358e+01] [ 1.10022215e-01 1.47394630e-03 9.93928036e-01 1.01149690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.72, Y:73.59, Z:10.12 [[ 3.45203147e-01 -9.37808987e-01 -3.67299732e-02 9.67188089e+01] [ 9.32093934e-01 3.47148658e-01 -1.03386205e-01 7.35877180e+01] [ 1.09707273e-01 1.45345811e-03 9.93962877e-01 1.01173536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.73, Y:73.61, Z:10.12 [[ 3.44993393e-01 -9.37881663e-01 -3.68448829e-02 9.67271910e+01] [ 9.32122242e-01 3.46952226e-01 -1.03789593e-01 7.36138163e+01] [ 1.10125770e-01 1.46278891e-03 9.93916584e-01 1.01201001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.256875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.74, Y:73.64, Z:10.12 [[ 3.44875338e-01 -9.37916900e-01 -3.70525426e-02 9.67355253e+01] [ 9.32081153e-01 3.46856821e-01 -1.04475215e-01 7.36393844e+01] [ 1.10840997e-01 1.49494860e-03 9.93837028e-01 1.01229453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.74, Y:73.67, Z:10.12 [[ 3.45025927e-01 -9.37854493e-01 -3.72298364e-02 9.67437812e+01] [ 9.31950900e-01 3.47025251e-01 -1.05076136e-01 7.36656029e+01] [ 1.11465820e-01 1.55761178e-03 9.93767048e-01 1.01249349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.31687499999998 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:96.75, Y:73.69, Z:10.13 [[ 3.45285245e-01 -9.37733021e-01 -3.78798268e-02 9.67503135e+01] [ 9.31607920e-01 3.47352873e-01 -1.07017120e-01 7.36912428e+01] [ 1.13511154e-01 1.66228600e-03 9.93535331e-01 1.01270473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.76, Y:73.72, Z:10.13 [[ 3.45074189e-01 -9.37801898e-01 -3.80973023e-02 9.67585043e+01] [ 9.31593831e-01 3.47166751e-01 -1.07741271e-01 7.37166613e+01] [ 1.14266085e-01 1.68751984e-03 9.93448748e-01 1.01302210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.77, Y:73.74, Z:10.13 [[ 3.43649044e-01 -9.38346470e-01 -3.75664320e-02 9.67666866e+01] [ 9.32302950e-01 3.45692918e-01 -1.06337279e-01 7.37428920e+01] [ 1.12767660e-01 1.51940882e-03 9.93620222e-01 1.01337987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.78, Y:73.77, Z:10.14 [[ 3.42733174e-01 -9.38700933e-01 -3.70746447e-02 9.67750120e+01] [ 9.32806693e-01 3.44729677e-01 -1.05038671e-01 7.37689817e+01] [ 1.11380628e-01 1.41676013e-03 9.93776810e-01 1.01367611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.78, Y:73.80, Z:10.14 [[ 3.41772790e-01 -9.39061821e-01 -3.68002271e-02 9.67834854e+01] [ 9.33246001e-01 3.43745757e-01 -1.04358788e-01 7.37951698e+01] [ 1.10649276e-01 1.32332951e-03 9.93858635e-01 1.01399064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.466875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:96.79, Y:73.82, Z:10.14 [[ 3.40737968e-01 -9.39444448e-01 -3.66301206e-02 9.67920185e+01] [ 9.33674222e-01 3.42699030e-01 -1.03970294e-01 7.38208759e+01] [ 1.10227422e-01 1.22602737e-03 9.93905635e-01 1.01428992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.80, Y:73.85, Z:10.15 [[ 3.38745562e-01 -9.40167360e-01 -3.65619901e-02 9.68012238e+01] [ 9.34411911e-01 3.40711443e-01 -1.03875373e-01 7.38474791e+01] [ 1.10117324e-01 1.02336261e-03 9.93918069e-01 1.01454068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.81, Y:73.87, Z:10.15 [[ 3.37971675e-01 -9.40445786e-01 -3.65632480e-02 9.68105082e+01] [ 9.34681325e-01 3.39942340e-01 -1.03971274e-01 7.38738658e+01] [ 1.10208742e-01 9.64360454e-04 9.93907995e-01 1.01482866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.82, Y:73.90, Z:10.15 [[ 3.37428626e-01 -9.40643811e-01 -3.64848385e-02 9.68192494e+01] [ 9.34895073e-01 3.39394104e-01 -1.03840478e-01 7.38989980e+01] [ 1.10059642e-01 9.29254086e-04 9.93924550e-01 1.01509537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.83, Y:73.92, Z:10.15 [[ 3.37294962e-01 -9.40684709e-01 -3.66658787e-02 9.68284811e+01] [ 9.34866735e-01 3.39280652e-01 -1.04464473e-01 7.39245538e+01] [ 1.10708155e-01 9.57630030e-04 9.93852498e-01 1.01549049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.84, Y:73.95, Z:10.16 [[ 3.37745115e-01 -9.40516472e-01 -3.68375269e-02 9.68369596e+01] [ 9.34631244e-01 3.39746461e-01 -1.05056077e-01 7.39500289e+01] [ 1.11322390e-01 1.05267305e-03 9.93783788e-01 1.01576371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.85, Y:73.98, Z:10.16 [[ 3.38174018e-01 -9.40352070e-01 -3.70987669e-02 9.68458500e+01] [ 9.34370175e-01 3.40200915e-01 -1.05904266e-01 7.39770017e+01] [ 1.12208330e-01 1.15008999e-03 9.93684038e-01 1.01598320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.85, Y:74.00, Z:10.16 [[ 3.39466927e-01 -9.39857992e-01 -3.78042452e-02 9.68548017e+01] [ 9.33631278e-01 3.41562689e-01 -1.08016512e-01 7.40024473e+01] [ 1.14432702e-01 1.37280775e-03 9.93430054e-01 1.01616255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.86, Y:74.03, Z:10.16 [[ 3.39514117e-01 -9.39840043e-01 -3.78266877e-02 9.68637790e+01] [ 9.33594041e-01 3.41611904e-01 -1.08182597e-01 7.40281907e+01] [ 1.14596383e-01 1.41474865e-03 9.93411127e-01 1.01641823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.87, Y:74.05, Z:10.17 [[ 3.39668175e-01 -9.39776786e-01 -3.80147662e-02 9.68726502e+01] [ 9.33455399e-01 3.41785605e-01 -1.08828387e-01 7.40524770e+01] [ 1.15267292e-01 1.48045089e-03 9.93333408e-01 1.01669549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.88, Y:74.08, Z:10.17 [[ 3.38916520e-01 -9.40053765e-01 -3.78749433e-02 9.68818891e+01] [ 9.33767831e-01 3.41023320e-01 -1.08539082e-01 7.40776949e+01] [ 1.14948812e-01 1.41928442e-03 9.93370402e-01 1.01697016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.89, Y:74.10, Z:10.17 [[ 3.37680604e-01 -9.40499767e-01 -3.78417393e-02 9.68911751e+01] [ 9.34215350e-01 3.39791833e-01 -1.08550404e-01 7.41030468e+01] [ 1.14949944e-01 1.30303220e-03 9.93370431e-01 1.01732924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.90, Y:74.13, Z:10.18 [[ 3.36165646e-01 -9.41054985e-01 -3.75256454e-02 9.69007194e+01] [ 9.34866922e-01 3.38251706e-01 -1.07747951e-01 7.41285119e+01] [ 1.14089860e-01 1.13967503e-03 9.93469781e-01 1.01775400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.856875 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:96.91, Y:74.15, Z:10.18 [[ 3.32239022e-01 -9.42470205e-01 -3.69749303e-02 9.69109122e+01] [ 9.36460147e-01 3.34289470e-01 -1.06268259e-01 7.41539319e+01] [ 1.12514997e-01 6.80913625e-04 9.93649793e-01 1.01817196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.92, Y:74.18, Z:10.19 [[ 3.29585344e-01 -9.43414330e-01 -3.66456428e-02 9.69206012e+01] [ 9.37505332e-01 3.31616117e-01 -1.05425347e-01 7.41789288e+01] [ 1.11612069e-01 3.91163595e-04 9.93751776e-01 1.01855597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.93, Y:74.20, Z:10.19 [[ 3.26196617e-01 -9.44595303e-01 -3.65442308e-02 9.69298782e+01] [ 9.38714802e-01 3.28237282e-01 -1.05236911e-01 7.42039297e+01] [ 1.11401471e-01 2.33139747e-05 9.93775484e-01 1.01886404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.94, Y:74.23, Z:10.19 [[ 3.19529437e-01 -9.46884327e-01 -3.62078756e-02 9.69401881e+01] [ 9.41114912e-01 3.21573544e-01 -1.04370393e-01 7.42293408e+01] [ 1.10470184e-01 -7.26358694e-04 9.93879173e-01 1.01919386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.95, Y:74.25, Z:10.19 [[ 3.16145204e-01 -9.48023534e-01 -3.61052418e-02 9.69495482e+01] [ 9.42282870e-01 3.18198363e-01 -1.04176743e-01 7.42544436e+01] [ 1.10250633e-01 -1.08637304e-03 9.93903223e-01 1.01949859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.96, Y:74.28, Z:10.20 [[ 3.13182952e-01 -9.49009482e-01 -3.60200083e-02 9.69581923e+01] [ 9.43291019e-01 3.15244436e-01 -1.04033646e-01 7.42787057e+01] [ 1.10084024e-01 -1.39578585e-03 9.93921304e-01 1.01975507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.97, Y:74.31, Z:10.20 [[ 3.08778429e-01 -9.50438378e-01 -3.63699259e-02 9.69672871e+01] [ 9.44605501e-01 3.10907272e-01 -1.05152819e-01 7.43053546e+01] [ 1.11248949e-01 -1.88630983e-03 9.93790779e-01 1.01999805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.98, Y:74.33, Z:10.20 [[ 3.07561177e-01 -9.50830815e-01 -3.64264106e-02 9.69759556e+01] [ 9.44972088e-01 3.09704298e-01 -1.05408735e-01 7.43302549e+01] [ 1.11507290e-01 -2.00230653e-03 9.93761599e-01 1.02024337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.98, Y:74.36, Z:10.21 [[ 3.06693029e-01 -9.51108364e-01 -3.65002285e-02 9.69838380e+01] [ 9.45218395e-01 3.08850365e-01 -1.05705426e-01 7.43566223e+01] [ 1.11810424e-01 -2.08156996e-03 9.93727375e-01 1.02057402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.99, Y:74.38, Z:10.21 [[ 3.07223988e-01 -9.50936517e-01 -3.65124986e-02 9.69916328e+01] [ 9.45029622e-01 3.09379690e-01 -1.05845268e-01 7.43826266e+01] [ 1.11948356e-01 -1.98718721e-03 9.93712039e-01 1.02080328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.00, Y:74.41, Z:10.21 [[ 3.08208953e-01 -9.50610853e-01 -3.66912492e-02 9.69992648e+01] [ 9.44631597e-01 3.10379771e-01 -1.06468514e-01 7.44086025e+01] [ 1.12598346e-01 -1.84516412e-03 9.93638872e-01 1.02103453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.01, Y:74.43, Z:10.21 [[ 3.09073160e-01 -9.50328330e-01 -3.67402671e-02 9.70067894e+01] [ 9.44319120e-01 3.11244495e-01 -1.06715811e-01 7.44344596e+01] [ 1.12850265e-01 -1.71154370e-03 9.93610532e-01 1.02118117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.01, Y:74.46, Z:10.21 [[ 3.10592443e-01 -9.49814534e-01 -3.72113622e-02 9.70139095e+01] [ 9.43633571e-01 3.12809959e-01 -1.08192478e-01 7.44598717e+01] [ 1.14402873e-01 -1.51012443e-03 9.93433290e-01 1.02146992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.02, Y:74.49, Z:10.22 [[ 3.10928740e-01 -9.49715378e-01 -3.69326321e-02 9.70217702e+01] [ 9.43613666e-01 3.13111262e-01 -1.07492266e-01 7.44863780e+01] [ 1.13651081e-01 -1.42770154e-03 9.93519700e-01 1.02175919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.03, Y:74.51, Z:10.22 [[ 3.11316558e-01 -9.49594446e-01 -3.67748561e-02 9.70296899e+01] [ 9.43532065e-01 3.13478200e-01 -1.07138506e-01 7.45131933e+01] [ 1.13266246e-01 -1.34426503e-03 9.93563763e-01 1.02207562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.04, Y:74.54, Z:10.22 [[ 3.12972150e-01 -9.49057985e-01 -3.65701283e-02 9.70362081e+01] [ 9.43048559e-01 3.15099513e-01 -1.06638228e-01 7.45388710e+01] [ 1.12729091e-01 -1.11261149e-03 9.93625138e-01 1.02239420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.04, Y:74.57, Z:10.23 [[ 3.14217097e-01 -9.48652911e-01 -3.64042749e-02 9.70440094e+01] [ 9.42682766e-01 3.16317555e-01 -1.06265733e-01 7.45653944e+01] [ 1.12324609e-01 -9.27172299e-04 9.93671134e-01 1.02264035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.05, Y:74.59, Z:10.23 [[ 3.15837079e-01 -9.48115014e-01 -3.63986313e-02 9.70515659e+01] [ 9.42131226e-01 3.17926767e-01 -1.06354710e-01 7.45920429e+01] [ 1.12408597e-01 -7.01526121e-04 9.93661821e-01 1.02285048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.06, Y:74.62, Z:10.23 [[ 3.19781018e-01 -9.46779773e-01 -3.67173116e-02 9.70587448e+01] [ 9.40670493e-01 3.21881998e-01 -1.07382504e-01 7.46193004e+01] [ 1.13486225e-01 -2.00005098e-04 9.93539550e-01 1.02311027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.07, Y:74.65, Z:10.23 [[ 3.21350921e-01 -9.46237512e-01 -3.69886018e-02 9.70668146e+01] [ 9.40022340e-01 3.23472674e-01 -1.08274785e-01 7.46456961e+01] [ 1.14418465e-01 2.40900488e-05 9.93432642e-01 1.02339974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.08, Y:74.67, Z:10.24 [[ 3.23479493e-01 -9.45505745e-01 -3.71470419e-02 9.70754327e+01] [ 9.39219642e-01 3.25605256e-01 -1.08847056e-01 7.46725235e+01] [ 1.15010789e-01 3.20559202e-04 9.93364191e-01 1.02377042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.08, Y:74.70, Z:10.24 [[ 3.25331290e-01 -9.44873822e-01 -3.70541838e-02 9.70835487e+01] [ 9.38603889e-01 3.27434161e-01 -1.08672027e-01 7.46994032e+01] [ 1.14814159e-01 5.75209841e-04 9.93386822e-01 1.02406737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.09, Y:74.73, Z:10.24 [[ 3.29624928e-01 -9.43397064e-01 -3.67340102e-02 9.70916644e+01] [ 9.37215035e-01 3.31663588e-01 -1.07829696e-01 7.47266164e+01] [ 1.13909552e-01 1.11568896e-03 9.93490498e-01 1.02441075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.10, Y:74.75, Z:10.25 [[ 3.31548524e-01 -9.42736588e-01 -3.63772181e-02 9.71001094e+01] [ 9.36659493e-01 3.33535409e-01 -1.06879024e-01 7.47523125e+01] [ 1.12891857e-01 1.36251594e-03 9.93606347e-01 1.02475337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.11, Y:74.78, Z:10.25 [[ 3.33143266e-01 -9.42183963e-01 -3.61240105e-02 9.71084968e+01] [ 9.36176700e-01 3.35092380e-01 -1.06236919e-01 7.47783199e+01] [ 1.12199602e-01 1.57365712e-03 9.93684443e-01 1.02507760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.12, Y:74.80, Z:10.25 [[ 3.33634697e-01 -9.42021628e-01 -3.58209674e-02 9.71160616e+01] [ 9.36102402e-01 3.35548105e-01 -1.05450279e-01 7.48049876e+01] [ 1.11356101e-01 1.64977816e-03 9.93779199e-01 1.02531930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.12, Y:74.83, Z:10.26 [[ 3.33514100e-01 -9.42080674e-01 -3.53885332e-02 9.71242883e+01] [ 9.36293983e-01 3.35382332e-01 -1.04270174e-01 7.48301993e+01] [ 1.10099604e-01 1.64150239e-03 9.93919203e-01 1.02566036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.13, Y:74.86, Z:10.26 [[ 3.33250182e-01 -9.42188162e-01 -3.50112040e-02 9.71324953e+01] [ 9.36517481e-01 3.35080391e-01 -1.03228578e-01 7.48558783e+01] [ 1.08992313e-01 1.61233802e-03 9.94041285e-01 1.02603016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.14, Y:74.88, Z:10.26 [[ 3.34202770e-01 -9.41873186e-01 -3.44007325e-02 9.71401547e+01] [ 9.36386566e-01 3.35964204e-01 -1.01529569e-01 7.48814821e+01] [ 1.07185393e-01 1.71907943e-03 9.94237565e-01 1.02643634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.15, Y:74.91, Z:10.27 [[ 3.34838365e-01 -9.41647545e-01 -3.43972380e-02 9.71481794e+01] [ 9.36149730e-01 3.36595552e-01 -1.01622430e-01 7.49070844e+01] [ 1.07270469e-01 1.82612320e-03 9.94228199e-01 1.02672640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.16, Y:74.93, Z:10.27 [[ 3.36851339e-01 -9.40915992e-01 -3.47601883e-02 9.71553813e+01] [ 9.35285822e-01 3.38633447e-01 -1.02799903e-01 7.49329794e+01] [ 1.08497035e-01 2.11757379e-03 9.94094517e-01 1.02696215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.16, Y:74.96, Z:10.27 [[ 3.37899792e-01 -9.40533267e-01 -3.49414518e-02 9.71632996e+01] [ 9.34830472e-01 3.39693888e-01 -1.03441051e-01 7.49596319e+01] [ 1.09159147e-01 2.28837562e-03 9.94021652e-01 1.02713381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.16, Y:74.99, Z:10.25 [[ 3.38056866e-01 -9.41060036e-01 -1.11159553e-02 9.71649158e+01] [ 9.35324363e-01 3.37259001e-01 -1.06886395e-01 7.49898168e+01] [ 1.04335471e-01 2.57366561e-02 9.94209100e-01 1.02515376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.18, Y:75.01, Z:10.27 [[ 3.38727830e-01 -9.40293139e-01 -3.33507232e-02 9.71784641e+01] [ 9.34764924e-01 3.40349416e-01 -1.01866640e-01 7.50145971e+01] [ 1.07135402e-01 3.32997958e-03 9.94238863e-01 1.02662328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.19, Y:75.04, Z:10.27 [[ 3.38471305e-01 -9.40358954e-01 -3.40912478e-02 9.71876513e+01] [ 9.34817210e-01 3.40173536e-01 -1.01974263e-01 7.50415635e+01] [ 1.07489352e-01 2.64627674e-03 9.94202714e-01 1.02697934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.90687499999999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:97.20, Y:75.07, Z:10.28 [[ 3.41043292e-01 -9.39049857e-01 -4.32994062e-02 9.71982817e+01] [ 9.33362451e-01 3.43742019e-01 -1.03324536e-01 7.50672219e+01] [ 1.11910716e-01 -5.17589980e-03 9.93704786e-01 1.02783126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.21, Y:75.09, Z:10.29 [[ 3.42919294e-01 -9.37998046e-01 -5.06559433e-02 9.72084486e+01] [ 9.32061428e-01 3.46469436e-01 -1.05926507e-01 7.50906480e+01] [ 1.16909592e-01 -1.08902081e-02 9.93082852e-01 1.02889197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.21, Y:75.12, Z:10.26 [[ 3.42156248e-01 -9.39551929e-01 -1.30871789e-02 9.72066277e+01] [ 9.32948688e-01 3.41345217e-01 -1.14412358e-01 7.51228267e+01] [ 1.11963598e-01 2.69372368e-02 9.93347139e-01 1.02621812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.22, Y:75.15, Z:10.28 [[ 3.42859405e-01 -9.38736429e-01 -3.49477608e-02 9.72216826e+01] [ 9.32186485e-01 3.44593265e-01 -1.10832481e-01 7.51476790e+01] [ 1.16085250e-01 5.42212811e-03 9.93224454e-01 1.02782204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.24, Y:75.17, Z:10.30 [[ 3.44596183e-01 -9.36790759e-01 -6.06345184e-02 9.72374580e+01] [ 9.30686369e-01 3.49370688e-01 -1.08457384e-01 7.51685639e+01] [ 1.22785799e-01 -1.90577192e-02 9.92250196e-01 1.03029389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.24, Y:75.20, Z:10.29 [[ 3.44739419e-01 -9.37901571e-01 -3.86700855e-02 9.72417954e+01] [ 9.30810998e-01 3.46881661e-01 -1.15169434e-01 7.51973273e+01] [ 1.21431537e-01 3.70890295e-03 9.92592880e-01 1.02945205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.25, Y:75.22, Z:10.30 [[ 3.44734541e-01 -9.37927572e-01 -3.80784079e-02 9.72515896e+01] [ 9.31039544e-01 3.46811636e-01 -1.13521177e-01 7.52221929e+01] [ 1.19680676e-01 3.68216723e-03 9.92805609e-01 1.02989065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.26, Y:75.25, Z:10.30 [[ 3.44636803e-01 -9.37983555e-01 -3.75809152e-02 9.72606881e+01] [ 9.31261990e-01 3.46660503e-01 -1.12149910e-01 7.52481399e+01] [ 1.18222591e-01 3.65330870e-03 9.92980399e-01 1.03024660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.27, Y:75.27, Z:10.31 [[ 3.45693481e-01 -9.37627563e-01 -3.67501050e-02 9.72695676e+01] [ 9.31187312e-01 3.47621450e-01 -1.09770289e-01 7.52742187e+01] [ 1.15698774e-01 3.72564188e-03 9.93277360e-01 1.03072750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.28, Y:75.30, Z:10.31 [[ 3.46016430e-01 -9.37522089e-01 -3.64000464e-02 9.72787885e+01] [ 9.31192233e-01 3.47905443e-01 -1.08824756e-01 7.53002999e+01] [ 1.14689387e-01 3.75971302e-03 9.93394287e-01 1.03115048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.29, Y:75.33, Z:10.32 [[ 3.46011814e-01 -9.37535921e-01 -3.60862936e-02 9.72875275e+01] [ 9.31303638e-01 3.47868189e-01 -1.07987298e-01 7.53263502e+01] [ 1.13795245e-01 3.75758447e-03 9.93497118e-01 1.03152962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.30, Y:75.35, Z:10.32 [[ 3.45939426e-01 -9.37562486e-01 -3.60901495e-02 9.72962517e+01] [ 9.31316157e-01 3.47796252e-01 -1.08110980e-01 7.53531660e+01] [ 1.13912818e-01 3.78851122e-03 9.93483526e-01 1.03181400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.31, Y:75.38, Z:10.32 [[ 3.45872262e-01 -9.37579213e-01 -3.62987422e-02 9.73050005e+01] [ 9.31248535e-01 3.47750583e-01 -1.08837942e-01 7.53803618e+01] [ 1.14667101e-01 3.84087462e-03 9.93396549e-01 1.03202054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.31, Y:75.41, Z:10.32 [[ 3.45800755e-01 -9.37589449e-01 -3.67132407e-02 9.73138803e+01] [ 9.31100711e-01 3.47722116e-01 -1.10185276e-01 7.54061796e+01] [ 1.16074558e-01 3.91842713e-03 9.93232774e-01 1.03230623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.32, Y:75.43, Z:10.33 [[ 3.45370013e-01 -9.37724552e-01 -3.73124549e-02 9.73232121e+01] [ 9.31008259e-01 3.47356932e-01 -1.12101670e-01 7.54328846e+01] [ 1.18081228e-01 3.97835147e-03 9.92995970e-01 1.03257553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.33, Y:75.46, Z:10.33 [[ 3.43458363e-01 -9.38386159e-01 -3.83114898e-02 9.73326766e+01] [ 9.31294153e-01 3.45566582e-01 -1.15216916e-01 7.54579593e+01] [ 1.21357130e-01 3.89294706e-03 9.92601275e-01 1.03275880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.34, Y:75.48, Z:10.33 [[ 3.41835114e-01 -9.38970734e-01 -3.85060383e-02 9.73419263e+01] [ 9.31795409e-01 3.43976642e-01 -1.15919737e-01 7.54838778e+01] [ 1.22090418e-01 3.74568689e-03 9.92511914e-01 1.03303998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.35, Y:75.51, Z:10.33 [[ 3.39795468e-01 -9.39712407e-01 -3.84659911e-02 9.73511481e+01] [ 9.32542920e-01 3.41947711e-01 -1.15911453e-01 7.55092961e+01] [ 1.22076788e-01 3.51499883e-03 9.92514434e-01 1.03330322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.36, Y:75.54, Z:10.34 [[ 3.37324506e-01 -9.40608612e-01 -3.83094919e-02 9.73606744e+01] [ 9.33489004e-01 3.39477659e-01 -1.15556042e-01 7.55354681e+01] [ 1.21698225e-01 3.21839533e-03 9.92561930e-01 1.03360845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.37, Y:75.56, Z:10.34 [[ 3.30984158e-01 -9.42880968e-01 -3.77487409e-02 9.73705798e+01] [ 9.35970374e-01 3.33121241e-01 -1.13972356e-01 7.55593725e+01] [ 1.20037273e-01 2.39134108e-03 9.92766506e-01 1.03402475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.37, Y:75.59, Z:10.31 [[ 3.24636777e-01 -9.45834602e-01 -2.80517094e-03 9.73673816e+01] [ 9.39408805e-01 3.22773663e-01 -1.15448080e-01 7.55900196e+01] [ 1.10100224e-01 3.48434902e-02 9.93309555e-01 1.03125488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.40, Y:75.61, Z:10.37 [[ 3.24013931e-01 -9.43605129e-01 -6.80024486e-02 9.73959709e+01] [ 9.38588658e-01 3.29637411e-01 -1.01933846e-01 7.56064086e+01] [ 1.18601451e-01 -3.07983406e-02 9.92464185e-01 1.03661148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.40, Y:75.64, Z:10.35 [[ 3.17563772e-01 -9.47519189e-01 -3.68868103e-02 9.73998731e+01] [ 9.40928677e-01 3.19698087e-01 -1.11563244e-01 7.56365049e+01] [ 1.17500957e-01 7.20586962e-04 9.93072508e-01 1.03527883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.41, Y:75.66, Z:10.36 [[ 3.14297006e-01 -9.48603217e-01 -3.70044377e-02 9.74085541e+01] [ 9.41965355e-01 3.16467711e-01 -1.12024361e-01 7.56620644e+01] [ 1.17977379e-01 3.52022891e-04 9.93016220e-01 1.03564823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.42, Y:75.69, Z:10.36 [[ 3.11562765e-01 -9.49502456e-01 -3.70638585e-02 9.74170348e+01] [ 9.42836237e-01 3.13759595e-01 -1.12315386e-01 7.56875482e+01] [ 1.18272876e-01 4.81431915e-05 9.92981130e-01 1.03588378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.42, Y:75.71, Z:10.36 [[ 3.08832160e-01 -9.50395577e-01 -3.70262632e-02 9.74248096e+01] [ 9.43735479e-01 3.11043698e-01 -1.12317249e-01 7.57146994e+01] [ 1.18262603e-01 -2.55819486e-04 9.92982322e-01 1.03623160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.43, Y:75.74, Z:10.37 [[ 3.08081821e-01 -9.50635926e-01 -3.71069751e-02 9.74331088e+01] [ 9.43935910e-01 3.10308292e-01 -1.12666598e-01 7.57412642e+01] [ 1.18619518e-01 -3.16075567e-04 9.92939731e-01 1.03654023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.44, Y:75.77, Z:10.37 [[ 3.06983065e-01 -9.50975627e-01 -3.75067345e-02 9.74408409e+01] [ 9.44119732e-01 3.09265552e-01 -1.13985743e-01 7.57661112e+01] [ 1.19997204e-01 -4.19155327e-04 9.92774141e-01 1.03680798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.45, Y:75.79, Z:10.37 [[ 3.05800720e-01 -9.51327503e-01 -3.82348327e-02 9.74480410e+01] [ 9.44192311e-01 3.08181269e-01 -1.16297834e-01 7.57909089e+01] [ 1.22420588e-01 -5.37073555e-04 9.92478167e-01 1.03696742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.46, Y:75.82, Z:10.37 [[ 3.05717845e-01 -9.51343492e-01 -3.84988221e-02 9.74563455e+01] [ 9.44093465e-01 3.08131956e-01 -1.17227247e-01 7.58167350e+01] [ 1.23386096e-01 -5.08024855e-04 9.92358611e-01 1.03726591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.46, Y:75.84, Z:10.38 [[ 3.06109068e-01 -9.51220113e-01 -3.84387162e-02 9.74644396e+01] [ 9.43977218e-01 3.08512753e-01 -1.17161826e-01 7.58417275e+01] [ 1.23305520e-01 -4.20974903e-04 9.92368667e-01 1.03756372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.47, Y:75.87, Z:10.38 [[ 3.07257823e-01 -9.50853776e-01 -3.83370272e-02 9.74729324e+01] [ 9.43634419e-01 3.09640176e-01 -1.16948895e-01 7.58678956e+01] [ 1.23071983e-01 -2.42675422e-04 9.92397717e-01 1.03790209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.866875 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:97.48, Y:75.89, Z:10.38 [[ 3.11532851e-01 -9.49465799e-01 -3.82358282e-02 9.74802139e+01] [ 9.42259197e-01 3.13870316e-01 -1.16760564e-01 7.58938739e+01] [ 1.22861254e-01 3.46690625e-04 9.92423797e-01 1.03815634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.49, Y:75.92, Z:10.38 [[ 3.13778404e-01 -9.48727776e-01 -3.81931868e-02 9.74878034e+01] [ 9.41516912e-01 3.16093580e-01 -1.16750814e-01 7.59196806e+01] [ 1.22837362e-01 6.74352861e-04 9.92426586e-01 1.03847631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.50, Y:75.95, Z:10.39 [[ 3.18708169e-01 -9.47100021e-01 -3.77710698e-02 9.74956686e+01] [ 9.40021986e-01 3.20935788e-01 -1.15580647e-01 7.59452998e+01] [ 1.21588521e-01 1.33086030e-03 9.92579700e-01 1.03885234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.50, Y:75.97, Z:10.39 [[ 3.20903252e-01 -9.46371153e-01 -3.74532120e-02 9.75038179e+01] [ 9.39392799e-01 3.23077349e-01 -1.14726610e-01 7.59720621e+01] [ 1.20674239e-01 1.63286454e-03 9.92690819e-01 1.03917399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:76.00, Z:10.39 [[ 3.23310455e-01 -9.45560345e-01 -3.72288120e-02 9.75112639e+01] [ 9.38647304e-01 3.25440921e-01 -1.14146595e-01 7.59966925e+01] [ 1.20048272e-01 1.96006339e-03 9.92766121e-01 1.03946100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.016875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:97.52, Y:76.02, Z:10.40 [[ 3.25516852e-01 -9.44811677e-01 -3.70091172e-02 9.75193289e+01] [ 9.37961181e-01 3.27606128e-01 -1.13591586e-01 7.60227487e+01] [ 1.19447071e-01 2.26286041e-03 9.92837991e-01 1.03973997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.53, Y:76.05, Z:10.40 [[ 3.29428764e-01 -9.43464185e-01 -3.67698389e-02 9.75271970e+01] [ 9.36679833e-01 3.31462861e-01 -1.12974608e-01 7.60490609e+01] [ 1.18775333e-01 2.77551905e-03 9.92917276e-01 1.04014117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.076875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:97.54, Y:76.08, Z:10.40 [[ 3.30763524e-01 -9.42991997e-01 -3.68996576e-02 9.75351074e+01] [ 9.36142356e-01 3.32801923e-01 -1.13491717e-01 7.60753306e+01] [ 1.19302058e-01 2.99558782e-03 9.92853486e-01 1.04039710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:76.10, Z:10.41 [[ 3.32239907e-01 -9.42468158e-01 -3.70191178e-02 9.75429673e+01] [ 9.35556978e-01 3.34280301e-01 -1.13972894e-01 7.61017083e+01] [ 1.19790585e-01 3.23284959e-03 9.92793918e-01 1.04063660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.55, Y:76.13, Z:10.41 [[ 3.33425492e-01 -9.42037294e-01 -3.73253036e-02 9.75514062e+01] [ 9.34993395e-01 3.35490362e-01 -1.15037250e-01 7.61283373e+01] [ 1.20891659e-01 3.45743922e-03 9.92659686e-01 1.04090985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.56, Y:76.15, Z:10.41 [[ 3.34571301e-01 -9.41627949e-01 -3.74012050e-02 9.75594695e+01] [ 9.34538938e-01 3.36635520e-01 -1.15384139e-01 7.61543195e+01] [ 1.21239504e-01 3.65133901e-03 9.92616568e-01 1.04121554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.57, Y:76.18, Z:10.42 [[ 3.35650997e-01 -9.41235892e-01 -3.75952610e-02 9.75674459e+01] [ 9.34055669e-01 3.37727912e-01 -1.16102817e-01 7.61798203e+01] [ 1.21977108e-01 3.85395965e-03 9.92525432e-01 1.04154802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.58, Y:76.21, Z:10.42 [[ 3.37095522e-01 -9.40699060e-01 -3.81036330e-02 9.75753588e+01] [ 9.33303585e-01 3.39216865e-01 -1.17797864e-01 7.62068078e+01] [ 1.23737735e-01 4.14687522e-03 9.92306292e-01 1.04176077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.58, Y:76.23, Z:10.42 [[ 3.37373197e-01 -9.40601797e-01 -3.80471588e-02 9.75835989e+01] [ 9.33213752e-01 3.39485636e-01 -1.17735280e-01 7.62335377e+01] [ 1.23658480e-01 4.21459598e-03 9.92315886e-01 1.04199176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.59, Y:76.26, Z:10.42 [[ 3.37854605e-01 -9.40431042e-01 -3.79963332e-02 9.75916071e+01] [ 9.33047372e-01 3.39957162e-01 -1.17693369e-01 7.62585346e+01] [ 1.23599623e-01 4.31086777e-03 9.92322805e-01 1.04230649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.60, Y:76.28, Z:10.43 [[ 3.37632708e-01 -9.40518683e-01 -3.77989531e-02 9.76003699e+01] [ 9.33196091e-01 3.39714742e-01 -1.17213263e-01 7.62842287e+01] [ 1.23082126e-01 4.30119618e-03 9.92387167e-01 1.04259056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.61, Y:76.31, Z:10.43 [[ 3.37110313e-01 -9.40709972e-01 -3.77012572e-02 9.76089564e+01] [ 9.33410840e-01 3.39185155e-01 -1.17036889e-01 7.63083892e+01] [ 1.22885475e-01 4.26357991e-03 9.92411700e-01 1.04291736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.62, Y:76.33, Z:10.43 [[ 3.36184391e-01 -9.41046089e-01 -3.75807594e-02 9.76178070e+01] [ 9.33779679e-01 3.38252648e-01 -1.16793224e-01 7.63335266e+01] [ 1.22619598e-01 4.17190954e-03 9.92444975e-01 1.04325244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.40687499999999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:97.63, Y:76.36, Z:10.44 [[ 3.34206248e-01 -9.41754540e-01 -3.74775985e-02 9.76274344e+01] [ 9.34517170e-01 3.36277908e-01 -1.16596859e-01 7.63594117e+01] [ 1.22408509e-01 3.94393932e-03 9.92471965e-01 1.04357845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.64, Y:76.39, Z:10.44 [[ 3.32895931e-01 -9.42225701e-01 -3.72964789e-02 9.76363201e+01] [ 9.35045935e-01 3.34957203e-01 -1.16158393e-01 7.63855007e+01] [ 1.21940148e-01 3.79473546e-03 9.92530201e-01 1.04388155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.65, Y:76.41, Z:10.44 [[ 3.31930299e-01 -9.42573242e-01 -3.71208994e-02 9.76453368e+01] [ 9.35448077e-01 3.33979125e-01 -1.15736077e-01 7.64115280e+01] [ 1.21487335e-01 3.69163663e-03 9.92586117e-01 1.04425847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.64, Y:76.44, Z:10.41 [[ 3.27500648e-01 -9.44839429e-01 4.66676644e-03 9.76397064e+01] [ 9.38446050e-01 3.24702514e-01 -1.17844342e-01 7.64433729e+01] [ 1.09828670e-01 4.29736069e-02 9.93021114e-01 1.04092049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.67, Y:76.46, Z:10.47 [[ 3.27890422e-01 -9.41826160e-01 -7.38332955e-02 9.76716142e+01] [ 9.36900124e-01 3.34215395e-01 -1.02558409e-01 7.64590750e+01] [ 1.21268417e-01 -3.55465036e-02 9.91983073e-01 1.04719169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.67, Y:76.49, Z:10.45 [[ 3.27135681e-01 -9.44274302e-01 -3.64457019e-02 9.76730574e+01] [ 9.37387751e-01 3.29145105e-01 -1.13875825e-01 7.64895005e+01] [ 1.19525940e-01 3.08909099e-03 9.92826272e-01 1.04544248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.68, Y:76.52, Z:10.46 [[ 3.25639367e-01 -9.44798484e-01 -3.62605448e-02 9.76814904e+01] [ 9.37970696e-01 3.27638956e-01 -1.13418200e-01 7.65151901e+01] [ 1.19037711e-01 2.92210247e-03 9.92885434e-01 1.04564313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.69, Y:76.54, Z:10.46 [[ 3.23771656e-01 -9.45443907e-01 -3.61625869e-02 9.76907897e+01] [ 9.38642438e-01 3.25773586e-01 -1.13234028e-01 7.65402665e+01] [ 1.18837237e-01 2.71822993e-03 9.92910027e-01 1.04586078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.70, Y:76.57, Z:10.46 [[ 3.22792014e-01 -9.45772582e-01 -3.63254607e-02 9.76998057e+01] [ 9.38896152e-01 3.24818711e-01 -1.13871953e-01 7.65654560e+01] [ 1.19496160e-01 2.65112177e-03 9.92831123e-01 1.04620507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.71, Y:76.59, Z:10.46 [[ 3.21853408e-01 -9.46086274e-01 -3.64848641e-02 9.77089579e+01] [ 9.39136359e-01 3.23904422e-01 -1.14493776e-01 7.65912063e+01] [ 1.20138599e-01 2.58594969e-03 9.92753761e-01 1.04649520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.72, Y:76.62, Z:10.47 [[ 3.20989407e-01 -9.46371187e-01 -3.67066261e-02 9.77179358e+01] [ 9.39323004e-01 3.23071432e-01 -1.15313247e-01 7.66165215e+01] [ 1.20987997e-01 2.53495258e-03 9.92650733e-01 1.04682671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.73, Y:76.64, Z:10.47 [[ 3.19577196e-01 -9.46849986e-01 -3.66813295e-02 9.77280589e+01] [ 9.39799598e-01 3.21666566e-01 -1.15357424e-01 7.66413970e+01] [ 1.21025333e-01 2.39250344e-03 9.92646536e-01 1.04716564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.74, Y:76.67, Z:10.47 [[ 3.18513755e-01 -9.47212591e-01 -3.65690406e-02 9.77368014e+01] [ 9.40192833e-01 3.20597993e-01 -1.15127601e-01 7.66663895e+01] [ 1.20774275e-01 2.28777471e-03 9.92677360e-01 1.04743601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.75, Y:76.69, Z:10.48 [[ 3.18244523e-01 -9.47304498e-01 -3.65323448e-02 9.77450256e+01] [ 9.40284009e-01 3.20326298e-01 -1.15139245e-01 7.66927823e+01] [ 1.20774196e-01 2.29165462e-03 9.92677360e-01 1.04773400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.75, Y:76.72, Z:10.48 [[ 3.17439263e-01 -9.47580441e-01 -3.63816035e-02 9.77540629e+01] [ 9.40605900e-01 3.19509629e-01 -1.14778645e-01 7.67181659e+01] [ 1.20386272e-01 2.21449759e-03 9.92724655e-01 1.04797708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.76, Y:76.74, Z:10.48 [[ 3.16876675e-01 -9.47769266e-01 -3.63674517e-02 9.77641060e+01] [ 9.40786601e-01 3.18949308e-01 -1.14856038e-01 7.67431191e+01] [ 1.20456397e-01 2.18118820e-03 9.92716223e-01 1.04816642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.77, Y:76.77, Z:10.48 [[ 3.16881987e-01 -9.47765100e-01 -3.64296725e-02 9.77733458e+01] [ 9.40743337e-01 3.18961374e-01 -1.15176451e-01 7.67686534e+01] [ 1.20779879e-01 2.22637086e-03 9.92676818e-01 1.04843693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.78, Y:76.79, Z:10.49 [[ 3.17358812e-01 -9.47605460e-01 -3.64317922e-02 9.77825368e+01] [ 9.40566644e-01 3.19434617e-01 -1.15307909e-01 7.67940945e+01] [ 1.20903979e-01 2.32745235e-03 9.92661478e-01 1.04871889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.79, Y:76.82, Z:10.49 [[ 3.18635022e-01 -9.47165317e-01 -3.67366898e-02 9.77903798e+01] [ 9.39989196e-01 3.20735597e-01 -1.16400124e-01 7.68189971e+01] [ 1.22032925e-01 2.55706469e-03 9.92522759e-01 1.04893591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.80, Y:76.84, Z:10.49 [[ 3.18815434e-01 -9.47101947e-01 -3.68051645e-02 9.77984087e+01] [ 9.39882303e-01 3.20922095e-01 -1.16748731e-01 7.68447161e+01] [ 1.22384541e-01 2.62877456e-03 9.92479276e-01 1.04918867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.81, Y:76.87, Z:10.49 [[ 3.19089179e-01 -9.47090860e-01 -3.46554320e-02 9.78056133e+01] [ 9.39676851e-01 3.20923269e-01 -1.18387803e-01 7.68681027e+01] [ 1.23245741e-01 5.21135962e-03 9.92362499e-01 1.04932604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.81, Y:76.89, Z:10.50 [[ 3.14388357e-01 -9.48513065e-01 -3.85087844e-02 9.78145588e+01] [ 9.41270297e-01 3.16737557e-01 -1.16993798e-01 7.68945500e+01] [ 1.23167324e-01 5.34312973e-04 9.92385774e-01 1.04990825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.06687499999998 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:97.82, Y:76.92, Z:10.50 [[ 3.12920650e-01 -9.49077613e-01 -3.65013817e-02 9.78223403e+01] [ 9.41939807e-01 3.15036142e-01 -1.16196508e-01 7.69198006e+01] [ 1.21778759e-01 1.97818229e-03 9.92555299e-01 1.05017839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.83, Y:76.95, Z:10.51 [[ 3.12714899e-01 -9.49148257e-01 -3.64277051e-02 9.78300488e+01] [ 9.42024227e-01 3.14823184e-01 -1.16089272e-01 7.69452826e+01] [ 1.21654216e-01 1.98706420e-03 9.92570553e-01 1.05051957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.84, Y:76.97, Z:10.51 [[ 3.12238650e-01 -9.49313849e-01 -3.61972672e-02 9.78367926e+01] [ 9.42266460e-01 3.14323752e-01 -1.15475097e-01 7.69718445e+01] [ 1.20999769e-01 1.94831752e-03 9.92650623e-01 1.05074040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.84, Y:77.00, Z:10.51 [[ 3.11921790e-01 -9.49425311e-01 -3.60052285e-02 9.78439397e+01] [ 9.42438576e-01 3.13987006e-01 -1.14985607e-01 7.69984163e+01] [ 1.20475420e-01 1.93380012e-03 9.92714427e-01 1.05101977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.85, Y:77.02, Z:10.51 [[ 3.11995190e-01 -9.49415852e-01 -3.56165802e-02 9.78512121e+01] [ 9.42564836e-01 3.14015471e-01 -1.13867528e-01 7.70239915e+01] [ 1.19291794e-01 1.95518500e-03 9.92857314e-01 1.05122621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.86, Y:77.05, Z:10.52 [[ 3.12237465e-01 -9.49340345e-01 -3.55059952e-02 9.78589042e+01] [ 9.42516123e-01 3.14243276e-01 -1.13642072e-01 7.70494981e+01] [ 1.19042524e-01 2.01833965e-03 9.92887105e-01 1.05159618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.87, Y:77.07, Z:10.52 [[ 3.07243159e-01 -9.50983362e-01 -3.51039266e-02 9.78665703e+01] [ 9.44309595e-01 3.09238842e-01 -1.12475453e-01 7.70742529e+01] [ 1.17817782e-01 1.40833888e-03 9.93034232e-01 1.05202189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.87, Y:77.10, Z:10.52 [[ 3.05106160e-01 -9.51669953e-01 -3.51359067e-02 9.78738698e+01] [ 9.44973348e-01 3.07120331e-01 -1.12705251e-01 7.71003456e+01] [ 1.18049152e-01 1.18457084e-03 9.93007047e-01 1.05237677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.88, Y:77.13, Z:10.53 [[ 3.03777616e-01 -9.52094730e-01 -3.51395043e-02 9.78804467e+01] [ 9.45385311e-01 3.05801419e-01 -1.12836639e-01 7.71252465e+01] [ 1.18176879e-01 1.05687382e-03 9.92991998e-01 1.05261374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.89, Y:77.15, Z:10.53 [[ 3.01823230e-01 -9.52694427e-01 -3.57220804e-02 9.78855495e+01] [ 9.45752003e-01 3.03928573e-01 -1.14806675e-01 7.71528229e+01] [ 1.20232640e-01 8.67092288e-04 9.92745365e-01 1.05262885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.89, Y:77.18, Z:10.53 [[ 3.00996171e-01 -9.52943536e-01 -3.60544404e-02 9.78923409e+01] [ 9.45858355e-01 3.03146764e-01 -1.15991430e-01 7.71793230e+01] [ 1.21463070e-01 8.10582555e-04 9.92595620e-01 1.05277756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.90, Y:77.21, Z:10.53 [[ 2.99822250e-01 -9.53306274e-01 -3.62459260e-02 9.78993563e+01] [ 9.46132824e-01 3.02004390e-01 -1.16730576e-01 7.72061766e+01] [ 1.22226419e-01 7.04963490e-04 9.92501993e-01 1.05299474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.91, Y:77.23, Z:10.53 [[ 2.98949303e-01 -9.53579970e-01 -3.62567940e-02 9.79070222e+01] [ 9.46388529e-01 3.01139239e-01 -1.16892729e-01 7.72324483e+01] [ 1.22384908e-01 6.31985867e-04 9.92482511e-01 1.05327429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.92, Y:77.26, Z:10.54 [[ 2.97334105e-01 -9.54091498e-01 -3.60810826e-02 9.79150911e+01] [ 9.46958104e-01 2.99514949e-01 -1.16452327e-01 7.72579236e+01] [ 1.21912999e-01 4.57974870e-04 9.92540685e-01 1.05375207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.92, Y:77.28, Z:10.54 [[ 2.96653041e-01 -9.54318659e-01 -3.56773052e-02 9.79225577e+01] [ 9.47331149e-01 2.98790459e-01 -1.15273398e-01 7.72829461e+01] [ 1.20667593e-01 3.97981582e-04 9.92692890e-01 1.05413425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.93, Y:77.31, Z:10.54 [[ 2.96075357e-01 -9.54516521e-01 -3.51794460e-02 9.79298586e+01] [ 9.47709489e-01 2.98157823e-01 -1.13792082e-01 7.73091816e+01] [ 1.19105449e-01 3.51136525e-04 9.92881548e-01 1.05445517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.94, Y:77.34, Z:10.55 [[ 2.96451966e-01 -9.54425251e-01 -3.44771164e-02 9.79368276e+01] [ 9.47873816e-01 2.98449773e-01 -1.11637632e-01 7.73352687e+01] [ 1.16839463e-01 4.15239552e-04 9.93150728e-01 1.05477754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.94, Y:77.36, Z:10.55 [[ 2.97277661e-01 -9.54178134e-01 -3.42064523e-02 9.79442254e+01] [ 9.47713891e-01 2.99238688e-01 -1.10880968e-01 7.73600442e+01] [ 1.16036089e-01 5.44504668e-04 9.93244849e-01 1.05508109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.95, Y:77.39, Z:10.55 [[ 2.98843881e-01 -9.53696885e-01 -3.39792101e-02 9.79519172e+01] [ 9.47301088e-01 3.00768462e-01 -1.10267766e-01 7.73864939e+01] [ 1.15381900e-01 7.64304339e-04 9.93320911e-01 1.05536111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.96, Y:77.41, Z:10.56 [[ 3.00771177e-01 -9.53091411e-01 -3.39626572e-02 9.79593736e+01] [ 9.46684229e-01 3.02680848e-01 -1.10332566e-01 7.74127652e+01] [ 1.15436867e-01 1.03294379e-03 9.93314282e-01 1.05568035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.97, Y:77.44, Z:10.56 [[ 3.05794322e-01 -9.51479391e-01 -3.43045495e-02 9.79660318e+01] [ 9.44917559e-01 3.07707777e-01 -1.11564917e-01 7.74380204e+01] [ 1.16707496e-01 1.70094709e-03 9.93164874e-01 1.05587481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.97, Y:77.46, Z:10.56 [[ 3.07933909e-01 -9.50788441e-01 -3.43227103e-02 9.79729600e+01] [ 9.44200527e-01 3.09834350e-01 -1.11749902e-01 7.74643753e+01] [ 1.16884869e-01 2.00406290e-03 9.93143449e-01 1.05608367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.98, Y:77.49, Z:10.56 [[ 3.10376336e-01 -9.49988049e-01 -3.44853029e-02 9.79797447e+01] [ 9.43317954e-01 3.12277368e-01 -1.12401440e-01 7.74900178e+01] [ 1.17549004e-01 2.35614177e-03 9.93064288e-01 1.05630557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.99, Y:77.52, Z:10.57 [[ 3.12465415e-01 -9.49301971e-01 -3.45127986e-02 9.79865983e+01] [ 9.42605403e-01 3.14354506e-01 -1.12589070e-01 7.75163316e+01] [ 1.17730279e-01 2.64823993e-03 9.93042078e-01 1.05655835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.99, Y:77.54, Z:10.57 [[ 3.15618015e-01 -9.48251959e-01 -3.46913557e-02 9.79938476e+01] [ 9.41465346e-01 3.17503765e-01 -1.13288842e-01 7.75437043e+01] [ 1.18441002e-01 3.09529004e-03 9.92956267e-01 1.05685851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.00, Y:77.57, Z:10.57 [[ 3.16390624e-01 -9.47989010e-01 -3.48397879e-02 9.80011254e+01] [ 9.41128813e-01 3.18286528e-01 -1.13886978e-01 7.75687153e+01] [ 1.19052638e-01 3.24404367e-03 9.92882644e-01 1.05715572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.01, Y:77.59, Z:10.57 [[ 3.16038125e-01 -9.48097266e-01 -3.50924257e-02 9.80087940e+01] [ 9.41124898e-01 3.17963749e-01 -1.14817164e-01 7.75942479e+01] [ 1.20015958e-01 3.26024560e-03 9.92766609e-01 1.05742247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.02, Y:77.62, Z:10.58 [[ 3.11843788e-01 -9.49486049e-01 -3.50669951e-02 9.80175732e+01] [ 9.42516224e-01 3.13797024e-01 -1.14867727e-01 7.76199910e+01] [ 1.20069223e-01 2.76957530e-03 9.92761659e-01 1.05775987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.03, Y:77.64, Z:10.58 [[ 3.09850858e-01 -9.50144948e-01 -3.48858761e-02 9.80258560e+01] [ 9.43235882e-01 3.11798198e-01 -1.14402601e-01 7.76444322e+01] [ 1.19576407e-01 2.54213415e-03 9.92821747e-01 1.05816530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.936875 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:98.03, Y:77.67, Z:10.59 [[ 3.07706663e-01 -9.50848789e-01 -3.46870284e-02 9.80342474e+01] [ 9.44007184e-01 3.09647061e-01 -1.13882111e-01 7.76706678e+01] [ 1.19025404e-01 2.29748044e-03 9.92888551e-01 1.05851513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.966875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:98.04, Y:77.70, Z:10.59 [[ 3.06262348e-01 -9.51322422e-01 -3.44822261e-02 9.80420737e+01] [ 9.44549801e-01 3.08189992e-01 -1.13334028e-01 7.76965406e+01] [ 1.18444279e-01 2.13976552e-03 9.92958395e-01 1.05874662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.996875 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:98.05, Y:77.72, Z:10.59 [[ 3.04495787e-01 -9.51899849e-01 -3.41905527e-02 9.80502853e+01] [ 9.45230885e-01 3.06403208e-01 -1.12497326e-01 7.77236057e+01] [ 1.17562283e-01 1.93699544e-03 9.93063622e-01 1.05899090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.026875 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:98.06, Y:77.75, Z:10.59 [[ 3.04136712e-01 -9.52018457e-01 -3.40839943e-02 9.80577806e+01] [ 9.45378528e-01 3.06034592e-01 -1.12259822e-01 7.77482200e+01] [ 1.17304304e-01 1.92005678e-03 9.93094162e-01 1.05925926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.07, Y:77.77, Z:10.60 [[ 3.04137693e-01 -9.52026699e-01 -3.38441566e-02 9.80658478e+01] [ 9.45464974e-01 3.06008802e-01 -1.11600158e-01 7.77739607e+01] [ 1.16602940e-01 1.94335011e-03 9.93176710e-01 1.05957666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.07, Y:77.80, Z:10.60 [[ 3.04555628e-01 -9.51897382e-01 -3.37230277e-02 9.80739695e+01] [ 9.45367544e-01 3.06410311e-01 -1.11323532e-01 7.77994103e+01] [ 1.16301662e-01 2.02355232e-03 9.93211875e-01 1.05993681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.116875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:98.08, Y:77.82, Z:10.60 [[ 3.06281813e-01 -9.51350012e-01 -3.35351488e-02 9.80820281e+01] [ 9.44875397e-01 3.08103975e-01 -1.10826103e-01 7.78242541e+01] [ 1.15766727e-01 2.25748272e-03 9.93273864e-01 1.06031454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.146875 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:98.09, Y:77.85, Z:10.61 [[ 3.07149139e-01 -9.51072097e-01 -3.34854141e-02 9.80890637e+01] [ 9.44600488e-01 3.08959733e-01 -1.10787187e-01 7.78491325e+01] [ 1.15712247e-01 2.39785049e-03 9.93279883e-01 1.06063317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.10, Y:77.87, Z:10.61 [[ 3.10447008e-01 -9.50002716e-01 -3.34289648e-02 9.80959923e+01] [ 9.43535668e-01 3.12228869e-01 -1.10695878e-01 7.78739048e+01] [ 1.15598873e-01 2.82378354e-03 9.93291965e-01 1.06091568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.10, Y:77.90, Z:10.61 [[ 3.11965939e-01 -9.49501736e-01 -3.35217175e-02 9.81031319e+01] [ 9.42980982e-01 3.13746872e-01 -1.11129507e-01 7.79002997e+01] [ 1.16034994e-01 3.05827898e-03 9.93240418e-01 1.06120599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.11, Y:77.93, Z:10.61 [[ 3.13559563e-01 -9.48972590e-01 -3.36366453e-02 9.81100440e+01] [ 9.42389820e-01 3.15341255e-01 -1.11630280e-01 7.79264622e+01] [ 1.16541098e-01 3.30390977e-03 9.93180375e-01 1.06142249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.12, Y:77.95, Z:10.62 [[ 3.15072989e-01 -9.48474751e-01 -3.35359176e-02 9.81162896e+01] [ 9.41914464e-01 3.16833204e-01 -1.11417519e-01 7.79535619e+01] [ 1.16301996e-01 3.51668493e-03 9.93207671e-01 1.06162064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.12, Y:77.98, Z:10.62 [[ 3.14597352e-01 -9.48629924e-01 -3.36121081e-02 9.81234578e+01] [ 9.42025538e-01 3.16368395e-01 -1.11798588e-01 7.79790304e+01] [ 1.16689295e-01 3.50807567e-03 9.93162274e-01 1.06195407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.13, Y:78.00, Z:10.62 [[ 3.11943553e-01 -9.49500963e-01 -3.37511749e-02 9.81305363e+01] [ 9.42830817e-01 3.13747398e-01 -1.12394936e-01 7.80041217e+01] [ 1.17308444e-01 3.23922798e-03 9.93090246e-01 1.06227914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:78.03, Z:10.63 [[ 3.12349779e-01 -9.49347760e-01 -3.42993653e-02 9.81376104e+01] [ 9.42695983e-01 3.14215606e-01 -1.12217809e-01 7.80272665e+01] [ 1.17311122e-01 2.71733414e-03 9.93091495e-01 1.06260501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:78.05, Z:10.63 [[ 3.08740562e-01 -9.50602929e-01 -3.21455471e-02 9.81442690e+01] [ 9.43943991e-01 3.10378898e-01 -1.12404098e-01 7.80546721e+01] [ 1.16828965e-01 4.36010851e-03 9.93142478e-01 1.06282929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.15, Y:78.08, Z:10.63 [[ 3.07183862e-01 -9.51066100e-01 -3.33368921e-02 9.81521842e+01] [ 9.44522529e-01 3.08975394e-01 -1.11406450e-01 7.80802660e+01] [ 1.16255177e-01 2.73481787e-03 9.93215613e-01 1.06325387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.16, Y:78.11, Z:10.64 [[ 3.05580977e-01 -9.51587247e-01 -3.31960610e-02 9.81596401e+01] [ 9.45088527e-01 3.07368097e-01 -1.11051923e-01 7.81060712e+01] [ 1.15879004e-01 2.56213886e-03 9.93260032e-01 1.06354556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.17, Y:78.13, Z:10.64 [[ 3.03973964e-01 -9.52106865e-01 -3.30506634e-02 9.81668636e+01] [ 9.45654788e-01 3.05756124e-01 -1.10680692e-01 7.81322397e+01] [ 1.15485289e-01 2.38953051e-03 9.93306316e-01 1.06385259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.17, Y:78.16, Z:10.64 [[ 3.02302377e-01 -9.52659145e-01 -3.24627044e-02 9.81737487e+01] [ 9.46424704e-01 3.04032591e-01 -1.08832274e-01 7.81576621e+01] [ 1.13549781e-01 2.17674980e-03 9.93529924e-01 1.06416533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.18, Y:78.18, Z:10.64 [[ 3.01024629e-01 -9.53070071e-01 -3.22740318e-02 9.81809215e+01] [ 9.46896069e-01 3.02742866e-01 -1.08326318e-01 7.81840198e+01] [ 1.13013304e-01 2.04873576e-03 9.93591363e-01 1.06445061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.19, Y:78.21, Z:10.65 [[ 3.00130990e-01 -9.53355776e-01 -3.21582515e-02 9.81879731e+01] [ 9.47213978e-01 3.01842474e-01 -1.08059250e-01 7.82099636e+01] [ 1.12725636e-01 1.97118449e-03 9.93624197e-01 1.06476710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.19, Y:78.24, Z:10.65 [[ 3.00027448e-01 -9.53393337e-01 -3.20105463e-02 9.81948018e+01] [ 9.47294326e-01 3.01723720e-01 -1.07685916e-01 7.82354711e+01] [ 1.12325376e-01 1.98532160e-03 9.93669497e-01 1.06505406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.20, Y:78.26, Z:10.65 [[ 2.99888478e-01 -9.53440604e-01 -3.19047916e-02 9.82018135e+01] [ 9.47367716e-01 3.01574227e-01 -1.07458812e-01 7.82620878e+01] [ 1.12077258e-01 2.00009009e-03 9.93697483e-01 1.06539126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.21, Y:78.29, Z:10.66 [[ 3.00358721e-01 -9.53282830e-01 -3.21944902e-02 9.82090873e+01] [ 9.47083700e-01 3.02071796e-01 -1.08559179e-01 7.82882768e+01] [ 1.13212649e-01 2.11581928e-03 9.93568528e-01 1.06571482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.22, Y:78.31, Z:10.66 [[ 3.00082306e-01 -9.53371008e-01 -3.21610112e-02 9.82168037e+01] [ 9.47171323e-01 3.01793367e-01 -1.08569097e-01 7.83148205e+01] [ 1.13212609e-01 2.11767732e-03 9.93568528e-01 1.06601291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.22, Y:78.34, Z:10.66 [[ 3.00189979e-01 -9.53331901e-01 -3.23150495e-02 9.82239567e+01] [ 9.47058743e-01 3.01916444e-01 -1.09207134e-01 7.83411588e+01] [ 1.13867090e-01 2.17863721e-03 9.93493603e-01 1.06625713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.23, Y:78.37, Z:10.66 [[ 2.99757618e-01 -9.53670196e-01 -2.56618002e-02 9.82286674e+01] [ 9.46880091e-01 3.00691695e-01 -1.14028934e-01 7.83681393e+01] [ 1.16462286e-01 9.88239397e-03 9.93145948e-01 1.06615046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.24, Y:78.39, Z:10.67 [[ 3.00140428e-01 -9.53073704e-01 -3.95757403e-02 9.82386170e+01] [ 9.46999095e-01 3.02693785e-01 -1.07560155e-01 7.83924186e+01] [ 1.14492085e-01 -5.19503941e-03 9.93410577e-01 1.06710280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.24, Y:78.42, Z:10.67 [[ 3.00983241e-01 -9.53074493e-01 -3.25284295e-02 9.82444620e+01] [ 9.46671302e-01 3.02726279e-01 -1.10318838e-01 7.84197451e+01] [ 1.14989282e-01 2.41039079e-03 9.93363808e-01 1.06707779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.25, Y:78.45, Z:10.67 [[ 3.01359619e-01 -9.52961206e-01 -3.23623127e-02 9.82513406e+01] [ 9.46608459e-01 3.03082157e-01 -1.09880077e-01 7.84451792e+01] [ 1.14519891e-01 2.47897933e-03 9.93417862e-01 1.06742312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.26, Y:78.47, Z:10.68 [[ 3.01878341e-01 -9.52795260e-01 -3.24138853e-02 9.82587191e+01] [ 9.46406109e-01 3.03602545e-01 -1.10186080e-01 7.84713681e+01] [ 1.14825713e-01 2.58609197e-03 9.93382287e-01 1.06771427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.27, Y:78.50, Z:10.68 [[ 3.02678438e-01 -9.52543220e-01 -3.23601010e-02 9.82659139e+01] [ 9.46159205e-01 3.04391253e-01 -1.10130488e-01 7.84967606e+01] [ 1.14754181e-01 2.71631669e-03 9.93390205e-01 1.06805305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.27, Y:78.52, Z:10.68 [[ 3.04990871e-01 -9.51800604e-01 -3.24989166e-02 9.82736510e+01] [ 9.45341846e-01 3.06702303e-01 -1.10736137e-01 7.85235143e+01] [ 1.15366215e-01 3.05092526e-03 9.93318342e-01 1.06841571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.956875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:98.28, Y:78.55, Z:10.69 [[ 3.06308693e-01 -9.51373941e-01 -3.25976885e-02 9.82806229e+01] [ 9.44859655e-01 3.08021117e-01 -1.11190035e-01 7.85487870e+01] [ 1.15824079e-01 3.25823370e-03 9.93264399e-01 1.06866372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.29, Y:78.58, Z:10.69 [[ 3.08009415e-01 -9.50823444e-01 -3.26339955e-02 9.82879049e+01] [ 9.44275681e-01 3.09713486e-01 -1.11449516e-01 7.85753770e+01] [ 1.16076001e-01 3.51201188e-03 9.93234125e-01 1.06895866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.29, Y:78.61, Z:10.67 [[ 3.10697063e-01 -9.50497887e-01 -4.59371795e-03 9.82882448e+01] [ 9.44335827e-01 3.09225521e-01 -1.12291685e-01 7.86074781e+01] [ 1.08153504e-01 3.05506844e-02 9.93664669e-01 1.06689371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.31, Y:78.63, Z:10.71 [[ 3.12537932e-01 -9.48113550e-01 -5.83158466e-02 9.83070191e+01] [ 9.42629969e-01 3.17142779e-01 -1.04255457e-01 7.86262506e+01] [ 1.17340461e-01 -2.23864797e-02 9.92839394e-01 1.07100852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.31, Y:78.66, Z:10.70 [[ 3.13490554e-01 -9.49025283e-01 -3.27823775e-02 9.83085711e+01] [ 9.42373542e-01 3.15170686e-01 -1.12247701e-01 7.86564143e+01] [ 1.16857951e-01 4.29534884e-03 9.93139350e-01 1.06987732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.30, Y:78.69, Z:10.66 [[ 3.12236021e-01 -9.49951413e-01 1.00488730e-02 9.83020749e+01] [ 9.44258771e-01 3.09168590e-01 -1.13093570e-01 7.86887326e+01] [ 1.04326601e-01 4.48006229e-02 9.93533525e-01 1.06645558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.33, Y:78.71, Z:10.73 [[ 3.15120905e-01 -9.46355849e-01 -7.14802227e-02 9.83301552e+01] [ 9.41610235e-01 3.21175268e-01 -1.01077255e-01 7.87057250e+01] [ 1.18612731e-01 -3.54549533e-02 9.92307395e-01 1.07266987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.33, Y:78.74, Z:10.71 [[ 3.15306093e-01 -9.48420438e-01 -3.28746295e-02 9.83292250e+01] [ 9.41699755e-01 3.16981752e-01 -1.12801331e-01 7.87361116e+01] [ 1.17403746e-01 4.60891642e-03 9.93073572e-01 1.07084250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.34, Y:78.76, Z:10.71 [[ 3.15136323e-01 -9.48477775e-01 -3.28482773e-02 9.83362972e+01] [ 9.41752931e-01 3.16809911e-01 -1.12840141e-01 7.87615211e+01] [ 1.17433025e-01 4.62506557e-03 9.93070034e-01 1.07112920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.34, Y:78.79, Z:10.71 [[ 3.14716796e-01 -9.48614719e-01 -3.29158619e-02 9.83435621e+01] [ 9.41846203e-01 3.16399583e-01 -1.13212343e-01 7.87877134e+01] [ 1.17809460e-01 4.62814647e-03 9.93025433e-01 1.07146054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.35, Y:78.81, Z:10.72 [[ 3.14208127e-01 -9.48784782e-01 -3.28738503e-02 9.83506165e+01] [ 9.42018722e-01 3.15889647e-01 -1.13200967e-01 7.88137432e+01] [ 1.17787863e-01 4.60088121e-03 9.93028122e-01 1.07179387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.36, Y:78.84, Z:10.72 [[ 3.13898574e-01 -9.48891185e-01 -3.27598030e-02 9.83575931e+01] [ 9.42157011e-01 3.15570083e-01 -1.12941086e-01 7.88400109e+01] [ 1.17506815e-01 4.58716775e-03 9.93061482e-01 1.07208796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.36, Y:78.86, Z:10.72 [[ 3.13678793e-01 -9.48961469e-01 -3.28290331e-02 9.83644057e+01] [ 9.42183158e-01 3.15358286e-01 -1.13313939e-01 7.88648877e+01] [ 1.17883470e-01 4.61321748e-03 9.93016720e-01 1.07236262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.37, Y:78.89, Z:10.73 [[ 3.12907031e-01 -9.49217285e-01 -3.27984128e-02 9.83713015e+01] [ 9.42436583e-01 3.14588276e-01 -1.13346831e-01 7.88909676e+01] [ 1.17908767e-01 4.55659631e-03 9.93013978e-01 1.07261060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.37687499999998 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:98.38, Y:78.92, Z:10.73 [[ 3.11875838e-01 -9.49553405e-01 -3.28906196e-02 9.83781225e+01] [ 9.42719967e-01 3.13573297e-01 -1.13801806e-01 7.89161789e+01] [ 1.18374512e-01 4.48538970e-03 9.92958889e-01 1.07283868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.39, Y:78.94, Z:10.73 [[ 3.11372846e-01 -9.49710836e-01 -3.31100918e-02 9.83862532e+01] [ 9.42769332e-01 3.13095950e-01 -1.14703587e-01 7.89434339e+01] [ 1.19301875e-01 4.50040318e-03 9.92847828e-01 1.07316862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.39, Y:78.97, Z:10.73 [[ 3.09251603e-01 -9.50397497e-01 -3.32872909e-02 9.83934297e+01] [ 9.43369807e-01 3.11008226e-01 -1.15443882e-01 7.89699469e+01] [ 1.20070198e-01 4.29898046e-03 9.92756096e-01 1.07338692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.40, Y:79.00, Z:10.74 [[ 3.08329474e-01 -9.50695451e-01 -3.33330860e-02 9.84011906e+01] [ 9.43633894e-01 3.10097180e-01 -1.15735967e-01 7.89956022e+01] [ 1.20366153e-01 4.23057990e-03 9.92720551e-01 1.07372002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.41, Y:79.02, Z:10.74 [[ 3.07335361e-01 -9.51012070e-01 -3.34816309e-02 9.84090179e+01] [ 9.43872428e-01 3.09125659e-01 -1.16388001e-01 7.90221080e+01] [ 1.21036425e-01 4.16776011e-03 9.92639317e-01 1.07412909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.42, Y:79.05, Z:10.74 [[ 3.06778106e-01 -9.51197701e-01 -3.33185707e-02 9.84159718e+01] [ 9.44113536e-01 3.08554717e-01 -1.15946613e-01 7.90472040e+01] [ 1.20568754e-01 4.11336882e-03 9.92696457e-01 1.07443091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.42, Y:79.07, Z:10.75 [[ 3.06162717e-01 -9.51397790e-01 -3.32661292e-02 9.84226769e+01] [ 9.44319539e-01 3.07937742e-01 -1.15909252e-01 7.90725927e+01] [ 1.20519703e-01 4.07323577e-03 9.92702579e-01 1.07464737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.43, Y:79.10, Z:10.75 [[ 3.04588807e-01 -9.51916015e-01 -3.28870689e-02 9.84302253e+01] [ 9.44984797e-01 3.06334692e-01 -1.14729205e-01 7.90985535e+01] [ 1.19287018e-01 3.86745173e-03 9.92852280e-01 1.07495683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.44, Y:79.12, Z:10.75 [[ 3.03409032e-01 -9.52297776e-01 -3.27399691e-02 9.84380941e+01] [ 9.45414695e-01 3.05147410e-01 -1.14350831e-01 7.91247488e+01] [ 1.18886559e-01 3.74222714e-03 9.92900792e-01 1.07527125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.45, Y:79.15, Z:10.76 [[ 3.01887614e-01 -9.52782857e-01 -3.26909171e-02 9.84455287e+01] [ 9.45907071e-01 3.03631284e-01 -1.14314723e-01 7.91494922e+01] [ 1.18843094e-01 3.58762945e-03 9.92906566e-01 1.07552212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.45, Y:79.18, Z:10.76 [[ 3.00495827e-01 -9.53225096e-01 -3.26216767e-02 9.84537225e+01] [ 9.46364419e-01 3.02241668e-01 -1.14211914e-01 7.91765645e+01] [ 1.18729292e-01 3.44820937e-03 9.92920674e-01 1.07580675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.46, Y:79.20, Z:10.76 [[ 2.97018426e-01 -9.54321823e-01 -3.24023454e-02 9.84631366e+01] [ 9.47545386e-01 2.98765271e-01 -1.13565197e-01 7.92017008e+01] [ 1.18058441e-01 3.02826306e-03 9.93002031e-01 1.07608215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.47, Y:79.23, Z:10.76 [[ 2.95185768e-01 -9.54890647e-01 -3.23915659e-02 9.84711058e+01] [ 9.48105997e-01 2.96944069e-01 -1.13662824e-01 7.92265498e+01] [ 1.18154051e-01 2.84101009e-03 9.92991213e-01 1.07633337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.48, Y:79.25, Z:10.77 [[ 2.93922860e-01 -9.55283798e-01 -3.22833830e-02 9.84792704e+01] [ 9.48530336e-01 2.95678016e-01 -1.13422718e-01 7.92522771e+01] [ 1.17896371e-01 2.71576147e-03 9.93022190e-01 1.07656920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.49, Y:79.28, Z:10.77 [[ 2.93206126e-01 -9.55508107e-01 -3.21624791e-02 9.84872015e+01] [ 9.48791303e-01 2.94952899e-01 -1.13127587e-01 7.92786826e+01] [ 1.17580743e-01 2.65422099e-03 9.93059779e-01 1.07675894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.50, Y:79.30, Z:10.77 [[ 2.92518694e-01 -9.55719754e-01 -3.21335595e-02 9.84955616e+01] [ 9.49000534e-01 2.94266815e-01 -1.13159300e-01 7.93037702e+01] [ 1.17604419e-01 2.60644553e-03 9.93057102e-01 1.07686304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.50, Y:79.33, Z:10.77 [[ 2.92592110e-01 -9.55692017e-01 -3.22897199e-02 9.85039141e+01] [ 9.48890250e-01 2.94356296e-01 -1.13849305e-01 7.93291857e+01] [ 1.18309554e-01 2.67200800e-03 9.92973167e-01 1.07720263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.51, Y:79.36, Z:10.77 [[ 2.93023249e-01 -9.55564802e-01 -3.21447572e-02 9.85119255e+01] [ 9.48807737e-01 2.94768291e-01 -1.13470407e-01 7.93554339e+01] [ 1.17903582e-01 2.75027302e-03 9.93021239e-01 1.07744240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.52, Y:79.38, Z:10.78 [[ 2.93524822e-01 -9.55414463e-01 -3.20372259e-02 9.85194581e+01] [ 9.48686351e-01 2.95254364e-01 -1.13221326e-01 7.93809713e+01] [ 1.17632423e-01 2.83999072e-03 9.93053144e-01 1.07770343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:79.41, Z:10.78 [[ 2.94071226e-01 -9.55244762e-01 -3.20867485e-02 9.85273496e+01] [ 9.48482286e-01 2.95801926e-01 -1.13501427e-01 7.94075379e+01] [ 1.17912965e-01 2.94379118e-03 9.93019570e-01 1.07801512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:79.43, Z:10.78 [[ 2.95570399e-01 -9.54782592e-01 -3.20677716e-02 9.85346199e+01] [ 9.48011143e-01 2.97288074e-01 -1.13554720e-01 7.94333684e+01] [ 1.17953436e-01 3.16280898e-03 9.93014090e-01 1.07824299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.54, Y:79.46, Z:10.78 [[ 2.95753857e-01 -9.54727728e-01 -3.20097165e-02 9.85413416e+01] [ 9.47969370e-01 2.97463747e-01 -1.13443350e-01 7.94582611e+01] [ 1.17829242e-01 3.20707741e-03 9.93028693e-01 1.07847207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.55, Y:79.48, Z:10.79 [[ 2.94999980e-01 -9.54970668e-01 -3.17180631e-02 9.85488779e+01] [ 9.48320342e-01 2.96683788e-01 -1.12548917e-01 7.94849664e+01] [ 1.16891150e-01 3.12304389e-03 9.93139822e-01 1.07867742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:79.51, Z:10.79 [[ 2.94386740e-01 -9.55165800e-01 -3.15395280e-02 9.85569923e+01] [ 9.48577105e-01 2.96055571e-01 -1.12038277e-01 7.95104569e+01] [ 1.16352583e-01 3.06490891e-03 9.93203243e-01 1.07902356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:79.54, Z:10.79 [[ 2.93023899e-01 -9.55594681e-01 -3.12377993e-02 9.85646334e+01] [ 9.49119374e-01 2.94669927e-01 -1.11094766e-01 7.95360212e+01] [ 1.15366407e-01 2.90502091e-03 9.93318757e-01 1.07931408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.57, Y:79.56, Z:10.80 [[ 2.91796446e-01 -9.55979847e-01 -3.09413274e-02 9.85724770e+01] [ 9.49614391e-01 2.93419300e-01 -1.10170884e-01 7.95620926e+01] [ 1.14399927e-01 2.76514252e-03 9.93430929e-01 1.07962747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.58, Y:79.59, Z:10.80 [[ 2.90717813e-01 -9.56317744e-01 -3.06516790e-02 9.85800196e+01] [ 9.50058327e-01 2.92317247e-01 -1.09269400e-01 7.95866350e+01] [ 1.13456281e-01 2.64567818e-03 9.93539467e-01 1.07994920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:79.61, Z:10.80 [[ 2.89401817e-01 -9.56714892e-01 -3.07116266e-02 9.85884145e+01] [ 9.50417347e-01 2.91015784e-01 -1.09620614e-01 7.96124572e+01] [ 1.13813242e-01 2.53554226e-03 9.93498927e-01 1.08016845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:79.64, Z:10.80 [[ 2.88997016e-01 -9.56836903e-01 -3.07223846e-02 9.85958527e+01] [ 9.50520585e-01 2.90614445e-01 -1.09790084e-01 7.96385495e+01] [ 1.13979573e-01 2.52674768e-03 9.93479880e-01 1.08037339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:79.66, Z:10.81 [[ 2.88765985e-01 -9.56901860e-01 -3.08712821e-02 9.86034802e+01] [ 9.50508940e-01 2.90400268e-01 -1.10455601e-01 7.96648387e+01] [ 1.14660198e-01 2.55239074e-03 9.93401492e-01 1.08060427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.61, Y:79.69, Z:10.81 [[ 2.88477998e-01 -9.56988466e-01 -3.08791283e-02 9.86115865e+01] [ 9.50577479e-01 2.90114694e-01 -1.10616092e-01 7.96907960e+01] [ 1.14816813e-01 2.55730469e-03 9.93383390e-01 1.08077965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.306875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:98.62, Y:79.72, Z:10.81 [[ 2.87761698e-01 -9.57204112e-01 -3.08786890e-02 9.86196142e+01] [ 9.50779172e-01 2.89402813e-01 -1.10747359e-01 7.97166437e+01] [ 1.14944207e-01 2.51003373e-03 9.93368778e-01 1.08102542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.63, Y:79.74, Z:10.81 [[ 2.86424733e-01 -9.57595608e-01 -3.11692703e-02 9.86275949e+01] [ 9.51035438e-01 2.88105573e-01 -1.11923078e-01 7.97411113e+01] [ 1.16157088e-01 2.41445700e-03 9.93227920e-01 1.08138088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.366875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:98.64, Y:79.77, Z:10.82 [[ 2.85387844e-01 -9.57902032e-01 -3.12645924e-02 9.86357844e+01] [ 9.51290788e-01 2.87085835e-01 -1.12372420e-01 7.97666859e+01] [ 1.16617391e-01 2.32800381e-03 9.93174186e-01 1.08162383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.64, Y:79.79, Z:10.82 [[ 2.85532537e-01 -9.57860925e-01 -3.12028580e-02 9.86434740e+01] [ 9.51259903e-01 2.87222543e-01 -1.12284497e-01 7.97929025e+01] [ 1.16515096e-01 2.37884958e-03 9.93186072e-01 1.08189200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.65, Y:79.82, Z:10.82 [[ 2.85469840e-01 -9.57881549e-01 -3.11433398e-02 9.86510942e+01] [ 9.51290242e-01 2.87153541e-01 -1.12203916e-01 7.98192457e+01] [ 1.16420981e-01 2.40447867e-03 9.93197047e-01 1.08216472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.66, Y:79.84, Z:10.82 [[ 2.85481878e-01 -9.57884535e-01 -3.09405049e-02 9.86586191e+01] [ 9.51363273e-01 2.87143393e-01 -1.11609115e-01 7.98437969e+01] [ 1.15793006e-01 2.42671955e-03 9.93270402e-01 1.08247671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.67, Y:79.87, Z:10.83 [[ 2.84882249e-01 -9.58065736e-01 -3.08569295e-02 9.86661061e+01] [ 9.51564158e-01 2.86538554e-01 -1.11450932e-01 7.98686734e+01] [ 1.15619019e-01 2.38804389e-03 9.93290763e-01 1.08274564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.67, Y:79.89, Z:10.83 [[ 2.83934873e-01 -9.58348251e-01 -3.08158542e-02 9.86748842e+01] [ 9.51849356e-01 2.85592876e-01 -1.11442870e-01 7.98939406e+01] [ 1.15601868e-01 2.31046638e-03 9.93292943e-01 1.08303037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.68, Y:79.92, Z:10.83 [[ 2.83422196e-01 -9.58503389e-01 -3.07101291e-02 9.86826127e+01] [ 9.52034498e-01 2.85072034e-01 -1.11194651e-01 7.99202519e+01] [ 1.15335049e-01 2.27793001e-03 9.93324034e-01 1.08334360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.69, Y:79.95, Z:10.84 [[ 2.83671669e-01 -9.58434790e-01 -3.05472908e-02 9.86896756e+01] [ 9.52018894e-01 2.85302151e-01 -1.10737117e-01 7.99456471e+01] [ 1.14849513e-01 2.33138466e-03 9.93380166e-01 1.08360027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.70, Y:79.97, Z:10.84 [[ 2.83394472e-01 -9.58517648e-01 -3.05203683e-02 9.86968875e+01] [ 9.52101433e-01 2.85023700e-01 -1.10744537e-01 7.99723341e+01] [ 1.14849621e-01 2.32590301e-03 9.93380166e-01 1.08390023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.70, Y:80.00, Z:10.84 [[ 2.83056251e-01 -9.58621419e-01 -3.03995670e-02 9.87033476e+01] [ 9.52242188e-01 2.84674614e-01 -1.10431789e-01 7.99983672e+01] [ 1.14516264e-01 2.31065814e-03 9.93418686e-01 1.08414583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.71, Y:80.02, Z:10.84 [[ 2.76861762e-01 -9.60438734e-01 -3.00832631e-02 9.87092741e+01] [ 9.54187405e-01 2.78486835e-01 -1.09414257e-01 8.00240808e+01] [ 1.13463483e-01 1.58755305e-03 9.93540899e-01 1.08448044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.72, Y:80.05, Z:10.85 [[ 2.68971680e-01 -9.62692256e-01 -2.96286232e-02 9.87157635e+01] [ 9.56627059e-01 2.70597784e-01 -1.07895826e-01 8.00503493e+01] [ 1.11887916e-01 6.77378970e-04 9.93720602e-01 1.08491011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.72, Y:80.08, Z:10.85 [[ 2.66707851e-01 -9.63313067e-01 -2.99141697e-02 9.87221964e+01] [ 9.57118834e-01 2.68379816e-01 -1.09067923e-01 8.00770915e+01] [ 1.13094915e-01 4.57856169e-04 9.93584083e-01 1.08512367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.73, Y:80.10, Z:10.85 [[ 2.64725758e-01 -9.63843114e-01 -3.04421452e-02 9.87275165e+01] [ 9.57415344e-01 2.66470218e-01 -1.11128228e-01 8.01033972e+01] [ 1.15222103e-01 2.72727557e-04 9.93339717e-01 1.08522320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.73, Y:80.13, Z:10.85 [[ 2.62804983e-01 -9.64340350e-01 -3.13245951e-02 9.87310965e+01] [ 9.57519098e-01 2.64665223e-01 -1.14496713e-01 8.01308909e+01] [ 1.18704331e-01 9.64085930e-05 9.92929641e-01 1.08512823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.74, Y:80.16, Z:10.85 [[ 2.62577483e-01 -9.64396861e-01 -3.14922108e-02 9.87368035e+01] [ 9.57485543e-01 2.64459226e-01 -1.15250827e-01 8.01575691e+01] [ 1.19475941e-01 1.08935445e-04 9.92837090e-01 1.08534603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.74, Y:80.18, Z:10.86 [[ 2.63410650e-01 -9.64173735e-01 -3.13661916e-02 9.87435922e+01] [ 9.57299498e-01 2.65271460e-01 -1.14929210e-01 8.01833705e+01] [ 1.19132281e-01 2.46738366e-04 9.92878360e-01 1.08568838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.75, Y:80.21, Z:10.86 [[ 2.66392116e-01 -9.63364067e-01 -3.10630805e-02 9.87505478e+01] [ 9.56600676e-01 2.68196313e-01 -1.13955626e-01 8.02094427e+01] [ 1.18111759e-01 6.41916679e-04 9.93000101e-01 1.08635475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.76, Y:80.23, Z:10.87 [[ 2.68127877e-01 -9.62892479e-01 -3.07492453e-02 9.87562761e+01] [ 9.56246403e-01 2.69883868e-01 -1.12940317e-01 8.02344367e+01] [ 1.17048107e-01 8.78592056e-04 9.93125858e-01 1.08667709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.76, Y:80.26, Z:10.87 [[ 2.70025704e-01 -9.62363161e-01 -3.07126196e-02 9.87619858e+01] [ 9.55712671e-01 2.71764293e-01 -1.12948928e-01 8.02614760e+01] [ 1.17044481e-01 1.14667406e-03 9.93126012e-01 1.08697594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.77, Y:80.29, Z:10.87 [[ 2.71728345e-01 -9.61885072e-01 -3.06726968e-02 9.87675438e+01] [ 9.55232875e-01 2.73450505e-01 -1.12937932e-01 8.02883725e+01] [ 1.17020776e-01 1.38886913e-03 9.93128496e-01 1.08720159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.77, Y:80.31, Z:10.87 [[ 2.73618623e-01 -9.61354845e-01 -3.04911772e-02 9.87731268e+01] [ 9.54762349e-01 2.75307392e-01 -1.12404170e-01 8.03138221e+01] [ 1.16454740e-01 1.64404627e-03 9.93194639e-01 1.08736595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.78, Y:80.34, Z:10.88 [[ 2.76552224e-01 -9.60517305e-01 -3.04199655e-02 9.87794828e+01] [ 9.53937968e-01 2.78212886e-01 -1.12249472e-01 8.03402766e+01] [ 1.16280787e-01 2.02408102e-03 9.93214318e-01 1.08755419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.79, Y:80.37, Z:10.88 [[ 2.77179093e-01 -9.60336807e-01 -3.04132722e-02 9.87872688e+01] [ 9.53743280e-01 2.78834443e-01 -1.12361507e-01 8.03661608e+01] [ 1.16385159e-01 2.13780671e-03 9.93201855e-01 1.08789339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.79, Y:80.39, Z:10.88 [[ 2.76934637e-01 -9.60408974e-01 -3.03613152e-02 9.87946928e+01] [ 9.53822410e-01 2.78585738e-01 -1.12306706e-01 8.03913143e+01] [ 1.16318597e-01 2.14231393e-03 9.93209643e-01 1.08821373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.80, Y:80.42, Z:10.89 [[ 2.76947671e-01 -9.60410998e-01 -3.01778592e-02 9.88027573e+01] [ 9.53887591e-01 2.78578562e-01 -1.11769620e-01 8.04170050e+01] [ 1.15751676e-01 2.16805045e-03 9.93275817e-01 1.08854789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.81, Y:80.44, Z:10.89 [[ 2.76996484e-01 -9.60402811e-01 -2.99898076e-02 9.88101519e+01] [ 9.53945070e-01 2.78606569e-01 -1.11207837e-01 8.04427902e+01] [ 1.15159676e-01 2.19555065e-03 9.93344567e-01 1.08875621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.82, Y:80.47, Z:10.89 [[ 2.77011894e-01 -9.60399382e-01 -2.99572718e-02 9.88175743e+01] [ 9.53940130e-01 2.78618099e-01 -1.11221323e-01 8.04675694e+01] [ 1.15163528e-01 2.23218555e-03 9.93344039e-01 1.08899513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.83, Y:80.49, Z:10.89 [[ 2.77929686e-01 -9.60142693e-01 -2.96833066e-02 9.88261397e+01] [ 9.53787936e-01 2.79500452e-01 -1.10308978e-01 8.04930137e+01] [ 1.14208857e-01 2.34655985e-03 9.93453990e-01 1.08932846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.83, Y:80.52, Z:10.90 [[ 2.78616801e-01 -9.59952001e-01 -2.94080485e-02 9.88334032e+01] [ 9.53698691e-01 2.80153892e-01 -1.09419389e-01 8.05184096e+01] [ 1.13276141e-01 2.43966287e-03 9.93560549e-01 1.08963936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.83, Y:80.55, Z:10.87 [[ 2.76241047e-01 -9.61037033e-01 9.93501953e-03 9.88269524e+01] [ 9.55569977e-01 2.73534073e-01 -1.09841385e-01 8.05490492e+01] [ 1.02844072e-01 3.98363055e-02 9.93899475e-01 1.08650553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.86, Y:80.57, Z:10.92 [[ 2.80483358e-01 -9.57665080e-01 -6.48589325e-02 9.88566307e+01] [ 9.53063952e-01 2.85887216e-01 -9.96875219e-02 8.05658442e+01] [ 1.14009598e-01 -3.38540197e-02 9.92902672e-01 1.09236026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.86, Y:80.60, Z:10.91 [[ 2.81442537e-01 -9.59128680e-01 -2.93645141e-02 9.88563852e+01] [ 9.52848102e-01 2.82955701e-01 -1.09620099e-01 8.05958257e+01] [ 1.13448637e-01 2.87183713e-03 9.93539712e-01 1.09078856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.86, Y:80.62, Z:10.91 [[ 2.80100862e-01 -9.59516224e-01 -2.95317160e-02 9.88625150e+01] [ 9.53149931e-01 2.81639738e-01 -1.10382370e-01 8.06216083e+01] [ 1.14230980e-01 2.77004400e-03 9.93450356e-01 1.09092892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.87, Y:80.65, Z:10.91 [[ 2.79977106e-01 -9.59560857e-01 -2.92537645e-02 9.88693641e+01] [ 9.53298399e-01 2.81487680e-01 -1.09484467e-01 8.06477787e+01] [ 1.13291583e-01 2.76557726e-03 9.93557934e-01 1.09116592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.88, Y:80.67, Z:10.91 [[ 2.79180655e-01 -9.59786033e-01 -2.94776600e-02 9.88765972e+01] [ 9.53412582e-01 2.80719251e-01 -1.10458819e-01 8.06738546e+01] [ 1.14291779e-01 2.73359356e-03 9.93443464e-01 1.09139067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.88, Y:80.70, Z:10.92 [[ 2.78378293e-01 -9.60018087e-01 -2.95093102e-02 9.88837017e+01] [ 9.53616443e-01 2.79925154e-01 -1.10713993e-01 8.07003709e+01] [ 1.14547833e-01 2.67980879e-03 9.93414119e-01 1.09163460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.89, Y:80.73, Z:10.92 [[ 2.77157579e-01 -9.60374354e-01 -2.94070701e-02 9.88902532e+01] [ 9.54003062e-01 2.78701506e-01 -1.10470035e-01 8.07256152e+01] [ 1.14288383e-01 2.56317255e-03 9.93444309e-01 1.09187586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.90, Y:80.75, Z:10.92 [[ 2.76107105e-01 -9.60675456e-01 -2.94539474e-02 9.88983027e+01] [ 9.54268556e-01 2.77662565e-01 -1.10792702e-01 8.07512081e+01] [ 1.14614088e-01 2.48367632e-03 9.93406987e-01 1.09229122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.91, Y:80.78, Z:10.93 [[ 2.75788488e-01 -9.60768506e-01 -2.94038565e-02 9.89051633e+01] [ 9.54369167e-01 2.77340482e-01 -1.10732784e-01 8.07767009e+01] [ 1.14543451e-01 2.47669295e-03 9.93415152e-01 1.09261581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.91, Y:80.80, Z:10.93 [[ 2.75703382e-01 -9.60795145e-01 -2.93314480e-02 9.89119135e+01] [ 9.54411151e-01 2.77247980e-01 -1.10602500e-01 8.08030266e+01] [ 1.14398430e-01 2.49922227e-03 9.93431806e-01 1.09292951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.92, Y:80.83, Z:10.93 [[ 2.75620072e-01 -9.60816818e-01 -2.94043870e-02 9.89183312e+01] [ 9.54385233e-01 2.77172541e-01 -1.11014457e-01 8.08285862e+01] [ 1.14814646e-01 2.53469996e-03 9.93383698e-01 1.09320548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.91, Y:80.86, Z:10.90 [[ 2.70847437e-01 -9.62542461e-01 1.23966240e-02 9.89089667e+01] [ 9.56847163e-01 2.67791679e-01 -1.12832282e-01 8.08600052e+01] [ 1.05286149e-01 4.24220088e-02 9.93536713e-01 1.08967397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.92, Y:80.88, Z:10.92 [[ 2.70371563e-01 -9.62493973e-01 -2.24626464e-02 9.89242759e+01] [ 9.56825573e-01 2.71218646e-01 -1.04524013e-01 8.08827828e+01] [ 1.06696021e-01 6.76748622e-03 9.94268656e-01 1.09183373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.95, Y:80.90, Z:10.96 [[ 2.73121366e-01 -9.59388229e-01 -7.05616359e-02 9.89467040e+01] [ 9.54785869e-01 2.79302338e-01 -1.01853567e-01 8.09035391e+01] [ 1.17425143e-01 -3.95528675e-02 9.92293760e-01 1.09640244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.94, Y:80.94, Z:10.94 [[ 2.72388153e-01 -9.61727056e-01 -2.97617748e-02 9.89443857e+01] [ 9.55119112e-01 2.74000127e-01 -1.12567367e-01 8.09350009e+01] [ 1.16413812e-01 2.23597713e-03 9.93198281e-01 1.09449171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.746875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:98.95, Y:80.96, Z:10.95 [[ 2.69933766e-01 -9.62429508e-01 -2.94143385e-02 9.89506521e+01] [ 9.55963594e-01 2.71524662e-01 -1.11391046e-01 8.09614114e+01] [ 1.15192748e-01 1.94916793e-03 9.93341246e-01 1.09487279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.96, Y:80.99, Z:10.95 [[ 2.68406622e-01 -9.62857524e-01 -2.93815175e-02 9.89575715e+01] [ 9.56392443e-01 2.70003966e-01 -1.11406255e-01 8.09876979e+01] [ 1.15201477e-01 1.80191536e-03 9.93340512e-01 1.09521432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.96, Y:81.01, Z:10.95 [[ 2.66556080e-01 -9.63370126e-01 -2.94254268e-02 9.89638827e+01] [ 9.56872277e-01 2.68170412e-01 -1.11714264e-01 8.10128359e+01] [ 1.15513213e-01 1.62174106e-03 9.93304620e-01 1.09545724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.97, Y:81.04, Z:10.96 [[ 2.62802024e-01 -9.64397510e-01 -2.95387798e-02 9.89709565e+01] [ 9.57838321e-01 2.64454081e-01 -1.12293321e-01 8.10394434e+01] [ 1.16107050e-01 1.21753665e-03 9.93235959e-01 1.09568211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.98, Y:81.07, Z:10.96 [[ 2.61315601e-01 -9.64801269e-01 -2.95409629e-02 9.89781547e+01] [ 9.58227295e-01 2.62977860e-01 -1.12441523e-01 8.10656462e+01] [ 1.16252343e-01 1.07576712e-03 9.93219128e-01 1.09600647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.99, Y:81.09, Z:10.96 [[ 2.59931870e-01 -9.65176495e-01 -2.94916226e-02 9.89850494e+01] [ 9.58610569e-01 2.61597864e-01 -1.12393657e-01 8.10917610e+01] [ 1.16194662e-01 9.43712476e-04 9.93226012e-01 1.09627566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.99, Y:81.12, Z:10.97 [[ 2.58776589e-01 -9.65487218e-01 -2.94806634e-02 9.89919921e+01] [ 9.58911827e-01 2.60449084e-01 -1.12491702e-01 8.11178008e+01] [ 1.16287512e-01 8.40861974e-04 9.93215237e-01 1.09656323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:81.14, Z:10.97 [[ 2.58435362e-01 -9.65582209e-01 -2.93625868e-02 9.89997519e+01] [ 9.59044052e-01 2.60096726e-01 -1.12179322e-01 8.11448536e+01] [ 1.15955470e-01 8.31089360e-04 9.93254065e-01 1.09695501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.01, Y:81.17, Z:10.97 [[ 2.58725626e-01 -9.65505012e-01 -2.93448750e-02 9.90064341e+01] [ 9.58960183e-01 2.60382924e-01 -1.12232353e-01 8.11714779e+01] [ 1.16001803e-01 8.96819113e-04 9.93248598e-01 1.09727302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.01, Y:81.20, Z:10.98 [[ 2.59868352e-01 -9.65198493e-01 -2.93310261e-02 9.90128050e+01] [ 9.58640961e-01 2.61516197e-01 -1.12324473e-01 8.11965310e+01] [ 1.16085950e-01 1.07165256e-03 9.93238594e-01 1.09756187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.02, Y:81.22, Z:10.98 [[ 2.62455269e-01 -9.64498690e-01 -2.93173626e-02 9.90191670e+01] [ 9.57926107e-01 2.64083810e-01 -1.12415808e-01 8.12234262e+01] [ 1.16167141e-01 1.42025416e-03 9.93228664e-01 1.09779214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.03, Y:81.25, Z:10.98 [[ 2.64272293e-01 -9.64004024e-01 -2.92642540e-02 9.90256455e+01] [ 9.57435788e-01 2.65882383e-01 -1.12353325e-01 8.12494547e+01] [ 1.16089907e-01 1.67322664e-03 9.93237300e-01 1.09807079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.03, Y:81.28, Z:10.98 [[ 2.66063021e-01 -9.63512113e-01 -2.92382768e-02 9.90323026e+01] [ 9.56937046e-01 2.67657824e-01 -1.12386741e-01 8.12759088e+01] [ 1.16111840e-01 1.92276564e-03 9.93234284e-01 1.09833448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.04, Y:81.30, Z:10.99 [[ 2.69375861e-01 -9.62586724e-01 -2.93844210e-02 9.90390745e+01] [ 9.55923156e-01 2.70963389e-01 -1.13091831e-01 8.13018623e+01] [ 1.16822798e-01 2.37496104e-03 9.93149935e-01 1.09857889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.05, Y:81.33, Z:10.99 [[ 2.69096369e-01 -9.62665958e-01 -2.93495718e-02 9.90458814e+01] [ 9.56001877e-01 2.70681740e-01 -1.13100875e-01 8.13286498e+01] [ 1.16822756e-01 2.37678913e-03 9.93149936e-01 1.09888294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.05, Y:81.35, Z:10.99 [[ 2.71043623e-01 -9.62115613e-01 -2.94771232e-02 9.90535996e+01] [ 9.55373719e-01 2.72628773e-01 -1.13730425e-01 8.13548806e+01] [ 1.17458130e-01 2.66423758e-03 9.93074262e-01 1.09914242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.06, Y:81.38, Z:10.99 [[ 2.70777296e-01 -9.62189866e-01 -2.95011312e-02 9.90605351e+01] [ 9.55420060e-01 2.72366498e-01 -1.13969296e-01 8.13812763e+01] [ 1.17695222e-01 2.67432539e-03 9.93046163e-01 1.09939532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25687499999998 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:99.07, Y:81.41, Z:11.00 [[ 2.71444869e-01 -9.62000878e-01 -2.95295362e-02 9.90671708e+01] [ 9.55199371e-01 2.73031999e-01 -1.14226485e-01 8.14062703e+01] [ 1.17948487e-01 2.79959875e-03 9.93015769e-01 1.09959948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.07, Y:81.43, Z:11.00 [[ 2.71768371e-01 -9.61907975e-01 -2.95803902e-02 9.90736332e+01] [ 9.55063974e-01 2.73358207e-01 -1.14577905e-01 8.14322735e+01] [ 1.18299443e-01 2.88748552e-03 9.92973768e-01 1.09984607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.08, Y:81.46, Z:11.00 [[ 2.71571128e-01 -9.61963217e-01 -2.95954852e-02 9.90802209e+01] [ 9.55095043e-01 2.73163558e-01 -1.14782966e-01 8.14583831e+01] [ 1.18501399e-01 2.90523823e-03 9.92949635e-01 1.10009237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.09, Y:81.48, Z:11.00 [[ 2.72018885e-01 -9.61831263e-01 -2.97716022e-02 9.90877275e+01] [ 9.54862034e-01 2.73626552e-01 -1.15615769e-01 8.14839144e+01] [ 1.19349162e-01 3.02189993e-03 9.92847745e-01 1.10041304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.09, Y:81.51, Z:11.01 [[ 2.71828666e-01 -9.61886298e-01 -2.97309079e-02 9.90948089e+01] [ 9.54917938e-01 2.73432866e-01 -1.15612278e-01 8.15102393e+01] [ 1.19335273e-01 3.03615386e-03 9.92849371e-01 1.10069593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.10, Y:81.54, Z:11.01 [[ 2.71627613e-01 -9.61944359e-01 -2.96898882e-02 9.91015345e+01] [ 9.54977999e-01 2.73228415e-01 -1.15599549e-01 8.15360512e+01] [ 1.19312455e-01 3.04683947e-03 9.92852081e-01 1.10099326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.11, Y:81.56, Z:11.01 [[ 2.68077003e-01 -9.62946487e-01 -2.94751298e-02 9.91080257e+01] [ 9.56068966e-01 2.69679757e-01 -1.14912839e-01 8.15623539e+01] [ 1.18603761e-01 2.62523276e-03 9.92938193e-01 1.10130598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.12, Y:81.59, Z:11.02 [[ 2.66447676e-01 -9.63406609e-01 -2.92120006e-02 9.91151030e+01] [ 9.56637053e-01 2.68033127e-01 -1.14034169e-01 8.15892554e+01] [ 1.17691056e-01 2.43885735e-03 9.93047263e-01 1.10167214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.12, Y:81.62, Z:11.02 [[ 2.66193811e-01 -9.63477758e-01 -2.91798710e-02 9.91220648e+01] [ 9.56707730e-01 2.67777244e-01 -1.14042391e-01 8.16168454e+01] [ 1.17691012e-01 2.44077043e-03 9.93047264e-01 1.10198537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:81.64, Z:11.02 [[ 2.64642883e-01 -9.63911613e-01 -2.89576712e-02 9.91283476e+01] [ 9.57232347e-01 2.66212833e-01 -1.13300315e-01 8.16424437e+01] [ 1.16920393e-01 2.26490251e-03 9.93138707e-01 1.10230326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:81.67, Z:11.03 [[ 2.63602474e-01 -9.64197865e-01 -2.89173628e-02 9.91349034e+01] [ 9.57520491e-01 2.65174921e-01 -1.13299478e-01 8.16688624e+01] [ 1.16911274e-01 2.17705518e-03 9.93139977e-01 1.10262924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.14, Y:81.69, Z:11.03 [[ 2.61636874e-01 -9.64730828e-01 -2.89926691e-02 9.91411280e+01] [ 9.58004406e-01 2.63230875e-01 -1.13741215e-01 8.16949392e+01] [ 1.17361422e-01 1.98379110e-03 9.93087288e-01 1.10287799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:81.73, Z:10.99 [[ 2.55656935e-01 -9.66537633e-01 2.10840013e-02 9.91271996e+01] [ 9.60990873e-01 2.51688338e-01 -1.14671364e-01 8.17257013e+01] [ 1.05527592e-01 4.95780624e-02 9.93179713e-01 1.09860743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.646875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:99.16, Y:81.74, Z:11.06 [[ 2.60217454e-01 -9.62686554e-01 -7.43066265e-02 9.91637479e+01] [ 9.58268742e-01 2.66922553e-01 -1.02339473e-01 8.17422352e+01] [ 1.18354949e-01 -4.45752005e-02 9.91970341e-01 1.10596033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.16, Y:81.77, Z:11.04 [[ 2.60237629e-01 -9.65110629e-01 -2.89456490e-02 9.91598612e+01] [ 9.58375825e-01 2.61835692e-01 -1.13832544e-01 8.17741585e+01] [ 1.17440002e-01 1.88270115e-03 9.93078195e-01 1.10380095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.17, Y:81.80, Z:11.04 [[ 2.60123659e-01 -9.65145785e-01 -2.87975108e-02 9.91660852e+01] [ 9.58462933e-01 2.61705981e-01 -1.13396588e-01 8.18006026e+01] [ 1.16980720e-01 1.89578880e-03 9.93132376e-01 1.10415346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.17, Y:81.83, Z:11.04 [[ 2.60309544e-01 -9.65101379e-01 -2.86054072e-02 9.91717268e+01] [ 9.58490516e-01 2.61869359e-01 -1.12784619e-01 8.18261092e+01] [ 1.16339471e-01 1.94090126e-03 9.93207612e-01 1.10442282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.18, Y:81.85, Z:11.05 [[ 2.61388529e-01 -9.64808992e-01 -2.86294579e-02 9.91760676e+01] [ 9.58171619e-01 2.62943307e-01 -1.12995422e-01 8.18523226e+01] [ 1.16546924e-01 2.10377320e-03 9.93182958e-01 1.10460424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.18, Y:81.88, Z:11.05 [[ 2.61947346e-01 -9.64652787e-01 -2.87852130e-02 9.91814485e+01] [ 9.57923843e-01 2.63514794e-01 -1.13762315e-01 8.18786324e+01] [ 1.17326463e-01 2.22569455e-03 9.93090906e-01 1.10483917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.17, Y:81.91, Z:11.01 [[ 2.58001747e-01 -9.66083718e-01 1.08327385e-02 9.91700872e+01] [ 9.60087135e-01 2.55114500e-01 -1.14670335e-01 8.19080655e+01] [ 1.08017555e-01 3.99855197e-02 9.93344535e-01 1.10140977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.20, Y:81.93, Z:11.07 [[ 2.62497612e-01 -9.62745932e-01 -6.49251373e-02 9.92014782e+01] [ 9.57507345e-01 2.68218463e-01 -1.06011986e-01 8.19269513e+01] [ 1.19476729e-01 -3.43384026e-02 9.92243007e-01 1.10740545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.20, Y:81.96, Z:11.06 [[ 2.63058492e-01 -9.64343319e-01 -2.90205442e-02 9.91985697e+01] [ 9.57473588e-01 2.64643115e-01 -1.14927589e-01 8.19577896e+01] [ 1.18509740e-01 2.44627364e-03 9.92949877e-01 1.10575134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.20, Y:81.98, Z:11.06 [[ 2.62629397e-01 -9.64469532e-01 -2.87110173e-02 9.92040034e+01] [ 9.57729163e-01 2.64183169e-01 -1.13851234e-01 8.19837767e+01] [ 1.17391014e-01 2.40330239e-03 9.93082864e-01 1.10600474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.21, Y:82.01, Z:11.06 [[ 2.62330253e-01 -9.64555633e-01 -2.85529293e-02 9.92101361e+01] [ 9.57871809e-01 2.63868729e-01 -1.13379416e-01 8.20099083e+01] [ 1.16894980e-01 2.39280504e-03 9.93141399e-01 1.10635818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.22, Y:82.04, Z:11.07 [[ 2.61828030e-01 -9.64707042e-01 -2.80429254e-02 9.92155304e+01] [ 9.58245075e-01 2.63315280e-01 -1.11496363e-01 8.20361586e+01] [ 1.14945457e-01 2.32087789e-03 9.93369093e-01 1.10671162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.00687499999998 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:99.22, Y:82.06, Z:11.07 [[ 2.61430658e-01 -9.64815715e-01 -2.80115378e-02 9.92215131e+01] [ 9.58352135e-01 2.62916916e-01 -1.11516277e-01 8.20633635e+01] [ 1.14957363e-01 2.30885651e-03 9.93367744e-01 1.10695908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.23, Y:82.09, Z:11.07 [[ 2.60985875e-01 -9.64939785e-01 -2.78851852e-02 9.92274450e+01] [ 9.58520076e-01 2.62461459e-01 -1.11145157e-01 8.20888173e+01] [ 1.14567170e-01 2.27880616e-03 9.93412890e-01 1.10722551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.23, Y:82.12, Z:11.07 [[ 2.60311174e-01 -9.65123567e-01 -2.78315250e-02 9.92334048e+01] [ 9.58711893e-01 2.61785234e-01 -1.11085540e-01 8.21152858e+01] [ 1.14497155e-01 2.23439335e-03 9.93421063e-01 1.10746655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.24, Y:82.14, Z:11.08 [[ 2.59271436e-01 -9.65396931e-01 -2.80550862e-02 9.92391824e+01] [ 9.58865987e-01 2.60775876e-01 -1.12124754e-01 8.21418831e+01] [ 1.15560983e-01 2.16967806e-03 9.93298018e-01 1.10775846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.25, Y:82.17, Z:11.08 [[ 2.58442381e-01 -9.65617240e-01 -2.81226246e-02 9.92454799e+01] [ 9.59038923e-01 2.59959371e-01 -1.12540965e-01 8.21680448e+01] [ 1.15982235e-01 2.11466327e-03 9.93249037e-01 1.10808893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.25, Y:82.19, Z:11.08 [[ 2.57710942e-01 -9.65808075e-01 -2.82813051e-02 9.92517793e+01] [ 9.59138983e-01 2.59249765e-01 -1.13322414e-01 8.21939595e+01] [ 1.16779625e-01 2.07872388e-03 9.93155677e-01 1.10839017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.186875 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:99.26, Y:82.22, Z:11.09 [[ 2.56352738e-01 -9.66167391e-01 -2.83521891e-02 9.92580376e+01] [ 9.59449623e-01 2.57908390e-01 -1.13752727e-01 8.22206776e+01] [ 1.17216442e-01 1.95832577e-03 9.93104461e-01 1.10874623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.26, Y:82.25, Z:11.09 [[ 2.55154605e-01 -9.66491346e-01 -2.81177000e-02 9.92640021e+01] [ 9.59870771e-01 2.56692676e-01 -1.12946766e-01 8.22466110e+01] [ 1.16379680e-01 1.82952904e-03 9.93203113e-01 1.10896456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.27, Y:82.27, Z:11.09 [[ 2.54133955e-01 -9.66763466e-01 -2.80059725e-02 9.92699154e+01] [ 9.60180580e-01 2.55666563e-01 -1.12640412e-01 8.22731136e+01] [ 1.16056826e-01 1.73496243e-03 9.93241060e-01 1.10922587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.28, Y:82.30, Z:11.10 [[ 2.53507878e-01 -9.66928234e-01 -2.79918809e-02 9.92757987e+01] [ 9.60335799e-01 2.55042960e-01 -1.12730840e-01 8.22993644e+01] [ 1.16141765e-01 1.69655086e-03 9.93231198e-01 1.10951872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.28, Y:82.33, Z:11.10 [[ 2.53789932e-01 -9.66852563e-01 -2.80498054e-02 9.92812449e+01] [ 9.60214743e-01 2.55329154e-01 -1.13113530e-01 8.23256839e+01] [ 1.16526039e-01 1.77323841e-03 9.93186054e-01 1.10966737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.29, Y:82.35, Z:11.10 [[ 2.54415774e-01 -9.66688741e-01 -2.80266449e-02 9.92873075e+01] [ 9.60043514e-01 2.55947895e-01 -1.13168572e-01 8.23515118e+01] [ 1.16572146e-01 1.88507120e-03 9.93180437e-01 1.10995349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.29, Y:82.38, Z:11.10 [[ 2.55093102e-01 -9.66509118e-01 -2.80648047e-02 9.92937414e+01] [ 9.59826295e-01 2.56624400e-01 -1.13478635e-01 8.23782092e+01] [ 1.16880249e-01 2.01027947e-03 9.93143981e-01 1.11029263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.30, Y:82.40, Z:11.11 [[ 2.55815507e-01 -9.66317433e-01 -2.80899284e-02 9.92998266e+01] [ 9.59603714e-01 2.57344211e-01 -1.13730685e-01 8.24038844e+01] [ 1.17128724e-01 2.13887321e-03 9.93114438e-01 1.11057689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.31, Y:82.43, Z:11.11 [[ 2.58689122e-01 -9.65547279e-01 -2.82557946e-02 9.93059181e+01] [ 9.58731205e-01 2.60215257e-01 -1.14553465e-01 8.24298897e+01] [ 1.17959375e-01 2.54402331e-03 9.93015163e-01 1.11087016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.31, Y:82.46, Z:11.11 [[ 2.59880914e-01 -9.65221991e-01 -2.84326939e-02 9.93120294e+01] [ 9.58299667e-01 2.61417190e-01 -1.15424437e-01 8.24555263e+01] [ 1.18843000e-01 2.74956716e-03 9.92909251e-01 1.11115781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.32, Y:82.48, Z:11.11 [[ 2.60683791e-01 -9.64999782e-01 -2.86248478e-02 9.93184215e+01] [ 9.57962414e-01 2.62234502e-01 -1.16366148e-01 8.24820814e+01] [ 1.19799730e-01 2.91324030e-03 9.92793804e-01 1.11141790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.33, Y:82.51, Z:11.12 [[ 2.62171590e-01 -9.64586222e-01 -2.89737484e-02 9.93257825e+01] [ 9.57353833e-01 2.63748534e-01 -1.17942145e-01 8.25096091e+01] [ 1.21407152e-01 3.18295053e-03 9.92597689e-01 1.11167533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.33, Y:82.54, Z:11.12 [[ 2.61283711e-01 -9.64817089e-01 -2.93054188e-02 9.93321104e+01] [ 9.57401295e-01 2.62903151e-01 -1.19434892e-01 8.25363965e+01] [ 1.22937311e-01 3.14934575e-03 9.92409441e-01 1.11188699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.34, Y:82.56, Z:11.12 [[ 2.60086157e-01 -9.65140141e-01 -2.93206231e-02 9.93383551e+01] [ 9.57698794e-01 2.61715994e-01 -1.19656834e-01 8.25615524e+01] [ 1.23159290e-01 3.04076071e-03 9.92382257e-01 1.11211429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.35, Y:82.59, Z:11.12 [[ 2.59228158e-01 -9.65376060e-01 -2.91517522e-02 9.93454643e+01] [ 9.58001090e-01 2.60845401e-01 -1.19136850e-01 8.25878294e+01] [ 1.22615963e-01 2.95621575e-03 9.92449790e-01 1.11242865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.35, Y:82.61, Z:11.13 [[ 2.58088799e-01 -9.65691230e-01 -2.88204777e-02 9.93539924e+01] [ 9.58466246e-01 2.59677724e-01 -1.17940388e-01 8.26129352e+01] [ 1.21378034e-01 2.81563796e-03 9.92602360e-01 1.11298179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.666875 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:99.36, Y:82.64, Z:11.13 [[ 2.57157444e-01 -9.65945063e-01 -2.86388596e-02 9.93609111e+01] [ 9.58793613e-01 2.58732947e-01 -1.17354461e-01 8.26387995e+01] [ 1.20767779e-01 2.71981759e-03 9.92677060e-01 1.11334038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.37, Y:82.66, Z:11.14 [[ 2.56197991e-01 -9.66201787e-01 -2.85779103e-02 9.93673735e+01] [ 9.59063400e-01 2.57773484e-01 -1.17261358e-01 8.26647330e+01] [ 1.20664762e-01 2.63409662e-03 9.92689819e-01 1.11364948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.37, Y:82.69, Z:11.14 [[ 2.55135083e-01 -9.66491855e-01 -2.82768904e-02 9.93742484e+01] [ 9.59486834e-01 2.56685005e-01 -1.16180139e-01 8.26914039e+01] [ 1.19545412e-01 2.51032533e-03 9.92825560e-01 1.11390515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.38, Y:82.72, Z:11.14 [[ 2.54698969e-01 -9.66612205e-01 -2.80941430e-02 9.93807950e+01] [ 9.59680133e-01 2.56231747e-01 -1.15582585e-01 8.27171040e+01] [ 1.18922149e-01 2.47737430e-03 9.92900491e-01 1.11421407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.39, Y:82.74, Z:11.15 [[ 2.54075652e-01 -9.66781900e-01 -2.78984039e-02 9.93876413e+01] [ 9.59932946e-01 2.55591349e-01 -1.14899092e-01 8.27430497e+01] [ 1.18212953e-01 2.41246471e-03 9.92985336e-01 1.11458723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.39, Y:82.77, Z:11.15 [[ 2.52484056e-01 -9.67209087e-01 -2.75387576e-02 9.93939472e+01] [ 9.60520866e-01 2.53971731e-01 -1.13569478e-01 8.27684523e+01] [ 1.16839497e-01 2.22293117e-03 9.93148322e-01 1.11499550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.40, Y:82.79, Z:11.15 [[ 2.51886715e-01 -9.67368652e-01 -2.74038986e-02 9.94006358e+01] [ 9.60728282e-01 2.53363658e-01 -1.13172547e-01 8.27948340e+01] [ 1.16422726e-01 2.17896063e-03 9.93197363e-01 1.11533914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.41, Y:82.82, Z:11.16 [[ 2.50008919e-01 -9.67860139e-01 -2.72450378e-02 9.94061903e+01] [ 9.61282033e-01 2.51481292e-01 -1.12667712e-01 8.28214606e+01] [ 1.15898205e-01 1.97776758e-03 9.93259128e-01 1.11561452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.90687499999999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:99.41, Y:82.85, Z:11.16 [[ 2.48863926e-01 -9.68156789e-01 -2.71878267e-02 9.94113603e+01] [ 9.61590437e-01 2.50337609e-01 -1.12582913e-01 8.28468399e+01] [ 1.15804047e-01 1.87427147e-03 9.93270311e-01 1.11584084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.42, Y:82.87, Z:11.16 [[ 2.47900832e-01 -9.68405970e-01 -2.71119055e-02 9.94169696e+01] [ 9.61863918e-01 2.49372609e-01 -1.12388192e-01 8.28728790e+01] [ 1.15598363e-01 1.78316269e-03 9.93294437e-01 1.11610526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.42, Y:82.90, Z:11.16 [[ 2.45511175e-01 -9.69015341e-01 -2.70837919e-02 9.94230412e+01] [ 9.62472190e-01 2.46995772e-01 -1.12429409e-01 8.29001741e+01] [ 1.15635404e-01 1.53527985e-03 9.93290540e-01 1.11637362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.43, Y:82.93, Z:11.17 [[ 2.44261124e-01 -9.69329437e-01 -2.71467629e-02 9.94289648e+01] [ 9.62741366e-01 2.45760887e-01 -1.12830178e-01 8.29251783e+01] [ 1.16041225e-01 1.42471446e-03 9.93243376e-01 1.11672784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.43, Y:82.95, Z:11.17 [[ 2.42660910e-01 -9.69733003e-01 -2.70847674e-02 9.94348734e+01] [ 9.63158691e-01 2.44164475e-01 -1.12734402e-01 8.29526714e+01] [ 1.15935408e-01 1.26930352e-03 9.93255944e-01 1.11700714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.44, Y:82.98, Z:11.17 [[ 2.41430926e-01 -9.70039381e-01 -2.71054840e-02 9.94404057e+01] [ 9.63440587e-01 2.42944972e-01 -1.12960067e-01 8.29794610e+01] [ 1.16160855e-01 1.15753019e-03 9.93229740e-01 1.11728560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.45, Y:83.01, Z:11.17 [[ 2.39716286e-01 -9.70458560e-01 -2.73182275e-02 9.94452363e+01] [ 9.63739525e-01 2.41265790e-01 -1.14004155e-01 8.30069819e+01] [ 1.17227262e-01 1.00099701e-03 9.93104610e-01 1.11748781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.45, Y:83.03, Z:11.18 [[ 2.39191109e-01 -9.70591476e-01 -2.71992603e-02 9.94501967e+01] [ 9.63915615e-01 2.40730668e-01 -1.13646086e-01 8.30332003e+01] [ 1.16851618e-01 9.65341661e-04 9.93148915e-01 1.11768692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.46, Y:83.06, Z:11.18 [[ 2.38782517e-01 -9.70690424e-01 -2.72582142e-02 9.94552507e+01] [ 9.63971526e-01 2.40331438e-01 -1.14016213e-01 8.30594847e+01] [ 1.17225452e-01 9.48936043e-04 9.93104875e-01 1.11796372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.46, Y:83.09, Z:11.18 [[ 2.38211541e-01 -9.70830905e-01 -2.72509874e-02 9.94603186e+01] [ 9.64097949e-01 2.39763452e-01 -1.14143037e-01 8.30852325e+01] [ 1.17347378e-01 9.17567633e-04 9.93090505e-01 1.11824438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.46, Y:83.11, Z:11.19 [[ 2.37927642e-01 -9.70901732e-01 -2.72077964e-02 9.94649300e+01] [ 9.64171280e-01 2.39476469e-01 -1.14126085e-01 8.31113884e+01] [ 1.17320840e-01 9.20774327e-04 9.93093637e-01 1.11858303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.47, Y:83.14, Z:11.19 [[ 2.38537310e-01 -9.70756404e-01 -2.70546796e-02 9.94700727e+01] [ 9.64081838e-01 2.40064474e-01 -1.13645315e-01 8.31370230e+01] [ 1.16816785e-01 1.02572244e-03 9.93152952e-01 1.11888233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.47, Y:83.16, Z:11.19 [[ 2.39147777e-01 -9.70609450e-01 -2.69376397e-02 9.94748909e+01] [ 9.63973147e-01 2.40657466e-01 -1.13312647e-01 8.31633678e+01] [ 1.16465070e-01 1.13130641e-03 9.93194144e-01 1.11911193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.48, Y:83.19, Z:11.19 [[ 2.41379336e-01 -9.70065303e-01 -2.66331295e-02 9.94780126e+01] [ 9.63557657e-01 2.42840073e-01 -1.12184401e-01 8.31895509e+01] [ 1.15293786e-01 1.41644026e-03 9.93330427e-01 1.11941986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.48, Y:83.22, Z:11.20 [[ 2.42606024e-01 -9.69763063e-01 -2.64937572e-02 9.94821281e+01] [ 9.63303339e-01 2.44043172e-01 -1.11756910e-01 8.32150247e+01] [ 1.14843344e-01 1.59137480e-03 9.93382340e-01 1.11964439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.49, Y:83.24, Z:11.20 [[ 2.44579115e-01 -9.69267859e-01 -2.64740247e-02 9.94870163e+01] [ 9.62796612e-01 2.46000707e-01 -1.11831728e-01 8.32418634e+01] [ 1.14907529e-01 1.86260380e-03 9.93374446e-01 1.11990300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.49, Y:83.27, Z:11.20 [[ 2.46782101e-01 -9.68709222e-01 -2.64771218e-02 9.94911542e+01] [ 9.62215130e-01 2.48188968e-01 -1.12001247e-01 8.32674099e+01] [ 1.15067971e-01 2.16321589e-03 9.93355265e-01 1.12016634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.49, Y:83.29, Z:11.20 [[ 2.51556714e-01 -9.67477190e-01 -2.65914695e-02 9.94940242e+01] [ 9.60900646e-01 2.52942929e-01 -1.12649117e-01 8.32938456e+01] [ 1.15711575e-01 2.78588145e-03 9.93278949e-01 1.12049775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.50, Y:83.32, Z:11.21 [[ 2.51282277e-01 -9.67549247e-01 -2.65645006e-02 9.95002331e+01] [ 9.60972435e-01 2.52667219e-01 -1.12655476e-01 8.33207612e+01] [ 1.15711700e-01 2.78057184e-03 9.93278949e-01 1.12080555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.51, Y:83.35, Z:11.21 [[ 2.53360374e-01 -9.67005350e-01 -2.66303178e-02 9.95050675e+01] [ 9.60375804e-01 2.54737508e-01 -1.13080135e-01 8.33475385e+01] [ 1.16132836e-01 3.07491240e-03 9.93228931e-01 1.12112558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.51, Y:83.37, Z:11.21 [[ 2.55127697e-01 -9.66535977e-01 -2.67967145e-02 9.95095727e+01] [ 9.59801927e-01 2.56509216e-01 -1.13944206e-01 8.33748567e+01] [ 1.17004779e-01 3.35078471e-03 9.93125699e-01 1.12138108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53687499999998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:99.51, Y:83.40, Z:11.22 [[ 2.56949662e-01 -9.66049336e-01 -2.69360689e-02 9.95143713e+01] [ 9.59225110e-01 2.58332166e-01 -1.14680776e-01 8.34024806e+01] [ 1.17745740e-01 3.62943287e-03 9.93037143e-01 1.12162582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.52, Y:83.43, Z:11.22 [[ 2.60091550e-01 -9.65197565e-01 -2.73138456e-02 9.95176139e+01] [ 9.58157358e-01 2.61489464e-01 -1.16437695e-01 8.34295605e+01] [ 1.19527662e-01 4.11349843e-03 9.92822349e-01 1.12192881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.59687499999998 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:99.51, Y:83.45, Z:11.20 [[ 2.56892948e-01 -9.66413520e-01 -7.13599948e-03 9.95096326e+01] [ 9.59795224e-01 2.55984118e-01 -1.15174909e-01 8.34548429e+01] [ 1.13133292e-01 2.27385238e-02 9.93319595e-01 1.12026211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.53, Y:83.48, Z:11.23 [[ 2.62442022e-01 -9.63932309e-01 -4.42570725e-02 9.95320716e+01] [ 9.57286926e-01 2.65852360e-01 -1.13684931e-01 8.34806185e+01] [ 1.21350425e-01 -1.25310137e-02 9.92530628e-01 1.12346589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.52, Y:83.51, Z:11.22 [[ 2.59967349e-01 -9.65460016e-01 -1.74337575e-02 9.95230742e+01] [ 9.58423699e-01 2.60188277e-01 -1.17158332e-01 8.35072806e+01] [ 1.17647745e-01 1.37484146e-02 9.92960215e-01 1.12185482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.53, Y:83.53, Z:11.22 [[ 2.59031677e-01 -9.65736240e-01 -1.60033095e-02 9.95272308e+01] [ 9.58880189e-01 2.59111686e-01 -1.15801200e-01 8.35336735e+01] [ 1.15980060e-01 1.46509225e-02 9.93143482e-01 1.12179175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.716875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:99.53, Y:83.56, Z:11.22 [[ 2.57522665e-01 -9.66098491e-01 -1.83243940e-02 9.95336944e+01] [ 9.59397183e-01 2.57902586e-01 -1.14207270e-01 8.35605650e+01] [ 1.15061380e-01 1.18305887e-02 9.93287932e-01 1.12202580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.56, Y:83.59, Z:11.25 [[ 2.58068251e-01 -9.64872488e-01 -4.92123974e-02 9.95558176e+01] [ 9.58143807e-01 2.62138247e-01 -1.15082513e-01 8.35867154e+01] [ 1.23940403e-01 -1.74534109e-02 9.92136158e-01 1.12498960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.56, Y:83.62, Z:11.24 [[ 2.55881872e-01 -9.66296308e-01 -2.82119246e-02 9.95577592e+01] [ 9.58753986e-01 2.57404364e-01 -1.20556163e-01 8.36165909e+01] [ 1.23754848e-01 3.79984148e-03 9.92305547e-01 1.12424010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.56, Y:83.64, Z:11.25 [[ 2.53505169e-01 -9.66923630e-01 -2.81748791e-02 9.95642890e+01] [ 9.59386000e-01 2.55041639e-01 -1.20549847e-01 8.36425503e+01] [ 1.23748263e-01 3.52942490e-03 9.92307367e-01 1.12456958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.57, Y:83.67, Z:11.25 [[ 2.51147632e-01 -9.67537615e-01 -2.82104621e-02 9.95711001e+01] [ 9.59963477e-01 2.52705825e-01 -1.20871371e-01 8.36686925e+01] [ 1.24076546e-01 3.27554535e-03 9.92267243e-01 1.12494806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.58, Y:83.69, Z:11.25 [[ 2.47095021e-01 -9.68585238e-01 -2.80479573e-02 9.95784141e+01] [ 9.61084264e-01 2.48666267e-01 -1.20341698e-01 8.36943191e+01] [ 1.23535773e-01 2.77938412e-03 9.92336227e-01 1.12528825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.59, Y:83.72, Z:11.26 [[ 2.44930326e-01 -9.69140216e-01 -2.78635519e-02 9.95855060e+01] [ 9.61721030e-01 2.46497194e-01 -1.19715473e-01 8.37217917e+01] [ 1.22889367e-01 2.52498611e-03 9.92417164e-01 1.12559673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.59, Y:83.75, Z:11.26 [[ 2.43043104e-01 -9.69617345e-01 -2.77894614e-02 9.95921510e+01] [ 9.62221976e-01 2.44615700e-01 -1.19549270e-01 8.37475209e+01] [ 1.22714784e-01 2.31599525e-03 9.92439277e-01 1.12595548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.60, Y:83.77, Z:11.26 [[ 2.41360576e-01 -9.70038037e-01 -2.77719056e-02 9.95987250e+01] [ 9.62634986e-01 2.42943664e-01 -1.19633854e-01 8.37741763e+01] [ 1.22796397e-01 2.14068800e-03 9.92429575e-01 1.12631670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.61, Y:83.80, Z:11.27 [[ 2.40379532e-01 -9.70278436e-01 -2.78825682e-02 9.96051608e+01] [ 9.62797894e-01 2.41982423e-01 -1.20269376e-01 8.38003293e+01] [ 1.23441874e-01 2.06501847e-03 9.92349656e-01 1.12659275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.61, Y:83.83, Z:11.27 [[ 2.39864307e-01 -9.70405359e-01 -2.79025759e-02 9.96108100e+01] [ 9.62894113e-01 2.41473126e-01 -1.20522434e-01 8.38263942e+01] [ 1.23693338e-01 2.04180407e-03 9.92318391e-01 1.12688110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.62, Y:83.85, Z:11.27 [[ 2.39751329e-01 -9.70432201e-01 -2.79400040e-02 9.96167254e+01] [ 9.62879862e-01 2.41364976e-01 -1.20852471e-01 8.38527658e+01] [ 1.24022868e-01 2.07167338e-03 9.92277197e-01 1.12715450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.62, Y:83.88, Z:11.27 [[ 2.40200393e-01 -9.70317089e-01 -2.80805660e-02 9.96225873e+01] [ 9.62666097e-01 2.41826341e-01 -1.21630615e-01 8.38789114e+01] [ 1.24810885e-01 2.18351259e-03 9.92178147e-01 1.12744822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.63, Y:83.91, Z:11.28 [[ 2.40447477e-01 -9.70255163e-01 -2.81057036e-02 9.96285497e+01] [ 9.62568592e-01 2.42073989e-01 -1.21909352e-01 8.39050185e+01] [ 1.25086838e-01 2.25912857e-03 9.92143225e-01 1.12774918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.63, Y:83.93, Z:11.28 [[ 2.40848031e-01 -9.70156269e-01 -2.80898641e-02 9.96341100e+01] [ 9.62455800e-01 2.42469140e-01 -1.22014549e-01 8.39308989e+01] [ 1.25184105e-01 2.35171114e-03 9.92130742e-01 1.12806508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.64, Y:83.96, Z:11.28 [[ 2.41417502e-01 -9.70014673e-01 -2.80913568e-02 9.96400904e+01] [ 9.62289572e-01 2.43033815e-01 -1.22202068e-01 8.39577431e+01] [ 1.25364949e-01 2.46969826e-03 9.92107620e-01 1.12843081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.65, Y:83.98, Z:11.29 [[ 2.42496550e-01 -9.69749919e-01 -2.79377360e-02 9.96450564e+01] [ 9.62086310e-01 2.44086368e-01 -1.21703647e-01 8.39845873e+01] [ 1.24841322e-01 2.63420129e-03 9.92173223e-01 1.12874922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.65, Y:84.01, Z:11.29 [[ 2.43118803e-01 -9.69591878e-01 -2.80149452e-02 9.96509441e+01] [ 9.61862752e-01 2.44711952e-01 -1.22213366e-01 8.40114965e+01] [ 1.25352679e-01 2.76583483e-03 9.92108389e-01 1.12910881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.66, Y:84.04, Z:11.29 [[ 2.43317600e-01 -9.69538286e-01 -2.81435215e-02 9.96570037e+01] [ 9.61715281e-01 2.44923238e-01 -1.22948464e-01 8.40376695e+01] [ 1.26096245e-01 2.84947030e-03 9.92013920e-01 1.12940598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.66, Y:84.06, Z:11.30 [[ 2.43211168e-01 -9.69561351e-01 -2.82686056e-02 9.96635209e+01] [ 9.61646177e-01 2.44831399e-01 -1.23669789e-01 8.40649505e+01] [ 1.26826490e-01 2.89347724e-03 9.91920697e-01 1.12978197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.67, Y:84.09, Z:11.30 [[ 2.42629466e-01 -9.69701650e-01 -2.84543764e-02 9.96701839e+01] [ 9.61661908e-01 2.44275301e-01 -1.24643301e-01 8.40921439e+01] [ 1.27817516e-01 2.87864766e-03 9.91793525e-01 1.13010704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.68, Y:84.12, Z:11.30 [[ 2.42104989e-01 -9.69830399e-01 -2.85336913e-02 9.96768301e+01] [ 9.61725215e-01 2.43763867e-01 -1.25155052e-01 8.41174833e+01] [ 1.28334657e-01 2.85909213e-03 9.91726798e-01 1.13040603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.68, Y:84.14, Z:11.31 [[ 2.41296735e-01 -9.70029180e-01 -2.86229847e-02 9.96834477e+01] [ 9.61849715e-01 2.42972222e-01 -1.25736333e-01 8.41435536e+01] [ 1.28922502e-01 2.80875697e-03 9.91650694e-01 1.13075636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.69, Y:84.17, Z:11.31 [[ 2.40651341e-01 -9.70189696e-01 -2.86161763e-02 9.96904064e+01] [ 9.61992097e-01 2.42330980e-01 -1.25884478e-01 8.41696852e+01] [ 1.29066409e-01 2.76573285e-03 9.91632095e-01 1.13109150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.70, Y:84.19, Z:11.32 [[ 2.41043675e-01 -9.70093976e-01 -2.85591354e-02 9.96984340e+01] [ 9.61905121e-01 2.42712844e-01 -1.25813410e-01 8.41949987e+01] [ 1.28982500e-01 2.85534811e-03 9.91642759e-01 1.13157092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.71, Y:84.22, Z:11.32 [[ 2.41264598e-01 -9.70041523e-01 -2.84752144e-02 9.97051880e+01] [ 9.61877044e-01 2.42921639e-01 -1.25624960e-01 8.42202540e+01] [ 1.28778673e-01 2.91920042e-03 9.91669064e-01 1.13192361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.71, Y:84.25, Z:11.32 [[ 2.41877145e-01 -9.69889559e-01 -2.84550412e-02 9.97122714e+01] [ 9.61711191e-01 2.43526127e-01 -1.25724340e-01 8.42467199e+01] [ 1.28868271e-01 3.04431280e-03 9.91657048e-01 1.13225145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.72, Y:84.27, Z:11.33 [[ 2.42488279e-01 -9.69734808e-01 -2.85278156e-02 9.97190986e+01] [ 9.61489678e-01 2.44139904e-01 -1.26227203e-01 8.42729565e+01] [ 1.29371691e-01 3.17941694e-03 9.91591073e-01 1.13254716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.73, Y:84.30, Z:11.33 [[ 2.44412411e-01 -9.69246110e-01 -2.87150218e-02 9.97267359e+01] [ 9.60864494e-01 2.46068439e-01 -1.27238936e-01 8.42991095e+01] [ 1.30391705e-01 3.50753029e-03 9.91456353e-01 1.13290344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.73, Y:84.33, Z:11.33 [[ 2.45334355e-01 -9.69014266e-01 -2.86776182e-02 9.97335092e+01] [ 9.60629151e-01 2.46977473e-01 -1.27254716e-01 8.43258604e+01] [ 1.30394361e-01 3.67139752e-03 9.91455411e-01 1.13322166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.74, Y:84.35, Z:11.34 [[ 2.46061586e-01 -9.68828824e-01 -2.87124500e-02 9.97403151e+01] [ 9.60399529e-01 2.47701714e-01 -1.27579800e-01 8.43519010e+01] [ 1.30715110e-01 3.81706450e-03 9.91412623e-01 1.13356783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.75, Y:84.38, Z:11.34 [[ 2.46596476e-01 -9.68690250e-01 -2.87989296e-02 9.97469416e+01] [ 9.60185099e-01 2.48241046e-01 -1.28144288e-01 8.43780200e+01] [ 1.31281199e-01 3.94762677e-03 9.91337310e-01 1.13390341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.75, Y:84.40, Z:11.34 [[ 2.47370227e-01 -9.68492516e-01 -2.88134899e-02 9.97545972e+01] [ 9.59952605e-01 2.49008878e-01 -1.28396164e-01 8.44042166e+01] [ 1.31525539e-01 4.10180354e-03 9.91304296e-01 1.13420396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.76, Y:84.43, Z:11.35 [[ 2.47055102e-01 -9.68571680e-01 -2.88561608e-02 9.97612286e+01] [ 9.59981541e-01 2.48700583e-01 -1.28776785e-01 8.44295158e+01] [ 1.31906091e-01 4.11358017e-03 9.91253682e-01 1.13455004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.77, Y:84.46, Z:11.35 [[ 2.46643387e-01 -9.68677508e-01 -2.88257800e-02 9.97683528e+01] [ 9.60080079e-01 2.48288260e-01 -1.28837816e-01 8.44557082e+01] [ 1.31959398e-01 4.10193822e-03 9.91246635e-01 1.13489673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.78, Y:84.48, Z:11.35 [[ 2.45633197e-01 -9.68934070e-01 -2.88288308e-02 9.97762964e+01] [ 9.60311411e-01 2.47286623e-01 -1.29039995e-01 8.44816441e+01] [ 1.32160231e-01 4.01185115e-03 9.91220247e-01 1.13528221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.78, Y:84.51, Z:11.36 [[ 2.45037159e-01 -9.69086926e-01 -2.87631815e-02 9.97834275e+01] [ 9.60479763e-01 2.46687641e-01 -1.28933446e-01 8.45089619e+01] [ 1.32043238e-01 3.96703143e-03 9.91236019e-01 1.13565505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.79, Y:84.54, Z:11.36 [[ 2.44321345e-01 -9.69272412e-01 -2.86019511e-02 9.97902519e+01] [ 9.60741076e-01 2.45959120e-01 -1.28377162e-01 8.45354751e+01] [ 1.31467352e-01 3.88621170e-03 9.91312883e-01 1.13592910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.80, Y:84.56, Z:11.36 [[ 2.43553599e-01 -9.69467630e-01 -2.85334643e-02 9.97967058e+01] [ 9.60961529e-01 2.45189817e-01 -1.28198647e-01 8.45604909e+01] [ 1.31280553e-01 3.80368043e-03 9.91337959e-01 1.13626422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.80, Y:84.59, Z:11.37 [[ 2.42081553e-01 -9.69836585e-01 -2.85222682e-02 9.98044932e+01] [ 9.61319606e-01 2.43728841e-01 -1.28299913e-01 8.45860326e+01] [ 1.31381649e-01 3.64002650e-03 9.91325180e-01 1.13661188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.81, Y:84.61, Z:11.37 [[ 2.41266741e-01 -9.70036467e-01 -2.86288709e-02 9.98114752e+01] [ 9.61431470e-01 2.42932819e-01 -1.28969660e-01 8.46125454e+01] [ 1.32060166e-01 3.59139230e-03 9.91235196e-01 1.13698064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.82, Y:84.64, Z:11.37 [[ 2.40194380e-01 -9.70307212e-01 -2.84705890e-02 9.98183819e+01] [ 9.61774668e-01 2.41850948e-01 -1.28443014e-01 8.46389044e+01] [ 1.31514822e-01 3.46899904e-03 9.91308135e-01 1.13730706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.82, Y:84.66, Z:11.38 [[ 2.39283933e-01 -9.70535805e-01 -2.83452123e-02 9.98248923e+01] [ 9.62056651e-01 2.40933357e-01 -1.28055140e-01 8.46648682e+01] [ 1.31111405e-01 3.37183749e-03 9.91361907e-01 1.13768000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.83, Y:84.69, Z:11.38 [[ 2.37306780e-01 -9.71025244e-01 -2.82040415e-02 9.98321343e+01] [ 9.62609499e-01 2.38956413e-01 -1.27604013e-01 8.46907639e+01] [ 1.30646255e-01 3.13181919e-03 9.91424101e-01 1.13804356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.84, Y:84.72, Z:11.38 [[ 2.36337096e-01 -9.71261578e-01 -2.82085667e-02 9.98390260e+01] [ 9.62819965e-01 2.37995087e-01 -1.27812570e-01 8.47163871e+01] [ 1.30852939e-01 3.04708050e-03 9.91397107e-01 1.13840476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.85, Y:84.74, Z:11.39 [[ 2.35089790e-01 -9.71562068e-01 -2.82831685e-02 9.98460710e+01] [ 9.63051750e-01 2.36766835e-01 -1.28346377e-01 8.47421547e+01] [ 1.31392988e-01 2.93476789e-03 9.91326016e-01 1.13876993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.85, Y:84.77, Z:11.39 [[ 2.33862807e-01 -9.71856846e-01 -2.83277092e-02 9.98528087e+01] [ 9.63296938e-01 2.35555362e-01 -1.28734927e-01 8.47687856e+01] [ 1.31784664e-01 2.81831589e-03 9.91274361e-01 1.13911432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.86, Y:84.79, Z:11.39 [[ 2.31829203e-01 -9.72345146e-01 -2.82867097e-02 9.98595195e+01] [ 9.63789035e-01 2.33534261e-01 -1.28734005e-01 8.47948106e+01] [ 1.31779801e-01 2.58188125e-03 9.91275652e-01 1.13940487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.87, Y:84.82, Z:11.40 [[ 2.30760310e-01 -9.72602361e-01 -2.81838078e-02 9.98652240e+01] [ 9.64085420e-01 2.32461917e-01 -1.28455287e-01 8.48199186e+01] [ 1.31487577e-01 2.47078370e-03 9.91314739e-01 1.13965725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.87, Y:84.85, Z:11.40 [[ 2.29689248e-01 -9.72859063e-01 -2.80729878e-02 9.98712748e+01] [ 9.64385346e-01 2.31386412e-01 -1.28145356e-01 8.48464708e+01] [ 1.31163079e-01 2.36043235e-03 9.91357995e-01 1.13995536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.88, Y:84.87, Z:11.40 [[ 2.28050294e-01 -9.73250164e-01 -2.78779832e-02 9.98784058e+01] [ 9.64872718e-01 2.29737752e-01 -1.27440977e-01 8.48727314e+01] [ 1.30436577e-01 2.16424682e-03 9.91454293e-01 1.14032695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.88, Y:84.90, Z:11.41 [[ 2.27135335e-01 -9.73464088e-01 -2.78784797e-02 9.98846388e+01] [ 9.65063239e-01 2.28830337e-01 -1.27630806e-01 8.48990915e+01] [ 1.30623448e-01 2.08497001e-03 9.91429860e-01 1.14074739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.89, Y:84.93, Z:11.41 [[ 2.26193187e-01 -9.73687268e-01 -2.77443181e-02 9.98904743e+01] [ 9.65344424e-01 2.27879672e-01 -1.27204551e-01 8.49251936e+01] [ 1.30179818e-01 1.98998005e-03 9.91488404e-01 1.14106505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.90, Y:84.95, Z:11.41 [[ 2.25984640e-01 -9.73736768e-01 -2.77064955e-02 9.98962139e+01] [ 9.65393288e-01 2.27667972e-01 -1.27212790e-01 8.49521889e+01] [ 1.30179652e-01 2.00047161e-03 9.91488405e-01 1.14137357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.90, Y:84.98, Z:11.42 [[ 2.25217348e-01 -9.73918414e-01 -2.75693626e-02 9.99016204e+01] [ 9.65640860e-01 2.26890381e-01 -1.26722073e-01 8.49786942e+01] [ 1.29672183e-01 1.91790606e-03 9.91555065e-01 1.14166171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.91, Y:85.01, Z:11.42 [[ 2.24403040e-01 -9.74111030e-01 -2.74039739e-02 9.99070971e+01] [ 9.65910226e-01 2.26062654e-01 -1.26147180e-01 8.50055530e+01] [ 1.29076375e-01 1.83803209e-03 9.91632952e-01 1.14193768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.91, Y:85.03, Z:11.42 [[ 2.23554262e-01 -9.74311600e-01 -2.72102539e-02 9.99128018e+01] [ 9.66204283e-01 2.25197326e-01 -1.25441018e-01 8.50324602e+01] [ 1.28346315e-01 1.75221025e-03 9.91727862e-01 1.14227937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.92, Y:85.06, Z:11.43 [[ 2.22625258e-01 -9.74527258e-01 -2.71038342e-02 9.99178731e+01] [ 9.66461104e-01 2.24262916e-01 -1.25136242e-01 8.50583748e+01] [ 1.28027064e-01 1.66368669e-03 9.91769279e-01 1.14262445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.456875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:99.92, Y:85.09, Z:11.43 [[ 2.17828239e-01 -9.75609140e-01 -2.71599741e-02 9.99211751e+01] [ 9.67497580e-01 2.19512320e-01 -1.25549890e-01 8.50853461e+01] [ 1.28449569e-01 1.07110227e-03 9.91715464e-01 1.14275759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.93, Y:85.11, Z:11.43 [[ 2.16357434e-01 -9.75939895e-01 -2.70329658e-02 9.99269066e+01] [ 9.67883452e-01 2.18037819e-01 -1.25144449e-01 8.51104579e+01] [ 1.28027669e-01 9.11171594e-04 9.91770178e-01 1.14314477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.93, Y:85.14, Z:11.44 [[ 2.14930124e-01 -9.76257044e-01 -2.69671232e-02 9.99323814e+01] [ 9.68223228e-01 2.16613979e-01 -1.24988662e-01 8.51367572e+01] [ 1.27862517e-01 7.53633456e-04 9.91791616e-01 1.14351183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.546875 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:99.94, Y:85.16, Z:11.44 [[ 2.13815841e-01 -9.76497372e-01 -2.71232219e-02 9.99372593e+01] [ 9.68347645e-01 2.15528316e-01 -1.25898305e-01 8.51629827e+01] [ 1.28785187e-01 6.54344035e-04 9.91672298e-01 1.14385864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.94, Y:85.19, Z:11.44 [[ 2.12861803e-01 -9.76702778e-01 -2.72311631e-02 9.99404175e+01] [ 9.68465057e-01 2.14595795e-01 -1.26586251e-01 8.51898677e+01] [ 1.29480836e-01 5.72947596e-04 9.91581759e-01 1.14414163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.94, Y:85.22, Z:11.44 [[ 2.12679388e-01 -9.76741869e-01 -2.72543542e-02 9.99447886e+01] [ 9.68464912e-01 2.14417750e-01 -1.26888701e-01 8.52158319e+01] [ 1.29781324e-01 5.91725587e-04 9.91542464e-01 1.14439325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.95, Y:85.24, Z:11.45 [[ 2.12709861e-01 -9.76736787e-01 -2.71986009e-02 9.99497758e+01] [ 9.68467540e-01 2.14440768e-01 -1.26829734e-01 8.52422203e+01] [ 1.29711756e-01 6.36972957e-04 9.91551539e-01 1.14464237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.95, Y:85.27, Z:11.45 [[ 2.13768209e-01 -9.76509676e-01 -2.70556048e-02 9.99547234e+01] [ 9.68300941e-01 2.15472024e-01 -1.26353059e-01 8.52691642e+01] [ 1.29214710e-01 8.12299493e-04 9.91616306e-01 1.14508187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.96, Y:85.29, Z:11.45 [[ 2.14361630e-01 -9.76383914e-01 -2.68987776e-02 9.99592340e+01] [ 9.68245686e-01 2.16040739e-01 -1.25804173e-01 8.52947663e+01] [ 1.28644403e-01 9.22962188e-04 9.91690358e-01 1.14539817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.96, Y:85.32, Z:11.46 [[ 2.15035775e-01 -9.76237904e-01 -2.68173667e-02 9.99639763e+01] [ 9.68128183e-01 2.16699037e-01 -1.25576070e-01 8.53217666e+01] [ 1.28403417e-01 1.04069904e-03 9.91721473e-01 1.14572128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75687499999998 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:99.97, Y:85.35, Z:11.46 [[ 2.16148722e-01 -9.75993882e-01 -2.67520447e-02 9.99685151e+01] [ 9.67897244e-01 2.17794493e-01 -1.25461082e-01 8.53478116e+01] [ 1.28275697e-01 1.22502227e-03 9.91737790e-01 1.14603124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.97, Y:85.37, Z:11.46 [[ 2.19432405e-01 -9.75262114e-01 -2.67063318e-02 9.99715173e+01] [ 9.67162119e-01 2.21045080e-01 -1.25445244e-01 8.53746685e+01] [ 1.28245297e-01 1.69739903e-03 9.91741026e-01 1.14638606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.98, Y:85.40, Z:11.47 [[ 2.21666856e-01 -9.74763319e-01 -2.64627424e-02 9.99758110e+01] [ 9.66783194e-01 2.23231774e-01 -1.24490282e-01 8.54005557e+01] [ 1.27255885e-01 2.01163482e-03 9.91867881e-01 1.14669341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.98, Y:85.43, Z:11.47 [[ 2.23644517e-01 -9.74314931e-01 -2.63352452e-02 9.99801150e+01] [ 9.66383580e-01 2.25177970e-01 -1.24087300e-01 8.54278320e+01] [ 1.26830226e-01 2.30149563e-03 9.91921770e-01 1.14702759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.98, Y:85.45, Z:11.47 [[ 2.25160302e-01 -9.73969426e-01 -2.61991739e-02 9.99843010e+01] [ 9.66094123e-01 2.26665340e-01 -1.23632395e-01 8.54545853e+01] [ 1.26352617e-01 2.52623938e-03 9.91982174e-01 1.14733026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.99, Y:85.48, Z:11.47 [[ 2.27646171e-01 -9.73394571e-01 -2.60812043e-02 9.99870631e+01] [ 9.65563064e-01 2.29117290e-01 -1.23260851e-01 8.54822494e+01] [ 1.25957098e-01 2.87681336e-03 9.92031518e-01 1.14748381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.99, Y:85.51, Z:11.47 [[ 2.27713588e-01 -9.73553117e-01 -1.84621105e-02 9.99900364e+01] [ 9.65345749e-01 2.28195208e-01 -1.26627536e-01 8.55109747e+01] [ 1.27491598e-01 1.10124908e-02 9.91778512e-01 1.14727796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.00, Y:85.54, Z:11.48 [[ 2.28454947e-01 -9.72963925e-01 -3.39048332e-02 9.99981827e+01] [ 9.65508469e-01 2.30897575e-01 -1.20331649e-01 8.55350282e+01] [ 1.24906897e-01 -5.24504308e-03 9.92154603e-01 1.14835743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.996875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:100.00, Y:85.56, Z:11.48 [[ 2.27969206e-01 -9.73460627e-01 -2.01108894e-02 1.00000765e+02] [ 9.65564149e-01 2.28682879e-01 -1.24056501e-01 8.55637767e+01] [ 1.25363135e-01 8.86270829e-03 9.92071336e-01 1.14790753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.01, Y:85.59, Z:11.49 [[ 2.27946078e-01 -9.73172310e-01 -3.12448609e-02 1.00008494e+02] [ 9.65904928e-01 2.30056468e-01 -1.18750543e-01 8.55893497e+01] [ 1.22752823e-01 -3.11084457e-03 9.92432399e-01 1.14876135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.01, Y:85.62, Z:11.49 [[ 2.27559382e-01 -9.73442666e-01 -2.50220836e-02 1.00012427e+02] [ 9.66134872e-01 2.28912250e-01 -1.19090686e-01 8.56170578e+01] [ 1.21655816e-01 2.92549526e-03 9.92568035e-01 1.14867395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.02, Y:85.64, Z:11.49 [[ 2.26462489e-01 -9.73701593e-01 -2.48987829e-02 1.00018529e+02] [ 9.66445789e-01 2.27809772e-01 -1.18681271e-01 8.56429830e+01] [ 1.21232329e-01 2.81353205e-03 9.92620172e-01 1.14887490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.02, Y:85.67, Z:11.49 [[ 2.25673057e-01 -9.73884716e-01 -2.49044507e-02 1.00024952e+02] [ 9.66609051e-01 2.27026438e-01 -1.18852592e-01 8.56693930e+01] [ 1.21402692e-01 2.74896037e-03 9.92599531e-01 1.14918543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.03, Y:85.69, Z:11.49 [[ 2.25247937e-01 -9.73988496e-01 -2.46936516e-02 1.00031301e+02] [ 9.66814161e-01 2.26581231e-01 -1.18031033e-01 8.56948784e+01] [ 1.20555986e-01 2.71207469e-03 9.92702825e-01 1.14945966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.04, Y:85.72, Z:11.50 [[ 2.24467806e-01 -9.74170035e-01 -2.46362795e-02 1.00037358e+02] [ 9.67006825e-01 2.25800148e-01 -1.17949540e-01 8.57201334e+01] [ 1.20465783e-01 2.65242389e-03 9.92713937e-01 1.14973598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.05, Y:85.75, Z:11.50 [[ 2.23244901e-01 -9.74455279e-01 -2.44667950e-02 1.00045022e+02] [ 9.67369759e-01 2.24567452e-01 -1.17325230e-01 8.57462285e+01] [ 1.19822636e-01 2.52382188e-03 9.92792106e-01 1.14996227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.05, Y:85.77, Z:11.50 [[ 2.22552710e-01 -9.74617938e-01 -2.42933363e-02 1.00051067e+02] [ 9.67612609e-01 2.23861183e-01 -1.16670515e-01 8.57723524e+01] [ 1.19147512e-01 2.45880084e-03 9.92873519e-01 1.15020018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.06, Y:85.80, Z:11.50 [[ 2.22377114e-01 -9.74661348e-01 -2.41593800e-02 1.00057652e+02] [ 9.67712486e-01 2.23672073e-01 -1.16203908e-01 8.57991885e+01] [ 1.18663236e-01 2.46175599e-03 9.92931506e-01 1.15045663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.296875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:100.06, Y:85.82, Z:11.51 [[ 2.21587468e-01 -9.74842756e-01 -2.40955277e-02 1.00064894e+02] [ 9.67910660e-01 2.22880796e-01 -1.16073708e-01 8.58242258e+01] [ 1.18524044e-01 2.39816094e-03 9.92948287e-01 1.15073886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.07, Y:85.85, Z:11.51 [[ 2.21203711e-01 -9.74930497e-01 -2.40716539e-02 1.00071302e+02] [ 9.67990433e-01 2.22496767e-01 -1.16145215e-01 8.58508982e+01] [ 1.18589377e-01 2.39062186e-03 9.92940504e-01 1.15100718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.08, Y:85.88, Z:11.51 [[ 2.20938709e-01 -9.74992781e-01 -2.39825689e-02 1.00077404e+02] [ 9.68083221e-01 2.22223699e-01 -1.15894374e-01 8.58766905e+01] [ 1.18325673e-01 2.38843078e-03 9.92971969e-01 1.15126752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.08, Y:85.90, Z:11.51 [[ 2.19809314e-01 -9.75248948e-01 -2.39448435e-02 1.00082819e+02] [ 9.68345686e-01 2.21097933e-01 -1.15854811e-01 8.59023123e+01] [ 1.18281438e-01 2.27908068e-03 9.92977496e-01 1.15149384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.07, Y:85.93, Z:11.48 [[ 2.13235964e-01 -9.76799203e-01 1.98429091e-02 1.00067741e+02] [ 9.71106367e-01 2.09678151e-01 -1.13962700e-01 8.59287343e+01] [ 1.07158050e-01 4.35705215e-02 9.93286848e-01 1.14763793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.10, Y:85.95, Z:11.54 [[ 2.19686343e-01 -9.73540537e-01 -6.29025664e-02 1.00104072e+02] [ 9.68231569e-01 2.25473961e-01 -1.08116238e-01 8.59511554e+01] [ 1.19438431e-01 -3.71525898e-02 9.92146232e-01 1.15424339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.10, Y:85.98, Z:11.52 [[ 2.19997822e-01 -9.75206491e-01 -2.39428198e-02 1.00101185e+02] [ 9.68305661e-01 2.21284919e-01 -1.15832347e-01 8.59824744e+01] [ 1.18258641e-01 2.29889603e-03 9.92980165e-01 1.15236615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.11, Y:86.01, Z:11.53 [[ 2.20004451e-01 -9.75205416e-01 -2.39256899e-02 1.00106777e+02] [ 9.68293101e-01 2.21289249e-01 -1.15929028e-01 8.60090527e+01] [ 1.18349114e-01 2.33782159e-03 9.92969296e-01 1.15268572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.11, Y:86.04, Z:11.53 [[ 2.19371624e-01 -9.75398088e-01 -2.17866918e-02 1.00112499e+02] [ 9.68516548e-01 2.20409104e-01 -1.15739032e-01 8.60371932e+01] [ 1.17693616e-01 4.28908799e-03 9.93040692e-01 1.15279545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.12, Y:86.07, Z:11.53 [[ 2.18476178e-01 -9.75663443e-01 -1.86816829e-02 1.00117316e+02] [ 9.69092349e-01 2.19173015e-01 -1.13239609e-01 8.60650840e+01] [ 1.14578267e-01 6.63588096e-03 9.93392060e-01 1.15275140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.11, Y:86.09, Z:11.50 [[ 2.09278108e-01 -9.77741412e-01 1.49801555e-02 1.00105769e+02] [ 9.72547262e-01 2.06523331e-01 -1.07237755e-01 8.60923088e+01] [ 1.01757042e-01 3.70114238e-02 9.94120545e-01 1.14960324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.14, Y:86.11, Z:11.56 [[ 2.17719862e-01 -9.74225453e-01 -5.90154855e-02 1.00138219e+02] [ 9.68957834e-01 2.23007225e-01 -1.06716890e-01 8.61138413e+01] [ 1.17127190e-01 -3.39491305e-02 9.92536487e-01 1.15552509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.14, Y:86.15, Z:11.54 [[ 2.17711985e-01 -9.75747228e-01 -2.27780472e-02 1.00136458e+02] [ 9.69100535e-01 2.18883838e-01 -1.13727822e-01 8.61454267e+01] [ 1.15955353e-01 2.68569210e-03 9.93250796e-01 1.15382321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.14, Y:86.17, Z:11.54 [[ 2.16524847e-01 -9.75939462e-01 -2.56740439e-02 1.00142715e+02] [ 9.69387402e-01 2.18041211e-01 -1.12898609e-01 8.61734491e+01] [ 1.15780207e-01 -4.42740710e-04 9.93274759e-01 1.15432435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.15, Y:86.20, Z:11.54 [[ 2.15875756e-01 -9.76170877e-01 -2.20924604e-02 1.00148143e+02] [ 9.69667105e-01 2.16984281e-01 -1.12532338e-01 8.62014200e+01] [ 1.14644507e-01 2.87067132e-03 9.93402434e-01 1.15439833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.16, Y:86.23, Z:11.55 [[ 2.15307467e-01 -9.76208080e-01 -2.56998015e-02 1.00156362e+02] [ 9.69490933e-01 2.16835639e-01 -1.14322508e-01 8.62277448e+01] [ 1.17175189e-01 -3.01234938e-04 9.93111215e-01 1.15500220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.16, Y:86.25, Z:11.55 [[ 2.14351878e-01 -9.76477020e-01 -2.33645589e-02 1.00161756e+02] [ 9.69773421e-01 2.15613743e-01 -1.14237583e-01 8.62543615e+01] [ 1.16588095e-01 1.82871226e-03 9.93178671e-01 1.15515811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.17, Y:86.28, Z:11.55 [[ 2.13490504e-01 -9.76693554e-01 -2.21699640e-02 1.00166534e+02] [ 9.70157147e-01 2.14623018e-01 -1.12836473e-01 8.62811737e+01] [ 1.14964840e-01 2.58116643e-03 9.93366208e-01 1.15542088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.17, Y:86.31, Z:11.56 [[ 2.14172993e-01 -9.76529246e-01 -2.28157992e-02 1.00172661e+02] [ 9.69941790e-01 2.15374350e-01 -1.13255520e-01 8.63064506e+01] [ 1.15511266e-01 2.12627664e-03 9.93303894e-01 1.15580456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.18, Y:86.33, Z:11.56 [[ 2.15782199e-01 -9.76150452e-01 -2.38398379e-02 1.00178357e+02] [ 9.69493146e-01 2.17090303e-01 -1.13819329e-01 8.63328278e+01] [ 1.16280187e-01 1.44762552e-03 9.93215396e-01 1.15606710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.18, Y:86.36, Z:11.56 [[ 2.16835678e-01 -9.75932315e-01 -2.32035477e-02 1.00182708e+02] [ 9.69247601e-01 2.18062137e-01 -1.14052587e-01 8.63586080e+01] [ 1.16367420e-01 2.24068705e-03 9.93203707e-01 1.15624775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.19, Y:86.39, Z:11.56 [[ 2.20083271e-01 -9.75210247e-01 -2.29854001e-02 1.00187430e+02] [ 9.68625098e-01 2.21264529e-01 -1.13169903e-01 8.63858127e+01] [ 1.15450303e-01 2.64256701e-03 9.93309742e-01 1.15636587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.19, Y:86.41, Z:11.57 [[ 2.21300597e-01 -9.74933636e-01 -2.30315054e-02 1.00192622e+02] [ 9.68299035e-01 2.22477802e-01 -1.13580840e-01 8.64115176e+01] [ 1.15857780e-01 2.83412333e-03 9.93261769e-01 1.15664018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.20, Y:86.44, Z:11.57 [[ 2.22669200e-01 -9.74618843e-01 -2.31632871e-02 1.00197937e+02] [ 9.67884364e-01 2.23849864e-01 -1.14416327e-01 8.64377498e+01] [ 1.16697407e-01 3.05760865e-03 9.93162810e-01 1.15688765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.20, Y:86.46, Z:11.57 [[ 2.23510399e-01 -9.74424613e-01 -2.32330639e-02 1.00203539e+02] [ 9.67626373e-01 2.24691708e-01 -1.14947115e-01 8.64647515e+01] [ 1.17227575e-01 3.21095019e-03 9.93099887e-01 1.15713492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.21, Y:86.49, Z:11.57 [[ 2.20371982e-01 -9.75135426e-01 -2.33899466e-02 1.00209798e+02] [ 9.68225853e-01 2.21590848e-01 -1.15914594e-01 8.64902289e+01] [ 1.18215425e-01 2.89757790e-03 9.92983745e-01 1.15742987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.22, Y:86.52, Z:11.58 [[ 2.19469530e-01 -9.75341490e-01 -2.32830976e-02 1.00215484e+02] [ 9.68472812e-01 2.20683114e-01 -1.15582767e-01 8.65161362e+01] [ 1.17870854e-01 2.81784847e-03 9.93024935e-01 1.15777840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.22, Y:86.54, Z:11.58 [[ 2.19260607e-01 -9.75391263e-01 -2.31661327e-02 1.00221027e+02] [ 9.68569325e-01 2.20463001e-01 -1.15193439e-01 8.65422414e+01] [ 1.17465949e-01 2.81937791e-03 9.93072909e-01 1.15809847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.23, Y:86.57, Z:11.58 [[ 2.19010198e-01 -9.75447054e-01 -2.31857139e-02 1.00226062e+02] [ 9.68591767e-01 2.20215842e-01 -1.15477149e-01 8.65676353e+01] [ 1.17747706e-01 2.83318164e-03 9.93039501e-01 1.15831686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.23, Y:86.59, Z:11.59 [[ 2.18264416e-01 -9.75613214e-01 -2.32271701e-02 1.00231847e+02] [ 9.68716821e-01 2.19479208e-01 -1.15830043e-01 8.65946712e+01] [ 1.18103201e-01 2.78102620e-03 9.92997432e-01 1.15851885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.24, Y:86.62, Z:11.59 [[ 2.17951689e-01 -9.75681648e-01 -2.32891286e-02 1.00237315e+02] [ 9.68726121e-01 2.19174636e-01 -1.16327908e-01 8.66208938e+01] [ 1.18603392e-01 2.79307684e-03 9.92937780e-01 1.15883025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.24, Y:86.65, Z:11.59 [[ 2.17345419e-01 -9.75816469e-01 -2.33064035e-02 1.00243015e+02] [ 9.68828480e-01 2.18573973e-01 -1.16605295e-01 8.66465484e+01] [ 1.18879540e-01 2.76371920e-03 9.92904838e-01 1.15915030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.25, Y:86.67, Z:11.59 [[ 2.17136303e-01 -9.75863928e-01 -2.32684289e-02 1.00248275e+02] [ 9.68875407e-01 2.18361819e-01 -1.16612872e-01 8.66736348e+01] [ 1.18879232e-01 2.77667957e-03 9.92904838e-01 1.15946435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.25, Y:86.70, Z:11.60 [[ 2.16167380e-01 -9.76079343e-01 -2.32546876e-02 1.00254294e+02] [ 9.69084530e-01 2.17398030e-01 -1.16675922e-01 8.66994866e+01] [ 1.18940481e-01 2.68577049e-03 9.92897753e-01 1.15977945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.26, Y:86.73, Z:11.60 [[ 2.15477763e-01 -9.76233394e-01 -2.31882354e-02 1.00260031e+02] [ 9.69262063e-01 2.16705950e-01 -1.16488564e-01 8.67260022e+01] [ 1.18745055e-01 2.62521819e-03 9.92921306e-01 1.16009113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.27, Y:86.75, Z:11.60 [[ 2.14294433e-01 -9.76491366e-01 -2.32917965e-02 1.00265819e+02] [ 9.69436257e-01 2.15541612e-01 -1.17197090e-01 8.67526095e+01] [ 1.19462297e-01 2.53477180e-03 9.92835502e-01 1.16044894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.27, Y:86.78, Z:11.61 [[ 2.13298420e-01 -9.76708653e-01 -2.33236352e-02 1.00271297e+02] [ 9.69612741e-01 2.14555749e-01 -1.17545578e-01 8.67792668e+01] [ 1.19812003e-01 2.45739220e-03 9.92793556e-01 1.16075268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.26, Y:86.81, Z:11.58 [[ 2.06386564e-01 -9.78467422e-01 2.46784007e-03 1.00261438e+02] [ 9.72005476e-01 2.04732798e-01 -1.15281550e-01 8.68058430e+01] [ 1.12293993e-01 2.61913171e-02 9.93329791e-01 1.15834307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.28, Y:86.83, Z:11.61 [[ 2.05552088e-01 -9.78197753e-01 -2.96225339e-02 1.00276041e+02] [ 9.72297374e-01 2.07567252e-01 -1.07487914e-01 8.68295262e+01] [ 1.11293104e-01 -6.70754685e-03 9.93764989e-01 1.16057435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.28, Y:86.86, Z:11.60 [[ 2.04514159e-01 -9.78815223e-01 -9.73232880e-03 1.00276231e+02] [ 9.72361354e-01 2.04289685e-01 -1.13044781e-01 8.68589308e+01] [ 1.12638167e-01 1.36559180e-02 9.93542228e-01 1.15972981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.29, Y:86.88, Z:11.61 [[ 2.02473273e-01 -9.79021981e-01 -2.28152120e-02 1.00285615e+02] [ 9.72579047e-01 2.03754007e-01 -1.12135192e-01 8.68836650e+01] [ 1.14431508e-01 5.14782129e-04 9.93431007e-01 1.16100878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.526875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:100.29, Y:86.91, Z:11.61 [[ 2.00924079e-01 -9.79471325e-01 -1.62922525e-02 1.00289357e+02] [ 9.73087975e-01 2.01474905e-01 -1.11837628e-01 8.69111177e+01] [ 1.12824230e-01 6.61707738e-03 9.93592928e-01 1.16085926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.30, Y:86.94, Z:11.62 [[ 2.00200285e-01 -9.79533390e-01 -2.08370620e-02 1.00296644e+02] [ 9.73154193e-01 2.01271088e-01 -1.11628245e-01 8.69379185e+01] [ 1.13537491e-01 2.07033212e-03 9.93531556e-01 1.16151794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.32, Y:86.96, Z:11.64 [[ 2.03354751e-01 -9.78044918e-01 -4.55519914e-02 1.00315856e+02] [ 9.71761847e-01 2.07298364e-01 -1.12722234e-01 8.69649307e+01] [ 1.19690261e-01 -2.13430855e-02 9.92581843e-01 1.16433615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.31, Y:86.99, Z:11.62 [[ 1.99926693e-01 -9.79760448e-01 -9.93894449e-03 1.00305070e+02] [ 9.72709872e-01 1.99686578e-01 -1.18155727e-01 8.69927384e+01] [ 1.17748981e-01 1.39547743e-02 9.92945337e-01 1.16196111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.32, Y:87.02, Z:11.64 [[ 2.03789716e-01 -9.78410952e-01 -3.43767537e-02 1.00322710e+02] [ 9.71528544e-01 2.06440749e-01 -1.16251907e-01 8.70205352e+01] [ 1.20838902e-01 -9.70705441e-03 9.92624669e-01 1.16437935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.32, Y:87.05, Z:11.64 [[ 2.04656665e-01 -9.78553072e-01 -2.34421585e-02 1.00324636e+02] [ 9.71309429e-01 2.05988999e-01 -1.18855061e-01 8.70479885e+01] [ 1.21134812e-01 1.55489084e-03 9.92634847e-01 1.16413301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.33, Y:87.07, Z:11.64 [[ 2.06831316e-01 -9.78097928e-01 -2.33506055e-02 1.00328399e+02] [ 9.70884687e-01 2.08136973e-01 -1.18582988e-01 8.70742854e+01] [ 1.20845900e-01 1.85593026e-03 9.92669544e-01 1.16439333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.33, Y:87.10, Z:11.65 [[ 2.07847924e-01 -9.77880341e-01 -2.34367102e-02 1.00332645e+02] [ 9.70587369e-01 2.09155220e-01 -1.19223540e-01 8.71012946e+01] [ 1.21488266e-01 2.03299038e-03 9.92590786e-01 1.16466094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.34, Y:87.13, Z:11.65 [[ 2.09365719e-01 -9.77556280e-01 -2.34460220e-02 1.00336907e+02] [ 9.70231894e-01 2.10662282e-01 -1.19463281e-01 8.71268270e+01] [ 1.21721273e-01 2.26343748e-03 9.92561740e-01 1.16491315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.34, Y:87.15, Z:11.65 [[ 2.10512877e-01 -9.77308827e-01 -2.34901017e-02 1.00341255e+02] [ 9.69930382e-01 2.11805172e-01 -1.19890047e-01 8.71535150e+01] [ 1.22144927e-01 2.45463550e-03 9.92509240e-01 1.16521164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.35, Y:87.18, Z:11.66 [[ 2.14244803e-01 -9.76497175e-01 -2.35038858e-02 1.00345533e+02] [ 9.69081635e-01 2.15509813e-01 -1.20151179e-01 8.71802426e+01] [ 1.22392605e-01 2.96458170e-03 9.92477335e-01 1.16558451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.35, Y:87.21, Z:11.66 [[ 2.15470735e-01 -9.76226299e-01 -2.35494375e-02 1.00349849e+02] [ 9.68755450e-01 2.16730644e-01 -1.20584851e-01 8.72056089e+01] [ 1.22821988e-01 3.16886049e-03 9.92423658e-01 1.16591214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.35, Y:87.23, Z:11.66 [[ 2.16512923e-01 -9.75995276e-01 -2.35663913e-02 1.00354175e+02] [ 9.68486332e-01 2.17765947e-01 -1.20881008e-01 8.72322546e+01] [ 1.23111250e-01 3.34857248e-03 9.92387226e-01 1.16616034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.36, Y:87.26, Z:11.66 [[ 2.17577170e-01 -9.75781655e-01 -2.25906620e-02 1.00357909e+02] [ 9.68423998e-01 2.18707218e-01 -1.19675033e-01 8.72597402e+01] [ 1.21717442e-01 4.16121564e-03 9.92556068e-01 1.16625843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.36, Y:87.29, Z:11.67 [[ 2.19688036e-01 -9.75271143e-01 -2.41529333e-02 1.00362856e+02] [ 9.67617876e-01 2.20985162e-01 -1.21988537e-01 8.72875535e+01] [ 1.24309340e-01 3.42861211e-03 9.92237589e-01 1.16685485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.37, Y:87.31, Z:11.67 [[ 2.20050130e-01 -9.75200802e-01 -2.36925310e-02 1.00366949e+02] [ 9.67532787e-01 2.21286703e-01 -1.22116754e-01 8.73141954e+01] [ 1.24331199e-01 3.94850698e-03 9.92232917e-01 1.16707593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.37, Y:87.34, Z:11.67 [[ 2.19672055e-01 -9.75285728e-01 -2.37052238e-02 1.00371122e+02] [ 9.67584286e-01 2.20912113e-01 -1.22386632e-01 8.73411088e+01] [ 1.24598707e-01 3.94812103e-03 9.92199362e-01 1.16741295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.38, Y:87.37, Z:11.68 [[ 2.18595155e-01 -9.75527784e-01 -2.37002337e-02 1.00375449e+02] [ 9.67804845e-01 2.19842389e-01 -1.22568779e-01 8.73671496e+01] [ 1.24779565e-01 3.85574013e-03 9.92176997e-01 1.16772974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.35, Y:87.40, Z:11.63 [[ 2.11172485e-01 -9.76933491e-01 3.17353997e-02 1.00354807e+02] [ 9.71090357e-01 2.05990854e-01 -1.20628714e-01 8.73958196e+01] [ 1.11309029e-01 5.62914061e-02 9.92190293e-01 1.16312476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.40, Y:87.41, Z:11.71 [[ 2.15755251e-01 -9.73655665e-01 -7.37856252e-02 1.00396789e+02] [ 9.68176668e-01 2.23130532e-01 -1.13343304e-01 8.74139546e+01] [ 1.26821176e-01 -4.69831077e-02 9.90812281e-01 1.17124405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.36, Y:87.45, Z:11.63 [[ 2.07092094e-01 -9.77438474e-01 4.15559097e-02 1.00359914e+02] [ 9.72166535e-01 2.00846270e-01 -1.20635828e-01 8.74483181e+01] [ 1.09567751e-01 6.53819911e-02 9.91826650e-01 1.16300998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.41, Y:87.47, Z:11.72 [[ 2.12418079e-01 -9.73636686e-01 -8.31273964e-02 1.00408153e+02] [ 9.68615071e-01 2.21030950e-01 -1.13710879e-01 8.74661820e+01] [ 1.29086810e-01 -5.63642026e-02 9.90030137e-01 1.17248400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.40, Y:87.50, Z:11.70 [[ 2.11892574e-01 -9.76991978e-01 -2.42530714e-02 1.00399283e+02] [ 9.68856384e-01 2.13252477e-01 -1.25859795e-01 8.74981272e+01] [ 1.28136037e-01 3.17101276e-03 9.91751532e-01 1.16951103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.40, Y:87.52, Z:11.70 [[ 2.10260611e-01 -9.77340028e-01 -2.44324588e-02 1.00403702e+02] [ 9.69063423e-01 2.11653872e-01 -1.26959527e-01 8.75244837e+01] [ 1.29253852e-01 3.01798557e-03 9.91606945e-01 1.16982384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.41, Y:87.55, Z:11.70 [[ 2.09088708e-01 -9.77590443e-01 -2.44711757e-02 1.00408541e+02] [ 9.69261555e-01 2.10495701e-01 -1.27371884e-01 8.75498585e+01] [ 1.29668614e-01 2.91305289e-03 9.91553107e-01 1.17013779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.41, Y:87.58, Z:11.71 [[ 2.06075664e-01 -9.78229820e-01 -2.44793634e-02 1.00413705e+02] [ 9.69871113e-01 2.07508708e-01 -1.27632913e-01 8.75765055e+01] [ 1.29934003e-01 2.56020996e-03 9.91519339e-01 1.17062214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.42, Y:87.60, Z:11.71 [[ 2.04186750e-01 -9.78631289e-01 -2.42605027e-02 1.00418852e+02] [ 9.70397821e-01 2.05609780e-01 -1.26699200e-01 8.76026675e+01] [ 1.28979998e-01 2.32795901e-03 9.91644463e-01 1.17101165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.42, Y:87.63, Z:11.72 [[ 2.00426842e-01 -9.79414863e-01 -2.39918120e-02 1.00424248e+02] [ 9.71342288e-01 2.01849211e-01 -1.25503206e-01 8.76296420e+01] [ 1.27762434e-01 1.84994975e-03 9.91803074e-01 1.17163276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.366875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:100.43, Y:87.66, Z:11.72 [[ 1.98127118e-01 -9.79994379e-01 -1.88854868e-02 1.00428003e+02] [ 9.71894652e-01 1.98915988e-01 -1.25909554e-01 8.76574814e+01] [ 1.27147280e-01 6.59139343e-03 9.91861947e-01 1.17159950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.43, Y:87.68, Z:11.73 [[ 1.97190223e-01 -9.79945153e-01 -2.86969312e-02 1.00434915e+02] [ 9.72238331e-01 1.99233009e-01 -1.22714452e-01 8.76821957e+01] [ 1.25970808e-01 -3.70216634e-03 9.92027041e-01 1.17261551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.41, Y:87.71, Z:11.68 [[ 1.88772770e-01 -9.81497698e-01 3.20485581e-02 1.00412245e+02] [ 9.75749801e-01 1.83785117e-01 -1.18892206e-01 8.77117324e+01] [ 1.10802378e-01 5.37149852e-02 9.92389809e-01 1.16750378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.45, Y:87.73, Z:11.76 [[ 1.94700070e-01 -9.78154722e-01 -7.28369583e-02 1.00453851e+02] [ 9.72780306e-01 2.02075875e-01 -1.13418766e-01 8.77310862e+01] [ 1.25659694e-01 -4.87717168e-02 9.90873837e-01 1.17586089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.45, Y:87.76, Z:11.74 [[ 1.94639778e-01 -9.80596041e-01 -2.33829360e-02 1.00447678e+02] [ 9.72849453e-01 1.96035642e-01 -1.23020193e-01 8.77625089e+01] [ 1.25217003e-01 1.19654652e-03 9.92128656e-01 1.17356067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.45, Y:87.79, Z:11.74 [[ 1.94470937e-01 -9.80632560e-01 -2.32558979e-02 1.00452774e+02] [ 9.72943810e-01 1.95852806e-01 -1.22564354e-01 8.77891099e+01] [ 1.24745329e-01 1.20852289e-03 9.92188058e-01 1.17394933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.43, Y:87.82, Z:11.69 [[ 1.87842756e-01 -9.81725554e-01 3.04964753e-02 1.00433103e+02] [ 9.75912286e-01 1.83043032e-01 -1.18703238e-01 8.78173989e+01] [ 1.10951835e-01 5.20594283e-02 9.92461337e-01 1.16928759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.47, Y:87.84, Z:11.77 [[ 1.94437966e-01 -9.78319637e-01 -7.13061387e-02 1.00473327e+02] [ 9.72907489e-01 2.01609905e-01 -1.13156811e-01 8.78373302e+01] [ 1.25079554e-01 -4.73722963e-02 9.91015121e-01 1.17743635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.47, Y:87.87, Z:11.75 [[ 1.94920512e-01 -9.80543557e-01 -2.32449104e-02 1.00467663e+02] [ 9.72838944e-01 1.96297328e-01 -1.22685565e-01 8.78688716e+01] [ 1.24861454e-01 1.30037916e-03 9.92173335e-01 1.17518168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.47, Y:87.89, Z:11.75 [[ 1.94956341e-01 -9.80535698e-01 -2.32759700e-02 1.00472425e+02] [ 9.72784265e-01 1.96336263e-01 -1.23056267e-01 8.78941141e+01] [ 1.25230979e-01 1.34810208e-03 9.92126698e-01 1.17545958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.45, Y:87.92, Z:11.71 [[ 1.89599118e-01 -9.81493639e-01 2.68777222e-02 1.00454271e+02] [ 9.75243333e-01 1.85077545e-01 -1.21023735e-01 8.79224362e+01] [ 1.13809563e-01 4.91583128e-02 9.92285666e-01 1.17109516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.49, Y:87.94, Z:11.79 [[ 1.96066294e-01 -9.78205411e-01 -6.83533620e-02 1.00492524e+02] [ 9.72331387e-01 2.02970096e-01 -1.15649530e-01 8.79429541e+01] [ 1.27002684e-01 -4.37871446e-02 9.90935419e-01 1.17862728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.49, Y:87.97, Z:11.77 [[ 1.96837711e-01 -9.80157127e-01 -2.33863794e-02 1.00487612e+02] [ 9.72267932e-01 1.98214879e-01 -1.24120626e-01 8.79743875e+01] [ 1.26293244e-01 1.69379309e-03 9.91991506e-01 1.17659289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.49, Y:88.00, Z:11.77 [[ 1.96575841e-01 -9.80211601e-01 -2.33057110e-02 1.00492345e+02] [ 9.72351868e-01 1.97945323e-01 -1.23893074e-01 8.80012914e+01] [ 1.26054685e-01 1.69303358e-03 9.92021850e-01 1.17689205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.78687499999998 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:100.50, Y:88.03, Z:11.77 [[ 1.97253357e-01 -9.80079275e-01 -2.31457901e-02 1.00497298e+02] [ 9.72300811e-01 1.98598470e-01 -1.23246827e-01 8.80280331e+01] [ 1.25388380e-01 1.80617998e-03 9.92106089e-01 1.17722953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.50, Y:88.05, Z:11.78 [[ 1.97250544e-01 -9.80082572e-01 -2.30298874e-02 1.00502320e+02] [ 9.72356003e-01 1.98581923e-01 -1.22837386e-01 8.80546037e+01] [ 1.24964101e-01 1.83649199e-03 9.92159564e-01 1.17756131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.84687499999998 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:100.51, Y:88.08, Z:11.78 [[ 1.97368045e-01 -9.80059229e-01 -2.30165593e-02 1.00507212e+02] [ 9.72315534e-01 1.98696577e-01 -1.22972247e-01 8.80797963e+01] [ 1.25093397e-01 1.89143388e-03 9.92143167e-01 1.17790153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.51, Y:88.11, Z:11.78 [[ 1.97745144e-01 -9.79983864e-01 -2.29887808e-02 1.00511590e+02] [ 9.72237869e-01 1.99067193e-01 -1.22986904e-01 8.81067331e+01] [ 1.25101494e-01 1.96949982e-03 9.92141995e-01 1.17822815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.52, Y:88.13, Z:11.79 [[ 1.98037336e-01 -9.79925861e-01 -2.29460358e-02 1.00515611e+02] [ 9.72182169e-01 1.99351770e-01 -1.22966266e-01 8.81339130e+01] [ 1.25072157e-01 2.04418487e-03 9.92145542e-01 1.17850512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.52, Y:88.16, Z:11.79 [[ 1.98498321e-01 -9.79833586e-01 -2.29032692e-02 1.00519796e+02] [ 9.72091802e-01 1.99803805e-01 -1.22947013e-01 8.81602785e+01] [ 1.25043773e-01 2.14069538e-03 9.92148916e-01 1.17881269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.52, Y:88.19, Z:11.79 [[ 1.99182096e-01 -9.79695558e-01 -2.28715155e-02 1.00524445e+02] [ 9.71948145e-01 2.00478119e-01 -1.22985069e-01 8.81878093e+01] [ 1.25073165e-01 2.26649674e-03 9.92144932e-01 1.17921211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.53, Y:88.21, Z:11.80 [[ 2.01569042e-01 -9.79202793e-01 -2.30610531e-02 1.00527969e+02] [ 9.71297287e-01 2.02866803e-01 -1.24204027e-01 8.82141134e+01] [ 1.26299252e-01 2.63654841e-03 9.91988683e-01 1.17957268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.53, Y:88.24, Z:11.80 [[ 2.02268554e-01 -9.79058378e-01 -2.30678397e-02 1.00531460e+02] [ 9.71117878e-01 2.03560783e-01 -1.24471181e-01 8.82408182e+01] [ 1.26560260e-01 2.77501431e-03 9.91955039e-01 1.17977679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.54, Y:88.27, Z:11.80 [[ 2.03329265e-01 -9.78835737e-01 -2.31907476e-02 1.00535286e+02] [ 9.70780695e-01 2.04625885e-01 -1.25351865e-01 8.82675468e+01] [ 1.27444313e-01 2.97457251e-03 9.91841267e-01 1.18005285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.54, Y:88.29, Z:11.80 [[ 2.04097270e-01 -9.78675665e-01 -2.32001663e-02 1.00539207e+02] [ 9.70584468e-01 2.05387918e-01 -1.25624813e-01 8.82932000e+01] [ 1.27710981e-01 3.12196026e-03 9.91806513e-01 1.18032045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.54, Y:88.32, Z:11.81 [[ 2.03812472e-01 -9.78735990e-01 -2.31589944e-02 1.00544082e+02] [ 9.70644327e-01 2.05100192e-01 -1.25632403e-01 8.83203723e+01] [ 1.27710868e-01 3.12630408e-03 9.91806514e-01 1.18064990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.55, Y:88.35, Z:11.81 [[ 2.04964626e-01 -9.78494395e-01 -2.31995925e-02 1.00548429e+02] [ 9.70345710e-01 2.06246583e-01 -1.26061695e-01 8.83472163e+01] [ 1.28135499e-01 3.32656314e-03 9.91751092e-01 1.18099846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.55, Y:88.37, Z:11.81 [[ 2.04845012e-01 -9.78521523e-01 -2.31117020e-02 1.00553270e+02] [ 9.70406441e-01 2.06117578e-01 -1.25804940e-01 8.83725087e+01] [ 1.27866570e-01 3.34277001e-03 9.91785746e-01 1.18136774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.56, Y:88.40, Z:11.82 [[ 2.04027364e-01 -9.78694462e-01 -2.30214147e-02 1.00558392e+02] [ 9.70614361e-01 2.05296033e-01 -1.25544019e-01 8.83993823e+01] [ 1.27595442e-01 3.26949964e-03 9.91820908e-01 1.18176718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.56, Y:88.43, Z:11.82 [[ 2.02626852e-01 -9.78987971e-01 -2.29109542e-02 1.00563883e+02] [ 9.70959697e-01 2.03894217e-01 -1.25157563e-01 8.84259437e+01] [ 1.27199160e-01 3.11466978e-03 9.91872307e-01 1.18216018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.57, Y:88.45, Z:11.82 [[ 2.01872205e-01 -9.79143295e-01 -2.29351654e-02 1.00568669e+02] [ 9.71070901e-01 2.03147766e-01 -1.25508129e-01 8.84522356e+01] [ 1.27549670e-01 3.06493090e-03 9.91827449e-01 1.18246218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.57, Y:88.48, Z:11.83 [[ 2.00869115e-01 -9.79348908e-01 -2.29633350e-02 1.00572976e+02] [ 9.71229779e-01 2.02155432e-01 -1.25880490e-01 8.84790757e+01] [ 1.27923083e-01 2.98282780e-03 9.91779606e-01 1.18273648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.58, Y:88.51, Z:11.83 [[ 2.00479883e-01 -9.79426648e-01 -2.30490422e-02 1.00578158e+02] [ 9.71218212e-01 2.01778353e-01 -1.26572833e-01 8.85060245e+01] [ 1.28619603e-01 2.98965717e-03 9.91689498e-01 1.18310074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.58, Y:88.53, Z:11.83 [[ 1.99026197e-01 -9.79721914e-01 -2.30985506e-02 1.00583778e+02] [ 9.71450189e-01 2.00341801e-01 -1.27073578e-01 8.85313316e+01] [ 1.29124374e-01 2.85187958e-03 9.91624305e-01 1.18344933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.59, Y:88.56, Z:11.84 [[ 1.97705674e-01 -9.79987826e-01 -2.31587489e-02 1.00589066e+02] [ 9.71644148e-01 1.99038676e-01 -1.27637199e-01 8.85576760e+01] [ 1.29692387e-01 2.73253552e-03 9.91550512e-01 1.18385299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.59, Y:88.58, Z:11.84 [[ 1.96025466e-01 -9.80324118e-01 -2.32086247e-02 1.00594195e+02] [ 9.71925540e-01 1.97378137e-01 -1.28072693e-01 8.85833256e+01] [ 1.30133625e-01 2.54845433e-03 9.91493190e-01 1.18417654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.60, Y:88.61, Z:11.84 [[ 1.92578635e-01 -9.81005229e-01 -2.32854024e-02 1.00600029e+02] [ 9.72531492e-01 1.93969540e-01 -1.28679114e-01 8.86094589e+01] [ 1.30751542e-01 2.13506099e-03 9.91412868e-01 1.18449701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.60, Y:88.64, Z:11.85 [[ 1.90461080e-01 -9.81417901e-01 -2.33126819e-02 1.00604958e+02] [ 9.72897877e-01 1.91873135e-01 -1.29052010e-01 8.86352960e+01] [ 1.31127030e-01 1.89852659e-03 9.91363756e-01 1.18478206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.61, Y:88.66, Z:11.85 [[ 1.88270519e-01 -9.81838072e-01 -2.34139416e-02 1.00610433e+02] [ 9.73222450e-01 1.89713678e-01 -1.29795159e-01 8.86621999e+01] [ 1.31879774e-01 1.64962837e-03 9.91264346e-01 1.18517136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.62, Y:88.69, Z:11.85 [[ 1.86666290e-01 -9.82145519e-01 -2.33639746e-02 1.00615627e+02] [ 9.73538512e-01 1.88117002e-01 -1.29748836e-01 8.86875198e+01] [ 1.31827399e-01 1.47400472e-03 9.91271590e-01 1.18548621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.62, Y:88.71, Z:11.86 [[ 1.83312314e-01 -9.82777808e-01 -2.33318525e-02 1.00621014e+02] [ 9.74167684e-01 1.84788101e-01 -1.29810170e-01 8.87135894e+01] [ 1.31886004e-01 1.06666605e-03 9.91264316e-01 1.18582929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.63, Y:88.74, Z:11.86 [[ 1.81856430e-01 -9.83049861e-01 -2.32639235e-02 1.00626469e+02] [ 9.74462124e-01 1.83336150e-01 -1.29658879e-01 8.87406212e+01] [ 1.31726261e-01 9.09488449e-04 9.91285713e-01 1.18618226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.62687499999998 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:100.61, Y:88.77, Z:11.81 [[ 1.73540290e-01 -9.84137430e-01 3.68413708e-02 1.00606095e+02] [ 9.77919523e-01 1.67779682e-01 -1.24592878e-01 8.87706637e+01] [ 1.16435281e-01 5.76497799e-02 9.91523741e-01 1.18111713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.65, Y:88.79, Z:11.90 [[ 1.78952749e-01 -9.80762406e-01 -7.79808693e-02 1.00648494e+02] [ 9.74977735e-01 1.87404637e-01 -1.19573904e-01 8.87887157e+01] [ 1.31887566e-01 -5.46315324e-02 9.89758084e-01 1.19008061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.64, Y:88.82, Z:11.87 [[ 1.77613552e-01 -9.83830127e-01 -2.30587644e-02 1.00640789e+02] [ 9.75376875e-01 1.79103730e-01 -1.28692681e-01 8.88212647e+01] [ 1.30741648e-01 3.66578663e-04 9.91416405e-01 1.18747064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.65, Y:88.85, Z:11.88 [[ 1.77020002e-01 -9.83936575e-01 -2.30810473e-02 1.00645280e+02] [ 9.75437828e-01 1.78518087e-01 -1.29043934e-01 8.88482462e+01] [ 1.31091431e-01 3.29230884e-04 9.91370228e-01 1.18784165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.65, Y:88.87, Z:11.88 [[ 1.76526621e-01 -9.84023228e-01 -2.31654795e-02 1.00649688e+02] [ 9.75431505e-01 1.78039862e-01 -1.29750481e-01 8.88748028e+01] [ 1.31801866e-01 3.08075456e-04 9.91276033e-01 1.18820799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.65, Y:88.90, Z:11.89 [[ 1.76548619e-01 -9.84014527e-01 -2.33665649e-02 1.00653218e+02] [ 9.75240226e-01 1.78087848e-01 -1.31115294e-01 8.89007302e+01] [ 1.33180655e-01 3.60210018e-04 9.91091713e-01 1.18855050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.66, Y:88.93, Z:11.89 [[ 1.76344996e-01 -9.84052099e-01 -2.33218479e-02 1.00656907e+02] [ 9.75278708e-01 1.77880086e-01 -1.31111086e-01 8.89276006e+01] [ 1.33168632e-01 3.75482305e-04 9.91093323e-01 1.18888884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.66, Y:88.95, Z:11.89 [[ 1.76604371e-01 -9.84007765e-01 -2.32296080e-02 1.00660710e+02] [ 9.75272728e-01 1.78125005e-01 -1.30822740e-01 8.89541076e+01] [ 1.32868366e-01 4.48664606e-04 9.91133591e-01 1.18921875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.66, Y:88.98, Z:11.90 [[ 1.76822430e-01 -9.83971346e-01 -2.31131770e-02 1.00664711e+02] [ 9.75293030e-01 1.78325897e-01 -1.30397010e-01 8.89812622e+01] [ 1.32428599e-01 5.14995591e-04 9.91192414e-01 1.18959991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.67, Y:89.01, Z:11.90 [[ 1.77261311e-01 -9.83900472e-01 -2.27659759e-02 1.00666818e+02] [ 9.75450874e-01 1.78716257e-01 -1.28670475e-01 8.90075538e+01] [ 1.30667591e-01 6.01206003e-04 9.91426053e-01 1.18992770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.67, Y:89.03, Z:11.90 [[ 1.77607392e-01 -9.83842031e-01 -2.25936191e-02 1.00670552e+02] [ 9.75488269e-01 1.79037401e-01 -1.27938445e-01 8.90343529e+01] [ 1.29916322e-01 6.83003162e-04 9.91524726e-01 1.19025041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.67, Y:89.06, Z:11.91 [[ 1.78101514e-01 -9.83753427e-01 -2.25620514e-02 1.00674840e+02] [ 9.75393163e-01 1.79523191e-01 -1.27982821e-01 8.90614015e+01] [ 1.29953950e-01 7.87063563e-04 9.91519718e-01 1.19070110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.68, Y:89.09, Z:11.91 [[ 1.79191638e-01 -9.83556477e-01 -2.25169605e-02 1.00677956e+02] [ 9.75198374e-01 1.80598217e-01 -1.27954743e-01 8.90873297e+01] [ 1.29917240e-01 9.69916824e-04 9.91524367e-01 1.19106587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.68, Y:89.11, Z:11.91 [[ 1.79983170e-01 -9.83411848e-01 -2.25210023e-02 1.00681037e+02] [ 9.75018320e-01 1.81383258e-01 -1.28216181e-01 8.91129272e+01] [ 1.30174244e-01 1.11836488e-03 9.91490502e-01 1.19135325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.68, Y:89.14, Z:11.92 [[ 1.81080585e-01 -9.83211013e-01 -2.24928051e-02 1.00684850e+02] [ 9.74806648e-01 1.82467541e-01 -1.28287161e-01 8.91402628e+01] [ 1.30237556e-01 1.30417815e-03 9.91481961e-01 1.19165391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.69, Y:89.17, Z:11.92 [[ 1.84223895e-01 -9.82627716e-01 -2.24572401e-02 1.00688215e+02] [ 9.74216580e-01 1.85579304e-01 -1.28305797e-01 8.91658103e+01] [ 1.30244431e-01 1.75877806e-03 9.91480355e-01 1.19201249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.106875 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:100.69, Y:89.19, Z:11.92 [[ 1.85536178e-01 -9.82382621e-01 -2.23766315e-02 1.00691794e+02] [ 9.73999900e-01 1.86870312e-01 -1.28076859e-01 8.91918976e+01] [ 1.30002009e-01 1.96805400e-03 9.91511777e-01 1.19232941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.70, Y:89.22, Z:11.93 [[ 1.87267747e-01 -9.82055028e-01 -2.23318944e-02 1.00695976e+02] [ 9.73672230e-01 1.88581324e-01 -1.28060427e-01 8.92189219e+01] [ 1.29973764e-01 2.23764214e-03 9.91514908e-01 1.19269989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.70, Y:89.25, Z:11.93 [[ 1.88503967e-01 -9.81819454e-01 -2.22893194e-02 1.00699951e+02] [ 9.73436108e-01 1.89801475e-01 -1.28052895e-01 8.92452620e+01] [ 1.29955370e-01 2.44125048e-03 9.91516839e-01 1.19301265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.70, Y:89.27, Z:11.93 [[ 1.90289699e-01 -9.81475686e-01 -2.22555267e-02 1.00703911e+02] [ 9.73083203e-01 1.91567419e-01 -1.28105440e-01 8.92720389e+01] [ 1.29995808e-01 2.72066642e-03 9.91510811e-01 1.19329879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.71, Y:89.30, Z:11.94 [[ 1.90602904e-01 -9.81417356e-01 -2.21473699e-02 1.00708495e+02] [ 9.73075725e-01 1.91864998e-01 -1.27716307e-01 8.92983057e+01] [ 1.29592306e-01 2.79203108e-03 9.91563432e-01 1.19364390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.71, Y:89.32, Z:11.94 [[ 1.90679509e-01 -9.81402239e-01 -2.21578545e-02 1.00713426e+02] [ 9.73021782e-01 1.91941469e-01 -1.28012046e-01 8.93248108e+01] [ 1.29884320e-01 2.84919897e-03 9.91525060e-01 1.19399366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.72, Y:89.35, Z:11.94 [[ 1.90446549e-01 -9.81445703e-01 -2.22360947e-02 1.00718749e+02] [ 9.72974687e-01 1.91718706e-01 -1.28701969e-01 8.93509640e+01] [ 1.30577070e-01 2.87568846e-03 9.91433991e-01 1.19441640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.72, Y:89.38, Z:11.95 [[ 1.89893754e-01 -9.81551410e-01 -2.22978198e-02 1.00723883e+02] [ 9.73002315e-01 1.91177060e-01 -1.29297433e-01 8.93785140e+01] [ 1.31174909e-01 2.85694449e-03 9.91355124e-01 1.19473334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.73, Y:89.40, Z:11.95 [[ 1.89184497e-01 -9.81687273e-01 -2.23455636e-02 1.00728747e+02] [ 9.73073064e-01 1.90478857e-01 -1.29794520e-01 8.94048742e+01] [ 1.31673986e-01 2.81124489e-03 9.91289089e-01 1.19504319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.73, Y:89.43, Z:11.95 [[ 1.88517251e-01 -9.81815621e-01 -2.23457665e-02 1.00734092e+02] [ 9.73172674e-01 1.89816876e-01 -1.30017309e-01 8.94318454e+01] [ 1.31894628e-01 2.76421633e-03 9.91259888e-01 1.19534379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.74, Y:89.46, Z:11.96 [[ 1.86952835e-01 -9.82112873e-01 -2.24263625e-02 1.00740242e+02] [ 9.73376551e-01 1.88275027e-01 -1.30731038e-01 8.94574640e+01] [ 1.32614960e-01 2.61124290e-03 9.91164191e-01 1.19572812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.75, Y:89.48, Z:11.96 [[ 1.86553498e-01 -9.82191167e-01 -2.23227318e-02 1.00745259e+02] [ 9.73502986e-01 1.87866438e-01 -1.30376909e-01 8.94837018e+01] [ 1.32248741e-01 2.59102245e-03 9.91213174e-01 1.19605236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.75, Y:89.51, Z:11.96 [[ 1.86458092e-01 -9.82210399e-01 -2.22735601e-02 1.00750248e+02] [ 9.73528895e-01 1.87765501e-01 -1.30328846e-01 8.95105922e+01] [ 1.32192554e-01 2.61691369e-03 9.91220601e-01 1.19637569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.75, Y:89.54, Z:11.97 [[ 1.86563827e-01 -9.82191593e-01 -2.22174194e-02 1.00754955e+02] [ 9.73520921e-01 1.87863100e-01 -1.30247733e-01 8.95367170e+01] [ 1.32102062e-01 2.67039293e-03 9.91232523e-01 1.19676849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.526875 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:100.76, Y:89.56, Z:11.97 [[ 1.87629352e-01 -9.81992131e-01 -2.20608315e-02 1.00759705e+02] [ 9.73409857e-01 1.88900503e-01 -1.29575657e-01 8.95627707e+01] [ 1.31409577e-01 2.83796574e-03 9.91324099e-01 1.19713645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.76, Y:89.59, Z:11.98 [[ 1.88430765e-01 -9.81837763e-01 -2.21009988e-02 1.00764215e+02] [ 9.73188831e-01 1.89698720e-01 -1.30068808e-01 8.95896152e+01] [ 1.31898999e-01 3.00051973e-03 9.91258620e-01 1.19751069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.77, Y:89.62, Z:11.98 [[ 1.89593782e-01 -9.81611931e-01 -2.21858941e-02 1.00769054e+02] [ 9.72862477e-01 1.90860339e-01 -1.30808760e-01 8.96166714e+01] [ 1.32637847e-01 3.21670358e-03 9.91159349e-01 1.19780190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.616875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:100.77, Y:89.64, Z:11.98 [[ 1.91005806e-01 -9.81332858e-01 -2.24188073e-02 1.00773095e+02] [ 9.72365374e-01 1.92285284e-01 -1.32408264e-01 8.96422909e+01] [ 1.34247386e-01 3.49147520e-03 9.90941698e-01 1.19804677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.78, Y:89.67, Z:11.98 [[ 1.91081916e-01 -9.81316532e-01 -2.24847693e-02 1.00777721e+02] [ 9.72267929e-01 1.92367455e-01 -1.33003144e-01 8.96693209e+01] [ 1.34843522e-01 3.55327544e-03 9.90860535e-01 1.19841540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.78, Y:89.70, Z:11.99 [[ 1.90691598e-01 -9.81391986e-01 -2.25051995e-02 1.00782152e+02] [ 9.72292568e-01 1.91982156e-01 -1.33379213e-01 8.96954308e+01] [ 1.35217887e-01 3.55265703e-03 9.90809518e-01 1.19871581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.706875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:100.79, Y:89.72, Z:11.99 [[ 1.90366859e-01 -9.81455696e-01 -2.24761038e-02 1.00786523e+02] [ 9.72344291e-01 1.91656166e-01 -1.33470948e-01 8.97218403e+01] [ 1.35303506e-01 3.55393394e-03 9.90797825e-01 1.19904433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.79, Y:89.75, Z:11.99 [[ 1.89985125e-01 -9.81529774e-01 -2.24712016e-02 1.00791422e+02] [ 9.72388213e-01 1.91276513e-01 -1.33695398e-01 8.97473952e+01] [ 1.35524227e-01 3.54940531e-03 9.90767675e-01 1.19933725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.80, Y:89.77, Z:12.00 [[ 1.89268014e-01 -9.81668689e-01 -2.24544898e-02 1.00795945e+02] [ 9.72505658e-01 1.90563238e-01 -1.33859617e-01 8.97729564e+01] [ 1.35684795e-01 3.49822565e-03 9.90745880e-01 1.19976666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.80, Y:89.80, Z:12.00 [[ 1.88650733e-01 -9.81787008e-01 -2.24760141e-02 1.00800711e+02] [ 9.72571061e-01 1.89953285e-01 -1.34250815e-01 8.97996725e+01] [ 1.36075098e-01 3.46699376e-03 9.90692459e-01 1.20014741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.80, Y:89.83, Z:12.00 [[ 1.87726911e-01 -9.81966151e-01 -2.23849370e-02 1.00804734e+02] [ 9.72793248e-01 1.89026779e-01 -1.33948396e-01 8.98250546e+01] [ 1.35764143e-01 3.36980308e-03 9.90735455e-01 1.20043060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.81, Y:89.85, Z:12.01 [[ 1.87359141e-01 -9.82038285e-01 -2.23015691e-02 1.00808969e+02] [ 9.72908340e-01 1.88652175e-01 -1.33640261e-01 8.98512536e+01] [ 1.35447092e-01 3.34134194e-03 9.90778946e-01 1.20072377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.81, Y:89.88, Z:12.01 [[ 1.87063327e-01 -9.82096835e-01 -2.22062745e-02 1.00813796e+02] [ 9.73018930e-01 1.88347479e-01 -1.33264355e-01 8.98778692e+01] [ 1.35060997e-01 3.32174814e-03 9.90831718e-01 1.20104394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.82, Y:89.90, Z:12.02 [[ 1.87374526e-01 -9.82039473e-01 -2.21192195e-02 1.00819049e+02] [ 9.72999342e-01 1.88645007e-01 -1.32986247e-01 8.99033511e+01] [ 1.34770424e-01 3.39624900e-03 9.90871030e-01 1.20156275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.82, Y:89.93, Z:12.02 [[ 1.87515926e-01 -9.82013085e-01 -2.20924882e-02 1.00823474e+02] [ 9.72960005e-01 1.88781173e-01 -1.33080795e-01 8.99300087e+01] [ 1.34857728e-01 3.45966113e-03 9.90858932e-01 1.20195530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.83, Y:89.96, Z:12.02 [[ 1.87907221e-01 -9.81941944e-01 -2.19293014e-02 1.00827872e+02] [ 9.72989819e-01 1.89149559e-01 -1.32337662e-01 8.99569737e+01] [ 1.34095818e-01 3.53021526e-03 9.90962083e-01 1.20231885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.83, Y:89.98, Z:12.03 [[ 1.86952098e-01 -9.82135232e-01 -2.14312474e-02 1.00831957e+02] [ 9.73555579e-01 1.88146468e-01 -1.29577938e-01 8.99827468e+01] [ 1.31295272e-01 3.36035699e-03 9.91337611e-01 1.20253803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.84, Y:90.01, Z:12.03 [[ 1.86644425e-01 -9.82194654e-01 -2.13897307e-02 1.00836090e+02] [ 9.73614613e-01 1.87836009e-01 -1.29584792e-01 9.00092129e+01] [ 1.31295252e-01 3.36092468e-03 9.91337612e-01 1.20286099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.84, Y:90.04, Z:12.03 [[ 1.87706449e-01 -9.81987697e-01 -2.15974785e-02 1.00840509e+02] [ 9.73203136e-01 1.88910749e-01 -1.31104482e-01 9.00354649e+01] [ 1.32822984e-01 3.59042284e-03 9.91133273e-01 1.20325365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.83, Y:90.07, Z:12.00 [[ 1.83589307e-01 -9.82746092e-01 2.24741132e-02 1.00830330e+02] [ 9.75537665e-01 1.79335103e-01 -1.27142380e-01 9.00676786e+01] [ 1.20918280e-01 4.52663253e-02 9.91629835e-01 1.19981459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.86, Y:90.09, Z:12.06 [[ 1.85629150e-01 -9.80638963e-01 -6.23621889e-02 1.00858857e+02] [ 9.73533243e-01 1.92152805e-01 -1.23734892e-01 9.00862534e+01] [ 1.33322326e-01 -3.77428612e-02 9.90353792e-01 1.20624855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.86, Y:90.12, Z:12.04 [[ 1.85160852e-01 -9.82475978e-01 -2.13637856e-02 1.00855546e+02] [ 9.73804886e-01 1.86359689e-01 -1.30284727e-01 9.01161820e+01] [ 1.31982963e-01 3.31947223e-03 9.91246427e-01 1.20442500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.186875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:100.86, Y:90.14, Z:12.05 [[ 1.82612776e-01 -9.82957405e-01 -2.11497937e-02 1.00860516e+02] [ 9.74428130e-01 1.83809095e-01 -1.29244096e-01 9.01413933e+01] [ 1.30928966e-01 2.99266926e-03 9.91387235e-01 1.20471347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.87, Y:90.17, Z:12.05 [[ 1.81420403e-01 -9.83179785e-01 -2.10748101e-02 1.00865671e+02] [ 9.74678087e-01 1.82617822e-01 -1.29047889e-01 9.01679369e+01] [ 1.30725911e-01 2.87076433e-03 9.91414391e-01 1.20509981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.87, Y:90.19, Z:12.05 [[ 1.79971542e-01 -9.83446824e-01 -2.10378074e-02 1.00870576e+02] [ 9.74943387e-01 1.81176575e-01 -1.29075329e-01 9.01938038e+01] [ 1.30750280e-01 2.71921474e-03 9.91411605e-01 1.20542690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.88, Y:90.22, Z:12.06 [[ 1.77717883e-01 -9.83854683e-01 -2.11262293e-02 1.00876661e+02] [ 9.75246516e-01 1.78951989e-01 -1.29886173e-01 9.02200463e+01] [ 1.31569700e-01 2.47981417e-03 9.91303820e-01 1.20575996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.88, Y:90.25, Z:12.06 [[ 1.76490462e-01 -9.84075981e-01 -2.11087749e-02 1.00881150e+02] [ 9.75448905e-01 1.77732643e-01 -1.30040538e-01 9.02455355e+01] [ 1.31721489e-01 2.36038337e-03 9.91283954e-01 1.20602932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.89, Y:90.27, Z:12.06 [[ 1.75612292e-01 -9.84234923e-01 -2.10223259e-02 1.00886115e+02] [ 9.75643945e-01 1.76851393e-01 -1.29778575e-01 9.02719389e+01] [ 1.31450433e-01 2.28040804e-03 9.91320122e-01 1.20633478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.89, Y:90.30, Z:12.07 [[ 1.74439893e-01 -9.84445838e-01 -2.09073180e-02 1.00890882e+02] [ 9.75916207e-01 1.75675106e-01 -1.29328318e-01 9.02976610e+01] [ 1.30989620e-01 2.15622754e-03 9.91381395e-01 1.20665557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.90, Y:90.32, Z:12.07 [[ 1.73793600e-01 -9.84562540e-01 -2.07939762e-02 1.00897506e+02] [ 9.76091017e-01 1.75020502e-01 -1.28895890e-01 9.03237698e+01] [ 1.30545437e-01 2.10446740e-03 9.91440094e-01 1.20708856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.90, Y:90.35, Z:12.07 [[ 1.73298530e-01 -9.84651112e-01 -2.07318015e-02 1.00902151e+02] [ 9.76197725e-01 1.74521853e-01 -1.28763835e-01 9.03507480e+01] [ 1.30405605e-01 2.07624577e-03 9.91458556e-01 1.20739635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.91, Y:90.38, Z:12.08 [[ 1.73126260e-01 -9.84681459e-01 -2.07297271e-02 1.00907093e+02] [ 9.76195838e-01 1.74350275e-01 -1.29010341e-01 9.03769390e+01] [ 1.30648324e-01 2.09880448e-03 9.91426553e-01 1.20776371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.91, Y:90.40, Z:12.08 [[ 1.72710186e-01 -9.84754248e-01 -2.07427901e-02 1.00911897e+02] [ 9.76223940e-01 1.73938782e-01 -1.29352697e-01 9.04029185e+01] [ 1.30988593e-01 2.09092003e-03 9.91381670e-01 1.20801426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.92, Y:90.43, Z:12.08 [[ 1.71710366e-01 -9.84930349e-01 -2.06822853e-02 1.00918093e+02] [ 9.76415591e-01 1.72939913e-01 -1.29245427e-01 9.04291702e+01] [ 1.30874536e-01 1.99827369e-03 9.91396925e-01 1.20836616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.92, Y:90.46, Z:12.09 [[ 1.71033126e-01 -9.85050108e-01 -2.05901773e-02 1.00923579e+02] [ 9.76579190e-01 1.72257119e-01 -1.28920792e-01 9.04559463e+01] [ 1.30540245e-01 1.94178748e-03 9.91441110e-01 1.20873141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.576875 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:100.93, Y:90.48, Z:12.09 [[ 1.69892336e-01 -9.85250379e-01 -2.04520207e-02 1.00928346e+02] [ 9.76861723e-01 1.71109263e-01 -1.28307424e-01 9.04822445e+01] [ 1.29914468e-01 1.81965185e-03 9.91523535e-01 1.20897109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.93, Y:90.51, Z:12.09 [[ 1.68498923e-01 -9.85491749e-01 -2.03500556e-02 1.00934720e+02] [ 9.77155866e-01 1.69715133e-01 -1.27918676e-01 9.05089962e+01] [ 1.29516512e-01 1.66898289e-03 9.91575861e-01 1.20941849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.636875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:100.94, Y:90.54, Z:12.10 [[ 1.68076543e-01 -9.85564095e-01 -2.03393580e-02 1.00939971e+02] [ 9.77204642e-01 1.69294635e-01 -1.28103139e-01 9.05359745e+01] [ 1.29697198e-01 1.65541768e-03 9.91552266e-01 1.20973615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.94, Y:90.56, Z:12.10 [[ 1.67770620e-01 -9.85616715e-01 -2.03152773e-02 1.00944632e+02] [ 9.77243612e-01 1.68988004e-01 -1.28210675e-01 9.05627491e+01] [ 1.29799623e-01 1.65700949e-03 9.91538861e-01 1.21006635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.95, Y:90.59, Z:12.10 [[ 1.67792179e-01 -9.85612633e-01 -2.03352584e-02 1.00948927e+02] [ 9.77188640e-01 1.69011320e-01 -1.28598352e-01 9.05895640e+01] [ 1.30185049e-01 1.70641426e-03 9.91488246e-01 1.21036925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.95, Y:90.62, Z:12.11 [[ 1.67546164e-01 -9.85653720e-01 -2.03722029e-02 1.00953144e+02] [ 9.77164393e-01 1.68771372e-01 -1.29096758e-01 9.06153265e+01] [ 1.30682944e-01 1.72267533e-03 9.91422715e-01 1.21072371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.96, Y:90.64, Z:12.11 [[ 1.67351088e-01 -9.85685737e-01 -2.04264973e-02 1.00957226e+02] [ 9.77114551e-01 1.68584010e-01 -1.29717329e-01 9.06420183e+01] [ 1.31304102e-01 1.74930841e-03 9.91340594e-01 1.21105972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.96, Y:90.67, Z:12.11 [[ 1.66796614e-01 -9.85779704e-01 -2.04270727e-02 1.00961315e+02] [ 9.77173838e-01 1.68033976e-01 -1.29984130e-01 9.06687672e+01] [ 1.31568160e-01 1.72011181e-03 9.91305634e-01 1.21140044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.81687499999998 meters Centerline goodness : 0.999926 Centerline is valid? [True, True] Translation: X:100.97, Y:90.69, Z:12.12 [[ 1.65279323e-01 -9.86035698e-01 -2.04045833e-02 1.00965024e+02] [ 9.77415364e-01 1.66526775e-01 -1.30107800e-01 9.06945410e+01] [ 1.31688845e-01 1.56037584e-03 9.91289874e-01 1.21168531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.97, Y:90.72, Z:12.12 [[ 1.64493229e-01 -9.86167589e-01 -2.03829260e-02 1.00969376e+02] [ 9.77529628e-01 1.65744490e-01 -1.30248186e-01 9.07213682e+01] [ 1.31824897e-01 1.50003055e-03 9.91271883e-01 1.21207028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.97, Y:90.75, Z:12.12 [[ 1.63927599e-01 -9.86263165e-01 -2.03153103e-02 1.00973210e+02] [ 9.77648234e-01 1.65175150e-01 -1.30081131e-01 9.07470119e+01] [ 1.31649813e-01 1.46266025e-03 9.91295207e-01 1.21241830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.98, Y:90.77, Z:12.13 [[ 1.63213833e-01 -9.86383564e-01 -2.02165456e-02 1.00976872e+02] [ 9.77817126e-01 1.64455134e-01 -1.29723460e-01 9.07743663e+01] [ 1.31281803e-01 1.40457858e-03 9.91344095e-01 1.21270619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.98, Y:90.80, Z:12.13 [[ 1.63553060e-01 -9.86326612e-01 -2.02536431e-02 1.00980442e+02] [ 9.77692877e-01 1.64795546e-01 -1.30226983e-01 9.08014544e+01] [ 1.31784049e-01 1.49717901e-03 9.91277319e-01 1.21305143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.98, Y:90.83, Z:12.13 [[ 1.63973862e-01 -9.86258021e-01 -2.01912772e-02 1.00983959e+02] [ 9.77642095e-01 1.65204668e-01 -1.30089786e-01 9.08283450e+01] [ 1.31637788e-01 1.59148205e-03 9.91296605e-01 1.21334644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.99, Y:90.85, Z:12.14 [[ 1.64799261e-01 -9.86122054e-01 -2.01121370e-02 1.00987696e+02] [ 9.77537903e-01 1.66012875e-01 -1.29843649e-01 9.08548004e+01] [ 1.31380559e-01 1.73776120e-03 9.91330484e-01 1.21371568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.99, Y:90.88, Z:12.14 [[ 1.65559429e-01 -9.85997014e-01 -1.99990884e-02 1.00990945e+02] [ 9.77473213e-01 1.66752464e-01 -1.29382120e-01 9.08807227e+01] [ 1.30905281e-01 1.87185667e-03 9.91393112e-01 1.21409469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.99, Y:90.91, Z:12.14 [[ 1.68980791e-01 -9.85419777e-01 -1.98331816e-02 1.00993439e+02] [ 9.76997203e-01 1.70124464e-01 -1.28585112e-01 9.09072629e+01] [ 1.30084422e-01 2.35145095e-03 9.91500133e-01 1.21444540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.00, Y:90.93, Z:12.15 [[ 1.70191809e-01 -9.85212912e-01 -1.97551599e-02 1.00996239e+02] [ 9.76820966e-01 1.71315610e-01 -1.28342365e-01 9.09337887e+01] [ 1.29828922e-01 2.54556491e-03 9.91533142e-01 1.21475407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.00, Y:90.96, Z:12.15 [[ 1.71688481e-01 -9.84955218e-01 -1.96541190e-02 1.00999303e+02] [ 9.76613007e-01 1.72787522e-01 -1.27951193e-01 9.09596487e+01] [ 1.29422182e-01 2.77327774e-03 9.91585704e-01 1.21507988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.00, Y:90.99, Z:12.15 [[ 1.73046862e-01 -9.84719113e-01 -1.95717139e-02 1.01002616e+02] [ 9.76409430e-01 1.74124518e-01 -1.27692120e-01 9.09861972e+01] [ 1.29148787e-01 2.98671472e-03 9.91620729e-01 1.21541831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.00, Y:91.01, Z:12.16 [[ 1.75883130e-01 -9.84217613e-01 -1.95144732e-02 1.01004990e+02] [ 9.75919523e-01 1.76929832e-01 -1.27581033e-01 9.10136737e+01] [ 1.29020193e-01 3.39479613e-03 9.91636156e-01 1.21579067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.99, Y:91.05, Z:12.12 [[ 1.73658114e-01 -9.84526625e-01 2.34560157e-02 1.00994449e+02] [ 9.77677341e-01 1.69491539e-01 -1.24175822e-01 9.10458803e+01] [ 1.18278806e-01 4.44965541e-02 9.91982954e-01 1.21235004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.02, Y:91.06, Z:12.19 [[ 1.77472719e-01 -9.82309601e-01 -5.97601957e-02 1.01020134e+02] [ 9.75328701e-01 1.83662864e-01 -1.22482156e-01 9.10647723e+01] [ 1.31291126e-01 -3.65485927e-02 9.90669895e-01 1.21872506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.02, Y:91.10, Z:12.17 [[ 1.78545008e-01 -9.83735993e-01 -1.96259193e-02 1.01015441e+02] [ 9.75257758e-01 1.79578511e-01 -1.28933568e-01 9.10957786e+01] [ 1.30360985e-01 3.88011495e-03 9.91459005e-01 1.21686153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.02, Y:91.12, Z:12.17 [[ 1.79385256e-01 -9.83582694e-01 -1.96472598e-02 1.01018322e+02] [ 9.75048854e-01 1.80412620e-01 -1.29348438e-01 9.11225012e+01] [ 1.30769499e-01 4.04616442e-03 9.91404542e-01 1.21715338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.02, Y:91.15, Z:12.17 [[ 1.79102985e-01 -9.83634872e-01 -1.96101897e-02 1.01021733e+02] [ 9.75097344e-01 1.80127823e-01 -1.29379818e-01 9.11494595e+01] [ 1.30794842e-01 4.05046782e-03 9.91401182e-01 1.21746378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.03, Y:91.18, Z:12.18 [[ 1.77961138e-01 -9.83843200e-01 -1.95548276e-02 1.01025275e+02] [ 9.75318884e-01 1.78989000e-01 -1.29290416e-01 9.11768089e+01] [ 1.30701595e-01 3.93647687e-03 9.91413938e-01 1.21781102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.386875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:101.03, Y:91.20, Z:12.18 [[ 1.73686746e-01 -9.84608798e-01 -1.94532755e-02 1.01028106e+02] [ 9.76141201e-01 1.74739709e-01 -1.28896816e-01 9.12033828e+01] [ 1.30312199e-01 3.39852493e-03 9.91467186e-01 1.21805264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.03, Y:91.23, Z:12.18 [[ 1.67676084e-01 -9.85654404e-01 -1.92386862e-02 1.01031211e+02] [ 9.77342666e-01 1.68755841e-01 -1.27760635e-01 9.12300395e+01] [ 1.29174474e-01 2.61961418e-03 9.91618421e-01 1.21849421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.03, Y:91.26, Z:12.19 [[ 1.65132576e-01 -9.86084062e-01 -1.92212364e-02 1.01034626e+02] [ 9.77754005e-01 1.66231139e-01 -1.27923082e-01 9.12562409e+01] [ 1.29338080e-01 2.33062717e-03 9.91597816e-01 1.21884957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.04, Y:91.28, Z:12.19 [[ 1.63331441e-01 -9.86382882e-01 -1.92782505e-02 1.01037718e+02] [ 9.77967058e-01 1.64451175e-01 -1.28593327e-01 9.12836388e+01] [ 1.30012587e-01 2.14983945e-03 9.91510013e-01 1.21918157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.04, Y:91.31, Z:12.19 [[ 1.61444329e-01 -9.86690964e-01 -1.94080139e-02 1.01038554e+02] [ 9.78126887e-01 1.62594884e-01 -1.29733176e-01 9.13107440e+01] [ 1.31162197e-01 1.96118540e-03 9.91358982e-01 1.21929454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.04, Y:91.34, Z:12.20 [[ 1.60888078e-01 -9.86782442e-01 -1.93762527e-02 1.01041309e+02] [ 9.78211102e-01 1.62039177e-01 -1.29793470e-01 9.13382437e+01] [ 1.31217629e-01 1.92815633e-03 9.91351712e-01 1.21955208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.04, Y:91.37, Z:12.20 [[ 1.60877437e-01 -9.86782877e-01 -1.94423176e-02 1.01044618e+02] [ 9.78116264e-01 1.62035909e-01 -1.30510302e-01 9.13651245e+01] [ 1.31935685e-01 1.97931577e-03 9.91256303e-01 1.21993897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.05, Y:91.39, Z:12.20 [[ 1.61875880e-01 -9.86621855e-01 -1.93265277e-02 1.01047724e+02] [ 9.78020627e-01 1.63011406e-01 -1.30011288e-01 9.13907692e+01] [ 1.31422423e-01 2.14394900e-03 9.91324140e-01 1.22041096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.05, Y:91.42, Z:12.21 [[ 1.61991033e-01 -9.86603785e-01 -1.92841037e-02 1.01050844e+02] [ 9.78001742e-01 1.63119967e-01 -1.30017187e-01 9.14173830e+01] [ 1.31421071e-01 2.20173143e-03 9.91324192e-01 1.22082012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.05, Y:91.44, Z:12.21 [[ 1.62844769e-01 -9.86461989e-01 -1.93475106e-02 1.01053251e+02] [ 9.77765238e-01 1.63972950e-01 -1.30721122e-01 9.14445955e+01] [ 1.32123886e-01 2.36992751e-03 9.91230378e-01 1.22111333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.686875 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:101.06, Y:91.47, Z:12.21 [[ 1.62672960e-01 -9.86492071e-01 -1.92588132e-02 1.01055841e+02] [ 9.77839623e-01 1.63791738e-01 -1.30391483e-01 9.14706494e+01] [ 1.31784599e-01 2.37913779e-03 9.91275521e-01 1.22129864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.716875 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:101.06, Y:91.50, Z:12.22 [[ 1.63040747e-01 -9.86471774e-01 -1.70632479e-02 1.01058729e+02] [ 9.77738313e-01 1.63864260e-01 -1.31058370e-01 9.14965961e+01] [ 1.32081439e-01 4.68446333e-03 9.91227799e-01 1.22151925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.06, Y:91.52, Z:12.22 [[ 1.63104274e-01 -9.86379085e-01 -2.12907618e-02 1.01063157e+02] [ 9.77861838e-01 1.64487762e-01 -1.29344512e-01 9.15220173e+01] [ 1.31084791e-01 2.77219342e-04 9.91371122e-01 1.22205837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.07, Y:91.55, Z:12.22 [[ 1.62451422e-01 -9.86531994e-01 -1.90829859e-02 1.01066556e+02] [ 9.77907783e-01 1.63549500e-01 -1.30184216e-01 9.15489567e+01] [ 1.31551907e-01 2.48721066e-03 9.91306163e-01 1.22232898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.806875 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:101.07, Y:91.58, Z:12.23 [[ 1.61904844e-01 -9.86606264e-01 -1.98721351e-02 1.01070084e+02] [ 9.77999612e-01 1.63111792e-01 -1.30043461e-01 9.15753469e+01] [ 1.31543073e-01 1.61972589e-03 9.91309133e-01 1.22269846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.07, Y:91.60, Z:12.23 [[ 1.61324394e-01 -9.86734386e-01 -1.81574215e-02 1.01072604e+02] [ 9.78148333e-01 1.62311474e-01 -1.29926224e-01 9.16009668e+01] [ 1.31149830e-01 3.19961766e-03 9.91357395e-01 1.22294446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.08, Y:91.63, Z:12.23 [[ 1.60561882e-01 -9.86846631e-01 -1.88044996e-02 1.01075977e+02] [ 9.78363961e-01 1.61642409e-01 -1.29134390e-01 9.16282604e+01] [ 1.30475443e-01 2.33641608e-03 9.91448788e-01 1.22328415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.08, Y:91.65, Z:12.24 [[ 1.59888036e-01 -9.86962080e-01 -1.84842636e-02 1.01078618e+02] [ 9.78732428e-01 1.60937251e-01 -1.27208631e-01 9.16537257e+01] [ 1.28524902e-01 2.24799007e-03 9.91703734e-01 1.22367157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.08, Y:91.68, Z:12.24 [[ 1.59600628e-01 -9.87009181e-01 -1.84530739e-02 1.01082458e+02] [ 9.78779323e-01 1.60648220e-01 -1.27213156e-01 9.16810573e+01] [ 1.28525006e-01 2.24181224e-03 9.91703735e-01 1.22400646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.09, Y:91.71, Z:12.24 [[ 1.58920053e-01 -9.87121248e-01 -1.83319190e-02 1.01086029e+02] [ 9.78966594e-01 1.59959037e-01 -1.26639306e-01 9.17080728e+01] [ 1.27940706e-01 2.17918896e-03 9.91779424e-01 1.22431686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.09, Y:91.74, Z:12.25 [[ 1.58030607e-01 -9.87263973e-01 -1.83350733e-02 1.01089594e+02] [ 9.79071495e-01 1.59076711e-01 -1.26939386e-01 9.17353863e+01] [ 1.28239366e-01 2.10896063e-03 9.91741003e-01 1.22466259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.09, Y:91.76, Z:12.25 [[ 1.57116374e-01 -9.87410385e-01 -1.83078583e-02 1.01093165e+02] [ 9.79207190e-01 1.58166388e-01 -1.27030203e-01 9.17624510e+01] [ 1.28326629e-01 2.03133834e-03 9.91729877e-01 1.22492298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.10, Y:91.79, Z:12.25 [[ 1.56488679e-01 -9.87510463e-01 -1.82860030e-02 1.01096698e+02] [ 9.79290699e-01 1.57540836e-01 -1.27163722e-01 9.17880938e+01] [ 1.28456299e-01 1.99237027e-03 9.91713169e-01 1.22522988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.10, Y:91.81, Z:12.26 [[ 1.55881233e-01 -9.87606740e-01 -1.82747735e-02 1.01100383e+02] [ 9.79359079e-01 1.56936572e-01 -1.27384093e-01 9.18145219e+01] [ 1.28673370e-01 1.95922421e-03 9.91685094e-01 1.22553253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.10, Y:91.84, Z:12.26 [[ 1.55454193e-01 -9.87674837e-01 -1.82321214e-02 1.01104621e+02] [ 9.79430209e-01 1.56507647e-01 -1.27364916e-01 9.18418449e+01] [ 1.28648589e-01 1.94231975e-03 9.91688342e-01 1.22575492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.11, Y:91.87, Z:12.26 [[ 1.55491874e-01 -9.87669549e-01 -1.81972229e-02 1.01108789e+02] [ 9.79420389e-01 1.56540454e-01 -1.27400109e-01 9.18691227e+01] [ 1.28677810e-01 1.98695049e-03 9.91684463e-01 1.22609006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.11, Y:91.90, Z:12.26 [[ 1.55398835e-01 -9.87685592e-01 -1.81210554e-02 1.01113262e+02] [ 9.79469971e-01 1.56438917e-01 -1.27143389e-01 9.18971089e+01] [ 1.28412532e-01 2.00890492e-03 9.91718804e-01 1.22638506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.12, Y:91.92, Z:12.27 [[ 1.55460108e-01 -9.87676560e-01 -1.80877619e-02 1.01117832e+02] [ 9.79457377e-01 1.56495349e-01 -1.27170957e-01 9.19238766e+01] [ 1.28434424e-01 2.05381884e-03 9.91715877e-01 1.22670801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.12, Y:91.95, Z:12.27 [[ 1.56005948e-01 -9.87591817e-01 -1.80151677e-02 1.01122539e+02] [ 9.79402745e-01 1.57027841e-01 -1.26935102e-01 9.19501291e+01] [ 1.28188951e-01 2.15852632e-03 9.91747414e-01 1.22699184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.25687499999998 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:101.13, Y:91.98, Z:12.27 [[ 1.57548116e-01 -9.87352342e-01 -1.77184509e-02 1.01127191e+02] [ 9.79393015e-01 1.58523732e-01 -1.25138117e-01 9.19773014e+01] [ 1.26364208e-01 2.36194758e-03 9.91981103e-01 1.22722239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.13, Y:92.00, Z:12.28 [[ 1.58665220e-01 -9.87176524e-01 -1.75458985e-02 1.01131803e+02] [ 9.79336295e-01 1.59612500e-01 -1.24194490e-01 9.20040231e+01] [ 1.25402430e-01 2.52201088e-03 9.92102752e-01 1.22760593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.14, Y:92.03, Z:12.28 [[ 1.59333162e-01 -9.87073031e-01 -1.73139939e-02 1.01136111e+02] [ 9.79404911e-01 1.60249820e-01 -1.22825145e-01 9.20309456e+01] [ 1.24011952e-01 2.61270799e-03 9.92277285e-01 1.22796824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.14, Y:92.06, Z:12.28 [[ 1.61599042e-01 -9.86709289e-01 -1.70448871e-02 1.01141477e+02] [ 9.79243406e-01 1.62469728e-01 -1.21185555e-01 9.20568215e+01] [ 1.22344191e-01 2.89237631e-03 9.92483518e-01 1.22832298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.15, Y:92.08, Z:12.29 [[ 1.62201472e-01 -9.86612650e-01 -1.69162927e-02 1.01145495e+02] [ 9.79224164e-01 1.63053802e-01 -1.20554947e-01 9.20835901e+01] [ 1.21699301e-01 2.98934728e-03 9.92562514e-01 1.22856671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.15, Y:92.11, Z:12.29 [[ 1.62932819e-01 -9.86493126e-01 -1.68584838e-02 1.01149810e+02] [ 9.79120170e-01 1.63773048e-01 -1.20424585e-01 9.21107614e+01] [ 1.21558991e-01 3.11463559e-03 9.92579322e-01 1.22885699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.15, Y:92.14, Z:12.29 [[ 1.64586887e-01 -9.86217156e-01 -1.69374631e-02 1.01154990e+02] [ 9.78738145e-01 1.65421516e-01 -1.21273929e-01 9.21361606e+01] [ 1.22404250e-01 3.38275722e-03 9.92474562e-01 1.22906248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.16, Y:92.16, Z:12.29 [[ 1.61781022e-01 -9.86681183e-01 -1.69453074e-02 1.01159580e+02] [ 9.79160457e-01 1.62636782e-01 -1.21630902e-01 9.21623783e+01] [ 1.22766852e-01 3.08539670e-03 9.92430743e-01 1.22929743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.16, Y:92.19, Z:12.30 [[ 1.58280768e-01 -9.87249147e-01 -1.69210149e-02 1.01163954e+02] [ 9.79716305e-01 1.59159879e-01 -1.21754236e-01 9.21889370e+01] [ 1.22894913e-01 2.69355986e-03 9.92416034e-01 1.22969235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.17, Y:92.22, Z:12.30 [[ 1.56151602e-01 -9.87589567e-01 -1.68382009e-02 1.01168125e+02] [ 9.80098353e-01 1.57037576e-01 -1.21434833e-01 9.22151738e+01] [ 1.22572004e-01 2.45915076e-03 9.92456577e-01 1.23002939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.17, Y:92.24, Z:12.30 [[ 1.54575730e-01 -9.87835891e-01 -1.69291527e-02 1.01172325e+02] [ 9.80237388e-01 1.55482826e-01 -1.22310076e-01 9.22418846e+01] [ 1.23454475e-01 2.31158081e-03 9.92347545e-01 1.23022493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.18, Y:92.27, Z:12.30 [[ 1.54206561e-01 -9.87892069e-01 -1.70175371e-02 1.01175386e+02] [ 9.80178710e-01 1.55125320e-01 -1.23230809e-01 9.22687433e+01] [ 1.24378590e-01 2.32277174e-03 9.92232116e-01 1.23038514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.18, Y:92.30, Z:12.31 [[ 1.54468172e-01 -9.87850576e-01 -1.70535418e-02 1.01178728e+02] [ 9.80068362e-01 1.55388067e-01 -1.23776227e-01 9.22953415e+01] [ 1.24922334e-01 2.40585067e-03 9.92163607e-01 1.23060539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.18, Y:92.32, Z:12.31 [[ 1.55140146e-01 -9.87743923e-01 -1.71311748e-02 1.01182283e+02] [ 9.79853101e-01 1.56062311e-01 -1.24629273e-01 9.23212391e+01] [ 1.25775338e-01 2.54896892e-03 9.92055476e-01 1.23088060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.19, Y:92.35, Z:12.31 [[ 1.57158788e-01 -9.87422731e-01 -1.72472116e-02 1.01186259e+02] [ 9.79392733e-01 1.58076404e-01 -1.25704915e-01 9.23478004e+01] [ 1.26850268e-01 2.86383843e-03 9.91917743e-01 1.23130053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.19, Y:92.37, Z:12.32 [[ 1.58444459e-01 -9.87217337e-01 -1.72418701e-02 1.01190031e+02] [ 9.79153308e-01 1.59350149e-01 -1.25961619e-01 9.23735937e+01] [ 1.27098989e-01 3.07548646e-03 9.91885270e-01 1.23169504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.736875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:101.19, Y:92.40, Z:12.32 [[ 1.59887544e-01 -9.86987543e-01 -1.70752091e-02 1.01193198e+02] [ 9.79039383e-01 1.60763351e-01 -1.25048115e-01 9.24007047e+01] [ 1.26166000e-01 3.27633388e-03 9.92003733e-01 1.23205279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.20, Y:92.43, Z:12.32 [[ 1.62849847e-01 -9.86505547e-01 -1.69331787e-02 1.01195221e+02] [ 9.78650861e-01 1.63686709e-01 -1.24294623e-01 9.24279246e+01] [ 1.25389071e-01 3.66969052e-03 9.92100859e-01 1.23240735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.20, Y:92.46, Z:12.33 [[ 1.63648426e-01 -9.86374941e-01 -1.68424747e-02 1.01197795e+02] [ 9.78567641e-01 1.64469016e-01 -1.23916564e-01 9.24550142e+01] [ 1.24998259e-01 3.79725005e-03 9.92149694e-01 1.23267681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.20, Y:92.48, Z:12.33 [[ 1.64356988e-01 -9.86257115e-01 -1.68429315e-02 1.01200817e+02] [ 9.78412170e-01 1.65170868e-01 -1.24210343e-01 9.24820688e+01] [ 1.25285296e-01 3.93550862e-03 9.92112950e-01 1.23296526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.20, Y:92.51, Z:12.33 [[ 1.64726383e-01 -9.86196703e-01 -1.67714391e-02 1.01203568e+02] [ 9.78380458e-01 1.65529294e-01 -1.23982789e-01 9.25083729e+01] [ 1.25047582e-01 4.01438811e-03 9.92142624e-01 1.23327234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.21, Y:92.54, Z:12.34 [[ 1.64882874e-01 -9.86169989e-01 -1.68044761e-02 1.01205985e+02] [ 9.78282595e-01 1.65686386e-01 -1.24543913e-01 9.25353745e+01] [ 1.25605742e-01 4.09563179e-03 9.92071783e-01 1.23359261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.21, Y:92.56, Z:12.34 [[ 1.64499798e-01 -9.86234909e-01 -1.67487583e-02 1.01209117e+02] [ 9.78363045e-01 1.65299864e-01 -1.24425509e-01 9.25619972e+01] [ 1.25481348e-01 4.08160488e-03 9.92087583e-01 1.23392071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.21, Y:92.59, Z:12.34 [[ 1.63691054e-01 -9.86369826e-01 -1.67273860e-02 1.01212294e+02] [ 9.78481071e-01 1.64494329e-01 -1.24564884e-01 9.25886389e+01] [ 1.25618603e-01 4.02272656e-03 9.92070453e-01 1.23425269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.22, Y:92.62, Z:12.35 [[ 1.62313515e-01 -9.86597114e-01 -1.67468566e-02 1.01215990e+02] [ 9.78652765e-01 1.63128511e-01 -1.25011418e-01 9.26159079e+01] [ 1.26067795e-01 3.90168516e-03 9.92013956e-01 1.23461234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.00687499999998 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:101.22, Y:92.64, Z:12.35 [[ 1.58906719e-01 -9.87153228e-01 -1.66481176e-02 1.01219371e+02] [ 9.79267820e-01 1.59738249e-01 -1.24572185e-01 9.26423138e+01] [ 1.25631176e-01 3.49239141e-03 9.92070870e-01 1.23491136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.22, Y:92.67, Z:12.35 [[ 1.57165486e-01 -9.87433762e-01 -1.65401122e-02 1.01222800e+02] [ 9.79613107e-01 1.57999029e-01 -1.24074443e-01 9.26685180e+01] [ 1.25128615e-01 3.29730937e-03 9.92135050e-01 1.23525344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.23, Y:92.70, Z:12.36 [[ 1.55028683e-01 -9.87773404e-01 -1.64258677e-02 1.01225840e+02] [ 9.80024488e-01 1.55866574e-01 -1.23521716e-01 9.26959906e+01] [ 1.24571710e-01 3.05165633e-03 9.92205914e-01 1.23551066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.23, Y:92.72, Z:12.36 [[ 1.52116873e-01 -9.88225258e-01 -1.64710760e-02 1.01229402e+02] [ 9.80399026e-01 1.52981515e-01 -1.24154765e-01 9.27230090e+01] [ 1.25212644e-01 2.73780770e-03 9.92126150e-01 1.23587704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.23, Y:92.75, Z:12.36 [[ 1.50684274e-01 -9.88445196e-01 -1.64421337e-02 1.01233041e+02] [ 9.80610500e-01 1.51556432e-01 -1.24232421e-01 9.27496095e+01] [ 1.25288851e-01 2.59654320e-03 9.92116909e-01 1.23622791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.24, Y:92.78, Z:12.37 [[ 1.49414994e-01 -9.88637698e-01 -1.64517911e-02 1.01236813e+02] [ 9.80756355e-01 1.50297487e-01 -1.24609942e-01 9.27768492e+01] [ 1.25666749e-01 2.48339502e-03 9.92069403e-01 1.23658904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.24, Y:92.80, Z:12.37 [[ 1.48025565e-01 -9.88846874e-01 -1.64405429e-02 1.01239983e+02] [ 9.80942520e-01 1.48917269e-01 -1.24801522e-01 9.28032352e+01] [ 1.25857876e-01 2.34658829e-03 9.92045507e-01 1.23687741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.24, Y:92.83, Z:12.37 [[ 1.47115146e-01 -9.88982446e-01 -1.64577154e-02 1.01243583e+02] [ 9.81021050e-01 1.48015256e-01 -1.25256474e-01 9.28302089e+01] [ 1.26312447e-01 2.28175918e-03 9.91987883e-01 1.23712237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.25, Y:92.86, Z:12.37 [[ 1.45370248e-01 -9.89239595e-01 -1.65080040e-02 1.01247057e+02] [ 9.81192347e-01 1.46289333e-01 -1.25940495e-01 9.28561486e+01] [ 1.27000269e-01 2.11047380e-03 9.91900437e-01 1.23736324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.25, Y:92.88, Z:12.38 [[ 1.44617666e-01 -9.89350085e-01 -1.64966949e-02 1.01250662e+02] [ 9.81284203e-01 1.45541127e-01 -1.26091610e-01 9.28828160e+01] [ 1.27149692e-01 2.04712824e-03 9.91881427e-01 1.23770121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.25, Y:92.91, Z:12.38 [[ 1.43690152e-01 -9.89486879e-01 -1.63968771e-02 1.01253515e+02] [ 9.81481293e-01 1.44609412e-01 -1.25628774e-01 9.29090649e+01] [ 1.26679166e-01 1.95838939e-03 9.91941810e-01 1.23795739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.336875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:101.26, Y:92.94, Z:12.38 [[ 1.43029764e-01 -9.89584000e-01 -1.63092817e-02 1.01256796e+02] [ 9.81624821e-01 1.43943969e-01 -1.25271088e-01 9.29365433e+01] [ 1.26313888e-01 1.90789857e-03 9.91988489e-01 1.23821030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.26, Y:92.96, Z:12.39 [[ 1.42671950e-01 -9.89634893e-01 -1.63551953e-02 1.01259925e+02] [ 9.81590871e-01 1.43593578e-01 -1.25937468e-01 9.29620224e+01] [ 1.26980614e-01 1.91363362e-03 9.91903353e-01 1.23865378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.396875 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:101.26, Y:92.99, Z:12.39 [[ 1.42909241e-01 -9.89544206e-01 -1.94733842e-02 1.01263727e+02] [ 9.81893517e-01 1.44221372e-01 -1.22822299e-01 9.29891334e+01] [ 1.24346572e-01 -1.56834811e-03 9.92237608e-01 1.23916239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.26, Y:93.01, Z:12.39 [[ 1.42289562e-01 -9.89742728e-01 -1.27676785e-02 1.01263500e+02] [ 9.81721065e-01 1.42760060e-01 -1.25870236e-01 9.30146006e+01] [ 1.26401865e-01 5.37572186e-03 9.91964551e-01 1.23919604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.27, Y:93.04, Z:12.40 [[ 1.42229671e-01 -9.89703178e-01 -1.60729647e-02 1.01266166e+02] [ 9.81795967e-01 1.43121273e-01 -1.24871853e-01 9.30402126e+01] [ 1.25886453e-01 1.98011069e-03 9.92042681e-01 1.23961627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.27, Y:93.07, Z:12.40 [[ 1.42263662e-01 -9.89697617e-01 -1.61144878e-02 1.01267707e+02] [ 9.81707795e-01 1.43158918e-01 -1.25520238e-01 9.30668250e+01] [ 1.26534013e-01 2.03725048e-03 9.91960177e-01 1.23996732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.27, Y:93.09, Z:12.40 [[ 1.41695703e-01 -9.89779696e-01 -1.60773481e-02 1.01270160e+02] [ 9.81788461e-01 1.42590813e-01 -1.25535965e-01 9.30928646e+01] [ 1.26545431e-01 2.00335195e-03 9.91958790e-01 1.24026595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.27, Y:93.12, Z:12.41 [[ 1.41044517e-01 -9.89872671e-01 -1.60791419e-02 1.01272851e+02] [ 9.81839301e-01 1.41944457e-01 -1.25870402e-01 9.31192614e+01] [ 1.26878016e-01 1.96619657e-03 9.91916379e-01 1.24066220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.28, Y:93.15, Z:12.41 [[ 1.39119468e-01 -9.90145161e-01 -1.60727435e-02 1.01275020e+02] [ 9.82080450e-01 1.40033759e-01 -1.26129042e-01 9.31465485e+01] [ 1.27136787e-01 1.76227803e-03 9.91883628e-01 1.24107975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.28, Y:93.17, Z:12.41 [[ 1.37685990e-01 -9.90344923e-01 -1.61090349e-02 1.01277374e+02] [ 9.82204794e-01 1.38615616e-01 -1.26725899e-01 9.31728760e+01] [ 1.27735314e-01 1.62600950e-03 9.91806960e-01 1.24134314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.28, Y:93.20, Z:12.42 [[ 1.36132041e-01 -9.90559215e-01 -1.61403128e-02 1.01279966e+02] [ 9.82346517e-01 1.37077604e-01 -1.27299061e-01 9.31997145e+01] [ 1.28309734e-01 1.47410102e-03 9.91733048e-01 1.24162687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.28, Y:93.23, Z:12.42 [[ 1.34722168e-01 -9.90752344e-01 -1.61161393e-02 1.01282536e+02] [ 9.82524264e-01 1.35676143e-01 -1.27428631e-01 9.32268925e+01] [ 1.28436790e-01 1.33296345e-03 9.91716801e-01 1.24194030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.28, Y:93.25, Z:12.42 [[ 1.32268630e-01 -9.91081087e-01 -1.62261689e-02 1.01284816e+02] [ 9.82699597e-01 1.33255916e-01 -1.28624895e-01 9.32543012e+01] [ 1.29639933e-01 1.06758892e-03 9.91560562e-01 1.24229581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.29, Y:93.28, Z:12.43 [[ 1.30983803e-01 -9.91251211e-01 -1.62567151e-02 1.01287358e+02] [ 9.82800400e-01 1.31985421e-01 -1.29163548e-01 9.32799184e+01] [ 1.30179172e-01 9.41226529e-04 9.91490039e-01 1.24262815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.75687499999998 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:101.29, Y:93.31, Z:12.43 [[ 1.29802666e-01 -9.91405976e-01 -1.62928949e-02 1.01289671e+02] [ 9.82872851e-01 1.30818556e-01 -1.29797780e-01 9.33067267e+01] [ 1.30813708e-01 8.34253878e-04 9.91406616e-01 1.24296732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.78687499999998 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:101.29, Y:93.33, Z:12.43 [[ 1.29164192e-01 -9.91489316e-01 -1.62956293e-02 1.01290867e+02] [ 9.82909943e-01 1.30185658e-01 -1.30152747e-01 9.33324398e+01] [ 1.31166515e-01 7.93938302e-04 9.91360033e-01 1.24338772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.29, Y:93.36, Z:12.44 [[ 1.29274052e-01 -9.91475762e-01 -1.62491097e-02 1.01292853e+02] [ 9.82899689e-01 1.30288488e-01 -1.30127286e-01 9.33598215e+01] [ 1.31135122e-01 8.50836670e-04 9.91364139e-01 1.24376784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.30, Y:93.39, Z:12.44 [[ 1.28984187e-01 -9.91514172e-01 -1.62088146e-02 1.01296136e+02] [ 9.82937772e-01 1.29995842e-01 -1.30132306e-01 9.33872241e+01] [ 1.31135104e-01 8.52753544e-04 9.91364140e-01 1.24410234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.30, Y:93.41, Z:12.44 [[ 1.29152270e-01 -9.91494428e-01 -1.60776257e-02 1.01297402e+02] [ 9.83015934e-01 1.30145984e-01 -1.29389704e-01 9.34140878e+01] [ 1.30381609e-01 9.06411604e-04 9.91463471e-01 1.24436514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.30, Y:93.44, Z:12.45 [[ 1.29883811e-01 -9.91401342e-01 -1.59240548e-02 1.01299136e+02] [ 9.83041787e-01 1.30852254e-01 -1.28477752e-01 9.34415659e+01] [ 1.29456714e-01 1.03316869e-03 9.91584536e-01 1.24477124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.30, Y:93.47, Z:12.45 [[ 1.32339804e-01 -9.91079041e-01 -1.57642288e-02 1.01299056e+02] [ 9.82843899e-01 1.33268262e-01 -1.27504670e-01 9.34677527e+01] [ 1.28468078e-01 1.38016698e-03 9.91712684e-01 1.24520128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.30, Y:93.49, Z:12.46 [[ 1.33155602e-01 -9.90970202e-01 -1.57367369e-02 1.01300537e+02] [ 9.82730205e-01 1.34073700e-01 -1.27536611e-01 9.34949293e+01] [ 1.28494863e-01 1.51724741e-03 9.91709014e-01 1.24554106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.30, Y:93.52, Z:12.46 [[ 1.34068744e-01 -9.90847507e-01 -1.57095355e-02 1.01301930e+02] [ 9.82593300e-01 1.34975579e-01 -1.27640117e-01 9.35221227e+01] [ 1.28592295e-01 1.67646578e-03 9.91696128e-01 1.24589459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.30, Y:93.55, Z:12.46 [[ 1.36363071e-01 -9.90535339e-01 -1.56478248e-02 1.01301827e+02] [ 9.82302513e-01 1.37243221e-01 -1.27460075e-01 9.35506546e+01] [ 1.28401267e-01 2.00994964e-03 9.91720260e-01 1.24622962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.30, Y:93.58, Z:12.47 [[ 1.37511822e-01 -9.90377563e-01 -1.55814333e-02 1.01303072e+02] [ 9.82175294e-01 1.38374440e-01 -1.27217162e-01 9.35771218e+01] [ 1.28149095e-01 2.19016499e-03 9.91752496e-01 1.24653098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.30, Y:93.60, Z:12.47 [[ 1.38252050e-01 -9.90274606e-01 -1.55748240e-02 1.01304354e+02] [ 9.82033260e-01 1.39106996e-01 -1.27514389e-01 9.36044078e+01] [ 1.28440828e-01 2.33413054e-03 9.91714427e-01 1.24684251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.31, Y:93.63, Z:12.47 [[ 1.38840036e-01 -9.90191590e-01 -1.56223825e-02 1.01305417e+02] [ 9.81855529e-01 1.39694432e-01 -1.28238782e-01 9.36317809e+01] [ 1.29163324e-01 2.46575450e-03 9.91620268e-01 1.24717808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.30, Y:93.66, Z:12.47 [[ 1.39674776e-01 -9.90072944e-01 -1.57010307e-02 1.01304912e+02] [ 9.81607823e-01 1.40529766e-01 -1.29218681e-01 9.36596997e+01] [ 1.30142382e-01 2.63633585e-03 9.91491810e-01 1.24745404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.31, Y:93.69, Z:12.48 [[ 1.39599318e-01 -9.90082953e-01 -1.57408893e-02 1.01306685e+02] [ 9.81533909e-01 1.40458448e-01 -1.29856113e-01 9.36880789e+01] [ 1.30779265e-01 2.67760830e-03 9.91407895e-01 1.24780866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.31, Y:93.72, Z:12.48 [[ 1.39235351e-01 -9.90133686e-01 -1.57734265e-02 1.01308342e+02] [ 9.81507713e-01 1.40100326e-01 -1.30439672e-01 9.37155315e+01] [ 1.31362575e-01 2.68007377e-03 9.91330768e-01 1.24809290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.31, Y:93.74, Z:12.48 [[ 1.38368094e-01 -9.90256180e-01 -1.57152104e-02 1.01309729e+02] [ 9.81651157e-01 1.39233375e-01 -1.30288424e-01 9.37428011e+01] [ 1.31206999e-01 2.60090649e-03 9.91351582e-01 1.24842256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.31, Y:93.77, Z:12.49 [[ 1.36393988e-01 -9.90530109e-01 -1.57093151e-02 1.01309332e+02] [ 9.81888198e-01 1.37274949e-01 -1.30580068e-01 9.37703481e+01] [ 1.31499985e-01 2.38554516e-03 9.91313302e-01 1.24871167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.31, Y:93.80, Z:12.49 [[ 1.35162343e-01 -9.90699835e-01 -1.56517493e-02 1.01310570e+02] [ 9.82077296e-01 1.36046791e-01 -1.30443303e-01 9.37961493e+01] [ 1.31359529e-01 2.25979479e-03 9.91332219e-01 1.24902186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.31, Y:93.82, Z:12.49 [[ 1.34219371e-01 -9.90828375e-01 -1.56298128e-02 1.01312313e+02] [ 9.82194470e-01 1.35108942e-01 -1.30535804e-01 9.38227725e+01] [ 1.31450306e-01 2.16891769e-03 9.91320389e-01 1.24939197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.31, Y:93.85, Z:12.50 [[ 1.33099638e-01 -9.90979857e-01 -1.56016048e-02 1.01313493e+02] [ 9.82331973e-01 1.33995022e-01 -1.30649257e-01 9.38488788e+01] [ 1.31561319e-01 2.06341353e-03 9.91305887e-01 1.24973918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.31, Y:93.88, Z:12.50 [[ 1.32230252e-01 -9.91096757e-01 -1.55685476e-02 1.01312768e+02] [ 9.82438183e-01 1.33128699e-01 -1.30736248e-01 9.38757973e+01] [ 1.31644891e-01 1.99215127e-03 9.91294938e-01 1.25013150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.31, Y:93.90, Z:12.50 [[ 1.31723336e-01 -9.91166089e-01 -1.54514337e-02 1.01313609e+02] [ 9.82593102e-01 1.32612086e-01 -1.30095470e-01 9.39027518e+01] [ 1.30995265e-01 1.95413715e-03 9.91381068e-01 1.25040836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.31, Y:93.93, Z:12.51 [[ 1.31653363e-01 -9.91175601e-01 -1.54375907e-02 1.01314368e+02] [ 9.82573138e-01 1.32540460e-01 -1.30319050e-01 9.39284599e+01] [ 1.31215168e-01 1.98837930e-03 9.91351918e-01 1.25075166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.32, Y:93.96, Z:12.51 [[ 1.31364009e-01 -9.91214825e-01 -1.53840084e-02 1.01315301e+02] [ 9.82636485e-01 1.32246947e-01 -1.30139473e-01 9.39558145e+01] [ 1.31030663e-01 1.97875494e-03 9.91376341e-01 1.25104808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.31, Y:93.98, Z:12.51 [[ 1.30571355e-01 -9.91319404e-01 -1.53935401e-02 1.01314051e+02] [ 9.82685290e-01 1.31461587e-01 -1.30565971e-01 9.39837541e+01] [ 1.31456240e-01 1.92117027e-03 9.91320113e-01 1.25136629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.32, Y:94.01, Z:12.52 [[ 1.30065431e-01 -9.91386716e-01 -1.53415443e-02 1.01315483e+02] [ 9.82766046e-01 1.30953421e-01 -1.30468771e-01 9.40121501e+01] [ 1.31354034e-01 1.89232810e-03 9.91333716e-01 1.25172746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.32, Y:94.04, Z:12.52 [[ 1.29328212e-01 -9.91483689e-01 -1.53071150e-02 1.01316705e+02] [ 9.82860869e-01 1.30218049e-01 -1.30490508e-01 9.40402120e+01] [ 1.31372473e-01 1.83133978e-03 9.91331387e-01 1.25207342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.59687499999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:101.32, Y:94.07, Z:12.52 [[ 1.29056039e-01 -9.91519499e-01 -1.52846680e-02 1.01317761e+02] [ 9.82880775e-01 1.29945069e-01 -1.30612642e-01 9.40672731e+01] [ 1.31491148e-01 1.83334377e-03 9.91315649e-01 1.25240275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.32, Y:94.10, Z:12.53 [[ 1.28644321e-01 -9.91573877e-01 -1.52277610e-02 1.01316730e+02] [ 9.82968258e-01 1.29529908e-01 -1.30366429e-01 9.40952734e+01] [ 1.31240396e-01 1.80249499e-03 9.91348934e-01 1.25269570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.32, Y:94.12, Z:12.53 [[ 1.28685572e-01 -9.91568720e-01 -1.52150377e-02 1.01317947e+02] [ 9.82934468e-01 1.29568731e-01 -1.30582445e-01 9.41220804e+01] [ 1.31452861e-01 1.84869169e-03 9.91320699e-01 1.25306077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.32, Y:94.15, Z:12.53 [[ 1.28530584e-01 -9.91589261e-01 -1.51864147e-02 1.01319329e+02] [ 9.82942485e-01 1.29411150e-01 -1.30678327e-01 9.41498681e+01] [ 1.31544517e-01 1.86878942e-03 9.91308503e-01 1.25335534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.32, Y:94.18, Z:12.54 [[ 1.28417191e-01 -9.91603538e-01 -1.52134563e-02 1.01320506e+02] [ 9.82881241e-01 1.29301234e-01 -1.31246549e-01 9.41764377e+01] [ 1.32111661e-01 1.90129239e-03 9.91233017e-01 1.25371061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.32, Y:94.20, Z:12.54 [[ 1.29329990e-01 -9.91484609e-01 -1.52323351e-02 1.01320191e+02] [ 9.82692317e-01 1.30207433e-01 -1.31764313e-01 9.42037062e+01] [ 1.32625651e-01 2.07237858e-03 9.91164034e-01 1.25403662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.32, Y:94.23, Z:12.54 [[ 1.29462885e-01 -9.91468233e-01 -1.51692015e-02 1.01321673e+02] [ 9.82701426e-01 1.30331188e-01 -1.31573890e-01 9.42318925e+01] [ 1.32428352e-01 2.12713953e-03 9.91190298e-01 1.25435512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.32, Y:94.26, Z:12.55 [[ 1.29592917e-01 -9.91451606e-01 -1.51455860e-02 1.01323168e+02] [ 9.82668864e-01 1.30456682e-01 -1.31692662e-01 9.42592903e+01] [ 1.32542744e-01 2.18334041e-03 9.91174886e-01 1.25471882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.32, Y:94.29, Z:12.55 [[ 1.30111841e-01 -9.91385861e-01 -1.49994421e-02 1.01322992e+02] [ 9.82728289e-01 1.30953855e-01 -1.30752429e-01 9.42864111e+01] [ 1.31590344e-01 2.27206310e-03 9.91301578e-01 1.25503957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.33, Y:94.31, Z:12.55 [[ 1.30026101e-01 -9.91398353e-01 -1.49170521e-02 1.01325023e+02] [ 9.82790299e-01 1.30858891e-01 -1.30380899e-01 9.43140216e+01] [ 1.31211437e-01 2.29258572e-03 9.91351755e-01 1.25542815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.33, Y:94.34, Z:12.56 [[ 1.29757495e-01 -9.91434808e-01 -1.48328722e-02 1.01327135e+02] [ 9.82880710e-01 1.30582518e-01 -1.29975827e-01 9.43413125e+01] [ 1.30799473e-01 2.28639377e-03 9.91406208e-01 1.25576474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.33, Y:94.37, Z:12.56 [[ 1.29761406e-01 -9.91435720e-01 -1.47373744e-02 1.01329520e+02] [ 9.82946621e-01 1.30575071e-01 -1.29483943e-01 9.43689131e+01] [ 1.30299340e-01 2.31596620e-03 9.91471996e-01 1.25615228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.33, Y:94.40, Z:12.56 [[ 1.30099240e-01 -9.91392361e-01 -1.46756267e-02 1.01330205e+02] [ 9.82931962e-01 1.30902499e-01 -1.29264432e-01 9.43972032e+01] [ 1.30072846e-01 2.39206170e-03 9.91501555e-01 1.25644780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.33, Y:94.42, Z:12.57 [[ 1.30227553e-01 -9.91376180e-01 -1.46306020e-02 1.01332182e+02] [ 9.82925061e-01 1.31024036e-01 -1.29193755e-01 9.44248509e+01] [ 1.29996572e-01 2.44380120e-03 9.91511432e-01 1.25674234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.33, Y:94.45, Z:12.57 [[ 1.30457527e-01 -9.91346098e-01 -1.46200924e-02 1.01334227e+02] [ 9.82863476e-01 1.31250081e-01 -1.29432621e-01 9.44526584e+01] [ 1.30231412e-01 2.51590487e-03 9.91480433e-01 1.25710090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.34, Y:94.48, Z:12.57 [[ 1.30546599e-01 -9.91334869e-01 -1.45864202e-02 1.01336412e+02] [ 9.82847203e-01 1.31333906e-01 -1.29471155e-01 9.44796978e+01] [ 1.30264962e-01 2.56579665e-03 9.91475898e-01 1.25742446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.34, Y:94.51, Z:12.58 [[ 1.31589054e-01 -9.91197475e-01 -1.45563468e-02 1.01337824e+02] [ 9.82697799e-01 1.32363281e-01 -1.29556931e-01 9.45074218e+01] [ 1.30343228e-01 2.74378397e-03 9.91465135e-01 1.25775406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.34, Y:94.54, Z:12.58 [[ 1.32233974e-01 -9.91111526e-01 -1.45643320e-02 1.01340296e+02] [ 9.82558653e-01 1.33002562e-01 -1.29956960e-01 9.45355506e+01] [ 1.30738934e-01 2.87441479e-03 9.91412663e-01 1.25811533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.34, Y:94.56, Z:12.58 [[ 1.32744368e-01 -9.91043460e-01 -1.45531274e-02 1.01342285e+02] [ 9.82459948e-01 1.33506399e-01 -1.30186373e-01 9.45630225e+01] [ 1.30963289e-01 2.98364287e-03 9.91382729e-01 1.25838385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.34, Y:94.59, Z:12.59 [[ 1.34424398e-01 -9.90818524e-01 -1.44476452e-02 1.01343901e+02] [ 9.82314689e-01 1.35160079e-01 -1.29574706e-01 9.45908080e+01] [ 1.30337764e-01 3.22586773e-03 9.91464402e-01 1.25863634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.35, Y:94.62, Z:12.59 [[ 1.35220653e-01 -9.90709465e-01 -1.44958924e-02 1.01346554e+02] [ 9.82103398e-01 1.35953198e-01 -1.30344328e-01 9.46171475e+01] [ 1.31104122e-01 3.38877996e-03 9.91362812e-01 1.25894607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.35, Y:94.65, Z:12.59 [[ 1.35879866e-01 -9.90619114e-01 -1.45063232e-02 1.01349789e+02] [ 9.81965859e-01 1.36606811e-01 -1.30696713e-01 9.46452735e+01] [ 1.31452325e-01 3.51433770e-03 9.91316264e-01 1.25925060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.35, Y:94.67, Z:12.60 [[ 1.36116802e-01 -9.90586693e-01 -1.44989500e-02 1.01352466e+02] [ 9.81896763e-01 1.36839716e-01 -1.30971899e-01 9.46715571e+01] [ 1.31723053e-01 3.59100406e-03 9.91280052e-01 1.25958002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.36, Y:94.70, Z:12.60 [[ 1.36166596e-01 -9.90581132e-01 -1.44110908e-02 1.01355547e+02] [ 9.81949776e-01 1.36879121e-01 -1.30532535e-01 9.46994972e+01] [ 1.31275643e-01 3.62320360e-03 9.91339285e-01 1.25985660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.36, Y:94.73, Z:12.60 [[ 1.35614276e-01 -9.90657587e-01 -1.43636049e-02 1.01358740e+02] [ 9.82039824e-01 1.36325736e-01 -1.30434190e-01 9.47258267e+01] [ 1.31173749e-01 3.58310619e-03 9.91352918e-01 1.26017713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.36, Y:94.75, Z:12.61 [[ 1.35038258e-01 -9.90736882e-01 -1.43212810e-02 1.01362311e+02] [ 9.82131154e-01 1.35749487e-01 -1.30347511e-01 9.47530645e+01] [ 1.31084194e-01 3.53652466e-03 9.91364931e-01 1.26051686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.37, Y:94.78, Z:12.61 [[ 1.32897577e-01 -9.91027220e-01 -1.42577753e-02 1.01366209e+02] [ 9.82450781e-01 1.33619765e-01 -1.30139237e-01 9.47799262e+01] [ 1.30876646e-01 3.28762674e-03 9.91393209e-01 1.26086910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.37, Y:94.81, Z:12.61 [[ 1.31934991e-01 -9.91155659e-01 -1.42694879e-02 1.01370201e+02] [ 9.82512786e-01 1.32665413e-01 -1.30646520e-01 9.48077182e+01] [ 1.31384106e-01 3.21689311e-03 9.91326318e-01 1.26121068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.37, Y:94.84, Z:12.62 [[ 1.30969310e-01 -9.91283923e-01 -1.42556738e-02 1.01374213e+02] [ 9.82613108e-01 1.31705656e-01 -1.30862906e-01 9.48354861e+01] [ 1.31599847e-01 3.13121244e-03 9.91297975e-01 1.26157729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.38, Y:94.86, Z:12.62 [[ 1.29722271e-01 -9.91448622e-01 -1.42042715e-02 1.01377615e+02] [ 9.82795879e-01 1.30463148e-01 -1.30734954e-01 9.48619875e+01] [ 1.31470124e-01 2.99933564e-03 9.91315596e-01 1.26192407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.38, Y:94.89, Z:12.62 [[ 1.28869129e-01 -9.91561944e-01 -1.40590957e-02 1.01381320e+02] [ 9.83039468e-01 1.29601290e-01 -1.29757120e-01 9.48893289e+01] [ 1.30484299e-01 2.90104105e-03 9.91446131e-01 1.26212573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.526875 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:101.38, Y:94.92, Z:12.62 [[ 1.28700761e-01 -9.91584038e-01 -1.40431465e-02 1.01384633e+02] [ 9.83030947e-01 1.29431603e-01 -1.29990834e-01 9.49156790e+01] [ 1.30714463e-01 2.92507162e-03 9.91415742e-01 1.26241889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.39, Y:94.94, Z:12.63 [[ 1.28810602e-01 -9.91571053e-01 -1.39526602e-02 1.01388377e+02] [ 9.83076508e-01 1.29530010e-01 -1.29547505e-01 9.49426506e+01] [ 1.30262845e-01 2.97055962e-03 9.91475046e-01 1.26274027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.39, Y:94.97, Z:12.63 [[ 1.29616865e-01 -9.91466278e-01 -1.39315785e-02 1.01393517e+02] [ 9.82947244e-01 1.30326048e-01 -1.29729860e-01 9.49693285e+01] [ 1.30438429e-01 3.12117098e-03 9.91451499e-01 1.26313662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.40, Y:95.00, Z:12.63 [[ 1.30471160e-01 -9.91354753e-01 -1.38934938e-02 1.01397514e+02] [ 9.82831899e-01 1.31167951e-01 -1.29755259e-01 9.49973569e+01] [ 1.30455874e-01 3.27435028e-03 9.91448709e-01 1.26349556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.40, Y:95.02, Z:12.64 [[ 1.31532707e-01 -9.91215126e-01 -1.38463125e-02 1.01401205e+02] [ 9.82704109e-01 1.32214545e-01 -1.29660898e-01 9.50247025e+01] [ 1.30352527e-01 3.44782064e-03 9.91461714e-01 1.26387595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.41, Y:95.05, Z:12.64 [[ 1.35033997e-01 -9.90744308e-01 -1.38396734e-02 1.01405207e+02] [ 9.82193405e-01 1.35683762e-01 -1.29946268e-01 9.50519949e+01] [ 1.30621344e-01 3.95392796e-03 9.91424445e-01 1.26421014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.41, Y:95.08, Z:12.65 [[ 1.36884157e-01 -9.90491591e-01 -1.37526545e-02 1.01408117e+02] [ 9.82001899e-01 1.37508609e-01 -1.29474528e-01 9.50800265e+01] [ 1.30134540e-01 4.21787882e-03 9.91487373e-01 1.26451808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.41, Y:95.11, Z:12.65 [[ 1.36618169e-01 -9.90528831e-01 -1.37153578e-02 1.01411029e+02] [ 9.82038949e-01 1.37240030e-01 -1.29478479e-01 9.51082711e+01] [ 1.30134463e-01 4.22009716e-03 9.91487374e-01 1.26486268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.41, Y:95.14, Z:12.65 [[ 1.38488480e-01 -9.90269830e-01 -1.36603462e-02 1.01414014e+02] [ 9.81802981e-01 1.39087979e-01 -1.29295944e-01 9.51352901e+01] [ 1.29937862e-01 4.49423012e-03 9.91511953e-01 1.26514560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.42, Y:95.16, Z:12.65 [[ 1.39908355e-01 -9.90070221e-01 -1.36605225e-02 1.01417281e+02] [ 9.81552743e-01 1.40493935e-01 -1.29675234e-01 9.51627977e+01] [ 1.30306808e-01 4.73412536e-03 9.91462417e-01 1.26542979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.42, Y:95.19, Z:12.66 [[ 1.41175032e-01 -9.89890873e-01 -1.36261071e-02 1.01420934e+02] [ 9.81369038e-01 1.41745086e-01 -1.29704053e-01 9.51902513e+01] [ 1.30324292e-01 4.93873420e-03 9.91459121e-01 1.26577167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.856875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:101.43, Y:95.22, Z:12.66 [[ 1.42930870e-01 -9.89640327e-01 -1.35199749e-02 1.01425335e+02] [ 9.81203582e-01 1.43475416e-01 -1.29051676e-01 9.52163120e+01] [ 1.29654527e-01 5.17962057e-03 9.91545700e-01 1.26619498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.43, Y:95.24, Z:12.67 [[ 1.43535129e-01 -9.89553008e-01 -1.35096420e-02 1.01429009e+02] [ 9.81079408e-01 1.44071693e-01 -1.29331135e-01 9.52440071e+01] [ 1.29926371e-01 5.30952963e-03 9.91509429e-01 1.26657201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.43, Y:95.27, Z:12.67 [[ 1.43841702e-01 -9.89509011e-01 -1.34714931e-02 1.01432070e+02] [ 9.81036687e-01 1.44370735e-01 -1.29321727e-01 9.52716787e+01] [ 1.29909904e-01 5.38582833e-03 9.91511175e-01 1.26688468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.44, Y:95.30, Z:12.67 [[ 1.44698557e-01 -9.89385158e-01 -1.33917050e-02 1.01435478e+02] [ 9.80967242e-01 1.45212216e-01 -1.28905714e-01 9.52988195e+01] [ 1.29482040e-01 5.51564697e-03 9.91566427e-01 1.26713790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.44, Y:95.33, Z:12.67 [[ 1.44600163e-01 -9.89399698e-01 -1.33802347e-02 1.01439018e+02] [ 9.80961291e-01 1.45112296e-01 -1.29063424e-01 9.53262188e+01] [ 1.29636949e-01 5.53709993e-03 9.91546066e-01 1.26746051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.44, Y:95.35, Z:12.68 [[ 1.44293590e-01 -9.89444674e-01 -1.33639864e-02 1.01442443e+02] [ 9.80979655e-01 1.44805086e-01 -1.29268723e-01 9.53518957e+01] [ 1.29839422e-01 5.54284923e-03 9.91519542e-01 1.26781246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.45, Y:95.38, Z:12.68 [[ 1.43531399e-01 -9.89555663e-01 -1.33539176e-02 1.01445648e+02] [ 9.81048389e-01 1.44046309e-01 -1.29594442e-01 9.53782902e+01] [ 1.30164496e-01 5.50003217e-03 9.91477157e-01 1.26811646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.45, Y:95.41, Z:12.68 [[ 1.43088268e-01 -9.89620630e-01 -1.32949325e-02 1.01449662e+02] [ 9.81134774e-01 1.43600191e-01 -1.29435466e-01 9.54050377e+01] [ 1.30001162e-01 5.47657607e-03 9.91498717e-01 1.26844477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.45, Y:95.43, Z:12.69 [[ 1.42453778e-01 -9.89712341e-01 -1.32816718e-02 1.01452953e+02] [ 9.81191462e-01 1.42967940e-01 -1.29705372e-01 9.54314364e+01] [ 1.30269861e-01 5.44515726e-03 9.91463622e-01 1.26878442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.46, Y:95.46, Z:12.69 [[ 1.42085822e-01 -9.89765409e-01 -1.32685776e-02 1.01456362e+02] [ 9.81209081e-01 1.42599960e-01 -1.29976884e-01 9.54580381e+01] [ 1.30538722e-01 5.44862355e-03 9.91428240e-01 1.26910268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.46, Y:95.48, Z:12.69 [[ 1.41791285e-01 -9.89807478e-01 -1.32811286e-02 1.01459806e+02] [ 9.81181837e-01 1.42306724e-01 -1.30502871e-01 9.54843549e+01] [ 1.31062711e-01 5.47296759e-03 9.91358972e-01 1.26944928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.46, Y:95.51, Z:12.70 [[ 1.41342869e-01 -9.89871182e-01 -1.33130403e-02 1.01463258e+02] [ 9.81147975e-01 1.41862361e-01 -1.31239180e-01 9.55113593e+01] [ 1.31798502e-01 5.48765976e-03 9.91261338e-01 1.26972921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.47, Y:95.54, Z:12.70 [[ 1.40700684e-01 -9.89962508e-01 -1.33247774e-02 1.01468093e+02] [ 9.81170485e-01 1.41224542e-01 -1.31757762e-01 9.55374461e+01] [ 1.32317030e-01 5.46452899e-03 9.91192384e-01 1.27009537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.47, Y:95.56, Z:12.70 [[ 1.40004975e-01 -9.90062283e-01 -1.32394400e-02 1.01471750e+02] [ 9.81328167e-01 1.40526063e-01 -1.31329564e-01 9.55638612e+01] [ 1.31884934e-01 5.39455694e-03 9.91250353e-01 1.27045298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.48, Y:95.59, Z:12.71 [[ 1.39301497e-01 -9.90162453e-01 -1.31684815e-02 1.01475236e+02] [ 9.81470311e-01 1.39821107e-01 -1.31019413e-01 9.55898319e+01] [ 1.31571735e-01 5.32672672e-03 9.91292341e-01 1.27081003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.48, Y:95.62, Z:12.71 [[ 1.38812812e-01 -9.90232310e-01 -1.30757567e-02 1.01478838e+02] [ 9.81609102e-01 1.39327273e-01 -1.30504722e-01 9.56164886e+01] [ 1.31051802e-01 5.28044558e-03 9.91361459e-01 1.27119661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.48, Y:95.64, Z:12.72 [[ 1.37782261e-01 -9.90376890e-01 -1.30255250e-02 1.01483430e+02] [ 9.81769485e-01 1.38299707e-01 -1.30391219e-01 9.56443866e+01] [ 1.30937876e-01 5.17753390e-03 9.91377055e-01 1.27152463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.49, Y:95.67, Z:12.72 [[ 1.37085144e-01 -9.90473722e-01 -1.30180130e-02 1.01487111e+02] [ 9.81826811e-01 1.37606108e-01 -1.30693047e-01 9.56714687e+01] [ 1.31239387e-01 5.13464098e-03 9.91337409e-01 1.27183720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.49, Y:95.70, Z:12.72 [[ 1.36757835e-01 -9.90519458e-01 -1.29806397e-02 1.01491084e+02] [ 9.81870343e-01 1.37276651e-01 -1.30712471e-01 9.56987701e+01] [ 1.31255184e-01 5.13064926e-03 9.91335338e-01 1.27218356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.50, Y:95.73, Z:12.72 [[ 1.36027762e-01 -9.90620642e-01 -1.29302858e-02 1.01495300e+02] [ 9.81989407e-01 1.36547010e-01 -1.30582233e-01 9.57253338e+01] [ 1.31123047e-01 5.06540516e-03 9.91353160e-01 1.27249179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.50, Y:95.75, Z:12.73 [[ 1.35704937e-01 -9.90665071e-01 -1.29184724e-02 1.01498508e+02] [ 9.81996903e-01 1.36224018e-01 -1.30862901e-01 9.57526020e+01] [ 1.31401111e-01 5.07284179e-03 9.91316304e-01 1.27282496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.50, Y:95.78, Z:12.73 [[ 1.35721924e-01 -9.90663672e-01 -1.28471172e-02 1.01501946e+02] [ 9.82036737e-01 1.36233077e-01 -1.30554188e-01 9.57802108e+01] [ 1.31085493e-01 5.10272451e-03 9.91357935e-01 1.27311156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.51, Y:95.81, Z:12.73 [[ 1.35589164e-01 -9.90682581e-01 -1.27906831e-02 1.01505553e+02] [ 9.82081594e-01 1.36095077e-01 -1.30360548e-01 9.58066334e+01] [ 1.30886673e-01 5.11398320e-03 9.91384147e-01 1.27346519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.51, Y:95.83, Z:12.74 [[ 1.35471374e-01 -9.90699706e-01 -1.27121729e-02 1.01509380e+02] [ 9.82166035e-01 1.35970666e-01 -1.29853213e-01 9.58324275e+01] [ 1.30374022e-01 5.10592866e-03 9.91451736e-01 1.27375622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.51, Y:95.86, Z:12.74 [[ 1.35804486e-01 -9.90655167e-01 -1.26285989e-02 1.01512108e+02] [ 9.82177277e-01 1.36292233e-01 -1.29430379e-01 9.58601299e+01] [ 1.29942054e-01 5.17370327e-03 9.91508091e-01 1.27408220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.606875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:101.52, Y:95.89, Z:12.74 [[ 1.36547601e-01 -9.90554177e-01 -1.25369876e-02 1.01515302e+02] [ 9.82150079e-01 1.37020109e-01 -1.28867034e-01 9.58876846e+01] [ 1.29367598e-01 5.28328098e-03 9.91582630e-01 1.27436271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.52, Y:95.91, Z:12.75 [[ 1.37758795e-01 -9.90385925e-01 -1.25791355e-02 1.01518555e+02] [ 9.81873623e-01 1.38221962e-01 -1.29687615e-01 9.59148773e+01] [ 1.30179501e-01 5.51448820e-03 9.91475107e-01 1.27463770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.52, Y:95.94, Z:12.75 [[ 1.38337677e-01 -9.90305857e-01 -1.25298441e-02 1.01521452e+02] [ 9.81807136e-01 1.38790039e-01 -1.29584229e-01 9.59417904e+01] [ 1.30067038e-01 5.62449092e-03 9.91489249e-01 1.27488662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.52, Y:95.97, Z:12.75 [[ 1.38775271e-01 -9.90244823e-01 -1.25145879e-02 1.01524660e+02] [ 9.81713996e-01 1.39220489e-01 -1.29827908e-01 9.59692830e+01] [ 1.30303701e-01 5.73115707e-03 9.91457563e-01 1.27520177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.53, Y:96.00, Z:12.76 [[ 1.39186168e-01 -9.90187145e-01 -1.25151229e-02 1.01527788e+02] [ 9.81604339e-01 1.39625609e-01 -1.30221394e-01 9.59968110e+01] [ 1.30690982e-01 5.84011804e-03 9.91405951e-01 1.27552056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.53, Y:96.02, Z:12.76 [[ 1.40313496e-01 -9.90028260e-01 -1.24967040e-02 1.01531338e+02] [ 9.81418901e-01 1.40739553e-01 -1.30419780e-01 9.60243700e+01] [ 1.30878048e-01 6.03515380e-03 9.91380105e-01 1.27578198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.53, Y:96.05, Z:12.76 [[ 1.40826939e-01 -9.89956370e-01 -1.24160967e-02 1.01534292e+02] [ 9.81406426e-01 1.41240766e-01 -1.29971043e-01 9.60516317e+01] [ 1.30419321e-01 6.11818710e-03 9.91440048e-01 1.27609085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.54, Y:96.08, Z:12.76 [[ 1.41118750e-01 -9.89915254e-01 -1.23809258e-02 1.01537005e+02] [ 9.81359263e-01 1.41525178e-01 -1.30017770e-01 9.60784385e+01] [ 1.30458786e-01 6.19780888e-03 9.91434361e-01 1.27640799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.84687499999998 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:101.54, Y:96.11, Z:12.77 [[ 1.41286904e-01 -9.89892283e-01 -1.22995852e-02 1.01540027e+02] [ 9.81392565e-01 1.41683956e-01 -1.29592782e-01 9.61057858e+01] [ 1.30025549e-01 6.23904148e-03 9.91491014e-01 1.27670241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.87687499999998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:101.54, Y:96.13, Z:12.77 [[ 1.40863282e-01 -9.89954071e-01 -1.21849469e-02 1.01543873e+02] [ 9.81557271e-01 1.41253978e-01 -1.28812414e-01 9.61331974e+01] [ 1.29239546e-01 6.18471619e-03 9.91594115e-01 1.27709221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.55, Y:96.16, Z:12.77 [[ 1.40182643e-01 -9.90051706e-01 -1.21015033e-02 1.01547173e+02] [ 9.81719553e-01 1.40571370e-01 -1.28321507e-01 9.61606694e+01] [ 1.28746052e-01 6.10816556e-03 9.91658784e-01 1.27740656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.936875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:101.55, Y:96.19, Z:12.78 [[ 1.38815575e-01 -9.90244913e-01 -1.20518881e-02 1.01549939e+02] [ 9.81930861e-01 1.39210218e-01 -1.28188531e-01 9.61877607e+01] [ 1.28615787e-01 5.96044374e-03 9.91676587e-01 1.27770499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.966875 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:101.55, Y:96.22, Z:12.78 [[ 1.36438225e-01 -9.90576672e-01 -1.19359398e-02 1.01553554e+02] [ 9.82371021e-01 1.36842666e-01 -1.27362715e-01 9.62160181e+01] [ 1.27795881e-01 5.65162149e-03 9.91784388e-01 1.27791097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.56, Y:96.24, Z:12.78 [[ 1.35023724e-01 -9.90770706e-01 -1.19164957e-02 1.01557004e+02] [ 9.82541826e-01 1.35436366e-01 -1.27548232e-01 9.62426433e+01] [ 1.27984978e-01 5.51358183e-03 9.91760781e-01 1.27822879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.56, Y:96.27, Z:12.79 [[ 1.33384623e-01 -9.90993331e-01 -1.18642822e-02 1.01560820e+02] [ 9.82784377e-01 1.33804986e-01 -1.27401309e-01 9.62706592e+01] [ 1.27841348e-01 5.33334435e-03 9.91780291e-01 1.27862476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.56, Y:96.30, Z:12.79 [[ 1.31621565e-01 -9.91229585e-01 -1.18183580e-02 1.01564622e+02] [ 9.83034407e-01 1.32051173e-01 -1.27302172e-01 9.62968096e+01] [ 1.27746307e-01 5.13785851e-03 9.91793569e-01 1.27891677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.57, Y:96.32, Z:12.79 [[ 1.28155965e-01 -9.91684000e-01 -1.17852966e-02 1.01569809e+02] [ 9.83477650e-01 1.28609516e-01 -1.27402140e-01 9.63223535e+01] [ 1.27858365e-01 4.73676831e-03 9.91781126e-01 1.27928522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.57, Y:96.35, Z:12.80 [[ 1.26097993e-01 -9.91948280e-01 -1.17433804e-02 1.01573355e+02] [ 9.83757587e-01 1.26563723e-01 -1.27289571e-01 9.63498400e+01] [ 1.27750957e-01 4.49831990e-03 9.91796077e-01 1.27963786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.58, Y:96.38, Z:12.80 [[ 1.24237123e-01 -9.92183397e-01 -1.17150996e-02 1.01576857e+02] [ 9.83982187e-01 1.24714216e-01 -1.27379045e-01 9.63776881e+01] [ 1.27844413e-01 4.29775677e-03 9.91784924e-01 1.27989260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.58, Y:96.40, Z:12.80 [[ 1.22262963e-01 -9.92429084e-01 -1.16739574e-02 1.01580197e+02] [ 9.84235152e-01 1.22751307e-01 -1.27331388e-01 9.64040241e+01] [ 1.27800366e-01 4.07799356e-03 9.91791529e-01 1.28013625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.59, Y:96.43, Z:12.81 [[ 1.20169867e-01 -9.92683922e-01 -1.17402587e-02 1.01585992e+02] [ 9.84341689e-01 1.20679535e-01 -1.28483027e-01 9.64310602e+01] [ 1.28959844e-01 3.88336220e-03 9.91642213e-01 1.28052675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.59, Y:96.46, Z:12.81 [[ 1.19260852e-01 -9.92793557e-01 -1.17389517e-02 1.01589715e+02] [ 9.84395610e-01 1.19776340e-01 -1.28914357e-01 9.64575019e+01] [ 1.29391392e-01 3.81866363e-03 9.91586247e-01 1.28093515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.59, Y:96.48, Z:12.81 [[ 1.18290976e-01 -9.92910105e-01 -1.16947629e-02 1.01593286e+02] [ 9.84518175e-01 1.18809104e-01 -1.28873426e-01 9.64844669e+01] [ 1.29349172e-01 3.73085675e-03 9.91592090e-01 1.28128671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.60, Y:96.51, Z:12.82 [[ 1.16957389e-01 -9.93069006e-01 -1.16154564e-02 1.01597810e+02] [ 9.84733848e-01 1.17478089e-01 -1.28445113e-01 9.65111733e+01] [ 1.28919422e-01 3.58447203e-03 9.91648594e-01 1.28166485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.326875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:101.60, Y:96.54, Z:12.82 [[ 1.15929337e-01 -9.93190340e-01 -1.15471859e-02 1.01600847e+02] [ 9.84895881e-01 1.16450948e-01 -1.28137737e-01 9.65369551e+01] [ 1.28609844e-01 3.48214707e-03 9.91689156e-01 1.28193571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.60, Y:96.56, Z:12.82 [[ 1.15109506e-01 -9.93286023e-01 -1.15186223e-02 1.01604228e+02] [ 9.84972358e-01 1.15633766e-01 -1.28289849e-01 9.65641946e+01] [ 1.28760455e-01 3.42185655e-03 9.91669822e-01 1.28229982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.61, Y:96.59, Z:12.83 [[ 1.13773143e-01 -9.93440888e-01 -1.14399756e-02 1.01607365e+02] [ 9.85183770e-01 1.14299889e-01 -1.27861157e-01 9.65915327e+01] [ 1.28330089e-01 3.27668746e-03 9.91726097e-01 1.28255424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.61, Y:96.62, Z:12.83 [[ 1.11686177e-01 -9.93678079e-01 -1.14049196e-02 1.01611971e+02] [ 9.85414662e-01 1.12225588e-01 -1.27919358e-01 9.66186044e+01] [ 1.28390586e-01 3.04824918e-03 9.91718995e-01 1.28291727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.61, Y:96.64, Z:12.83 [[ 1.10261820e-01 -9.93838201e-01 -1.13120302e-02 1.01614955e+02] [ 9.85651399e-01 1.10802872e-01 -1.27334375e-01 9.66449030e+01] [ 1.27803172e-01 2.89040148e-03 9.91795339e-01 1.28332237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.62, Y:96.67, Z:12.84 [[ 1.09032891e-01 -9.93974786e-01 -1.12229419e-02 1.01618155e+02] [ 9.85857176e-01 1.09574175e-01 -1.26803507e-01 9.66730644e+01] [ 1.27269233e-01 2.76153514e-03 9.91864364e-01 1.28369930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.62, Y:96.70, Z:12.84 [[ 1.07628832e-01 -9.94129067e-01 -1.11100328e-02 1.01622058e+02] [ 9.86123401e-01 1.08169524e-01 -1.25936459e-01 9.66998396e+01] [ 1.26398861e-01 2.59853063e-03 9.91976096e-01 1.28415374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.63, Y:96.73, Z:12.85 [[ 1.07047609e-01 -9.94192372e-01 -1.10606061e-02 1.01625217e+02] [ 9.86203372e-01 1.07587064e-01 -1.25809111e-01 9.67270333e+01] [ 1.26268436e-01 2.55955741e-03 9.91992808e-01 1.28451641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.63, Y:96.75, Z:12.85 [[ 1.05988612e-01 -9.94305852e-01 -1.10583361e-02 1.01628241e+02] [ 9.86263709e-01 1.06535248e-01 -1.26230492e-01 9.67540214e+01] [ 1.26689819e-01 2.47255903e-03 9.91939301e-01 1.28487639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.63, Y:96.78, Z:12.85 [[ 1.05416249e-01 -9.94366802e-01 -1.10488744e-02 1.01631258e+02] [ 9.86280818e-01 1.05965471e-01 -1.26575935e-01 9.67811317e+01] [ 1.27033707e-01 2.44586735e-03 9.91895385e-01 1.28517272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.63, Y:96.81, Z:12.85 [[ 1.04831693e-01 -9.94427886e-01 -1.11128263e-02 1.01634381e+02] [ 9.86188886e-01 1.05390946e-01 -1.27766305e-01 9.68076719e+01] [ 1.28225568e-01 2.43461237e-03 9.91742041e-01 1.28542400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.64, Y:96.84, Z:12.86 [[ 1.04545004e-01 -9.94458504e-01 -1.10736582e-02 1.01636633e+02] [ 9.86219325e-01 1.05101602e-01 -1.27769700e-01 9.68351734e+01] [ 1.28225524e-01 2.43662812e-03 9.91742042e-01 1.28575849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.64, Y:96.86, Z:12.86 [[ 1.04062676e-01 -9.94508687e-01 -1.11099665e-02 1.01639242e+02] [ 9.86158358e-01 1.04625862e-01 -1.28627841e-01 9.68625965e+01] [ 1.29083895e-01 2.42917101e-03 9.91630701e-01 1.28600430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.64, Y:96.89, Z:12.86 [[ 1.03867592e-01 -9.94529234e-01 -1.10962033e-02 1.01642099e+02] [ 9.86138980e-01 1.04429885e-01 -1.28935302e-01 9.68899942e+01] [ 1.29388703e-01 2.44980075e-03 9.91590925e-01 1.28630636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.64, Y:96.92, Z:12.87 [[ 1.02854542e-01 -9.94634704e-01 -1.10792127e-02 1.01644988e+02] [ 9.86209857e-01 1.03422544e-01 -1.29204858e-01 9.69166108e+01] [ 1.29657476e-01 2.36287767e-03 9.91556028e-01 1.28664587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.65, Y:96.94, Z:12.87 [[ 1.01298058e-01 -9.94794029e-01 -1.11149822e-02 1.01649866e+02] [ 9.86252968e-01 1.01881927e-01 -1.30096720e-01 9.69436604e+01] [ 1.30551856e-01 2.21636081e-03 9.91439005e-01 1.28708913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.65, Y:96.97, Z:12.87 [[ 1.00227715e-01 -9.94902328e-01 -1.11248864e-02 1.01653230e+02] [ 9.86283673e-01 1.00820814e-01 -1.30689252e-01 9.69706808e+01] [ 1.31144661e-01 2.12639137e-03 9.91360962e-01 1.28747828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.66, Y:97.00, Z:12.88 [[ 9.97423804e-02 -9.94951665e-01 -1.10744141e-02 1.01656710e+02] [ 9.86348992e-01 1.00333314e-01 -1.30571406e-01 9.69978434e+01] [ 1.31023371e-01 2.10026571e-03 9.91377055e-01 1.28786903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.866875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:101.66, Y:97.02, Z:12.88 [[ 9.91621184e-02 -9.95010147e-01 -1.10309755e-02 1.01659421e+02] [ 9.86412638e-01 9.97524525e-02 -1.30535649e-01 9.70243661e+01] [ 1.30984662e-01 2.06309785e-03 9.91382248e-01 1.28817461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.66, Y:97.05, Z:12.89 [[ 9.99328030e-02 -9.94933842e-01 -1.09583508e-02 1.01662979e+02] [ 9.86385665e-01 1.00507806e-01 -1.30159523e-01 9.70504901e+01] [ 1.30601514e-01 2.19804581e-03 9.91432506e-01 1.28860010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.67, Y:97.08, Z:12.89 [[ 1.00551279e-01 -9.94872386e-01 -1.08800501e-02 1.01665341e+02] [ 9.86380234e-01 1.01111749e-01 -1.29732216e-01 9.70772594e+01] [ 1.30167100e-01 2.31287385e-03 9.91489373e-01 1.28889405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.67, Y:97.10, Z:12.89 [[ 1.01217704e-01 -9.94805486e-01 -1.08176027e-02 1.01667672e+02] [ 9.86348085e-01 1.01765016e-01 -1.29465582e-01 9.71037990e+01] [ 1.29893924e-01 2.43428724e-03 9.91524908e-01 1.28921371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.67, Y:97.13, Z:12.90 [[ 1.02424718e-01 -9.94681964e-01 -1.08151338e-02 1.01670025e+02] [ 9.86162865e-01 1.02960218e-01 -1.29930739e-01 9.71300565e+01] [ 1.30353291e-01 2.64263599e-03 9.91464087e-01 1.28954233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.67, Y:97.16, Z:12.90 [[ 1.04908347e-01 -9.94422674e-01 -1.08528850e-02 1.01672673e+02] [ 9.85773412e-01 1.05424557e-01 -1.30906238e-01 9.71576638e+01] [ 1.31320292e-01 3.03467164e-03 9.91335348e-01 1.28987064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.67, Y:97.18, Z:12.90 [[ 1.05873780e-01 -9.94321042e-01 -1.07892328e-02 1.01674975e+02] [ 9.85713974e-01 1.06374273e-01 -1.30585130e-01 9.71849062e+01] [ 1.30991240e-01 3.19044385e-03 9.91378392e-01 1.29022707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.68, Y:97.21, Z:12.91 [[ 1.06524015e-01 -9.94251632e-01 -1.07855013e-02 1.01677487e+02] [ 9.85604290e-01 1.07017386e-01 -1.30887214e-01 9.72118532e+01] [ 1.31289063e-01 3.31239520e-03 9.91338595e-01 1.29057378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.68, Y:97.24, Z:12.91 [[ 1.07072426e-01 -9.94192873e-01 -1.07716012e-02 1.01680108e+02] [ 9.85501516e-01 1.07558063e-01 -1.31217476e-01 9.72392161e+01] [ 1.31614052e-01 3.43434407e-03 9.91295086e-01 1.29096674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.68, Y:97.27, Z:12.91 [[ 1.08461835e-01 -9.94042528e-01 -1.07463165e-02 1.01683166e+02] [ 9.85324841e-01 1.08931283e-01 -1.31411310e-01 9.72661529e+01] [ 1.31799041e-01 3.66449926e-03 9.91269683e-01 1.29127489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.69, Y:97.29, Z:12.92 [[ 1.09001299e-01 -9.93983147e-01 -1.07805741e-02 1.01685957e+02] [ 9.85140959e-01 1.09467008e-01 -1.32341472e-01 9.72929452e+01] [ 1.32725310e-01 3.80500726e-03 9.91145556e-01 1.29160502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.69, Y:97.32, Z:12.92 [[ 1.09542440e-01 -9.93923408e-01 -1.08033650e-02 1.01688679e+02] [ 9.84972834e-01 1.10003195e-01 -1.33145837e-01 9.73198756e+01] [ 1.33525168e-01 3.94409881e-03 9.91037574e-01 1.29194422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.69, Y:97.35, Z:12.92 [[ 1.11436027e-01 -9.93712352e-01 -1.08523648e-02 1.01691670e+02] [ 9.84607244e-01 1.11881446e-01 -1.34279997e-01 9.73464159e+01] [ 1.34649869e-01 4.27831229e-03 9.90884004e-01 1.29225783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.69, Y:97.37, Z:12.93 [[ 1.12243959e-01 -9.93622382e-01 -1.07636240e-02 1.01693644e+02] [ 9.84595311e-01 1.12672606e-01 -1.33704741e-01 9.73725797e+01] [ 1.34064789e-01 4.40973575e-03 9.90962757e-01 1.29252890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.28687499999998 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:101.70, Y:97.40, Z:12.93 [[ 1.13250338e-01 -9.93508791e-01 -1.07071548e-02 1.01696373e+02] [ 9.84502206e-01 1.13662980e-01 -1.33551991e-01 9.73992082e+01] [ 1.33902084e-01 4.58359065e-03 9.90983967e-01 1.29293771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.70, Y:97.43, Z:12.93 [[ 1.14061054e-01 -9.93416892e-01 -1.06280564e-02 1.01699284e+02] [ 9.84472544e-01 1.14457963e-01 -1.33090892e-01 9.74257361e+01] [ 1.33431206e-01 4.71745774e-03 9.91046850e-01 1.29332725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.70, Y:97.45, Z:12.94 [[ 1.14436222e-01 -9.93374562e-01 -1.05513276e-02 1.01702632e+02] [ 9.84489059e-01 1.14821636e-01 -1.32654756e-01 9.74514019e+01] [ 1.32987381e-01 4.79284253e-03 9.91106142e-01 1.29372260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.71, Y:97.48, Z:12.94 [[ 1.14474939e-01 -9.93371050e-01 -1.04615793e-02 1.01705571e+02] [ 9.84567331e-01 1.14851047e-01 -1.32046989e-01 9.74788170e+01] [ 1.32373179e-01 4.81594179e-03 9.91188251e-01 1.29407975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.71, Y:97.51, Z:12.94 [[ 1.13595660e-01 -9.93472570e-01 -1.04057000e-02 1.01708297e+02] [ 9.84693751e-01 1.13973035e-01 -1.31864949e-01 9.75062123e+01] [ 1.32190179e-01 4.73285818e-03 9.91213073e-01 1.29441333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.71, Y:97.53, Z:12.95 [[ 1.12764350e-01 -9.93567910e-01 -1.03445278e-02 1.01711113e+02] [ 9.84823086e-01 1.13142164e-01 -1.31614364e-01 9.75325840e+01] [ 1.31938211e-01 4.65387842e-03 9.91247018e-01 1.29477889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.71, Y:97.56, Z:12.95 [[ 1.09975447e-01 -9.93880993e-01 -1.02943394e-02 1.01714684e+02] [ 9.85150817e-01 1.10371618e-01 -1.31514159e-01 9.75584466e+01] [ 1.31845625e-01 4.32185152e-03 9.91260840e-01 1.29513455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.72, Y:97.59, Z:12.95 [[ 1.07899092e-01 -9.94108998e-01 -1.02511944e-02 1.01717541e+02] [ 9.85398343e-01 1.08308383e-01 -1.31375034e-01 9.75853830e+01] [ 1.31711394e-01 4.07373699e-03 9.91279735e-01 1.29547690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.72, Y:97.61, Z:12.96 [[ 1.03692788e-01 -9.94555921e-01 -1.03114727e-02 1.01721297e+02] [ 9.85673502e-01 1.04142247e-01 -1.32673057e-01 9.76112581e+01] [ 1.33024634e-01 3.59349371e-03 9.91106217e-01 1.29578156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.72, Y:97.64, Z:12.96 [[ 1.01140088e-01 -9.94818870e-01 -1.03004119e-02 1.01724104e+02] [ 9.85882440e-01 1.01609508e-01 -1.33083891e-01 9.76367302e+01] [ 1.33440986e-01 3.30512127e-03 9.91051250e-01 1.29610306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.73, Y:97.66, Z:12.96 [[ 9.83556485e-02 -9.95098248e-01 -1.02782701e-02 1.01726972e+02] [ 9.86121448e-01 9.88461921e-02 -1.33393850e-01 9.76628666e+01] [ 1.33755954e-01 2.98441602e-03 9.91009807e-01 1.29640725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.73, Y:97.69, Z:12.97 [[ 9.58448499e-02 -9.95343524e-01 -1.02486186e-02 1.01730104e+02] [ 9.86343291e-01 9.63535758e-02 -1.33577323e-01 9.76894804e+01] [ 1.33942814e-01 2.69404223e-03 9.90985401e-01 1.29672429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.73, Y:97.71, Z:12.97 [[ 9.10399072e-02 -9.95794690e-01 -1.02308994e-02 1.01733788e+02] [ 9.86750944e-01 9.15889762e-02 -1.33918014e-01 9.77141685e+01] [ 1.34291885e-01 2.09653393e-03 9.90939602e-01 1.29698060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.74, Y:97.74, Z:12.97 [[ 8.87094129e-02 -9.96005322e-01 -1.01999342e-02 1.01736619e+02] [ 9.86937955e-01 8.92751465e-02 -1.34102281e-01 9.77410506e+01] [ 1.34477186e-01 1.82943244e-03 9.90915001e-01 1.29732985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.74, Y:97.77, Z:12.98 [[ 8.66916763e-02 -9.96183724e-01 -1.01262505e-02 1.01739466e+02] [ 9.87176064e-01 8.72665682e-02 -1.33671110e-01 9.77681828e+01] [ 1.34044668e-01 1.59178057e-03 9.90974012e-01 1.29763853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.74, Y:97.79, Z:12.98 [[ 8.49717743e-02 -9.96332401e-01 -1.00768975e-02 1.01742173e+02] [ 9.87339682e-01 8.55557457e-02 -1.33568585e-01 9.77940925e+01] [ 1.33940845e-01 1.40023887e-03 9.90988340e-01 1.29799348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.75, Y:97.82, Z:12.98 [[ 8.12429604e-02 -9.96643937e-01 -1.00221404e-02 1.01745742e+02] [ 9.87674437e-01 8.18533916e-02 -1.33413748e-01 9.78206421e+01] [ 1.33786350e-01 9.40315991e-04 9.91009752e-01 1.29843813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.75, Y:97.85, Z:12.99 [[ 7.91814171e-02 -9.96810334e-01 -9.97305334e-03 1.01748349e+02] [ 9.87854805e-01 7.98038986e-02 -1.33319998e-01 9.78467802e+01] [ 1.33690640e-01 7.04537666e-04 9.91022864e-01 1.29874398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.75, Y:97.87, Z:12.99 [[ 7.77510144e-02 -9.96923499e-01 -9.91552928e-03 1.01751354e+02] [ 9.87994454e-01 7.83787627e-02 -1.33130493e-01 9.78741487e+01] [ 1.33498084e-01 5.54542951e-04 9.91048916e-01 1.29907129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.75, Y:97.90, Z:12.99 [[ 7.58652300e-02 -9.97069608e-01 -9.83180226e-03 1.01754659e+02] [ 9.88219279e-01 7.64988999e-02 -1.32554046e-01 9.78996761e+01] [ 1.32917732e-01 3.40266631e-04 9.91127015e-01 1.29948678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.76, Y:97.93, Z:13.00 [[ 7.54732265e-02 -9.97099669e-01 -9.80013463e-03 1.01757464e+02] [ 9.88229517e-01 7.61061176e-02 -1.32703729e-01 9.79255459e+01] [ 1.33064694e-01 3.30796289e-04 9.91107299e-01 1.29987152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.76, Y:97.95, Z:13.00 [[ 7.50496349e-02 -9.97131669e-01 -9.79730420e-03 1.01759985e+02] [ 9.88188896e-01 7.56857547e-02 -1.33245536e-01 9.79522399e+01] [ 1.33604860e-01 3.18441633e-04 9.91034631e-01 1.30019642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.76, Y:97.98, Z:13.01 [[ 7.51581617e-02 -9.97124095e-01 -9.73596253e-03 1.01762341e+02] [ 9.88218065e-01 7.57852184e-02 -1.32972387e-01 9.79796171e+01] [ 1.33327814e-01 3.72706140e-04 9.91071922e-01 1.30051436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.77, Y:98.01, Z:13.01 [[ 7.66386878e-02 -9.97012182e-01 -9.65504685e-03 1.01765277e+02] [ 9.88177476e-01 7.72420731e-02 -1.32434660e-01 9.80051791e+01] [ 1.32784745e-01 6.08718717e-04 9.91144712e-01 1.30078655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.77, Y:98.03, Z:13.01 [[ 7.71968848e-02 -9.96969868e-01 -9.57722758e-03 1.01767460e+02] [ 9.88198664e-01 7.77853475e-02 -1.31957724e-01 9.80318361e+01] [ 1.32302843e-01 7.22521734e-04 9.91209078e-01 1.30109196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.77, Y:98.06, Z:13.01 [[ 7.81209074e-02 -9.96897928e-01 -9.57315272e-03 1.01769760e+02] [ 9.88060701e-01 7.87002718e-02 -1.32447419e-01 9.80584103e+01] [ 1.32789968e-01 8.88056587e-04 9.91143802e-01 1.30142068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.77, Y:98.08, Z:13.02 [[ 7.87725053e-02 -9.96847363e-01 -9.49875898e-03 1.01771771e+02] [ 9.88069564e-01 7.93366790e-02 -1.32000861e-01 9.80842474e+01] [ 1.32338310e-01 1.01260387e-03 9.91204089e-01 1.30174087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.77, Y:98.11, Z:13.02 [[ 8.03313268e-02 -9.96723241e-01 -9.46879419e-03 1.01774622e+02] [ 9.87919069e-01 8.08775650e-02 -1.32192029e-01 9.81114550e+01] [ 1.32524681e-01 1.26475878e-03 9.91178899e-01 1.30212898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.78, Y:98.14, Z:13.03 [[ 8.08909200e-02 -9.96678293e-01 -9.43608259e-03 1.01776967e+02] [ 9.87857814e-01 8.14277135e-02 -1.32312004e-01 9.81381114e+01] [ 1.32640861e-01 1.38133184e-03 9.91163202e-01 1.30254018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.78, Y:98.16, Z:13.03 [[ 8.15615852e-02 -9.96624230e-01 -9.37296098e-03 1.01779292e+02] [ 9.87845268e-01 8.20845502e-02 -1.31999441e-01 9.81635976e+01] [ 1.32323216e-01 1.50704848e-03 9.91205476e-01 1.30291199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.78, Y:98.19, Z:13.03 [[ 8.15238531e-02 -9.96627455e-01 -9.35826778e-03 1.01781669e+02] [ 9.87796323e-01 8.20446023e-02 -1.32389983e-01 9.81910797e+01] [ 1.32711287e-01 1.54887902e-03 9.91153528e-01 1.30319692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.78, Y:98.22, Z:13.03 [[ 8.14737858e-02 -9.96632059e-01 -9.30379161e-03 1.01783926e+02] [ 9.87831720e-01 8.19881164e-02 -1.32160664e-01 9.82182405e+01] [ 1.32478355e-01 1.57704917e-03 9.91184644e-01 1.30349119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.79, Y:98.24, Z:13.04 [[ 8.12824766e-02 -9.96648316e-01 -9.23539028e-03 1.01786126e+02] [ 9.87900922e-01 8.17900741e-02 -1.31765519e-01 9.82448268e+01] [ 1.32079246e-01 1.58657714e-03 9.91237891e-01 1.30382223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.79, Y:98.27, Z:13.04 [[ 8.10689283e-02 -9.96666010e-01 -9.20293946e-03 1.01788477e+02] [ 9.87903291e-01 8.15739270e-02 -1.31881698e-01 9.82703660e+01] [ 1.32192726e-01 1.59989375e-03 9.91222742e-01 1.30416792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.79, Y:98.30, Z:13.05 [[ 8.06077104e-02 -9.96703514e-01 -9.19249539e-03 1.01791233e+02] [ 9.87879431e-01 8.11146538e-02 -1.32342896e-01 9.82969583e+01] [ 1.32652275e-01 1.58678068e-03 9.91161367e-01 1.30452491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.79, Y:98.32, Z:13.05 [[ 8.02769361e-02 -9.96730107e-01 -9.20366757e-03 1.01793447e+02] [ 9.87803637e-01 8.07870853e-02 -1.33106808e-01 9.83234025e+01] [ 1.33415100e-01 1.59399038e-03 9.91058964e-01 1.30480877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.80, Y:98.35, Z:13.05 [[ 7.96008529e-02 -9.96784416e-01 -9.19415363e-03 1.01795293e+02] [ 9.87791511e-01 8.01150214e-02 -1.33602073e-01 9.83505909e+01] [ 1.33909054e-01 1.55293207e-03 9.90992408e-01 1.30513285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.80, Y:98.38, Z:13.05 [[ 7.72161059e-02 -9.96972557e-01 -9.13199589e-03 1.01797682e+02] [ 9.88021059e-01 7.77438465e-02 -1.33305222e-01 9.83778788e+01] [ 1.33611604e-01 1.27070586e-03 9.91032958e-01 1.30540202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.80, Y:98.40, Z:13.06 [[ 6.64517682e-02 -9.97748466e-01 -9.06431157e-03 1.01801751e+02] [ 9.88853294e-01 6.70669996e-02 -1.32932996e-01 9.84035841e+01] [ 1.33241609e-01 -1.29641684e-04 9.91083577e-01 1.30596822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.80, Y:98.43, Z:13.06 [[ 6.20193789e-02 -9.98034403e-01 -8.99591885e-03 1.01804296e+02] [ 9.89190758e-01 6.26647580e-02 -1.32569880e-01 9.84298196e+01] [ 1.32873028e-01 -6.76778149e-04 9.91132837e-01 1.30628452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.81, Y:98.46, Z:13.07 [[ 5.85422572e-02 -9.98244930e-01 -8.93668878e-03 1.01806731e+02] [ 9.89436356e-01 5.92103010e-02 -1.32324742e-01 9.84570625e+01] [ 1.32621647e-01 -1.09569567e-03 9.91166130e-01 1.30660024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.81, Y:98.48, Z:13.07 [[ 5.42671080e-02 -9.98485661e-01 -9.02579948e-03 1.01808738e+02] [ 9.89419150e-01 5.49880009e-02 -1.34261187e-01 9.84845612e+01] [ 1.34554180e-01 -1.64433252e-03 9.90904874e-01 1.30672933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.81, Y:98.51, Z:13.07 [[ 5.39837634e-02 -9.98501385e-01 -8.98539556e-03 1.01810449e+02] [ 9.89434647e-01 5.47017970e-02 -1.34263891e-01 9.85121152e+01] [ 1.34554199e-01 -1.64239154e-03 9.90904874e-01 1.30706382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.81, Y:98.54, Z:13.07 [[ 5.25176717e-02 -9.98579489e-01 -8.99435446e-03 1.01812114e+02] [ 9.89415714e-01 5.32515526e-02 -1.34984505e-01 9.85397358e+01] [ 1.35271721e-01 -1.81008371e-03 9.90806886e-01 1.30731257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.81, Y:98.57, Z:13.08 [[ 5.22851202e-02 -9.98592150e-01 -8.94338545e-03 1.01814218e+02] [ 9.89448698e-01 5.30139717e-02 -1.34836168e-01 9.85665817e+01] [ 1.35120463e-01 -1.79909585e-03 9.90827545e-01 1.30759568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.82, Y:98.59, Z:13.08 [[ 5.37966352e-02 -9.98512641e-01 -8.85593127e-03 1.01817245e+02] [ 9.89464134e-01 5.44987383e-02 -1.34129097e-01 9.85935712e+01] [ 1.34412236e-01 -1.54693225e-03 9.90924295e-01 1.30812504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.82, Y:98.62, Z:13.09 [[ 5.54101703e-02 -9.98425244e-01 -8.76040740e-03 1.01819255e+02] [ 9.89488775e-01 5.60837460e-02 -1.33291328e-01 9.86207971e+01] [ 1.33572743e-01 -1.28262960e-03 9.91038181e-01 1.30855482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.82, Y:98.65, Z:13.09 [[ 5.79084499e-02 -9.98283990e-01 -8.69979557e-03 1.01820799e+02] [ 9.89386762e-01 5.85512894e-02 -1.32987152e-01 9.86476382e+01] [ 1.33268329e-01 -9.06382741e-04 9.91079579e-01 1.30892786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.82, Y:98.67, Z:13.09 [[ 6.04349113e-02 -9.98134451e-01 -8.67403404e-03 1.01821566e+02] [ 9.89204499e-01 6.10519218e-02 -1.33218327e-01 9.86738296e+01] [ 1.33499368e-01 -5.29355708e-04 9.91048757e-01 1.30924312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.82, Y:98.70, Z:13.09 [[ 6.38030312e-02 -9.97925130e-01 -8.63765241e-03 1.01822165e+02] [ 9.88980197e-01 6.43850486e-02 -1.33314423e-01 9.87007262e+01] [ 1.33593949e-01 -3.66028719e-05 9.91036152e-01 1.30947432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.82, Y:98.73, Z:13.10 [[ 7.13918053e-02 -9.97411913e-01 -8.52563358e-03 1.01821194e+02] [ 9.88610855e-01 7.18919710e-02 -1.32212411e-01 9.87274300e+01] [ 1.32483159e-01 1.01034882e-03 9.91184742e-01 1.30963780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.82, Y:98.76, Z:13.10 [[ 7.27481748e-02 -9.97313996e-01 -8.51453912e-03 1.01821244e+02] [ 9.88446587e-01 7.32342975e-02 -1.32702988e-01 9.87552114e+01] [ 1.32970103e-01 1.23773303e-03 9.91119276e-01 1.30984239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.82, Y:98.78, Z:13.10 [[ 7.39813799e-02 -9.97223657e-01 -8.46961278e-03 1.01821999e+02] [ 9.88365617e-01 7.44506708e-02 -1.32629200e-01 9.87827574e+01] [ 1.32891544e-01 1.44101720e-03 9.91129538e-01 1.31016175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.82, Y:98.81, Z:13.11 [[ 7.47959515e-02 -9.97163538e-01 -8.39309892e-03 1.01822869e+02] [ 9.88381158e-01 7.52487569e-02 -1.32061766e-01 9.88083793e+01] [ 1.32318749e-01 1.58210465e-03 9.91205955e-01 1.31055862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.82, Y:98.84, Z:13.11 [[ 7.68753422e-02 -9.97005998e-01 -8.31996043e-03 1.01822830e+02] [ 9.88288693e-01 7.73011073e-02 -1.31567463e-01 9.88358669e+01] [ 1.31816692e-01 1.89177091e-03 9.91272304e-01 1.31098624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.82, Y:98.86, Z:13.11 [[ 7.83421190e-02 -9.96892245e-01 -8.26828194e-03 1.01823068e+02] [ 9.88198720e-01 7.87486391e-02 -1.31384706e-01 9.88631048e+01] [ 1.31627511e-01 2.12225066e-03 9.91296976e-01 1.31136711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.82, Y:98.89, Z:13.12 [[ 7.96341249e-02 -9.96790254e-01 -8.22162926e-03 1.01823225e+02] [ 9.88106380e-01 8.00234150e-02 -1.31308930e-01 9.88894210e+01] [ 1.31545385e-01 2.33282743e-03 9.91307404e-01 1.31169047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.82, Y:98.92, Z:13.12 [[ 8.28947128e-02 -9.96525207e-01 -8.12272613e-03 1.01821476e+02] [ 9.87958573e-01 8.32451281e-02 -1.30415136e-01 9.89172883e+01] [ 1.30638147e-01 2.78580831e-03 9.91426202e-01 1.31191777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.82, Y:98.94, Z:13.12 [[ 8.41456450e-02 -9.96420677e-01 -8.08360268e-03 1.01821850e+02] [ 9.87850707e-01 8.44801261e-02 -1.30438067e-01 9.89441950e+01] [ 1.30654091e-01 2.99040266e-03 9.91423505e-01 1.31216935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.82, Y:98.97, Z:13.12 [[ 8.45364089e-02 -9.96387935e-01 -8.04226129e-03 1.01822143e+02] [ 9.87818621e-01 8.48621433e-02 -1.30433081e-01 9.89702214e+01] [ 1.30644432e-01 3.08204884e-03 9.91424497e-01 1.31241765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.086875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:101.82, Y:99.00, Z:13.13 [[ 8.51211082e-02 -9.96338273e-01 -8.02766952e-03 1.01823600e+02] [ 9.87708438e-01 8.54384345e-02 -1.30890470e-01 9.89973409e+01] [ 1.31097056e-01 3.21254494e-03 9.91364333e-01 1.31279275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.82, Y:99.02, Z:13.13 [[ 8.52628044e-02 -9.96326466e-01 -7.98923663e-03 1.01824455e+02] [ 9.87690342e-01 8.55737062e-02 -1.30938648e-01 9.90246529e+01] [ 1.31141309e-01 3.27330449e-03 9.91358282e-01 1.31314747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.83, Y:99.05, Z:13.13 [[ 8.42878084e-02 -9.96409757e-01 -7.94738358e-03 1.01825372e+02] [ 9.87773456e-01 8.46016573e-02 -1.30943340e-01 9.90507324e+01] [ 1.31145583e-01 3.18671259e-03 9.91357998e-01 1.31341919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.83, Y:99.08, Z:13.14 [[ 8.12021130e-02 -9.96666610e-01 -7.86666877e-03 1.01827045e+02] [ 9.88112458e-01 8.15338693e-02 -1.30330342e-01 9.90774117e+01] [ 1.30537300e-01 2.80994574e-03 9.91439417e-01 1.31385188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.83, Y:99.10, Z:13.14 [[ 7.87103180e-02 -9.96866813e-01 -7.82573089e-03 1.01828429e+02] [ 9.88314461e-01 7.90581297e-02 -1.30323977e-01 9.91042319e+01] [ 1.30534335e-01 2.52355868e-03 9.91440578e-01 1.31419457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.83, Y:99.13, Z:13.14 [[ 7.53478044e-02 -9.97126420e-01 -7.84922308e-03 1.01829202e+02] [ 9.88432424e-01 7.57252354e-02 -1.31404077e-01 9.91314020e+01] [ 1.31620861e-01 2.14258208e-03 9.91297815e-01 1.31446818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.83, Y:99.16, Z:13.15 [[ 7.40413281e-02 -9.97224370e-01 -7.83816928e-03 1.01830101e+02] [ 9.88462746e-01 7.44276608e-02 -1.31916347e-01 9.91591144e+01] [ 1.32133573e-01 2.01952323e-03 9.91229863e-01 1.31470774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.83, Y:99.19, Z:13.15 [[ 7.26772474e-02 -9.97324713e-01 -7.83799378e-03 1.01830943e+02] [ 9.88469115e-01 7.30742104e-02 -1.32623406e-01 9.91861859e+01] [ 1.32841355e-01 1.89108931e-03 9.91135509e-01 1.31495117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.83, Y:99.21, Z:13.15 [[ 7.01848392e-02 -9.97503541e-01 -7.79582072e-03 1.01831674e+02] [ 9.88649719e-01 7.05983358e-02 -1.32618278e-01 9.92135032e+01] [ 1.32837574e-01 1.60045658e-03 9.91136528e-01 1.31525974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.83, Y:99.24, Z:13.16 [[ 6.92461770e-02 -9.97569680e-01 -7.72664963e-03 1.01833015e+02] [ 9.88781637e-01 6.96595679e-02 -1.32130311e-01 9.92395626e+01] [ 1.32347427e-01 1.50954964e-03 9.91202240e-01 1.31563638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.83, Y:99.27, Z:13.16 [[ 6.80783106e-02 -9.97650335e-01 -7.69102068e-03 1.01834418e+02] [ 9.88869438e-01 6.84973430e-02 -1.32080843e-01 9.92662204e+01] [ 1.32297312e-01 1.38642536e-03 9.91209110e-01 1.31612830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.84, Y:99.29, Z:13.17 [[ 6.73277991e-02 -9.97701654e-01 -7.64046989e-03 1.01835544e+02] [ 9.88942845e-01 6.77469678e-02 -1.31918149e-01 9.92920824e+01] [ 1.32132574e-01 1.32577057e-03 9.91231166e-01 1.31654357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.84, Y:99.32, Z:13.17 [[ 6.53917483e-02 -9.97830929e-01 -7.57334280e-03 1.01835469e+02] [ 9.89152101e-01 6.58197114e-02 -1.31323595e-01 9.93188509e+01] [ 1.31537220e-01 1.09629153e-03 9.91310626e-01 1.31686977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.84, Y:99.35, Z:13.17 [[ 6.49246395e-02 -9.97861960e-01 -7.50336003e-03 1.01836637e+02] [ 9.89252440e-01 6.53480316e-02 -1.30802313e-01 9.93452896e+01] [ 1.31012982e-01 1.06957578e-03 9.91380076e-01 1.31724206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.84, Y:99.37, Z:13.18 [[ 6.44884582e-02 -9.97890509e-01 -7.46798388e-03 1.01837175e+02] [ 9.89288702e-01 6.49110387e-02 -1.30745632e-01 9.93723258e+01] [ 1.30954580e-01 1.04359213e-03 9.91387820e-01 1.31753094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.84, Y:99.40, Z:13.18 [[ 6.45625657e-02 -9.97885977e-01 -7.43317315e-03 1.01836866e+02] [ 9.89268946e-01 6.49798219e-02 -1.30860903e-01 9.93983932e+01] [ 1.31067266e-01 1.09530826e-03 9.91372872e-01 1.31777227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.84, Y:99.43, Z:13.18 [[ 6.50441174e-02 -9.97854901e-01 -7.40673117e-03 1.01837710e+02] [ 9.89198925e-01 6.54533966e-02 -1.31153880e-01 9.94255322e+01] [ 1.31357337e-01 1.20405785e-03 9.91334353e-01 1.31807088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.84, Y:99.45, Z:13.18 [[ 6.53308428e-02 -9.97836431e-01 -7.37140540e-03 1.01838302e+02] [ 9.89169056e-01 6.57328841e-02 -1.31239349e-01 9.94525211e+01] [ 1.31439947e-01 1.28241114e-03 9.91323305e-01 1.31842748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.84, Y:99.48, Z:13.19 [[ 6.68812795e-02 -9.97733914e-01 -7.34379898e-03 1.01838160e+02] [ 9.89037808e-01 6.72658982e-02 -1.31451565e-01 9.94782844e+01] [ 1.31647672e-01 1.52835404e-03 9.91295392e-01 1.31872818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.65687499999999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:101.84, Y:99.51, Z:13.19 [[ 6.74087564e-02 -9.97698678e-01 -7.30803630e-03 1.01838352e+02] [ 9.88986199e-01 6.77838679e-02 -1.31573726e-01 9.95059101e+01] [ 1.31766299e-01 1.64167420e-03 9.91279450e-01 1.31898891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.84, Y:99.53, Z:13.19 [[ 6.82879512e-02 -9.97639232e-01 -7.26069769e-03 1.01838945e+02] [ 9.88967996e-01 6.86497126e-02 -1.31261266e-01 9.95335295e+01] [ 1.31449834e-01 1.78296530e-03 9.91321221e-01 1.31932167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.84, Y:99.56, Z:13.20 [[ 7.01047520e-02 -9.97513505e-01 -7.22015876e-03 1.01838504e+02] [ 9.88839172e-01 7.04453523e-02 -1.31280406e-01 9.95611291e+01] [ 1.31462605e-01 2.06380452e-03 9.91318982e-01 1.31966358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.84, Y:99.59, Z:13.20 [[ 7.09181953e-02 -9.97456216e-01 -7.19074723e-03 1.01839365e+02] [ 9.88753039e-01 7.12473747e-02 -1.31496160e-01 9.95875687e+01] [ 1.31673984e-01 2.21559720e-03 9.91290600e-01 1.32003216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.84, Y:99.62, Z:13.20 [[ 7.15327275e-02 -9.97412454e-01 -7.17392033e-03 1.01840347e+02] [ 9.88644930e-01 7.18531950e-02 -1.31978484e-01 9.96150243e+01] [ 1.32152453e-01 2.34832101e-03 9.91226621e-01 1.32045723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.84, Y:99.64, Z:13.21 [[ 7.21650787e-02 -9.97367254e-01 -7.12481879e-03 1.01841219e+02] [ 9.88620779e-01 7.24738947e-02 -1.31819914e-01 9.96408358e+01] [ 1.31989229e-01 2.46905057e-03 9.91248076e-01 1.32076781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.836875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:101.84, Y:99.67, Z:13.21 [[ 7.34072984e-02 -9.97276508e-01 -7.13694444e-03 1.01842064e+02] [ 9.88393409e-01 7.37040863e-02 -1.32838915e-01 9.96684322e+01] [ 1.33003152e-01 2.69723705e-03 9.91111945e-01 1.32108243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.84, Y:99.70, Z:13.21 [[ 7.41414371e-02 -9.97222421e-01 -7.10564474e-03 1.01843445e+02] [ 9.88314384e-01 7.44269947e-02 -1.33023682e-01 9.96951135e+01] [ 1.33183050e-01 2.83995603e-03 9.91087388e-01 1.32139934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.84, Y:99.72, Z:13.22 [[ 7.47303117e-02 -9.97178662e-01 -7.07789771e-03 1.01844730e+02] [ 9.88236578e-01 7.50061605e-02 -1.33276183e-01 9.97210013e+01] [ 1.33431052e-01 2.96513328e-03 9.91053663e-01 1.32170827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.85, Y:99.75, Z:13.22 [[ 7.61954148e-02 -9.97067918e-01 -7.05871307e-03 1.01846296e+02] [ 9.88064654e-01 7.64541089e-02 -1.33727369e-01 9.97480060e+01] [ 1.33874937e-01 3.21494746e-03 9.90993020e-01 1.32204824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.85, Y:99.78, Z:13.22 [[ 7.67277008e-02 -9.97027131e-01 -7.05404539e-03 1.01848194e+02] [ 9.87928595e-01 7.69786112e-02 -1.34429848e-01 9.97752073e+01] [ 1.34573217e-01 3.34560004e-03 9.90898005e-01 1.32241902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.85, Y:99.80, Z:13.23 [[ 7.73395860e-02 -9.96980339e-01 -6.98516115e-03 1.01850309e+02] [ 9.87953421e-01 7.75774940e-02 -1.33902093e-01 9.98024763e+01] [ 1.34039645e-01 3.45491855e-03 9.90969948e-01 1.32276163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.85, Y:99.83, Z:13.23 [[ 7.75928044e-02 -9.96960946e-01 -6.94467151e-03 1.01852208e+02] [ 9.87931439e-01 7.78229222e-02 -1.33921862e-01 9.98292555e+01] [ 1.34055321e-01 3.53051351e-03 9.90967561e-01 1.32313442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.85, Y:99.86, Z:13.24 [[ 7.77006058e-02 -9.96952726e-01 -6.91945634e-03 1.01853942e+02] [ 9.87880347e-01 7.79252211e-02 -1.34238890e-01 9.98566787e+01] [ 1.34369027e-01 3.59484813e-03 9.90924842e-01 1.32353024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.86, Y:99.88, Z:13.24 [[ 7.76330181e-02 -9.96958448e-01 -6.85327247e-03 1.01856775e+02] [ 9.87952162e-01 7.78511385e-02 -1.33752477e-01 9.98839472e+01] [ 1.33879196e-01 3.61290307e-03 9.90991073e-01 1.32399237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.86, Y:99.91, Z:13.24 [[ 7.70528699e-02 -9.97003760e-01 -6.80861731e-03 1.01858551e+02] [ 9.88004560e-01 7.72704345e-02 -1.33702167e-01 9.99098591e+01] [ 1.33827668e-01 3.57519070e-03 9.90998170e-01 1.32428582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.86, Y:99.94, Z:13.25 [[ 7.69296601e-02 -9.97013390e-01 -6.79172712e-03 1.01860884e+02] [ 9.87942516e-01 7.71441520e-02 -1.34232502e-01 9.99367362e+01] [ 1.34355544e-01 3.61662478e-03 9.90926591e-01 1.32460898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.86, Y:99.96, Z:13.25 [[ 7.69482867e-02 -9.97012493e-01 -6.71191115e-03 1.01863836e+02] [ 9.88043549e-01 7.71546691e-02 -1.33480721e-01 9.99638612e+01] [ 1.33599801e-01 3.63945226e-03 9.91028681e-01 1.32498049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.87, Y:99.99, Z:13.25 [[ 7.71341941e-02 -9.96998548e-01 -6.64912698e-03 1.01865785e+02] [ 9.88082354e-01 7.73319786e-02 -1.33090296e-01 9.99900270e+01] [ 1.33205022e-01 3.69592769e-03 9.91081612e-01 1.32528521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.87, Y:100.02, Z:13.26 [[ 7.75228289e-02 -9.96968702e-01 -6.60442914e-03 1.01867789e+02] [ 9.88051972e-01 7.77111661e-02 -1.33094988e-01 1.00017133e+02] [ 1.33204775e-01 3.79238072e-03 9.91081281e-01 1.32568141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.87, Y:100.04, Z:13.26 [[ 7.75722653e-02 -9.96965149e-01 -6.56020463e-03 1.01869898e+02] [ 9.88054294e-01 7.77544344e-02 -1.33052468e-01 1.00043823e+02] [ 1.33158759e-01 3.83934301e-03 9.91087284e-01 1.32601062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.87, Y:100.07, Z:13.25 [[ 7.66980538e-02 -9.97039959e-01 5.35983676e-03 1.01869210e+02] [ 9.88379558e-01 7.53220753e-02 -1.32031941e-01 1.00072240e+02] [ 1.31237408e-01 1.54241460e-02 9.91230971e-01 1.32525601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.88, Y:100.10, Z:13.27 [[ 7.72789543e-02 -9.96844131e-01 -1.81588047e-02 1.01878544e+02] [ 9.87898884e-01 7.90166731e-02 -1.33462207e-01 1.00096950e+02] [ 1.34475866e-01 -7.62524319e-03 9.90887530e-01 1.32733806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.88, Y:100.13, Z:13.27 [[ 7.65318413e-02 -9.97045904e-01 -6.50718021e-03 1.01878270e+02] [ 9.87993349e-01 7.67122164e-02 -1.34105849e-01 1.00125043e+02] [ 1.34208868e-01 3.83431682e-03 9.90945648e-01 1.32705819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.88, Y:100.15, Z:13.27 [[ 7.48931162e-02 -9.97170535e-01 -6.47658189e-03 1.01880448e+02] [ 9.88086244e-01 7.50833876e-02 -1.34343068e-01 1.00152138e+02] [ 1.34449233e-01 3.66194957e-03 9.90913717e-01 1.32735051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.88, Y:100.18, Z:13.28 [[ 7.24647113e-02 -9.97350618e-01 -6.37268042e-03 1.01884419e+02] [ 9.88442639e-01 7.26675784e-02 -1.33043499e-01 1.00179111e+02] [ 1.33154103e-01 3.34192968e-03 9.91089712e-01 1.32776654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.89, Y:100.21, Z:13.28 [[ 7.09966432e-02 -9.97456559e-01 -6.31574994e-03 1.01887048e+02] [ 9.88590557e-01 7.12060364e-02 -1.32734359e-01 1.00205100e+02] [ 1.32846477e-01 3.18000317e-03 9.91131526e-01 1.32820730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.89, Y:100.23, Z:13.29 [[ 7.07139356e-02 -9.97476916e-01 -6.27231229e-03 1.01888199e+02] [ 9.88610838e-01 7.09200647e-02 -1.32736412e-01 1.00232680e+02] [ 1.32846340e-01 3.18543821e-03 9.91131527e-01 1.32854164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.89, Y:100.26, Z:13.29 [[ 6.95580831e-02 -9.97558562e-01 -6.21198009e-03 1.01890866e+02] [ 9.88756198e-01 6.97679377e-02 -1.32263430e-01 1.00260004e+02] [ 1.32373914e-01 3.05785683e-03 9.91195135e-01 1.32893300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.89, Y:100.29, Z:13.29 [[ 6.79252229e-02 -9.97671336e-01 -6.17011856e-03 1.01892754e+02] [ 9.88873812e-01 6.81440382e-02 -1.32230757e-01 1.00287285e+02] [ 1.32343293e-01 2.88033501e-03 9.91199756e-01 1.32925216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.90, Y:100.31, Z:13.29 [[ 6.52285882e-02 -9.97851803e-01 -6.08369966e-03 1.01895827e+02] [ 9.89181011e-01 6.54622022e-02 -1.31284526e-01 1.00313843e+02] [ 1.31400753e-01 2.54562409e-03 9.91326062e-01 1.32948275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.90, Y:100.34, Z:13.30 [[ 6.34476720e-02 -9.97966871e-01 -6.04301181e-03 1.01897861e+02] [ 9.89286444e-01 6.36912315e-02 -1.31361178e-01 1.00340545e+02] [ 1.31478990e-01 2.35629125e-03 9.91316157e-01 1.32977401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.90, Y:100.37, Z:13.30 [[ 6.19691609e-02 -9.98059912e-01 -6.01948515e-03 1.01900372e+02] [ 9.89329361e-01 6.22216431e-02 -1.31741726e-01 1.00367769e+02] [ 1.31860678e-01 2.20867083e-03 9.91265799e-01 1.33008604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.90, Y:100.39, Z:13.30 [[ 6.03028974e-02 -9.98162231e-01 -5.97678313e-03 1.01902992e+02] [ 9.89434859e-01 6.05643645e-02 -1.31721742e-01 1.00393542e+02] [ 1.31841648e-01 2.02956511e-03 9.91268713e-01 1.33041825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.91, Y:100.42, Z:13.31 [[ 5.64919484e-02 -9.98385374e-01 -5.94178513e-03 1.01907693e+02] [ 9.89634381e-01 5.67818225e-02 -1.31907606e-01 1.00420409e+02] [ 1.32032009e-01 1.57152280e-03 9.91244207e-01 1.33085238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.91, Y:100.45, Z:13.31 [[ 5.45225562e-02 -9.98494835e-01 -5.94610026e-03 1.01910240e+02] [ 9.89609896e-01 5.48289057e-02 -1.32913672e-01 1.00447018e+02] [ 1.33039633e-01 1.36247349e-03 9.91109782e-01 1.33123367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.91, Y:100.47, Z:13.32 [[ 5.25036738e-02 -9.98603198e-01 -5.91759769e-03 1.01912637e+02] [ 9.89680162e-01 5.28238657e-02 -1.33202165e-01 1.00474402e+02] [ 1.33328698e-01 1.13707396e-03 9.91071221e-01 1.33155172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:100.50, Z:13.32 [[ 5.05646589e-02 -9.98703248e-01 -5.91930126e-03 1.01915666e+02] [ 9.89648535e-01 5.09015110e-02 -1.34182013e-01 1.00501312e+02] [ 1.34309313e-01 9.26839896e-04 9.90939024e-01 1.33182673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:100.53, Z:13.32 [[ 5.01999659e-02 -9.98722046e-01 -5.85134139e-03 1.01917461e+02] [ 9.89747541e-01 5.05315523e-02 -1.33590300e-01 1.00527534e+02] [ 1.33715255e-01 9.14877737e-04 9.91019371e-01 1.33214939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.826875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:101.92, Y:100.55, Z:13.32 [[ 5.00771183e-02 -9.98728589e-01 -5.78685389e-03 1.01918768e+02] [ 9.89818800e-01 5.04016456e-02 -1.33110547e-01 1.00554988e+02] [ 1.33232976e-01 9.37855828e-04 9.91084302e-01 1.33242409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:100.58, Z:13.33 [[ 5.07429692e-02 -9.98695201e-01 -5.74853924e-03 1.01920239e+02] [ 9.89778046e-01 5.10563939e-02 -1.33164050e-01 1.00582333e+02] [ 1.33283797e-01 1.06736134e-03 9.91077338e-01 1.33275090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:100.61, Z:13.33 [[ 5.37544228e-02 -9.98537887e-01 -5.70531065e-03 1.01920788e+02] [ 9.89626480e-01 5.40352687e-02 -1.33115060e-01 1.00609526e+02] [ 1.33228719e-01 1.50939673e-03 9.91084169e-01 1.33305304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:100.64, Z:13.33 [[ 5.46984011e-02 -9.98487086e-01 -5.62347742e-03 1.01920909e+02] [ 9.89704354e-01 5.49615594e-02 -1.32153390e-01 1.00636080e+02] [ 1.32262529e-01 1.66299905e-03 9.91213326e-01 1.33335332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:100.66, Z:13.34 [[ 5.48407474e-02 -9.98479582e-01 -5.56928012e-03 1.01921433e+02] [ 9.89763537e-01 5.50963545e-02 -1.31653073e-01 1.00662541e+02] [ 1.31759752e-01 1.70768253e-03 9.91280208e-01 1.33368634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.97687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:100.69, Z:13.34 [[ 5.48034578e-02 -9.98481803e-01 -5.53809505e-03 1.01921768e+02] [ 9.89728921e-01 5.50547943e-02 -1.31930406e-01 1.00689779e+02] [ 1.32035009e-01 1.74902963e-03 9.91243511e-01 1.33404267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.00687499999998 meters Centerline goodness : 0.999925 Centerline is valid? [True, True] Translation: X:101.92, Y:100.72, Z:13.34 [[ 5.53397993e-02 -9.98452232e-01 -5.53604922e-03 1.01921047e+02] [ 9.89569574e-01 5.55843548e-02 -1.32900108e-01 1.00716454e+02] [ 1.33002127e-01 1.87635943e-03 9.91113976e-01 1.33411025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.90, Y:100.74, Z:13.31 [[ 5.00660037e-02 -9.98403930e-01 2.61340201e-02 1.01903118e+02] [ 9.90952336e-01 4.63957538e-02 -1.25940073e-01 1.00739423e+02] [ 1.24526557e-01 3.22028845e-02 9.91693557e-01 1.33098578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.93, Y:100.77, Z:13.36 [[ 5.69309926e-02 -9.97809390e-01 -3.36939801e-02 1.01927321e+02] [ 9.89143745e-01 6.09518255e-02 -1.33714348e-01 1.00768198e+02] [ 1.35475142e-01 -2.57156991e-02 9.90446964e-01 1.33620351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.09687499999998 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:101.92, Y:100.80, Z:13.35 [[ 5.79351621e-02 -9.98304956e-01 -5.54356232e-03 1.01921263e+02] [ 9.89126156e-01 5.81526027e-02 -1.35084129e-01 1.00797349e+02] [ 1.35177528e-01 2.34283843e-03 9.90818625e-01 1.33485341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:100.82, Z:13.35 [[ 5.94341286e-02 -9.98217040e-01 -5.50684706e-03 1.01920542e+02] [ 9.89022502e-01 5.96325267e-02 -1.35197830e-01 1.00824724e+02] [ 1.35285165e-01 2.58896957e-03 9.90803321e-01 1.33522285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:100.85, Z:13.36 [[ 5.97474207e-02 -9.98198662e-01 -5.44758463e-03 1.01921197e+02] [ 9.89065062e-01 5.99361217e-02 -1.34751493e-01 1.00852015e+02] [ 1.34835267e-01 2.66303854e-03 9.90864450e-01 1.33558534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:100.88, Z:13.36 [[ 5.97311327e-02 -9.98199939e-01 -5.39206128e-03 1.01921585e+02] [ 9.89114370e-01 5.99134582e-02 -1.34399184e-01 1.00878996e+02] [ 1.34480315e-01 2.69445021e-03 9.90912602e-01 1.33593290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:100.91, Z:13.36 [[ 6.01190066e-02 -9.98176986e-01 -5.33001843e-03 1.01921859e+02] [ 9.89161857e-01 6.02909217e-02 -1.33879889e-01 1.00905955e+02] [ 1.33957176e-01 2.77647499e-03 9.90983232e-01 1.33624514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.246875 meters Centerline goodness : 0.999925 Centerline is valid? [True, True] Translation: X:101.92, Y:100.93, Z:13.36 [[ 6.05448537e-02 -9.98151552e-01 -5.27264469e-03 1.01921806e+02] [ 9.89191062e-01 6.07064110e-02 -1.33475743e-01 1.00931818e+02] [ 1.33549103e-01 2.86561631e-03 9.91038054e-01 1.33649569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:100.96, Z:13.37 [[ 6.19015344e-02 -9.98068689e-01 -5.20503436e-03 1.01920505e+02] [ 9.89194017e-01 6.20438763e-02 -1.32837321e-01 1.00959021e+02] [ 1.32903711e-01 3.07404512e-03 9.91124187e-01 1.33672329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:100.99, Z:13.37 [[ 6.23608182e-02 -9.98040371e-01 -5.15227842e-03 1.01920511e+02] [ 9.89208133e-01 6.24930782e-02 -1.32521261e-01 1.00985917e+02] [ 1.32583550e-01 3.16745854e-03 9.91166772e-01 1.33704234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:101.01, Z:13.37 [[ 6.23669448e-02 -9.98040235e-01 -5.10431304e-03 1.01920366e+02] [ 9.89232389e-01 6.24933786e-02 -1.32339936e-01 1.01012791e+02] [ 1.32399567e-01 3.20428570e-03 9.91191247e-01 1.33731771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:101.04, Z:13.38 [[ 6.20431622e-02 -9.98060625e-01 -5.06306778e-03 1.01920106e+02] [ 9.89254842e-01 6.21670383e-02 -1.32325797e-01 1.01039481e+02] [ 1.32383924e-01 3.20124658e-03 9.91193346e-01 1.33766884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:101.07, Z:13.38 [[ 6.14833532e-02 -9.98095490e-01 -5.01900615e-03 1.01920787e+02] [ 9.89301755e-01 6.16066187e-02 -1.32237144e-01 1.01066575e+02] [ 1.32294501e-01 3.16507143e-03 9.91205401e-01 1.33801114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:101.09, Z:13.38 [[ 6.10742428e-02 -9.98120816e-01 -4.97731372e-03 1.01921315e+02] [ 9.89327163e-01 6.11955947e-02 -1.32237909e-01 1.01092609e+02] [ 1.32294000e-01 3.15213852e-03 9.91205509e-01 1.33839339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:101.12, Z:13.39 [[ 6.00672326e-02 -9.98182203e-01 -4.92119042e-03 1.01921474e+02] [ 9.89434000e-01 6.01910784e-02 -1.31899181e-01 1.01119785e+02] [ 1.31955627e-01 3.05362564e-03 9.91250921e-01 1.33874177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:101.15, Z:13.39 [[ 5.84541621e-02 -9.98278225e-01 -4.86783621e-03 1.01921086e+02] [ 9.89574351e-01 5.85860655e-02 -1.31568529e-01 1.01145826e+02] [ 1.31627185e-01 2.87364225e-03 9.91295126e-01 1.33901869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.516875 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:101.92, Y:101.17, Z:13.39 [[ 5.67529841e-02 -9.98376625e-01 -4.81804785e-03 1.01921347e+02] [ 9.89733498e-01 5.68943993e-02 -1.31113043e-01 1.01172092e+02] [ 1.31174318e-01 2.67247311e-03 9.91355716e-01 1.33929352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:101.20, Z:13.40 [[ 5.50781443e-02 -9.98470615e-01 -4.77801272e-03 1.01922555e+02] [ 9.89817027e-01 5.52286009e-02 -1.31194717e-01 1.01198170e+02] [ 1.31257953e-01 2.49660322e-03 9.91345105e-01 1.33966900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:101.23, Z:13.40 [[ 5.27236614e-02 -9.98597896e-01 -4.73896302e-03 1.01923550e+02] [ 9.89938933e-01 5.28892974e-02 -1.31238834e-01 1.01225096e+02] [ 1.31305464e-01 2.22810786e-03 9.91339453e-01 1.34000442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:101.25, Z:13.40 [[ 4.81108058e-02 -9.98831071e-01 -4.67349674e-03 1.01924297e+02] [ 9.90263710e-01 4.83089927e-02 -1.30552768e-01 1.01251335e+02] [ 1.30625933e-01 1.65300464e-03 9.91430347e-01 1.34034329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:101.28, Z:13.41 [[ 4.54516365e-02 -9.98955836e-01 -4.62444607e-03 1.01924652e+02] [ 9.90452040e-01 4.56668708e-02 -1.30074184e-01 1.01278943e+02] [ 1.30149549e-01 1.33179246e-03 9.91493480e-01 1.34067005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.666875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:101.93, Y:101.31, Z:13.41 [[ 4.08163746e-02 -9.99156226e-01 -4.56714328e-03 1.01925392e+02] [ 9.90716682e-01 4.10639793e-02 -1.29592462e-01 1.01306071e+02] [ 1.29670661e-01 7.64749459e-04 9.91556824e-01 1.34107612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.93, Y:101.33, Z:13.41 [[ 3.86636468e-02 -9.99242056e-01 -4.52051166e-03 1.01926319e+02] [ 9.90828064e-01 3.89234884e-02 -1.29401353e-01 1.01332146e+02] [ 1.29479228e-01 5.24078377e-04 9.91581996e-01 1.34146473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.72687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.93, Y:101.36, Z:13.42 [[ 3.66892778e-02 -9.99316694e-01 -4.47685972e-03 1.01926959e+02] [ 9.90948564e-01 3.69601981e-02 -1.29053816e-01 1.01359156e+02] [ 1.29131099e-01 2.98553614e-04 9.91627486e-01 1.34181695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.93, Y:101.39, Z:13.42 [[ 3.50129554e-02 -9.99377003e-01 -4.43844880e-03 1.01927990e+02] [ 9.91010214e-01 3.52929530e-02 -1.29047133e-01 1.01386722e+02] [ 1.29123382e-01 1.19773404e-04 9.91628528e-01 1.34212746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.93, Y:101.41, Z:13.42 [[ 3.31443127e-02 -9.99440920e-01 -4.39330460e-03 1.01928547e+02] [ 9.91101872e-01 3.34341074e-02 -1.28838038e-01 1.01413336e+02] [ 1.28912894e-01 -8.39641798e-05 9.91655918e-01 1.34248846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.93, Y:101.44, Z:13.43 [[ 3.13892255e-02 -9.99497804e-01 -4.34245971e-03 1.01928457e+02] [ 9.91208564e-01 3.16870069e-02 -1.28458228e-01 1.01439996e+02] [ 1.28531316e-01 -2.72078974e-04 9.91705413e-01 1.34278831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.93, Y:101.47, Z:13.43 [[ 3.11160264e-02 -9.99506545e-01 -4.29641862e-03 1.01928707e+02] [ 9.91232844e-01 3.14101242e-02 -1.28338819e-01 1.01467114e+02] [ 1.28410440e-01 -2.65357173e-04 9.91721074e-01 1.34315458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.93, Y:101.49, Z:13.43 [[ 3.11058939e-02 -9.99507006e-01 -4.26247057e-03 1.01928928e+02] [ 9.91209413e-01 3.13957590e-02 -1.28523175e-01 1.01493342e+02] [ 1.28593638e-01 -2.27172690e-04 9.91697345e-01 1.34342833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.91, Y:101.52, Z:13.39 [[ 2.63668640e-02 -9.98592802e-01 4.60130778e-02 1.01909385e+02] [ 9.92904440e-01 2.08219655e-02 -1.17077834e-01 1.01522051e+02] [ 1.15954999e-01 4.87735646e-02 9.92056237e-01 1.33888454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.94, Y:101.54, Z:13.47 [[ 3.17559525e-02 -9.98124706e-01 -5.23319352e-02 1.01940398e+02] [ 9.91026046e-01 3.82454083e-02 -1.28080698e-01 1.01543883e+02] [ 1.29841965e-01 -4.77949863e-02 9.90382100e-01 1.34675893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.93, Y:101.57, Z:13.44 [[ 3.30456053e-02 -9.99444825e-01 -4.24614329e-03 1.01930506e+02] [ 9.90941101e-01 3.33171636e-02 -1.30098813e-01 1.01573812e+02] [ 1.30168055e-01 9.15161162e-05 9.91491941e-01 1.34441074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.93, Y:101.60, Z:13.45 [[ 3.27275869e-02 -9.99455494e-01 -4.19764079e-03 1.01930665e+02] [ 9.90977896e-01 3.29955566e-02 -1.29900356e-01 1.01600598e+02] [ 1.29968128e-01 9.15559673e-05 9.91518168e-01 1.34467417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.93, Y:101.63, Z:13.45 [[ 3.31800925e-02 -9.99440703e-01 -4.16678054e-03 1.01931606e+02] [ 9.90920691e-01 3.34401524e-02 -1.30222653e-01 1.01626337e+02] [ 1.30289158e-01 1.91850634e-04 9.91476020e-01 1.34504125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.93, Y:101.65, Z:13.45 [[ 3.29008845e-02 -9.99450056e-01 -4.13731267e-03 1.01932583e+02] [ 9.90874490e-01 3.31594035e-02 -1.30645318e-01 1.01653209e+02] [ 1.30710661e-01 1.98788945e-04 9.91420538e-01 1.34538781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.93, Y:101.68, Z:13.46 [[ 3.32967865e-02 -9.99437022e-01 -4.11851946e-03 1.01933908e+02] [ 9.90774152e-01 3.35492655e-02 -1.31305087e-01 1.01679398e+02] [ 1.31369339e-01 2.91514827e-04 9.91333451e-01 1.34577128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.116875 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:101.93, Y:101.71, Z:13.46 [[ 3.31376165e-02 -9.99442449e-01 -4.08516543e-03 1.01934790e+02] [ 9.90744876e-01 3.33870120e-02 -1.31567083e-01 1.01706166e+02] [ 1.31630119e-01 3.12462820e-04 9.91298852e-01 1.34609847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:101.73, Z:13.42 [[ 2.95218707e-02 -9.98882320e-01 3.69130143e-02 1.01920461e+02] [ 9.92108767e-01 2.47797305e-02 -1.22907113e-01 1.01734746e+02] [ 1.21855048e-01 4.02501730e-02 9.91731451e-01 1.34242258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.95, Y:101.76, Z:13.49 [[ 3.30978611e-02 -9.98523007e-01 -4.30852166e-02 1.01945366e+02] [ 9.90751778e-01 3.84549624e-02 -1.30123518e-01 1.01757212e+02] [ 1.31588167e-01 -3.83799449e-02 9.90561222e-01 1.34880443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.94, Y:101.79, Z:13.47 [[ 3.29238388e-02 -9.99449945e-01 -3.97855224e-03 1.01938428e+02] [ 9.90778577e-01 3.31611381e-02 -1.31370282e-01 1.01786979e+02] [ 1.31429955e-01 3.83349673e-04 9.91325386e-01 1.34705076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.94, Y:101.81, Z:13.47 [[ 3.32391316e-02 -9.99439716e-01 -3.92618386e-03 1.01940045e+02] [ 9.90823299e-01 3.34670095e-02 -1.30954764e-01 1.01813473e+02] [ 1.31012790e-01 4.62668206e-04 9.91380570e-01 1.34739623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.94, Y:101.84, Z:13.48 [[ 3.29620099e-02 -9.99449062e-01 -3.88304093e-03 1.01941348e+02] [ 9.90882960e-01 3.31868023e-02 -1.30574103e-01 1.01840170e+02] [ 1.30631031e-01 4.56345787e-04 9.91430948e-01 1.34772530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.94, Y:101.87, Z:13.48 [[ 3.32277875e-02 -9.99440429e-01 -3.83978282e-03 1.01942874e+02] [ 9.90887833e-01 3.34447064e-02 -1.30471275e-01 1.01866491e+02] [ 1.30526688e-01 5.30477724e-04 9.91444654e-01 1.34807989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.94, Y:101.89, Z:13.48 [[ 3.42242327e-02 -9.99406879e-01 -3.81989872e-03 1.01944273e+02] [ 9.90753143e-01 3.44294942e-02 -1.31235739e-01 1.01893237e+02] [ 1.31289418e-01 7.06865832e-04 9.91343830e-01 1.34849128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.94, Y:101.92, Z:13.49 [[ 3.39339214e-02 -9.99416933e-01 -3.77935510e-03 1.01944939e+02] [ 9.90763131e-01 3.41363729e-02 -1.31236908e-01 1.01920832e+02] [ 1.31289401e-01 7.08937209e-04 9.91343831e-01 1.34882911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.95, Y:101.95, Z:13.49 [[ 3.53889743e-02 -9.99366587e-01 -3.74757435e-03 1.01945915e+02] [ 9.90679631e-01 3.55744195e-02 -1.31485091e-01 1.01947102e+02] [ 1.31535124e-01 9.40476922e-04 9.91311065e-01 1.34915239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.95, Y:101.97, Z:13.49 [[ 3.65993301e-02 -9.99323103e-01 -3.71814386e-03 1.01946554e+02] [ 9.90573051e-01 3.67698397e-02 -1.31958362e-01 1.01974257e+02] [ 1.32005755e-01 1.14649454e-03 9.91248287e-01 1.34942000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.95, Y:102.00, Z:13.50 [[ 3.79766671e-02 -9.99271816e-01 -3.68931481e-03 1.01947446e+02] [ 9.90466763e-01 3.81307449e-02 -1.32369323e-01 1.02000190e+02] [ 1.32413610e-01 1.37280203e-03 9.91193599e-01 1.34968039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.47687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.95, Y:102.03, Z:13.50 [[ 3.99401328e-02 -9.99195270e-01 -3.68763333e-03 1.01949006e+02] [ 9.90238364e-01 4.00747966e-02 -1.33499039e-01 1.02026243e+02] [ 1.33539389e-01 1.68033333e-03 9.91042082e-01 1.35000685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.95, Y:102.05, Z:13.50 [[ 4.04321838e-02 -9.99175658e-01 -3.63901282e-03 1.01949858e+02] [ 9.90247418e-01 4.05563284e-02 -1.33286289e-01 1.02053276e+02] [ 1.33324001e-01 1.78553270e-03 9.91070897e-01 1.35036210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.95, Y:102.08, Z:13.51 [[ 4.08492185e-02 -9.99158852e-01 -3.59583717e-03 1.01950815e+02] [ 9.90241493e-01 4.09640336e-02 -1.33205610e-01 1.02080737e+02] [ 1.33240864e-01 1.88059790e-03 9.91081902e-01 1.35071718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.95, Y:102.11, Z:13.51 [[ 4.13894320e-02 -9.99136801e-01 -3.54510041e-03 1.01951924e+02] [ 9.90269288e-01 4.14934125e-02 -1.32834611e-01 1.02107463e+02] [ 1.32867046e-01 1.98734503e-03 9.91131877e-01 1.35109307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.95, Y:102.13, Z:13.52 [[ 4.17790758e-02 -9.99120749e-01 -3.49821944e-03 1.01954330e+02] [ 9.90283961e-01 4.18738499e-02 -1.32605644e-01 1.02133572e+02] [ 1.32635534e-01 2.07591064e-03 9.91162704e-01 1.35154438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.95, Y:102.16, Z:13.49 [[ 3.90953428e-02 -9.98922225e-01 2.50188456e-02 1.01945619e+02] [ 9.91284385e-01 3.56197887e-02 -1.26832561e-01 1.02162274e+02] [ 1.25804698e-01 2.97593534e-02 9.91608571e-01 1.34914259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.95, Y:102.19, Z:13.51 [[ 3.84045838e-02 -9.99262254e-01 1.91449890e-04 1.01952949e+02] [ 9.91254679e-01 3.80726214e-02 -1.26351243e-01 1.02187926e+02] [ 1.26250739e-01 5.04224251e-03 9.91985548e-01 1.35079874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.96, Y:102.21, Z:13.54 [[ 3.94983610e-02 -9.98672798e-01 -3.30533275e-02 1.01964281e+02] [ 9.90165303e-01 4.35620772e-02 -1.32947428e-01 1.02212482e+02] [ 1.34210852e-01 -2.74770526e-02 9.90571784e-01 1.35421627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.96, Y:102.24, Z:13.53 [[ 3.77978252e-02 -9.99279494e-01 -3.43756547e-03 1.01960832e+02] [ 9.90241743e-01 3.79172912e-02 -1.34102832e-01 1.02241375e+02] [ 1.34136554e-01 1.66477459e-03 9.90961459e-01 1.35288869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.96, Y:102.27, Z:13.53 [[ 3.62060958e-02 -9.99338580e-01 -3.39433766e-03 1.01962462e+02] [ 9.90308356e-01 3.63342396e-02 -1.34049181e-01 1.02267857e+02] [ 1.34083849e-01 1.49195654e-03 9.90968867e-01 1.35326282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.96, Y:102.29, Z:13.54 [[ 3.45345259e-02 -9.99397873e-01 -3.35525152e-03 1.01964079e+02] [ 9.90343770e-01 3.46722971e-02 -1.34227601e-01 1.02294936e+02] [ 1.34263113e-01 1.31263412e-03 9.90944849e-01 1.35360448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:102.32, Z:13.54 [[ 3.17111044e-02 -9.99491580e-01 -3.31463138e-03 1.01967094e+02] [ 9.90435169e-01 3.18689787e-02 -1.34248072e-01 1.02322248e+02] [ 1.34285451e-01 9.74227121e-04 9.90942212e-01 1.35405067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:102.35, Z:13.54 [[ 3.05994534e-02 -9.99526327e-01 -3.28544277e-03 1.01968592e+02] [ 9.90402026e-01 3.07630444e-02 -1.34749626e-01 1.02349597e+02] [ 1.34786869e-01 8.69355733e-04 9.90874232e-01 1.35442638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:102.38, Z:13.55 [[ 2.93208410e-02 -9.99564804e-01 -3.23902802e-03 1.01969183e+02] [ 9.90465757e-01 2.94899850e-02 -1.34565694e-01 1.02377232e+02] [ 1.34602650e-01 7.37432976e-04 9.90899381e-01 1.35472317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:102.40, Z:13.55 [[ 2.89156201e-02 -9.99576724e-01 -3.20319271e-03 1.01969967e+02] [ 9.90440663e-01 2.90834303e-02 -1.34838599e-01 1.02404691e+02] [ 1.34874685e-01 7.26369392e-04 9.90862398e-01 1.35506049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:102.43, Z:13.55 [[ 2.74417345e-02 -9.99618380e-01 -3.16958011e-03 1.01970998e+02] [ 9.90430083e-01 2.76182618e-02 -1.35223822e-01 1.02430312e+02] [ 1.35259757e-01 5.71528743e-04 9.90810008e-01 1.35540132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:102.46, Z:13.56 [[ 2.63537989e-02 -9.99647756e-01 -3.13709951e-03 1.01971827e+02] [ 9.90388688e-01 2.65356900e-02 -1.35742786e-01 1.02457115e+02] [ 1.35778216e-01 4.70390205e-04 9.90739146e-01 1.35576193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:102.48, Z:13.56 [[ 2.51254699e-02 -9.99679512e-01 -3.09581357e-03 1.01972809e+02] [ 9.90415427e-01 2.53131188e-02 -1.35781177e-01 1.02484503e+02] [ 1.35816026e-01 3.45424360e-04 9.90734015e-01 1.35610252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:102.51, Z:13.56 [[ 2.35607523e-02 -9.99717771e-01 -3.04463063e-03 1.01973446e+02] [ 9.90511252e-01 2.37560249e-02 -1.35362884e-01 1.02511394e+02] [ 1.35397009e-01 1.73510475e-04 9.90791411e-01 1.35644432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:102.54, Z:13.57 [[ 2.03580298e-02 -9.99788327e-01 -2.97529779e-03 1.01974034e+02] [ 9.90751157e-01 2.05731513e-02 -1.34122666e-01 1.02538022e+02] [ 1.34155487e-01 -2.17306498e-04 9.90960271e-01 1.35680214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:102.56, Z:13.57 [[ 1.89556006e-02 -9.99816022e-01 -2.93378790e-03 1.01974973e+02] [ 9.90777649e-01 1.91778337e-02 -1.34133742e-01 1.02564939e+02] [ 1.34165328e-01 -3.64145833e-04 9.90958895e-01 1.35724881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:102.59, Z:13.58 [[ 1.72522137e-02 -9.99846973e-01 -2.89698596e-03 1.01975199e+02] [ 9.90775151e-01 1.74850468e-02 -1.34383304e-01 1.02591190e+02] [ 1.34413394e-01 -5.51852231e-04 9.90925191e-01 1.35761212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:102.62, Z:13.55 [[ 1.17703187e-02 -9.99582877e-01 2.63729212e-02 1.01965995e+02] [ 9.91786962e-01 8.31112585e-03 -1.27630514e-01 1.02621072e+02] [ 1.27358088e-01 2.76585712e-02 9.91471089e-01 1.35507734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:102.64, Z:13.60 [[ 1.16194754e-02 -9.99446450e-01 -3.11734069e-02 1.01981734e+02] [ 9.90979577e-01 1.56723133e-02 -1.33093411e-01 1.02643805e+02] [ 1.33508297e-01 -2.93457340e-02 9.90613125e-01 1.35989137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:102.67, Z:13.59 [[ 9.55536449e-03 -9.99950454e-01 -2.78993792e-03 1.01976608e+02] [ 9.90931723e-01 9.84306810e-03 -1.34005355e-01 1.02673323e+02] [ 1.34026177e-01 -1.48416797e-03 9.90976680e-01 1.35864041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.22687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:102.70, Z:13.59 [[ 7.13439213e-03 -9.99970771e-01 -2.74900173e-03 1.01976860e+02] [ 9.90949942e-01 7.43847970e-03 -1.34025678e-01 1.02700307e+02] [ 1.34042209e-01 -1.76793136e-03 9.90974046e-01 1.35898454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:102.73, Z:13.59 [[ 5.01272248e-03 -9.99983768e-01 -2.70870163e-03 1.01977127e+02] [ 9.90957433e-01 5.33063864e-03 -1.34070692e-01 1.02727882e+02] [ 1.34082955e-01 -2.01214884e-03 9.90968068e-01 1.35934486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:102.75, Z:13.60 [[ 3.17991099e-03 -9.99991372e-01 -2.67296061e-03 1.01976394e+02] [ 9.90928259e-01 3.51019568e-03 -1.34346061e-01 1.02754416e+02] [ 1.34354284e-01 -2.22150368e-03 9.90930871e-01 1.35972863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:102.78, Z:13.60 [[ 2.53861141e-03 -9.99993289e-01 -2.64150098e-03 1.01976226e+02] [ 9.90849576e-01 2.87184611e-03 -1.34940247e-01 1.02781092e+02] [ 1.34946927e-01 -2.27476927e-03 9.90850217e-01 1.36010721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:102.81, Z:13.60 [[ 1.44741957e-03 -9.99995568e-01 -2.60189441e-03 1.01975724e+02] [ 9.90836089e-01 1.78557006e-03 -1.35057978e-01 1.02807708e+02] [ 1.35062025e-01 -2.38256532e-03 9.90834281e-01 1.36040984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:102.83, Z:13.61 [[ 1.01514125e-03 -9.99996161e-01 -2.57813667e-03 1.01975546e+02] [ 9.90690740e-01 1.35664512e-03 -1.36125008e-01 1.02834924e+02] [ 1.36127983e-01 -2.41595001e-03 9.90688314e-01 1.36077749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:102.86, Z:13.61 [[ 3.60183852e-04 -9.99996660e-01 -2.55928884e-03 1.01974462e+02] [ 9.90519184e-01 7.08347672e-04 -1.37372649e-01 1.02860972e+02] [ 1.37374003e-01 -2.48554528e-03 9.90516131e-01 1.36099053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:102.89, Z:13.61 [[ 2.05953566e-04 -9.99996777e-01 -2.53037674e-03 1.01974371e+02] [ 9.90404417e-01 5.53673006e-04 -1.38198353e-01 1.02888006e+02] [ 1.38199308e-01 -2.47763386e-03 9.90401339e-01 1.36132232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:102.91, Z:13.62 [[-1.28098200e-04 -9.99996894e-01 -2.48917980e-03 1.01974044e+02] [ 9.90398710e-01 2.17237056e-04 -1.38240183e-01 1.02913697e+02] [ 1.38240294e-01 -2.48298878e-03 9.90395606e-01 1.36162280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.496875 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:101.98, Y:102.94, Z:13.62 [[-1.74079947e-03 -9.99916006e-01 -1.28432860e-02 1.01975205e+02] [ 9.90882919e-01 5.39395741e-06 -1.34725799e-01 1.02939723e+02] [ 1.34714552e-01 -1.29607233e-02 9.90799682e-01 1.36247598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:102.97, Z:13.62 [[ 9.55128027e-04 -9.99976352e-01 6.81054359e-03 1.01970368e+02] [ 9.90696586e-01 1.94010098e-05 -1.36089215e-01 1.02966018e+02] [ 1.36085864e-01 6.87716490e-03 9.90673176e-01 1.36184609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:102.99, Z:13.63 [[ 1.45080773e-03 -9.99996450e-01 -2.23480977e-03 1.01971945e+02] [ 9.90830313e-01 1.73943537e-03 -1.35100947e-01 1.02992296e+02] [ 1.35104355e-01 -2.01831176e-03 9.90829319e-01 1.36271802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:103.02, Z:13.63 [[ 2.43601498e-03 -9.99994663e-01 -2.17701036e-03 1.01971406e+02] [ 9.90970901e-01 2.70586223e-03 -1.34049808e-01 1.03019407e+02] [ 1.34054984e-01 -1.83080657e-03 9.90972204e-01 1.36309541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:103.05, Z:13.63 [[ 5.76850852e-03 -9.99981108e-01 -2.12329849e-03 1.01969973e+02] [ 9.91066537e-01 5.99998324e-03 -1.33233329e-01 1.03045818e+02] [ 1.33243552e-01 -1.33577248e-03 9.91082424e-01 1.36336485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:103.07, Z:13.64 [[ 7.45811919e-03 -9.99970026e-01 -2.07915235e-03 1.01969418e+02] [ 9.91072152e-01 7.66851156e-03 -1.33105914e-01 1.03073346e+02] [ 1.33117868e-01 -1.06787022e-03 9.91099638e-01 1.36364724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:103.10, Z:13.64 [[ 9.75359904e-03 -9.99950335e-01 -2.04826848e-03 1.01969775e+02] [ 9.90971705e-01 9.93989234e-03 -1.33702200e-01 1.03100057e+02] [ 1.33715919e-01 -7.25698461e-04 9.91019438e-01 1.36403366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:103.13, Z:13.64 [[ 1.19873010e-02 -9.99926114e-01 -2.01753672e-03 1.01969464e+02] [ 9.90856429e-01 1.21496930e-02 -1.34372324e-01 1.03126944e+02] [ 1.34386909e-01 -3.88327731e-04 9.90928861e-01 1.36436489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.95, Y:103.15, Z:13.61 [[ 1.40606675e-02 -9.99390022e-01 3.19668775e-02 1.01954546e+02] [ 9.92003128e-01 9.93215165e-03 -1.25821888e-01 1.03153806e+02] [ 1.25427639e-01 3.34803822e-02 9.91537680e-01 1.36111238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:103.18, Z:13.67 [[ 2.04028754e-02 -9.99226533e-01 -3.36163378e-02 1.01974712e+02] [ 9.90438635e-01 2.47889947e-02 -1.35708572e-01 1.03180071e+02] [ 1.36436921e-01 -3.05260747e-02 9.90178330e-01 1.36654287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.796875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:101.97, Y:103.21, Z:13.65 [[ 2.27903194e-02 -9.99738355e-01 -1.95543200e-03 1.01967815e+02] [ 9.90382344e-01 2.28439426e-02 -1.36458666e-01 1.03208079e+02] [ 1.36467632e-01 1.17331127e-03 9.90643835e-01 1.36511978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:103.24, Z:13.65 [[ 2.51655267e-02 -9.99681455e-01 -1.91978606e-03 1.01967981e+02] [ 9.90237412e-01 2.51910653e-02 -1.37095873e-01 1.03235388e+02] [ 1.37100563e-01 1.54904586e-03 9.90555923e-01 1.36543514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.856875 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:101.97, Y:103.26, Z:13.66 [[ 2.85562803e-02 -9.99590422e-01 -1.87802794e-03 1.01968015e+02] [ 9.90163864e-01 2.85443212e-02 -1.36969867e-01 1.03261680e+02] [ 1.36967374e-01 2.05179451e-03 9.90573434e-01 1.36574856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:103.29, Z:13.66 [[ 2.98515399e-02 -9.99552675e-01 -1.82628328e-03 1.01968686e+02] [ 9.90205649e-01 2.98215983e-02 -1.36394446e-01 1.03288194e+02] [ 1.36387896e-01 2.26318822e-03 9.90652926e-01 1.36613033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.916875 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:101.97, Y:103.31, Z:13.67 [[ 3.06391402e-02 -9.99508879e-01 -6.57594822e-03 1.01970239e+02] [ 9.90353682e-01 3.12466411e-02 -1.34993450e-01 1.03313822e+02] [ 1.35132628e-01 -2.37643131e-03 9.90824669e-01 1.36674015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:103.34, Z:13.67 [[ 3.09878467e-02 -9.99515218e-01 3.01379459e-03 1.01967986e+02] [ 9.90255504e-01 3.02909104e-02 -1.35928280e-01 1.03340132e+02] [ 1.35771094e-01 7.19655139e-03 9.90714096e-01 1.36651734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.97687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:103.37, Z:13.67 [[ 3.16357605e-02 -9.99498088e-01 -1.65874349e-03 1.01968979e+02] [ 9.90295118e-01 3.15690910e-02 -1.35347600e-01 1.03366694e+02] [ 1.35332032e-01 2.63917866e-03 9.90796788e-01 1.36696376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:103.39, Z:13.67 [[ 3.15481343e-02 -9.99500927e-01 -1.61627212e-03 1.01969754e+02] [ 9.90305706e-01 3.14766747e-02 -1.35291637e-01 1.03393824e+02] [ 1.35274992e-01 2.66759524e-03 9.90804502e-01 1.36725903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:103.42, Z:13.68 [[ 3.08089618e-02 -9.99524058e-01 -1.56996074e-03 1.01970353e+02] [ 9.90373606e-01 3.07389005e-02 -1.34963848e-01 1.03420382e+02] [ 1.34947872e-01 2.60324836e-03 9.90849280e-01 1.36757861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.06687499999998 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:101.97, Y:103.45, Z:13.68 [[ 2.99000066e-02 -9.99551727e-01 -1.52770084e-03 1.01971354e+02] [ 9.90379442e-01 2.98321544e-02 -1.35124399e-01 1.03447173e+02] [ 1.35109401e-01 2.52721690e-03 9.90827464e-01 1.36797033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:103.47, Z:13.68 [[ 2.84498999e-02 -9.99594119e-01 -1.48334551e-03 1.01971924e+02] [ 9.90437937e-01 2.83896441e-02 -1.35006372e-01 1.03473419e+02] [ 1.34993687e-01 2.37175611e-03 9.90843620e-01 1.36821872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:103.50, Z:13.69 [[ 2.58662181e-02 -9.99664372e-01 -1.44326704e-03 1.01973584e+02] [ 9.90450644e-01 2.58233379e-02 -1.35427756e-01 1.03500544e+02] [ 1.35419573e-01 2.07351912e-03 9.90786173e-01 1.36857053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.15687499999999 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:101.98, Y:103.53, Z:13.69 [[ 2.46490244e-02 -9.99685137e-01 -4.69590240e-03 1.01975316e+02] [ 9.90496299e-01 2.50577195e-02 -1.35237537e-01 1.03526347e+02] [ 1.35312625e-01 -1.31780060e-03 9.90802078e-01 1.36899294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:103.55, Z:13.69 [[ 2.22117605e-02 -9.99751545e-01 1.86692956e-03 1.01974026e+02] [ 9.90492844e-01 2.17524026e-02 -1.35833573e-01 1.03552322e+02] [ 1.35759215e-01 4.86628317e-03 9.90729910e-01 1.36901888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:103.58, Z:13.69 [[ 1.79097610e-02 -9.99838768e-01 -1.29577050e-03 1.01976123e+02] [ 9.90519580e-01 1.79193393e-02 -1.36197866e-01 1.03578504e+02] [ 1.36199126e-01 1.15578519e-03 9.90680807e-01 1.36948794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:103.61, Z:13.70 [[ 1.52959452e-02 -9.99882215e-01 -1.26122222e-03 1.01977101e+02] [ 9.90574760e-01 1.53252512e-02 -1.36113118e-01 1.03606050e+02] [ 1.36116414e-01 8.32643895e-04 9.90692499e-01 1.36984693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:103.63, Z:13.70 [[ 1.50100427e-02 -9.99886599e-01 -1.21961990e-03 1.01977206e+02] [ 9.90579137e-01 1.50363470e-02 -1.36113491e-01 1.03633647e+02] [ 1.36116394e-01 8.34939287e-04 9.90692500e-01 1.37018984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:103.66, Z:13.71 [[ 1.27855706e-02 -9.99917564e-01 -1.18092728e-03 1.01978298e+02] [ 9.90596442e-01 1.28272566e-02 -1.36213621e-01 1.03660846e+02] [ 1.36217540e-01 5.71746519e-04 9.90678785e-01 1.37060062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:103.69, Z:13.71 [[ 9.34543693e-03 -9.99955684e-01 -1.13666671e-03 1.01978550e+02] [ 9.90671884e-01 9.41320111e-03 -1.35943404e-01 1.03688515e+02] [ 1.35948080e-01 1.44386760e-04 9.90715953e-01 1.37085019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:103.72, Z:13.71 [[ 8.00235908e-03 -9.99967387e-01 -1.08956932e-03 1.01979018e+02] [ 9.90766119e-01 8.07619339e-03 -1.35341321e-01 1.03715308e+02] [ 1.35345707e-01 3.54147925e-06 9.90798435e-01 1.37111034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:103.74, Z:13.71 [[ 6.28026836e-03 -9.99979733e-01 -1.04498606e-03 1.01979611e+02] [ 9.90823839e-01 6.36385185e-03 -1.35009711e-01 1.03742033e+02] [ 1.35013625e-01 -1.87499891e-04 9.90843724e-01 1.37145389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:103.77, Z:13.72 [[ 4.73518238e-03 -9.99988291e-01 -9.98391915e-04 1.01980386e+02] [ 9.90913550e-01 4.82641045e-03 -1.34413697e-01 1.03769259e+02] [ 1.34416942e-01 -3.52846708e-04 9.90924801e-01 1.37184166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:103.79, Z:13.72 [[ 3.23527506e-03 -9.99994311e-01 -9.54413442e-04 1.01981117e+02] [ 9.90951689e-01 3.33408118e-03 -1.34177625e-01 1.03794947e+02] [ 1.34180043e-01 -5.11676089e-04 9.90956838e-01 1.37219723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:103.82, Z:13.73 [[ 1.51061792e-03 -9.99998450e-01 -9.04633102e-04 1.01982496e+02] [ 9.91079054e-01 1.61770066e-03 -1.33265492e-01 1.03821843e+02] [ 1.33266749e-01 -6.95249678e-04 9.91079962e-01 1.37260467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:103.85, Z:13.73 [[ 1.04542067e-03 -9.99999083e-01 -8.60819469e-04 1.01983062e+02] [ 9.91134444e-01 1.15052006e-03 -1.32857784e-01 1.03849238e+02] [ 1.32858653e-01 -7.14295551e-04 9.91134738e-01 1.37293575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:103.88, Z:13.73 [[ 8.95754167e-04 -9.99999266e-01 -8.16348635e-04 1.01983689e+02] [ 9.91205465e-01 9.95903048e-04 -1.32328129e-01 1.03876311e+02] [ 1.32328845e-01 -6.90635755e-04 9.91205629e-01 1.37319818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:103.91, Z:13.69 [[-2.14423803e-03 -9.99006877e-01 4.45046237e-02 1.01969115e+02] [ 9.92493862e-01 -7.56789661e-03 -1.22060074e-01 1.03908237e+02] [ 1.22275660e-01 4.39088400e-02 9.91524421e-01 1.36920450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.99, Y:103.93, Z:13.76 [[ 1.48306652e-03 -9.98983179e-01 -4.50600493e-02 1.01994327e+02] [ 9.91174592e-01 7.44141732e-03 -1.32353892e-01 1.03927495e+02] [ 1.32554622e-01 -4.44660863e-02 9.90177782e-01 1.37626445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.99, Y:103.96, Z:13.74 [[ 1.05366523e-03 -9.99999182e-01 -7.25735396e-04 1.01985918e+02] [ 9.91069808e-01 1.14102569e-03 -1.33339166e-01 1.03957781e+02] [ 1.33339885e-01 -5.78759596e-04 9.91070199e-01 1.37409593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.99, Y:103.98, Z:13.74 [[ 3.12487482e-04 -9.99999720e-01 -6.80349822e-04 1.01986416e+02] [ 9.91199300e-01 3.99800460e-04 -1.32377446e-01 1.03984903e+02] [ 1.32377681e-01 -6.32995972e-04 9.91199147e-01 1.37439919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.99, Y:104.01, Z:13.75 [[ 4.46302250e-04 -9.99999698e-01 -6.36063519e-04 1.01986052e+02] [ 9.91315773e-01 5.26070211e-04 -1.31501944e-01 1.04010587e+02] [ 1.31502239e-01 -5.71850185e-04 9.91315709e-01 1.37469008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.72687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:104.04, Z:13.70 [[-3.78434836e-03 -9.98876590e-01 4.72359616e-02 1.01968324e+02] [ 9.92672033e-01 -9.45771186e-03 -1.20469024e-01 1.04041796e+02] [ 1.20780432e-01 4.64339213e-02 9.91592647e-01 1.37043841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:104.07, Z:13.73 [[-3.73005309e-03 -9.99955589e-01 8.65486300e-03 1.01977900e+02] [ 9.92578165e-01 -4.75427919e-03 -1.21515360e-01 1.04067470e+02] [ 1.21551111e-01 8.13736930e-03 9.92551818e-01 1.37279439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:104.09, Z:13.73 [[-6.62444259e-03 -9.99977939e-01 4.88997825e-04 1.01979521e+02] [ 9.92767560e-01 -6.63529370e-03 -1.19868864e-01 1.04092604e+02] [ 1.19869465e-01 -3.08603233e-04 9.92789613e-01 1.37341309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.00, Y:104.11, Z:13.79 [[-5.33679386e-03 -9.98470636e-01 -5.50264295e-02 1.01996981e+02] [ 9.91093222e-01 2.04086523e-03 -1.33154273e-01 1.04114608e+02] [ 1.33062933e-01 -5.52469382e-02 9.89566588e-01 1.37917683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.99, Y:104.14, Z:13.76 [[-5.48563205e-03 -9.99984808e-01 -5.39953377e-04 1.01985349e+02] [ 9.90996334e-01 -5.36408696e-03 -1.33781512e-01 1.04144862e+02] [ 1.33776584e-01 -1.26896797e-03 9.91010704e-01 1.37638879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:104.17, Z:13.77 [[-5.58649925e-03 -9.99984272e-01 -4.97586019e-04 1.01984928e+02] [ 9.90973484e-01 -5.46950879e-03 -1.33946405e-01 1.04172144e+02] [ 1.33941576e-01 -1.24138604e-03 9.90988453e-01 1.37669738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.96, Y:104.20, Z:13.72 [[-1.13754795e-02 -9.98403494e-01 5.53268691e-02 1.01963120e+02] [ 9.92569670e-01 -1.79778155e-02 -1.20342214e-01 1.04203938e+02] [ 1.21144743e-01 5.35468218e-02 9.91189532e-01 1.37167293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.99, Y:104.22, Z:13.80 [[-3.79212260e-03 -9.98513937e-01 -5.43648640e-02 1.01994134e+02] [ 9.90941203e-01 3.54596110e-03 -1.34249616e-01 1.04223550e+02] [ 1.34242888e-01 -5.43814748e-02 9.89455154e-01 1.38034422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:104.25, Z:13.78 [[-1.93114050e-03 -9.99998055e-01 -4.01707737e-04 1.01982068e+02] [ 9.90859770e-01 -1.85930944e-03 -1.34883134e-01 1.04254158e+02] [ 1.34882124e-01 -6.58514317e-04 9.90861433e-01 1.37763682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:104.28, Z:13.74 [[-3.94807500e-03 -9.99141562e-01 4.12377568e-02 1.01966401e+02] [ 9.92012026e-01 -9.11263736e-03 -1.25813750e-01 1.04284394e+02] [ 1.26081532e-01 4.04116286e-02 9.91196422e-01 1.37396846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.99, Y:104.30, Z:13.81 [[ 1.81006919e-03 -9.99163027e-01 -4.08652566e-02 1.01989754e+02] [ 9.90695511e-01 7.35289926e-03 -1.35898269e-01 1.04304690e+02] [ 1.36085004e-01 -4.02390410e-02 9.89879635e-01 1.38059762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.96, Y:104.34, Z:13.75 [[ 2.20906453e-03 -9.99050896e-01 4.35020273e-02 1.01963437e+02] [ 9.92047229e-01 -3.28519020e-03 -1.25823298e-01 1.04339185e+02] [ 1.25846791e-01 4.34340174e-02 9.91098417e-01 1.37458031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.99, Y:104.36, Z:13.82 [[ 7.35288011e-03 -9.99042651e-01 -4.31244376e-02 1.01987706e+02] [ 9.90574006e-01 1.31759201e-02 -1.36343442e-01 1.04359389e+02] [ 1.36781118e-01 -4.17154300e-02 9.89722562e-01 1.38155159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.116875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:101.98, Y:104.39, Z:13.79 [[ 8.47149661e-03 -9.99964085e-01 -2.49647299e-04 1.01977282e+02] [ 9.90610831e-01 8.42632383e-03 -1.36452109e-01 1.04389946e+02] [ 1.36449312e-01 9.08650259e-04 9.90646637e-01 1.37943536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:104.42, Z:13.80 [[ 9.27285575e-03 -9.99956985e-01 -2.06845343e-04 1.01976371e+02] [ 9.90599056e-01 9.21431014e-03 -1.36486656e-01 1.04416699e+02] [ 1.36482691e-01 1.06072027e-03 9.90641888e-01 1.37979600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.96, Y:104.45, Z:13.76 [[ 3.97699323e-03 -9.99085030e-01 4.25826988e-02 1.01959478e+02] [ 9.91726772e-01 -1.52311880e-03 -1.28357667e-01 1.04447270e+02] [ 1.28305082e-01 4.27408800e-02 9.90813314e-01 1.37599723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:104.47, Z:13.83 [[ 6.34111393e-03 -9.99107509e-01 -4.17609454e-02 1.01983420e+02] [ 9.90442210e-01 1.20293129e-02 -1.37402779e-01 1.04469373e+02] [ 1.37782504e-01 -4.04905164e-02 9.89634528e-01 1.38275565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:104.50, Z:13.81 [[ 5.96062250e-03 -9.99982228e-01 -1.19312048e-04 1.01973622e+02] [ 9.90656686e-01 5.92129212e-03 -1.36250757e-01 1.04499776e+02] [ 1.36249042e-01 6.93942047e-04 9.90674375e-01 1.38082011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:104.53, Z:13.81 [[ 4.76755443e-03 -9.99988632e-01 -7.60108764e-05 1.01972528e+02] [ 9.90918929e-01 4.73452789e-03 -1.34377308e-01 1.04527144e+02] [ 1.34376141e-01 5.65330516e-04 9.90930236e-01 1.38119764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:104.55, Z:13.82 [[ 3.70378584e-03 -9.99993140e-01 -3.38697447e-05 1.01972154e+02] [ 9.91001585e-01 3.67501461e-03 -1.33799675e-01 1.04553049e+02] [ 1.33798882e-01 4.62000371e-04 9.91008398e-01 1.38156597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.91, Y:104.43, Z:14.26 [[-8.16834417e-02 9.96658232e-01 4.28035829e-04 1.00905185e+02] [ 9.89205284e-01 8.10201792e-02 1.22100928e-01 1.04433662e+02] [ 1.21658216e-01 1.03970393e-02 -9.92517597e-01 1.42590769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.95, Y:104.39, Z:14.26 [[-1.59425884e-01 9.87166901e-01 -9.21397873e-03 1.00946529e+02] [ 9.79709970e-01 1.59356105e-01 1.21548372e-01 1.04394411e+02] [ 1.21456834e-01 1.03509299e-02 -9.92542743e-01 1.42593320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.99, Y:104.37, Z:14.26 [[-2.37330223e-01 9.71247764e-01 -1.87655458e-02 1.00988793e+02] [ 9.63831894e-01 2.37841427e-01 1.20247807e-01 1.04373265e+02] [ 1.21253638e-01 1.04516073e-02 -9.92566531e-01 1.42619821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.05, Y:104.31, Z:14.26 [[-3.13718267e-01 9.49097338e-01 -2.81973624e-02 1.01045490e+02] [ 9.41756666e-01 3.14806082e-01 1.18285723e-01 1.04309019e+02] [ 1.21141366e-01 1.05533382e-02 -9.92579164e-01 1.42583333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.09, Y:104.27, Z:14.24 [[-3.81114354e-01 9.24472131e-01 1.01552009e-02 1.01089904e+02] [ 9.14343450e-01 3.75267422e-01 1.52152612e-01 1.04273503e+02] [ 1.36849934e-01 6.72728859e-02 -9.88304839e-01 1.42437140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.47687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.09, Y:104.26, Z:14.07 [[-4.54265255e-01 8.49277769e-01 2.69017379e-01 1.01094955e+02] [ 8.86177620e-01 3.99838058e-01 2.34134051e-01 1.04258590e+02] [ 9.12814578e-02 3.44756145e-01 -9.34243489e-01 1.40734310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.18, Y:104.25, Z:14.26 [[-5.19525107e-01 8.54454672e-01 -9.36017818e-04 1.01179172e+02] [ 8.47803544e-01 5.15616894e-01 1.23969226e-01 1.04254772e+02] [ 1.06408711e-01 6.36115662e-02 -9.92285622e-01 1.42598816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.20, Y:104.22, Z:14.09 [[-5.85521397e-01 7.76033639e-01 2.34385335e-01 1.01200867e+02] [ 8.08202734e-01 5.36335649e-01 2.43212690e-01 1.04217040e+02] [ 6.30320185e-02 3.31837102e-01 -9.41228507e-01 1.40943307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.28, Y:104.24, Z:14.29 [[-6.49877743e-01 7.59061352e-01 -3.85328825e-02 1.01281662e+02] [ 7.57113314e-01 6.50987754e-01 5.47208734e-02 1.04241074e+02] [ 6.66209348e-02 6.38811926e-03 -9.97757908e-01 1.42870084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.35, Y:104.22, Z:14.29 [[-7.07304827e-01 7.05604580e-01 -4.29192094e-02 1.01351204e+02] [ 7.03736299e-01 7.08577177e-01 5.17069198e-02 1.04216703e+02] [ 6.68962116e-02 6.36874835e-03 -9.97739613e-01 1.42853626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.40, Y:104.22, Z:14.29 [[-7.59862661e-01 6.48346665e-01 -4.74904049e-02 1.01397379e+02] [ 6.46545222e-01 7.61319138e-01 4.87077537e-02 1.04221940e+02] [ 6.77348638e-02 6.30650897e-03 -9.97683425e-01 1.42867100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.47, Y:104.21, Z:14.29 [[-8.07782976e-01 5.87215413e-01 -5.16209575e-02 1.01465216e+02] [ 5.85511457e-01 8.09406691e-01 4.51347117e-02 1.04212800e+02] [ 6.82861468e-02 6.23438970e-03 -9.97646297e-01 1.42856395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.54, Y:104.21, Z:14.28 [[-8.50790043e-01 5.22580287e-01 -5.53727875e-02 1.01538146e+02] [ 5.20993884e-01 8.52567803e-01 4.11523256e-02 1.04205168e+02] [ 6.87144500e-02 6.16310528e-03 -9.97617332e-01 1.42839343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.59, Y:104.22, Z:14.28 [[-8.88960985e-01 4.54261060e-01 -5.82688314e-02 1.01590681e+02] [ 4.52827939e-01 8.90847559e-01 3.65716261e-02 1.04215793e+02] [ 6.85217118e-02 6.12499390e-03 -9.97630823e-01 1.42838915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.65, Y:104.23, Z:14.28 [[-9.21709221e-01 3.83089439e-01 -6.07831718e-02 1.01648585e+02] [ 3.81816754e-01 9.23691158e-01 3.17901215e-02 1.04227724e+02] [ 6.83233381e-02 6.09321480e-03 -9.97644623e-01 1.42838520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.71, Y:104.24, Z:14.28 [[-9.48723502e-01 3.09721770e-01 -6.32150518e-02 1.01708445e+02] [ 3.08607249e-01 9.50807987e-01 2.69395092e-02 1.04243815e+02] [ 6.84491287e-02 6.04952221e-03 -9.97636266e-01 1.42847514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.73, Y:104.27, Z:14.29 [[-9.70053444e-01 2.33822920e-01 -6.57507232e-02 1.01732563e+02] [ 2.32861612e-01 9.72260313e-01 2.20307250e-02 1.04273709e+02] [ 6.90781072e-02 6.06016121e-03 -9.97592848e-01 1.42883111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.81, Y:104.29, Z:14.29 [[-9.85374742e-01 1.56912197e-01 -6.64468236e-02 1.01807681e+02] [ 1.56143068e-01 9.87594159e-01 1.66469066e-02 1.04293943e+02] [ 6.82345976e-02 6.02823037e-03 -9.97651091e-01 1.42868800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.83, Y:104.33, Z:14.29 [[-9.94653051e-01 7.83258296e-02 -6.73080369e-02 1.01834213e+02] [ 7.77359534e-02 9.96909456e-01 1.13427308e-02 1.04325109e+02] [ 6.79884473e-02 6.04982740e-03 -9.97667766e-01 1.42879639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.89, Y:104.36, Z:14.29 [[-9.97746900e-01 -4.79585408e-04 -6.70887063e-02 1.01894170e+02] [-8.83888466e-04 9.99981628e-01 5.99684217e-03 1.04355911e+02] [ 6.70845977e-02 6.04262962e-03 -9.97728993e-01 1.42865394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.93, Y:104.39, Z:14.29 [[-9.94611820e-01 -7.93259520e-02 -6.67436951e-02 1.01931003e+02] [-7.95523409e-02 9.96830418e-01 7.36798811e-04 1.04391819e+02] [ 6.64736982e-02 6.04244599e-03 -9.97769881e-01 1.42876397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:104.43, Z:14.29 [[-9.85334440e-01 -1.57329749e-01 -6.60559751e-02 1.01977691e+02] [-1.57382208e-01 9.87527779e-01 -4.44150346e-03 1.04432205e+02] [ 6.59308910e-02 6.01966890e-03 -9.97806034e-01 1.42876031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:104.47, Z:14.29 [[-9.69759016e-01 -2.35247475e-01 -6.50082807e-02 1.01984686e+02] [-2.35133765e-01 9.71916555e-01 -9.50381384e-03 1.04467843e+02] [ 6.54183724e-02 6.06923262e-03 -9.97839467e-01 1.42902103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.03, Y:104.52, Z:14.29 [[-9.48288683e-01 -3.10905825e-01 -6.39229342e-02 1.02028897e+02] [-3.10624769e-01 9.50421367e-01 -1.45422888e-02 1.04515557e+02] [ 6.52750048e-02 6.06575882e-03 -9.97848877e-01 1.42898431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.66, Y:105.56, Z:13.83 [[-9.53209628e-01 2.93995832e-01 7.04120418e-02 1.01657810e+02] [-2.93145226e-01 -9.55806466e-01 2.23579070e-02 1.05560835e+02] [ 7.38734163e-02 6.70818298e-04 9.97267401e-01 1.38298265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.66, Y:105.56, Z:13.83 [[-9.53390694e-01 2.93347893e-01 7.06625625e-02 1.01656288e+02] [-2.92491751e-01 -9.56005509e-01 2.24063260e-02 1.05560878e+02] [ 7.41266475e-02 6.93766133e-04 9.97248594e-01 1.38310118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.03, Y:104.55, Z:14.29 [[-9.21246766e-01 -3.83761297e-01 -6.34953742e-02 1.02026654e+02] [-3.83296778e-01 9.23412375e-01 -1.98284264e-02 1.04549421e+02] [ 6.62417969e-02 6.07069865e-03 -9.97785133e-01 1.42908706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.59, Y:105.57, Z:13.83 [[-9.28037178e-01 3.66373084e-01 6.72142846e-02 1.01590406e+02] [-3.65360993e-01 -9.30467766e-01 2.72227917e-02 1.05572146e+02] [ 7.25144235e-02 7.06284986e-04 9.97367114e-01 1.38325106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.58, Y:105.57, Z:13.83 [[-9.28154130e-01 3.66078183e-01 6.72062172e-02 1.01581365e+02] [-3.65067851e-01 -9.30583835e-01 2.71880454e-02 1.05567715e+02] [ 7.24939696e-02 6.99867284e-04 9.97368605e-01 1.38316601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.58, Y:105.57, Z:13.83 [[-9.28301082e-01 3.65703376e-01 6.72171288e-02 1.01579268e+02] [-3.64694018e-01 -9.30731192e-01 2.71610426e-02 1.05566794e+02] [ 7.24939633e-02 6.99940408e-04 9.97368606e-01 1.38318356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.22687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.59, Y:105.57, Z:13.83 [[-9.28205865e-01 3.65913368e-01 6.73890155e-02 1.01585934e+02] [-3.64901692e-01 -9.30648686e-01 2.71988637e-02 1.05569101e+02] [ 7.26679265e-02 6.55779085e-04 9.97355976e-01 1.38304064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.59, Y:105.57, Z:13.83 [[-9.28260006e-01 3.65770611e-01 6.74182523e-02 1.01590032e+02] [-3.64759973e-01 -9.30704815e-01 2.71791985e-02 1.05570658e+02] [ 7.26878441e-02 6.37883056e-04 9.97354536e-01 1.38294228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.59, Y:105.57, Z:13.83 [[-9.28148512e-01 3.65954218e-01 6.79547618e-02 1.01589610e+02] [-3.64930231e-01 -9.30632662e-01 2.73637513e-02 1.05570533e+02] [ 7.32548011e-02 5.98878124e-04 9.97313078e-01 1.38298537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.59, Y:105.57, Z:13.83 [[-9.26478535e-01 3.69794009e-01 6.99279313e-02 1.01594996e+02] [-3.68723013e-01 -9.29113726e-01 2.81251391e-02 1.05572494e+02] [ 7.53715088e-02 2.73300074e-04 9.97155485e-01 1.38288969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.59, Y:105.57, Z:13.83 [[-9.25533183e-01 3.72130583e-01 7.00510940e-02 1.01591541e+02] [-3.71064925e-01 -9.28180385e-01 2.81424034e-02 1.05571416e+02] [ 7.54927004e-02 5.32243162e-05 9.97146353e-01 1.38294874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.61, Y:105.57, Z:13.80 [[-9.23059249e-01 3.82310050e-01 4.24340488e-02 1.01610293e+02] [-3.80519588e-01 -9.23693681e-01 4.46634936e-02 1.05568676e+02] [ 5.62713652e-02 2.50800641e-02 9.98100458e-01 1.38025974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.58, Y:105.57, Z:13.85 [[-9.22880398e-01 3.76817292e-01 7.93756804e-02 1.01576088e+02] [-3.77659143e-01 -9.25932751e-01 4.70234039e-03 1.05573239e+02] [ 7.52684653e-02 -2.56372537e-02 9.96833682e-01 1.38456640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.61, Y:105.58, Z:13.83 [[-9.22319258e-01 3.80091813e-01 6.96950457e-02 1.01614075e+02] [-3.79065771e-01 -9.24948520e-01 2.79173165e-02 1.05582361e+02] [ 7.50754728e-02 -6.70327578e-04 9.97177629e-01 1.38286398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.63, Y:105.58, Z:13.80 [[-9.19687253e-01 3.90706385e-01 3.90368793e-02 1.01632724e+02] [-3.89029084e-01 -9.20161494e-01 4.42628129e-02 1.05577473e+02] [ 5.32139968e-02 2.55214634e-02 9.98256944e-01 1.37985138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.63, Y:105.58, Z:13.82 [[-9.19406174e-01 3.89545536e-01 5.42822514e-02 1.01629140e+02] [-3.89185936e-01 -9.20993340e-01 1.74807036e-02 1.05584764e+02] [ 5.68031220e-02 -5.05402198e-03 9.98372607e-01 1.38186263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.63, Y:105.59, Z:13.84 [[-9.21578806e-01 3.80595061e-01 7.64192698e-02 1.01625080e+02] [-3.81223250e-01 -9.24458257e-01 6.76503917e-03 1.05592535e+02] [ 7.32211654e-02 -2.28982857e-02 9.97052822e-01 1.38404426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.63, Y:105.58, Z:13.80 [[-9.19029244e-01 3.92245412e-01 3.90996899e-02 1.01634639e+02] [-3.90576868e-01 -9.19514187e-01 4.40836689e-02 1.05578233e+02] [ 5.32443365e-02 2.52427465e-02 9.98262413e-01 1.37991321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.63, Y:105.58, Z:13.81 [[-9.19298381e-01 3.90606476e-01 4.81359256e-02 1.01634592e+02] [-3.90067989e-01 -9.20557752e-01 2.05033737e-02 1.05584788e+02] [ 5.23206500e-02 7.24345059e-05 9.98630334e-01 1.38118365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.64, Y:105.59, Z:13.81 [[-9.19331422e-01 3.90451016e-01 4.87620831e-02 1.01638387e+02] [-3.89924888e-01 -9.20623625e-01 2.02663236e-02 1.05585805e+02] [ 5.28045323e-02 -3.82081654e-04 9.98604794e-01 1.38110489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.61, Y:105.59, Z:13.84 [[-9.22029795e-01 3.78768747e-01 7.99705803e-02 1.01608687e+02] [-3.79780510e-01 -9.25072550e-01 2.74632276e-03 1.05586936e+02] [ 7.50188098e-02 -2.78390764e-02 9.96793441e-01 1.38434914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.63, Y:105.57, Z:13.80 [[-9.19715552e-01 3.90659319e-01 3.88407131e-02 1.01628987e+02] [-3.88942509e-01 -9.20157535e-01 4.50980743e-02 1.05574931e+02] [ 5.33575578e-02 2.63705959e-02 9.98227210e-01 1.37965565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.59, Y:105.58, Z:13.84 [[-9.23289641e-01 3.75700276e-01 7.99095868e-02 1.01586888e+02] [-3.76683385e-01 -9.26337308e-01 2.96979525e-03 1.05577749e+02] [ 7.51389844e-02 -2.73586325e-02 9.96797692e-01 1.38447179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.59, Y:105.57, Z:13.83 [[-9.24427214e-01 3.74843962e-01 7.01878168e-02 1.01593345e+02] [-3.73803853e-01 -9.27087813e-01 2.79081726e-02 1.05572641e+02] [ 7.55314796e-02 -4.37402156e-04 9.97143322e-01 1.38291779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.58, Y:105.55, Z:13.80 [[-9.22949216e-01 3.83234312e-01 3.60028643e-02 1.01583963e+02] [-3.81416973e-01 -9.23129521e-01 4.85075400e-02 1.05553209e+02] [ 5.18250605e-02 3.10378925e-02 9.98173739e-01 1.37962620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.58, Y:105.57, Z:13.85 [[-9.25558264e-01 3.69180799e-01 8.39490131e-02 1.01579264e+02] [-3.70510425e-01 -9.28828266e-01 -2.79036203e-04 1.05573988e+02] [ 7.78712014e-02 -3.13622488e-02 9.96470012e-01 1.38472197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.58, Y:105.57, Z:13.83 [[-9.25966396e-01 3.70457683e-01 7.31255004e-02 1.01580795e+02] [-3.69320419e-01 -9.28849333e-01 2.90059476e-02 1.05566890e+02] [ 7.86680484e-02 -1.48207688e-04 9.96900856e-01 1.38298716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.58, Y:105.55, Z:13.80 [[-9.24890118e-01 3.77797843e-01 4.29774338e-02 1.01577648e+02] [-3.75879510e-01 -9.25495746e-01 4.66070643e-02 1.05553208e+02] [ 5.73834805e-02 2.69520765e-02 9.97988337e-01 1.38007358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.58, Y:105.57, Z:13.84 [[-9.26983902e-01 3.65751644e-01 8.32260813e-02 1.01582642e+02] [-3.66743806e-01 -9.30315056e-01 3.58850083e-03 1.05574509e+02] [ 7.87389766e-02 -2.71961673e-02 9.96524231e-01 1.38445746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.58, Y:105.56, Z:13.80 [[-9.26241189e-01 3.74338795e-01 4.41330542e-02 1.01584944e+02] [-3.72450913e-01 -9.26935363e-01 4.55098911e-02 1.05556757e+02] [ 5.79446064e-02 2.57157393e-02 9.97988539e-01 1.38007063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.56, Y:105.56, Z:13.84 [[-9.27805146e-01 3.63831753e-01 8.24867659e-02 1.01560899e+02] [-3.64679042e-01 -9.31119384e-01 5.08816250e-03 1.05564586e+02] [ 7.86562617e-02 -2.53603714e-02 9.96579171e-01 1.38444419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.97687499999998 meters Centerline goodness : 0.999925 Centerline is valid? [True, True] Translation: X:101.55, Y:105.54, Z:13.81 [[-9.27457805e-01 3.70437660e-01 5.09701823e-02 1.01549114e+02] [-3.68594031e-01 -9.28636161e-01 4.21108094e-02 1.05542387e+02] [ 6.29321841e-02 2.02686940e-02 9.97811966e-01 1.38086082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.55, Y:105.55, Z:13.82 [[-9.27848475e-01 3.68086802e-01 6.00775643e-02 1.01552886e+02] [-3.67351437e-01 -9.29791304e-01 2.32605601e-02 1.05549190e+02] [ 6.44215020e-02 -4.87304384e-04 9.97922659e-01 1.38204645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.54, Y:105.55, Z:13.84 [[-9.29391266e-01 3.60107226e-01 8.09608623e-02 1.01537737e+02] [-3.60428836e-01 -9.32720476e-01 1.11161228e-02 1.05552287e+02] [ 7.95168502e-02 -1.88494019e-02 9.96655292e-01 1.38425179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.55, Y:105.55, Z:13.83 [[-9.29881523e-01 3.60411557e-01 7.36468749e-02 1.01549706e+02] [-3.59240928e-01 -9.32793236e-01 2.90299025e-02 1.05552269e+02] [ 7.91600191e-02 5.37398300e-04 9.96861777e-01 1.38315977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.54, Y:105.55, Z:13.83 [[-9.30370668e-01 3.59115597e-01 7.37997869e-02 1.01544615e+02] [-3.57938725e-01 -9.33292884e-01 2.90561853e-02 1.05549248e+02] [ 7.93113453e-02 6.17220899e-04 9.96849703e-01 1.38326130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.54, Y:105.55, Z:13.83 [[-9.30637343e-01 3.58500774e-01 7.34256793e-02 1.01539855e+02] [-3.57336563e-01 -9.33529213e-01 2.88753937e-02 1.05546952e+02] [ 7.88968676e-02 6.34839817e-04 9.96882581e-01 1.38324913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.54, Y:105.55, Z:13.83 [[-9.30891798e-01 3.57822174e-01 7.35102138e-02 1.01539457e+02] [-3.56655849e-01 -9.33789513e-01 2.88747497e-02 1.05546343e+02] [ 7.89750925e-02 6.61419931e-04 9.96876370e-01 1.38321721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.53, Y:105.53, Z:13.81 [[-9.29430229e-01 3.65274580e-01 5.22870083e-02 1.01534614e+02] [-3.63425553e-01 -9.30690718e-01 4.16731866e-02 1.05534012e+02] [ 6.38851891e-02 1.97298845e-02 9.97762203e-01 1.38107006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.53, Y:105.55, Z:13.84 [[-9.31293042e-01 3.55013342e-01 8.16014518e-02 1.01532504e+02] [-3.55313435e-01 -9.34678850e-01 1.13053486e-02 1.05548656e+02] [ 8.02847007e-02 -1.84654996e-02 9.96600919e-01 1.38427349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.53, Y:105.54, Z:13.83 [[-9.31567415e-01 3.55745665e-01 7.50144937e-02 1.01533262e+02] [-3.54530223e-01 -9.34582476e-01 2.93924618e-02 1.05544708e+02] [ 8.05634721e-02 7.86154412e-04 9.96749171e-01 1.38323791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.56, Y:105.54, Z:13.81 [[-9.30327502e-01 3.62542954e-01 5.52570968e-02 1.01558089e+02] [-3.60685248e-01 -9.31791246e-01 4.08806254e-02 1.05544729e+02] [ 6.63090617e-02 1.81019504e-02 9.97634917e-01 1.38112878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.53, Y:105.55, Z:13.84 [[-9.32403231e-01 3.51947459e-01 8.22021922e-02 1.01530988e+02] [-3.52074542e-01 -9.35875669e-01 1.34257151e-02 1.05548420e+02] [ 8.16561779e-02 -1.64231190e-02 9.96525238e-01 1.38424618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.54, Y:105.55, Z:13.83 [[-9.32891133e-01 3.52058730e-01 7.59525128e-02 1.01539528e+02] [-3.50806879e-01 -9.35977328e-01 2.96812203e-02 1.05546925e+02] [ 8.15393627e-02 1.04468334e-03 9.96669575e-01 1.38316447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.53, Y:105.54, Z:13.83 [[-9.33406035e-01 3.50611631e-01 7.63194454e-02 1.01527925e+02] [-3.49345675e-01 -9.36520249e-01 2.97896563e-02 1.05542230e+02] [ 8.19193059e-02 1.14397680e-03 9.96638309e-01 1.38322900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.52, Y:105.53, Z:13.82 [[-9.31988366e-01 3.57019548e-01 6.27274085e-02 1.01524369e+02] [-3.55312666e-01 -9.34018335e-01 3.69142074e-02 1.05533442e+02] [ 7.17676433e-02 1.21157691e-02 9.97347790e-01 1.38189917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.52, Y:105.53, Z:13.83 [[-9.32225464e-01 3.55856778e-01 6.57391611e-02 1.01517337e+02] [-3.54843465e-01 -9.34538879e-01 2.68923475e-02 1.05533980e+02] [ 7.10056261e-02 1.74261942e-03 9.97474393e-01 1.38255331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.52, Y:105.54, Z:13.84 [[-9.33664743e-01 3.48911620e-01 8.08135414e-02 1.01515646e+02] [-3.48582304e-01 -9.37093441e-01 1.86080589e-02 1.05541443e+02] [ 8.22224076e-02 -1.07964819e-02 9.96555524e-01 1.38412220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.52, Y:105.53, Z:13.82 [[-9.32272252e-01 3.55691993e-01 6.59670715e-02 1.01516506e+02] [-3.54097246e-01 -9.34558494e-01 3.48649171e-02 1.05532748e+02] [ 7.40512588e-02 9.14483639e-03 9.97212506e-01 1.38240322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.51, Y:105.54, Z:13.84 [[-9.32314212e-01 3.52981130e-01 7.87053440e-02 1.01510218e+02] [-3.52387820e-01 -9.35600860e-01 2.17682247e-02 1.05538935e+02] [ 8.13205600e-02 -7.43997931e-03 9.96660230e-01 1.38399344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.50, Y:105.53, Z:13.84 [[-9.32325444e-01 3.53827278e-01 7.46694289e-02 1.01501781e+02] [-3.52640339e-01 -9.35310539e-01 2.89652785e-02 1.05532619e+02] [ 8.00878094e-02 6.73613445e-04 9.96787585e-01 1.38363623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.54, Y:105.55, Z:13.83 [[-9.30280210e-01 3.59037446e-01 7.53050039e-02 1.01542262e+02] [-3.57850016e-01 -9.33323135e-01 2.91768979e-02 1.05548014e+02] [ 8.07595013e-02 1.94793856e-04 9.96733598e-01 1.38332164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.53, Y:105.53, Z:13.82 [[-9.27651926e-01 3.68918321e-01 5.79756529e-02 1.01525915e+02] [-3.67204879e-01 -9.29353520e-01 3.82441176e-02 1.05533219e+02] [ 6.79888327e-02 1.41882868e-02 9.97585190e-01 1.38166464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.55, Y:105.54, Z:13.82 [[-9.26149615e-01 3.73056455e-01 5.54596429e-02 1.01548250e+02] [-3.71922442e-01 -9.27781635e-01 2.99154587e-02 1.05542977e+02] [ 6.26145931e-02 7.07950470e-03 9.98012672e-01 1.38157691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.54, Y:105.55, Z:13.85 [[-9.25505287e-01 3.69618637e-01 8.25955613e-02 1.01544531e+02] [-3.70240207e-01 -9.28899639e-01 8.22500383e-03 1.05554646e+02] [ 7.97631018e-02 -2.29679132e-02 9.96549207e-01 1.38450767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.52, Y:105.54, Z:13.84 [[-9.24536933e-01 3.73699448e-01 7.47006204e-02 1.01521307e+02] [-3.72587652e-01 -9.27549100e-01 2.88289700e-02 1.05540614e+02] [ 8.00618634e-02 -1.17908120e-03 9.96789199e-01 1.38356623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.72687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.55, Y:105.55, Z:13.83 [[-9.23775809e-01 3.75629226e-01 7.44374907e-02 1.01549491e+02] [-3.74534162e-01 -9.26769012e-01 2.86942496e-02 1.05551790e+02] [ 7.97647585e-02 -1.37232953e-03 9.96812771e-01 1.38338904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.55, Y:105.55, Z:13.83 [[-9.22715436e-01 3.78215146e-01 7.44951507e-02 1.01553386e+02] [-3.77129439e-01 -9.25716292e-01 2.86833104e-02 1.05553910e+02] [ 7.98098371e-02 -1.62778110e-03 9.96808778e-01 1.38346579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.54, Y:105.55, Z:13.84 [[-9.22516408e-01 3.78750463e-01 7.42399037e-02 1.01538675e+02] [-3.77676517e-01 -9.25497273e-01 2.85525305e-02 1.05548296e+02] [ 7.95231126e-02 -1.69849033e-03 9.96831575e-01 1.38356302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.52, Y:105.54, Z:13.84 [[-9.22561955e-01 3.78708857e-01 7.38853178e-02 1.01523792e+02] [-3.77647598e-01 -9.25514265e-01 2.83837562e-02 1.05542363e+02] [ 7.91310954e-02 -1.71683920e-03 9.96862740e-01 1.38366275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.52, Y:105.54, Z:13.84 [[-9.22870749e-01 3.77903966e-01 7.41496708e-02 1.01523324e+02] [-3.76835129e-01 -9.25843267e-01 2.84522521e-02 1.05541919e+02] [ 7.94031923e-02 -1.68444957e-03 9.96841159e-01 1.38368124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.53, Y:105.54, Z:13.84 [[-9.23497712e-01 3.76266298e-01 7.46702701e-02 1.01532511e+02] [-3.75179719e-01 -9.26510204e-01 2.86185154e-02 1.05544511e+02] [ 7.99509500e-02 -1.58563745e-03 9.96797538e-01 1.38357868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.54, Y:105.55, Z:13.83 [[-9.24108772e-01 3.74793517e-01 7.45170983e-02 1.01540522e+02] [-3.73709256e-01 -9.27107120e-01 2.85268319e-02 1.05547592e+02] [ 7.97770041e-02 -1.48583374e-03 9.96811628e-01 1.38348932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.52, Y:105.54, Z:13.84 [[-9.24642897e-01 3.73441131e-01 7.46808862e-02 1.01522525e+02] [-3.72350328e-01 -9.27652820e-01 2.85566052e-02 1.05540285e+02] [ 7.99421456e-02 -1.40279028e-03 9.96798518e-01 1.38362970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.54, Y:105.55, Z:13.84 [[-9.25396991e-01 3.71556005e-01 7.47431885e-02 1.01538903e+02] [-3.70459882e-01 -9.28409671e-01 2.85474618e-02 1.05546206e+02] [ 7.99992799e-02 -1.27161753e-03 9.96794110e-01 1.38350780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.51, Y:105.53, Z:13.84 [[-9.27024801e-01 3.67409788e-01 7.50670791e-02 1.01511392e+02] [-3.66293213e-01 -9.30058680e-01 2.86379809e-02 1.05534776e+02] [ 8.03386630e-02 -9.48442987e-04 9.96767174e-01 1.38376777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.51, Y:105.53, Z:13.84 [[-9.28382246e-01 3.63994254e-01 7.49305616e-02 1.01511658e+02] [-3.62873885e-01 -9.31400938e-01 2.85453265e-02 1.05534053e+02] [ 8.01807302e-02 -6.89369732e-04 9.96780104e-01 1.38372661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.51, Y:105.53, Z:13.84 [[-9.29527861e-01 3.61034596e-01 7.50464894e-02 1.01505004e+02] [-3.59908465e-01 -9.32552277e-01 2.84981860e-02 1.05530824e+02] [ 8.02736057e-02 -5.20008960e-04 9.96772731e-01 1.38373155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.50, Y:105.53, Z:13.84 [[-9.29667398e-01 3.60672843e-01 7.50575118e-02 1.01502879e+02] [-3.59547881e-01 -9.32692248e-01 2.84691282e-02 1.05529945e+02] [ 8.02736008e-02 -5.19949061e-04 9.96772732e-01 1.38374941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.49, Y:105.52, Z:13.84 [[-9.31792613e-01 3.55046866e-01 7.55264781e-02 1.01487630e+02] [-3.53892019e-01 -9.34848500e-01 2.86132991e-02 1.05522516e+02] [ 8.07648769e-02 -6.65570656e-05 9.96733179e-01 1.38375906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.49, Y:105.52, Z:13.84 [[-9.33021191e-01 3.51733830e-01 7.58602047e-02 1.01487270e+02] [-3.50560554e-01 -9.36100036e-01 2.87057646e-02 1.05521660e+02] [ 8.11095289e-02 1.89491306e-04 9.96705176e-01 1.38372588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.176875 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:101.47, Y:105.52, Z:13.84 [[-9.34058738e-01 3.48922898e-01 7.60728955e-02 1.01472574e+02] [-3.47736493e-01 -9.37151348e-01 2.87520779e-02 1.05515027e+02] [ 8.13240749e-02 4.02807693e-04 9.96687630e-01 1.38381827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.47, Y:105.51, Z:13.84 [[-9.35887131e-01 3.44003413e-01 7.60061249e-02 1.01466019e+02] [-3.42805653e-01 -9.38968059e-01 2.86926588e-02 1.05512061e+02] [ 8.12376961e-02 7.97760874e-04 9.96694437e-01 1.38397065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.45, Y:105.50, Z:13.84 [[-9.36371262e-01 3.42580752e-01 7.64675586e-02 1.01446422e+02] [-3.41366499e-01 -9.39487961e-01 2.88320049e-02 1.05504124e+02] [ 8.17176406e-02 8.93998037e-04 9.96655120e-01 1.38409416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.46, Y:105.51, Z:13.84 [[-9.36862005e-01 3.41183999e-01 7.67011294e-02 1.01462471e+02] [-3.39960517e-01 -9.39996014e-01 2.88849447e-02 1.05509479e+02] [ 8.19538369e-02 9.85851563e-04 9.96635639e-01 1.38396464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.45, Y:105.50, Z:13.84 [[-9.37309680e-01 3.40027918e-01 7.63647784e-02 1.01447555e+02] [-3.38814172e-01 -9.40414756e-01 2.87235592e-02 1.05503258e+02] [ 8.15813765e-02 1.04940090e-03 9.96666132e-01 1.38397760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.45, Y:105.51, Z:13.84 [[-9.37710879e-01 3.38922275e-01 7.63544279e-02 1.01454303e+02] [-3.37708046e-01 -9.40813719e-01 2.86848848e-02 1.05505250e+02] [ 8.15572397e-02 1.11262393e-03 9.96668038e-01 1.38386937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.46, Y:105.51, Z:13.84 [[-9.37977572e-01 3.38163239e-01 7.64440850e-02 1.01461140e+02] [-3.36946490e-01 -9.41086769e-01 2.86837060e-02 1.05507790e+02] [ 8.16402920e-02 1.14710675e-03 9.96661200e-01 1.38386996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.46, Y:105.51, Z:13.84 [[-9.38175095e-01 3.37688619e-01 7.61175900e-02 1.01458396e+02] [-3.36483498e-01 -9.41257177e-01 2.85268867e-02 1.05506605e+02] [ 8.12794328e-02 1.15090165e-03 9.96690689e-01 1.38392543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.45, Y:105.50, Z:13.84 [[-9.38536174e-01 3.36966067e-01 7.48579944e-02 1.01447601e+02] [-3.35800943e-01 -9.41516075e-01 2.80215458e-02 1.05502143e+02] [ 7.99223152e-02 1.16184932e-03 9.96800418e-01 1.38402379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.44, Y:105.50, Z:13.84 [[-9.38585995e-01 3.36885061e-01 7.45974874e-02 1.01440771e+02] [-3.35730481e-01 -9.41545099e-01 2.78903462e-02 1.05499575e+02] [ 7.96327396e-02 1.13283797e-03 9.96823627e-01 1.38411268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.47687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.45, Y:105.50, Z:13.84 [[-9.38664102e-01 3.36766307e-01 7.41495622e-02 1.01450955e+02] [-3.35627869e-01 -9.41587614e-01 2.76893331e-02 1.05503038e+02] [ 7.91431438e-02 1.10432348e-03 9.96862650e-01 1.38401042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.44, Y:105.50, Z:13.84 [[-9.38828842e-01 3.36364136e-01 7.38889227e-02 1.01442778e+02] [-3.35235097e-01 -9.41731359e-01 2.75586148e-02 1.05499664e+02] [ 7.88532453e-02 1.10266223e-03 9.96885625e-01 1.38404460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.44, Y:105.50, Z:13.84 [[-9.38922987e-01 3.36302520e-01 7.29673811e-02 1.01436393e+02] [-3.35203877e-01 -9.41753410e-01 2.71822755e-02 1.05497187e+02] [ 7.78587477e-02 1.06311428e-03 9.96963833e-01 1.38409251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.44, Y:105.50, Z:13.84 [[-9.38958468e-01 3.36153104e-01 7.31989409e-02 1.01439013e+02] [-3.35049623e-01 -9.41806771e-01 2.72352087e-02 1.05498423e+02] [ 7.80944581e-02 1.04745227e-03 9.96945414e-01 1.38408311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.44, Y:105.50, Z:13.84 [[-9.38967708e-01 3.36093950e-01 7.33518854e-02 1.01438743e+02] [-3.34988282e-01 -9.41827909e-01 2.72587778e-02 1.05498613e+02] [ 7.82463632e-02 1.02309000e-03 9.96933528e-01 1.38409090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.44, Y:105.50, Z:13.84 [[-9.38667213e-01 3.36775034e-01 7.40705100e-02 1.01439197e+02] [-3.35652354e-01 -9.41584667e-01 2.74920307e-02 1.05498908e+02] [ 7.90022860e-02 9.43926804e-04 9.96873988e-01 1.38403241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.44, Y:105.50, Z:13.84 [[-9.38675196e-01 3.36642151e-01 7.45717048e-02 1.01442221e+02] [-3.35506483e-01 -9.41632199e-01 2.76441991e-02 1.05500472e+02] [ 7.95253210e-02 9.29633524e-04 9.96832413e-01 1.38393240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.686875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:101.46, Y:105.49, Z:13.80 [[-9.35607119e-01 3.51179315e-01 3.62271805e-02 1.01455607e+02] [-3.49126644e-01 -9.35586263e-01 5.28103399e-02 1.05488704e+02] [ 5.24395514e-02 3.67618560e-02 9.97947223e-01 1.37985782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.42, Y:105.49, Z:13.83 [[-9.36498805e-01 3.45930797e-01 5.74619149e-02 1.01424881e+02] [-3.45642698e-01 -9.38243140e-01 1.51965576e-02 1.05491713e+02] [ 5.91702048e-02 -5.62973331e-03 9.98232034e-01 1.38269751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.44, Y:105.51, Z:13.85 [[-9.37589842e-01 3.36668629e-01 8.70604478e-02 1.01437198e+02] [-3.37900771e-01 -9.41181537e-01 6.19880100e-04 1.05509120e+02] [ 8.21483802e-02 -2.88365992e-02 9.96202838e-01 1.38547286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.45, Y:105.49, Z:13.80 [[-9.35728478e-01 3.50321277e-01 4.10757666e-02 1.01447419e+02] [-3.48242019e-01 -9.36059900e-01 5.01932289e-02 1.05492796e+02] [ 5.60331340e-02 3.26629258e-02 9.97894494e-01 1.38040868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.42, Y:105.49, Z:13.82 [[-9.36414655e-01 3.46815499e-01 5.33535781e-02 1.01421618e+02] [-3.46220945e-01 -9.37933215e-01 2.03062065e-02 1.05493453e+02] [ 5.70846001e-02 5.42903102e-04 9.98369197e-01 1.38244175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.40, Y:105.50, Z:13.86 [[-9.38124032e-01 3.35145621e-01 8.71820702e-02 1.01401207e+02] [-3.36561770e-01 -9.41659953e-01 -1.64570223e-03 1.05500340e+02] [ 8.15443142e-02 -3.08860247e-02 9.96191035e-01 1.38594051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.40, Y:105.49, Z:13.84 [[-9.38345170e-01 3.37513229e-01 7.47874505e-02 1.01399221e+02] [-3.36389387e-01 -9.41320544e-01 2.75284238e-02 1.05492326e+02] [ 7.96901708e-02 6.73458893e-04 9.96819454e-01 1.38419526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.41, Y:105.49, Z:13.84 [[-9.38602254e-01 3.37007369e-01 7.38365935e-02 1.01405695e+02] [-3.35913047e-01 -9.41501767e-01 2.71449386e-02 1.05494957e+02] [ 7.86653276e-02 6.75625417e-04 9.96900853e-01 1.38416837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.41, Y:105.50, Z:13.84 [[-9.38910813e-01 3.36325082e-01 7.30200248e-02 1.01414180e+02] [-3.35255394e-01 -9.41745697e-01 2.68116076e-02 1.05498069e+02] [ 7.77837103e-02 6.93351149e-04 9.96970016e-01 1.38408940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.42, Y:105.50, Z:13.84 [[-9.39105292e-01 3.35862136e-01 7.26489879e-02 1.01417167e+02] [-3.34804469e-01 -9.41910898e-01 2.66425930e-02 1.05498764e+02] [ 7.73771117e-02 6.96994292e-04 9.97001653e-01 1.38401357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.41, Y:105.49, Z:13.84 [[-9.38961130e-01 3.36156887e-01 7.31474053e-02 1.01406060e+02] [-3.35088119e-01 -9.41805782e-01 2.67922122e-02 1.05494202e+02] [ 7.78970358e-02 6.46019434e-04 9.96961200e-01 1.38395089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.41, Y:105.49, Z:13.84 [[-9.39131468e-01 3.35607765e-01 7.34813780e-02 1.01407501e+02] [-3.34530185e-01 -9.42001586e-01 2.68805938e-02 1.05494928e+02] [ 7.82409106e-02 6.62672556e-04 9.96934261e-01 1.38388872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.046875 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:100.94, Y:105.32, Z:13.86 [[-9.38814436e-01 3.38677086e-01 6.26521053e-02 1.00943508e+02] [-3.37035130e-01 -9.40823828e-01 3.54661239e-02 1.05320154e+02] [ 7.09561570e-02 1.21801487e-02 9.97405067e-01 1.38617010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.46, Y:105.21, Z:14.58 [[-9.27908305e-01 -1.17918512e-01 3.53668493e-01 1.01457011e+02] [-3.42030272e-01 -1.08177298e-01 -9.33441463e-01 1.05213127e+02] [ 1.48328930e-01 -9.87113416e-01 6.00469123e-02 1.45822065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.106875 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:101.41, Y:105.19, Z:14.56 [[-9.17502443e-01 -1.80110161e-01 3.54611896e-01 1.01409167e+02] [-3.35106405e-01 -1.30163076e-01 -9.33145900e-01 1.05194463e+02] [ 2.14226433e-01 -9.74996361e-01 5.90688717e-02 1.45616531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.37, Y:104.60, Z:13.54 [[-9.35178485e-01 1.04375911e-01 -3.38447737e-01 1.01367655e+02] [-3.28392029e-01 1.02403583e-01 9.38974005e-01 1.04598456e+02] [ 1.32664528e-01 9.89251826e-01 -6.14894104e-02 1.35399582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.33, Y:104.59, Z:13.58 [[-9.39827670e-01 4.08707180e-02 -3.39195422e-01 1.01328128e+02] [-3.35300154e-01 8.01666707e-02 9.38694366e-01 1.04586455e+02] [ 6.55572804e-02 9.95943216e-01 -6.16388974e-02 1.35750118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.16, Y:105.12, Z:14.62 [[-9.33884230e-01 -1.11647415e-01 3.39698543e-01 1.01159216e+02] [-3.28490699e-01 -1.07423110e-01 -9.38378461e-01 1.05117802e+02] [ 1.41259003e-01 -9.87924658e-01 6.36456108e-02 1.46219199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.22687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.39, Y:104.38, Z:14.39 [[-9.00758256e-01 -4.20180248e-01 -1.09923264e-01 1.01393222e+02] [-4.04748356e-01 9.03889902e-01 -1.38426205e-01 1.04375544e+02] [ 1.57522485e-01 -8.01972865e-02 -9.84253556e-01 1.43909062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.23, Y:104.41, Z:13.71 [[-8.98893148e-01 -1.03386112e-01 -4.25796219e-01 1.01227316e+02] [-4.31767248e-01 3.74488130e-01 8.20570341e-01 1.04414919e+02] [ 7.46200524e-02 9.21449919e-01 -3.81263551e-01 1.37119843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.81, Y:105.32, Z:13.89 [[-8.98876697e-01 4.31160415e-01 7.82392483e-02 1.00814359e+02] [-4.29493616e-01 -9.02275179e-01 3.78778842e-02 1.05315226e+02] [ 8.69247761e-02 4.44289741e-04 9.96214779e-01 1.38941060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.80, Y:105.31, Z:13.89 [[-8.98745408e-01 4.31493796e-01 7.79088917e-02 1.00803443e+02] [-4.29845638e-01 -9.02115826e-01 3.76797690e-02 1.05309867e+02] [ 8.65414307e-02 3.75722149e-04 9.96248182e-01 1.38948133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.78, Y:105.30, Z:13.90 [[-8.98651005e-01 4.31622543e-01 7.82837864e-02 1.00776685e+02] [-4.29962310e-01 -9.02054251e-01 3.78224819e-02 1.05297264e+02] [ 8.69412582e-02 3.30133713e-04 9.96213385e-01 1.38974338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.82, Y:105.32, Z:13.89 [[-8.98453616e-01 4.32078265e-01 7.80350690e-02 1.00820831e+02] [-4.30433665e-01 -9.01836077e-01 3.76636451e-02 1.05319136e+02] [ 8.66484829e-02 2.50117371e-04 9.96238916e-01 1.38930200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.82, Y:105.31, Z:13.87 [[-8.96318884e-01 4.40625127e-01 4.96180910e-02 1.00824573e+02] [-4.38229696e-01 -8.97338607e-01 5.23274047e-02 1.05308254e+02] [ 6.75809980e-02 2.51579201e-02 9.97396555e-01 1.38654207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.80, Y:105.31, Z:13.91 [[-8.98394042e-01 4.29961543e-01 8.95612429e-02 1.00798184e+02] [-4.30395616e-01 -9.02508968e-01 1.54005458e-02 1.05314550e+02] [ 8.74514673e-02 -2.47110077e-02 9.95862243e-01 1.39079653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.81, Y:105.31, Z:13.89 [[-8.98397011e-01 4.31996627e-01 7.91310672e-02 1.00805244e+02] [-4.30314523e-01 -9.01875206e-01 3.80857482e-02 1.05311748e+02] [ 8.78192623e-02 1.64874859e-04 9.96136411e-01 1.38933906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.80, Y:105.31, Z:13.89 [[-8.98407599e-01 4.31901569e-01 7.95287415e-02 1.00803754e+02] [-4.30205565e-01 -9.01920737e-01 3.82381535e-02 1.05310927e+02] [ 8.82437396e-02 1.39740509e-04 9.96098902e-01 1.38934220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.80, Y:105.31, Z:13.89 [[-8.98568385e-01 4.31441966e-01 8.02040367e-02 1.00803281e+02] [-4.29718665e-01 -9.02140680e-01 3.85235241e-02 1.05310387e+02] [ 8.89759892e-02 1.50849259e-04 9.96033760e-01 1.38934509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.80, Y:105.31, Z:13.89 [[-8.98852619e-01 4.30776644e-01 8.05943643e-02 1.00798308e+02] [-4.29037366e-01 -9.02458558e-01 3.86715529e-02 1.05308026e+02] [ 8.93918756e-02 1.82032901e-04 9.95996516e-01 1.38939809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.586875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:100.80, Y:105.31, Z:13.89 [[-8.99099218e-01 4.30212770e-01 8.08552294e-02 1.00798582e+02] [-4.28463462e-01 -9.02727496e-01 3.87573296e-02 1.05307813e+02] [ 8.96641369e-02 2.03173281e-04 9.95972038e-01 1.38935480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.81, Y:105.30, Z:13.86 [[-8.97070689e-01 4.39422050e-01 4.66094502e-02 1.00808232e+02] [-4.36857673e-01 -8.97781988e-01 5.60613502e-02 1.05297434e+02] [ 6.64797183e-02 2.99292981e-02 9.97338801e-01 1.38615994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.80, Y:105.30, Z:13.88 [[-8.98059908e-01 4.35812774e-01 5.96290758e-02 1.00798580e+02] [-4.34814668e-01 -9.00037179e-01 2.94835825e-02 1.05301421e+02] [ 6.65177071e-02 5.50426599e-04 9.97785093e-01 1.38785442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.80, Y:105.30, Z:13.88 [[-8.98376689e-01 4.34902729e-01 6.14731000e-02 1.00798907e+02] [-4.33996130e-01 -9.00476300e-01 2.81032500e-02 1.05301898e+02] [ 6.75772498e-02 -1.43178283e-03 9.97713018e-01 1.38803858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.79, Y:105.31, Z:13.91 [[-9.00321440e-01 4.25270310e-01 9.25552120e-02 1.00790243e+02] [-4.26047983e-01 -9.04618578e-01 1.21796433e-02 1.05310884e+02] [ 8.89068050e-02 -2.84673674e-02 9.95633059e-01 1.39108214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.81, Y:105.30, Z:13.86 [[-8.97220557e-01 4.39833346e-01 3.92670324e-02 1.00813412e+02] [-4.37322497e-01 -8.97366735e-01 5.90082696e-02 1.05298428e+02] [ 6.11907334e-02 3.57710758e-02 9.97484899e-01 1.38580935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.75, Y:105.30, Z:13.92 [[-8.99968789e-01 4.25610313e-01 9.44036024e-02 1.00754773e+02] [-4.26993599e-01 -9.04234447e-01 6.04418908e-03 1.05297557e+02] [ 8.79354584e-02 -3.48701524e-02 9.95515659e-01 1.39199947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.79, Y:105.31, Z:13.90 [[-8.99984155e-01 4.28631812e-01 7.93932710e-02 1.00790307e+02] [-4.26959316e-01 -9.03479246e-01 3.78284868e-02 1.05306316e+02] [ 8.79446655e-02 1.47342059e-04 9.96125351e-01 1.38974276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.79, Y:105.31, Z:13.90 [[-8.99606585e-01 4.29324876e-01 7.99258592e-02 1.00793004e+02] [-4.27636884e-01 -9.03150126e-01 3.80334848e-02 1.05308729e+02] [ 8.85137710e-02 3.59279835e-05 9.96074953e-01 1.38965451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.81, Y:105.30, Z:13.86 [[-8.95524755e-01 4.43262458e-01 3.94183558e-02 1.00814606e+02] [-4.40678498e-01 -8.95650027e-01 6.01123106e-02 1.05300324e+02] [ 6.19505820e-02 3.64612403e-02 9.97413005e-01 1.38556440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.886875 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:100.77, Y:105.31, Z:13.92 [[-8.98939524e-01 4.27149882e-01 9.72147664e-02 1.00768468e+02] [-4.28637022e-01 -9.03456231e-01 6.09435912e-03 1.05307059e+02] [ 9.04324913e-02 -3.61913877e-02 9.95244768e-01 1.39177440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.77, Y:105.28, Z:13.86 [[-8.95477044e-01 4.42995365e-01 4.33124714e-02 1.00774258e+02] [-4.40364357e-01 -8.95898064e-01 5.87017292e-02 1.05283535e+02] [ 6.48081532e-02 3.34927824e-02 9.97335519e-01 1.38606875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.80, Y:105.32, Z:13.91 [[-8.98598832e-01 4.27825787e-01 9.73921733e-02 1.00797799e+02] [-4.29153430e-01 -9.03196639e-01 7.94768006e-03 1.05320903e+02] [ 9.13645060e-02 -3.46544092e-02 9.95214348e-01 1.39144658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.97687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.80, Y:105.31, Z:13.90 [[-8.98878198e-01 4.30334070e-01 8.26472870e-02 1.00797684e+02] [-4.28547638e-01 -9.02669677e-01 3.91711195e-02 1.05311986e+02] [ 9.14598672e-02 -2.08234340e-04 9.95808741e-01 1.38951710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.78, Y:105.30, Z:13.90 [[-8.97984743e-01 4.32076847e-01 8.32646389e-02 1.00777704e+02] [-4.30274702e-01 -9.01836692e-01 3.94241370e-02 1.05302352e+02] [ 9.21253633e-02 -4.24394160e-04 9.95747326e-01 1.38966088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.77, Y:105.30, Z:13.90 [[-8.97509666e-01 4.32937363e-01 8.39144703e-02 1.00774473e+02] [-4.31114417e-01 -9.01423837e-01 3.96916363e-02 1.05300385e+02] [ 9.28264961e-02 -5.53110713e-04 9.95682146e-01 1.38973080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.79, Y:105.31, Z:13.90 [[-8.97716351e-01 4.32588103e-01 8.35038048e-02 1.00793254e+02] [-4.30785175e-01 -9.01591498e-01 3.94576064e-02 1.05307003e+02] [ 9.23552116e-02 -5.50462743e-04 9.95725972e-01 1.38963572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.78, Y:105.30, Z:13.90 [[-8.98103286e-01 4.31863995e-01 8.30901791e-02 1.00782833e+02] [-4.30079464e-01 -9.01938596e-01 3.92227565e-02 1.05300943e+02] [ 9.18811358e-02 -5.09293191e-04 9.95769852e-01 1.38974908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.77, Y:105.29, Z:13.90 [[-8.98216975e-01 4.31717910e-01 8.26190804e-02 1.00771269e+02] [-4.29956547e-01 -9.02008519e-01 3.89615076e-02 1.05293537e+02] [ 9.13434950e-02 -5.26727011e-04 9.95819305e-01 1.38979249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.78, Y:105.29, Z:13.90 [[-8.98510530e-01 4.31254927e-01 8.18414045e-02 1.00775054e+02] [-4.29528226e-01 -9.02229975e-01 3.85561409e-02 1.05291907e+02] [ 9.04672941e-02 -5.10094718e-04 9.95899296e-01 1.38973412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.78, Y:105.29, Z:13.90 [[-8.98701636e-01 4.30946749e-01 8.13650356e-02 1.00779238e+02] [-4.29242354e-01 -9.02377215e-01 3.82931189e-02 1.05292869e+02] [ 8.99242493e-02 -5.11230802e-04 9.95948477e-01 1.38966273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.78, Y:105.29, Z:13.90 [[-8.98728839e-01 4.30925529e-01 8.11767345e-02 1.00783706e+02] [-4.29232406e-01 -9.02387330e-01 3.81660504e-02 1.05294006e+02] [ 8.96995822e-02 -5.42754918e-04 9.95968720e-01 1.38965384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.78, Y:105.29, Z:13.90 [[-8.99154972e-01 4.30138603e-01 8.06295070e-02 1.00775962e+02] [-4.28468502e-01 -9.02762724e-01 3.78709158e-02 1.05289146e+02] [ 8.90790562e-02 -4.95381807e-04 9.96024436e-01 1.38969366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.77, Y:105.29, Z:13.90 [[-8.99507035e-01 4.29439295e-01 8.04300063e-02 1.00774765e+02] [-4.27778054e-01 -9.03095610e-01 3.77393130e-02 1.05288057e+02] [ 8.88427295e-02 -4.59414058e-04 9.96045560e-01 1.38971337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.79, Y:105.29, Z:13.90 [[-8.99980561e-01 4.28444784e-01 8.04366678e-02 1.00785977e+02] [-4.26782694e-01 -9.03567878e-01 3.77043945e-02 1.05291394e+02] [ 8.88342404e-02 -3.95755716e-04 9.96046345e-01 1.38956716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.78, Y:105.27, Z:13.86 [[-8.97654247e-01 4.38615287e-01 4.28191884e-02 1.00778606e+02] [-4.35998620e-01 -8.98030374e-01 5.87081868e-02 1.05270326e+02] [ 6.42032400e-02 3.40305462e-02 9.97356439e-01 1.38600212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.76, Y:105.29, Z:13.91 [[-9.00968287e-01 4.23146493e-01 9.59332629e-02 1.00763611e+02] [-4.24469007e-01 -9.05413932e-01 7.18849207e-03 1.05288027e+02] [ 8.99010980e-02 -3.42440935e-02 9.95361811e-01 1.39147541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.77, Y:105.28, Z:13.90 [[-9.01648696e-01 4.24645704e-01 8.18880661e-02 1.00766244e+02] [-4.22916496e-01 -9.05359605e-01 3.82834733e-02 1.05279394e+02] [ 9.03950596e-02 -1.13570145e-04 9.95905980e-01 1.38954105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.76, Y:105.28, Z:13.90 [[-9.02265781e-01 4.23275164e-01 8.21863527e-02 1.00761209e+02] [-4.21531189e-01 -9.06001179e-01 3.83838629e-02 1.05276412e+02] [ 9.07078683e-02 -1.16649293e-05 9.95877544e-01 1.38957097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.76, Y:105.27, Z:13.90 [[-9.03251649e-01 4.21130515e-01 8.23744390e-02 1.00756364e+02] [-4.19373192e-01 -9.07000034e-01 3.84325965e-02 1.05273559e+02] [ 9.08987581e-02 1.68674700e-04 9.95860124e-01 1.38962514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.76, Y:105.27, Z:13.90 [[-9.03823839e-01 4.19950897e-01 8.21201044e-02 1.00757971e+02] [-4.18203107e-01 -9.07546793e-01 3.82750576e-02 1.05274245e+02] [ 9.06014821e-02 2.51026719e-04 9.95887197e-01 1.38964875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.75, Y:105.27, Z:13.90 [[-9.05042975e-01 4.17606690e-01 8.06341512e-02 1.00745301e+02] [-4.15915769e-01 -9.08627787e-01 3.75448631e-02 1.05268254e+02] [ 8.89454164e-02 4.42699528e-04 9.96036403e-01 1.38981426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.76, Y:105.27, Z:13.90 [[-9.05666348e-01 4.16318640e-01 8.02948080e-02 1.00755446e+02] [-4.14640277e-01 -9.09218624e-01 3.73488200e-02 1.05273025e+02] [ 8.85545448e-02 5.32108001e-04 9.96071187e-01 1.38976996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.74, Y:105.27, Z:13.90 [[-9.06210572e-01 4.15155502e-01 8.01767303e-02 1.00743211e+02] [-4.13480911e-01 -9.09750261e-01 3.72558559e-02 1.05267269e+02] [ 8.84077748e-02 6.10103024e-04 9.96084180e-01 1.38994386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.75, Y:105.27, Z:13.90 [[-9.06757374e-01 4.13990792e-01 8.00168039e-02 1.00752183e+02] [-4.12321717e-01 -9.10280809e-01 3.71436413e-02 1.05271142e+02] [ 8.82148865e-02 6.87604680e-04 9.96101230e-01 1.38979497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.636875 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:100.72, Y:105.26, Z:13.90 [[-9.07406994e-01 4.12506777e-01 8.03162906e-02 1.00723763e+02] [-4.10822753e-01 -9.10954180e-01 3.72444249e-02 1.05257663e+02] [ 8.85280384e-02 8.00092070e-04 9.96073364e-01 1.38990862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.72, Y:105.26, Z:13.90 [[-9.07954401e-01 4.11380265e-01 7.99067135e-02 1.00722052e+02] [-4.09712407e-01 -9.11463395e-01 3.70165261e-02 1.05257451e+02] [ 8.80599126e-02 8.70545845e-04 9.96114800e-01 1.38994940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.72, Y:105.26, Z:13.90 [[-9.08185743e-01 4.10896052e-01 7.97689842e-02 1.00720490e+02] [-4.09235486e-01 -9.11681775e-01 3.69141970e-02 1.05257121e+02] [ 8.78918269e-02 8.80648328e-04 9.96129636e-01 1.38996345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.72687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.72, Y:105.26, Z:13.90 [[-9.08166943e-01 4.10856504e-01 8.01856455e-02 1.00724962e+02] [-4.09181797e-01 -9.11699624e-01 3.70682103e-02 1.05259418e+02] [ 8.83349382e-02 8.53616718e-04 9.96090463e-01 1.38987975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.71, Y:105.26, Z:13.90 [[-9.08337370e-01 4.10272804e-01 8.12369876e-02 1.00714271e+02] [-4.08555018e-01 -9.11962412e-01 3.75147552e-02 1.05255105e+02] [ 8.94763629e-02 8.86275213e-04 9.95988552e-01 1.38995375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.71, Y:105.25, Z:13.90 [[-9.08557367e-01 4.09638160e-01 8.19761406e-02 1.00705520e+02] [-4.07889927e-01 -9.12247625e-01 3.78163791e-02 1.05251422e+02] [ 9.02735715e-02 9.21107837e-04 9.95916580e-01 1.39002550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.71, Y:105.25, Z:13.90 [[-9.08739771e-01 4.09110857e-01 8.25853195e-02 1.00711683e+02] [-4.07337981e-01 -9.12484200e-01 3.80572474e-02 1.05254162e+02] [ 9.09274323e-02 9.43997059e-04 9.95857074e-01 1.38993938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.69, Y:105.25, Z:13.90 [[-9.08810474e-01 4.08705877e-01 8.38035124e-02 1.00693346e+02] [-4.06882275e-01 -9.12665646e-01 3.85776277e-02 1.05246367e+02] [ 9.22514899e-02 9.61588312e-04 9.95735275e-01 1.39007498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.87687499999998 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:100.71, Y:105.25, Z:13.90 [[-9.08728567e-01 4.08803007e-01 8.42169404e-02 1.00710231e+02] [-4.06965552e-01 -9.12622187e-01 3.87270219e-02 1.05254562e+02] [ 9.26899713e-02 9.18957436e-04 9.95694594e-01 1.38994228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.71, Y:105.25, Z:13.90 [[-9.08564120e-01 4.09111032e-01 8.44949950e-02 1.00709336e+02] [-4.07266545e-01 -9.12484211e-01 3.88139790e-02 1.05254756e+02] [ 9.29795759e-02 8.53003915e-04 9.95667651e-01 1.38995450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.70, Y:105.25, Z:13.90 [[-9.08375064e-01 4.09557026e-01 8.43669682e-02 1.00697234e+02] [-4.07723818e-01 -9.12284194e-01 3.87148208e-02 1.05249720e+02] [ 9.28225784e-02 7.69155489e-04 9.95682368e-01 1.39006026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.70, Y:105.25, Z:13.90 [[-9.07724668e-01 4.11078709e-01 8.39656021e-02 1.00697822e+02] [-4.09273157e-01 -9.11599674e-01 3.84904817e-02 1.05251546e+02] [ 9.23656331e-02 5.73892659e-04 9.95724992e-01 1.39017716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.71, Y:105.26, Z:13.90 [[-9.07457022e-01 4.11709795e-01 8.37663310e-02 1.00705485e+02] [-4.09919226e-01 -9.11314887e-01 3.83589085e-02 1.05255480e+02] [ 9.21302428e-02 4.71631333e-04 9.95746853e-01 1.39009560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.71, Y:105.24, Z:13.88 [[-9.05897030e-01 4.19724059e-01 5.64117447e-02 1.00706395e+02] [-4.17165919e-01 -9.07348417e-01 5.18791594e-02 1.05244164e+02] [ 7.29600386e-02 2.34641191e-02 9.97058809e-01 1.38753609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.70, Y:105.26, Z:13.91 [[-9.07080950e-01 4.10535722e-01 9.30836780e-02 1.00704494e+02] [-4.10874354e-01 -9.11544695e-01 1.63869803e-02 1.05261414e+02] [ 9.15773737e-02 -2.33813784e-02 9.95523428e-01 1.39147012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.70, Y:105.25, Z:13.90 [[-9.07058019e-01 4.12827428e-01 8.25788433e-02 1.00702946e+02] [-4.11104624e-01 -9.10809236e-01 3.76765776e-02 1.05254717e+02] [ 9.07674977e-02 2.26297535e-04 9.95872085e-01 1.39018509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.70, Y:105.25, Z:13.90 [[-9.07160452e-01 4.12812025e-01 8.15238994e-02 1.00700565e+02] [-4.11136413e-01 -9.10816225e-01 3.71571592e-02 1.05253412e+02] [ 8.95922124e-02 1.90061770e-04 9.95978514e-01 1.39018150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.69, Y:105.25, Z:13.90 [[-9.07294029e-01 4.12540428e-01 8.14121656e-02 1.00689336e+02] [-4.10871778e-01 -9.10939275e-01 3.70677656e-02 1.05248562e+02] [ 8.94534910e-02 1.81401121e-04 9.95990984e-01 1.39027468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.70, Y:105.25, Z:13.90 [[-9.07445789e-01 4.12081222e-01 8.20439326e-02 1.00698606e+02] [-4.10388198e-01 -9.11147095e-01 3.73161875e-02 1.05253116e+02] [ 9.01313910e-02 1.92555543e-04 9.95929865e-01 1.39029330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.70, Y:105.25, Z:13.90 [[-9.07752837e-01 4.11333822e-01 8.23970482e-02 1.00696440e+02] [-4.09626652e-01 -9.11484741e-01 3.74375912e-02 1.05252368e+02] [ 9.05029996e-02 2.32052639e-04 9.95896156e-01 1.39030773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.69, Y:105.25, Z:13.90 [[-9.08074827e-01 4.10530182e-01 8.28557708e-02 1.00688480e+02] [-4.08804160e-01 -9.11846968e-01 3.76067314e-02 1.05248518e+02] [ 9.09904816e-02 2.77942294e-04 9.95851723e-01 1.39030199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.68, Y:105.25, Z:13.90 [[-9.08212387e-01 4.10126741e-01 8.33445694e-02 1.00681930e+02] [-4.08382197e-01 -9.12028495e-01 3.77889632e-02 1.05245271e+02] [ 9.15108866e-02 2.83966107e-04 9.95804035e-01 1.39039419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.67, Y:105.24, Z:13.91 [[-9.08433275e-01 4.09561939e-01 8.37138177e-02 1.00666302e+02] [-4.07803160e-01 -9.12282262e-01 3.79164636e-02 1.05238223e+02] [ 9.18997713e-02 3.05817820e-04 9.95768215e-01 1.39052550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.68, Y:105.24, Z:13.90 [[-9.08734515e-01 4.08799066e-01 8.41718804e-02 1.00677729e+02] [-4.07021429e-01 -9.12624349e-01 3.80835104e-02 1.05243528e+02] [ 9.23858110e-02 3.48041303e-04 9.95723225e-01 1.39040496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.67, Y:105.24, Z:13.91 [[-9.08929135e-01 4.08213321e-01 8.49100205e-02 1.00665873e+02] [-4.06405575e-01 -9.12886491e-01 3.83766060e-02 1.05238151e+02] [ 9.31790525e-02 3.73709637e-04 9.95649298e-01 1.39058019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.68, Y:105.24, Z:13.90 [[-9.09239121e-01 4.07490467e-01 8.50631575e-02 1.00676238e+02] [-4.05676830e-01 -9.13209368e-01 3.84052004e-02 1.05242694e+02] [ 9.33302254e-02 4.11358462e-04 9.95635124e-01 1.39048349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.62, Y:105.22, Z:13.91 [[-9.09531310e-01 4.06859564e-01 8.49593568e-02 1.00621998e+02] [-4.05051402e-01 -9.13490615e-01 3.83178642e-02 1.05218284e+02] [ 9.31995646e-02 4.38390627e-04 9.95647352e-01 1.39105282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.66, Y:105.23, Z:13.91 [[-9.09931283e-01 4.06007566e-01 8.47520870e-02 1.00660480e+02] [-4.04208369e-01 -9.13869585e-01 3.81834389e-02 1.05234837e+02] [ 9.29551197e-02 4.86802613e-04 9.95670181e-01 1.39079539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.47687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.66, Y:105.23, Z:13.91 [[-9.10362855e-01 4.05031974e-01 8.47854536e-02 1.00656233e+02] [-4.03230978e-01 -9.14302356e-01 3.81572986e-02 1.05232486e+02] [ 9.29744660e-02 5.48865939e-04 9.95668342e-01 1.39082618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.66, Y:105.23, Z:13.91 [[-9.10893092e-01 4.03796461e-01 8.49834851e-02 1.00660363e+02] [-4.01985468e-01 -9.14848626e-01 3.82056793e-02 1.05233681e+02] [ 9.31743427e-02 6.39163250e-04 9.95649604e-01 1.39084275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.66, Y:105.23, Z:13.91 [[-9.11255337e-01 4.02982447e-01 8.49638658e-02 1.00656758e+02] [-4.01172554e-01 -9.15207451e-01 3.81562985e-02 1.05232137e+02] [ 9.31358816e-02 6.84959524e-04 9.95653172e-01 1.39094968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.65, Y:105.23, Z:13.91 [[-9.11627576e-01 4.02149395e-01 8.49177606e-02 1.00651199e+02] [-4.00341645e-01 -9.15573770e-01 3.80951399e-02 1.05229291e+02] [ 9.30684117e-02 7.32464042e-04 9.95659447e-01 1.39106906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.65, Y:105.23, Z:13.91 [[-9.11972059e-01 4.01370214e-01 8.49053352e-02 1.00650817e+02] [-3.99563411e-01 -9.15915581e-01 3.80490342e-02 1.05228865e+02] [ 9.30378684e-02 7.74590655e-04 9.95662270e-01 1.39110803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.66, Y:105.23, Z:13.91 [[-9.12153692e-01 4.01071481e-01 8.43641491e-02 1.00658004e+02] [-3.99290131e-01 -9.16046442e-01 3.77664703e-02 1.05231992e+02] [ 9.24285328e-02 7.63053109e-04 9.95719029e-01 1.39108988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.66, Y:105.23, Z:13.91 [[-9.11936972e-01 4.01487732e-01 8.47263833e-02 1.00657019e+02] [-3.99696576e-01 -9.15864144e-01 3.78882208e-02 1.05231852e+02] [ 9.28095123e-02 6.86824013e-04 9.95683646e-01 1.39114067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.65, Y:105.23, Z:13.91 [[-9.11667998e-01 4.02111662e-01 8.46621099e-02 1.00651146e+02] [-4.00329641e-01 -9.15590448e-01 3.78194455e-02 1.05229524e+02] [ 9.27234592e-02 5.86026117e-04 9.95691728e-01 1.39119177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.66, Y:105.23, Z:13.91 [[-9.11287011e-01 4.02820704e-01 8.53900722e-02 1.00657727e+02] [-4.01014766e-01 -9.15278782e-01 3.81039146e-02 1.05232584e+02] [ 9.35047670e-02 4.80922663e-04 9.95618716e-01 1.39115576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.67, Y:105.24, Z:13.91 [[-9.10665294e-01 4.04060901e-01 8.61597929e-02 1.00673931e+02] [-4.02231600e-01 -9.14732030e-01 3.84064258e-02 1.05240469e+02] [ 9.43316573e-02 3.19207725e-04 9.95540776e-01 1.39102701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.67, Y:105.24, Z:13.91 [[-9.10404639e-01 4.04591843e-01 8.64224141e-02 1.00667431e+02] [-4.02757576e-01 -9.14497342e-01 3.84830643e-02 1.05237698e+02] [ 9.46030019e-02 2.27878247e-04 9.95515053e-01 1.39109952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.67, Y:105.23, Z:13.88 [[-9.08137514e-01 4.15579794e-01 5.07906614e-02 1.00674838e+02] [-4.12814193e-01 -9.09040254e-01 5.68353661e-02 1.05225665e+02] [ 6.97903854e-02 3.06472221e-02 9.97090793e-01 1.38761032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.65, Y:105.24, Z:13.93 [[-9.09918332e-01 4.02543308e-01 1.00037561e-01 1.00648479e+02] [-4.03525954e-01 -9.14900734e-01 1.11108701e-02 1.05236472e+02] [ 9.59970442e-02 -3.02577678e-02 9.94921623e-01 1.39297175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.66, Y:105.23, Z:13.91 [[-9.10354403e-01 4.04340562e-01 8.81111283e-02 1.00656593e+02] [-4.02441266e-01 -9.14608484e-01 3.91452170e-02 1.05232512e+02] [ 9.64151845e-02 1.76466577e-04 9.95341188e-01 1.39126344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.65, Y:105.23, Z:13.91 [[-9.10511307e-01 4.03983778e-01 8.81264293e-02 1.00654523e+02] [-4.02086153e-01 -9.14766132e-01 3.91107423e-02 1.05231521e+02] [ 9.64151783e-02 1.76356151e-04 9.95341189e-01 1.39128459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.65, Y:105.23, Z:13.91 [[-9.10875758e-01 4.03091730e-01 8.84443944e-02 1.00648732e+02] [-4.01180182e-01 -9.15159550e-01 3.92104392e-02 1.05228886e+02] [ 9.67461360e-02 2.33700224e-04 9.95309063e-01 1.39133103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.64, Y:105.23, Z:13.91 [[-9.11259063e-01 4.02064846e-01 8.91671440e-02 1.00642003e+02] [-4.00121060e-01 -9.15611143e-01 3.94888815e-02 1.05225878e+02] [ 9.75195217e-02 3.06948970e-04 9.95233565e-01 1.39138991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.62, Y:105.22, Z:13.92 [[-9.12314915e-01 3.99696667e-01 8.90172477e-02 1.00621808e+02] [-3.97752248e-01 -9.16647317e-01 3.93807894e-02 1.05216512e+02] [ 9.73377915e-02 5.20871173e-04 9.95251266e-01 1.39160232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.64, Y:105.22, Z:13.91 [[-9.13053308e-01 3.98000692e-01 8.90455244e-02 1.00640907e+02] [-3.96051102e-01 -9.17384875e-01 3.93511870e-02 1.05224557e+02] [ 9.73508169e-02 6.63153493e-04 9.95249908e-01 1.39142567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.64, Y:105.22, Z:13.91 [[-9.14272152e-01 3.95234635e-01 8.88595278e-02 1.00638794e+02] [-3.93284234e-01 -9.18579742e-01 3.92271558e-02 1.05223115e+02] [ 9.71284927e-02 9.17244813e-04 9.95271428e-01 1.39146004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.63, Y:105.22, Z:13.92 [[-9.14974634e-01 3.93657535e-01 8.86293633e-02 1.00634204e+02] [-3.91713891e-01 -9.19256578e-01 3.90841603e-02 1.05220973e+02] [ 9.68588994e-02 1.04366245e-03 9.95297576e-01 1.39150347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.61, Y:105.21, Z:13.92 [[-9.15478465e-01 3.92506029e-01 8.85335937e-02 1.00612881e+02] [-3.90565251e-01 -9.19748743e-01 3.90004509e-02 1.05211347e+02] [ 9.67365736e-02 1.12592770e-03 9.95309383e-01 1.39166358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.61, Y:105.21, Z:13.92 [[-9.15634437e-01 3.91976992e-01 8.92614965e-02 1.00605637e+02] [-3.90005749e-01 -9.19974298e-01 3.92785759e-02 1.05208887e+02] [ 9.75145807e-02 1.15231994e-03 9.95233429e-01 1.39173752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.59, Y:105.20, Z:13.92 [[-9.15693219e-01 3.91748768e-01 8.96595307e-02 1.00591294e+02] [-3.89762998e-01 -9.20071518e-01 3.94107567e-02 1.05202805e+02] [ 9.79322959e-02 1.14219521e-03 9.95192424e-01 1.39188274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.58, Y:105.20, Z:13.92 [[-9.15962418e-01 3.91083280e-01 8.98149088e-02 1.00575399e+02] [-3.89091675e-01 -9.20354544e-01 3.94357880e-02 1.05196030e+02] [ 9.80842367e-02 1.17546638e-03 9.95177422e-01 1.39200202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.22687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.61, Y:105.21, Z:13.92 [[-9.16302939e-01 3.90318759e-01 8.96671061e-02 1.00609050e+02] [-3.88334339e-01 -9.20678983e-01 3.93274869e-02 1.05210924e+02] [ 9.79048760e-02 1.21507553e-03 9.95195036e-01 1.39161516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.57, Y:105.19, Z:13.92 [[-9.16401063e-01 3.89995078e-01 9.00718056e-02 1.00570737e+02] [-3.87995393e-01 -9.20816139e-01 3.94615287e-02 1.05194249e+02] [ 9.83293742e-02 1.21514121e-03 9.95153183e-01 1.39205066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.60, Y:105.21, Z:13.92 [[-9.16417180e-01 3.89911970e-01 9.02674247e-02 1.00597923e+02] [-3.87907471e-01 -9.20851371e-01 3.95037465e-02 1.05206372e+02] [ 9.85258655e-02 1.18650354e-03 9.95133783e-01 1.39184854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.60, Y:105.21, Z:13.92 [[-9.16431477e-01 3.89892453e-01 9.02065574e-02 1.00596216e+02] [-3.87894858e-01 -9.20859684e-01 3.94337544e-02 1.05206077e+02] [ 9.84425052e-02 1.14767400e-03 9.95142078e-01 1.39187531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.59, Y:105.21, Z:13.92 [[-9.15578903e-01 3.92077747e-01 8.93885481e-02 1.00594969e+02] [-3.90130822e-01 -9.19931677e-01 3.90339722e-02 1.05206776e+02] [ 9.75357089e-02 8.65453786e-04 9.95231650e-01 1.39189377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.61, Y:105.21, Z:13.92 [[-9.14413503e-01 3.94864783e-01 8.90491389e-02 1.00609208e+02] [-3.92949930e-01 -9.18739095e-01 3.88436275e-02 1.05213909e+02] [ 9.71509059e-02 5.27284657e-04 9.95269523e-01 1.39183314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.63, Y:105.22, Z:13.92 [[-9.13371446e-01 3.97365060e-01 8.86205985e-02 1.00627222e+02] [-3.95484398e-01 -9.17660591e-01 3.86151737e-02 1.05222377e+02] [ 9.66679516e-02 2.21932980e-04 9.95316662e-01 1.39176473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.63, Y:105.22, Z:13.92 [[-9.12697290e-01 3.98963193e-01 8.83856748e-02 1.00625442e+02] [-3.97103943e-01 -9.16966941e-01 3.84719128e-02 1.05222229e+02] [ 9.63956190e-02 1.49106118e-05 9.95343099e-01 1.39182605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.61, Y:105.21, Z:13.92 [[-9.11335309e-01 4.02018931e-01 8.85930824e-02 1.00610007e+02] [-4.00169276e-01 -9.15631290e-01 3.85213081e-02 1.05213837e+02] [ 9.66048934e-02 -3.46401369e-04 9.95322749e-01 1.39194407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.62, Y:105.22, Z:13.92 [[-9.10816976e-01 4.03140480e-01 8.88267373e-02 1.00621927e+02] [-4.01290426e-01 -9.15137967e-01 3.85810362e-02 1.05217936e+02] [ 9.68422972e-02 -5.05056496e-04 9.95299610e-01 1.39182614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.61, Y:105.21, Z:13.92 [[-9.10604533e-01 4.03559310e-01 8.91025756e-02 1.00612085e+02] [-4.01704195e-01 -9.14953295e-01 3.86549904e-02 1.05213333e+02] [ 9.71242764e-02 -5.93468927e-04 9.95272085e-01 1.39194504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.61, Y:105.21, Z:13.92 [[-9.09705786e-01 4.05620139e-01 8.89251720e-02 1.00611321e+02] [-4.03786219e-01 -9.14041346e-01 3.85370962e-02 1.05211295e+02] [ 9.69127062e-02 -8.49339564e-04 9.95292523e-01 1.39196912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.64, Y:105.20, Z:13.87 [[-9.06075118e-01 4.21080629e-01 4.14606431e-02 1.00641029e+02] [-4.18138783e-01 -9.06092601e-01 6.44682581e-02 1.05202789e+02] [ 6.47135166e-02 4.10767817e-02 9.97058102e-01 1.38716262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.61, Y:105.22, Z:13.94 [[-9.08683453e-01 4.04157470e-01 1.04647610e-01 1.00611698e+02] [-4.06425319e-01 -9.13683925e-01 -3.80121091e-04 1.05220412e+02] [ 9.54612107e-02 -4.28768482e-02 9.94509293e-01 1.39432647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.60, Y:105.20, Z:13.92 [[-9.08488420e-01 4.08564022e-01 8.78876066e-02 1.00597238e+02] [-4.06794616e-01 -9.12728839e-01 3.80027188e-02 1.05203162e+02] [ 9.57440968e-02 -1.22717527e-03 9.95405225e-01 1.39212948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.62, Y:105.21, Z:13.92 [[-9.08346619e-01 4.09054402e-01 8.70684528e-02 1.00622977e+02] [-4.07323940e-01 -9.12509067e-01 3.76086481e-02 1.05212741e+02] [ 9.48347357e-02 -1.30337687e-03 9.95492177e-01 1.39193804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.61, Y:105.21, Z:13.92 [[-9.08590391e-01 4.08507630e-01 8.70920040e-02 1.00608677e+02] [-4.06777534e-01 -9.12754003e-01 3.75788257e-02 1.05205730e+02] [ 9.48448123e-02 -1.28331063e-03 9.95491243e-01 1.39215582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.61, Y:105.21, Z:13.92 [[-9.09190436e-01 4.07189750e-01 8.70014838e-02 1.00609959e+02] [-4.05461012e-01 -9.13342823e-01 3.75000618e-02 1.05205074e+02] [ 9.47318217e-02 -1.18101214e-03 9.95502128e-01 1.39216226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.62, Y:105.19, Z:13.89 [[-9.08782249e-01 4.13990184e-01 5.22202194e-02 1.00624957e+02] [-4.11160743e-01 -9.09773039e-01 5.70951876e-02 1.05193698e+02] [ 7.11453949e-02 3.04161888e-02 9.97002100e-01 1.38857270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.60, Y:105.19, Z:13.90 [[-9.09594974e-01 4.10984660e-01 6.10622071e-02 1.00604309e+02] [-4.09833609e-01 -9.11637081e-01 3.08908686e-02 1.05190329e+02] [ 6.83622453e-02 3.07283405e-03 9.97655833e-01 1.39001093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.60, Y:105.20, Z:13.94 [[-9.13059993e-01 3.95013565e-01 1.01418599e-01 1.00600268e+02] [-3.96492846e-01 -9.18018243e-01 5.99400213e-03 1.05202150e+02] [ 9.54718362e-02 -3.47388654e-02 9.94825784e-01 1.39397028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.59, Y:105.19, Z:13.92 [[-9.14362677e-01 3.95268774e-01 8.77695357e-02 1.00591245e+02] [-3.93464307e-01 -9.18565509e-01 3.77259144e-02 1.05188762e+02] [ 9.55339442e-02 -3.90114470e-05 9.95426172e-01 1.39217573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.60, Y:105.19, Z:13.92 [[-9.15373527e-01 3.92886092e-01 8.79307914e-02 1.00599311e+02] [-3.91067897e-01 -9.19587129e-01 3.77546148e-02 1.05191095e+02] [ 9.56932872e-02 1.72665234e-04 9.95410852e-01 1.39213957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.58, Y:105.18, Z:13.92 [[-9.17332352e-01 3.88399594e-01 8.74477686e-02 1.00575404e+02] [-3.86584820e-01 -9.21490855e-01 3.75070963e-02 1.05179052e+02] [ 9.51500600e-02 6.00493015e-04 9.95462759e-01 1.39235730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.61, Y:105.18, Z:13.88 [[-9.15847737e-01 3.98944896e-01 4.54520928e-02 1.00610796e+02] [-3.96017208e-01 -9.16163521e-01 6.17638598e-02 1.05175791e+02] [ 6.62819260e-02 3.85664804e-02 9.97055331e-01 1.38817440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.97687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.59, Y:105.19, Z:13.94 [[-9.18748995e-01 3.81369947e-01 1.02260689e-01 1.00586878e+02] [-3.83172354e-01 -9.23674302e-01 2.17488093e-03 1.05191832e+02] [ 9.52850044e-02 -3.71852991e-02 9.94755257e-01 1.39428485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.59, Y:105.18, Z:13.92 [[-9.19973750e-01 3.82368922e-01 8.62688078e-02 1.00590989e+02] [-3.80582947e-01 -9.24009037e-01 3.69312946e-02 1.05183546e+02] [ 9.38345373e-02 1.14338448e-03 9.95587150e-01 1.39211962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.57, Y:105.17, Z:13.92 [[-9.20303918e-01 3.81491875e-01 8.66293674e-02 1.00565526e+02] [-3.79690816e-01 -9.24371412e-01 3.70456045e-02 1.05172719e+02] [ 9.42103078e-02 1.20083972e-03 9.95551594e-01 1.39242649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.57, Y:105.17, Z:13.92 [[-9.20745689e-01 3.80494344e-01 8.63216673e-02 1.00565340e+02] [-3.78705525e-01 -9.24782388e-01 3.68735831e-02 1.05172958e+02] [ 9.38589474e-02 1.26070040e-03 9.95584707e-01 1.39243357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.57, Y:105.17, Z:13.92 [[-9.21007359e-01 3.79802279e-01 8.65775574e-02 1.00565203e+02] [-3.78004036e-01 -9.25066785e-01 3.69376802e-02 1.05172858e+02] [ 9.41190378e-02 1.29320917e-03 9.95560111e-01 1.39248143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.57, Y:105.18, Z:13.92 [[-9.21177143e-01 3.79313307e-01 8.69142444e-02 1.00572959e+02] [-3.77502703e-01 -9.25267365e-01 3.70406807e-02 1.05176227e+02] [ 9.44689370e-02 1.31066629e-03 9.95526947e-01 1.39240214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.56, Y:105.17, Z:13.92 [[-9.21390687e-01 3.78759474e-01 8.70658606e-02 1.00561239e+02] [-3.76943909e-01 -9.25494185e-01 3.70648518e-02 1.05171689e+02] [ 9.46176114e-02 1.33226342e-03 9.95512799e-01 1.39246585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.58, Y:105.16, Z:13.88 [[-9.18871173e-01 3.92394764e-01 4.12567300e-02 1.00579553e+02] [-3.89486868e-01 -9.18799768e-01 6.40856131e-02 1.05159884e+02] [ 6.30535330e-02 4.28174679e-02 9.97091228e-01 1.38795775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.57, Y:105.18, Z:13.95 [[-9.20947496e-01 3.75396610e-01 1.04561437e-01 1.00565960e+02] [-3.77604567e-01 -9.25965845e-01 -1.43017975e-03 1.05184441e+02] [ 9.62834347e-02 -4.07999966e-02 9.94517401e-01 1.39456221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.56, Y:105.17, Z:13.92 [[-9.21217823e-01 3.78977532e-01 8.79417541e-02 1.00562965e+02] [-3.77134207e-01 -9.25405035e-01 3.73538552e-02 1.05172591e+02] [ 9.55380139e-02 1.24519352e-03 9.95425003e-01 1.39227856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.56, Y:105.17, Z:13.92 [[-9.21217395e-01 3.78778451e-01 8.87997492e-02 1.00559744e+02] [-3.76901979e-01 -9.25486546e-01 3.76769253e-02 1.05172124e+02] [ 9.64541806e-02 1.23983781e-03 9.95336654e-01 1.39235614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.55, Y:105.15, Z:13.89 [[-9.19803653e-01 3.88697902e-01 5.36207062e-02 1.00547847e+02] [-3.85782972e-01 -9.20809045e-01 5.72904953e-02 1.05152087e+02] [ 7.16431266e-02 3.20100515e-02 9.96916556e-01 1.38912748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.54, Y:105.17, Z:13.94 [[-9.21009431e-01 3.75973263e-01 1.01910416e-01 1.00538273e+02] [-3.77029982e-01 -9.26153086e-01 9.42621172e-03 1.05171154e+02] [ 9.79286500e-02 -2.97416524e-02 9.94748920e-01 1.39426552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.55, Y:105.17, Z:13.92 [[-9.21260013e-01 3.78464970e-01 8.96897705e-02 1.00549277e+02] [-3.76558427e-01 -9.25614841e-01 3.79594191e-02 1.05168025e+02] [ 9.73844931e-02 1.19705607e-03 9.95246114e-01 1.39249228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.57, Y:105.16, Z:13.89 [[-9.18824249e-01 3.91677013e-01 4.84883190e-02 1.00565436e+02] [-3.88751110e-01 -9.19387476e-01 5.99936982e-02 1.05157236e+02] [ 6.80777058e-02 3.62737769e-02 9.97020380e-01 1.38852393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.55, Y:105.18, Z:13.94 [[-9.20417242e-01 3.77399348e-01 1.01989378e-01 1.00552620e+02] [-3.78962111e-01 -9.25402001e-01 4.34212696e-03 1.05178388e+02] [ 9.60198906e-02 -3.46535416e-02 9.94776011e-01 1.39444184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.56, Y:105.18, Z:13.92 [[-9.20519354e-01 3.80689772e-01 8.78602091e-02 1.00564852e+02] [-3.78877440e-01 -9.24702402e-01 3.71127150e-02 1.05175062e+02] [ 9.53729774e-02 8.74721349e-04 9.95441224e-01 1.39245666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.56, Y:105.17, Z:13.93 [[-9.20185976e-01 3.81453415e-01 8.80401173e-02 1.00555299e+02] [-3.79641000e-01 -9.24387751e-01 3.71482965e-02 1.05170623e+02] [ 9.55535506e-02 7.59703224e-04 9.95424001e-01 1.39254151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.55, Y:105.17, Z:13.93 [[-9.19828128e-01 3.82647244e-01 8.65869659e-02 1.00553373e+02] [-3.80903259e-01 -9.23894334e-01 3.64961237e-02 1.05169862e+02] [ 9.39623483e-02 5.88903631e-04 9.95575577e-01 1.39261298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.56, Y:105.17, Z:13.93 [[-9.19603598e-01 3.83234023e-01 8.63765341e-02 1.00556099e+02] [-3.81504826e-01 -9.23651148e-01 3.63679150e-02 1.05170576e+02] [ 9.37192072e-02 4.91000832e-04 9.95598548e-01 1.39264979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.54, Y:105.16, Z:13.93 [[-9.19266350e-01 3.84110176e-01 8.60740997e-02 1.00539086e+02] [-3.82400609e-01 -9.23287193e-01 3.62013062e-02 1.05163026e+02] [ 9.33764040e-02 3.63854456e-04 9.95630813e-01 1.39269540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.54, Y:105.17, Z:13.93 [[-9.18400515e-01 3.86151845e-01 8.61814715e-02 1.00543050e+02] [-3.84450683e-01 -9.22435222e-01 3.62068295e-02 1.05165397e+02] [ 9.34781588e-02 1.19845321e-04 9.95621323e-01 1.39269669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.53, Y:105.16, Z:13.93 [[-9.17852655e-01 3.87508649e-01 8.59275894e-02 1.00529533e+02] [-3.85827142e-01 -9.21866066e-01 3.60606836e-02 1.05159841e+02] [ 9.31875556e-02 -5.48020488e-05 9.95648571e-01 1.39282799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.53, Y:105.15, Z:13.90 [[-9.16084024e-01 3.97670748e-01 5.14590921e-02 1.00533832e+02] [-3.94974909e-01 -9.17027197e-01 5.52805673e-02 1.05147900e+02] [ 6.91728515e-02 3.03165943e-02 9.97143932e-01 1.38952176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.696875 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:100.01, Y:104.95, Z:13.99 [[-9.16363252e-01 3.87627012e-01 1.00118375e-01 1.00008452e+02] [-3.87588689e-01 -9.21601510e-01 2.06316596e-02 1.04947209e+02] [ 1.00266634e-01 -1.98986551e-02 9.94761602e-01 1.39867720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.72687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.68, Y:104.78, Z:14.70 [[ -0.90395254 -0.21727437 0.36832275 100.676525 ] [ -0.40078417 0.13006929 -0.90689251 104.77540456] [ 0.14913702 -0.96740572 -0.2046566 14.69850146] [ 0. 0. 0. 1. ]] SLAMing on 181.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.39, Y:105.11, Z:13.90 [[-9.01972717e-01 4.03741502e-01 1.53094797e-01 1.00389490e+02] [-3.98247152e-01 -9.14872459e-01 6.63896841e-02 1.05109733e+02] [ 1.66866484e-01 -1.08788317e-03 9.85978901e-01 1.38960198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.39, Y:105.11, Z:13.90 [[-9.02127105e-01 4.03351992e-01 1.53211807e-01 1.00387420e+02] [-3.97898094e-01 -9.15043955e-01 6.61185772e-02 1.05108833e+02] [ 1.66864598e-01 -1.31532540e-03 9.85978943e-01 1.38965389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.36, Y:105.10, Z:13.90 [[-9.02009971e-01 4.03610506e-01 1.53220660e-01 1.00357068e+02] [-3.98171658e-01 -9.14929788e-01 6.60515987e-02 1.05096196e+02] [ 1.66845265e-01 -1.42892343e-03 9.85982057e-01 1.39021195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.41, Y:105.10, Z:13.86 [[-9.01776359e-01 4.16675765e-01 1.14807249e-01 1.00409342e+02] [-4.08655555e-01 -9.08495855e-01 8.73837462e-02 1.05103834e+02] [ 1.40712600e-01 3.18839763e-02 9.89536951e-01 1.38570724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.39, Y:105.12, Z:13.92 [[-9.00690640e-01 4.01341056e-01 1.66378266e-01 1.00389551e+02] [-4.01453638e-01 -9.15230675e-01 3.44643065e-02 1.05119983e+02] [ 1.66106434e-01 -3.57514820e-02 9.85459529e-01 1.39153078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.39, Y:105.11, Z:13.90 [[-9.00569920e-01 4.07018893e-01 1.52674294e-01 1.00389332e+02] [-4.01685927e-01 -9.13417202e-01 6.57071650e-02 1.05111878e+02] [ 1.66199384e-01 -2.15321909e-03 9.86089818e-01 1.38969218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.39, Y:105.11, Z:13.90 [[-9.00298655e-01 4.07693838e-01 1.52473167e-01 1.00387490e+02] [-4.02396349e-01 -9.13115689e-01 6.55508722e-02 1.05111245e+02] [ 1.65950328e-01 -2.33928364e-03 9.86131338e-01 1.38970366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.35, Y:105.10, Z:13.90 [[-8.99772270e-01 4.08968700e-01 1.52165910e-01 1.00352139e+02] [-4.03722434e-01 -9.12544612e-01 6.53492794e-02 1.05096377e+02] [ 1.65583991e-01 -2.63332213e-03 9.86192176e-01 1.39035611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.33, Y:105.09, Z:13.91 [[-8.99882058e-01 4.08839183e-01 1.51864425e-01 1.00331778e+02] [-4.03623769e-01 -9.12602541e-01 6.51494856e-02 1.05087432e+02] [ 1.65227522e-01 -2.66923825e-03 9.86251865e-01 1.39071975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.38, Y:105.11, Z:13.90 [[-8.99862849e-01 4.08811361e-01 1.52053030e-01 1.00384651e+02] [-4.03594579e-01 -9.12614812e-01 6.51584228e-02 1.05109393e+02] [ 1.65403351e-01 -2.73413473e-03 9.86222214e-01 1.38980868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.38, Y:105.11, Z:13.90 [[-8.99830202e-01 4.08767822e-01 1.52362975e-01 1.00379293e+02] [-4.03540931e-01 -9.12634122e-01 6.52202082e-02 1.05106735e+02] [ 1.65711572e-01 -2.79758356e-03 9.86170294e-01 1.38992232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.36, Y:105.10, Z:13.90 [[-8.99915845e-01 4.08516211e-01 1.52531887e-01 1.00355860e+02] [-4.03285786e-01 -9.12746711e-01 6.52228179e-02 1.05096555e+02] [ 1.65867556e-01 -2.81889446e-03 9.86144010e-01 1.39031912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.37, Y:105.10, Z:13.90 [[-8.99599819e-01 4.09052319e-01 1.52958710e-01 1.00372029e+02] [-4.03811994e-01 -9.12506028e-01 6.53346927e-02 1.05103082e+02] [ 1.66301052e-01 -2.99148377e-03 9.86070490e-01 1.39013313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.37, Y:105.10, Z:13.90 [[-8.99496045e-01 4.09163274e-01 1.53271918e-01 1.00369733e+02] [-4.03914886e-01 -9.12455975e-01 6.53976992e-02 1.05101781e+02] [ 1.66612214e-01 -3.08383762e-03 9.86017677e-01 1.39024362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.37, Y:105.10, Z:13.90 [[-8.99577239e-01 4.08821241e-01 1.53707463e-01 1.00367654e+02] [-4.03549787e-01 -9.12609235e-01 6.55129952e-02 1.05100598e+02] [ 1.67057954e-01 -3.09461460e-03 9.85942221e-01 1.39028572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.37, Y:105.10, Z:13.90 [[-8.99901203e-01 4.08189688e-01 1.53489423e-01 1.00370085e+02] [-4.02936021e-01 -9.12892080e-01 6.53499323e-02 1.05100714e+02] [ 1.66794447e-01 -3.03793458e-03 9.85987010e-01 1.39023393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.37, Y:105.10, Z:13.90 [[-9.00710910e-01 4.06613668e-01 1.52922143e-01 1.00367862e+02] [-4.01388260e-01 -9.13595908e-01 6.50383131e-02 1.05097052e+02] [ 1.66154511e-01 -2.80043476e-03 9.86095754e-01 1.39024513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.37, Y:105.10, Z:13.90 [[-9.01482312e-01 4.05068964e-01 1.52475490e-01 1.00370931e+02] [-3.99865331e-01 -9.14282493e-01 6.47706660e-02 1.05096875e+02] [ 1.65642258e-01 -2.58005270e-03 9.86182532e-01 1.39020747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.35, Y:105.09, Z:13.91 [[-9.03237741e-01 4.01619658e-01 1.51205931e-01 1.00354614e+02] [-3.96466165e-01 -9.15804387e-01 6.41631061e-02 1.05088129e+02] [ 1.64244220e-01 -1.99349668e-03 9.86417692e-01 1.39056413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.35, Y:105.09, Z:13.91 [[-9.04297572e-01 3.99391310e-01 1.50772949e-01 1.00350738e+02] [-3.94248090e-01 -9.16779072e-01 6.39106941e-02 1.05085495e+02] [ 1.63750860e-01 -1.64766173e-03 9.86500350e-01 1.39068124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.34, Y:105.08, Z:13.91 [[-9.05402596e-01 3.96781139e-01 1.51032667e-01 1.00342474e+02] [-3.91595525e-01 -9.17912406e-01 6.39512334e-02 1.05080897e+02] [ 1.64009402e-01 -1.24210385e-03 9.86457994e-01 1.39085736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.36, Y:105.08, Z:13.91 [[-9.07885561e-01 3.91298671e-01 1.50429914e-01 1.00357384e+02] [-3.86091130e-01 -9.20263686e-01 6.36269394e-02 1.05083683e+02] [ 1.63332324e-01 -3.13675901e-04 9.86571059e-01 1.39055699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.35, Y:105.08, Z:13.91 [[-9.09133844e-01 3.88492882e-01 1.50163024e-01 1.00353895e+02] [-3.83277233e-01 -9.21451716e-01 6.34452374e-02 1.05080552e+02] [ 1.63015999e-01 1.26144343e-04 9.86623418e-01 1.39060790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.81, Y:104.17, Z:14.37 [[-8.77310561e-01 -4.59360738e-01 -1.38974432e-01 1.00813420e+02] [-4.55834229e-01 8.88164005e-01 -5.81365188e-02 1.04165607e+02] [ 1.50137723e-01 1.23455213e-02 -9.88588009e-01 1.43692912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.47687499999998 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:100.25, Y:105.07, Z:13.91 [[-8.79144972e-01 4.54126479e-01 1.44475813e-01 1.00254117e+02] [-4.47963752e-01 -8.90936836e-01 7.45656154e-02 1.05065402e+02] [ 1.62581044e-01 8.34058511e-04 9.86694841e-01 1.39140763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.26, Y:105.07, Z:13.91 [[-8.80177636e-01 4.51937932e-01 1.45049766e-01 1.00260833e+02] [-4.45708203e-01 -8.92048607e-01 7.47895767e-02 1.05068114e+02] [ 1.63191688e-01 1.17824234e-03 9.86593678e-01 1.39126959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.26, Y:105.07, Z:13.91 [[-8.81132072e-01 4.49745110e-01 1.46067133e-01 1.00261741e+02] [-4.43409252e-01 -8.93155639e-01 7.52412124e-02 1.05067303e+02] [ 1.64300051e-01 1.52992744e-03 9.86409222e-01 1.39128969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.24, Y:105.05, Z:13.92 [[-8.81743106e-01 4.48395802e-01 1.46527472e-01 1.00236637e+02] [-4.42013270e-01 -8.93833453e-01 7.54057555e-02 1.05053095e+02] [ 1.64782781e-01 1.72141779e-03 9.86328379e-01 1.39172728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.25, Y:105.06, Z:13.91 [[-8.82220004e-01 4.47462407e-01 1.46510270e-01 1.00254847e+02] [-4.41080778e-01 -8.94300871e-01 7.53239617e-02 1.05061800e+02] [ 1.64728903e-01 1.82944178e-03 9.86337185e-01 1.39136033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.24, Y:105.05, Z:13.92 [[-8.82488869e-01 4.47071506e-01 1.46083755e-01 1.00235314e+02] [-4.40734015e-01 -8.94496348e-01 7.50320736e-02 1.05051387e+02] [ 1.64216088e-01 1.83088990e-03 9.86422691e-01 1.39170389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.25, Y:105.06, Z:13.91 [[-8.83162173e-01 4.46230091e-01 1.44579673e-01 1.00254900e+02] [-4.40023875e-01 -8.94916247e-01 7.41882758e-02 1.05061150e+02] [ 1.62491739e-01 1.90177101e-03 9.86708071e-01 1.39148210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.25, Y:105.06, Z:13.91 [[-8.83567904e-01 4.45520940e-01 1.44287387e-01 1.00254268e+02] [-4.39342323e-01 -8.95269366e-01 7.39667813e-02 1.05060132e+02] [ 1.62129828e-01 1.96311796e-03 9.86767483e-01 1.39147709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.24, Y:105.05, Z:13.92 [[-8.84038113e-01 4.44506478e-01 1.44535830e-01 1.00236097e+02] [-4.38304667e-01 -8.95773202e-01 7.40228952e-02 1.05050642e+02] [ 1.62374980e-01 2.08833185e-03 9.86726915e-01 1.39183119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.746875 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:99.74, Y:104.80, Z:14.01 [[-8.84616026e-01 4.43219766e-01 1.44950769e-01 9.97408822e+01] [-4.37207512e-01 -8.96412435e-01 7.27622039e-02 1.04797831e+02] [ 1.62185319e-01 9.93046580e-04 9.86759817e-01 1.40066863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.65, Y:104.09, Z:14.07 [[-8.54465441e-01 -3.57359222e-01 -3.77071872e-01 1.00645881e+02] [-5.09141721e-01 7.20315360e-01 4.71084378e-01 1.04085168e+02] [ 1.03264315e-01 5.94508342e-01 -7.97431071e-01 1.40730514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.10, Y:105.02, Z:13.96 [[-8.65159305e-01 4.90360234e-01 1.05100988e-01 1.00101208e+02] [-4.86509369e-01 -8.71517647e-01 6.13646957e-02 1.05016778e+02] [ 1.21688172e-01 1.95762226e-03 9.92566449e-01 1.39603814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.09, Y:105.01, Z:13.96 [[-8.65570694e-01 4.89610632e-01 1.05208376e-01 1.00091560e+02] [-4.85753122e-01 -8.71938852e-01 6.13721653e-02 1.05010998e+02] [ 1.21783735e-01 2.01665084e-03 9.92554611e-01 1.39608444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.09, Y:105.01, Z:13.96 [[-8.65763427e-01 4.89034987e-01 1.06294264e-01 1.00085386e+02] [-4.85099753e-01 -8.72261713e-01 6.19494455e-02 1.05008315e+02] [ 1.23011863e-01 2.07024278e-03 9.92403041e-01 1.39610578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.08, Y:105.01, Z:13.96 [[-8.65814124e-01 4.88916652e-01 1.06425606e-01 1.00084597e+02] [-4.84977704e-01 -8.72328117e-01 6.19700130e-02 1.05008883e+02] [ 1.23136220e-01 2.04046629e-03 9.92387680e-01 1.39613881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.08, Y:105.01, Z:13.96 [[-8.65656072e-01 4.89232676e-01 1.06258902e-01 1.00084120e+02] [-4.85315388e-01 -8.72151141e-01 6.18171674e-02 1.05009363e+02] [ 1.22916801e-01 1.94332593e-03 9.92415076e-01 1.39609870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.08, Y:105.01, Z:13.96 [[-8.65489925e-01 4.89495786e-01 1.06400497e-01 1.00075445e+02] [-4.85576921e-01 -8.72003680e-01 6.18436386e-02 1.05005867e+02] [ 1.23053825e-01 1.85942050e-03 9.92398256e-01 1.39628277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.09, Y:105.01, Z:13.96 [[-8.64955179e-01 4.90554356e-01 1.05872381e-01 1.00085207e+02] [-4.86689171e-01 -8.71409029e-01 6.14813397e-02 1.05012206e+02] [ 1.22418088e-01 1.65166175e-03 9.92477246e-01 1.39611021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.07, Y:105.00, Z:13.96 [[-8.64168499e-01 4.92352031e-01 1.03934028e-01 1.00067487e+02] [-4.88647024e-01 -8.70395154e-01 6.03022574e-02 1.05003234e+02] [ 1.20153613e-01 1.32425805e-03 9.92754429e-01 1.39626592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.046875 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:100.09, Y:105.02, Z:13.96 [[-8.64017972e-01 4.92758475e-01 1.03257107e-01 1.00087750e+02] [-4.89111107e-01 -8.70165281e-01 5.98557348e-02 1.05015670e+02] [ 1.19345170e-01 1.21223272e-03 9.92852084e-01 1.39597071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.07, Y:105.01, Z:13.96 [[-8.63915270e-01 4.93062667e-01 1.02662614e-01 1.00074631e+02] [-4.89465839e-01 -8.69993080e-01 5.94578229e-02 1.05009483e+02] [ 1.18632196e-01 1.11667878e-03 9.92937639e-01 1.39613607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.06, Y:105.00, Z:13.96 [[-8.63481620e-01 4.93871872e-01 1.02421020e-01 1.00062467e+02] [-4.90304009e-01 -8.69534162e-01 5.92648313e-02 1.05004891e+02] [ 1.18327809e-01 9.56655670e-04 9.92974126e-01 1.39632916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.136875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:100.07, Y:105.01, Z:13.96 [[-8.63422138e-01 4.93887361e-01 1.02846907e-01 1.00070925e+02] [-4.90296233e-01 -8.69525413e-01 5.94572126e-02 1.05011143e+02] [ 1.18793165e-01 9.11222356e-04 9.92918604e-01 1.39617032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.06, Y:105.01, Z:13.96 [[-8.63038234e-01 4.94248516e-01 1.04323588e-01 1.00057001e+02] [-4.90562473e-01 -8.69320265e-01 6.02555996e-02 1.05005196e+02] [ 1.20471850e-01 8.25648706e-04 9.92716400e-01 1.39619025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.05, Y:105.00, Z:13.96 [[-8.63036499e-01 4.94159031e-01 1.04760935e-01 1.00053745e+02] [-4.90447944e-01 -8.69371165e-01 6.04532233e-02 1.05004185e+02] [ 1.20949643e-01 7.93552835e-04 9.92658327e-01 1.39619942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.22687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.06, Y:105.01, Z:13.96 [[-8.62891485e-01 4.94416136e-01 1.04742396e-01 1.00063832e+02] [-4.90714948e-01 -8.69225046e-01 6.03875683e-02 1.05010551e+02] [ 1.20901302e-01 7.09259034e-04 9.92664280e-01 1.39598030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.05, Y:105.00, Z:13.96 [[-8.62845854e-01 4.94487720e-01 1.04780373e-01 1.00049102e+02] [-4.90791031e-01 -8.69184370e-01 6.03547337e-02 1.05003091e+02] [ 1.20918137e-01 6.51564447e-04 9.92662269e-01 1.39608127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.28687499999998 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:100.06, Y:105.01, Z:13.96 [[-8.63162996e-01 4.93942408e-01 1.04740345e-01 1.00055149e+02] [-4.90251206e-01 -8.69494356e-01 6.02770230e-02 1.05009419e+02] [ 1.20844517e-01 6.79815256e-04 9.92671215e-01 1.39601797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.31687499999998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:100.04, Y:105.00, Z:13.96 [[-8.63624841e-01 4.93019391e-01 1.05280643e-01 1.00038898e+02] [-4.89289811e-01 -8.70017986e-01 6.05325136e-02 1.05001045e+02] [ 1.21439756e-01 7.64636497e-04 9.92598509e-01 1.39630504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.34687499999998 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:100.01, Y:104.99, Z:13.97 [[-8.64182068e-01 4.92140942e-01 1.04817204e-01 1.00013257e+02] [-4.88444462e-01 -8.70515131e-01 6.02114114e-02 1.04986038e+02] [ 1.20877463e-01 8.36239168e-04 9.92667084e-01 1.39667461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.37687499999998 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:100.05, Y:105.00, Z:13.96 [[-8.65900285e-01 4.89303017e-01 1.03919465e-01 1.00047840e+02] [-4.85656028e-01 -8.72113054e-01 5.96409472e-02 1.05004225e+02] [ 1.19812017e-01 1.17399875e-03 9.92795902e-01 1.39619648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.40687499999999 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:100.05, Y:105.00, Z:13.96 [[-8.67147591e-01 4.87176942e-01 1.03506919e-01 1.00046449e+02] [-4.83550416e-01 -8.73302140e-01 5.93495303e-02 1.05003076e+02] [ 1.19306537e-01 1.41398848e-03 9.92856460e-01 1.39622647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.436875 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:100.05, Y:105.00, Z:13.96 [[-8.67977298e-01 4.85501878e-01 1.04419039e-01 1.00045311e+02] [-4.81805462e-01 -8.74234140e-01 5.98177683e-02 1.05002041e+02] [ 1.20328328e-01 1.61080167e-03 9.92732844e-01 1.39630521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.466875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:100.03, Y:104.99, Z:13.96 [[-8.68813264e-01 4.83998564e-01 1.04445689e-01 1.00031515e+02] [-4.80296025e-01 -8.75066998e-01 5.97785631e-02 1.04993533e+02] [ 1.20329715e-01 1.77155907e-03 9.92732402e-01 1.39648332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.496875 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:100.03, Y:104.99, Z:13.96 [[-8.70268703e-01 4.81497515e-01 1.03887086e-01 1.00029232e+02] [-4.77823346e-01 -8.76445038e-01 5.94049208e-02 1.04991086e+02] [ 1.19654643e-01 2.05856824e-03 9.92813441e-01 1.39634672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.526875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:100.02, Y:104.99, Z:13.96 [[-8.71061043e-01 4.80049868e-01 1.03946059e-01 1.00023049e+02] [-4.76367812e-01 -8.77238415e-01 5.93840935e-02 1.04986780e+02] [ 1.19692802e-01 2.21061381e-03 9.92808514e-01 1.39644546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.556875 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:100.01, Y:104.98, Z:13.97 [[-8.71536841e-01 4.79159116e-01 1.04067656e-01 1.00014487e+02] [-4.75468688e-01 -8.77725076e-01 5.93988013e-02 1.04981427e+02] [ 1.19804268e-01 2.28733197e-03 9.92794896e-01 1.39652487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.586875 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:100.00, Y:104.98, Z:13.97 [[-8.72554935e-01 4.77174903e-01 1.04651790e-01 1.00001690e+02] [-4.73435301e-01 -8.78804720e-01 5.96764607e-02 1.04975102e+02] [ 1.20444596e-01 2.52513877e-03 9.92716839e-01 1.39679687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.616875 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:100.00, Y:104.97, Z:13.97 [[-8.72921551e-01 4.76492367e-01 1.04704295e-01 1.00000330e+02] [-4.72750890e-01 -8.79174848e-01 5.96505083e-02 1.04974363e+02] [ 1.20476395e-01 2.57116542e-03 9.92712863e-01 1.39679723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.646875 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:100.00, Y:104.98, Z:13.97 [[-8.73334727e-01 4.75702596e-01 1.04849867e-01 1.00004390e+02] [-4.71951857e-01 -8.79602241e-01 5.96769800e-02 1.04976359e+02] [ 1.20614672e-01 2.63388973e-03 9.92695907e-01 1.39666066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.02, Y:104.98, Z:13.97 [[-8.73857490e-01 4.74689840e-01 1.05083979e-01 1.00015645e+02] [-4.70922625e-01 -8.80148927e-01 5.97473596e-02 1.04982798e+02] [ 1.20851016e-01 2.72425456e-03 9.92666918e-01 1.39654445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.01, Y:104.98, Z:13.97 [[-8.74043847e-01 4.74341347e-01 1.05107752e-01 1.00013686e+02] [-4.70576652e-01 -8.80336791e-01 5.97055097e-02 1.04981612e+02] [ 1.20851013e-01 2.72397945e-03 9.92666919e-01 1.39657376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.736875 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:100.01, Y:104.98, Z:13.97 [[-8.72088486e-01 4.77588127e-01 1.06636081e-01 1.00008129e+02] [-4.73743814e-01 -8.78580948e-01 6.05170763e-02 1.04977974e+02] [ 1.22590666e-01 2.25806193e-03 9.92454749e-01 1.39653228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.766875 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:100.02, Y:104.99, Z:13.96 [[-8.70941913e-01 4.79707881e-01 1.06491940e-01 1.00020368e+02] [-4.75896629e-01 -8.77426184e-01 6.03795452e-02 1.04985232e+02] [ 1.22403360e-01 1.90792129e-03 9.92478603e-01 1.39633336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.796875 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:100.02, Y:104.99, Z:13.96 [[-8.69866237e-01 4.81620559e-01 1.06650675e-01 1.00022483e+02] [-4.77819066e-01 -8.76378401e-01 6.04138910e-02 1.04987107e+02] [ 1.22562920e-01 1.59227817e-03 9.92459468e-01 1.39638933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.826875 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:100.03, Y:104.99, Z:13.96 [[-8.68266705e-01 4.84178271e-01 1.08094083e-01 1.00027235e+02] [-4.80299553e-01 -8.74968551e-01 6.11749529e-02 1.04990588e+02] [ 1.24198506e-01 1.19863515e-03 9.92256668e-01 1.39630577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.856875 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:100.02, Y:104.99, Z:13.96 [[-8.67644260e-01 4.85085621e-01 1.09020087e-01 1.00020969e+02] [-4.81154150e-01 -8.74466056e-01 6.16425265e-02 1.04986827e+02] [ 1.25236269e-01 1.02831698e-03 9.92126413e-01 1.39629772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.886875 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:100.02, Y:104.99, Z:13.96 [[-8.67090712e-01 4.86068713e-01 1.09045422e-01 1.00024843e+02] [-4.82150407e-01 -8.73920195e-01 6.15993259e-02 1.04988272e+02] [ 1.25238502e-01 8.35908702e-04 9.92126312e-01 1.39620866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.916875 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:100.01, Y:104.98, Z:13.97 [[-8.67005892e-01 4.86206695e-01 1.09104688e-01 1.00005522e+02] [-4.82294803e-01 -8.73843515e-01 6.15567603e-02 1.04978160e+02] [ 1.25269733e-01 7.49449940e-04 9.92122438e-01 1.39650238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.946875 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:100.02, Y:104.99, Z:13.96 [[-8.66913839e-01 4.86462456e-01 1.08695331e-01 1.00022631e+02] [-4.82588987e-01 -8.73701232e-01 6.12701181e-02 1.04988928e+02] [ 1.24772856e-01 6.60743856e-04 9.92185113e-01 1.39629568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.97687499999998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:100.01, Y:104.99, Z:13.97 [[-8.66497763e-01 4.87518893e-01 1.07270479e-01 1.00013943e+02] [-4.83761509e-01 -8.73112320e-01 6.04125791e-02 1.04986488e+02] [ 1.23111451e-01 4.54035799e-04 9.92392747e-01 1.39654268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.00687499999998 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:100.02, Y:104.99, Z:13.96 [[-8.66350499e-01 4.87777117e-01 1.07286057e-01 1.00019578e+02] [-4.84027399e-01 -8.72968126e-01 6.03666241e-02 1.04990831e+02] [ 1.23102766e-01 3.69263856e-04 9.92393860e-01 1.39647079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.01, Y:104.99, Z:13.97 [[-8.66233148e-01 4.87983033e-01 1.07297216e-01 1.00012545e+02] [-4.84240884e-01 -8.72853066e-01 6.03182515e-02 1.04987663e+02] [ 1.23088987e-01 2.91970379e-04 9.92395595e-01 1.39656623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.06687499999998 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:99.99, Y:104.98, Z:13.97 [[-8.66321688e-01 4.87714865e-01 1.07800481e-01 9.99945131e+01] [-4.83942188e-01 -8.73002939e-01 6.05460841e-02 1.04977843e+02] [ 1.23639362e-01 2.83185332e-04 9.92327178e-01 1.39670510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.09687499999998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:99.99, Y:104.98, Z:13.97 [[-8.66854665e-01 4.86760058e-01 1.07831516e-01 9.99899226e+01] [-4.82984753e-01 -8.73535637e-01 6.05080085e-02 1.04975394e+02] [ 1.23647554e-01 3.70671209e-04 9.92326128e-01 1.39671342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.12687499999998 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:99.99, Y:104.97, Z:13.97 [[-8.67580636e-01 4.85480118e-01 1.07763138e-01 9.99872019e+01] [-4.81706701e-01 -8.74247563e-01 6.04140159e-02 1.04974128e+02] [ 1.23541464e-01 5.03804857e-04 9.92339283e-01 1.39675041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.15687499999999 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:99.98, Y:104.97, Z:13.97 [[-8.68307638e-01 4.83971616e-01 1.08689104e-01 9.99771131e+01] [-4.80128144e-01 -8.75083436e-01 6.08764742e-02 1.04968894e+02] [ 1.24574520e-01 6.74809878e-04 9.92210025e-01 1.39684251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.186875 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:99.97, Y:104.97, Z:13.97 [[-8.68615929e-01 4.83255608e-01 1.09409252e-01 9.99735968e+01] [-4.79362387e-01 -8.75479001e-01 6.12227135e-02 1.04967220e+02] [ 1.25371722e-01 7.32343900e-04 9.92109568e-01 1.39685806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.216875 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:99.99, Y:104.98, Z:13.96 [[-8.68918302e-01 4.82728095e-01 1.09336961e-01 9.99946032e+01] [-4.78843053e-01 -8.75769954e-01 6.11254342e-02 1.04978467e+02] [ 1.25260990e-01 7.57764255e-04 9.92123536e-01 1.39647999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.246875 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:100.00, Y:104.96, Z:13.93 [[-8.64977815e-01 4.97152952e-01 6.82079316e-02 9.99965092e+01] [-4.92164265e-01 -8.67000290e-01 7.80053429e-02 1.04959132e+02] [ 9.79168830e-02 3.39033846e-02 9.94616934e-01 1.39275212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.276875 meters Centerline goodness : 0.999926 Centerline is valid? [True, True] Translation: X:99.98, Y:104.98, Z:13.99 [[-8.69465632e-01 4.78067308e-01 1.24423327e-01 9.99760455e+01] [-4.78090470e-01 -8.77740755e-01 3.16333554e-02 1.04976736e+02] [ 1.24334298e-01 -3.19814916e-02 9.91724844e-01 1.39850137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.306875 meters Centerline goodness : 0.999926 Centerline is valid? [True, True] Translation: X:99.98, Y:104.97, Z:13.97 [[-8.70151548e-01 4.80883856e-01 1.07642936e-01 9.99818441e+01] [-4.77120874e-01 -8.76783851e-01 6.00478985e-02 1.04970933e+02] [ 1.23255653e-01 8.92080236e-04 9.92374550e-01 1.39665218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.336875 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:99.99, Y:104.98, Z:13.97 [[-8.70446711e-01 4.80223110e-01 1.08204838e-01 9.99944266e+01] [-4.76422480e-01 -8.77145871e-01 6.03054084e-02 1.04977956e+02] [ 1.23871478e-01 9.41427100e-04 9.92297824e-01 1.39651662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.366875 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:99.98, Y:104.97, Z:13.97 [[-8.70910199e-01 4.79344570e-01 1.08370702e-01 9.99783985e+01] [-4.75532394e-01 -8.77626199e-01 6.03423310e-02 1.04968769e+02] [ 1.24033736e-01 1.01897208e-03 9.92277478e-01 1.39667706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.396875 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:99.97, Y:104.96, Z:13.97 [[-8.71216513e-01 4.78503896e-01 1.09616645e-01 9.99671991e+01] [-4.74603711e-01 -8.78084738e-01 6.09795905e-02 1.04962548e+02] [ 1.25431675e-01 1.10195968e-03 9.92101648e-01 1.39687351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.426875 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:99.98, Y:104.95, Z:13.93 [[-8.68595758e-01 4.90077829e-01 7.32470479e-02 9.99773774e+01] [-4.84929972e-01 -8.71090925e-01 7.77401000e-02 1.04949314e+02] [ 1.01903538e-01 3.20050322e-02 9.94279310e-01 1.39328551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.456875 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:99.98, Y:104.98, Z:13.98 [[-8.72228829e-01 4.72567536e-01 1.26082485e-01 9.99751854e+01] [-4.72242002e-01 -8.80798534e-01 3.43719787e-02 1.04975020e+02] [ 1.27296349e-01 -2.95612143e-02 9.91424114e-01 1.39831151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.486875 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:99.97, Y:104.95, Z:13.94 [[-8.69838202e-01 4.87214872e-01 7.74801294e-02 9.99699054e+01] [-4.82122064e-01 -8.72812195e-01 7.58761341e-02 1.04946185e+02] [ 1.04593583e-01 2.86450802e-02 9.94102430e-01 1.39354032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.516875 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:99.95, Y:104.96, Z:13.98 [[-8.73551174e-01 4.70202856e-01 1.25768123e-01 9.99521351e+01] [-4.69289964e-01 -8.82197218e-01 3.86652221e-02 1.04960697e+02] [ 1.29132786e-01 -2.52456679e-02 9.91305896e-01 1.39829728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.546875 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:99.95, Y:104.93, Z:13.94 [[-8.71798967e-01 4.83157332e-01 8.07808968e-02 9.99468859e+01] [-4.78097660e-01 -8.75135944e-01 7.45634485e-02 1.04934263e+02] [ 1.06720143e-01 2.63831796e-02 9.93939002e-01 1.39411229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.576875 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:99.95, Y:104.96, Z:13.98 [[-8.74938050e-01 4.68188675e-01 1.23623518e-01 9.99504630e+01] [-4.67033262e-01 -8.83335453e-01 3.99801252e-02 1.04958374e+02] [ 1.27919278e-01 -2.27561621e-02 9.91523482e-01 1.39827922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.606875 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:99.94, Y:104.95, Z:13.97 [[-8.76425637e-01 4.68696899e-01 1.10459585e-01 9.99425813e+01] [-4.64694990e-01 -8.83356131e-01 6.11597174e-02 1.04946566e+02] [ 1.26240521e-01 2.27192862e-03 9.91997061e-01 1.39722822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.636875 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:99.94, Y:104.92, Z:13.94 [[-8.74543425e-01 4.79055282e-01 7.53646776e-02 9.99354547e+01] [-4.73988451e-01 -8.77246798e-01 7.59802776e-02 1.04924780e+02] [ 1.02512176e-01 3.07260654e-02 9.94257091e-01 1.39425697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.666875 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:99.96, Y:104.94, Z:13.95 [[-8.75241652e-01 4.75342086e-01 8.94536272e-02 9.99578136e+01] [-4.72820904e-01 -8.79800916e-01 4.88952086e-02 1.04944973e+02] [ 1.01943334e-01 4.99578369e-04 9.94790082e-01 1.39544580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.696875 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:99.94, Y:104.95, Z:13.99 [[-8.77608858e-01 4.63131481e-01 1.23741356e-01 9.99426031e+01] [-4.62336398e-01 -8.85939825e-01 3.68195800e-02 1.04949347e+02] [ 1.26679702e-01 -2.48969431e-02 9.91631179e-01 1.39853454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.72687499999998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:99.96, Y:104.95, Z:13.97 [[-8.75191666e-01 4.70949108e-01 1.10663841e-01 9.99562485e+01] [-4.66974181e-01 -8.82158577e-01 6.10848505e-02 1.04946090e+02] [ 1.26390913e-01 1.78379539e-03 9.91978909e-01 1.39679825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.75687499999998 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:99.97, Y:104.94, Z:13.93 [[-8.70462304e-01 4.86806918e-01 7.28999387e-02 9.99749437e+01] [-4.81869608e-01 -8.72968045e-01 7.56866828e-02 1.04938233e+02] [ 1.00484118e-01 3.07541395e-02 9.94463235e-01 1.39347866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.78687499999998 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:99.98, Y:104.95, Z:13.95 [[-8.70050229e-01 4.85249401e-01 8.68655169e-02 9.99815702e+01] [-4.82540644e-01 -8.74371643e-01 5.12714128e-02 1.04949757e+02] [ 1.00832167e-01 2.69256198e-03 9.94899806e-01 1.39488945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.81687499999998 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:99.93, Y:104.94, Z:13.99 [[-8.73114271e-01 4.70570100e-01 1.27417627e-01 9.99345718e+01] [-4.70177219e-01 -8.81875789e-01 3.50496143e-02 1.04940387e+02] [ 1.28859821e-01 -2.93065470e-02 9.91229677e-01 1.39894707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.84687499999998 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:99.96, Y:104.95, Z:13.97 [[-8.72527176e-01 4.75093562e-01 1.13940491e-01 9.99646342e+01] [-4.70938673e-01 -8.79934658e-01 6.27037887e-02 1.04946089e+02] [ 1.30050353e-01 1.05177597e-03 9.91506833e-01 1.39679255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.87687499999998 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:99.97, Y:104.95, Z:13.97 [[-8.71329607e-01 4.77015667e-01 1.15068540e-01 9.99695036e+01] [-4.72802269e-01 -8.78894496e-01 6.32651556e-02 1.04946487e+02] [ 1.31311576e-01 7.20136618e-04 9.91340886e-01 1.39654237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.90687499999999 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:99.96, Y:104.94, Z:13.97 [[-8.71329810e-01 4.77067482e-01 1.14851992e-01 9.99614826e+01] [-4.72878097e-01 -8.78866419e-01 6.30882199e-02 1.04942134e+02] [ 1.31036897e-01 6.59655196e-04 9.91377273e-01 1.39667415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.936875 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:99.95, Y:104.94, Z:13.97 [[-8.71706914e-01 4.76707242e-01 1.13478018e-01 9.99548079e+01] [-4.72622280e-01 -8.79061873e-01 6.22768350e-02 1.04939933e+02] [ 1.29442017e-01 6.54908144e-04 9.91586777e-01 1.39694516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.966875 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:99.96, Y:104.95, Z:13.97 [[-8.71766466e-01 4.76627841e-01 1.13353999e-01 9.99647770e+01] [-4.72558650e-01 -8.79104955e-01 6.21514286e-02 1.04945748e+02] [ 1.29273163e-01 6.15118723e-04 9.91608830e-01 1.39695032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.996875 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:99.96, Y:104.94, Z:13.97 [[-8.71704567e-01 4.76774882e-01 1.13211571e-01 9.99575597e+01] [-4.72724616e-01 -8.79025266e-01 6.20162831e-02 1.04941206e+02] [ 1.29083637e-01 5.41980981e-04 9.91633562e-01 1.39709317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.026875 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:99.96, Y:104.94, Z:13.97 [[-8.71987942e-01 4.76274713e-01 1.13134548e-01 9.99595067e+01] [-4.72233187e-01 -8.79296354e-01 6.19171971e-02 1.04941594e+02] [ 1.28968391e-01 5.65161302e-04 9.91648544e-01 1.39705330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.056875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:99.96, Y:104.94, Z:13.97 [[-8.72582239e-01 4.75490705e-01 1.11842861e-01 9.99608874e+01] [-4.71542062e-01 -8.79720524e-01 6.11545869e-02 1.04941351e+02] [ 1.27468898e-01 6.23792941e-04 9.91842372e-01 1.39698219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.086875 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:99.98, Y:104.93, Z:13.93 [[-8.68895628e-01 4.89956249e-01 7.04504172e-02 9.99769737e+01] [-4.84776150e-01 -8.71065249e-01 7.89773151e-02 1.04930571e+02] [ 1.00062339e-01 3.44703619e-02 9.94383891e-01 1.39313258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.116875 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:99.95, Y:104.95, Z:13.99 [[-8.73094001e-01 4.70761616e-01 1.26847812e-01 9.99538889e+01] [-4.70900310e-01 -8.81648804e-01 3.07942249e-02 1.04947850e+02] [ 1.26331961e-01 -3.28464208e-02 9.91444072e-01 1.39888551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.146875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:99.95, Y:104.93, Z:13.97 [[-8.73559546e-01 4.74019008e-01 1.10452252e-01 9.99464697e+01] [-4.70172639e-01 -8.80514320e-01 6.02679183e-02 1.04934762e+02] [ 1.25822928e-01 7.15988540e-04 9.92052457e-01 1.39724237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.176875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:99.94, Y:104.93, Z:13.97 [[-8.73572453e-01 4.73917575e-01 1.10784931e-01 9.99429377e+01] [-4.70054198e-01 -8.80568944e-01 6.03935904e-02 1.04931691e+02] [ 1.26175354e-01 6.83255070e-04 9.92007718e-01 1.39722820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.206875 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:99.95, Y:104.94, Z:13.97 [[-8.73799898e-01 4.73457290e-01 1.10959153e-01 9.99502745e+01] [-4.69585145e-01 -8.80816498e-01 6.04325056e-02 1.04935305e+02] [ 1.26346863e-01 7.01147398e-04 9.91985876e-01 1.39709097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.236875 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:99.94, Y:104.93, Z:13.97 [[-8.73968909e-01 4.73249212e-01 1.10514839e-01 9.99429398e+01] [-4.69413527e-01 -8.80928330e-01 6.01350017e-02 1.04931119e+02] [ 1.25814494e-01 6.78961621e-04 9.92053553e-01 1.39718597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.266875 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:99.94, Y:104.93, Z:13.97 [[-8.73703625e-01 4.73739375e-01 1.10512353e-01 9.99385862e+01] [-4.69914798e-01 -8.80664915e-01 6.00782016e-02 1.04928954e+02] [ 1.25785762e-01 5.59152511e-04 9.92057271e-01 1.39738770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.296875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:99.94, Y:104.93, Z:13.97 [[-8.73418696e-01 4.74122752e-01 1.11118847e-01 9.99368710e+01] [-4.70266161e-01 -8.80458635e-01 6.03517217e-02 1.04927797e+02] [ 1.26449673e-01 4.56888236e-04 9.91972919e-01 1.39745328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.326875 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:99.93, Y:104.92, Z:13.98 [[-8.73080034e-01 4.74661518e-01 1.11479587e-01 9.99320357e+01] [-4.70791314e-01 -8.80168356e-01 6.04913604e-02 1.04924204e+02] [ 1.26833726e-01 3.30177795e-04 9.91923937e-01 1.39750893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.356875 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:99.94, Y:104.92, Z:13.97 [[-8.72188012e-01 4.76199618e-01 1.11901722e-01 9.99352640e+01] [-4.72319806e-01 -8.79337205e-01 6.06636691e-02 1.04923712e+02] [ 1.27287364e-01 5.67250968e-05 9.91865880e-01 1.39732505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.386875 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:99.94, Y:104.93, Z:13.97 [[-8.71840364e-01 4.76704752e-01 1.12458704e-01 9.99398906e+01] [-4.72797572e-01 -8.79063465e-01 6.09087897e-02 1.04925500e+02] [ 1.27893847e-01 -6.74608357e-05 9.91787860e-01 1.39729617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.416875 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:99.94, Y:104.93, Z:13.97 [[-8.71694671e-01 4.77081630e-01 1.11988923e-01 9.99413576e+01] [-4.73217426e-01 -8.78858970e-01 6.05985081e-02 1.04926144e+02] [ 1.27332904e-01 -1.71713175e-04 9.91860021e-01 1.39730459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.446875 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:99.93, Y:104.92, Z:13.98 [[-8.70900982e-01 4.78592709e-01 1.11716150e-01 9.99251154e+01] [-4.74766870e-01 -8.78036916e-01 6.03953181e-02 1.04915795e+02] [ 1.26995662e-01 -4.40784829e-04 9.91903174e-01 1.39757612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.47687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.94, Y:104.92, Z:13.97 [[-8.70689216e-01 4.78894784e-01 1.12071745e-01 9.99413394e+01] [-4.75054171e-01 -8.77872143e-01 6.05312807e-02 1.04923331e+02] [ 1.27372778e-01 -5.36216793e-04 9.91854772e-01 1.39738255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.50687499999998 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:99.93, Y:104.92, Z:13.98 [[-8.70555298e-01 4.79204508e-01 1.11787798e-01 9.99282410e+01] [-4.75393093e-01 -8.77703050e-01 6.03221713e-02 1.04915030e+02] [ 1.27023147e-01 -6.29360956e-04 9.91899553e-01 1.39750322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.53687499999998 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:99.94, Y:104.92, Z:13.97 [[-8.70682194e-01 4.79104913e-01 1.11224993e-01 9.99381370e+01] [-4.75338151e-01 -8.77757396e-01 5.99632901e-02 1.04919488e+02] [ 1.26357268e-01 -6.60513789e-04 9.91984579e-01 1.39740267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.56687499999998 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:99.93, Y:104.92, Z:13.97 [[-8.70846964e-01 4.78962995e-01 1.10544175e-01 9.99349103e+01] [-4.75248178e-01 -8.77834826e-01 5.95414863e-02 1.04916739e+02] [ 1.25557695e-01 -6.84395258e-04 9.92086083e-01 1.39749436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.59687499999998 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:99.93, Y:104.92, Z:13.98 [[-8.71029782e-01 4.78625145e-01 1.10567129e-01 9.99329139e+01] [-4.74913031e-01 -8.78019078e-01 5.94988320e-02 1.04915593e+02] [ 1.25557686e-01 -6.84515891e-04 9.92086084e-01 1.39752389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.62687499999998 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:99.93, Y:104.91, Z:13.98 [[-8.71772920e-01 4.77364556e-01 1.10159230e-01 9.99275858e+01] [-4.73676721e-01 -8.78705172e-01 5.92248703e-02 1.04910879e+02] [ 1.25069339e-01 -5.49224805e-04 9.92147851e-01 1.39765928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.65687499999999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:99.93, Y:104.91, Z:13.98 [[-8.72333527e-01 4.76329781e-01 1.10200534e-01 9.99305464e+01] [-4.72637844e-01 -8.79266591e-01 5.91923150e-02 1.04911161e+02] [ 1.25090710e-01 -4.49501740e-04 9.92145207e-01 1.39763698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.686875 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:99.92, Y:104.90, Z:13.98 [[-8.74096709e-01 4.73052008e-01 1.10348271e-01 9.99188503e+01] [-4.69330985e-01 -8.81034504e-01 5.92167992e-02 1.04901804e+02] [ 1.25233260e-01 -2.86533457e-05 9.92127325e-01 1.39778282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.716875 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:99.92, Y:104.90, Z:13.98 [[-8.75440103e-01 4.70525860e-01 1.10499056e-01 9.99222646e+01] [-4.66781505e-01 -8.82386159e-01 5.92426546e-02 1.04901991e+02] [ 1.25378039e-01 2.84479911e-04 9.92108999e-01 1.39766207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.92, Y:104.90, Z:13.98 [[-8.76978421e-01 4.67686621e-01 1.10354313e-01 9.99150512e+01] [-4.63936615e-01 -8.83894119e-01 5.91100931e-02 1.04896671e+02] [ 1.25186528e-01 6.40869867e-04 9.92133017e-01 1.39772442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.776875 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:99.90, Y:104.89, Z:13.98 [[-8.79947478e-01 4.61802942e-01 1.11492058e-01 9.98995838e+01] [-4.57934852e-01 -8.86981373e-01 5.96633517e-02 1.04886673e+02] [ 1.26444090e-01 1.44451657e-03 9.91972684e-01 1.39800276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.806875 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:99.91, Y:104.89, Z:13.98 [[-8.81406066e-01 4.58993047e-01 1.11573878e-01 9.99050245e+01] [-4.55103957e-01 -8.88438037e-01 5.96510028e-02 1.04888671e+02] [ 1.26505873e-01 1.79904212e-03 9.91964227e-01 1.39789065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.836875 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:99.90, Y:104.88, Z:13.98 [[-8.82700532e-01 4.56513178e-01 1.11514526e-01 9.98954313e+01] [-4.52615667e-01 -8.89714165e-01 5.95630975e-02 1.04882979e+02] [ 1.26407392e-01 2.10315634e-03 9.91976183e-01 1.39797601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.866875 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:99.90, Y:104.88, Z:13.98 [[-8.83680641e-01 4.54463097e-01 1.12124118e-01 9.98961703e+01] [-4.50513501e-01 -8.90762443e-01 5.98319023e-02 1.04883092e+02] [ 1.27067345e-01 2.35886470e-03 9.91891287e-01 1.39788692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.896875 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:99.89, Y:104.88, Z:13.98 [[-8.84988293e-01 4.52118581e-01 1.11285715e-01 9.98921379e+01] [-4.48216692e-01 -8.91953977e-01 5.93287427e-02 1.04882067e+02] [ 1.26085363e-01 2.62512760e-03 9.92015922e-01 1.39793125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.926875 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:99.90, Y:104.89, Z:13.98 [[-8.85443816e-01 4.51189842e-01 1.11431485e-01 9.98974387e+01] [-4.47277512e-01 -8.92423879e-01 5.93502064e-02 1.04885597e+02] [ 1.26222329e-01 2.71047568e-03 9.91998275e-01 1.39787064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.956875 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:99.90, Y:104.89, Z:13.98 [[-8.85805679e-01 4.50466667e-01 1.11481305e-01 9.98951360e+01] [-4.46552254e-01 -8.92788968e-01 5.93206885e-02 1.04885308e+02] [ 1.26251272e-01 2.76437486e-03 9.91994443e-01 1.39792032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.89, Y:104.89, Z:13.98 [[-8.85605772e-01 4.50724592e-01 1.12025704e-01 9.98902046e+01] [-4.46781020e-01 -8.92659009e-01 5.95534555e-02 1.04885274e+02] [ 1.26842961e-01 2.68992570e-03 9.91919164e-01 1.39795981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.016875 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:99.89, Y:104.89, Z:13.98 [[-8.85379415e-01 4.51069990e-01 1.12423996e-01 9.98939431e+01] [-4.47109075e-01 -8.92484812e-01 5.97020559e-02 1.04888979e+02] [ 1.27266515e-01 2.59318240e-03 9.91865167e-01 1.39787560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.046875 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:99.88, Y:104.88, Z:13.98 [[-8.85231914e-01 4.51237723e-01 1.12911360e-01 9.98783928e+01] [-4.47250896e-01 -8.92400201e-01 5.99042300e-02 1.04882779e+02] [ 1.27793169e-01 2.52942919e-03 9.91797614e-01 1.39803393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.076875 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:99.88, Y:104.88, Z:13.98 [[-8.84986543e-01 4.51543561e-01 1.13609998e-01 9.98776888e+01] [-4.47516948e-01 -8.92245713e-01 6.02176733e-02 1.04883923e+02] [ 1.28558936e-01 2.44943100e-03 9.91698846e-01 1.39802822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.106875 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:99.86, Y:104.88, Z:13.98 [[-8.84732557e-01 4.52043982e-01 1.13598158e-01 9.98629208e+01] [-4.48029719e-01 -8.91992619e-01 6.01542907e-02 1.04878955e+02] [ 1.28521103e-01 2.32510887e-03 9.91704049e-01 1.39821642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.136875 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:99.88, Y:104.89, Z:13.98 [[-8.84912885e-01 4.51837207e-01 1.13014709e-01 9.98759912e+01] [-4.47869889e-01 -8.92097465e-01 5.97885955e-02 1.04887417e+02] [ 1.27834848e-01 2.29181314e-03 9.91792821e-01 1.39806673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.166875 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:99.86, Y:104.88, Z:13.98 [[-8.85124183e-01 4.51458474e-01 1.12873501e-01 9.98554319e+01] [-4.47505349e-01 -8.92289185e-01 5.96571207e-02 1.04878168e+02] [ 1.27648517e-01 2.29246462e-03 9.91816818e-01 1.39836581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.196875 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:99.85, Y:104.88, Z:13.98 [[-8.85144583e-01 4.51611821e-01 1.12097416e-01 9.98548324e+01] [-4.47721501e-01 -8.92211805e-01 5.91908086e-02 1.04880188e+02] [ 1.26745907e-01 2.20400023e-03 9.91932769e-01 1.39841663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.22687499999998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:99.87, Y:104.89, Z:13.98 [[-8.85242117e-01 4.51488272e-01 1.11824569e-01 9.98707948e+01] [-4.47623170e-01 -8.92274426e-01 5.89902216e-02 1.04889503e+02] [ 1.26411597e-01 2.16536041e-03 9.91975514e-01 1.39826525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.25687499999998 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:99.87, Y:104.88, Z:13.95 [[-8.83096667e-01 4.62606759e-01 7.83279284e-02 9.98710909e+01] [-4.57667884e-01 -8.86091037e-01 7.33674377e-02 1.04875120e+02] [ 1.03345948e-01 2.89423624e-02 9.94224298e-01 1.39530697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.28687499999998 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:99.89, Y:104.89, Z:13.96 [[-8.82755032e-01 4.61160508e-01 8.98584388e-02 9.98861117e+01] [-4.58457685e-01 -8.87312035e-01 4.99390023e-02 1.04892103e+02] [ 1.02762370e-01 2.88761377e-03 9.94701743e-01 1.39649053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.31687499999998 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:99.86, Y:104.89, Z:14.00 [[-8.85236896e-01 4.48196711e-01 1.24399948e-01 9.98578661e+01] [-4.47733539e-01 -8.93548872e-01 3.32429145e-02 1.04893509e+02] [ 1.26056798e-01 -2.62701744e-02 9.91675129e-01 1.40003478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.34687499999998 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:99.84, Y:104.88, Z:13.99 [[-8.85478971e-01 4.51265779e-01 1.10843081e-01 9.98446263e+01] [-4.47486485e-01 -8.92387274e-01 5.83163707e-02 1.04878860e+02] [ 1.25231137e-01 2.03713921e-03 9.92125502e-01 1.39865140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.37687499999998 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:99.85, Y:104.88, Z:13.99 [[-8.85108170e-01 4.51858490e-01 1.11388653e-01 9.98483003e+01] [-4.48053551e-01 -8.92087578e-01 5.85471481e-02 1.04880865e+02] [ 1.25823460e-01 1.91247760e-03 9.92050805e-01 1.39851317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.40687499999999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:99.86, Y:104.89, Z:13.98 [[-8.84765897e-01 4.52312724e-01 1.12260887e-01 9.98572938e+01] [-4.48458625e-01 -8.91857566e-01 5.89486487e-02 1.04885629e+02] [ 1.26783945e-01 1.81139121e-03 9.91928702e-01 1.39835108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.436875 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:99.85, Y:104.88, Z:13.98 [[-8.84469502e-01 4.52741164e-01 1.12867790e-01 9.98470183e+01] [-4.48855862e-01 -8.91640353e-01 5.92106075e-02 1.04880653e+02] [ 1.27444555e-01 1.70860742e-03 9.91844225e-01 1.39846899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.466875 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:99.84, Y:104.88, Z:13.99 [[-8.83437566e-01 4.54483146e-01 1.13943573e-01 9.98435447e+01] [-4.50545212e-01 -8.90754208e-01 5.97156007e-02 1.04880146e+02] [ 1.28635451e-01 1.41827362e-03 9.91690934e-01 1.39856079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.496875 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:99.84, Y:104.88, Z:13.99 [[-8.82844366e-01 4.55663265e-01 1.13828006e-01 9.98388825e+01] [-4.51753089e-01 -8.90151451e-01 5.95780205e-02 1.04878042e+02] [ 1.28471680e-01 1.17596659e-03 9.91712481e-01 1.39865371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.526875 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:99.84, Y:104.86, Z:13.96 [[-8.79912161e-01 4.68449162e-01 7.94353312e-02 9.98398589e+01] [-4.63361645e-01 -8.83017802e-01 7.46695928e-02 1.04862565e+02] [ 1.05121720e-01 2.88953970e-02 9.94039476e-01 1.39561768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.556875 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:99.85, Y:104.89, Z:14.00 [[-8.81217519e-01 4.55584492e-01 1.26089077e-01 9.98521583e+01] [-4.55170105e-01 -8.89763688e-01 3.37750622e-02 1.04892936e+02] [ 1.27576876e-01 -2.76288018e-02 9.91443791e-01 1.40006274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.586875 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:99.85, Y:104.89, Z:13.99 [[-8.80053543e-01 4.61527717e-01 1.11794136e-01 9.98518118e+01] [-4.57817013e-01 -8.87125762e-01 5.84077423e-02 1.04885396e+02] [ 1.26132250e-01 2.20683225e-04 9.92013411e-01 1.39854420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.616875 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:99.87, Y:104.88, Z:13.95 [[-8.77291960e-01 4.73948461e-01 7.57078188e-02 9.98662293e+01] [-4.68859887e-01 -8.80002495e-01 7.59342791e-02 1.04876412e+02] [ 1.02612004e-01 3.11201731e-02 9.94234535e-01 1.39506226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.646875 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:99.84, Y:104.89, Z:14.00 [[-8.77925380e-01 4.61930392e-01 1.25965631e-01 9.98355238e+01] [-4.61967800e-01 -8.86365533e-01 3.06902891e-02 1.04886116e+02] [ 1.25828371e-01 -3.12482817e-02 9.91559764e-01 1.40046311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.676875 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:99.85, Y:104.89, Z:13.99 [[-8.77801485e-01 4.65893030e-01 1.11392273e-01 9.98496185e+01] [-4.62259051e-01 -8.84840903e-01 5.80787873e-02 1.04885125e+02] [ 1.25622941e-01 -5.10440465e-04 9.92077928e-01 1.39864210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.706875 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:99.85, Y:104.88, Z:13.99 [[-8.77782911e-01 4.65883554e-01 1.11578112e-01 9.98459921e+01] [-4.62244339e-01 -8.84845863e-01 5.81203045e-02 1.04883265e+02] [ 1.25806725e-01 -5.59340539e-04 9.92054613e-01 1.39879680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.736875 meters Centerline goodness : 0.999878 Centerline is valid? [True, True] Translation: X:99.83, Y:104.87, Z:13.99 [[-8.78113995e-01 4.65269471e-01 1.11535338e-01 9.98280600e+01] [-4.61635068e-01 -8.85168938e-01 5.80432162e-02 1.04874069e+02] [ 1.25733353e-01 -5.20062892e-04 9.92063936e-01 1.39906026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.766875 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:99.84, Y:104.88, Z:13.99 [[-8.78921074e-01 4.63722909e-01 1.11619032e-01 9.98410041e+01] [-4.60077605e-01 -8.85980215e-01 5.80315067e-02 1.04880631e+02] [ 1.25802793e-01 -3.48302467e-04 9.92055208e-01 1.39885036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.796875 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:99.84, Y:104.88, Z:13.99 [[-8.79537916e-01 4.62408377e-01 1.12212064e-01 9.98388806e+01] [-4.58720524e-01 -8.86667045e-01 5.82840659e-02 1.04879267e+02] [ 1.26445780e-01 -2.10931009e-04 9.91973498e-01 1.39882112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.826875 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:99.83, Y:104.88, Z:13.99 [[-8.80251688e-01 4.60965789e-01 1.12550021e-01 9.98327975e+01] [-4.57250937e-01 -8.87417905e-01 5.84041280e-02 1.04875863e+02] [ 1.26801209e-01 -5.32705365e-05 9.91928148e-01 1.39881739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.856875 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:99.82, Y:104.87, Z:13.99 [[-8.81669419e-01 4.57983223e-01 1.13623954e-01 9.98203797e+01] [-4.54179419e-01 -8.88960775e-01 5.89049704e-02 1.04869556e+02] [ 1.27984726e-01 3.29049764e-04 9.91776084e-01 1.39891899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.886875 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:99.82, Y:104.87, Z:13.99 [[-8.82555058e-01 4.56182030e-01 1.13993531e-01 9.98162682e+01] [-4.52345687e-01 -8.89886320e-01 5.90399619e-02 1.04867665e+02] [ 1.28374254e-01 5.41534713e-04 9.91725646e-01 1.39896101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.916875 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:99.82, Y:104.87, Z:13.99 [[-8.83613935e-01 4.54116415e-01 1.14038133e-01 9.98204653e+01] [-4.50267252e-01 -8.90942005e-01 5.90063268e-02 1.04870203e+02] [ 1.28397104e-01 7.91176005e-04 9.91722521e-01 1.39895231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.946875 meters Centerline goodness : 0.999878 Centerline is valid? [True, True] Translation: X:99.81, Y:104.86, Z:13.99 [[-8.84819184e-01 4.51887523e-01 1.13545933e-01 9.98050753e+01] [-4.48060613e-01 -8.92074293e-01 5.86953404e-02 1.04862513e+02] [ 1.27815100e-01 1.05930293e-03 9.91797448e-01 1.39916953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.97687499999998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:99.81, Y:104.86, Z:13.99 [[-8.87186460e-01 4.47373590e-01 1.12947138e-01 9.98079058e+01] [-4.43557752e-01 -8.94345652e-01 5.83298799e-02 1.04864003e+02] [ 1.27109029e-01 1.65090124e-03 9.91887377e-01 1.39921350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.00687499999998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:99.79, Y:104.86, Z:13.99 [[-8.88435549e-01 4.44938451e-01 1.12747727e-01 9.97919181e+01] [-4.41123765e-01 -8.95559038e-01 5.81707271e-02 1.04855132e+02] [ 1.26854639e-01 1.94523998e-03 9.91919410e-01 1.39940732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.03687499999998 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:99.89, Y:103.71, Z:14.54 [[-8.35909719e-01 -5.39574594e-01 -1.00569373e-01 9.98885098e+01] [-5.38397415e-01 8.41700271e-01 -4.08518974e-02 1.03705643e+02] [ 1.06691914e-01 1.99977922e-02 -9.94091004e-01 1.45372744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.06687499999998 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:99.98, Y:104.25, Z:13.72 [[-8.64527833e-01 1.47738247e-01 -4.80380095e-01 9.99788617e+01] [-5.01377384e-01 -1.87304763e-01 8.44711574e-01 1.04252701e+02] [ 3.48187272e-02 9.71128383e-01 2.36002797e-01 1.37157736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.09687499999998 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:99.79, Y:103.66, Z:14.57 [[-8.03587947e-01 -5.94175253e-01 -3.46724839e-02 9.97936468e+01] [-5.93796981e-01 8.04328660e-01 -2.14604731e-02 1.03658821e+02] [ 4.06393546e-02 3.34303878e-03 -9.99168288e-01 1.45654142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.12687499999998 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:99.58, Y:104.82, Z:14.05 [[-8.26588242e-01 5.60704272e-01 4.86065617e-02 9.95758049e+01] [-5.59696623e-01 -8.28015937e-01 3.36050430e-02 1.04817029e+02] [ 5.90894989e-02 5.72605028e-04 9.98252525e-01 1.40488638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.15687499999999 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:99.57, Y:104.82, Z:14.05 [[-8.25358379e-01 5.62526891e-01 4.84462953e-02 9.95736204e+01] [-5.61491574e-01 -8.26778426e-01 3.41269133e-02 1.04815445e+02] [ 5.92516582e-02 9.64747182e-04 9.98242611e-01 1.40486038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.186875 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:99.58, Y:104.82, Z:14.05 [[-8.24603011e-01 5.63631354e-01 4.84723771e-02 9.95777691e+01] [-5.62598636e-01 -8.26026002e-01 3.41147912e-02 1.04818598e+02] [ 5.92676098e-02 8.60666264e-04 9.98241759e-01 1.40479375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.216875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:99.57, Y:104.81, Z:14.05 [[-8.23520248e-01 5.65149882e-01 4.91936243e-02 9.95702137e+01] [-5.64091217e-01 -8.24987925e-01 3.45835463e-02 1.04813554e+02] [ 6.01290332e-02 7.30559183e-04 9.98190345e-01 1.40486835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.246875 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:99.61, Y:104.82, Z:14.01 [[-8.17213129e-01 5.76217346e-01 1.16735465e-02 9.96068493e+01] [-5.75183556e-01 -8.16692330e-01 4.66638536e-02 1.04821581e+02] [ 3.64222177e-02 3.14198818e-02 9.98842437e-01 1.40136220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.276875 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:99.61, Y:104.83, Z:14.02 [[-8.14940551e-01 5.79189529e-01 2.02827056e-02 9.96060425e+01] [-5.78720845e-01 -8.15149019e-01 2.47842799e-02 1.04827596e+02] [ 3.08882230e-02 8.45969014e-03 9.99487044e-01 1.40216916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.306875 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:99.58, Y:104.83, Z:14.07 [[-8.17462774e-01 5.71247315e-01 7.36961214e-02 9.95756535e+01] [-5.72684787e-01 -8.19773307e-01 1.96490548e-03 1.04830376e+02] [ 6.15365601e-02 -4.05984105e-02 9.97278808e-01 1.40690789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.336875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:99.57, Y:104.81, Z:14.05 [[-8.15919119e-01 5.75963952e-01 5.04134652e-02 9.95651909e+01] [-5.74881863e-01 -8.17475070e-01 3.52895728e-02 1.04811465e+02] [ 6.15372729e-02 -1.88349641e-04 9.98104768e-01 1.40479153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.366875 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:99.57, Y:104.82, Z:14.05 [[-8.14381241e-01 5.78149682e-01 5.02607213e-02 9.95736895e+01] [-5.77080270e-01 -8.15930636e-01 3.51505350e-02 1.04817802e+02] [ 6.13315329e-02 -3.78534264e-04 9.98117378e-01 1.40473822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.396875 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:99.59, Y:104.83, Z:14.05 [[-8.10992434e-01 5.82953133e-01 4.95672968e-02 9.95872742e+01] [-5.81923812e-01 -8.12505430e-01 3.46352809e-02 1.04827123e+02] [ 6.04644433e-02 -7.55439598e-04 9.98170066e-01 1.40463201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.426875 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:99.58, Y:104.82, Z:14.05 [[-8.09927358e-01 5.84454527e-01 4.93009236e-02 9.95774025e+01] [-5.83441368e-01 -8.11425970e-01 3.44102435e-02 1.04820273e+02] [ 6.01152723e-02 -8.94400687e-04 9.98191041e-01 1.40473484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.456875 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:99.58, Y:104.82, Z:14.05 [[-8.09193577e-01 5.85499423e-01 4.89507955e-02 9.95775950e+01] [-5.84504716e-01 -8.10672213e-01 3.41291840e-02 1.04820220e+02] [ 5.96656673e-02 -9.94854300e-04 9.98217921e-01 1.40482612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.486875 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:99.58, Y:104.82, Z:14.05 [[-8.08965840e-01 5.85929247e-01 4.75519340e-02 9.95809606e+01] [-5.84992956e-01 -8.10361572e-01 3.31264721e-02 1.04821584e+02] [ 5.79440289e-02 -1.01936212e-03 9.98319313e-01 1.40494848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.516875 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:99.58, Y:104.82, Z:14.05 [[-8.09217114e-01 5.85580897e-01 4.75676017e-02 9.95784326e+01] [-5.84645327e-01 -8.10613329e-01 3.31039605e-02 1.04819754e+02] [ 5.79439789e-02 -1.02188471e-03 9.98319313e-01 1.40496545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.546875 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:99.58, Y:104.82, Z:14.05 [[-8.09676177e-01 5.84959958e-01 4.73955253e-02 9.95798388e+01] [-5.84031804e-01 -8.11061558e-01 3.29545310e-02 1.04819162e+02] [ 5.77177697e-02 -9.97995469e-04 9.98332441e-01 1.40500764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.576875 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:99.57, Y:104.81, Z:14.05 [[-8.10649912e-01 5.83618133e-01 4.72926604e-02 9.95652272e+01] [-5.82693265e-01 -8.12027724e-01 3.28562636e-02 1.04807163e+02] [ 5.75784626e-02 -9.22187572e-04 9.98340558e-01 1.40511242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.606875 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:99.58, Y:104.81, Z:14.05 [[-8.13520231e-01 5.79629114e-01 4.70629882e-02 9.95759566e+01] [-5.78708053e-01 -8.14880149e-01 3.26700501e-02 1.04809410e+02] [ 5.72872070e-02 -6.57983533e-04 9.98357523e-01 1.40494834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.636875 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:99.57, Y:104.80, Z:14.05 [[-8.15631809e-01 5.76645170e-01 4.71709634e-02 9.95694150e+01] [-5.75716422e-01 -8.16994569e-01 3.27181220e-02 1.04802193e+02] [ 5.74051679e-02 -4.71157203e-04 9.98350853e-01 1.40493691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.666875 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:99.57, Y:104.80, Z:14.05 [[-8.19576208e-01 5.71010278e-01 4.73508298e-02 9.95699626e+01] [-5.70066539e-01 -8.20942905e-01 3.28159781e-02 1.04796733e+02] [ 5.76105885e-02 -9.79287846e-05 9.98339126e-01 1.40483185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.696875 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:99.57, Y:104.79, Z:14.05 [[-8.21748253e-01 5.67870845e-01 4.74606373e-02 9.95655079e+01] [-5.66919039e-01 -8.23117667e-01 3.28650301e-02 1.04791024e+02] [ 5.77287814e-02 1.00442227e-04 9.98332298e-01 1.40487600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.72687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.56, Y:104.78, Z:14.05 [[-8.23814812e-01 5.64863292e-01 4.75249024e-02 9.95580258e+01] [-5.63905456e-01 -8.25184451e-01 3.28825058e-02 1.04783117e+02] [ 5.77909310e-02 2.89543601e-04 9.98328666e-01 1.40495243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.54, Y:104.77, Z:14.05 [[-8.25773267e-01 5.61983355e-01 4.76783018e-02 9.95440590e+01] [-5.61016097e-01 -8.27148407e-01 3.29613524e-02 1.04770843e+02] [ 5.79607628e-02 4.70308859e-04 9.98318751e-01 1.40501690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.55, Y:104.77, Z:14.05 [[-8.27523822e-01 5.59452808e-01 4.70837546e-02 9.95489345e+01] [-5.58507028e-01 -8.28861976e-01 3.25226727e-02 1.04771304e+02] [ 5.72208345e-02 6.16678521e-04 9.98361355e-01 1.40494714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.81687499999998 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:99.73, Y:103.66, Z:14.57 [[-7.65761695e-01 -6.42135021e-01 -3.56600907e-02 9.97327541e+01] [-6.41723316e-01 7.66575990e-01 -2.35040008e-02 1.03661677e+02] [ 4.24289114e-02 4.88544812e-03 -9.99087544e-01 1.45710058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.46, Y:104.76, Z:14.05 [[-7.86300519e-01 6.16257616e-01 4.42498119e-02 9.94607967e+01] [-6.15192343e-01 -7.87543603e-01 3.62416160e-02 1.04755227e+02] [ 5.71828282e-02 1.27465596e-03 9.98362910e-01 1.40506229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.47, Y:104.76, Z:14.05 [[-7.87943678e-01 6.14179302e-01 4.39152132e-02 9.94746076e+01] [-6.13153045e-01 -7.89165815e-01 3.55057766e-02 1.04763542e+02] [ 5.64632981e-02 1.04980552e-03 9.98404124e-01 1.40489694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.48, Y:104.77, Z:14.05 [[-7.88320987e-01 6.13655688e-01 4.44602891e-02 9.94823331e+01] [-6.12605182e-01 -7.89573019e-01 3.59073681e-02 1.04768505e+02] [ 5.71394054e-02 1.06992840e-03 9.98365636e-01 1.40489308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.48, Y:104.77, Z:14.05 [[-7.88407800e-01 6.13503536e-01 4.50172504e-02 9.94827811e+01] [-6.12427972e-01 -7.89691246e-01 3.63278837e-02 1.04767776e+02] [ 5.78370137e-02 1.07136347e-03 9.98325464e-01 1.40486321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.966875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:99.48, Y:104.76, Z:14.05 [[-7.88512071e-01 6.13361518e-01 4.51260671e-02 9.94780569e+01] [-6.12282222e-01 -7.89801572e-01 3.63862269e-02 1.04762898e+02] [ 5.79585500e-02 1.06109049e-03 9.98318426e-01 1.40488416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.48, Y:104.76, Z:14.05 [[-7.88388663e-01 6.13530465e-01 4.49853850e-02 9.94819248e+01] [-6.12460038e-01 -7.89670392e-01 3.62405012e-02 1.04764109e+02] [ 5.77582782e-02 1.01984965e-03 9.98330076e-01 1.40478238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.48, Y:104.76, Z:14.05 [[-7.88441552e-01 6.13497018e-01 4.45121140e-02 9.94752948e+01] [-6.12450749e-01 -7.89696420e-01 3.58279847e-02 1.04757755e+02] [ 5.71314188e-02 9.86794375e-04 9.98366179e-01 1.40482565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.056875 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:99.47, Y:104.76, Z:14.05 [[-7.88617432e-01 6.13244501e-01 4.48745804e-02 9.94728322e+01] [-6.12182366e-01 -7.89892525e-01 3.60908518e-02 1.04755140e+02] [ 5.75786120e-02 9.90448039e-04 9.98340484e-01 1.40483013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.086875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:99.47, Y:104.75, Z:14.05 [[-7.88783397e-01 6.13015822e-01 4.50816384e-02 9.94693937e+01] [-6.11945218e-01 -7.90070013e-01 3.62273987e-02 1.04751706e+02] [ 5.78256192e-02 9.88077506e-04 9.98326210e-01 1.40483291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.47, Y:104.75, Z:14.05 [[-7.88819091e-01 6.12955081e-01 4.52825671e-02 9.94733359e+01] [-6.11876894e-01 -7.90117163e-01 3.63529335e-02 1.04753597e+02] [ 5.80612487e-02 9.68531382e-04 9.98312553e-01 1.40480095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.45, Y:104.74, Z:14.05 [[-7.88928853e-01 6.12792215e-01 4.55737528e-02 9.94527097e+01] [-6.11701759e-01 -7.90243493e-01 3.65537844e-02 1.04736379e+02] [ 5.84142361e-02 9.60790404e-04 9.98291968e-01 1.40489372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.176875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:99.47, Y:104.75, Z:14.05 [[-7.88811480e-01 6.12968371e-01 4.52352339e-02 9.94674369e+01] [-6.11896241e-01 -7.90106917e-01 3.62498380e-02 1.04747827e+02] [ 5.79606753e-02 9.15018820e-04 9.98318448e-01 1.40471986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.45, Y:104.74, Z:14.05 [[-7.88271332e-01 6.13722918e-01 4.44127033e-02 9.94513419e+01] [-6.12692423e-01 -7.89521063e-01 3.55595982e-02 1.04735376e+02] [ 5.68885051e-02 8.19285012e-04 9.98380202e-01 1.40486360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.236875 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:99.47, Y:104.75, Z:14.05 [[-7.87963377e-01 6.14160722e-01 4.38215015e-02 9.94670390e+01] [-6.13159759e-01 -7.89180611e-01 3.50581329e-02 1.04747757e+02] [ 5.61144075e-02 7.54943479e-04 9.98424060e-01 1.40481266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.266875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:99.46, Y:104.74, Z:14.05 [[-7.87648511e-01 6.14610110e-01 4.31767927e-02 9.94564684e+01] [-6.13640755e-01 -7.88830741e-01 3.45121002e-02 1.04739045e+02] [ 5.52706671e-02 6.88364654e-04 9.98471171e-01 1.40485494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.46, Y:104.74, Z:14.05 [[-7.87637124e-01 6.14629981e-01 4.31015952e-02 9.94625565e+01] [-6.13665598e-01 -7.88815280e-01 3.44236551e-02 1.04744063e+02] [ 5.51570074e-02 6.63382483e-04 9.98477473e-01 1.40486102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.46, Y:104.74, Z:14.05 [[-7.87559962e-01 6.14770002e-01 4.25105920e-02 9.94607211e+01] [-6.13834099e-01 -7.88706197e-01 3.39151023e-02 1.04741319e+02] [ 5.43783549e-02 6.15725782e-04 9.98520213e-01 1.40482287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.46, Y:104.74, Z:14.05 [[-7.87922370e-01 6.14330863e-01 4.21417699e-02 9.94574134e+01] [-6.13412271e-01 -7.89048296e-01 3.35882857e-02 1.04737984e+02] [ 5.38862123e-02 6.14682893e-04 9.98546893e-01 1.40481971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.45, Y:104.73, Z:14.05 [[-7.88343848e-01 6.13829280e-01 4.15643017e-02 9.94458189e+01] [-6.12936434e-01 -7.89438555e-01 3.31013142e-02 1.04728243e+02] [ 5.31310181e-02 6.18942543e-04 9.98587358e-01 1.40482056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.45, Y:104.73, Z:14.05 [[-7.88603086e-01 6.13499553e-01 4.15147021e-02 9.94470858e+01] [-6.12610451e-01 -7.89694831e-01 3.30228478e-02 1.04728992e+02] [ 5.30434480e-02 6.09579321e-04 9.98592019e-01 1.40486221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.45, Y:104.73, Z:14.05 [[-7.88774699e-01 6.13267065e-01 4.16890918e-02 9.94496748e+01] [-6.12371564e-01 -7.89875394e-01 3.31350205e-02 1.04730812e+02] [ 5.32498046e-02 6.06851505e-04 9.98581038e-01 1.40486969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.47687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.44, Y:104.72, Z:14.05 [[-7.88839760e-01 6.13193493e-01 4.15400208e-02 9.94384704e+01] [-6.12305677e-01 -7.89932524e-01 3.29903821e-02 1.04721306e+02] [ 5.30433011e-02 5.88934502e-04 9.98592040e-01 1.40487198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.45, Y:104.73, Z:14.05 [[-7.88801009e-01 6.13236274e-01 4.16442151e-02 9.94476417e+01] [-6.12345461e-01 -7.89899330e-01 3.30467102e-02 1.04728232e+02] [ 5.31601791e-02 5.66632241e-04 9.98585837e-01 1.40476612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.43, Y:104.72, Z:14.05 [[-7.87929924e-01 6.14307855e-01 4.23354803e-02 9.94327916e+01] [-6.13390216e-01 -7.89066301e-01 3.35680789e-02 1.04716970e+02] [ 5.40266354e-02 4.81124448e-04 9.98539379e-01 1.40480768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.44, Y:104.73, Z:14.05 [[-7.87542255e-01 6.14781253e-01 4.26756195e-02 9.94432383e+01] [-6.13851036e-01 -7.88697551e-01 3.38094540e-02 1.04725332e+02] [ 5.44435751e-02 4.29900362e-04 9.98516756e-01 1.40467301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.44, Y:104.72, Z:14.05 [[-7.87034756e-01 6.15397406e-01 4.31546764e-02 9.94394286e+01] [-6.14449320e-01 -7.88216914e-01 3.41486426e-02 1.04722062e+02] [ 5.50302319e-02 3.59807035e-04 9.98484624e-01 1.40466951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.44, Y:104.72, Z:14.05 [[-7.86932263e-01 6.15535764e-01 4.30503953e-02 9.94371115e+01] [-6.14593979e-01 -7.88108886e-01 3.40385786e-02 1.04720167e+02] [ 5.48803616e-02 3.27541936e-04 9.98492884e-01 1.40464530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.43, Y:104.72, Z:14.05 [[-7.86101652e-01 6.16599090e-01 4.30087838e-02 9.94349409e+01] [-6.15662534e-01 -7.87277277e-01 3.39725330e-02 1.04718242e+02] [ 5.48072711e-02 2.26967451e-04 9.98496926e-01 1.40466565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.686875 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:99.44, Y:104.72, Z:14.05 [[-7.86445200e-01 6.16176406e-01 4.27853247e-02 9.94352126e+01] [-6.15250411e-01 -7.87608140e-01 3.37690663e-02 1.04718960e+02] [ 5.45057719e-02 2.33831519e-04 9.98513428e-01 1.40470393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.716875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:99.43, Y:104.71, Z:14.05 [[-7.86964412e-01 6.15578568e-01 4.18334795e-02 9.94312845e+01] [-6.14694059e-01 -7.88075482e-01 3.29886025e-02 1.04714836e+02] [ 5.32750162e-02 2.46064895e-04 9.98579848e-01 1.40475423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.43, Y:104.71, Z:14.05 [[-7.87734703e-01 6.14592398e-01 4.18356606e-02 9.94277578e+01] [-6.13708319e-01 -7.88844791e-01 3.29544406e-02 1.04712080e+02] [ 5.32553916e-02 2.84463476e-04 9.98580884e-01 1.40481572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.41, Y:104.70, Z:14.05 [[-7.88530186e-01 6.13582983e-01 4.16661514e-02 9.94146380e+01] [-6.12706353e-01 -7.89630177e-01 3.27888484e-02 1.04701598e+02] [ 5.30195299e-02 3.25881140e-04 9.98593422e-01 1.40488248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.806875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:99.42, Y:104.70, Z:14.05 [[-7.89865352e-01 6.11866023e-01 4.16256563e-02 9.94171453e+01] [-6.10990090e-01 -7.90961310e-01 3.27309810e-02 1.04702296e+02] [ 5.29512588e-02 4.20204345e-04 9.98597010e-01 1.40474448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.42, Y:104.71, Z:14.05 [[-7.90686149e-01 6.10819688e-01 4.14092065e-02 9.94229580e+01] [-6.09952778e-01 -7.91769595e-01 3.25348680e-02 1.04706578e+02] [ 5.26594885e-02 4.67208943e-04 9.98612417e-01 1.40461652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.866875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:99.42, Y:104.70, Z:14.05 [[-7.91572624e-01 6.09636557e-01 4.19052354e-02 9.94160080e+01] [-6.08748550e-01 -7.92680886e-01 3.28970560e-02 1.04701337e+02] [ 5.32727270e-02 5.30657647e-04 9.98579859e-01 1.40469218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.41, Y:104.70, Z:14.05 [[-7.92752008e-01 6.07998647e-01 4.33808669e-02 9.94109688e+01] [-6.07046938e-01 -7.93937813e-01 3.40112278e-02 1.04698632e+02] [ 5.51204911e-02 6.28246688e-04 9.98479512e-01 1.40468186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.35, Y:104.65, Z:14.05 [[-7.93567168e-01 6.06794097e-01 4.52998255e-02 9.93466624e+01] [-6.05906472e-01 -7.94857847e-01 3.28382563e-02 1.04649323e+02] [ 5.59329819e-02 -1.38809536e-03 9.98433561e-01 1.40513404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.97, Y:103.83, Z:14.27 [[-7.46695081e-01 -5.53535557e-01 -3.68842572e-01 9.99747323e+01] [-6.65166363e-01 6.21042598e-01 4.14559767e-01 1.03833185e+02] [-4.06622328e-04 5.54891412e-01 -8.31922686e-01 1.42650796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.26, Y:104.62, Z:14.07 [[-7.60379699e-01 6.49316353e-01 1.45253923e-02 9.92649967e+01] [-6.49191114e-01 -7.60518377e-01 1.27552265e-02 1.04615238e+02] [ 1.93290049e-02 2.69059622e-04 9.99813141e-01 1.40684235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.016875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:99.25, Y:104.60, Z:14.07 [[-7.62720153e-01 6.46540521e-01 1.55988061e-02 9.92499594e+01] [-6.46395907e-01 -7.62879566e-01 1.36784055e-02 1.04603053e+02] [ 2.07436539e-02 3.49791146e-04 9.99784766e-01 1.40684438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.25, Y:104.60, Z:14.07 [[-7.63809594e-01 6.45253510e-01 1.55824306e-02 9.92497583e+01] [-6.45109388e-01 -7.63968437e-01 1.36420002e-02 1.04603650e+02] [ 2.07070337e-02 3.67518353e-04 9.99785519e-01 1.40682131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.26, Y:104.62, Z:14.07 [[-7.64905366e-01 6.43949937e-01 1.57562303e-02 9.92618453e+01] [-6.43802564e-01 -7.65067526e-01 1.37818237e-02 1.04615398e+02] [ 2.09293846e-02 3.97889463e-04 9.99780877e-01 1.40680251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.106875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:99.24, Y:104.60, Z:14.07 [[-7.66305404e-01 6.42287127e-01 1.55972495e-02 9.92401019e+01] [-6.42142606e-01 -7.66463999e-01 1.36313086e-02 1.04598364e+02] [ 2.07099443e-02 4.30086973e-04 9.99785434e-01 1.40690623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.136875 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:99.24, Y:104.60, Z:14.07 [[-7.67184768e-01 6.41241927e-01 1.53728106e-02 9.92372401e+01] [-6.41101574e-01 -7.67338644e-01 1.34230078e-02 1.04596599e+02] [ 2.04035471e-02 4.42394071e-04 9.99791728e-01 1.40691584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.24, Y:104.60, Z:14.07 [[-7.68065839e-01 6.40191774e-01 1.51446027e-02 9.92401045e+01] [-6.40055642e-01 -7.68215001e-01 1.32093655e-02 1.04599836e+02] [ 2.00908381e-02 4.52273968e-04 9.99798056e-01 1.40690955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.196875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:99.23, Y:104.60, Z:14.07 [[-7.69165094e-01 6.38871971e-01 1.50885455e-02 9.92323444e+01] [-6.38736857e-01 -7.69312927e-01 1.31471366e-02 1.04595631e+02] [ 2.00071501e-02 4.74708418e-04 9.99799724e-01 1.40684225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.22687499999998 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:99.24, Y:104.60, Z:14.07 [[-7.69784506e-01 6.38125096e-01 1.51054768e-02 9.92354683e+01] [-6.37989801e-01 -7.69932547e-01 1.31486312e-02 1.04600330e+02] [ 2.00206698e-02 4.84472462e-04 9.99799449e-01 1.40688273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.25687499999998 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:99.22, Y:104.59, Z:14.07 [[-7.70067010e-01 6.37777152e-01 1.53981899e-02 9.92165559e+01] [-6.37636790e-01 -7.70220788e-01 1.33888384e-02 1.04585988e+02] [ 2.03991012e-02 4.91850374e-04 9.99791796e-01 1.40692860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.28687499999998 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:99.22, Y:104.59, Z:14.07 [[-7.70071337e-01 6.37768828e-01 1.55260688e-02 9.92231002e+01] [-6.37626372e-01 -7.70227684e-01 1.34879290e-02 1.04593446e+02] [ 2.05607887e-02 4.86836566e-04 9.99788486e-01 1.40692224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.31687499999998 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:99.23, Y:104.60, Z:14.07 [[-7.69542568e-01 6.38411590e-01 1.53257185e-02 9.92296158e+01] [-6.38273165e-01 -7.69695027e-01 1.33015937e-02 1.04602386e+02] [ 2.02880209e-02 4.54147742e-04 9.99794074e-01 1.40682458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.22, Y:104.60, Z:14.07 [[-7.69288179e-01 6.38712714e-01 1.55488280e-02 9.92232663e+01] [-6.38570554e-01 -7.69445172e-01 1.34823860e-02 1.04599187e+02] [ 2.05753419e-02 4.42816468e-04 9.99788207e-01 1.40687835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.21, Y:104.59, Z:14.07 [[-7.68582949e-01 6.39559566e-01 1.56144441e-02 9.92067919e+01] [-6.39416626e-01 -7.68741433e-01 1.35272913e-02 1.04591153e+02] [ 2.06549787e-02 4.12710280e-04 9.99786578e-01 1.40694821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.20, Y:104.59, Z:14.07 [[-7.68865321e-01 6.39219932e-01 1.56203971e-02 9.92044694e+01] [-6.39077061e-01 -7.69023867e-01 1.35204149e-02 1.04589060e+02] [ 2.06549768e-02 4.12740695e-04 9.99786578e-01 1.40695235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.436875 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:99.21, Y:104.60, Z:14.07 [[-7.68583628e-01 6.39555227e-01 1.57581526e-02 9.92109780e+01] [-6.39410149e-01 -7.68745051e-01 1.36274432e-02 1.04597049e+02] [ 2.08295044e-02 3.97907012e-04 9.99782963e-01 1.40695399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.466875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:99.20, Y:104.57, Z:14.04 [[-7.60582176e-01 6.48760922e-01 -2.49803969e-02 9.92032183e+01] [-6.49222797e-01 -7.60290296e-01 2.16431319e-02 1.04570504e+02] [-4.95113521e-03 3.26792235e-02 9.99453628e-01 1.40350256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.20, Y:104.60, Z:14.09 [[-7.69006518e-01 6.38090300e-01 3.83372487e-02 9.91983330e+01] [-6.38862871e-01 -7.69230639e-01 -1.17666840e-02 1.04602157e+02] [ 2.19819794e-02 -3.35409014e-02 9.99195577e-01 1.40869736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.526875 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:99.19, Y:104.59, Z:14.07 [[-7.69408643e-01 6.38530482e-01 1.70048006e-02 9.91859809e+01] [-6.38362712e-01 -7.69596423e-01 1.46421561e-02 1.04585198e+02] [ 2.24362967e-02 4.10570804e-04 9.99748190e-01 1.40693079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.556875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:99.18, Y:104.58, Z:14.07 [[-7.69603716e-01 6.38289099e-01 1.72379598e-02 9.91765242e+01] [-6.38116953e-01 -7.69796633e-01 1.48289732e-02 1.04579610e+02] [ 2.27348953e-02 4.12598514e-04 9.99741444e-01 1.40692602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.586875 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:99.18, Y:104.59, Z:14.07 [[-7.70090909e-01 6.37679180e-01 1.80348296e-02 9.91810634e+01] [-6.37490956e-01 -7.70301935e-01 1.54986960e-02 1.04586517e+02] [ 2.37754599e-02 4.38364140e-04 9.99717228e-01 1.40693946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.616875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:99.18, Y:104.59, Z:14.07 [[-7.70414571e-01 6.37282732e-01 1.82238479e-02 9.91770829e+01] [-6.37090805e-01 -7.70629952e-01 1.56455412e-02 1.04585526e+02] [ 2.40144763e-02 4.43306943e-04 9.99711513e-01 1.40701345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.16, Y:104.58, Z:14.07 [[-7.70757882e-01 6.36892117e-01 1.73412283e-02 9.91605935e+01] [-6.36718547e-01 -7.70952821e-01 1.48741223e-02 1.04576155e+02] [ 2.28424801e-02 4.22865334e-04 9.99738987e-01 1.40705645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.676875 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:99.15, Y:104.57, Z:14.07 [[-7.71183134e-01 6.36378574e-01 1.72882755e-02 9.91483248e+01] [-6.36206266e-01 -7.71376776e-01 1.48140738e-02 1.04567998e+02] [ 2.27631334e-02 4.25454673e-04 9.99740796e-01 1.40711083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.706875 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:99.18, Y:104.57, Z:14.03 [[-7.60856783e-01 6.48359065e-01 -2.69718021e-02 9.91833402e+01] [-6.48898370e-01 -7.60512215e-01 2.34963052e-02 1.04574464e+02] [-5.27834244e-03 3.53792816e-02 9.99360018e-01 1.40337222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.736875 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:99.12, Y:104.56, Z:14.09 [[-7.71171881e-01 6.35388674e-01 3.96883244e-02 9.91232016e+01] [-6.36232609e-01 -7.71389083e-01 -1.29209534e-02 1.04563385e+02] [ 2.24053127e-02 -3.52152821e-02 9.99128563e-01 1.40915277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.766875 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:99.16, Y:104.56, Z:14.04 [[-7.62023102e-01 6.47112970e-01 -2.37822528e-02 9.91562426e+01] [-6.47534996e-01 -7.61740204e-01 2.12200586e-02 1.04557699e+02] [-4.38412298e-03 3.15700159e-02 9.99491928e-01 1.40371107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.796875 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:99.13, Y:104.57, Z:14.09 [[-7.72161781e-01 6.34291334e-01 3.79563772e-02 9.91281427e+01] [-6.35018319e-01 -7.72427827e-01 -1.03434303e-02 1.04569700e+02] [ 2.27578138e-02 -3.20897964e-02 9.99225864e-01 1.40905619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.12, Y:104.55, Z:14.07 [[-7.73202739e-01 6.33926847e-01 1.71545218e-02 9.91211040e+01] [-6.33758419e-01 -7.73392893e-01 1.46184634e-02 1.04554892e+02] [ 2.25342217e-02 4.31213327e-04 9.99745979e-01 1.40730516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.856875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:99.12, Y:104.55, Z:14.07 [[-7.73515998e-01 6.33554856e-01 1.67703494e-02 9.91183213e+01] [-6.33394097e-01 -7.73697658e-01 1.42776604e-02 1.04552627e+02] [ 2.20208611e-02 4.21758375e-04 9.99757422e-01 1.40724744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.886875 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:99.11, Y:104.54, Z:14.07 [[-7.73990197e-01 6.32971537e-01 1.69176709e-02 9.91076714e+01] [-6.32808115e-01 -7.74174946e-01 1.43889787e-02 1.04544273e+02] [ 2.22050509e-02 4.31289041e-04 9.99753344e-01 1.40718560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.916875 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:99.10, Y:104.54, Z:14.07 [[-7.74505667e-01 6.32339215e-01 1.69731745e-02 9.91031870e+01] [-6.32174876e-01 -7.74691502e-01 1.44222969e-02 1.04541885e+02] [ 2.22687579e-02 4.40136254e-04 9.99751924e-01 1.40719814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.946875 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:99.12, Y:104.53, Z:14.04 [[-7.66405850e-01 6.42069162e-01 -1.92162646e-02 9.91180281e+01] [-6.42355380e-01 -7.66120944e-01 2.09347878e-02 1.04534339e+02] [-1.28040112e-03 2.83882148e-02 9.99596153e-01 1.40403580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.97687499999998 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:99.08, Y:104.54, Z:14.09 [[-7.74974046e-01 6.30982624e-01 3.57233399e-02 9.90838099e+01] [-6.31576117e-01 -7.75277444e-01 -7.51618565e-03 1.04536752e+02] [ 2.29529171e-02 -2.83868571e-02 9.99333453e-01 1.40883713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.00687499999998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:99.08, Y:104.52, Z:14.07 [[-7.75399168e-01 6.31236857e-01 1.72093033e-02 9.90773365e+01] [-6.31068776e-01 -7.75589993e-01 1.45726714e-02 1.04522551e+02] [ 2.25461707e-02 4.39383304e-04 9.99745706e-01 1.40732890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.03687499999998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:99.10, Y:104.54, Z:14.07 [[-7.74809593e-01 6.31946669e-01 1.77059927e-02 9.90965705e+01] [-6.31769288e-01 -7.75011763e-01 1.49777755e-02 1.04540052e+02] [ 2.31875079e-02 4.18821704e-04 9.99731046e-01 1.40724072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.06687499999998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:99.09, Y:104.54, Z:14.07 [[-7.73853056e-01 6.33102346e-01 1.82446726e-02 9.90907836e+01] [-6.32914751e-01 -7.74068003e-01 1.54157099e-02 1.04535619e+02] [ 2.38823394e-02 3.82171802e-04 9.99714703e-01 1.40725757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.09687499999998 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:99.15, Y:104.55, Z:14.03 [[-7.60095461e-01 6.49122067e-01 -2.99237784e-02 9.91451211e+01] [-6.49785233e-01 -7.59671969e-01 2.60317128e-02 1.04554006e+02] [-5.83449643e-03 3.92306161e-02 9.99213149e-01 1.40292056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.12687499999998 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:99.10, Y:104.56, Z:14.09 [[-7.69904635e-01 6.36633263e-01 4.41014861e-02 9.91006839e+01] [-6.37706526e-01 -7.70121239e-01 -1.56097385e-02 1.04559007e+02] [ 2.40258123e-02 -4.01418156e-02 9.98905098e-01 1.40943129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.15687499999999 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:99.13, Y:104.55, Z:14.04 [[-7.59257592e-01 6.50434593e-01 -2.15116268e-02 9.91306058e+01] [-6.50787781e-01 -7.58930331e-01 2.23610486e-02 1.04547336e+02] [-1.78142654e-03 3.09772998e-02 9.99518501e-01 1.40368370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.186875 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:99.08, Y:104.54, Z:14.09 [[-7.69357287e-01 6.37670666e-01 3.82816884e-02 9.90849578e+01] [-6.38367144e-01 -7.69684589e-01 -8.54533703e-03 1.04543308e+02] [ 2.40157148e-02 -3.10121894e-02 9.99230449e-01 1.40898808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.216875 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:99.13, Y:104.55, Z:14.04 [[-7.58941212e-01 6.50824553e-01 -2.08719647e-02 9.91308796e+01] [-6.51157901e-01 -7.58612543e-01 2.23695847e-02 1.04547649e+02] [-1.27505927e-03 3.05681444e-02 9.99531872e-01 1.40370110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.246875 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:99.07, Y:104.53, Z:14.09 [[-7.69394277e-01 6.37627996e-01 3.82489787e-02 9.90702263e+01] [-6.38310668e-01 -7.69737109e-01 -8.01707203e-03 1.04530832e+02] [ 2.43297488e-02 -3.05830205e-02 9.99236079e-01 1.40900098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.06, Y:104.52, Z:14.07 [[-7.70748210e-01 6.36874089e-01 1.84008255e-02 9.90641005e+01] [-6.36687097e-01 -7.70967809e-01 1.54330473e-02 1.04516735e+02] [ 2.40153520e-02 1.79425397e-04 9.99711574e-01 1.40742102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.306875 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:99.08, Y:104.53, Z:14.07 [[-7.71752912e-01 6.35647230e-01 1.87094351e-02 9.90757407e+01] [-6.35453991e-01 -7.71979635e-01 1.56738410e-02 1.04526520e+02] [ 2.44063365e-02 2.07347204e-04 9.99702100e-01 1.40740984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.336875 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:99.10, Y:104.52, Z:14.04 [[-7.62461371e-01 6.46613074e-01 -2.33278984e-02 9.90986330e+01] [-6.47030388e-01 -7.62077733e-01 2.42735584e-02 1.04520332e+02] [-2.08207171e-03 3.36015097e-02 9.99433141e-01 1.40362259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.366875 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:99.03, Y:104.50, Z:14.09 [[-7.73363736e-01 6.32572400e-01 4.19605797e-02 9.90277989e+01] [-6.33380416e-01 -7.73795109e-01 -8.38919430e-03 1.04495250e+02] [ 2.71621186e-02 -3.30649081e-02 9.99084046e-01 1.40911671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.396875 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:99.05, Y:104.50, Z:14.07 [[-7.74019291e-01 6.32812886e-01 2.10235255e-02 9.90513309e+01] [-6.32569736e-01 -7.74304703e-01 1.75429651e-02 1.04503374e+02] [ 2.73800291e-02 2.79747441e-04 9.99625058e-01 1.40718916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.426875 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:99.09, Y:104.51, Z:14.03 [[-7.64147773e-01 6.44519877e-01 -2.59289132e-02 9.90916711e+01] [-6.45034777e-01 -7.63702247e-01 2.62490664e-02 1.04510821e+02] [-2.88392428e-03 3.67832164e-02 9.99319107e-01 1.40314194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.456875 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:99.07, Y:104.51, Z:14.06 [[-7.66561916e-01 6.42162264e-01 3.23359274e-03 9.90709863e+01] [-6.42170360e-01 -7.66554038e-01 -3.48359486e-03 1.04510631e+02] [ 2.41690406e-04 -4.74690856e-03 9.99988704e-01 1.40571630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.486875 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:99.05, Y:104.51, Z:14.09 [[-7.74764945e-01 6.30880294e-01 4.15852758e-02 9.90463490e+01] [-6.31687791e-01 -7.75172192e-01 -8.86603226e-03 1.04510375e+02] [ 2.66423444e-02 -3.31380021e-02 9.99095620e-01 1.40922627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.04, Y:104.49, Z:14.07 [[-7.74951895e-01 6.31702200e-01 2.00472228e-02 9.90399397e+01] [-6.31483065e-01 -7.75211116e-01 1.66392235e-02 1.04493864e+02] [ 2.60518641e-02 2.35116082e-04 9.99660565e-01 1.40740036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.546875 meters Centerline goodness : 0.999925 Centerline is valid? [True, True] Translation: X:99.06, Y:104.49, Z:14.03 [[-7.65242510e-01 6.43200871e-01 -2.63920628e-02 9.90625995e+01] [-6.43730458e-01 -7.64831933e-01 2.53616327e-02 1.04486210e+02] [-3.87286816e-03 3.63971741e-02 9.99329899e-01 1.40336307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.04, Y:104.50, Z:14.09 [[-7.74944637e-01 6.30488943e-01 4.40965237e-02 9.90400536e+01] [-6.31480723e-01 -7.75291238e-01 -1.24736903e-02 1.04503901e+02] [ 2.63231247e-02 -3.75125241e-02 9.98949400e-01 1.40944211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.05, Y:104.50, Z:14.07 [[-7.75469473e-01 6.31083324e-01 1.95175343e-02 9.90549648e+01] [-6.30877049e-01 -7.75715024e-01 1.61353833e-02 1.04503131e+02] [ 2.53228160e-02 1.99332740e-04 9.99679306e-01 1.40730554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:104.46, Z:14.07 [[-7.75758505e-01 6.30721977e-01 1.97111812e-02 9.90045548e+01] [-6.30511859e-01 -7.76008858e-01 1.62803036e-02 1.04460558e+02] [ 2.55643964e-02 2.01450465e-04 9.99673157e-01 1.40744135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.05, Y:104.50, Z:14.07 [[-7.76010753e-01 6.30415902e-01 1.95729925e-02 9.90544128e+01] [-6.30209008e-01 -7.76257529e-01 1.61510302e-02 1.04499442e+02] [ 2.53755491e-02 1.98296884e-04 9.99677969e-01 1.40726019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.696875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:99.05, Y:104.49, Z:14.07 [[-7.76310785e-01 6.30022396e-01 2.03309149e-02 9.90467220e+01] [-6.29799514e-01 -7.76576936e-01 1.67580852e-02 1.04492133e+02] [ 2.63464886e-02 2.05081954e-04 9.99652850e-01 1.40719179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.72687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.05, Y:104.49, Z:14.07 [[-7.76338027e-01 6.29999436e-01 1.99994576e-02 9.90507328e+01] [-6.29784177e-01 -7.76595567e-01 1.64686210e-02 1.04494025e+02] [ 2.59067120e-02 1.89874821e-04 9.99664347e-01 1.40715562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.03, Y:104.48, Z:14.07 [[-7.76945113e-01 6.29273709e-01 1.92585328e-02 9.90317182e+01] [-6.29074269e-01 -7.77183738e-01 1.58430413e-02 1.04477046e+02] [ 2.49370278e-02 1.94126039e-04 9.99689005e-01 1.40721129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.78687499999998 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:99.03, Y:104.47, Z:14.07 [[-7.77555128e-01 6.28538612e-01 1.86342750e-02 9.90265716e+01] [-6.28352047e-01 -7.77778358e-01 1.53144154e-02 1.04472122e+02] [ 2.41190372e-02 1.98917404e-04 9.99709074e-01 1.40727703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.81687499999998 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:99.03, Y:104.47, Z:14.07 [[-7.78410137e-01 6.27499760e-01 1.79362716e-02 9.90260621e+01] [-6.27326973e-01 -7.78616727e-01 1.47262403e-02 1.04470912e+02] [ 2.32061934e-02 2.11147730e-04 9.99730678e-01 1.40731929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.02, Y:104.46, Z:14.07 [[-7.79514239e-01 6.26127245e-01 1.79506012e-02 9.90185103e+01] [-6.25954151e-01 -7.79720857e-01 1.47236315e-02 1.04463369e+02] [ 2.32153249e-02 2.41027064e-04 9.99730459e-01 1.40730340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.01, Y:104.46, Z:14.07 [[-7.81974687e-01 6.23033415e-01 1.85728888e-02 9.90119012e+01] [-6.22847576e-01 -7.82195150e-01 1.52198811e-02 1.04455231e+02] [ 2.40101180e-02 3.33482982e-04 9.99711660e-01 1.40721633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:104.45, Z:14.07 [[-7.83743998e-01 6.20803877e-01 1.86518719e-02 9.90033967e+01] [-6.20616160e-01 -7.83965811e-01 1.52705733e-02 1.04446917e+02] [ 2.41024610e-02 3.92567073e-04 9.99709416e-01 1.40716675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:104.44, Z:14.07 [[-7.85590536e-01 6.18447580e-01 1.92380031e-02 9.89994453e+01] [-6.18247553e-01 -7.85825918e-01 1.57350159e-02 1.04442171e+02] [ 2.48490040e-02 4.67431246e-04 9.99691107e-01 1.40712209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:104.44, Z:14.07 [[-7.87298333e-01 6.16264068e-01 1.94918897e-02 9.90016209e+01] [-6.16058455e-01 -7.87539406e-01 1.59268172e-02 1.04442701e+02] [ 2.51657564e-02 5.31013196e-04 9.99683151e-01 1.40709970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.99, Y:104.43, Z:14.07 [[-7.89950191e-01 6.12860846e-01 1.95007492e-02 9.89908172e+01] [-6.12654377e-01 -7.90190603e-01 1.59193378e-02 1.04432493e+02] [ 2.51656476e-02 6.28264570e-04 9.99683098e-01 1.40717716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.026875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:99.01, Y:104.43, Z:14.05 [[-7.84277107e-01 6.20326635e-01 -1.02120313e-02 9.90059170e+01] [-6.20386618e-01 -7.83995448e-01 2.17159203e-02 1.04427422e+02] [ 5.46477770e-03 2.33667067e-02 9.99712025e-01 1.40466366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.056875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:98.98, Y:104.43, Z:14.08 [[-7.90171860e-01 6.11931576e-01 3.41786269e-02 9.89825416e+01] [-6.12359083e-01 -7.90575281e-01 -2.66065643e-03 1.04432068e+02] [ 2.53926379e-02 -2.30319684e-02 9.99412198e-01 1.40846218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.086875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:98.98, Y:104.42, Z:14.07 [[-7.90015546e-01 6.12847024e-01 1.71453507e-02 9.89810862e+01] [-6.12688381e-01 -7.90201403e-01 1.39531962e-02 1.04422282e+02] [ 2.20994550e-02 5.18484755e-04 9.99755643e-01 1.40729219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:104.42, Z:14.05 [[-7.84933222e-01 6.19508769e-01 -9.41923781e-03 9.89967939e+01] [-6.19567207e-01 -7.84726734e-01 1.84507268e-02 1.04419884e+02] [ 4.03885932e-03 2.03184393e-02 9.99785401e-01 1.40514211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.146875 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:98.98, Y:104.43, Z:14.08 [[-7.90173524e-01 6.12226514e-01 2.83636554e-02 9.89784803e+01] [-6.12551426e-01 -7.90422147e-01 -3.68511497e-03 1.04425295e+02] [ 2.01631363e-02 -2.02860779e-02 9.99590878e-01 1.40844758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.99, Y:104.42, Z:14.07 [[-7.90341715e-01 6.12454507e-01 1.61074724e-02 9.89868752e+01] [-6.12315427e-01 -7.90505703e-01 1.30595198e-02 1.04423321e+02] [ 2.07314105e-02 4.58629422e-04 9.99784976e-01 1.40728677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.206875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:98.98, Y:104.41, Z:14.07 [[-7.90494558e-01 6.12236259e-01 1.68854041e-02 9.89756330e+01] [-6.12083676e-01 -7.90674735e-01 1.36761360e-02 1.04412933e+02] [ 2.17238888e-02 4.75630883e-04 9.99763895e-01 1.40721724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.236875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:98.97, Y:104.41, Z:14.07 [[-7.90792480e-01 6.11826264e-01 1.77729097e-02 9.89734508e+01] [-6.11657429e-01 -7.90992017e-01 1.43811959e-02 1.04410698e+02] [ 2.28570231e-02 5.01609330e-04 9.99738618e-01 1.40713960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:104.41, Z:14.04 [[-7.83370223e-01 6.21223069e-01 -2.03221950e-02 9.89999285e+01] [-6.21553127e-01 -7.83036641e-01 2.29200730e-02 1.04410792e+02] [-1.67454522e-03 3.05862265e-02 9.99530729e-01 1.40377355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.99, Y:104.41, Z:14.06 [[-7.84880295e-01 6.19640404e-01 2.94819089e-03 9.89852790e+01] [-6.19634474e-01 -7.84885769e-01 2.72929665e-03 1.04410182e+02] [ 4.00517555e-03 3.15370451e-04 9.99991930e-01 1.40551701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.98, Y:104.41, Z:14.06 [[-7.85260017e-01 6.19156147e-01 3.51725477e-03 9.89814761e+01] [-6.19152192e-01 -7.85267787e-01 2.25080887e-03 1.04407339e+02] [ 4.15558902e-03 -4.10245791e-04 9.99991281e-01 1.40556459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.97, Y:104.41, Z:14.09 [[-7.91930746e-01 6.09216344e-01 4.12448831e-02 9.89665355e+01] [-6.09979149e-01 -7.92376440e-01 -8.06317399e-03 1.04413842e+02] [ 2.77692563e-02 -3.15439941e-02 9.99116532e-01 1.40878742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.386875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:98.98, Y:104.41, Z:14.07 [[-7.91793988e-01 6.10418652e-01 2.12450045e-02 9.89756753e+01] [-6.10179640e-01 -7.92078750e-01 1.70897925e-02 1.04410567e+02] [ 2.72596447e-02 5.68325795e-04 9.99628225e-01 1.40707662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.416875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:98.98, Y:104.41, Z:14.07 [[-7.91323006e-01 6.11032524e-01 2.11460506e-02 9.89774319e+01] [-6.10796372e-01 -7.91605313e-01 1.69947290e-02 1.04412090e+02] [ 2.71236582e-02 5.32389045e-04 9.99631944e-01 1.40708580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:104.41, Z:14.04 [[-7.81955071e-01 6.23098015e-01 -1.71793832e-02 9.89973560e+01] [-6.23332289e-01 -7.81576737e-01 2.43856784e-02 1.04408656e+02] [ 1.76766159e-03 2.97769691e-02 9.99555005e-01 1.40402142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.47687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.97, Y:104.42, Z:14.09 [[-7.88525652e-01 6.13820175e-01 3.81062879e-02 9.89675178e+01] [-6.14492090e-01 -7.88880490e-01 -8.18802140e-03 1.04415619e+02] [ 2.50353343e-02 -2.98724774e-02 9.99240145e-01 1.40890854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.50687499999998 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:99.00, Y:104.41, Z:14.05 [[-7.81301780e-01 6.24065411e-01 -1.04829201e-02 9.89974274e+01] [-6.24131358e-01 -7.81022615e-01 2.15341955e-02 1.04413004e+02] [ 5.25134888e-03 2.33674245e-02 9.99713152e-01 1.40473408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.53687499999998 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:99.00, Y:104.42, Z:14.06 [[-7.78356993e-01 6.27806228e-01 4.44202212e-03 9.89969652e+01] [-6.27797685e-01 -7.78369633e-01 3.28348668e-03 1.04421026e+02] [ 5.51892851e-03 -2.32966382e-04 9.99984743e-01 1.40591297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.97, Y:104.42, Z:14.08 [[-7.82490256e-01 6.21777122e-01 3.31995517e-02 9.89728321e+01] [-6.22224459e-01 -7.82827470e-01 -4.22791579e-03 1.04417490e+02] [ 2.33606998e-02 -2.39658760e-02 9.99439800e-01 1.40845941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.96, Y:104.40, Z:14.07 [[-7.80616550e-01 6.24748626e-01 1.80819183e-02 9.89576659e+01] [-6.24581582e-01 -7.80825943e-01 1.44462065e-02 1.04397900e+02] [ 2.31440786e-02 -1.66853016e-05 9.99732140e-01 1.40725275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.62687499999998 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:98.97, Y:104.41, Z:14.07 [[-7.78791155e-01 6.27031610e-01 1.77678750e-02 9.89725460e+01] [-6.26871187e-01 -7.78993807e-01 1.41832152e-02 1.04410472e+02] [ 2.27343888e-02 -9.24063191e-05 9.99741536e-01 1.40728042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.65687499999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:98.97, Y:104.41, Z:14.07 [[-7.75099306e-01 6.31601689e-01 1.73312509e-02 9.89672891e+01] [-6.31450511e-01 -7.75293011e-01 1.38202734e-02 1.04405561e+02] [ 2.21657058e-02 -2.31742902e-04 9.99754284e-01 1.40733122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.98, Y:104.42, Z:14.07 [[-7.73844036e-01 6.33145753e-01 1.70840064e-02 9.89816692e+01] [-6.32999570e-01 -7.74032541e-01 1.36076883e-02 1.04415987e+02] [ 2.18392270e-02 -2.83940240e-04 9.99761455e-01 1.40724402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.98, Y:104.41, Z:14.07 [[-7.72869737e-01 6.34329748e-01 1.72667567e-02 9.89776869e+01] [-6.34181018e-01 -7.73062521e-01 1.37395794e-02 1.04411265e+02] [ 2.20637064e-02 -3.31344180e-04 9.99756512e-01 1.40721981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.97, Y:104.41, Z:14.07 [[-7.72437574e-01 6.34846301e-01 1.76172891e-02 9.89739803e+01] [-6.34691927e-01 -7.72638364e-01 1.40041276e-02 1.04406797e+02] [ 2.25022621e-02 -3.64236786e-04 9.99746726e-01 1.40715332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.776875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:98.98, Y:104.40, Z:14.07 [[-7.71898118e-01 6.35489604e-01 1.80626124e-02 9.89751317e+01] [-6.35327848e-01 -7.72109318e-01 1.43431693e-02 1.04404339e+02] [ 2.30612463e-02 -4.04215328e-04 9.99733972e-01 1.40712641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.96, Y:104.39, Z:14.07 [[-7.72741998e-01 6.34457568e-01 1.82592144e-02 9.89613513e+01] [-6.34292304e-01 -7.72957595e-01 1.44854601e-02 1.04392085e+02] [ 2.33040082e-02 -3.88155819e-04 9.99728349e-01 1.40721166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.97, Y:104.39, Z:14.07 [[-7.74586860e-01 6.32210488e-01 1.80304242e-02 9.89681936e+01] [-6.32049076e-01 -7.74796613e-01 1.42889543e-02 1.04394586e+02] [ 2.30035384e-02 -3.28076675e-04 9.99735330e-01 1.40736200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.96, Y:104.39, Z:14.07 [[-7.76184621e-01 6.30249454e-01 1.79738605e-02 9.89618992e+01] [-6.30088839e-01 -7.76392650e-01 1.42305289e-02 1.04387461e+02] [ 2.29235563e-02 -2.79611165e-04 9.99737182e-01 1.40737083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.97, Y:104.39, Z:14.07 [[-7.77919032e-01 6.28093257e-01 1.84618772e-02 9.89668419e+01] [-6.27923502e-01 -7.78138038e-01 1.46037289e-02 1.04388912e+02] [ 2.35383926e-02 -2.32127925e-04 9.99722907e-01 1.40734788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.96, Y:104.38, Z:14.07 [[-7.79752663e-01 6.25799252e-01 1.90021211e-02 9.89644699e+01] [-6.25619061e-01 -7.79984144e-01 1.50175238e-02 1.04384915e+02] [ 2.42193083e-02 -1.78134980e-04 9.99706654e-01 1.40727062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.96, Y:104.38, Z:14.07 [[-7.83837214e-01 6.20692544e-01 1.84387774e-02 9.89583577e+01] [-6.20521756e-01 -7.84054058e-01 1.45596879e-02 1.04376762e+02] [ 2.34940879e-02 -2.92373667e-05 9.99723975e-01 1.40726495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.986875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:98.96, Y:104.37, Z:14.07 [[-7.85990004e-01 6.17978090e-01 1.79664719e-02 9.89579570e+01] [-6.17815503e-01 -7.86195318e-01 1.41748134e-02 1.04374969e+02] [ 2.28848802e-02 4.12967639e-05 9.99738106e-01 1.40728412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.94, Y:104.36, Z:14.07 [[-7.88134779e-01 6.15251145e-01 1.75954043e-02 9.89365797e+01] [-6.15094767e-01 -7.88331159e-01 1.38712206e-02 1.04356653e+02] [ 2.24052898e-02 1.09550264e-04 9.99748964e-01 1.40736708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.93, Y:104.35, Z:14.07 [[-7.90600814e-01 6.12087784e-01 1.72886607e-02 9.89322378e+01] [-6.11936298e-01 -7.90789801e-01 1.36182629e-02 1.04351672e+02] [ 2.20072689e-02 1.87050721e-04 9.99757793e-01 1.40737833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.94, Y:104.35, Z:14.07 [[-7.95053466e-01 6.06270447e-01 1.80591175e-02 9.89367899e+01] [-6.06103974e-01 -7.95258462e-01 1.42109664e-02 1.04352358e+02] [ 2.29773550e-02 3.52775208e-04 9.99735924e-01 1.40736258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.94, Y:104.35, Z:14.07 [[-7.97290268e-01 6.03332892e-01 1.78227254e-02 9.89400678e+01] [-6.03170336e-01 -7.97489338e-01 1.40107808e-02 1.04353628e+02] [ 2.26665983e-02 4.20519945e-04 9.99742991e-01 1.40729759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.92, Y:104.34, Z:14.07 [[-7.99247706e-01 6.00737613e-01 1.78164234e-02 9.89219044e+01] [-6.00574780e-01 -7.99446112e-01 1.39945945e-02 1.04338197e+02] [ 2.26503497e-02 4.85053052e-04 9.99743330e-01 1.40737844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.92, Y:104.33, Z:14.07 [[-8.02191638e-01 5.96789454e-01 1.81912716e-02 9.89161057e+01] [-5.96618950e-01 -8.02397649e-01 1.42773167e-02 1.04332114e+02] [ 2.31171856e-02 5.99886750e-04 9.99732582e-01 1.40729880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.93, Y:104.34, Z:14.07 [[-8.03450549e-01 5.95069752e-01 1.89527440e-02 9.89316200e+01] [-5.94884504e-01 -8.03673781e-01 1.48620290e-02 1.04343776e+02] [ 2.40757673e-02 6.66211594e-04 9.99709915e-01 1.40720597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.22687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.92, Y:104.33, Z:14.07 [[-8.04320844e-01 5.93869445e-01 1.96738866e-02 9.89204836e+01] [-5.93669815e-01 -8.04561102e-01 1.54137242e-02 1.04334294e+02] [ 2.49825838e-02 7.17787029e-04 9.99687629e-01 1.40716948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.92, Y:104.33, Z:14.07 [[-8.04926279e-01 5.93037818e-01 1.99957691e-02 9.89209196e+01] [-5.92831685e-01 -8.05174261e-01 1.56525438e-02 1.04334485e+02] [ 2.53826291e-02 7.45018384e-04 9.99677532e-01 1.40711371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.91, Y:104.32, Z:14.07 [[-8.05347607e-01 5.92453711e-01 2.03428674e-02 9.89061285e+01] [-5.92240535e-01 -8.05604130e-01 1.59101971e-02 1.04323994e+02] [ 2.58143533e-02 7.65368527e-04 9.99666461e-01 1.40709634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.92, Y:104.33, Z:14.07 [[-8.05164323e-01 5.92691916e-01 2.06568756e-02 9.89161276e+01] [-5.92472533e-01 -8.05428903e-01 1.61425229e-02 1.04332587e+02] [ 2.62051875e-02 7.58752143e-04 9.99656297e-01 1.40711180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.92, Y:104.33, Z:14.07 [[-8.04554423e-01 5.93532363e-01 2.02858433e-02 9.89165260e+01] [-5.93321400e-01 -8.04809812e-01 1.58392610e-02 1.04333833e+02] [ 2.57273597e-02 7.07522580e-04 9.99668746e-01 1.40712289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.92, Y:104.34, Z:14.07 [[-8.03966656e-01 5.94344458e-01 1.98060840e-02 9.89195963e+01] [-5.94143965e-01 -8.04210319e-01 1.54502836e-02 1.04337501e+02] [ 2.51110476e-02 6.53847565e-04 9.99684454e-01 1.40708556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.91, Y:104.34, Z:14.07 [[-8.01708233e-01 5.97389410e-01 1.97434014e-02 9.89136983e+01] [-5.97191477e-01 -8.01951118e-01 1.53865028e-02 1.04336580e+02] [ 2.50249767e-02 5.44894937e-04 9.99686678e-01 1.40724583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.91, Y:104.33, Z:14.07 [[-8.00575009e-01 5.98922910e-01 1.92614372e-02 9.89069162e+01] [-5.98735292e-01 -8.00806546e-01 1.49975689e-02 1.04332779e+02] [ 2.44070726e-02 4.74176623e-04 9.99701991e-01 1.40729158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.91, Y:104.34, Z:14.07 [[-7.99713777e-01 6.00079795e-01 1.90293377e-02 9.89102307e+01] [-5.99897307e-01 -7.99940036e-01 1.48040646e-02 1.04336640e+02] [ 2.41059491e-02 4.23365947e-04 9.99709320e-01 1.40726870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.496875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:98.90, Y:104.33, Z:14.07 [[-7.97936867e-01 6.02468130e-01 1.81358428e-02 9.89028203e+01] [-6.02303267e-01 -7.98142873e-01 1.40971252e-02 1.04333000e+02] [ 2.29680624e-02 3.25338544e-04 9.99736146e-01 1.40732594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.90, Y:104.33, Z:14.07 [[-7.96981496e-01 6.03736473e-01 1.79656819e-02 9.88992622e+01] [-6.03575328e-01 -7.97183916e-01 1.39509018e-02 1.04331187e+02] [ 2.27446208e-02 2.74968231e-04 9.99741270e-01 1.40737265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.89, Y:104.32, Z:14.07 [[-7.96047184e-01 6.04962750e-01 1.81370126e-02 9.88885526e+01] [-6.04799143e-01 -7.96253739e-01 1.40705204e-02 1.04323723e+02] [ 2.29538049e-02 2.31548479e-04 9.99736500e-01 1.40738210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.90, Y:104.33, Z:14.07 [[-7.95178572e-01 6.06088335e-01 1.86539369e-02 9.88968294e+01] [-6.05915869e-01 -7.95397317e-01 1.44591674e-02 1.04330986e+02] [ 2.36008241e-02 1.94903659e-04 9.99721443e-01 1.40731146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.90, Y:104.34, Z:14.07 [[-7.93126532e-01 6.08746136e-01 1.94537069e-02 9.89042609e+01] [-6.08559704e-01 -7.93365067e-01 1.50650877e-02 1.04338858e+02] [ 2.46047054e-02 1.09778674e-04 9.99697252e-01 1.40737000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.90, Y:104.34, Z:14.07 [[-7.92257817e-01 6.09879129e-01 1.93648913e-02 9.89035429e+01] [-6.09695062e-01 -7.92494444e-01 1.49829161e-02 1.04339128e+02] [ 2.44843366e-02 6.36537966e-05 9.99700212e-01 1.40734968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.89, Y:104.33, Z:14.07 [[-7.91581491e-01 6.10751903e-01 1.95155404e-02 9.88925756e+01] [-6.10565559e-01 -7.91822021e-01 1.50859196e-02 1.04331095e+02] [ 2.46665887e-02 2.62179555e-05 9.99695733e-01 1.40738671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.88, Y:104.32, Z:14.07 [[-7.90903530e-01 6.11635432e-01 1.93314736e-02 9.88781575e+01] [-6.11453164e-01 -7.91139747e-01 1.49308098e-02 1.04319941e+02] [ 2.44261094e-02 -1.14605820e-05 9.99701638e-01 1.40743079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.89, Y:104.33, Z:14.07 [[-7.89819480e-01 6.13081391e-01 1.77875373e-02 9.88946909e+01] [-6.12927688e-01 -7.90019749e-01 1.37275279e-02 1.04331838e+02] [ 2.24685977e-02 -6.02051286e-05 9.99747547e-01 1.40737429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.89, Y:104.33, Z:14.07 [[-7.90029981e-01 6.12829874e-01 1.70931209e-02 9.88879909e+01] [-6.12688129e-01 -7.90214871e-01 1.31800822e-02 1.04326221e+02] [ 2.15843865e-02 -6.00921194e-05 9.99767028e-01 1.40740793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.89, Y:104.33, Z:14.07 [[-7.90553938e-01 6.12174900e-01 1.63206482e-02 9.88943412e+01] [-6.12045763e-01 -7.90722385e-01 1.25735732e-02 1.04330398e+02] [ 2.06023278e-02 -4.88957968e-05 9.99787748e-01 1.40747829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.89, Y:104.32, Z:14.08 [[-7.92592663e-01 6.09548770e-01 1.57215535e-02 9.88856916e+01] [-6.09428631e-01 -7.92748571e-01 1.21015137e-02 1.04322278e+02] [ 1.98397019e-02 1.04061767e-05 9.99803174e-01 1.40757319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.856875 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:98.89, Y:104.32, Z:14.08 [[-7.94008032e-01 6.07713410e-01 1.53511351e-02 9.88881420e+01] [-6.07598727e-01 -7.94156414e-01 1.18058157e-02 1.04322234e+02] [ 1.93657549e-02 4.65823365e-05 9.99812465e-01 1.40752501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.89, Y:104.32, Z:14.07 [[-7.95815661e-01 6.05350584e-01 1.51030997e-02 9.88858554e+01] [-6.05239366e-01 -7.95958957e-01 1.16038304e-02 1.04318454e+02] [ 1.90458330e-02 9.35195095e-05 9.99818607e-01 1.40746936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.87, Y:104.30, Z:14.07 [[-7.97771908e-01 6.02766434e-01 1.52514955e-02 9.88703866e+01] [-6.02652745e-01 -7.97917667e-01 1.17074705e-02 1.04304034e+02] [ 1.92263079e-02 1.48535428e-04 9.99815146e-01 1.40742927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.87, Y:104.28, Z:14.05 [[-7.98032060e-01 6.02412765e-01 -1.56106234e-02 9.88656000e+01] [-6.02614653e-01 -7.97736265e-01 2.17354838e-02 1.04280932e+02] [ 6.40572500e-04 2.67528034e-02 9.99641874e-01 1.40456083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.97687499999998 meters Centerline goodness : 0.998552 Centerline is valid? [True, True] Translation: X:98.37, Y:103.92, Z:14.09 [[-8.05317371e-01 5.91700446e-01 3.68037347e-02 9.83706377e+01] [-5.92159064e-01 -8.05818676e-01 -1.97563740e-03 1.03923585e+02] [ 2.84881513e-02 -2.33846802e-02 9.99320560e-01 1.40940333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.44, Y:103.41, Z:14.36 [[-7.46374286e-01 -6.01593606e-01 -2.84623537e-01 9.94384721e+01] [-6.65176595e-01 6.60455597e-01 3.48336765e-01 1.03414257e+02] [-2.15759621e-02 4.49314519e-01 -8.93113061e-01 1.43621515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.72, Y:104.22, Z:14.09 [[-7.71348084e-01 6.36410986e-01 -1.78637842e-03 9.87158512e+01] [-6.36409101e-01 -7.71350150e-01 -1.54987090e-03 1.04221334e+02] [-2.36427813e-03 -5.86224659e-05 9.99997203e-01 1.40887764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.71, Y:104.21, Z:14.09 [[-7.72752525e-01 6.34704663e-01 -1.87769545e-03 9.87093923e+01] [-6.34702581e-01 -7.72754804e-01 -1.62684033e-03 1.04214744e+02] [-2.48356132e-03 -6.53668190e-05 9.99996914e-01 1.40886012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.72, Y:104.22, Z:14.09 [[-7.73845096e-01 6.33370833e-01 -2.27051207e-03 9.87191350e+01] [-6.33367793e-01 -7.73848422e-01 -1.96436848e-03 1.04221963e+02] [-3.00120589e-03 -8.20476990e-05 9.99995493e-01 1.40883316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.69, Y:104.20, Z:14.09 [[-7.74901581e-01 6.32078311e-01 -2.13282333e-03 9.86929061e+01] [-6.32075628e-01 -7.74904512e-01 -1.84355964e-03 1.04199266e+02] [-2.81800848e-03 -8.04716301e-05 9.99996026e-01 1.40882035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.71, Y:104.22, Z:14.09 [[-7.75637053e-01 6.31174818e-01 -2.34755836e-03 9.87141299e+01] [-6.31171567e-01 -7.75640600e-01 -2.02783092e-03 1.04217252e+02] [-3.10077739e-03 -9.11487101e-05 9.99995188e-01 1.40877313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.71, Y:104.21, Z:14.09 [[-7.75857843e-01 6.30902306e-01 -2.62451105e-03 9.87080763e+01] [-6.30898252e-01 -7.75862275e-01 -2.26411183e-03 1.04211864e+02] [-3.46469249e-03 -1.00829487e-04 9.99993993e-01 1.40874255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.71, Y:104.21, Z:14.09 [[-7.76134569e-01 6.30561841e-01 -2.62578081e-03 9.87057438e+01] [-6.30557790e-01 -7.76139005e-01 -2.26263710e-03 1.04209772e+02] [-3.46470352e-03 -1.00404329e-04 9.99993993e-01 1.40873964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.70, Y:104.21, Z:14.09 [[-7.76528048e-01 6.30075361e-01 -3.03807523e-03 9.87023633e+01] [-6.30069943e-01 -7.76533982e-01 -2.61572836e-03 1.04206678e+02] [-4.00727465e-03 -1.16986553e-04 9.99991964e-01 1.40869722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.69, Y:104.19, Z:14.09 [[-7.76580867e-01 6.30009423e-01 -3.20672971e-03 9.86876358e+01] [-6.30003406e-01 -7.76587479e-01 -2.75613676e-03 1.04194029e+02] [-4.22669827e-03 -1.20112432e-04 9.99991060e-01 1.40865046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.72, Y:104.21, Z:14.06 [[-7.70422707e-01 6.36677283e-01 -3.30286200e-02 9.87213986e+01] [-6.37129502e-01 -7.70744523e-01 4.34493408e-03 1.04208022e+02] [-2.26903071e-02 2.43909441e-02 9.99444962e-01 1.40618955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.69, Y:104.21, Z:14.10 [[-7.76070553e-01 6.30506156e-01 1.32847316e-02 9.86929270e+01] [-6.30633342e-01 -7.75748691e-01 -2.27058465e-02 1.04208607e+02] [-4.01056287e-03 -2.59991335e-02 9.99653920e-01 1.40990702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.69, Y:104.20, Z:14.09 [[-7.75946574e-01 6.30789036e-01 -3.47938998e-03 9.86904668e+01] [-6.30782003e-01 -7.75954366e-01 -2.98102153e-03 1.04197977e+02] [-4.58024355e-03 -1.18376862e-04 9.99989504e-01 1.40861732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.68, Y:104.19, Z:14.09 [[-7.75328083e-01 6.31548267e-01 -3.62623974e-03 9.86789819e+01] [-6.31540663e-01 -7.75336555e-01 -3.10126273e-03 1.04188587e+02] [-4.77015333e-03 -1.14378240e-04 9.99988616e-01 1.40855019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.68, Y:104.19, Z:14.09 [[-7.73572969e-01 6.33696654e-01 -3.66235176e-03 9.86756329e+01] [-6.33688928e-01 -7.73581632e-01 -3.13064693e-03 1.04187400e+02] [-4.81700853e-03 -1.00992077e-04 9.99988393e-01 1.40858716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.68, Y:104.18, Z:14.08 [[-7.69956589e-01 6.37913812e-01 -1.52584601e-02 9.86761147e+01] [-6.37980300e-01 -7.70052409e-01 -6.50894938e-04 1.04180984e+02] [-1.21650288e-02 9.23343613e-03 9.99883371e-01 1.40753753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.67, Y:104.19, Z:14.09 [[-7.71965066e-01 6.35659306e-01 2.67999097e-03 9.86705938e+01] [-6.35647991e-01 -7.71906801e-01 -1.05603805e-02 1.04187759e+02] [-4.64410088e-03 -9.85577570e-03 9.99940646e-01 1.40908236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.67, Y:104.18, Z:14.09 [[-7.70196617e-01 6.37798949e-01 -3.11001513e-03 9.86694120e+01] [-6.37793457e-01 -7.70202894e-01 -2.64717358e-03 1.04184680e+02] [-4.08370718e-03 -5.52968359e-05 9.99991660e-01 1.40867996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.65, Y:104.17, Z:14.09 [[-7.69630137e-01 6.38483371e-01 -2.90486813e-03 9.86524222e+01] [-6.38478594e-01 -7.69635617e-01 -2.47019036e-03 1.04170156e+02] [-3.81286545e-03 -4.64368265e-05 9.99992730e-01 1.40866423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.576875 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:98.68, Y:104.18, Z:14.07 [[-7.64769835e-01 6.43679735e-01 -2.83460281e-02 9.86833213e+01] [-6.44025397e-01 -7.64992151e-01 4.27754168e-03 1.04183398e+02] [-1.89311221e-02 2.15268969e-02 9.99589018e-01 1.40660524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.65, Y:104.18, Z:14.10 [[-7.69117388e-01 6.38985887e-01 1.24691479e-02 9.86522074e+01] [-6.39100922e-01 -7.68874271e-01 -1.95542001e-02 1.04177638e+02] [-2.90765093e-03 -2.30085192e-02 9.99731041e-01 1.40987551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.66, Y:104.17, Z:14.09 [[-7.68696682e-01 6.39611021e-01 -1.77553022e-03 9.86580995e+01] [-6.39609252e-01 -7.68698733e-01 -1.50434113e-03 1.04174249e+02] [-2.32704100e-03 -2.07364836e-05 9.99997292e-01 1.40865348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.65, Y:104.17, Z:14.09 [[-7.67599337e-01 6.40927733e-01 -1.70264358e-03 9.86516433e+01] [-6.40926112e-01 -7.67601225e-01 -1.44192067e-03 1.04168618e+02] [-2.23111824e-03 -1.55486202e-05 9.99997511e-01 1.40864607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.66, Y:104.17, Z:14.09 [[-7.67274666e-01 6.41314350e-01 -2.34342904e-03 9.86554050e+01] [-6.41311292e-01 -7.67278244e-01 -1.98062074e-03 1.04171380e+02] [-3.06826262e-03 -1.68126075e-05 9.99995293e-01 1.40866388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.72687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.65, Y:104.16, Z:14.09 [[-7.67203608e-01 6.41396875e-01 -2.94501801e-03 9.86484236e+01] [-6.41392061e-01 -7.67209260e-01 -2.48496089e-03 1.04164915e+02] [-3.85329124e-03 -1.75597914e-05 9.99992576e-01 1.40868056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.64, Y:104.16, Z:14.09 [[-7.67973030e-01 6.40471000e-01 -3.78458270e-03 9.86409478e+01] [-6.40463060e-01 -7.67982355e-01 -3.18921443e-03 1.04156686e+02] [-4.94909209e-03 -2.53452540e-05 9.99987753e-01 1.40879989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.64, Y:104.16, Z:14.09 [[-7.69293569e-01 6.38882191e-01 -4.11711028e-03 9.86422798e+01] [-6.38872790e-01 -7.69304585e-01 -3.46614662e-03 1.04156952e+02] [-5.38177116e-03 -3.61745708e-05 9.99985518e-01 1.40885991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.65, Y:104.15, Z:14.07 [[-7.67096932e-01 6.40786616e-01 -3.08999904e-02 9.86461454e+01] [-6.41186836e-01 -7.67373287e-01 4.20461448e-03 1.04146664e+02] [-2.10175666e-02 2.30380140e-02 9.99513638e-01 1.40667331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.61, Y:104.13, Z:14.10 [[-7.75798510e-01 6.30837076e-01 1.34631160e-02 9.86067065e+01] [-6.30966807e-01 -7.75463087e-01 -2.31924355e-02 1.04133093e+02] [-4.19049868e-03 -2.64874363e-02 9.99640363e-01 1.41028091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.61, Y:104.12, Z:14.09 [[-7.79736924e-01 6.26100568e-01 -2.89981844e-03 9.86057463e+01] [-6.26095931e-01 -7.79742313e-01 -2.41040741e-03 1.04119783e+02] [-3.77026858e-03 -6.39191315e-05 9.99992890e-01 1.40883913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.62, Y:104.11, Z:14.06 [[-7.77537929e-01 6.28044371e-01 -3.15442005e-02 9.86155463e+01] [-6.28450329e-01 -7.77839413e-01 4.00395993e-03 1.04112248e+02] [-2.20216579e-02 2.29371939e-02 9.99494338e-01 1.40628667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.936875 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:98.22, Y:103.80, Z:14.09 [[-7.84137986e-01 6.20472212e-01 1.19101662e-02 9.82188895e+01] [-6.20579671e-01 -7.84075031e-01 -1.03545537e-02 1.03801186e+02] [ 2.91375109e-03 -1.55106059e-02 9.99875458e-01 1.40910163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.966875 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:98.53, Y:103.25, Z:14.89 [[-7.24066014e-01 -4.87486148e-01 4.87940224e-01 9.85269280e+01] [-6.86846191e-01 4.44982246e-01 -5.74659126e-01 1.03246319e+02] [ 6.30136270e-02 -7.51231027e-01 -6.57024525e-01 1.48911100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.996875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:98.13, Y:103.73, Z:14.07 [[-7.58341219e-01 6.50607404e-01 4.03559215e-02 9.81287506e+01] [-6.49423266e-01 -7.59405354e-01 3.94072324e-02 1.03734227e+02] [ 5.62851401e-02 3.67605440e-03 9.98407968e-01 1.40667345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.47, Y:104.04, Z:14.05 [[-7.60727135e-01 6.47646163e-01 4.29962046e-02 9.84708028e+01] [-6.46485237e-01 -7.61939297e-01 3.87987902e-02 1.04042086e+02] [ 5.78883856e-02 1.71888102e-03 9.98321582e-01 1.40458493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.056875 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:98.04, Y:103.65, Z:14.07 [[-7.60785865e-01 6.47752121e-01 4.02747641e-02 9.80409838e+01] [-6.46442804e-01 -7.61830819e-01 4.15391955e-02 1.03653615e+02] [ 5.75896585e-02 5.56710142e-03 9.98324816e-01 1.40715611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.50, Y:103.92, Z:14.67 [[-7.48862663e-01 9.23993847e-02 6.56252289e-01 9.84952082e+01] [-6.47369026e-01 -3.13921827e-01 -6.94526048e-01 1.03915918e+02] [ 1.41838138e-01 -9.44942030e-01 2.94900835e-01 1.46732601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.36, Y:103.92, Z:14.02 [[-7.70296541e-01 6.30999211e-01 9.21044792e-02 9.83558294e+01] [-6.25979538e-01 -7.75775147e-01 7.95144005e-02 1.03922012e+02] [ 1.21625890e-01 3.59414825e-03 9.92569506e-01 1.40171702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.36, Y:103.92, Z:14.02 [[-7.69818492e-01 6.31660540e-01 9.15666528e-02 9.83552160e+01] [-6.26773786e-01 -7.75239207e-01 7.84779811e-02 1.03921933e+02] [ 1.20557503e-01 3.02222339e-03 9.92701745e-01 1.40179370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.35, Y:103.92, Z:14.02 [[-7.69087778e-01 6.32606740e-01 9.11740260e-02 9.83540320e+01] [-6.27776010e-01 -7.74468074e-01 7.80799858e-02 1.03921168e+02] [ 1.20005298e-01 2.81349652e-03 9.92769265e-01 1.40182469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.36, Y:103.91, Z:13.99 [[-7.64376657e-01 6.42072619e-01 5.89158595e-02 9.83638386e+01] [-6.36926982e-01 -7.66128694e-01 8.58536185e-02 1.03913516e+02] [ 1.00261388e-01 2.80994013e-02 9.94564265e-01 1.39917095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.33, Y:103.91, Z:14.03 [[-7.67485084e-01 6.31810065e-01 1.08548090e-01 9.83324118e+01] [-6.29581774e-01 -7.74759204e-01 5.80944590e-02 1.03911840e+02] [ 1.20803295e-01 -2.37532681e-02 9.92392234e-01 1.40347905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.33, Y:103.90, Z:14.02 [[-7.67431670e-01 6.34594656e-01 9.13140374e-02 9.83331735e+01] [-6.29795727e-01 -7.72841736e-01 7.79294158e-02 1.03903809e+02] [ 1.20024890e-01 2.29631117e-03 9.92768227e-01 1.40217961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.34, Y:103.91, Z:14.02 [[-7.67345097e-01 6.34643218e-01 9.17032598e-02 9.83365002e+01] [-6.29812905e-01 -7.72802029e-01 7.81839366e-02 1.03907135e+02] [ 1.20487370e-01 2.23816394e-03 9.92712337e-01 1.40210228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.32, Y:103.89, Z:14.02 [[-7.67045393e-01 6.34865475e-01 9.26671141e-02 9.83194804e+01] [-6.29942290e-01 -7.72619630e-01 7.89405971e-02 1.03893381e+02] [ 1.21713091e-01 2.17608719e-03 9.92562939e-01 1.40233052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.33, Y:103.90, Z:14.02 [[-7.67423824e-01 6.34355485e-01 9.30257692e-02 9.83310648e+01] [-6.29400903e-01 -7.73038347e-01 7.91594381e-02 1.03903939e+02] [ 1.22127711e-01 2.19833551e-03 9.92511959e-01 1.40220890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.33, Y:103.91, Z:14.02 [[-7.67989089e-01 6.33709118e-01 9.27659027e-02 9.83345428e+01] [-6.28786187e-01 -7.73568185e-01 7.88682062e-02 1.03906839e+02] [ 1.21740252e-01 2.24000364e-03 9.92559466e-01 1.40208472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.33, Y:103.90, Z:14.02 [[-7.69255329e-01 6.31936947e-01 9.43500616e-02 9.83302278e+01] [-6.26838501e-01 -7.75015726e-01 8.01505997e-02 1.03903214e+02] [ 1.23772907e-01 2.51402479e-03 9.92307385e-01 1.40212699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.32, Y:103.88, Z:13.99 [[-7.66860264e-01 6.39191365e-01 5.79632124e-02 9.83202754e+01] [-6.33702077e-01 -7.68386998e-01 8.94600470e-02 1.03876975e+02] [ 1.01720268e-01 3.18719473e-02 9.94302351e-01 1.39932771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.47687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.31, Y:103.90, Z:14.04 [[-7.71889346e-01 6.25127208e-01 1.15770515e-01 9.83086870e+01] [-6.23134189e-01 -7.80020790e-01 5.71957086e-02 1.03895565e+02] [ 1.26058002e-01 -2.79918079e-02 9.91627873e-01 1.40388256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.31, Y:103.89, Z:14.02 [[-7.73158355e-01 6.26875370e-01 9.61947436e-02 9.83091190e+01] [-6.21592882e-01 -7.79113626e-01 8.12665176e-02 1.03885071e+02] [ 1.25890614e-01 3.03791917e-03 9.92039477e-01 1.40239751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.31, Y:103.88, Z:14.02 [[-7.74749239e-01 6.24902582e-01 9.62308698e-02 9.83079734e+01] [-6.19610055e-01 -7.80695747e-01 8.12251838e-02 1.03884241e+02] [ 1.25884858e-01 3.30353477e-03 9.92039359e-01 1.40239993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.31, Y:103.88, Z:14.02 [[-7.75476387e-01 6.24041305e-01 9.59626106e-02 9.83056538e+01] [-6.18779897e-01 -7.81384031e-01 8.09347636e-02 1.03882743e+02] [ 1.25490287e-01 3.38326378e-03 9.92089079e-01 1.40245574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.28, Y:103.87, Z:14.03 [[-7.76160705e-01 6.23264156e-01 9.54795858e-02 9.82845205e+01] [-6.18058118e-01 -7.82003810e-01 8.04624355e-02 1.03865574e+02] [ 1.24814752e-01 3.43984755e-03 9.92174100e-01 1.40279810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.29, Y:103.87, Z:14.03 [[-7.76469310e-01 6.22971720e-01 9.48770076e-02 9.82929025e+01] [-6.17839348e-01 -7.82236965e-01 7.98740947e-02 1.03872933e+02] [ 1.23975605e-01 3.40103468e-03 9.92279438e-01 1.40275360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.29, Y:103.87, Z:14.03 [[-7.76564789e-01 6.22982024e-01 9.40240727e-02 9.82943702e+01] [-6.17952552e-01 -7.82229187e-01 7.90704873e-02 1.03874313e+02] [ 1.22807866e-01 3.30094054e-03 9.92424975e-01 1.40275509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.28, Y:103.86, Z:14.03 [[-7.75751308e-01 6.24150908e-01 9.29814636e-02 9.82783004e+01] [-6.19248704e-01 -7.81297926e-01 7.81318942e-02 1.03861400e+02] [ 1.21412317e-01 3.03226831e-03 9.92597529e-01 1.40308952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.30, Y:103.88, Z:14.03 [[-7.74809933e-01 6.25323510e-01 9.29520039e-02 9.82954195e+01] [-6.20440507e-01 -7.80360608e-01 7.80442124e-02 1.03875902e+02] [ 1.21338963e-01 2.79824257e-03 9.92607186e-01 1.40284387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.29, Y:103.87, Z:14.03 [[-7.73718014e-01 6.26738094e-01 9.25191697e-02 9.82921964e+01] [-6.21919106e-01 -7.79225937e-01 7.76116229e-02 1.03873778e+02] [ 1.20735497e-01 2.51007137e-03 9.92681540e-01 1.40288135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.29, Y:103.87, Z:14.03 [[-7.71196982e-01 6.29802759e-01 9.27561296e-02 9.82868268e+01] [-6.24988620e-01 -7.76752558e-01 7.77475981e-02 1.03869520e+02] [ 1.21014213e-01 1.98718760e-03 9.92648786e-01 1.40302269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.28, Y:103.86, Z:14.03 [[-7.70228775e-01 6.31011875e-01 9.25831887e-02 9.82798686e+01] [-6.26233713e-01 -7.75771233e-01 7.75263238e-02 1.03863114e+02] [ 1.20743405e-01 1.73429139e-03 9.92682236e-01 1.40308926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.29, Y:103.87, Z:14.03 [[-7.69145085e-01 6.32305868e-01 9.27638290e-02 9.82864046e+01] [-6.27525931e-01 -7.74717421e-01 7.76152266e-02 1.03867588e+02] [ 1.20942318e-01 1.48566189e-03 9.92658425e-01 1.40297465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.29, Y:103.87, Z:14.03 [[-7.68309608e-01 6.33278780e-01 9.30501663e-02 9.82874067e+01] [-6.28484881e-01 -7.73922699e-01 7.77843832e-02 1.03867493e+02] [ 1.21272835e-01 1.28186621e-03 9.92618384e-01 1.40289568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.29, Y:103.87, Z:14.03 [[-7.66482493e-01 6.35397665e-01 9.36717419e-02 9.82907840e+01] [-6.30564543e-01 -7.72184570e-01 7.82262601e-02 1.03868327e+02] [ 1.22036657e-01 8.92979776e-04 9.92525192e-01 1.40288314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.29, Y:103.87, Z:14.03 [[-7.65990613e-01 6.35882388e-01 9.44032287e-02 9.82879826e+01] [-6.30985523e-01 -7.71785592e-01 7.87671885e-02 1.03865172e+02] [ 1.22945720e-01 7.67856333e-04 9.92413100e-01 1.40293392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.28, Y:103.86, Z:14.03 [[-7.65620546e-01 6.36258665e-01 9.48688123e-02 9.82842415e+01] [-6.31323874e-01 -7.71475517e-01 7.90929389e-02 1.03860700e+02] [ 1.23512534e-01 6.62232952e-04 9.92342791e-01 1.40302159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.29, Y:103.86, Z:14.03 [[-7.65389225e-01 6.36466332e-01 9.53411916e-02 9.82877346e+01] [-6.31491580e-01 -7.71304264e-01 7.94236531e-02 1.03862117e+02] [ 1.24087549e-01 5.82848522e-04 9.92271102e-01 1.40295630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.27, Y:103.85, Z:14.03 [[-7.65461606e-01 6.36360044e-01 9.54694954e-02 9.82721808e+01] [-6.31378892e-01 -7.71391982e-01 7.94676337e-02 1.03847430e+02] [ 1.24214430e-01 5.51998302e-04 9.92255245e-01 1.40316488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.29, Y:103.86, Z:14.03 [[-7.65931515e-01 6.35777302e-01 9.55831413e-02 9.82868499e+01] [-6.30787714e-01 -7.71872312e-01 7.94983919e-02 1.03856661e+02] [ 1.24321253e-01 5.97652522e-04 9.92241840e-01 1.40296129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.28, Y:103.85, Z:14.03 [[-7.66876091e-01 6.34693023e-01 9.52146432e-02 9.82848920e+01] [-6.29742348e-01 -7.72764035e-01 7.91221907e-02 1.03853969e+02] [ 1.23796754e-01 7.16223283e-04 9.92307337e-01 1.40301054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.28, Y:103.85, Z:14.03 [[-7.67932236e-01 6.33415373e-01 9.52105381e-02 9.82848738e+01] [-6.28463080e-01 -7.73811477e-01 7.90566569e-02 1.03852209e+02] [ 1.23750709e-01 8.73847232e-04 9.92312954e-01 1.40302915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.28, Y:103.85, Z:14.03 [[-7.68175561e-01 6.33115667e-01 9.52410547e-02 9.82831352e+01] [-6.28165640e-01 -7.74056708e-01 7.90198772e-02 1.03850684e+02] [ 1.23750700e-01 8.73980428e-04 9.92312955e-01 1.40305794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.27, Y:103.84, Z:14.03 [[-7.69467060e-01 6.31545675e-01 9.52391968e-02 9.82704869e+01] [-6.26591603e-01 -7.75337925e-01 7.89560940e-02 1.03838507e+02] [ 1.23706941e-01 1.07803251e-03 9.92318210e-01 1.40329035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.28, Y:103.84, Z:14.03 [[-7.72575012e-01 6.27728953e-01 9.53111359e-02 9.82791606e+01] [-6.22746107e-01 -7.78430256e-01 7.89533005e-02 1.03841580e+02] [ 1.23754345e-01 1.64270821e-03 9.92311526e-01 1.40321201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.22687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.28, Y:103.84, Z:14.03 [[-7.74334487e-01 6.25590381e-01 9.50935166e-02 9.82753848e+01] [-6.20622017e-01 -7.80149309e-01 7.87106566e-02 1.03836511e+02] [ 1.23427771e-01 1.93124590e-03 9.92351679e-01 1.40327221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.27, Y:103.83, Z:14.03 [[-7.75947134e-01 6.23554637e-01 9.53187307e-02 9.82707784e+01] [-6.18555168e-01 -7.81776648e-01 7.88338614e-02 1.03830770e+02] [ 1.23675177e-01 2.21101538e-03 9.92320292e-01 1.40335098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.26, Y:103.82, Z:14.03 [[-7.77440933e-01 6.21666653e-01 9.54786281e-02 9.82642152e+01] [-6.16644862e-01 -7.83278059e-01 7.88961078e-02 1.03823535e+02] [ 1.23833394e-01 2.46065827e-03 9.92299973e-01 1.40343653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.26, Y:103.82, Z:14.03 [[-7.79797233e-01 6.18703155e-01 9.55127289e-02 9.82646143e+01] [-6.13663399e-01 -7.85619560e-01 7.88615267e-02 1.03821055e+02] [ 1.23828543e-01 2.88333452e-03 9.92299440e-01 1.40334545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.26, Y:103.82, Z:14.03 [[-7.80834969e-01 6.17397353e-01 9.54843405e-02 9.82594932e+01] [-6.12358939e-01 -7.86645586e-01 7.87734268e-02 1.03815782e+02] [ 1.23746840e-01 3.03835689e-03 9.92309170e-01 1.40344859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.26, Y:103.82, Z:14.03 [[-7.81488459e-01 6.16542355e-01 9.56624948e-02 9.82598831e+01] [-6.11489427e-01 -7.87315593e-01 7.88342419e-02 1.03815308e+02] [ 1.23921223e-01 3.11144606e-03 9.92287181e-01 1.40345395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.26, Y:103.80, Z:14.01 [[-7.79645225e-01 6.23246887e-01 6.09642562e-02 9.82564390e+01] [-6.17572237e-01 -7.81349097e-01 8.99895582e-02 1.03795341e+02] [ 1.03720079e-01 3.25100972e-02 9.94075067e-01 1.40091978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.23, Y:103.80, Z:14.05 [[-7.83348761e-01 6.10456594e-01 1.17078889e-01 9.82281597e+01] [-6.08665636e-01 -7.91539675e-01 5.46908276e-02 1.03797915e+02] [ 1.26058962e-01 -2.84199042e-02 9.91615574e-01 1.40549774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.24, Y:103.79, Z:14.04 [[-7.83805249e-01 6.13372243e-01 9.70763830e-02 9.82374657e+01] [-6.08221243e-01 -7.89787548e-01 7.93885906e-02 1.03793154e+02] [ 1.25364476e-01 3.18127564e-03 9.92105653e-01 1.40382336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.24, Y:103.79, Z:14.04 [[-7.83913516e-01 6.13250003e-01 9.69743885e-02 9.82367556e+01] [-6.08116987e-01 -7.89882607e-01 7.92413948e-02 1.03791609e+02] [ 1.25193168e-01 3.14662753e-03 9.92127396e-01 1.40379997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.24, Y:103.79, Z:14.04 [[-7.83875219e-01 6.13236398e-01 9.73692031e-02 9.82413265e+01] [-6.08069334e-01 -7.89893311e-01 7.94999458e-02 1.03794982e+02] [ 1.25663543e-01 3.11081089e-03 9.92068040e-01 1.40373714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.24, Y:103.79, Z:14.04 [[-7.83884866e-01 6.13239023e-01 9.72749570e-02 9.82387049e+01] [-6.08090193e-01 -7.89891487e-01 7.93583988e-02 1.03792359e+02] [ 1.25502327e-01 3.05590043e-03 9.92088619e-01 1.40376166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.23, Y:103.78, Z:14.04 [[-7.83277754e-01 6.14013392e-01 9.72805998e-02 9.82280917e+01] [-6.08879764e-01 -7.89290389e-01 7.92850218e-02 1.03783025e+02] [ 1.25464708e-01 2.87000508e-03 9.92093932e-01 1.40390149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.23, Y:103.78, Z:14.04 [[-7.82978185e-01 6.14406331e-01 9.72112234e-02 9.82274044e+01] [-6.09291085e-01 -7.88984963e-01 7.91650283e-02 1.03782446e+02] [ 1.25337688e-01 2.75455850e-03 9.92110315e-01 1.40395300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.23, Y:103.79, Z:14.04 [[-7.82547470e-01 6.14918445e-01 9.74410726e-02 9.82346403e+01] [-6.09790899e-01 -7.88586329e-01 7.92884687e-02 1.03788380e+02] [ 1.25596640e-01 2.62831134e-03 9.92077908e-01 1.40390468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.23, Y:103.79, Z:14.04 [[-7.82238648e-01 6.15268234e-01 9.77123247e-02 9.82306480e+01] [-6.10122769e-01 -7.88313773e-01 7.94455897e-02 1.03785425e+02] [ 1.25908319e-01 2.52889648e-03 9.92038658e-01 1.40402425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.23, Y:103.79, Z:14.04 [[-7.81266991e-01 6.16476899e-01 9.78678780e-02 9.82318963e+01] [-6.11332486e-01 -7.87369672e-01 7.95084353e-02 1.03785912e+02] [ 1.26073313e-01 2.28750280e-03 9.92018290e-01 1.40395742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.23, Y:103.79, Z:14.04 [[-7.80965967e-01 6.16850235e-01 9.79180560e-02 9.82320029e+01] [-6.11711519e-01 -7.87077534e-01 7.94856840e-02 1.03785619e+02] [ 1.26099865e-01 2.17801133e-03 9.92015161e-01 1.40395914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.22, Y:103.78, Z:14.04 [[-7.80678638e-01 6.17181754e-01 9.81200656e-02 9.82225859e+01] [-6.12032426e-01 -7.86817871e-01 7.95861001e-02 1.03777537e+02] [ 1.26321710e-01 2.07850643e-03 9.91987150e-01 1.40413771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.22, Y:103.78, Z:14.04 [[-7.80439412e-01 6.17461364e-01 9.82638702e-02 9.82240028e+01] [-6.12307181e-01 -7.86598704e-01 7.96391546e-02 1.03778438e+02] [ 1.26468334e-01 1.98586162e-03 9.91968657e-01 1.40412044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.826875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:98.23, Y:103.78, Z:14.04 [[-7.80429445e-01 6.17525280e-01 9.79408499e-02 9.82269864e+01] [-6.12413620e-01 -7.86548693e-01 7.93140044e-02 1.03779735e+02] [ 1.26013650e-01 1.91867396e-03 9.92026652e-01 1.40418135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.22, Y:103.78, Z:14.04 [[-7.80909877e-01 6.16991737e-01 9.74728765e-02 9.82220114e+01] [-6.11932768e-01 -7.86967224e-01 7.88725261e-02 1.03775255e+02] [ 1.25371656e-01 1.94548742e-03 9.92107939e-01 1.40431973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.22, Y:103.77, Z:14.04 [[-7.81467737e-01 6.16324918e-01 9.72202239e-02 9.82154638e+01] [-6.11294974e-01 -7.87489432e-01 7.86056549e-02 1.03769427e+02] [ 1.25006523e-01 1.99754900e-03 9.92153909e-01 1.40446164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.22, Y:103.77, Z:14.04 [[-7.82676270e-01 6.14999829e-01 9.58804786e-02 9.82209843e+01] [-6.10105851e-01 -7.88524366e-01 7.74607951e-02 1.03771743e+02] [ 1.23242469e-01 2.12948518e-03 9.92374304e-01 1.40438148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.22, Y:103.77, Z:14.04 [[-7.83531209e-01 6.13942360e-01 9.56745650e-02 9.82161550e+01] [-6.09070146e-01 -7.89347692e-01 7.72255084e-02 1.03766501e+02] [ 1.22932508e-01 2.23607475e-03 9.92412514e-01 1.40444235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.97687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.22, Y:103.77, Z:14.04 [[-7.84362653e-01 6.12904186e-01 9.55179996e-02 9.82204304e+01] [-6.08047881e-01 -7.90153754e-01 7.70377748e-02 1.03768765e+02] [ 1.22690681e-01 2.34603609e-03 9.92442186e-01 1.40434740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.22, Y:103.77, Z:14.04 [[-7.85415616e-01 6.11550311e-01 9.55433272e-02 9.82175645e+01] [-6.06689021e-01 -7.91201567e-01 7.69968302e-02 1.03766070e+02] [ 1.22681466e-01 2.50942517e-03 9.92442926e-01 1.40438108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.22, Y:103.77, Z:14.04 [[-7.85591290e-01 6.11320270e-01 9.55711915e-02 9.82175350e+01] [-6.06462009e-01 -7.91379360e-01 7.69580400e-02 1.03765666e+02] [ 1.22679078e-01 2.49726917e-03 9.92443252e-01 1.40439489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.21, Y:103.76, Z:14.04 [[-7.85808538e-01 6.11044926e-01 9.55460149e-02 9.82135924e+01] [-6.06194822e-01 -7.91592001e-01 7.68761446e-02 1.03762145e+02] [ 1.22608239e-01 2.49043124e-03 9.92452023e-01 1.40448350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.21, Y:103.76, Z:14.04 [[-7.86006615e-01 6.10810285e-01 9.54169630e-02 9.82125837e+01] [-6.05980030e-01 -7.91773137e-01 7.67040004e-02 1.03760781e+02] [ 1.22400180e-01 2.46907766e-03 9.92477758e-01 1.40449631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.21, Y:103.76, Z:14.04 [[-7.86275054e-01 6.10467461e-01 9.53992625e-02 9.82121242e+01] [-6.05644013e-01 -7.92037475e-01 7.66287621e-02 1.03758416e+02] [ 1.22339157e-01 2.47329183e-03 9.92485271e-01 1.40446569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.21, Y:103.75, Z:14.04 [[-7.86778404e-01 6.09777692e-01 9.56603872e-02 9.82089015e+01] [-6.04930192e-01 -7.92568433e-01 7.67772190e-02 1.03754765e+02] [ 1.22634439e-01 2.53880140e-03 9.92448663e-01 1.40447663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.20, Y:103.75, Z:14.05 [[-7.87576362e-01 6.08622003e-01 9.64506689e-02 9.82044544e+01] [-6.03692856e-01 -7.93455740e-01 7.73493697e-02 1.03750317e+02] [ 1.23605865e-01 2.69195543e-03 9.92327740e-01 1.40453374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.21, Y:103.75, Z:14.04 [[-7.88451006e-01 6.07356029e-01 9.72813714e-02 9.82059245e+01] [-6.02339539e-01 -7.94424599e-01 7.79527859e-02 1.03750276e+02] [ 1.24627809e-01 2.86553606e-03 9.92199424e-01 1.40447138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.20, Y:103.75, Z:14.05 [[-7.89500269e-01 6.05860172e-01 9.80957585e-02 9.82030989e+01] [-6.00755487e-01 -7.95565196e-01 7.85421081e-02 1.03747262e+02] [ 1.25627106e-01 3.07745027e-03 9.92072759e-01 1.40450576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.20, Y:103.74, Z:14.05 [[-7.90665113e-01 6.04307079e-01 9.82936083e-02 9.82008159e+01] [-5.99177807e-01 -7.96744749e-01 7.86368884e-02 1.03744210e+02] [ 1.25835745e-01 3.28009556e-03 9.92045667e-01 1.40450606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.19, Y:103.74, Z:14.05 [[-7.92802427e-01 6.01427547e-01 9.87381249e-02 9.81933707e+01] [-5.96238315e-01 -7.98918789e-01 7.89217405e-02 1.03735506e+02] [ 1.26349452e-01 3.69789414e-03 9.91978902e-01 1.40460465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.19, Y:103.73, Z:14.05 [[-7.93766837e-01 6.00233305e-01 9.82557277e-02 9.81909721e+01] [-5.95093705e-01 -7.99815854e-01 7.84734495e-02 1.03732010e+02] [ 1.25688867e-01 3.81825680e-03 9.92062362e-01 1.40458795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.20, Y:103.74, Z:14.05 [[-7.94824879e-01 5.98864711e-01 9.80534071e-02 9.81958368e+01] [-5.93743927e-01 -8.00840342e-01 7.82489379e-02 1.03735112e+02] [ 1.25385652e-01 3.97558764e-03 9.92100112e-01 1.40455133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.19, Y:103.73, Z:14.05 [[-7.96304887e-01 5.96996072e-01 9.74382710e-02 9.81920131e+01] [-5.91933468e-01 -8.02233202e-01 7.76959344e-02 1.03732081e+02] [ 1.24552384e-01 4.19267851e-03 9.92204175e-01 1.40471224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.19, Y:103.73, Z:14.05 [[-7.96951961e-01 5.96138725e-01 9.73970879e-02 9.81927846e+01] [-5.91081856e-01 -8.02870070e-01 7.76008387e-02 1.03732129e+02] [ 1.24458072e-01 4.27448916e-03 9.92215661e-01 1.40472898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.19, Y:103.73, Z:14.05 [[-7.97617608e-01 5.95283141e-01 9.71809325e-02 9.81898175e+01] [-5.90250223e-01 -8.03504248e-01 7.73666434e-02 1.03729726e+02] [ 1.24140351e-01 4.34793001e-03 9.92255143e-01 1.40482818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.19, Y:103.73, Z:14.05 [[-7.98112540e-01 5.94653614e-01 9.69713989e-02 9.81877532e+01] [-5.89645554e-01 -8.03970050e-01 7.71380512e-02 1.03727812e+02] [ 1.23832521e-01 4.38609176e-03 9.92293439e-01 1.40487072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.19, Y:103.73, Z:14.05 [[-7.98505424e-01 5.94185535e-01 9.66055783e-02 9.81865850e+01] [-5.89219578e-01 -8.04316021e-01 7.67855889e-02 1.03726859e+02] [ 1.23326301e-01 4.39181115e-03 9.92356456e-01 1.40484291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.18, Y:103.73, Z:14.05 [[-7.98687733e-01 5.93883025e-01 9.69580246e-02 9.81837163e+01] [-5.88886137e-01 -8.04539342e-01 7.70036696e-02 1.03725614e+02] [ 1.23737717e-01 4.40464972e-03 9.92305183e-01 1.40486670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.17, Y:103.71, Z:14.05 [[-7.98830791e-01 5.93616912e-01 9.74080517e-02 9.81683694e+01] [-5.88579183e-01 -8.04735645e-01 7.72986869e-02 1.03714044e+02] [ 1.24273539e-01 4.41621976e-03 9.92238169e-01 1.40508821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.18, Y:103.72, Z:14.05 [[-7.99166778e-01 5.93103918e-01 9.77762902e-02 9.81750808e+01] [-5.88031957e-01 -8.05113552e-01 7.75279732e-02 1.03720238e+02] [ 1.24703161e-01 4.46219733e-03 9.92184061e-01 1.40493336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.18, Y:103.72, Z:14.05 [[-7.99698628e-01 5.92409177e-01 9.76394987e-02 9.81773830e+01] [-5.87354159e-01 -8.05624601e-01 7.73569270e-02 1.03722482e+02] [ 1.24487736e-01 4.51326277e-03 9.92210882e-01 1.40488162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.17, Y:103.72, Z:14.05 [[-8.00247784e-01 5.91650705e-01 9.77390773e-02 9.81705364e+01] [-5.86587533e-01 -8.06181380e-01 7.73734338e-02 1.03717829e+02] [ 1.24573471e-01 4.58539478e-03 9.92199791e-01 1.40496898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.17, Y:103.72, Z:14.05 [[-8.00565531e-01 5.91144121e-01 9.82011132e-02 9.81677776e+01] [-5.86036904e-01 -8.06552627e-01 7.76762935e-02 1.03718391e+02] [ 1.25122250e-01 4.63548673e-03 9.92130503e-01 1.40507430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.72687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.16, Y:103.72, Z:14.05 [[-8.00590302e-01 5.91104845e-01 9.82355832e-02 9.81639517e+01] [-5.86001673e-01 -8.06581660e-01 7.76406087e-02 1.03716684e+02] [ 1.25128760e-01 4.59210224e-03 9.92129884e-01 1.40514582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.16, Y:103.71, Z:14.05 [[-8.00535200e-01 5.91189093e-01 9.81776464e-02 9.81577862e+01] [-5.86100513e-01 -8.06520291e-01 7.75319835e-02 1.03713114e+02] [ 1.25018327e-01 4.52511302e-03 9.92144113e-01 1.40526696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.17, Y:103.71, Z:14.03 [[-7.98818805e-01 5.96939470e-01 7.45103115e-02 9.81683665e+01] [-5.91441775e-01 -8.01954227e-01 8.40597685e-02 1.03714764e+02] [ 1.09932453e-01 2.30800129e-02 9.93671057e-01 1.40348850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.15, Y:103.72, Z:14.06 [[-8.00341044e-01 5.89528746e-01 1.09133274e-01 9.81505729e+01] [-5.86542798e-01 -8.07606744e-01 6.11464892e-02 1.03719648e+02] [ 1.24184382e-01 -1.50732910e-02 9.92144665e-01 1.40637777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.15, Y:103.72, Z:14.05 [[-8.00451123e-01 5.91524874e-01 9.68314135e-02 9.81540138e+01] [-5.86605417e-01 -8.06275652e-01 7.62473490e-02 1.03717263e+02] [ 1.23175015e-01 4.23044445e-03 9.92375946e-01 1.40542405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:103.70, Z:14.06 [[-8.00548931e-01 5.91397885e-01 9.67985042e-02 9.81362062e+01] [-5.86489401e-01 -8.06369000e-01 7.61526038e-02 1.03704297e+02] [ 1.23091802e-01 4.19258888e-03 9.92386432e-01 1.40562759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:103.71, Z:14.05 [[-8.00023845e-01 5.92004330e-01 9.74305932e-02 9.81434504e+01] [-5.87043542e-01 -8.05924477e-01 7.65873248e-02 1.03712222e+02] [ 1.23861728e-01 4.07568554e-03 9.92291117e-01 1.40539127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:103.71, Z:14.05 [[-8.00046171e-01 5.91997001e-01 9.72917032e-02 9.81375283e+01] [-5.87058090e-01 -8.05930138e-01 7.64160497e-02 1.03708518e+02] [ 1.23648388e-01 4.02048649e-03 9.92317949e-01 1.40539442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.15, Y:103.72, Z:14.05 [[-7.99964760e-01 5.92104126e-01 9.73092329e-02 9.81470297e+01] [-5.87171938e-01 -8.05851765e-01 7.63678424e-02 1.03716995e+02] [ 1.23634532e-01 3.95433189e-03 9.92319941e-01 1.40522145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:103.72, Z:14.05 [[-8.00153908e-01 5.91847906e-01 9.73127981e-02 9.81441968e+01] [-5.86921180e-01 -8.06040013e-01 7.63087558e-02 1.03716219e+02] [ 1.23601186e-01 3.94380693e-03 9.92324137e-01 1.40527431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:103.71, Z:14.05 [[-8.00382994e-01 5.91533166e-01 9.73425764e-02 9.81424133e+01] [-5.86608738e-01 -8.06271022e-01 7.62707517e-02 1.03714742e+02] [ 1.23601178e-01 3.94380665e-03 9.92324138e-01 1.40530333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.13, Y:103.71, Z:14.06 [[-8.00044701e-01 5.91948893e-01 9.75960283e-02 9.81296690e+01] [-5.87009453e-01 -8.05966354e-01 7.64077096e-02 1.03706540e+02] [ 1.23888574e-01 3.83979194e-03 9.92288707e-01 1.40551503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:103.71, Z:14.05 [[-7.99908647e-01 5.92150924e-01 9.74855859e-02 9.81352547e+01] [-5.87231943e-01 -8.05818337e-01 7.62591147e-02 1.03711686e+02] [ 1.23712578e-01 3.75367520e-03 9.92310994e-01 1.40539319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.13, Y:103.71, Z:14.05 [[-7.99835045e-01 5.92181872e-01 9.79006247e-02 9.81309440e+01] [-5.87229675e-01 -8.05795803e-01 7.65142639e-02 1.03709462e+02] [ 1.24198273e-01 3.70863774e-03 9.92250490e-01 1.40545581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.12, Y:103.70, Z:14.06 [[-7.99488063e-01 5.92586926e-01 9.82831274e-02 9.81231615e+01] [-5.87606648e-01 -8.05498420e-01 7.67510374e-02 1.03704438e+02] [ 1.24648565e-01 3.60971915e-03 9.92194389e-01 1.40554655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.12, Y:103.71, Z:14.06 [[-7.98717903e-01 5.93489223e-01 9.90971972e-02 9.81208009e+01] [-5.88440732e-01 -8.04834557e-01 7.73229638e-02 1.03705457e+02] [ 1.25647195e-01 3.44640822e-03 9.92069002e-01 1.40558407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.13, Y:103.71, Z:14.05 [[-7.98433528e-01 5.93758318e-01 9.97745528e-02 9.81253038e+01] [-5.88651412e-01 -8.04636379e-01 7.77805491e-02 1.03710548e+02] [ 1.26465083e-01 3.37016689e-03 9.91965334e-01 1.40549957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.12, Y:103.71, Z:14.06 [[-7.98256426e-01 5.93900549e-01 1.00343496e-01 9.81190783e+01] [-5.88744268e-01 -8.04531632e-01 7.81603511e-02 1.03706970e+02] [ 1.27148992e-01 3.31534421e-03 9.91878088e-01 1.40556981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.12, Y:103.71, Z:14.06 [[-7.98089767e-01 5.94067013e-01 1.00683207e-01 9.81208789e+01] [-5.88885085e-01 -8.04408995e-01 7.83615074e-02 1.03709640e+02] [ 1.27542464e-01 3.24867800e-03 9.91827790e-01 1.40550374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.12, Y:103.71, Z:14.05 [[-7.98005499e-01 5.94269619e-01 1.00154099e-01 9.81183643e+01] [-5.89151837e-01 -8.04259727e-01 7.78871265e-02 1.03708873e+02] [ 1.26835861e-01 3.14838409e-03 9.91918723e-01 1.40548838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.11, Y:103.71, Z:14.06 [[-7.97950863e-01 5.94552839e-01 9.89006718e-02 9.81146747e+01] [-5.89572783e-01 -8.04050892e-01 7.68511353e-02 1.03709601e+02] [ 1.25213234e-01 3.01428537e-03 9.92125274e-01 1.40561040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.11, Y:103.71, Z:14.06 [[-7.98157674e-01 5.94389775e-01 9.82095883e-02 9.81137577e+01] [-5.89485813e-01 -8.04171613e-01 7.62528298e-02 1.03710297e+02] [ 1.24301265e-01 2.96862230e-03 9.92240083e-01 1.40563243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.11, Y:103.71, Z:14.06 [[-7.98448953e-01 5.94059403e-01 9.78401526e-02 9.81112992e+01] [-5.89197713e-01 -8.04415736e-01 7.59037495e-02 1.03710020e+02] [ 1.23795494e-01 2.95807517e-03 9.92303343e-01 1.40567100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.11, Y:103.71, Z:14.06 [[-7.98314341e-01 5.94216708e-01 9.79832478e-02 9.81093139e+01] [-5.89351378e-01 -8.04299838e-01 7.59389508e-02 1.03711765e+02] [ 1.23932104e-01 2.87659140e-03 9.92286531e-01 1.40566815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.446875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.10, Y:103.71, Z:14.06 [[-7.98454585e-01 5.93924256e-01 9.86116342e-02 9.80994376e+01] [-5.89001605e-01 -8.04515768e-01 7.63641832e-02 1.03705678e+02] [ 1.24689155e-01 2.89092132e-03 9.92191643e-01 1.40582613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.47687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.09, Y:103.70, Z:14.06 [[-7.98870072e-01 5.93377828e-01 9.85360951e-02 9.80935262e+01] [-5.88466326e-01 -8.04918756e-01 7.62442142e-02 1.03702622e+02] [ 1.24555177e-01 2.92404700e-03 9.92208374e-01 1.40583497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.10, Y:103.71, Z:14.06 [[-7.99492837e-01 5.92505830e-01 9.87321875e-02 9.80978828e+01] [-5.87575953e-01 -8.05560519e-01 7.63331465e-02 1.03708593e+02] [ 1.24762587e-01 3.01514461e-03 9.92182043e-01 1.40561757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.07, Y:103.69, Z:14.06 [[-7.99883985e-01 5.91877252e-01 9.93324201e-02 9.80661642e+01] [-5.86890999e-01 -8.06022244e-01 7.67274201e-02 1.03685910e+02] [ 1.25477355e-01 3.07573123e-03 9.92091716e-01 1.40606108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.09, Y:103.70, Z:14.06 [[-8.00168344e-01 5.91412885e-01 9.98069182e-02 9.80851574e+01] [-5.86383384e-01 -8.06362898e-01 7.70285912e-02 1.03702260e+02] [ 1.26036297e-01 3.11072186e-03 9.92020753e-01 1.40574577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.08, Y:103.70, Z:14.06 [[-8.00651715e-01 5.90732949e-01 9.99570592e-02 9.80842030e+01] [-5.85693845e-01 -8.06860980e-01 7.70589376e-02 1.03703464e+02] [ 1.26172704e-01 3.15313621e-03 9.92003279e-01 1.40571028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.06, Y:103.69, Z:14.06 [[-8.00891257e-01 5.90374752e-01 1.00154117e-01 9.80646705e+01] [-5.85320864e-01 -8.07123061e-01 7.71482396e-02 1.03692540e+02] [ 1.26383070e-01 3.16505642e-03 9.91976462e-01 1.40586992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.05, Y:103.69, Z:14.06 [[-8.01012428e-01 5.90219420e-01 1.00100584e-01 9.80549618e+01] [-5.85177750e-01 -8.07236767e-01 7.70441605e-02 1.03687575e+02] [ 1.26277832e-01 3.13669529e-03 9.91989955e-01 1.40599077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.06, Y:103.70, Z:14.06 [[-8.00945762e-01 5.90339563e-01 9.99254037e-02 9.80635081e+01] [-5.85324739e-01 -8.07149205e-01 7.68447190e-02 1.03696417e+02] [ 1.26019188e-01 3.05964121e-03 9.92023086e-01 1.40587712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.05, Y:103.69, Z:14.06 [[-8.00804797e-01 5.90544326e-01 9.98452609e-02 9.80514792e+01] [-5.85549038e-01 -8.06999769e-01 7.67052609e-02 1.03689460e+02] [ 1.25872959e-01 2.96164441e-03 9.92041948e-01 1.40605928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.04, Y:103.67, Z:14.04 [[-7.99062674e-01 5.97136240e-01 7.01936859e-02 9.80376351e+01] [-5.91771178e-01 -8.01736370e-01 8.38192495e-02 1.03670586e+02] [ 1.06328342e-01 2.54382335e-02 9.94005624e-01 1.40401847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.97, Y:103.64, Z:14.09 [[-8.10747960e-01 5.73289658e-01 1.18434431e-01 9.79727947e+01] [-5.71847560e-01 -8.18880836e-01 4.92396668e-02 1.03639501e+02] [ 1.25212278e-01 -2.78054809e-02 9.91740259e-01 1.40891442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.99, Y:103.64, Z:14.07 [[-8.11031003e-01 5.76457107e-01 9.96288903e-02 9.79881467e+01] [-5.71768838e-01 -8.17123344e-01 7.34155051e-02 1.03642471e+02] [ 1.23729982e-01 2.57755598e-03 9.92312576e-01 1.40713943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.97, Y:103.63, Z:14.07 [[-8.10990077e-01 5.76545005e-01 9.94532637e-02 9.79739226e+01] [-5.71881619e-01 -8.17061541e-01 7.32246623e-02 1.03633251e+02] [ 1.23476750e-01 2.50898100e-03 9.92344294e-01 1.40736818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.96, Y:103.63, Z:14.08 [[-8.11099825e-01 5.76262277e-01 1.00194119e-01 9.79619214e+01] [-5.71534510e-01 -8.17260935e-01 7.37079898e-02 1.03626995e+02] [ 1.24359873e-01 2.52014121e-03 9.92233980e-01 1.40757784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.96, Y:103.63, Z:14.08 [[-8.11283769e-01 5.75971834e-01 1.00374757e-01 9.79622340e+01] [-5.71232563e-01 -8.17465661e-01 7.37783989e-02 1.03627819e+02] [ 1.24547197e-01 2.51788762e-03 9.92210490e-01 1.40750911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.97, Y:103.64, Z:14.07 [[-8.11570895e-01 5.75516568e-01 1.00664600e-01 9.79742746e+01] [-5.70754196e-01 -8.17786164e-01 7.39285979e-02 1.03636871e+02] [ 1.24869250e-01 2.54355549e-03 9.92169945e-01 1.40733003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.98, Y:103.64, Z:14.07 [[-8.11911282e-01 5.75014965e-01 1.00786207e-01 9.79804313e+01] [-5.70245056e-01 -8.18138847e-01 7.39554170e-02 1.03641529e+02] [ 1.24982583e-01 2.57240099e-03 9.92155601e-01 1.40719235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.97, Y:103.63, Z:14.07 [[-8.12151862e-01 5.74667255e-01 1.00831037e-01 9.79664758e+01] [-5.69898207e-01 -8.18383107e-01 7.39264787e-02 1.03631562e+02] [ 1.25001544e-01 2.57610012e-03 9.92153203e-01 1.40733641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.95, Y:103.62, Z:14.08 [[-8.11934892e-01 5.74915879e-01 1.01160580e-01 9.79548235e+01] [-5.70125243e-01 -8.18208718e-01 7.41060080e-02 1.03624562e+02] [ 1.25375189e-01 2.49505358e-03 9.92106263e-01 1.40751602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.97, Y:103.63, Z:14.07 [[-8.11401706e-01 5.75632913e-01 1.01360844e-01 9.79674036e+01] [-5.70836715e-01 -8.17704889e-01 7.41900213e-02 1.03634162e+02] [ 1.25589475e-01 2.33741896e-03 9.92079543e-01 1.40726567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.97, Y:103.64, Z:14.07 [[-8.09615638e-01 5.78074066e-01 1.01749168e-01 9.79693314e+01] [-5.73268053e-01 -8.15982051e-01 7.44112410e-02 1.03635840e+02] [ 1.26040703e-01 1.91495692e-03 9.92023223e-01 1.40719682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.98, Y:103.64, Z:14.07 [[-8.08380946e-01 5.79763565e-01 1.01953204e-01 9.79771722e+01] [-5.74959458e-01 -8.14783184e-01 7.44982224e-02 1.03642595e+02] [ 1.26261111e-01 1.60398433e-03 9.91995745e-01 1.40715291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.98, Y:103.65, Z:14.07 [[-8.06755089e-01 5.82122386e-01 1.01389119e-01 9.79807583e+01] [-5.77397899e-01 -8.13100327e-01 7.40238100e-02 1.03647517e+02] [ 1.25530443e-01 1.17722128e-03 9.92089070e-01 1.40719885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.98, Y:103.65, Z:14.07 [[-8.06209579e-01 5.82829547e-01 1.01665309e-01 9.79808279e+01] [-5.78094454e-01 -8.12593813e-01 7.41491609e-02 1.03648121e+02] [ 1.25828923e-01 1.00761227e-03 9.92051444e-01 1.40724666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.196875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.97, Y:103.64, Z:14.07 [[-8.05779676e-01 5.83379420e-01 1.01919414e-01 9.79673677e+01] [-5.78633650e-01 -8.12199298e-01 7.42657380e-02 1.03638215e+02] [ 1.26103980e-01 8.67819624e-04 9.92016650e-01 1.40738267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.22687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.98, Y:103.65, Z:14.07 [[-8.04075277e-01 5.85484892e-01 1.03297584e-01 9.79847986e+01] [-5.80635644e-01 -8.10683171e-01 7.52000337e-02 1.03648909e+02] [ 1.27770097e-01 4.88228557e-04 9.91803692e-01 1.40698984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.97, Y:103.63, Z:14.07 [[-8.02085600e-01 5.87935438e-01 1.04836111e-01 9.79671689e+01] [-5.82969139e-01 -8.08907855e-01 7.62565712e-02 1.03633726e+02] [ 1.29636694e-01 4.80803504e-05 9.91561559e-01 1.40706523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.99, Y:103.65, Z:14.07 [[-8.00290203e-01 5.90733705e-01 1.02807007e-01 9.79864346e+01] [-5.85989206e-01 -8.06866464e-01 7.47205385e-02 1.03648139e+02] [ 1.27091467e-01 -4.45681389e-04 9.91890902e-01 1.40699153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.98, Y:103.64, Z:14.07 [[-8.00640835e-01 5.90395290e-01 1.02017914e-01 9.79803889e+01] [-5.85728628e-01 -8.07114124e-01 7.40862012e-02 1.03643834e+02] [ 1.26080244e-01 -4.38374951e-04 9.92019949e-01 1.40732336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.98, Y:103.64, Z:14.07 [[-8.00960180e-01 5.89981350e-01 1.01905821e-01 9.79785674e+01] [-5.85330153e-01 -8.07416760e-01 7.39377283e-02 1.03641376e+02] [ 1.25902348e-01 -4.27373484e-04 9.92042548e-01 1.40740099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.98, Y:103.64, Z:14.07 [[-8.01112605e-01 5.89730380e-01 1.02160038e-01 9.79804348e+01] [-5.85061523e-01 -8.07600078e-01 7.40616448e-02 1.03640174e+02] [ 1.26180856e-01 -4.38190199e-04 9.92007157e-01 1.40736194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.97, Y:103.63, Z:14.07 [[-8.01533399e-01 5.89088506e-01 1.02561894e-01 9.79748440e+01] [-5.84385196e-01 -8.08068427e-01 7.42923991e-02 1.03633363e+02] [ 1.26641827e-01 -3.87813242e-04 9.91948435e-01 1.40736905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.96, Y:103.62, Z:14.08 [[-8.04456673e-01 5.85005397e-01 1.03044392e-01 9.79601184e+01] [-5.80231887e-01 -8.11029372e-01 7.45809285e-02 1.03617954e+02] [ 1.27202274e-01 2.07483577e-04 9.91876776e-01 1.40759537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.94, Y:103.60, Z:14.08 [[-8.06734975e-01 5.81895230e-01 1.02842706e-01 9.79409913e+01] [-5.77123035e-01 -8.13263501e-01 7.43739175e-02 1.03602408e+02] [ 1.26916047e-01 6.47145833e-04 9.91913251e-01 1.40790328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.97, Y:103.62, Z:14.08 [[-8.10730468e-01 5.76366335e-01 1.02557087e-01 9.79728562e+01] [-5.71584310e-01 -8.17190135e-01 7.41057284e-02 1.03621844e+02] [ 1.26520687e-01 1.45975005e-03 9.91962895e-01 1.40755647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.96, Y:103.61, Z:14.08 [[-8.11965784e-01 5.74485319e-01 1.03335299e-01 9.79615883e+01] [-5.69622969e-01 -8.18513089e-01 7.46056098e-02 1.03611305e+02] [ 1.27441122e-01 1.71504281e-03 9.91844655e-01 1.40776803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.96, Y:103.61, Z:14.08 [[-8.13163582e-01 5.72605068e-01 1.04347620e-01 9.79610776e+01] [-5.67639312e-01 -8.19828961e-01 7.52734141e-02 1.03608300e+02] [ 1.28649139e-01 1.97778793e-03 9.91688201e-01 1.40770236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.97, Y:103.61, Z:14.08 [[-8.14084839e-01 5.71221605e-01 1.04746134e-01 9.79655609e+01] [-5.66215347e-01 -8.20793072e-01 7.54911555e-02 1.03609521e+02] [ 1.29097080e-01 2.14733660e-03 9.91629635e-01 1.40756114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.96, Y:103.61, Z:14.08 [[-8.14892199e-01 5.70053906e-01 1.04829617e-01 9.79631332e+01] [-5.65038095e-01 -8.21604122e-01 7.54891915e-02 1.03606938e+02] [ 1.29161354e-01 2.28282638e-03 9.91620963e-01 1.40757117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.96, Y:103.60, Z:14.08 [[-8.15367243e-01 5.69459183e-01 1.04367129e-01 9.79552439e+01] [-5.64490840e-01 -8.22016349e-01 7.50947052e-02 1.03601039e+02] [ 1.28554855e-01 2.31547468e-03 9.91699696e-01 1.40778032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.95, Y:103.60, Z:14.08 [[-8.15668662e-01 5.69167978e-01 1.03597524e-01 9.79470215e+01] [-5.64278462e-01 -8.22218070e-01 7.44799547e-02 1.03595186e+02] [ 1.27571361e-01 2.29311378e-03 9.91826744e-01 1.40811740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.92, Y:103.58, Z:14.08 [[-8.15770927e-01 5.69138518e-01 1.02952136e-01 9.79241233e+01] [-5.64317556e-01 -8.22238629e-01 7.39549426e-02 1.03577219e+02] [ 1.26741830e-01 2.23259412e-03 9.91933226e-01 1.40844217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.96, Y:103.60, Z:14.08 [[-8.16009066e-01 5.68861955e-01 1.02592788e-01 9.79576432e+01] [-5.64080403e-01 -8.22430036e-01 7.36351469e-02 1.03600216e+02] [ 1.26263624e-01 2.21636599e-03 9.91994246e-01 1.40791474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.96, Y:103.60, Z:14.08 [[-8.16147014e-01 5.68705878e-01 1.02360520e-01 9.79579789e+01] [-5.63952676e-01 -8.22538056e-01 7.34065761e-02 1.03599771e+02] [ 1.25942174e-01 2.18406896e-03 9.92035180e-01 1.40788501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.95, Y:103.60, Z:14.08 [[-8.16256683e-01 5.68585388e-01 1.02155199e-01 9.79549154e+01] [-5.63858887e-01 -8.22621460e-01 7.31921408e-02 1.03597130e+02] [ 1.25651041e-01 2.14245736e-03 9.92072188e-01 1.40799262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.95, Y:103.59, Z:14.08 [[-8.16507933e-01 5.68196617e-01 1.02310312e-01 9.79470739e+01] [-5.63460316e-01 -8.22890004e-01 7.32428389e-02 1.03591677e+02] [ 1.25806466e-01 2.15555825e-03 9.92052462e-01 1.40808387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.95, Y:103.59, Z:14.08 [[-8.16512072e-01 5.68096566e-01 1.02831546e-01 9.79450322e+01] [-5.63318653e-01 -8.22959141e-01 7.35550712e-02 1.03590097e+02] [ 1.26412544e-01 2.13167563e-03 9.91975466e-01 1.40810838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.95, Y:103.59, Z:14.08 [[-8.16645654e-01 5.67848275e-01 1.03141712e-01 9.79459296e+01] [-5.63047358e-01 -8.23130500e-01 7.37146689e-02 1.03590677e+02] [ 1.26757836e-01 2.12509555e-03 9.91931416e-01 1.40809930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.93, Y:103.58, Z:14.08 [[-8.16530614e-01 5.67774514e-01 1.04450261e-01 9.79264858e+01] [-5.62859831e-01 -8.23181444e-01 7.45729217e-02 1.03576538e+02] [ 1.28322121e-01 2.10021733e-03 9.91730317e-01 1.40836033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.946875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.96, Y:103.58, Z:14.05 [[-8.12729117e-01 5.79180682e-01 6.34122989e-02 9.79580503e+01] [-5.73583167e-01 -8.14457592e-01 8.75281759e-02 1.03578814e+02] [ 1.02341257e-01 3.47644699e-02 9.94141690e-01 1.40457677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.97687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.95, Y:103.59, Z:14.06 [[-8.13165594e-01 5.76153169e-01 8.25181387e-02 9.79520458e+01] [-5.72919948e-01 -8.17338439e-01 6.09967983e-02 1.03586357e+02] [ 1.02588745e-01 2.32420997e-03 9.94721141e-01 1.40622024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.93, Y:103.59, Z:14.10 [[-8.16787510e-01 5.63246090e-01 1.24948012e-01 9.79339948e+01] [-5.62215279e-01 -8.25667457e-01 4.67678394e-02 1.03593315e+02] [ 1.29507310e-01 -3.20482941e-02 9.91060424e-01 1.40997893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.03687499999998 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:97.95, Y:103.58, Z:14.05 [[-8.13636409e-01 5.77709951e-01 6.51690651e-02 9.79521807e+01] [-5.71919680e-01 -8.15493782e-01 8.87568047e-02 1.03575823e+02] [ 1.04420657e-01 3.49442970e-02 9.93919123e-01 1.40478790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.91, Y:103.58, Z:14.10 [[-8.17442991e-01 5.62311250e-01 1.24871991e-01 9.79110755e+01] [-5.61094954e-01 -8.26353488e-01 4.80870495e-02 1.03577645e+02] [ 1.30228294e-01 -3.07566226e-02 9.91006873e-01 1.41026708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.93, Y:103.58, Z:14.08 [[-8.18269666e-01 5.65097075e-01 1.05356772e-01 9.79257239e+01] [-5.60121984e-01 -8.25021386e-01 7.48536937e-02 1.03577291e+02] [ 1.29221194e-01 2.23786249e-03 9.91613269e-01 1.40843581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.93, Y:103.58, Z:14.08 [[-8.18885580e-01 5.64280006e-01 1.04949907e-01 9.79293298e+01] [-5.59344804e-01 -8.25580256e-01 7.45025614e-02 1.03579945e+02] [ 1.28684877e-01 2.30588769e-03 9.91682855e-01 1.40838357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.93, Y:103.58, Z:14.08 [[-8.19698178e-01 5.63189672e-01 1.04461913e-01 9.79279472e+01] [-5.58299513e-01 -8.26324127e-01 7.40951452e-02 1.03579492e+02] [ 1.28049020e-01 2.41462031e-03 9.91764901e-01 1.40840081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.91, Y:103.57, Z:14.09 [[-8.20678208e-01 5.61870801e-01 1.03867618e-01 9.79080820e+01] [-5.57033596e-01 -8.27221056e-01 7.36131603e-02 1.03565924e+02] [ 1.27282566e-01 2.55496384e-03 9.91863207e-01 1.40877785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.92, Y:103.57, Z:14.09 [[-8.21101052e-01 5.61207469e-01 1.04111668e-01 9.79172965e+01] [-5.56350030e-01 -8.27671040e-01 7.37244369e-02 1.03572264e+02] [ 1.27544917e-01 2.61268331e-03 9.91829354e-01 1.40860776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.92, Y:103.57, Z:14.09 [[-8.21404575e-01 5.60676924e-01 1.04574908e-01 9.79194270e+01] [-5.55779724e-01 -8.28030396e-01 7.39902854e-02 1.03573795e+02] [ 1.28075848e-01 2.65534556e-03 9.91760821e-01 1.40854034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.91, Y:103.57, Z:14.09 [[-8.21734803e-01 5.60042418e-01 1.05377431e-01 9.79147484e+01] [-5.55072352e-01 -8.28459457e-01 7.44957195e-02 1.03571020e+02] [ 1.29021692e-01 2.72362709e-03 9.91638031e-01 1.40866835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.91, Y:103.57, Z:14.08 [[-8.22185256e-01 5.59219134e-01 1.06232593e-01 9.79143690e+01] [-5.54169084e-01 -8.29015069e-01 7.50375997e-02 1.03570537e+02] [ 1.30030882e-01 2.82398929e-03 9.91505923e-01 1.40848548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.90, Y:103.56, Z:14.09 [[-8.22499321e-01 5.58629865e-01 1.06899676e-01 9.79010032e+01] [-5.53519282e-01 -8.29412059e-01 7.54456216e-02 1.03560994e+02] [ 1.30810058e-01 2.88294068e-03 9.91403257e-01 1.40864582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.91, Y:103.56, Z:14.09 [[-8.22754858e-01 5.58193159e-01 1.07213997e-01 9.79064708e+01] [-5.53057033e-01 -8.29705936e-01 7.56040837e-02 1.03564785e+02] [ 1.31157772e-01 2.90817186e-03 9.91357242e-01 1.40855760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.89, Y:103.56, Z:14.09 [[-8.22884231e-01 5.57919715e-01 1.07643549e-01 9.78946710e+01] [-5.52748274e-01 -8.29889824e-01 7.58434291e-02 1.03556734e+02] [ 1.31646830e-01 2.91057581e-03 9.91292409e-01 1.40877008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.90, Y:103.56, Z:14.09 [[-8.23253839e-01 5.57182766e-01 1.08630023e-01 9.78968014e+01] [-5.51917909e-01 -8.30384459e-01 7.64739924e-02 1.03559484e+02] [ 1.32814674e-01 3.00265261e-03 9.91136341e-01 1.40885167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.90, Y:103.56, Z:14.09 [[-8.23486263e-01 5.56737898e-01 1.09148007e-01 9.78957210e+01] [-5.51427285e-01 -8.30682671e-01 7.67740136e-02 1.03559239e+02] [ 1.33410361e-01 3.03515632e-03 9.91056236e-01 1.40889336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.88, Y:103.55, Z:14.09 [[-8.23786694e-01 5.56219678e-01 1.09522384e-01 9.78819678e+01] [-5.50876837e-01 -8.31029615e-01 7.69707131e-02 1.03549812e+02] [ 1.33828970e-01 3.07410468e-03 9.90999675e-01 1.40911222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.88, Y:103.55, Z:14.09 [[-8.24021872e-01 5.55887998e-01 1.09437142e-01 9.78816889e+01] [-5.50561417e-01 -8.31251575e-01 7.68306236e-02 1.03549697e+02] [ 1.33679018e-01 3.05824619e-03 9.91019963e-01 1.40912530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.90, Y:103.56, Z:14.09 [[-8.23612203e-01 5.56714010e-01 1.08316438e-01 9.78988991e+01] [-5.51513020e-01 -8.30699390e-01 7.59730999e-02 1.03562494e+02] [ 1.32273688e-01 2.83444630e-03 9.91209179e-01 1.40881364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.89, Y:103.56, Z:14.09 [[-8.23360541e-01 5.57089897e-01 1.08297125e-01 9.78928804e+01] [-5.51902723e-01 -8.30447744e-01 7.58941971e-02 1.03559337e+02] [ 1.32214993e-01 2.71880905e-03 9.91217334e-01 1.40896695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.88, Y:103.55, Z:14.09 [[-8.22886807e-01 5.57781256e-01 1.08339155e-01 9.78837852e+01] [-5.52606320e-01 -8.29984095e-01 7.58462688e-02 1.03554621e+02] [ 1.32225403e-01 2.54399221e-03 9.91216410e-01 1.40914861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.89, Y:103.56, Z:14.09 [[-8.21657037e-01 5.59731746e-01 1.07610804e-01 9.78886114e+01] [-5.54651358e-01 -8.28671041e-01 7.52740158e-02 1.03558865e+02] [ 1.31307214e-01 2.16294606e-03 9.91339365e-01 1.40908316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.88, Y:103.55, Z:14.09 [[-8.21653794e-01 5.59808204e-01 1.07237206e-01 9.78768449e+01] [-5.54772160e-01 -8.28619578e-01 7.49496150e-02 1.03550655e+02] [ 1.30816258e-01 2.09041896e-03 9.91404426e-01 1.40928838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.696875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.88, Y:103.55, Z:14.09 [[-8.21995121e-01 5.59437483e-01 1.06553852e-01 9.78756336e+01] [-5.54471634e-01 -8.28869944e-01 7.44031100e-02 1.03549289e+02] [ 1.29943174e-01 2.07790516e-03 9.91519266e-01 1.40928042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.72687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.87, Y:103.54, Z:14.09 [[-8.22368781e-01 5.58949533e-01 1.06230917e-01 9.78670502e+01] [-5.54017910e-01 -8.29199026e-01 7.41156569e-02 1.03543232e+02] [ 1.29513484e-01 2.09657205e-03 9.91575444e-01 1.40942987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.86, Y:103.54, Z:14.10 [[-8.22566736e-01 5.58677079e-01 1.06131462e-01 9.78569463e+01] [-5.53760608e-01 -8.29382646e-01 7.39838894e-02 1.03535948e+02] [ 1.29356696e-01 2.08526328e-03 9.91595934e-01 1.40960878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.87, Y:103.55, Z:14.09 [[-8.22905012e-01 5.58022313e-01 1.06950643e-01 9.78740553e+01] [-5.53032150e-01 -8.29823154e-01 7.44914433e-02 1.03547847e+02] [ 1.30318008e-01 2.15223784e-03 9.91469911e-01 1.40944643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.87, Y:103.55, Z:14.09 [[-8.23341925e-01 5.57394439e-01 1.06862125e-01 9.78743906e+01] [-5.52415521e-01 -8.30244910e-01 7.43672082e-02 1.03547531e+02] [ 1.30173603e-01 2.19734420e-03 9.91488782e-01 1.40942472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.86, Y:103.54, Z:14.10 [[-8.23867033e-01 5.56563187e-01 1.07147241e-01 9.78647513e+01] [-5.51558856e-01 -8.30802149e-01 7.45024639e-02 1.03540168e+02] [ 1.30483487e-01 2.28211444e-03 9.91447856e-01 1.40957299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.87, Y:103.55, Z:14.09 [[-8.24266548e-01 5.55943466e-01 1.07291755e-01 9.78742947e+01] [-5.50929524e-01 -8.31216853e-01 7.45332334e-02 1.03546132e+02] [ 1.30618979e-01 2.32505532e-03 9.91429915e-01 1.40942547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.87, Y:103.55, Z:14.09 [[-8.25000608e-01 5.54716783e-01 1.07996700e-01 9.78743725e+01] [-5.49634349e-01 -8.32035531e-01 7.49597084e-02 1.03545825e+02] [ 1.31438500e-01 2.48310914e-03 9.91321217e-01 1.40948250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.87, Y:103.54, Z:14.10 [[-8.25397934e-01 5.54086422e-01 1.08196525e-01 9.78717209e+01] [-5.48988012e-01 -8.32455289e-01 7.50356905e-02 1.03543703e+02] [ 1.31645027e-01 2.53570878e-03 9.91293679e-01 1.40955963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.86, Y:103.54, Z:14.10 [[-8.25701999e-01 5.53593005e-01 1.08401998e-01 9.78624110e+01] [-5.48479242e-01 -8.32783403e-01 7.51154022e-02 1.03536835e+02] [ 1.31858746e-01 2.56669185e-03 9.91265193e-01 1.40978285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.86, Y:103.54, Z:14.10 [[-8.26084688e-01 5.53144696e-01 1.07773067e-01 9.78636614e+01] [-5.48094770e-01 -8.33081231e-01 7.46175962e-02 1.03536941e+02] [ 1.31058047e-01 2.57059929e-03 9.91371364e-01 1.40974317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.87, Y:103.54, Z:14.10 [[-8.26255934e-01 5.53042022e-01 1.06984360e-01 9.78688112e+01] [-5.48073285e-01 -8.33149562e-01 7.40100093e-02 1.03539733e+02] [ 1.30064618e-01 2.51593945e-03 9.91502327e-01 1.40964577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.85, Y:103.53, Z:14.10 [[-8.25814444e-01 5.53916066e-01 1.05865460e-01 9.78514528e+01] [-5.49066163e-01 -8.32569331e-01 7.31755287e-02 1.03526939e+02] [ 1.28673436e-01 2.30226686e-03 9.91684348e-01 1.40989423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.87, Y:103.54, Z:14.10 [[-8.25518613e-01 5.54400010e-01 1.05639239e-01 9.78671077e+01] [-5.49582821e-01 -8.32247511e-01 7.29575476e-02 1.03537824e+02] [ 1.28365659e-01 2.17030239e-03 9.91724532e-01 1.40970948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.86, Y:103.53, Z:14.10 [[-8.25034848e-01 5.55197988e-01 1.05226865e-01 9.78599189e+01] [-5.50433676e-01 -8.31715858e-01 7.26050927e-02 1.03532893e+02] [ 1.27829054e-01 1.98132142e-03 9.91794236e-01 1.40981129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.86, Y:103.52, Z:14.08 [[-8.23653939e-01 5.60658122e-01 8.51860257e-02 9.78598958e+01] [-5.55257323e-01 -8.27842548e-01 7.97873450e-02 1.03522731e+02] [ 1.15254040e-01 1.84169964e-02 9.93165304e-01 1.40812124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.86, Y:103.52, Z:14.08 [[-8.23252511e-01 5.61034153e-01 8.65793379e-02 9.78566832e+01] [-5.56951924e-01 -8.27756269e-01 6.80008372e-02 1.03522220e+02] [ 1.09817382e-01 7.76133117e-03 9.93921478e-01 1.40835102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.85, Y:103.52, Z:14.09 [[-8.23998261e-01 5.58657001e-01 9.44945522e-02 9.78548105e+01] [-5.55218539e-01 -8.29397513e-01 6.19042729e-02 1.03524800e+02] [ 1.12956802e-01 -1.45611395e-03 9.93598833e-01 1.40902615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.84, Y:103.52, Z:14.11 [[-8.26876413e-01 5.50130810e-01 1.16753972e-01 9.78351986e+01] [-5.47587164e-01 -8.34888305e-01 5.57657238e-02 1.03520877e+02] [ 1.28154969e-01 -1.78216150e-02 9.91594017e-01 1.41108461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.84, Y:103.52, Z:14.10 [[-8.27492684e-01 5.51335707e-01 1.06229917e-01 9.78425976e+01] [-5.46491268e-01 -8.34280252e-01 7.29640669e-02 1.03519306e+02] [ 1.28853218e-01 2.32350931e-03 9.91660955e-01 1.40993303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.83, Y:103.51, Z:14.10 [[-8.28157010e-01 5.50227678e-01 1.06796390e-01 9.78300058e+01] [-5.45330120e-01 -8.35011056e-01 7.32911748e-02 1.03510843e+02] [ 1.29503000e-01 2.45731193e-03 9.91575985e-01 1.41006685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.81, Y:103.50, Z:14.10 [[-8.28824762e-01 5.49023346e-01 1.07809459e-01 9.78094459e+01] [-5.44030384e-01 -8.35802919e-01 7.39217341e-02 1.03497240e+02] [ 1.30692219e-01 2.61654213e-03 9.91419537e-01 1.41031808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.83, Y:103.51, Z:14.10 [[-8.29847249e-01 5.47309743e-01 1.08653526e-01 9.78322598e+01] [-5.42233751e-01 -8.36925302e-01 7.44217587e-02 1.03514675e+02] [ 1.31666639e-01 2.84308281e-03 9.91289974e-01 1.41001096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.83, Y:103.51, Z:14.10 [[-8.30602648e-01 5.46108495e-01 1.08925443e-01 9.78266444e+01] [-5.41005115e-01 -8.37709129e-01 7.45444808e-02 1.03511456e+02] [ 1.31957213e-01 2.98762110e-03 9.91250911e-01 1.41009682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.83, Y:103.51, Z:14.10 [[-8.31422465e-01 5.44875877e-01 1.08843754e-01 9.78252494e+01] [-5.39778027e-01 -8.38510880e-01 7.44257045e-02 1.03511398e+02] [ 1.31819443e-01 3.12773595e-03 9.91268809e-01 1.41005263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.44687499999998 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:97.81, Y:103.50, Z:14.10 [[-8.32213404e-01 5.43606222e-01 1.09147265e-01 9.78143585e+01] [-5.38477307e-01 -8.39333953e-01 7.45701417e-02 1.03504881e+02] [ 1.32147799e-01 3.28494607e-03 9.91224580e-01 1.41015107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.47687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.82, Y:103.50, Z:14.08 [[-8.31957636e-01 5.49084785e-01 7.97018878e-02 9.78191359e+01] [-5.43289152e-01 -8.35347692e-01 8.38518377e-02 1.03497275e+02] [ 1.12620556e-01 2.64600057e-02 9.93285698e-01 1.40788405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.79, Y:103.50, Z:14.12 [[-8.35019918e-01 5.36880763e-01 1.20419199e-01 9.77921320e+01] [-5.34531546e-01 -8.43434126e-01 5.38042896e-02 1.03500742e+02] [ 1.30452150e-01 -1.94402070e-02 9.91263999e-01 1.41183649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.79, Y:103.49, Z:14.11 [[-8.36246954e-01 5.37964296e-01 1.06232987e-01 9.77874742e+01] [-5.33086244e-01 -8.42958594e-01 7.23869193e-02 1.03490905e+02] [ 1.28491587e-01 3.90199678e-03 9.91702922e-01 1.41075396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.77, Y:103.48, Z:14.11 [[-8.37290858e-01 5.36456032e-01 1.05635906e-01 9.77726256e+01] [-5.31628923e-01 -8.43918517e-01 7.19181841e-02 1.03482036e+02] [ 1.27729041e-01 4.05733515e-03 9.91800802e-01 1.41103191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.79, Y:103.48, Z:14.08 [[-8.34786315e-01 5.45621227e-01 7.36836862e-02 9.77886928e+01] [-5.40277646e-01 -8.37566836e-01 8.11286730e-02 1.03479027e+02] [ 1.05980538e-01 2.79154575e-02 9.93976284e-01 1.40832436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.78, Y:103.50, Z:14.12 [[-8.36883932e-01 5.34282247e-01 1.19028420e-01 9.77800780e+01] [-5.32258422e-01 -8.45051046e-01 5.08891110e-02 1.03497503e+02] [ 1.27774239e-01 -2.07655997e-02 9.91585868e-01 1.41208005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.77, Y:103.48, Z:14.11 [[-8.36786381e-01 5.37412737e-01 1.04766896e-01 9.77689346e+01] [-5.32694881e-01 -8.43311117e-01 7.11514169e-02 1.03483292e+02] [ 1.26588766e-01 3.72974742e-03 9.91948272e-01 1.41098005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.80, Y:103.49, Z:14.08 [[-8.33619902e-01 5.47257703e-01 7.47453332e-02 9.77953237e+01] [-5.42001083e-01 -8.36552198e-01 8.00952330e-02 1.03488548e+02] [ 1.06361106e-01 2.62569287e-02 9.93980829e-01 1.40815585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.716875 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:97.35, Y:103.21, Z:14.18 [[-8.36382035e-01 5.34882296e-01 1.19858339e-01 9.73514915e+01] [-5.31959584e-01 -8.44787523e-01 5.79054506e-02 1.03209151e+02] [ 1.32227429e-01 -1.53287133e-02 9.91100872e-01 1.41787000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.33, Y:102.59, Z:14.57 [[-7.72775213e-01 -6.08666361e-01 -1.79843626e-01 9.83278689e+01] [-6.26823277e-01 7.76375081e-01 6.58355040e-02 1.02594448e+02] [ 9.95542532e-02 1.63606217e-01 -9.81489662e-01 1.45699550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.62, Y:103.44, Z:14.13 [[-7.94635227e-01 5.99496155e-01 9.57037915e-02 9.76241558e+01] [-5.94845891e-01 -8.00374273e-01 7.45613100e-02 1.03435782e+02] [ 1.21298071e-01 2.32003633e-03 9.92613417e-01 1.41273397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.62, Y:103.44, Z:14.13 [[-7.93210036e-01 6.01414985e-01 9.54874569e-02 9.76225820e+01] [-5.96811679e-01 -7.98934441e-01 7.42938652e-02 1.03436531e+02] [ 1.20969662e-01 1.94260996e-03 9.92654304e-01 1.41277920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.62, Y:103.44, Z:14.13 [[-7.93448120e-01 6.01095593e-01 9.55205146e-02 9.76208107e+01] [-5.96495099e-01 -7.99174784e-01 7.42513399e-02 1.03435076e+02] [ 1.20969740e-01 1.93706726e-03 9.92654305e-01 1.41280774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.63, Y:103.44, Z:14.13 [[-7.91938474e-01 6.03155912e-01 9.50599767e-02 9.76256518e+01] [-5.98621936e-01 -7.97621774e-01 7.38328115e-02 1.03440247e+02] [ 1.20354604e-01 1.56605683e-03 9.92729730e-01 1.41278979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.63, Y:103.45, Z:14.13 [[-7.89007630e-01 6.07223647e-01 9.35222013e-02 9.76341026e+01] [-6.02871105e-01 -7.94530466e-01 7.25793991e-02 1.03449012e+02] [ 1.18378166e-01 8.83866854e-04 9.92968191e-01 1.41260032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.63, Y:103.45, Z:14.13 [[-7.87797590e-01 6.08788081e-01 9.35522867e-02 9.76311911e+01] [-6.04451612e-01 -7.93332665e-01 7.25364134e-02 1.03447972e+02] [ 1.18377389e-01 5.96181109e-04 9.92968498e-01 1.41264845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.63, Y:103.45, Z:14.13 [[-7.86733477e-01 6.10200328e-01 9.33059281e-02 9.76287766e+01] [-6.05904472e-01 -7.92247089e-01 7.22794621e-02 1.03446828e+02] [ 1.18026301e-01 3.30193487e-04 9.93010414e-01 1.41266123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.64, Y:103.45, Z:14.13 [[-7.85081873e-01 6.12273018e-01 9.36386903e-02 9.76354655e+01] [-6.07969707e-01 -7.90646413e-01 7.24643705e-02 1.03453707e+02] [ 1.18403073e-01 -3.90234124e-05 9.92965614e-01 1.41251052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.63, Y:103.45, Z:14.13 [[-7.84452149e-01 6.13059990e-01 9.37671313e-02 9.76272483e+01] [-6.08757400e-01 -7.90036332e-01 7.25053163e-02 1.03448014e+02] [ 1.18529549e-01 -2.04483974e-04 9.92950504e-01 1.41258721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.63, Y:103.45, Z:14.13 [[-7.84168556e-01 6.13392293e-01 9.39657973e-02 9.76335544e+01] [-6.09080806e-01 -7.89778326e-01 7.26000558e-02 1.03453656e+02] [ 1.18744465e-01 -3.02082642e-04 9.92924801e-01 1.41252370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.63, Y:103.45, Z:14.13 [[-7.83666179e-01 6.14116471e-01 9.34252614e-02 9.76288242e+01] [-6.09867392e-01 -7.89215273e-01 7.21180731e-02 1.03449821e+02] [ 1.18021540e-01 -4.60525695e-04 9.93010928e-01 1.41254726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.62, Y:103.44, Z:14.13 [[-7.83698784e-01 6.14086364e-01 9.33496296e-02 9.76216937e+01] [-6.09850817e-01 -7.89238675e-01 7.20020511e-02 1.03443634e+02] [ 1.17890616e-01 -5.01427961e-04 9.93026461e-01 1.41259454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.63, Y:103.45, Z:14.13 [[-7.84071042e-01 6.13599808e-01 9.34230998e-02 9.76266137e+01] [-6.09361008e-01 -7.89617027e-01 7.20007810e-02 1.03446682e+02] [ 1.17948136e-01 -4.74666812e-04 9.93019643e-01 1.41252414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.61, Y:103.43, Z:14.13 [[-7.84737847e-01 6.12776658e-01 9.32270303e-02 9.76059071e+01] [-6.08556726e-01 -7.90256041e-01 7.17920669e-02 1.03429983e+02] [ 1.17665727e-01 -3.95984307e-04 9.93053181e-01 1.41280999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.19687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.62, Y:103.44, Z:14.12 [[-7.86338857e-01 6.10657140e-01 9.36432514e-02 9.76244125e+01] [-6.06391292e-01 -7.91895095e-01 7.20538642e-02 1.03442306e+02] [ 1.18155838e-01 -1.25699001e-04 9.92995056e-01 1.41249107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.22687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.61, Y:103.43, Z:14.13 [[-7.87547700e-01 6.08986678e-01 9.43601923e-02 9.76066018e+01] [-6.04650972e-01 -7.93180446e-01 7.25395168e-02 1.03427997e+02] [ 1.19020259e-01 7.33475721e-05 9.92891823e-01 1.41278439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.61, Y:103.43, Z:14.13 [[-7.88783117e-01 6.07373504e-01 9.44384487e-02 9.76124458e+01] [-6.03026103e-01 -7.94416361e-01 7.25407868e-02 1.03430990e+02] [ 1.19082801e-01 2.70098344e-04 9.92884290e-01 1.41263391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.61, Y:103.43, Z:14.13 [[-7.90040596e-01 6.05654166e-01 9.49678247e-02 9.76139379e+01] [-6.01253311e-01 -7.95727844e-01 7.28810995e-02 1.03430581e+02] [ 1.19709284e-01 4.79308206e-04 9.92808873e-01 1.41260321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.61, Y:103.43, Z:14.13 [[-7.92742765e-01 6.02084521e-01 9.51479833e-02 9.76115117e+01] [-5.97648431e-01 -7.98431765e-01 7.29593762e-02 1.03426323e+02] [ 1.19896883e-01 9.72974741e-04 9.92785874e-01 1.41263597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.61, Y:103.43, Z:14.13 [[-7.93945480e-01 6.00457589e-01 9.54005103e-02 9.76124902e+01] [-5.95994955e-01 -7.99655757e-01 7.30799845e-02 1.03426220e+02] [ 1.20168999e-01 1.16330061e-03 9.92752768e-01 1.41264738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.60, Y:103.42, Z:14.13 [[-7.95255021e-01 5.98654825e-01 9.58219843e-02 9.76000608e+01] [-5.94146683e-01 -8.01005903e-01 7.33434615e-02 1.03416192e+02] [ 1.20661392e-01 1.39444190e-03 9.92692744e-01 1.41291042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.59, Y:103.40, Z:14.13 [[-7.97136234e-01 5.96209705e-01 9.54348592e-02 9.75875376e+01] [-5.91727663e-01 -8.02826920e-01 7.29884214e-02 1.03404412e+02] [ 1.20134079e-01 1.71026916e-03 9.92756203e-01 1.41314652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.57, Y:103.39, Z:14.13 [[-7.98361250e-01 5.94695673e-01 9.46381080e-02 9.75717637e+01] [-5.90285035e-01 -8.03948722e-01 7.23189463e-02 1.03391071e+02] [ 1.19091950e-01 1.87318549e-03 9.92881462e-01 1.41338693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.57, Y:103.39, Z:14.13 [[-7.99423427e-01 5.93319552e-01 9.43085060e-02 9.75673012e+01] [-5.88939815e-01 -8.04964526e-01 7.19861531e-02 1.03386530e+02] [ 1.18625794e-01 2.00538311e-03 9.92937007e-01 1.41348027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.59, Y:103.40, Z:14.13 [[-8.01076718e-01 5.91247004e-01 9.32902594e-02 9.75877588e+01] [-5.86954568e-01 -8.06487423e-01 7.11503407e-02 1.03399807e+02] [ 1.17304847e-01 2.23973751e-03 9.93093428e-01 1.41314559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.58, Y:103.39, Z:14.13 [[-8.02111434e-01 5.89872701e-01 9.30991067e-02 9.75807814e+01] [-5.85595578e-01 -8.07492720e-01 7.09459338e-02 1.03393935e+02] [ 1.17025920e-01 2.38811946e-03 9.93125989e-01 1.41325379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.58, Y:103.39, Z:14.13 [[-8.02962971e-01 5.88690314e-01 9.32425938e-02 9.75825295e+01] [-5.84398898e-01 -8.08354736e-01 7.09968239e-02 1.03394876e+02] [ 1.17168235e-01 2.51695156e-03 9.93108891e-01 1.41321608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.56, Y:103.38, Z:14.14 [[-8.03820409e-01 5.87414361e-01 9.38995132e-02 9.75571917e+01] [-5.83060393e-01 -8.09281915e-01 7.14378113e-02 1.03375496e+02] [ 1.17954774e-01 2.67408362e-03 9.93015368e-01 1.41360034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.55, Y:103.37, Z:14.14 [[-8.04598513e-01 5.86305892e-01 9.41628077e-02 9.75486095e+01] [-5.81926924e-01 -8.10084924e-01 7.15784283e-02 1.03368995e+02] [ 1.18246725e-01 2.79602394e-03 9.92980309e-01 1.41370169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.55, Y:103.37, Z:14.14 [[-8.05813021e-01 5.84619949e-01 9.42596916e-02 9.75476996e+01] [-5.80227684e-01 -8.11301752e-01 7.15912200e-02 1.03368498e+02] [ 1.18326708e-01 2.99705474e-03 9.92970195e-01 1.41366959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.56, Y:103.38, Z:14.13 [[-8.05474808e-01 5.84951067e-01 9.50924911e-02 9.75647140e+01] [-5.80491097e-01 -8.11063333e-01 7.21550848e-02 1.03381843e+02] [ 1.19333227e-01 2.91875856e-03 9.92849969e-01 1.41342253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.56, Y:103.38, Z:14.13 [[-8.05424323e-01 5.84984230e-01 9.53158484e-02 9.75561327e+01] [-5.80510736e-01 -8.11039584e-01 7.22639467e-02 1.03375319e+02] [ 1.19578195e-01 2.87126695e-03 9.92820634e-01 1.41346132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.55, Y:103.37, Z:14.14 [[-8.05673011e-01 5.84551230e-01 9.58689673e-02 9.75490854e+01] [-5.80029754e-01 -8.11351607e-01 7.26226775e-02 1.03370183e+02] [ 1.20235116e-01 2.90327773e-03 9.92741199e-01 1.41351405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:103.36, Z:14.14 [[-8.06154643e-01 5.83700715e-01 9.69957028e-02 9.75407105e+01] [-5.79073372e-01 -8.11963288e-01 7.34142246e-02 1.03364631e+02] [ 1.21608885e-01 3.01558930e-03 9.92573516e-01 1.41356409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:103.36, Z:14.14 [[-8.06511374e-01 5.83095337e-01 9.76689897e-02 9.75393887e+01] [-5.78406549e-01 -8.12397905e-01 7.38614066e-02 1.03363763e+02] [ 1.22414324e-01 3.07768128e-03 9.92474313e-01 1.41356971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:103.37, Z:14.13 [[-8.07147232e-01 5.82272494e-01 9.73246537e-02 9.75411479e+01] [-5.77618467e-01 -8.12987626e-01 7.35392853e-02 1.03365073e+02] [ 1.21943642e-01 3.14051334e-03 9.92532058e-01 1.41347851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.856875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:97.54, Y:103.36, Z:14.14 [[-8.07845458e-01 5.81311821e-01 9.72742680e-02 9.75383668e+01] [-5.76663292e-01 -8.13674452e-01 7.34393173e-02 1.03362718e+02] [ 1.21840730e-01 3.23311923e-03 9.92544399e-01 1.41350571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:103.35, Z:14.12 [[-8.05989671e-01 5.86834443e-01 7.74982971e-02 9.75420798e+01] [-5.81825125e-01 -8.09499639e-01 7.86756519e-02 1.03354939e+02] [ 1.08904426e-01 1.83213065e-02 9.93883371e-01 1.41181041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:103.37, Z:14.14 [[-8.07836776e-01 5.79797949e-01 1.05990951e-01 9.75422646e+01] [-5.76842466e-01 -8.14659886e-01 5.98501405e-02 1.03371315e+02] [ 1.21047565e-01 -1.27909370e-02 9.92564295e-01 1.41430233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.94687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.52, Y:103.35, Z:14.14 [[-8.07593959e-01 5.81949948e-01 9.55314388e-02 9.75238976e+01] [-5.77503565e-01 -8.13219568e-01 7.18579651e-02 1.03352558e+02] [ 1.19505774e-01 2.86231203e-03 9.92829380e-01 1.41377957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.97687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.53, Y:103.36, Z:14.14 [[-8.07377794e-01 5.82432920e-01 9.44086408e-02 9.75272677e+01] [-5.78101096e-01 -8.12874254e-01 7.09547096e-02 1.03355664e+02] [ 1.18068712e-01 2.70951823e-03 9.93001731e-01 1.41375411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:103.37, Z:14.14 [[-8.05703585e-01 5.84884201e-01 9.35532226e-02 9.75402532e+01] [-5.80654191e-01 -8.11113599e-01 7.02526875e-02 1.03365971e+02] [ 1.16971978e-01 2.28077131e-03 9.93132597e-01 1.41365167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.55, Y:103.37, Z:14.14 [[-8.04761534e-01 5.86152504e-01 9.37236117e-02 9.75465543e+01] [-5.81923346e-01 -8.10198157e-01 7.03147672e-02 1.03370801e+02] [ 1.17149874e-01 2.04666226e-03 9.93112138e-01 1.41357781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.55, Y:103.37, Z:14.14 [[-8.04082835e-01 5.87034247e-01 9.40297156e-02 9.75452338e+01] [-5.82790277e-01 -8.09559924e-01 7.04856130e-02 1.03369708e+02] [ 1.17500158e-01 1.87666751e-03 9.93071091e-01 1.41355668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.55, Y:103.38, Z:14.13 [[-8.02401118e-01 5.89057727e-01 9.57258600e-02 9.75517355e+01] [-5.84681077e-01 -8.08089460e-01 7.16900473e-02 1.03375157e+02] [ 1.19584635e-01 1.55507518e-03 9.92822792e-01 1.41347472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.55, Y:103.37, Z:14.14 [[-8.01634310e-01 5.90012358e-01 9.62696764e-02 9.75462228e+01] [-5.85599694e-01 -8.07393048e-01 7.20379453e-02 1.03371373e+02] [ 1.20230745e-01 1.37259552e-03 9.92745025e-01 1.41359297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.55, Y:103.37, Z:14.14 [[-8.00703953e-01 5.91204259e-01 9.66990350e-02 9.75501235e+01] [-5.86767850e-01 -8.06521047e-01 7.23000087e-02 1.03374136e+02] [ 1.20733880e-01 1.15101793e-03 9.92684243e-01 1.41355162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:103.37, Z:14.14 [[-7.99814670e-01 5.92380418e-01 9.68603885e-02 9.75395857e+01] [-5.87944936e-01 -8.05657856e-01 7.23613934e-02 1.03365838e+02] [ 1.20901805e-01 9.27129052e-04 9.92664039e-01 1.41368039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:103.37, Z:14.14 [[-7.97862404e-01 5.95001623e-01 9.68950664e-02 9.75436138e+01] [-5.90589360e-01 -8.03724353e-01 7.23282201e-02 1.03368471e+02] [ 1.20912333e-01 4.82772229e-04 9.92663072e-01 1.41363300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.56, Y:103.38, Z:14.14 [[-7.97198669e-01 5.95901774e-01 9.68264366e-02 9.75555378e+01] [-5.91509659e-01 -8.03057275e-01 7.22172823e-02 1.03377408e+02] [ 1.20791581e-01 2.97748777e-04 9.92677846e-01 1.41354083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.55, Y:103.38, Z:14.14 [[-7.97168057e-01 5.95998294e-01 9.64837882e-02 9.75545479e+01] [-5.91646027e-01 -8.02985667e-01 7.18957469e-02 1.03376598e+02] [ 1.20324841e-01 2.28743019e-04 9.92734547e-01 1.41358687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:103.37, Z:14.14 [[-7.97375444e-01 5.95812083e-01 9.59185214e-02 9.75436382e+01] [-5.91518045e-01 -8.03123852e-01 7.14036481e-02 1.03366616e+02] [ 1.19577609e-01 1.97979404e-04 9.92824837e-01 1.41370917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:103.36, Z:14.14 [[-7.98216153e-01 5.94712272e-01 9.57511735e-02 9.75415090e+01] [-5.90432271e-01 -8.03938564e-01 7.12216223e-02 1.03364002e+02] [ 1.19334434e-01 3.15666585e-04 9.92854064e-01 1.41372185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:103.36, Z:14.14 [[-7.99197914e-01 5.93359946e-01 9.59513921e-02 9.75377525e+01] [-5.89059245e-01 -8.04937111e-01 7.13123635e-02 1.03359930e+02] [ 1.19548736e-01 4.71637486e-04 9.92828221e-01 1.41379092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.53, Y:103.36, Z:14.14 [[-8.00792754e-01 5.91208775e-01 9.59330515e-02 9.75343741e+01] [-5.86901286e-01 -8.06518213e-01 7.12408023e-02 1.03356312e+02] [ 1.19489941e-01 7.45886875e-04 9.92835131e-01 1.41381801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:103.36, Z:14.14 [[-8.04405356e-01 5.86168401e-01 9.66365818e-02 9.75368564e+01] [-5.81767997e-01 -8.10187926e-01 7.17044052e-02 1.03355702e+02] [ 1.20324648e-01 1.45933699e-03 9.92733524e-01 1.41378161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:103.35, Z:14.14 [[-8.06533901e-01 5.83205402e-01 9.68221381e-02 9.75354390e+01] [-5.78773832e-01 -8.12322601e-01 7.17833037e-02 1.03353082e+02] [ 1.20515222e-01 1.85754804e-03 9.92709742e-01 1.41379725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.52, Y:103.34, Z:14.14 [[-8.08542197e-01 5.80291578e-01 9.75766396e-02 9.75163788e+01] [-5.75776468e-01 -8.14405654e-01 7.22833995e-02 1.03337293e+02] [ 1.21412415e-01 2.26184568e-03 9.92599572e-01 1.41406098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:103.33, Z:14.14 [[-8.12509966e-01 5.74589913e-01 9.83564245e-02 9.75130799e+01] [-5.69967691e-01 -8.18435627e-01 7.28007951e-02 1.03332501e+02] [ 1.22329004e-01 3.09138735e-03 9.92484790e-01 1.41399229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:103.33, Z:14.14 [[-8.14350313e-01 5.72009569e-01 9.81764765e-02 9.75148074e+01] [-5.67393001e-01 -8.20239803e-01 7.26074972e-02 1.03333057e+02] [ 1.22060437e-01 3.42329254e-03 9.92516766e-01 1.41399958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.52, Y:103.33, Z:14.14 [[-8.16160486e-01 5.69461157e-01 9.79594397e-02 9.75169936e+01] [-5.64854102e-01 -8.22009704e-01 7.23870874e-02 1.03334288e+02] [ 1.21745245e-01 3.74668912e-03 9.92554310e-01 1.41400133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.49, Y:103.32, Z:14.14 [[-8.17660813e-01 5.67341339e-01 9.77476350e-02 9.74933900e+01] [-5.62746482e-01 -8.23472994e-01 7.21708039e-02 1.03316793e+02] [ 1.21438018e-01 4.00410046e-03 9.92590940e-01 1.41436253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.50, Y:103.32, Z:14.14 [[-8.19498008e-01 5.64757082e-01 9.73265298e-02 9.74966059e+01] [-5.60191056e-01 -8.25245897e-01 7.17996490e-02 1.03319624e+02] [ 1.20867680e-01 4.31821779e-03 9.92659235e-01 1.41444436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.49, Y:103.32, Z:14.15 [[-8.20205683e-01 5.63767080e-01 9.71046661e-02 9.74902107e+01] [-5.59223183e-01 -8.25922113e-01 7.15688102e-02 1.03315038e+02] [ 1.20549030e-01 4.39796450e-03 9.92697632e-01 1.41456522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.69687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.47, Y:103.30, Z:14.15 [[-8.20535923e-01 5.63230521e-01 9.74278151e-02 9.74686753e+01] [-5.58659817e-01 -8.26287875e-01 7.17464729e-02 1.03299347e+02] [ 1.20913226e-01 4.44155305e-03 9.92653144e-01 1.41488809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.72687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.47, Y:103.30, Z:14.15 [[-8.20718009e-01 5.62900213e-01 9.78023494e-02 9.74691496e+01] [-5.58299333e-01 -8.26512849e-01 7.19608606e-02 1.03299807e+02] [ 1.21341682e-01 4.45658783e-03 9.92600793e-01 1.41485678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.47, Y:103.30, Z:14.15 [[-8.20946132e-01 5.62562344e-01 9.78317794e-02 9.74673406e+01] [-5.57963839e-01 -8.26742855e-01 7.19208294e-02 1.03298400e+02] [ 1.21341675e-01 4.45653146e-03 9.92600795e-01 1.41488502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.45, Y:103.29, Z:14.15 [[-8.20860693e-01 5.62619133e-01 9.82213534e-02 9.74494263e+01] [-5.57991806e-01 -8.26704436e-01 7.21451353e-02 1.03286006e+02] [ 1.21790262e-01 4.41439543e-03 9.92546042e-01 1.41513533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.49, Y:103.32, Z:14.15 [[-8.20352662e-01 5.63366317e-01 9.81830052e-02 9.74895422e+01] [-5.58755583e-01 -8.26196303e-01 7.20546145e-02 1.03315706e+02] [ 1.21711579e-01 4.24989251e-03 9.92556412e-01 1.41453793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:103.33, Z:14.14 [[-8.14434919e-01 5.72379601e-01 9.52751582e-02 9.75139264e+01] [-5.67716322e-01 -8.19970587e-01 7.31191744e-02 1.03326726e+02] [ 1.19974751e-01 5.46154646e-03 9.92761920e-01 1.41390158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.52, Y:103.33, Z:14.14 [[-8.13458493e-01 5.73771576e-01 9.52442052e-02 9.75206373e+01] [-5.69191174e-01 -8.19001461e-01 7.25121680e-02 1.03331602e+02] [ 1.19610564e-01 4.77347790e-03 9.92809411e-01 1.41381488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.49, Y:103.32, Z:14.15 [[-8.16145951e-01 5.69062090e-01 1.00369941e-01 9.74922384e+01] [-5.64584758e-01 -8.22293205e-01 7.12596358e-02 1.03319325e+02] [ 1.23084678e-01 1.49092454e-03 9.92395052e-01 1.41476004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.50, Y:103.33, Z:14.15 [[-8.15568341e-01 5.70111828e-01 9.90998790e-02 9.75039028e+01] [-5.65486011e-01 -8.21561155e-01 7.25454325e-02 1.03327437e+02] [ 1.22775620e-01 3.12616270e-03 9.92429531e-01 1.41462571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.50, Y:103.33, Z:14.15 [[-8.15182380e-01 5.70632003e-01 9.92814400e-02 9.75036071e+01] [-5.66000424e-01 -8.21200398e-01 7.26183654e-02 1.03327118e+02] [ 1.22968321e-01 3.00387490e-03 9.92406050e-01 1.41471469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.50, Y:103.32, Z:14.15 [[-8.14704781e-01 5.71283765e-01 9.94534099e-02 9.74961140e+01] [-5.66648322e-01 -8.20747631e-01 7.26842841e-02 1.03320787e+02] [ 1.23149502e-01 2.86112586e-03 9.92384005e-01 1.41480952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:103.33, Z:14.15 [[-8.13678097e-01 5.72493193e-01 1.00893502e-01 9.75052803e+01] [-5.67738931e-01 -8.19905135e-01 7.36754730e-02 1.03326034e+02] [ 1.24901807e-01 2.66694969e-03 9.92165523e-01 1.41456043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.53, Y:103.33, Z:14.13 [[-8.06766505e-01 5.85039809e-01 8.28023452e-02 9.75263495e+01] [-5.79930221e-01 -8.10857165e-01 7.86867027e-02 1.03325508e+02] [ 1.13175728e-01 1.54622138e-02 9.93454667e-01 1.41258354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.49, Y:103.32, Z:14.15 [[-8.12597913e-01 5.72295387e-01 1.10284278e-01 9.74941960e+01] [-5.68738346e-01 -8.19983069e-01 6.45326276e-02 1.03321129e+02] [ 1.27362966e-01 -1.02838193e-02 9.91802863e-01 1.41532593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.50, Y:103.32, Z:14.15 [[-8.12457039e-01 5.73843260e-01 1.03041125e-01 9.74987937e+01] [-5.68914533e-01 -8.18961680e-01 7.50867495e-02 1.03320284e+02] [ 1.27474758e-01 2.38316454e-03 9.91838952e-01 1.41465488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.48, Y:103.31, Z:14.15 [[-8.12002910e-01 5.74362345e-01 1.03726423e-01 9.74828143e+01] [-5.69380857e-01 -8.18598065e-01 7.55158782e-02 1.03308652e+02] [ 1.28283726e-01 2.25927351e-03 9.91734935e-01 1.41496948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.50, Y:103.32, Z:14.15 [[-8.10625757e-01 5.76468303e-01 1.02811369e-01 9.74987750e+01] [-5.71600236e-01 -8.17117410e-01 7.47817367e-02 1.03319139e+02] [ 1.27118260e-01 1.85299901e-03 9.91885837e-01 1.41486573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.48, Y:103.30, Z:14.15 [[-8.09591046e-01 5.78022478e-01 1.02236747e-01 9.74799193e+01] [-5.73228990e-01 -8.16019370e-01 7.43028413e-02 1.03304562e+02] [ 1.26375878e-01 1.54984779e-03 9.91981217e-01 1.41521734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.49, Y:103.31, Z:14.15 [[-8.08519073e-01 5.79645309e-01 1.01529433e-01 9.74931962e+01] [-5.74938536e-01 -8.14867955e-01 7.37285244e-02 1.03313715e+02] [ 1.25469475e-01 1.23773462e-03 9.92096708e-01 1.41509160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.50, Y:103.32, Z:14.15 [[-8.05481765e-01 5.84270026e-01 9.91345654e-02 9.74977523e+01] [-5.79825452e-01 -8.11559194e-01 7.19313488e-02 1.03316219e+02] [ 1.22480899e-01 4.58645597e-04 9.92470765e-01 1.41521190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.49, Y:103.31, Z:14.15 [[-8.03920141e-01 5.86578792e-01 9.81719260e-02 9.74877322e+01] [-5.82244583e-01 -8.09892164e-01 7.11753339e-02 1.03308395e+02] [ 1.21258615e-01 5.92123981e-05 9.92620947e-01 1.41549535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.48, Y:103.30, Z:14.16 [[-8.02132322e-01 5.89180388e-01 9.72121850e-02 9.74806145e+01] [-5.84956703e-01 -8.08001441e-01 7.04224851e-02 1.03302033e+02] [ 1.20039133e-01 -3.76767827e-04 9.92769089e-01 1.41568718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.50, Y:103.31, Z:14.15 [[-8.00376552e-01 5.91639942e-01 9.67447904e-02 9.74974386e+01] [-5.87481728e-01 -8.06201934e-01 7.00261505e-02 1.03312944e+02] [ 1.19426105e-01 -7.88507721e-04 9.92842779e-01 1.41548804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.50, Y:103.31, Z:14.16 [[-7.95884837e-01 5.97225998e-01 9.94406000e-02 9.74975771e+01] [-5.93287452e-01 -8.02061011e-01 6.86158459e-02 1.03309293e+02] [ 1.20736595e-01 -4.38654879e-03 9.92674888e-01 1.41574521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:103.31, Z:14.15 [[-7.94610603e-01 5.99814310e-01 9.38977253e-02 9.75058316e+01] [-5.95440719e-01 -8.00137723e-01 7.23185624e-02 1.03311054e+02] [ 1.18508821e-01 1.55456747e-03 9.92951783e-01 1.41522611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.44687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:103.31, Z:14.15 [[-7.92959702e-01 6.01579368e-01 9.65255126e-02 9.75061722e+01] [-5.97529480e-01 -7.98809472e-01 6.97276725e-02 1.03309915e+02] [ 1.19052223e-01 -2.38560491e-03 9.92885128e-01 1.41546128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.47687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:103.31, Z:14.15 [[-7.90029871e-01 6.05179197e-01 9.80354207e-02 9.75095282e+01] [-6.01035700e-01 -7.96083551e-01 7.07606262e-02 1.03306228e+02] [ 1.20867245e-01 -3.01977939e-03 9.92664087e-01 1.41542973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:103.30, Z:14.15 [[-7.89248115e-01 6.06172505e-01 9.81952453e-02 9.75111362e+01] [-6.02030058e-01 -7.95326667e-01 7.08187989e-02 1.03303634e+02] [ 1.21025706e-01 -3.22288562e-03 9.92644141e-01 1.41543890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:103.30, Z:14.16 [[-7.88800647e-01 6.06701656e-01 9.85222774e-02 9.75100939e+01] [-6.02542660e-01 -7.94922512e-01 7.09967823e-02 1.03298458e+02] [ 1.21391442e-01 -3.36156727e-03 9.92599022e-01 1.41550267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:103.29, Z:14.16 [[-7.88895132e-01 6.06580451e-01 9.85120668e-02 9.75074800e+01] [-6.02429155e-01 -7.95014868e-01 7.09258200e-02 1.03291837e+02] [ 1.21340774e-01 -3.39350703e-03 9.92605108e-01 1.41559141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:103.29, Z:14.16 [[-7.89297156e-01 6.06083589e-01 9.83497946e-02 9.75123849e+01] [-6.01949094e-01 -7.95393873e-01 7.07522096e-02 1.03290045e+02] [ 1.21108577e-01 -3.35705192e-03 9.92633589e-01 1.41558572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:103.28, Z:14.16 [[-7.90173811e-01 6.05011500e-01 9.79103351e-02 9.75100837e+01] [-6.00912657e-01 -7.96210208e-01 7.03795739e-02 1.03282928e+02] [ 1.20537660e-01 -3.22346347e-03 9.92703522e-01 1.41566912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:103.27, Z:14.16 [[-7.91015905e-01 6.03845912e-01 9.83054036e-02 9.75099009e+01] [-5.99762891e-01 -7.97093642e-01 7.01868973e-02 1.03270026e+02] [ 1.20740683e-01 -3.44098089e-03 9.92678119e-01 1.41576289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:103.27, Z:14.16 [[-7.94251826e-01 5.99744421e-01 9.73173476e-02 9.75137686e+01] [-5.95456704e-01 -8.00190886e-01 7.15951018e-02 1.03268350e+02] [ 1.20811218e-01 -1.08372681e-03 9.92674909e-01 1.41573485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:103.26, Z:14.16 [[-7.95722848e-01 5.97594033e-01 9.85216740e-02 9.75115516e+01] [-5.93407255e-01 -8.01795691e-01 7.06505394e-02 1.03261444e+02] [ 1.21214594e-01 -2.24522771e-03 9.92623786e-01 1.41586773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.746875 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:97.51, Y:103.26, Z:14.16 [[-7.97336415e-01 5.95396468e-01 9.87810019e-02 9.75147632e+01] [-5.91177748e-01 -8.03429645e-01 7.07790662e-02 1.03258145e+02] [ 1.21505191e-01 -1.96240334e-03 9.92588856e-01 1.41590117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.776875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.51, Y:103.25, Z:14.16 [[-8.00219654e-01 5.91611892e-01 9.82032274e-02 9.75146963e+01] [-5.87420958e-01 -8.06221645e-01 7.03084482e-02 1.03246804e+02] [ 1.20768882e-01 -1.42443183e-03 9.92679630e-01 1.41601844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:103.24, Z:14.16 [[-8.01850307e-01 5.89366137e-01 9.84054901e-02 9.75147549e+01] [-5.85147925e-01 -8.07865254e-01 7.03962838e-02 1.03241371e+02] [ 1.20987562e-01 -1.13448658e-03 9.92653375e-01 1.41609185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:103.23, Z:14.16 [[-8.03033346e-01 5.87662009e-01 9.89485152e-02 9.75125296e+01] [-5.83391091e-01 -8.09105988e-01 7.07271872e-02 1.03234466e+02] [ 1.21623517e-01 -9.29392468e-04 9.92575869e-01 1.41614376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:103.23, Z:14.16 [[-8.04196607e-01 5.85995040e-01 9.93862688e-02 9.75132421e+01] [-5.81680524e-01 -8.10314312e-01 7.09822795e-02 1.03229971e+02] [ 1.22129380e-01 -7.27348542e-04 9.92513922e-01 1.41615522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:103.22, Z:14.16 [[-8.06171291e-01 5.82976885e-01 1.01122704e-01 9.75128710e+01] [-5.78493446e-01 -8.12488675e-01 7.21629100e-02 1.03221104e+02] [ 1.24230360e-01 -3.23154953e-04 9.92253351e-01 1.41620812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:103.22, Z:14.16 [[-8.07274450e-01 5.81352940e-01 1.01669668e-01 9.75136918e+01] [-5.76815289e-01 -8.13651488e-01 7.24939876e-02 1.03217728e+02] [ 1.24868269e-01 -1.22074755e-04 9.92173322e-01 1.41621479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:103.21, Z:14.16 [[-8.08674024e-01 5.79335774e-01 1.02060683e-01 9.75110307e+01] [-5.74754489e-01 -8.15088977e-01 7.27133902e-02 1.03212158e+02] [ 1.25314006e-01 1.41594109e-04 9.92117120e-01 1.41629694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:103.21, Z:14.16 [[-8.09913533e-01 5.77424902e-01 1.03056061e-01 9.75103765e+01] [-5.72745717e-01 -8.16443708e-01 7.33622164e-02 1.03208147e+02] [ 1.26500643e-01 3.92134528e-04 9.91966448e-01 1.41632493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:103.20, Z:14.16 [[-8.12666361e-01 5.73240329e-01 1.04732570e-01 9.75059759e+01] [-5.68380306e-01 -8.19386663e-01 7.44937823e-02 1.03198336e+02] [ 1.28519311e-01 1.01066101e-03 9.91706492e-01 1.41637982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.50, Y:103.19, Z:14.16 [[-8.14135122e-01 5.71105797e-01 1.04986534e-01 9.75048391e+01] [-5.66212323e-01 -8.20875433e-01 7.46131911e-02 1.03194857e+02] [ 1.28792892e-01 1.30055013e-03 9.91670661e-01 1.41636577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.50, Y:103.19, Z:14.16 [[-8.16168831e-01 5.68230069e-01 1.04799949e-01 9.75001083e+01] [-5.63338296e-01 -8.22867970e-01 7.44195490e-02 1.03189235e+02] [ 1.28523947e-01 1.70109169e-03 9.91704947e-01 1.41642463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.50, Y:103.19, Z:14.16 [[-8.17744912e-01 5.65905992e-01 1.05088852e-01 9.75028150e+01] [-5.60975943e-01 -8.24467296e-01 7.45631888e-02 1.03188761e+02] [ 1.28838077e-01 2.02135058e-03 9.91663584e-01 1.41642051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.50, Y:103.18, Z:14.17 [[-8.20897888e-01 5.61504574e-01 1.04111817e-01 9.74961928e+01] [-5.56638549e-01 -8.27469430e-01 7.38096828e-02 1.03180680e+02] [ 1.27593820e-01 2.63756202e-03 9.91822998e-01 1.41651252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.50, Y:103.18, Z:14.16 [[-8.22162467e-01 5.59641327e-01 1.04165556e-01 9.74969067e+01] [-5.54763184e-01 -8.28729935e-01 7.37868883e-02 1.03179758e+02] [ 1.27619307e-01 2.87759463e-03 9.91819052e-01 1.41648974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.19687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.49, Y:103.18, Z:14.17 [[-8.23632594e-01 5.57577140e-01 1.03619895e-01 9.74927347e+01] [-5.52741626e-01 -8.30119229e-01 7.33400307e-02 1.03176023e+02] [ 1.26909592e-01 3.13021053e-03 9.91909349e-01 1.41651433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.22687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.49, Y:103.18, Z:14.17 [[-8.24785000e-01 5.55997896e-01 1.02937086e-01 9.74925914e+01] [-5.51221521e-01 -8.31177144e-01 7.27969050e-02 1.03175995e+02] [ 1.26033879e-01 3.30065828e-03 9.92020447e-01 1.41653297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.49, Y:103.18, Z:14.17 [[-8.26210136e-01 5.54201066e-01 1.01182955e-01 9.74897469e+01] [-5.49580602e-01 -8.32375623e-01 7.14981447e-02 1.03175068e+02] [ 1.23846573e-01 3.46430244e-03 9.92295332e-01 1.41668508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.28687499999998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.48, Y:103.17, Z:14.17 [[-8.26739016e-01 5.53470456e-01 1.00861556e-01 9.74838540e+01] [-5.48881313e-01 -8.32861401e-01 7.12122948e-02 1.03171581e+02] [ 1.23417598e-01 3.51295934e-03 9.92348606e-01 1.41685872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.48, Y:103.17, Z:14.17 [[-8.27219643e-01 5.52860910e-01 1.00262037e-01 9.74827925e+01] [-5.48329135e-01 -8.33266062e-01 7.07306771e-02 1.03171075e+02] [ 1.22649179e-01 3.53320959e-03 9.92443800e-01 1.41686883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.48, Y:103.17, Z:14.17 [[-8.27738364e-01 5.51976986e-01 1.00849433e-01 9.74809311e+01] [-5.47392578e-01 -8.33851417e-01 7.10857231e-02 1.03170505e+02] [ 1.23331125e-01 3.63614924e-03 9.92358913e-01 1.41677978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.37687499999998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.48, Y:103.17, Z:14.17 [[-8.27921657e-01 5.51593824e-01 1.01439556e-01 9.74793853e+01] [-5.46959969e-01 -8.34104802e-01 7.14420811e-02 1.03170203e+02] [ 1.24018231e-01 3.66506978e-03 9.92273171e-01 1.41674434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.40687499999999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:97.47, Y:103.17, Z:14.17 [[-8.28221111e-01 5.51107960e-01 1.01635662e-01 9.74730751e+01] [-5.46459900e-01 -8.34425768e-01 7.15207333e-02 1.03167118e+02] [ 1.24223061e-01 3.69516724e-03 9.92247437e-01 1.41676540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.47, Y:103.17, Z:14.17 [[-8.28332095e-01 5.50883714e-01 1.01946424e-01 9.74700488e+01] [-5.46212879e-01 -8.34573853e-01 7.16796696e-02 1.03166987e+02] [ 1.24568982e-01 3.69012130e-03 9.92204088e-01 1.41674640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.466875 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:97.47, Y:103.17, Z:14.17 [[-8.28333988e-01 5.50737052e-01 1.02720512e-01 9.74712750e+01] [-5.46001239e-01 -8.34670644e-01 7.21634419e-02 1.03169890e+02] [ 1.25480877e-01 3.68990487e-03 9.92089176e-01 1.41670980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.47, Y:103.17, Z:14.17 [[-8.27647260e-01 5.51653398e-01 1.03337029e-01 9.74681235e+01] [-5.46875134e-01 -8.34066020e-01 7.25359360e-02 1.03172047e+02] [ 1.26204600e-01 3.52171711e-03 9.91997982e-01 1.41667333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.47, Y:103.17, Z:14.17 [[-8.27129184e-01 5.52508770e-01 1.02914391e-01 9.74654356e+01] [-5.47783822e-01 -8.33500444e-01 7.21795966e-02 1.03172160e+02] [ 1.25659051e-01 3.32701249e-03 9.92067908e-01 1.41671174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.46, Y:103.17, Z:14.17 [[-8.26408765e-01 5.53557209e-01 1.03067790e-01 9.74636889e+01] [-5.48833824e-01 -8.32805301e-01 7.22271768e-02 1.03173254e+02] [ 1.25817277e-01 3.12208241e-03 9.92048520e-01 1.41677616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.46, Y:103.18, Z:14.17 [[-8.23778736e-01 5.57522392e-01 1.02749100e-01 9.74615620e+01] [-5.52866419e-01 -8.30158258e-01 7.19443502e-02 1.03177827e+02] [ 1.25408600e-01 2.45969874e-03 9.92102128e-01 1.41690813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.46, Y:103.18, Z:14.17 [[-8.22191888e-01 5.59970118e-01 1.02146785e-01 9.74598460e+01] [-5.55394964e-01 -8.28510330e-01 7.14637539e-02 1.03179709e+02] [ 1.24647233e-01 2.02510868e-03 9.92199056e-01 1.41700391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.46, Y:103.18, Z:14.17 [[-8.22407287e-01 5.59648660e-01 1.02174515e-01 9.74579676e+01] [-5.55075962e-01 -8.28727504e-01 7.14240874e-02 1.03178319e+02] [ 1.24647226e-01 2.02507260e-03 9.92199057e-01 1.41703217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.46, Y:103.18, Z:14.17 [[-8.20684632e-01 5.62343650e-01 1.01224276e-01 9.74564332e+01] [-5.57883529e-01 -8.26902176e-01 7.07019020e-02 1.03180171e+02] [ 1.23461339e-01 1.55260830e-03 9.92348168e-01 1.41709605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.46, Y:103.18, Z:14.17 [[-8.17190360e-01 5.67713709e-01 9.95040749e-02 9.74566910e+01] [-5.63450850e-01 -8.23225776e-01 6.94439435e-02 1.03184131e+02] [ 1.21338598e-01 6.83265506e-04 9.92610940e-01 1.41713271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.46, Y:103.19, Z:14.17 [[-8.15549538e-01 5.70219111e-01 9.86362870e-02 9.74559077e+01] [-5.66055588e-01 -8.21492603e-01 6.87820759e-02 1.03185798e+02] [ 1.20249834e-01 2.61568720e-04 9.92743627e-01 1.41714510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.45, Y:103.18, Z:14.17 [[-8.13686224e-01 5.72992469e-01 9.79507970e-02 9.74510992e+01] [-5.68913504e-01 -8.19560610e-01 6.82483111e-02 1.03184544e+02] [ 1.19382383e-01 -1.92820561e-04 9.92848332e-01 1.41722223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.45, Y:103.19, Z:14.17 [[-8.11987018e-01 5.75459963e-01 9.75854179e-02 9.74540277e+01] [-5.71435866e-01 -8.17829733e-01 6.79380524e-02 1.03188584e+02] [ 1.18903885e-01 -5.98991300e-04 9.92905588e-01 1.41721821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.45, Y:103.19, Z:14.17 [[-8.10544791e-01 5.77500418e-01 9.75213223e-02 9.74537674e+01] [-5.73502973e-01 -8.16389844e-01 6.78377646e-02 1.03190017e+02] [ 1.18791754e-01 -9.43221568e-04 9.92918743e-01 1.41725855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.45, Y:103.19, Z:14.17 [[-8.08431629e-01 5.80488503e-01 9.73211165e-02 9.74506650e+01] [-5.76535620e-01 -8.14267198e-01 6.76432425e-02 1.03189572e+02] [ 1.18511517e-01 -1.42415354e-03 9.92951656e-01 1.41730944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.45, Y:103.19, Z:14.17 [[-8.08173376e-01 5.80883123e-01 9.71112328e-02 9.74511610e+01] [-5.76956724e-01 -8.13985550e-01 6.74422996e-02 1.03190461e+02] [ 1.18223234e-01 -1.52390772e-03 9.92985873e-01 1.41727934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.45, Y:103.19, Z:14.17 [[-8.08294346e-01 5.80660425e-01 9.74357271e-02 9.74502852e+01] [-5.76712662e-01 -8.14144394e-01 6.76122154e-02 1.03189710e+02] [ 1.18586489e-01 -1.54184611e-03 9.92942530e-01 1.41730683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.94687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.44, Y:103.19, Z:14.17 [[-8.09052482e-01 5.79532483e-01 9.78579768e-02 9.74448805e+01] [-5.75548805e-01 -8.14947889e-01 6.78491849e-02 1.03185374e+02] [ 1.19069958e-01 -1.42849023e-03 9.92884840e-01 1.41735286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.97687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.44, Y:103.18, Z:14.17 [[-8.11351588e-01 5.76008804e-01 9.96115392e-02 9.74419254e+01] [-5.71861858e-01 -8.17442901e-01 6.90008586e-02 1.03181309e+02] [ 1.21171848e-01 -9.80083720e-04 9.92631061e-01 1.41726231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.44, Y:103.18, Z:14.17 [[-8.12885338e-01 5.73702694e-01 1.00412378e-01 9.74382241e+01] [-5.69478053e-01 -8.19063334e-01 6.94982210e-02 1.03177885e+02] [ 1.22115413e-01 -6.88560488e-04 9.92515668e-01 1.41726344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.44, Y:103.18, Z:14.17 [[-8.14442392e-01 5.71356509e-01 1.01169809e-01 9.74371508e+01] [-5.67056755e-01 -8.20701889e-01 6.99646093e-02 1.03176344e+02] [ 1.23004988e-01 -3.86879774e-04 9.92405977e-01 1.41728648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.43, Y:103.17, Z:14.17 [[-8.16174435e-01 5.68724939e-01 1.02035466e-01 9.74345281e+01] [-5.64337773e-01 -8.22527776e-01 7.05048568e-02 1.03173949e+02] [ 1.24024875e-01 -3.82061365e-05 9.92279108e-01 1.41736295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.09687499999998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:97.43, Y:103.17, Z:14.17 [[-8.18940816e-01 5.64634485e-01 1.02585763e-01 9.74307084e+01] [-5.60174963e-01 -8.25340906e-01 7.08265505e-02 1.03169157e+02] [ 1.24659339e-01 5.36777260e-04 9.92199456e-01 1.41732606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.42, Y:103.16, Z:14.17 [[-8.20319724e-01 5.62708509e-01 1.02150305e-01 9.74248676e+01] [-5.58279256e-01 -8.26655024e-01 7.04680290e-02 1.03164008e+02] [ 1.24096022e-01 7.77917791e-04 9.92269909e-01 1.41738044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.43, Y:103.16, Z:14.17 [[-8.21605357e-01 5.60891429e-01 1.01810818e-01 9.74257148e+01] [-5.56485000e-01 -8.27888763e-01 7.01757906e-02 1.03164139e+02] [ 1.23649032e-01 1.00061245e-03 9.92325509e-01 1.41734803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.186875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:97.41, Y:103.16, Z:14.18 [[-8.22395592e-01 5.59673458e-01 1.02132808e-01 9.74139717e+01] [-5.55236938e-01 -8.28712449e-01 7.03393163e-02 1.03155981e+02] [ 1.24005778e-01 1.13883587e-03 9.92280842e-01 1.41754915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.42, Y:103.16, Z:14.18 [[-8.23897203e-01 5.57549348e-01 1.01647052e-01 9.74160101e+01] [-5.53146161e-01 -8.30142611e-01 6.99469044e-02 1.03158030e+02] [ 1.23380400e-01 1.40338226e-03 9.92358457e-01 1.41754536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.42, Y:103.16, Z:14.18 [[-8.24387154e-01 5.56792836e-01 1.01821201e-01 9.74166087e+01] [-5.52376011e-01 -8.30650092e-01 7.00083367e-02 1.03158354e+02] [ 1.23557931e-01 1.47038441e-03 9.92336272e-01 1.41757187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.42, Y:103.16, Z:14.18 [[-8.24938209e-01 5.55953288e-01 1.01945545e-01 9.74150680e+01] [-5.51526497e-01 -8.31212092e-01 7.00355756e-02 1.03157407e+02] [ 1.23674878e-01 1.54935306e-03 9.92321583e-01 1.41758797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.41, Y:103.15, Z:14.18 [[-8.25374561e-01 5.55305612e-01 1.01943669e-01 9.74107874e+01] [-5.50881303e-01 -8.31644831e-01 6.99761791e-02 1.03154428e+02] [ 1.23639090e-01 1.59769703e-03 9.92325966e-01 1.41767587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.41, Y:103.15, Z:14.18 [[-8.26656308e-01 5.53505090e-01 1.01348236e-01 9.74077962e+01] [-5.49126137e-01 -8.32843831e-01 6.95099894e-02 1.03151840e+02] [ 1.22881386e-01 1.80790565e-03 9.92419718e-01 1.41767249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.41, Y:103.15, Z:14.18 [[-8.27555445e-01 5.52152885e-01 1.01386280e-01 9.74081717e+01] [-5.47767681e-01 -8.33740575e-01 6.94782117e-02 1.03152162e+02] [ 1.22892450e-01 1.96094502e-03 9.92418057e-01 1.41769404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.41, Y:103.15, Z:14.18 [[-8.28383103e-01 5.50832047e-01 1.01811050e-01 9.74056503e+01] [-5.46407172e-01 -8.34613428e-01 6.97110388e-02 1.03150773e+02] [ 1.23371944e-01 2.11715848e-03 9.92358242e-01 1.41770038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.40, Y:103.14, Z:14.18 [[-8.30168685e-01 5.47970733e-01 1.02703600e-01 9.73952754e+01] [-5.43453156e-01 -8.36493722e-01 7.02632197e-02 1.03144769e+02] [ 1.24413105e-01 2.51572897e-03 9.92227318e-01 1.41782730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.40, Y:103.15, Z:14.18 [[-8.31227788e-01 5.46315559e-01 1.02954717e-01 9.73965548e+01] [-5.41770524e-01 -8.37575016e-01 7.03760747e-02 1.03145626e+02] [ 1.24679844e-01 2.72071766e-03 9.92193295e-01 1.41773876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.40, Y:103.15, Z:14.18 [[-8.32416312e-01 5.44482491e-01 1.03062601e-01 9.73956365e+01] [-5.39921301e-01 -8.38767025e-01 7.03908175e-02 1.03145434e+02] [ 1.24772079e-01 2.94877105e-03 9.92181049e-01 1.41768344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.39, Y:103.14, Z:14.18 [[-8.33611019e-01 5.42672737e-01 1.02951298e-01 9.73878699e+01] [-5.38115050e-01 -8.39938255e-01 7.02561084e-02 1.03141306e+02] [ 1.24598808e-01 3.16662336e-03 9.92202152e-01 1.41779280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.39, Y:103.14, Z:14.18 [[-8.34884980e-01 5.40753452e-01 1.02726694e-01 9.73857256e+01] [-5.36208571e-01 -8.41174281e-01 7.00442515e-02 1.03141531e+02] [ 1.24287724e-01 3.39595998e-03 9.92240409e-01 1.41786501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.38, Y:103.14, Z:14.18 [[-8.37307808e-01 5.37167608e-01 1.01816483e-01 9.73826218e+01] [-5.32683959e-01 -8.43466763e-01 6.93658345e-02 1.03142792e+02] [ 1.23139899e-01 3.84454750e-03 9.92381874e-01 1.41801727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.606875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:97.38, Y:103.14, Z:14.18 [[-8.38456135e-01 5.35374798e-01 1.01809308e-01 9.73768230e+01] [-5.30885839e-01 -8.44604853e-01 6.93027366e-02 1.03140456e+02] [ 1.23091574e-01 4.05818483e-03 9.92387019e-01 1.41806864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.37, Y:103.14, Z:14.18 [[-8.39290184e-01 5.34003831e-01 1.02136651e-01 9.73720986e+01] [-5.29483023e-01 -8.45471509e-01 6.94669463e-02 1.03138929e+02] [ 1.23449244e-01 4.22330333e-03 9.92341901e-01 1.41812086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.37, Y:103.14, Z:14.18 [[-8.40062169e-01 5.32696697e-01 1.02614721e-01 9.73701314e+01] [-5.28130963e-01 -8.46294861e-01 6.97330247e-02 1.03139638e+02] [ 1.23988863e-01 4.38606469e-03 9.92273916e-01 1.41808739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.69687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.37, Y:103.14, Z:14.18 [[-8.40580292e-01 5.31797495e-01 1.03034929e-01 9.73684877e+01] [-5.27194842e-01 -8.46859665e-01 6.99593175e-02 1.03140267e+02] [ 1.24460316e-01 4.48694017e-03 9.92214441e-01 1.41807879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.72687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.36, Y:103.14, Z:14.18 [[-8.41110927e-01 5.31023646e-01 1.02695161e-01 9.73582275e+01] [-5.26453015e-01 -8.47344860e-01 6.96700137e-02 1.03137905e+02] [ 1.24014641e-01 4.53603272e-03 9.92270020e-01 1.41816449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.36, Y:103.14, Z:14.18 [[-8.41292070e-01 5.30769296e-01 1.02526133e-01 9.73602283e+01] [-5.26219210e-01 -8.47504314e-01 6.94966206e-02 1.03141826e+02] [ 1.23778013e-01 4.51573497e-03 9.92299658e-01 1.41816066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.36, Y:103.15, Z:14.18 [[-8.41014247e-01 5.31275292e-01 1.02184154e-01 9.73577331e+01] [-5.26766632e-01 -8.47187944e-01 6.92062341e-02 1.03145094e+02] [ 1.23336746e-01 4.37622615e-03 9.92355227e-01 1.41810231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.35, Y:103.14, Z:14.18 [[-8.40835377e-01 5.31488742e-01 1.02545533e-01 9.73512820e+01] [-5.26956909e-01 -8.47054389e-01 6.93922060e-02 1.03142889e+02] [ 1.23742820e-01 4.31034451e-03 9.92304961e-01 1.41819528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.35, Y:103.15, Z:14.18 [[-8.40864638e-01 5.31531902e-01 1.02080839e-01 9.73531820e+01] [-5.27048746e-01 -8.47027689e-01 6.90196630e-02 1.03146774e+02] [ 1.23151450e-01 4.23461567e-03 9.92378853e-01 1.41816625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.35, Y:103.15, Z:14.18 [[-8.40895997e-01 5.31574950e-01 1.01597220e-01 9.73512054e+01] [-5.27141791e-01 -8.47001049e-01 6.86349397e-02 1.03148248e+02] [ 1.22537567e-01 4.15870555e-03 9.92455163e-01 1.41819297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.35, Y:103.15, Z:14.18 [[-8.41007563e-01 5.31616860e-01 1.00447960e-01 9.73466437e+01] [-5.27291051e-01 -8.46975241e-01 6.78018354e-02 1.03150683e+02] [ 1.21121534e-01 4.05654576e-03 9.92629396e-01 1.41834213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.34, Y:103.15, Z:14.18 [[-8.41290815e-01 5.31190738e-01 1.00330280e-01 9.73385163e+01] [-5.26879025e-01 -8.47242516e-01 6.76654451e-02 1.03147253e+02] [ 1.20947337e-01 4.06439730e-03 9.92650604e-01 1.41836790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.34, Y:103.15, Z:14.18 [[-8.41575839e-01 5.30708965e-01 1.00489314e-01 9.73374843e+01] [-5.26387091e-01 -8.47544250e-01 6.77153981e-02 1.03148388e+02] [ 1.21106309e-01 4.09136526e-03 9.92631111e-01 1.41833438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.33, Y:103.15, Z:14.18 [[-8.41898475e-01 5.30108933e-01 1.00952844e-01 9.73321520e+01] [-5.25749722e-01 -8.47919403e-01 6.79699558e-02 1.03146885e+02] [ 1.21631356e-01 4.14787234e-03 9.92566677e-01 1.41832700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.32, Y:103.15, Z:14.18 [[-8.42289181e-01 5.29199113e-01 1.02456012e-01 9.73246435e+01] [-5.24709691e-01 -8.48486825e-01 6.89191400e-02 1.03146559e+02] [ 1.23404525e-01 4.29018337e-03 9.92347176e-01 1.41832440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.32, Y:103.15, Z:14.18 [[-8.42655836e-01 5.28553202e-01 1.02774776e-01 9.73223102e+01] [-5.24042611e-01 -8.48889195e-01 6.90396749e-02 1.03147329e+02] [ 1.23735538e-01 4.31832321e-03 9.92305834e-01 1.41825989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.32, Y:103.15, Z:14.18 [[-8.42666997e-01 5.28426224e-01 1.03334688e-01 9.73235027e+01] [-5.23872602e-01 -8.48968283e-01 6.93566947e-02 1.03149971e+02] [ 1.24377769e-01 4.31038571e-03 9.92225575e-01 1.41816759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.32, Y:103.15, Z:14.18 [[-8.42130616e-01 5.29183938e-01 1.03828634e-01 9.73164252e+01] [-5.24599672e-01 -8.48496898e-01 6.96290085e-02 1.03151065e+02] [ 1.24944827e-01 4.16825236e-03 9.92154935e-01 1.41827526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.30, Y:103.14, Z:14.19 [[-8.41382548e-01 5.30333716e-01 1.04026719e-01 9.73008230e+01] [-5.25748064e-01 -8.47779753e-01 6.97026830e-02 1.03143908e+02] [ 1.25157429e-01 3.95477479e-03 9.92129013e-01 1.41854552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.31, Y:103.15, Z:14.18 [[-8.40677006e-01 5.31524180e-01 1.03654320e-01 9.73103238e+01] [-5.26987870e-01 -8.47034980e-01 6.93940036e-02 1.03153078e+02] [ 1.24683426e-01 3.71337392e-03 9.92189626e-01 1.41839667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.31, Y:103.16, Z:14.18 [[-8.40155352e-01 5.32471829e-01 1.03018133e-01 9.73102584e+01] [-5.28005641e-01 -8.46440486e-01 6.89096967e-02 1.03155577e+02] [ 1.23891191e-01 3.50069511e-03 9.92289634e-01 1.41838168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.30, Y:103.15, Z:14.18 [[-8.39425729e-01 5.33885737e-01 1.01638893e-01 9.73014953e+01] [-5.29556147e-01 -8.45550582e-01 6.79301140e-02 1.03154649e+02] [ 1.22207744e-01 3.19878505e-03 9.92499388e-01 1.41843967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.30, Y:103.16, Z:14.19 [[-8.39423900e-01 5.33900523e-01 1.01576315e-01 9.72986581e+01] [-5.29583462e-01 -8.45541445e-01 6.78308255e-02 1.03155564e+02] [ 1.22101897e-01 3.14567954e-03 9.92512585e-01 1.41850649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.30, Y:103.16, Z:14.19 [[-8.39280753e-01 5.34065852e-01 1.01889564e-01 9.72973287e+01] [-5.29730371e-01 -8.45437264e-01 6.79821064e-02 1.03156892e+02] [ 1.22448156e-01 3.08207681e-03 9.92470125e-01 1.41852130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.30, Y:103.16, Z:14.18 [[-8.39408584e-01 5.33779380e-01 1.02336708e-01 9.72999330e+01] [-5.29410690e-01 -8.45618138e-01 6.82223236e-02 1.03160822e+02] [ 1.22953446e-01 3.08825669e-03 9.92407634e-01 1.41847463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.16, Y:103.07, Z:14.21 [[-8.39511377e-01 5.32723938e-01 1.06891783e-01 9.71575358e+01] [-5.29001513e-01 -8.46281085e-01 6.29740056e-02 1.03072513e+02] [ 1.24008254e-01 -3.67852064e-03 9.92274368e-01 1.42067467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.58, Y:102.49, Z:13.95 [[-8.43957475e-01 8.07134819e-02 -5.30302852e-01 9.75794993e+01] [-5.35999612e-01 -8.82247199e-02 8.39595625e-01 1.02494198e+02] [ 2.09808657e-02 9.92825127e-01 1.17720307e-01 1.39526993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.33, Y:102.81, Z:15.01 [[-8.17103101e-01 -1.80125102e-01 5.47628953e-01 9.73345565e+01] [-5.60131245e-01 2.33582385e-02 -8.28074502e-01 1.02811830e+02] [ 1.36365357e-01 -9.83366331e-01 -1.19979787e-01 1.50077417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.44687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.39, Y:102.37, Z:13.97 [[-8.43998221e-01 7.94171541e-02 -5.30433707e-01 9.73857393e+01] [-5.35993144e-01 -8.90227328e-02 8.39515517e-01 1.02368106e+02] [ 1.94512750e-02 9.92858433e-01 1.17702078e-01 1.39655414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.47687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.14, Y:102.68, Z:15.03 [[-8.16785849e-01 -1.80961279e-01 5.47826516e-01 9.71408240e+01] [-5.60349504e-01 2.27447589e-02 -8.27943905e-01 1.02683238e+02] [ 1.37365606e-01 -9.83227182e-01 -1.19979160e-01 1.50302223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.07, Y:102.64, Z:15.01 [[-8.02483512e-01 -2.36118246e-01 5.47967506e-01 9.70700206e+01] [-5.60754066e-01 -1.53872521e-02 -8.27839423e-01 1.02640706e+02] [ 2.03899707e-01 -9.71602494e-01 -1.20056250e-01 1.50115968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.08, Y:102.17, Z:13.97 [[-8.36719312e-01 1.34556146e-01 -5.30844080e-01 9.70766905e+01] [-5.40898390e-01 -5.15165406e-02 8.39508771e-01 1.02165465e+02] [ 8.56138139e-02 9.89565910e-01 1.15886087e-01 1.39736889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.89, Y:102.52, Z:15.04 [[-8.02477422e-01 -2.36466870e-01 5.47826073e-01 9.68947132e+01] [-5.60618539e-01 -1.55494221e-02 -8.27928179e-01 1.02523069e+02] [ 2.04295964e-01 -9.71515123e-01 -1.20089651e-01 1.50440687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.90, Y:102.05, Z:14.00 [[-8.36373632e-01 1.34584495e-01 -5.31381371e-01 9.68997831e+01] [-5.41450239e-01 -5.16257050e-02 8.39146248e-01 1.02048537e+02] [ 8.55031363e-02 9.89556365e-01 1.16049185e-01 1.40010772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.72, Y:102.40, Z:15.08 [[-8.02775810e-01 -2.36650762e-01 5.47309250e-01 9.67179254e+01] [-5.60104677e-01 -1.55688360e-02 -8.28275535e-01 1.02401950e+02] [ 2.04533004e-01 -9.71470035e-01 -1.20050913e-01 1.50804909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.65, Y:102.36, Z:15.07 [[-7.84876834e-01 -2.90426661e-01 5.47376206e-01 9.66502945e+01] [-5.57668130e-01 -5.40336389e-02 -8.28303461e-01 1.02360676e+02] [ 2.70138136e-01 -9.55370462e-01 -1.19551941e-01 1.50673305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.59, Y:101.84, Z:14.03 [[-8.25905929e-01 1.88354093e-01 -5.31415215e-01 9.65894179e+01] [-5.43199023e-01 -1.33213699e-02 8.39498280e-01 1.01841960e+02] [ 1.51043759e-01 9.82010833e-01 1.13315958e-01 1.40339808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.55, Y:101.81, Z:14.07 [[-8.37249932e-01 1.32999246e-01 -5.30399616e-01 9.65505702e+01] [-5.40349837e-01 -5.24524235e-02 8.39804023e-01 1.01812295e+02] [ 8.38725564e-02 9.89727207e-01 1.15781909e-01 1.40709227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.50, Y:101.77, Z:14.11 [[-8.44739324e-01 7.66386140e-02 -5.29662154e-01 9.64972538e+01] [-5.34931289e-01 -9.08659609e-02 8.39995175e-01 1.01773437e+02] [ 1.62478054e-02 9.92909815e-01 1.17754443e-01 1.41061270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.44, Y:101.71, Z:14.14 [[-8.38057040e-01 2.52519623e-02 -5.44997924e-01 9.64357111e+01] [-5.43571733e-01 -1.24332552e-01 8.30103119e-01 1.01711296e+02] [-4.67992503e-02 9.91919228e-01 1.17924024e-01 1.41402579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.03, Y:102.33, Z:14.43 [[-8.58325539e-01 5.13018577e-01 -9.44505209e-03 9.60275070e+01] [-5.13023268e-01 -8.58372122e-01 -2.10388140e-03 1.02331992e+02] [-9.18669965e-03 3.03971635e-03 9.99953181e-01 1.44346838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.02, Y:102.33, Z:14.44 [[-8.57599870e-01 5.14253481e-01 -8.11302454e-03 9.60222990e+01] [-5.14227368e-01 -8.57638199e-01 -5.18984199e-03 1.02331986e+02] [-9.62693406e-03 -2.78868561e-04 9.99953621e-01 1.44361653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.02, Y:102.33, Z:14.44 [[-8.57365929e-01 5.14638412e-01 -8.42434129e-03 9.60193384e+01] [-5.14610357e-01 -8.57407271e-01 -5.38084035e-03 1.02330864e+02] [-9.99227861e-03 -2.78095907e-04 9.99950037e-01 1.44364044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.02, Y:102.33, Z:14.44 [[-8.57073654e-01 5.15107892e-01 -9.41334283e-03 9.60161433e+01] [-5.15072966e-01 -8.57125294e-01 -6.00583624e-03 1.02329546e+02] [-1.11620679e-02 -2.98885604e-04 9.99937658e-01 1.44356223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.02, Y:102.34, Z:14.44 [[-8.56945390e-01 5.15320229e-01 -9.46889236e-03 9.60233697e+01] [-5.15284957e-01 -8.56997652e-01 -6.03641688e-03 1.02335123e+02] [-1.12255063e-02 -2.93701823e-04 9.99936949e-01 1.44358388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.01, Y:102.33, Z:14.44 [[-8.57036317e-01 5.15175296e-01 -9.11951981e-03 9.60107025e+01] [-5.15142605e-01 -8.57084789e-01 -5.81047793e-03 1.02328739e+02] [-1.08096164e-02 -2.81937417e-04 9.99941535e-01 1.44355090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.01, Y:102.33, Z:14.44 [[-8.54647952e-01 5.19148014e-01 -7.88789370e-03 9.60106913e+01] [-5.19123791e-01 -8.54684329e-01 -5.01866787e-03 1.02331732e+02] [-9.34709059e-03 -1.94400933e-04 9.99956296e-01 1.44366752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.02, Y:102.34, Z:14.44 [[-8.53364145e-01 5.21249325e-01 -8.29326926e-03 9.60186959e+01] [-5.21222714e-01 -8.53404424e-01 -5.26981674e-03 1.02337502e+02] [-9.82440109e-03 -1.74432341e-04 9.99951724e-01 1.44374166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.02, Y:102.34, Z:14.44 [[-8.52713035e-01 5.22310829e-01 -8.47807174e-03 9.60209054e+01] [-5.22283123e-01 -8.52755165e-01 -5.38214573e-03 1.02339878e+02] [-1.00408725e-02 -1.61472033e-04 9.99949576e-01 1.44380313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.03, Y:102.35, Z:14.44 [[-8.51523229e-01 5.24233810e-01 -9.33287377e-03 9.60292964e+01] [-5.24200414e-01 -8.51574360e-01 -5.91908588e-03 1.02345744e+02] [-1.10506210e-02 -1.47942835e-04 9.99938929e-01 1.44382550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.04, Y:102.35, Z:14.44 [[-8.51353316e-01 5.24511571e-01 -9.22733098e-03 9.60384905e+01] [-5.24478997e-01 -8.51403308e-01 -5.84711172e-03 1.02352313e+02] [-1.09230579e-02 -1.38416651e-04 9.99940332e-01 1.44385796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.93, Y:102.27, Z:14.41 [[-8.48310504e-01 5.28403450e-01 -3.40452975e-02 9.59284845e+01] [-5.28850396e-01 -8.48699770e-01 5.09495470e-03 1.02271554e+02] [-2.62020445e-02 2.23269727e-02 9.99407304e-01 1.44119842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.04, Y:102.14, Z:15.14 [[-8.45817730e-01 6.48665524e-02 5.29513643e-01 9.60380149e+01] [-5.30322649e-01 -2.09932847e-01 -8.21392773e-01 1.02136220e+02] [ 5.78813892e-02 -9.75561649e-01 2.11965126e-01 1.51428197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.19687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.86, Y:102.20, Z:14.41 [[-8.89085010e-01 4.54889992e-01 5.10190118e-02 9.58644427e+01] [-4.53910523e-01 -8.90540539e-01 3.00463909e-02 1.02203600e+02] [ 5.91023008e-02 3.55572939e-03 9.98245598e-01 1.44082522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.22687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.85, Y:102.20, Z:14.41 [[-8.88932040e-01 4.55110067e-01 5.17170659e-02 9.58472773e+01] [-4.54307313e-01 -8.90435033e-01 2.70243796e-02 1.02195968e+02] [ 5.83497545e-02 5.27395662e-04 9.98296062e-01 1.44115066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.87, Y:102.21, Z:14.41 [[-8.88980731e-01 4.55119028e-01 5.07930130e-02 9.58663945e+01] [-4.54346193e-01 -8.90430472e-01 2.65162628e-02 1.02206397e+02] [ 5.72957023e-02 4.94834595e-04 9.98357129e-01 1.44111928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.84, Y:102.19, Z:14.41 [[-8.89066793e-01 4.55008773e-01 5.02718047e-02 9.58386626e+01] [-4.54252979e-01 -8.90486828e-01 2.62190802e-02 1.02192186e+02] [ 5.66962914e-02 4.74396554e-04 9.98391359e-01 1.44134403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.85, Y:102.20, Z:14.41 [[-8.89249347e-01 4.54734775e-01 4.95164894e-02 9.58480740e+01] [-4.54002495e-01 -8.90626785e-01 2.58004767e-02 1.02197387e+02] [ 5.58330857e-02 4.62447343e-04 9.98440010e-01 1.44137606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.84, Y:102.19, Z:14.41 [[-8.89481637e-01 4.54267248e-01 4.96355154e-02 9.58375814e+01] [-4.53532124e-01 -8.90865336e-01 2.58373105e-02 1.02191449e+02] [ 5.59556040e-02 4.70512493e-04 9.98433147e-01 1.44140875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.85, Y:102.20, Z:14.41 [[-8.89680817e-01 4.53918646e-01 4.92534991e-02 9.58487033e+01] [-4.53195646e-01 -8.91043010e-01 2.56137093e-02 1.02195981e+02] [ 5.55135263e-02 4.66554481e-04 9.98457826e-01 1.44125693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.84, Y:102.19, Z:14.41 [[-8.89992584e-01 4.53333694e-01 4.90077870e-02 9.58406987e+01] [-4.52618369e-01 -8.91340750e-01 2.54613138e-02 1.02191087e+02] [ 5.52251091e-02 4.78555811e-04 9.98473815e-01 1.44127616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.85, Y:102.19, Z:14.41 [[-8.90464874e-01 4.52468566e-01 4.84200849e-02 9.58454622e+01] [-4.51770347e-01 -8.91780210e-01 2.51318613e-02 1.02192817e+02] [ 5.45514508e-02 5.04281132e-04 9.98510834e-01 1.44123025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.85, Y:102.19, Z:14.41 [[-8.90912547e-01 4.51613444e-01 4.81677372e-02 9.58487213e+01] [-4.50922550e-01 -8.92213548e-01 2.49767873e-02 1.02193902e+02] [ 5.42557606e-02 5.32214374e-04 9.98526930e-01 1.44121600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.84, Y:102.19, Z:14.41 [[-8.91606847e-01 4.50255349e-01 4.80348892e-02 9.58385980e+01] [-4.49567592e-01 -8.92899642e-01 2.48839252e-02 1.02188422e+02] [ 5.40944558e-02 5.91748566e-04 9.98535648e-01 1.44136306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.84, Y:102.19, Z:14.41 [[-8.92051964e-01 4.49382102e-01 4.79481048e-02 9.58366223e+01] [-4.48696865e-01 -8.93339431e-01 2.48149869e-02 1.02187023e+02] [ 5.39853436e-02 6.22093454e-04 9.98541534e-01 1.44134737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.82, Y:102.18, Z:14.41 [[-8.92438723e-01 4.48603746e-01 4.80396186e-02 9.58222548e+01] [-4.47916072e-01 -8.93730529e-01 2.48381616e-02 1.02178976e+02] [ 5.40769661e-02 6.48819918e-04 9.98536560e-01 1.44137471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.84, Y:102.19, Z:14.41 [[-8.92725985e-01 4.48053483e-01 4.78371355e-02 9.58425221e+01] [-4.47372105e-01 -8.94006512e-01 2.47094320e-02 1.02188729e+02] [ 5.38378577e-02 6.57752065e-04 9.98549474e-01 1.44120012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.83, Y:102.18, Z:14.41 [[-8.93250587e-01 4.46953440e-01 4.83323067e-02 9.58263484e+01] [-4.46257595e-01 -8.94556940e-01 2.49407348e-02 1.02180184e+02] [ 5.43833476e-02 7.09667068e-04 9.98519879e-01 1.44127120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.84, Y:102.19, Z:14.41 [[-8.93509612e-01 4.46344897e-01 4.91610217e-02 9.58439607e+01] [-4.45625426e-01 -8.94860710e-01 2.53434446e-02 1.02189089e+02] [ 5.53041839e-02 7.37210141e-04 9.98469280e-01 1.44120902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.82, Y:102.18, Z:14.41 [[-8.93941943e-01 4.45456590e-01 4.93581663e-02 9.58224790e+01] [-4.44731353e-01 -8.95303205e-01 2.54203629e-02 1.02177673e+02] [ 5.55141927e-02 7.73204516e-04 9.98457599e-01 1.44127164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.706875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:95.82, Y:102.17, Z:14.41 [[-8.94516752e-01 4.44148066e-01 5.07176083e-02 9.58158296e+01] [-4.43381672e-01 -8.95952992e-01 2.60945951e-02 1.02173249e+02] [ 5.70304569e-02 8.54794442e-04 9.98372073e-01 1.44128862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.82, Y:102.17, Z:14.41 [[-8.94840164e-01 4.43437039e-01 5.12315607e-02 9.58199512e+01] [-4.42655357e-01 -8.96305086e-01 2.63330055e-02 1.02174888e+02] [ 5.75961384e-02 8.85906194e-04 9.98339572e-01 1.44122066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.766875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:95.82, Y:102.17, Z:14.41 [[-8.94979035e-01 4.43135682e-01 5.14129706e-02 9.58150751e+01] [-4.42349456e-01 -8.96454117e-01 2.64002929e-02 1.02171529e+02] [ 5.77882810e-02 8.85209128e-04 9.98328469e-01 1.44122615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.83, Y:102.18, Z:14.41 [[-8.95133069e-01 4.42833279e-01 5.13368955e-02 9.58251687e+01] [-4.42050371e-01 -8.96603542e-01 2.63354667e-02 1.02176184e+02] [ 5.76910635e-02 8.80253379e-04 9.98334096e-01 1.44117163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.79, Y:102.16, Z:14.41 [[-8.95028178e-01 4.43128341e-01 5.06145655e-02 9.57912974e+01] [-4.42369231e-01 -8.96457802e-01 2.59398045e-02 1.02158278e+02] [ 5.68684847e-02 8.26529555e-04 9.98381336e-01 1.44143231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.83, Y:102.18, Z:14.41 [[-8.95015228e-01 4.43247643e-01 4.97922530e-02 9.58316240e+01] [-4.42514592e-01 -8.96398859e-01 2.54935689e-02 1.02178908e+02] [ 5.59336830e-02 7.83333894e-04 9.98434179e-01 1.44125388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.81, Y:102.17, Z:14.41 [[-8.95080801e-01 4.43241677e-01 4.86536288e-02 9.58064497e+01] [-4.42543101e-01 -8.96401842e-01 2.48865723e-02 1.02166197e+02] [ 5.46439685e-02 7.44165279e-04 9.98505625e-01 1.44142650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.84, Y:102.18, Z:14.41 [[-8.93410755e-01 4.46871042e-01 4.60813890e-02 9.58386607e+01] [-4.46250379e-01 -8.94598260e-01 2.35489637e-02 1.02182126e+02] [ 5.17476804e-02 4.75060149e-04 9.98660078e-01 1.44132465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.94687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.84, Y:102.18, Z:14.42 [[-8.88912933e-01 4.56173779e-01 4.17046851e-02 9.58404675e+01] [-4.55676538e-01 -8.89890711e-01 2.12935440e-02 1.02184663e+02] [ 4.68261683e-02 -7.57398473e-05 9.98903050e-01 1.44192750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.97687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.85, Y:102.19, Z:14.42 [[-8.83172822e-01 4.67354557e-01 3.98181550e-02 9.58520095e+01] [-4.66913420e-01 -8.84069733e-01 2.03117141e-02 1.02187620e+02] [ 4.46947978e-02 -6.52877100e-04 9.99000475e-01 1.44222380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.85, Y:102.18, Z:14.42 [[-8.81734005e-01 4.69877399e-01 4.19568158e-02 9.58523274e+01] [-4.69391432e-01 -8.82731285e-01 2.13813421e-02 1.02184038e+02] [ 4.70832034e-02 -8.41513430e-04 9.98890617e-01 1.44187254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.85, Y:102.18, Z:14.41 [[-8.80833639e-01 4.71281363e-01 4.50108625e-02 9.58495993e+01] [-4.70725026e-01 -8.81982352e-01 2.29146417e-02 1.02177837e+02] [ 5.04980299e-02 -1.00375218e-03 9.98723656e-01 1.44138387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.85, Y:102.18, Z:14.41 [[-8.80573251e-01 4.71434142e-01 4.83797345e-02 9.58548774e+01] [-4.70792928e-01 -8.81900571e-01 2.46049294e-02 1.02175844e+02] [ 5.42657193e-02 -1.11039418e-03 9.98525913e-01 1.44087803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.85, Y:102.17, Z:14.41 [[-8.81365080e-01 4.69476066e-01 5.27998089e-02 9.58530103e+01] [-4.68710330e-01 -8.82944508e-01 2.68257917e-02 1.02170300e+02] [ 5.92133685e-02 -1.10449976e-03 9.98244738e-01 1.44055208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.85, Y:102.17, Z:14.41 [[-8.82327112e-01 4.67580243e-01 5.35498259e-02 9.58501389e+01] [-4.66790650e-01 -8.83950048e-01 2.71808968e-02 1.02169023e+02] [ 6.00446215e-02 -1.01411582e-03 9.98195179e-01 1.44081965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.85, Y:102.17, Z:14.41 [[-8.83304677e-01 4.65725815e-01 5.35939667e-02 9.58483580e+01] [-4.64933106e-01 -8.84928603e-01 2.71767203e-02 1.02168372e+02] [ 6.00837343e-02 -9.12285265e-04 9.98192924e-01 1.44120606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.84, Y:102.16, Z:14.42 [[-8.84505257e-01 4.63539724e-01 5.27387380e-02 9.58393042e+01] [-4.62769870e-01 -8.86075799e-01 2.67156341e-02 1.02163193e+02] [ 5.91142771e-02 -7.75780156e-04 9.98250921e-01 1.44162809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.84, Y:102.16, Z:14.42 [[-8.87615826e-01 4.57703602e-01 5.14349858e-02 9.58414415e+01] [-4.56962952e-01 -8.89104749e-01 2.60308746e-02 1.02159732e+02] [ 5.76455152e-02 -3.98466650e-04 9.98337035e-01 1.44188395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.84, Y:102.15, Z:14.42 [[-8.89484316e-01 4.54172840e-01 5.04448503e-02 9.58391738e+01] [-4.53456123e-01 -8.90913574e-01 2.55058596e-02 1.02154609e+02] [ 5.65260706e-02 -1.87464204e-04 9.98401106e-01 1.44169709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.83, Y:102.15, Z:14.42 [[-8.91489445e-01 4.50362089e-01 4.91991779e-02 9.58286396e+01] [-4.49675828e-01 -8.92846005e-01 2.48528067e-02 1.02146165e+02] [ 5.51200514e-02 3.23337290e-05 9.98479734e-01 1.44158274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.83, Y:102.15, Z:14.42 [[-8.94771482e-01 4.43953291e-01 4.78484091e-02 9.58321159e+01] [-4.43296246e-01 -8.96049842e-01 2.41478713e-02 1.02145018e+02] [ 5.35950863e-02 3.95806446e-04 9.98562672e-01 1.44151289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.336875 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:95.83, Y:102.14, Z:14.42 [[-8.96214094e-01 4.41107733e-01 4.71621204e-02 9.58316889e+01] [-4.40466663e-01 -8.97453998e-01 2.37789779e-02 1.02144364e+02] [ 5.28149245e-02 5.37713301e-04 9.98604173e-01 1.44154799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.83, Y:102.14, Z:14.42 [[-8.97461995e-01 4.38602676e-01 4.67937969e-02 9.58266942e+01] [-4.37969358e-01 -8.98680843e-01 2.35708360e-02 1.02141261e+02] [ 5.23909206e-02 6.59680272e-04 9.98626435e-01 1.44174263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.81, Y:102.13, Z:14.42 [[-8.98608336e-01 4.36336910e-01 4.59691265e-02 9.58101498e+01] [-4.35723894e-01 -8.99783044e-01 2.31335587e-02 1.02132070e+02] [ 5.14562661e-02 7.58161913e-04 9.98674961e-01 1.44191938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.81, Y:102.13, Z:14.42 [[-9.00653526e-01 4.32123537e-01 4.57435829e-02 9.58143204e+01] [-4.31512222e-01 -9.01813894e-01 2.29978926e-02 1.02131809e+02] [ 5.11901293e-02 9.74217929e-04 9.98688451e-01 1.44186351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.81, Y:102.13, Z:14.42 [[-9.00821200e-01 4.31772939e-01 4.57525347e-02 9.58122801e+01] [-4.31162076e-01 -9.01981807e-01 2.29800710e-02 1.02130706e+02] [ 5.11901267e-02 9.74177224e-04 9.98688451e-01 1.44187469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.81, Y:102.13, Z:14.42 [[-9.01598311e-01 4.30117878e-01 4.60336511e-02 9.58069620e+01] [-4.29498485e-01 -9.02772119e-01 2.30987426e-02 1.02127150e+02] [ 5.14930789e-02 1.05440390e-03 9.98672795e-01 1.44185155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.77, Y:102.11, Z:14.42 [[-9.02072538e-01 4.29061643e-01 4.65965967e-02 9.57705092e+01] [-4.28426789e-01 -9.03274532e-01 2.33582254e-02 1.02108283e+02] [ 5.21116376e-02 1.10758337e-03 9.98640651e-01 1.44193463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.80, Y:102.12, Z:14.42 [[-9.02524001e-01 4.28009618e-01 4.75204720e-02 9.57991954e+01] [-4.27349136e-01 -9.03773422e-01 2.37974372e-02 1.02122692e+02] [ 5.31332716e-02 1.16992557e-03 9.98586745e-01 1.44168718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.576875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:95.81, Y:102.13, Z:14.41 [[-9.03253739e-01 4.26186648e-01 4.99762248e-02 9.58084197e+01] [-4.25454727e-01 -9.04634290e-01 2.50015462e-02 1.02128027e+02] [ 5.58655318e-02 1.32011902e-03 9.98437429e-01 1.44147810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.606875 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:95.81, Y:102.13, Z:14.41 [[-9.03835006e-01 4.24818958e-01 5.10992679e-02 9.58075835e+01] [-4.24053004e-01 -9.05277226e-01 2.55381016e-02 1.02128249e+02] [ 5.71080731e-02 1.41343213e-03 9.98367002e-01 1.44143096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.80, Y:102.13, Z:14.41 [[-9.04363523e-01 4.23542903e-01 5.23261692e-02 9.58047881e+01] [-4.22739067e-01 -9.05874792e-01 2.61255055e-02 1.02127725e+02] [ 5.84662301e-02 1.50663823e-03 9.98288250e-01 1.44146140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.666875 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:95.78, Y:102.12, Z:14.42 [[-9.05580297e-01 4.20867632e-01 5.28655017e-02 9.57837592e+01] [-4.20044094e-01 -9.07120519e-01 2.63689843e-02 1.02119425e+02] [ 5.90532333e-02 1.67339095e-03 9.98253432e-01 1.44166566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.69687499999998 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:95.76, Y:102.11, Z:14.42 [[-9.06317818e-01 4.19345181e-01 5.23223924e-02 9.57648842e+01] [-4.18537443e-01 -9.07825215e-01 2.60727185e-02 1.02111361e+02] [ 5.84330560e-02 1.73128897e-03 9.98289828e-01 1.44181672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.72687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.78, Y:102.12, Z:14.42 [[-9.07012269e-01 4.17898740e-01 5.18593074e-02 9.57810819e+01] [-4.17104364e-01 -9.08491858e-01 2.58165348e-02 1.02120779e+02] [ 5.79024559e-02 1.78517034e-03 9.98320649e-01 1.44181130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.76, Y:102.11, Z:14.42 [[-9.07663232e-01 4.16589934e-01 5.09929813e-02 9.57630559e+01] [-4.15821252e-01 -9.09092698e-01 2.53604571e-02 1.02112781e+02] [ 5.69222581e-02 1.81478919e-03 9.98376964e-01 1.44190619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.76, Y:102.11, Z:14.42 [[-9.08697935e-01 4.14563821e-01 4.90397928e-02 9.57565248e+01] [-4.13851283e-01 -9.10018369e-01 2.43656469e-02 1.02111361e+02] [ 5.47282280e-02 1.84583188e-03 9.98499581e-01 1.44191199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.81687499999998 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:95.75, Y:102.11, Z:14.42 [[-9.09150187e-01 4.13663634e-01 4.82528220e-02 9.57451931e+01] [-4.12973808e-01 -9.10427912e-01 2.39509987e-02 1.02106669e+02] [ 5.38383732e-02 1.84790328e-03 9.98547953e-01 1.44195016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.74, Y:102.11, Z:14.42 [[-9.09505152e-01 4.12971589e-01 4.74852179e-02 9.57435347e+01] [-4.12303851e-01 -9.10742055e-01 2.35466211e-02 1.02107037e+02] [ 5.29708705e-02 1.83743502e-03 9.98594367e-01 1.44193299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.87687499999998 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:95.72, Y:102.10, Z:14.42 [[-9.09917649e-01 4.12087908e-01 4.72591497e-02 9.57193978e+01] [-4.11426573e-01 -9.11142197e-01 2.34109566e-02 1.02096732e+02] [ 5.27071776e-02 1.85837258e-03 9.98608282e-01 1.44208085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.73, Y:102.10, Z:14.42 [[-9.10203386e-01 4.11471113e-01 4.71308621e-02 9.57303666e+01] [-4.10813789e-01 -9.11420889e-01 2.33236856e-02 1.02103292e+02] [ 5.25530751e-02 1.86728954e-03 9.98616387e-01 1.44203333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.936875 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:95.73, Y:102.10, Z:14.42 [[-9.08536945e-01 4.15045236e-01 4.79382019e-02 9.57266849e+01] [-4.14371452e-01 -9.09799249e-01 2.36986474e-02 1.02103787e+02] [ 5.34501508e-02 1.66687436e-03 9.98569128e-01 1.44201815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.73, Y:102.11, Z:14.42 [[-9.07724255e-01 4.16794921e-01 4.81525728e-02 9.57300471e+01] [-4.16118854e-01 -9.08999227e-01 2.37803325e-02 1.02106458e+02] [ 5.36821733e-02 1.54879117e-03 9.98556871e-01 1.44200723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.996875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:95.74, Y:102.11, Z:14.42 [[-9.07287056e-01 4.17684703e-01 4.86794250e-02 9.57353352e+01] [-4.16996364e-01 -9.08590814e-01 2.40159170e-02 1.02110248e+02] [ 5.42607595e-02 1.49018743e-03 9.98525688e-01 1.44194012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.72, Y:102.10, Z:14.42 [[-9.07105860e-01 4.17960651e-01 4.96774843e-02 9.57234813e+01] [-4.17245582e-01 -9.08463924e-01 2.44831394e-02 1.02104993e+02] [ 5.53631912e-02 1.48108836e-03 9.98465184e-01 1.44191599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.76, Y:102.11, Z:14.39 [[-9.03591641e-01 4.27901572e-01 2.05521763e-02 9.57637832e+01] [-4.26803082e-01 -9.03329456e-01 4.28371661e-02 1.02110005e+02] [ 3.68954770e-02 2.99355730e-02 9.98870655e-01 1.43854357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.086875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:95.75, Y:102.13, Z:14.43 [[-9.05884899e-01 4.18368200e-01 6.58832272e-02 9.57454112e+01] [-4.19304490e-01 -9.07845562e-01 -4.23360791e-04 1.02125740e+02] [ 5.96346747e-02 -2.80086491e-02 9.97827250e-01 1.44302123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.116875 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:95.74, Y:102.11, Z:14.42 [[-9.05809465e-01 4.20345263e-01 5.30949470e-02 9.57356567e+01] [-4.19535193e-01 -9.07363181e-01 2.61204886e-02 1.02113761e+02] [ 5.91560236e-02 1.38498697e-03 9.98247788e-01 1.44152712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.146875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:95.73, Y:102.11, Z:14.42 [[-9.05281086e-01 4.21662285e-01 5.16437199e-02 9.57295476e+01] [-4.20899501e-01 -9.06752104e-01 2.53817323e-02 1.02113924e+02] [ 5.75305709e-02 1.24078622e-03 9.98342974e-01 1.44173263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.176875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:95.72, Y:102.11, Z:14.42 [[-9.04967489e-01 4.22456299e-01 5.06410774e-02 9.57164708e+01] [-4.21725502e-01 -9.06382571e-01 2.48643628e-02 1.02108932e+02] [ 5.64042966e-02 1.14480620e-03 9.98407354e-01 1.44190920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.74, Y:102.12, Z:14.42 [[-9.04707424e-01 4.23170373e-01 4.93083312e-02 9.57357788e+01] [-4.22479972e-01 -9.06049521e-01 2.41855115e-02 1.02119823e+02] [ 5.49103818e-02 1.04902940e-03 9.98490736e-01 1.44189186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.73, Y:102.12, Z:14.42 [[-9.04218446e-01 4.24236038e-01 4.91201233e-02 9.57311681e+01] [-4.23553925e-01 -9.05551141e-01 2.40666403e-02 1.02119054e+02] [ 5.46907198e-02 9.56479077e-04 9.98502884e-01 1.44195367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.75, Y:102.13, Z:14.42 [[-9.02760556e-01 4.27384396e-01 4.86410925e-02 9.57458304e+01] [-4.26721397e-01 -9.04069707e-01 2.38078653e-02 1.02127801e+02] [ 5.41500484e-02 7.36606768e-04 9.98532538e-01 1.44189619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.73, Y:102.12, Z:14.42 [[-9.01991266e-01 4.29059135e-01 4.81665329e-02 9.57314944e+01] [-4.28412775e-01 -9.03276198e-01 2.35500209e-02 1.02121554e+02] [ 5.36120344e-02 6.06755085e-04 9.98561656e-01 1.44192058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.74, Y:102.13, Z:14.42 [[-9.01283602e-01 4.30560855e-01 4.80127016e-02 9.57378499e+01] [-4.29921986e-01 -9.02561414e-01 2.34516756e-02 1.02125356e+02] [ 5.34317853e-02 4.94894601e-04 9.98571379e-01 1.44189978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.73, Y:102.12, Z:14.42 [[-9.00737330e-01 4.31723948e-01 4.78193973e-02 9.57325391e+01] [-4.31093081e-01 -9.02005693e-01 2.33342218e-02 1.02123163e+02] [ 5.32073110e-02 4.03393308e-04 9.98583406e-01 1.44190431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.74, Y:102.13, Z:14.42 [[-9.00227202e-01 4.32676799e-01 4.88034170e-02 9.57430010e+01] [-4.32022380e-01 -9.01549043e-01 2.37904630e-02 1.02128034e+02] [ 5.42922553e-02 3.32653598e-04 9.98525032e-01 1.44171650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.73, Y:102.12, Z:14.42 [[-9.00422488e-01 4.32230254e-01 4.91563866e-02 9.57279333e+01] [-4.31566966e-01 -9.01763213e-01 2.39387211e-02 1.02120455e+02] [ 5.46744606e-02 3.40690238e-04 9.98504175e-01 1.44169530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.44687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.77, Y:102.12, Z:14.38 [[-8.95995692e-01 4.43981573e-01 8.49010094e-03 9.57701188e+01] [-4.43255890e-01 -8.95356231e-01 4.31443506e-02 1.02121819e+02] [ 2.67569614e-02 3.48938650e-02 9.99032774e-01 1.43764480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.47687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.72, Y:102.13, Z:14.44 [[-9.00824153e-01 4.29249745e-01 6.52725213e-02 9.57180241e+01] [-4.30564157e-01 -9.02533612e-01 -6.89828723e-03 1.02125404e+02] [ 5.59495564e-02 -3.43181518e-02 9.97843631e-01 1.44357987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.72, Y:102.11, Z:14.42 [[-9.01306691e-01 4.30283755e-01 5.00213774e-02 9.57158888e+01] [-4.29596642e-01 -9.02693587e-01 2.43107815e-02 1.02114210e+02] [ 5.56145109e-02 4.22454321e-04 9.98452226e-01 1.44179203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.74, Y:102.12, Z:14.42 [[-9.01689597e-01 4.29495750e-01 4.98926076e-02 9.57390760e+01] [-4.28812304e-01 -9.03068768e-01 2.42241245e-02 1.02124784e+02] [ 5.54606142e-02 4.48077025e-04 9.98460775e-01 1.44168799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.72, Y:102.12, Z:14.42 [[-9.02310755e-01 4.28245928e-01 4.94037025e-02 9.57220212e+01] [-4.27575240e-01 -9.03662092e-01 2.39632467e-02 1.02115841e+02] [ 5.49064159e-02 4.98495310e-04 9.98491381e-01 1.44176802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.71, Y:102.11, Z:14.42 [[-9.03163886e-01 4.26424970e-01 4.95655147e-02 9.57085821e+01] [-4.25748449e-01 -9.04522746e-01 2.40179369e-02 1.02107552e+02] [ 5.50749835e-02 5.89692251e-04 9.98482047e-01 1.44186318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.72, Y:102.11, Z:14.42 [[-9.03564670e-01 4.25570112e-01 4.96081414e-02 9.57198488e+01] [-4.24892462e-01 -9.04925243e-01 2.40145949e-02 1.02112305e+02] [ 5.51115532e-02 6.20614202e-04 9.98480011e-01 1.44183740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.71, Y:102.11, Z:14.42 [[-9.03901871e-01 4.24854256e-01 4.96010908e-02 9.57121792e+01] [-4.24177047e-01 -9.05261536e-01 2.39871846e-02 1.02108210e+02] [ 5.50930171e-02 6.42416865e-04 9.98481020e-01 1.44192859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.69, Y:102.10, Z:14.42 [[-9.04300707e-01 4.24084462e-01 4.89142183e-02 9.56944027e+01] [-4.23426035e-01 -9.05622402e-01 2.36317054e-02 1.02099019e+02] [ 5.43196509e-02 6.58614343e-04 9.98523381e-01 1.44202253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.68, Y:102.09, Z:14.42 [[-9.05023940e-01 4.22688580e-01 4.76028562e-02 9.56774472e+01] [-4.22064277e-01 -9.06274722e-01 2.29755229e-02 1.02089969e+02] [ 5.28527564e-02 7.01933214e-04 9.98602070e-01 1.44219580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.70, Y:102.10, Z:14.42 [[-9.05443069e-01 4.21848711e-01 4.70798735e-02 9.56980052e+01] [-4.21238124e-01 -9.06665949e-01 2.27001966e-02 1.02098968e+02] [ 5.22617669e-02 7.21898062e-04 9.98633159e-01 1.44210423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.69, Y:102.09, Z:14.42 [[-9.06460942e-01 4.19773684e-01 4.60284233e-02 9.56901077e+01] [-4.19188538e-01 -9.07628454e-01 2.21711359e-02 1.02092953e+02] [ 5.10835660e-02 8.02681284e-04 9.98694060e-01 1.44205274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.69, Y:102.09, Z:14.42 [[-9.07118328e-01 4.18364148e-01 4.59105592e-02 9.56948927e+01] [-4.17781329e-01 -9.08278978e-01 2.20920827e-02 1.02094330e+02] [ 5.09421311e-02 8.59558674e-04 9.98701237e-01 1.44199463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.68, Y:102.09, Z:14.42 [[-9.07551743e-01 4.17353416e-01 4.65398649e-02 9.56805993e+01] [-4.16754355e-01 -9.08743804e-01 2.23720020e-02 1.02086776e+02] [ 5.16298453e-02 9.08058061e-04 9.98665877e-01 1.44203519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.68, Y:102.08, Z:14.42 [[-9.08155863e-01 4.16033259e-01 4.65752726e-02 9.56752903e+01] [-4.15432725e-01 -9.09348888e-01 2.23662913e-02 1.02083698e+02] [ 5.16582934e-02 9.63186129e-04 9.98664355e-01 1.44204665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.66, Y:102.08, Z:14.42 [[-9.08666570e-01 4.14880444e-01 4.68964957e-02 9.56634109e+01] [-4.14271264e-01 -9.09875369e-01 2.24973939e-02 1.02077023e+02] [ 5.20036951e-02 1.01475925e-03 9.98646377e-01 1.44207701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.67, Y:102.08, Z:14.42 [[-9.09858297e-01 4.12314598e-01 4.64171419e-02 9.56664661e+01] [-4.11715647e-01 -9.11040832e-01 2.22447437e-02 1.02076638e+02] [ 5.14597441e-02 1.12890101e-03 9.98674432e-01 1.44199663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.66, Y:102.07, Z:14.42 [[-9.10456723e-01 4.11003694e-01 4.63089484e-02 9.56636075e+01] [-4.10407012e-01 -9.11632916e-01 2.21700682e-02 1.02074752e+02] [ 5.13287416e-02 1.17937055e-03 9.98681115e-01 1.44203409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.67, Y:102.07, Z:14.39 [[-9.08678927e-01 4.17202815e-01 1.56339166e-02 9.56734094e+01] [-4.16392511e-01 -9.08362711e-01 3.86582623e-02 1.02065559e+02] [ 3.03296027e-02 2.86181025e-02 9.99130181e-01 1.43921504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.66, Y:102.08, Z:14.44 [[-9.11188545e-01 4.07806462e-01 5.85604399e-02 9.56566099e+01] [-4.08677080e-01 -9.12673416e-01 -3.20621309e-03 1.02079045e+02] [ 5.21390423e-02 -2.68537742e-02 9.98278716e-01 1.44354525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.66, Y:102.08, Z:14.42 [[-9.12044461e-01 4.07463729e-01 4.63487856e-02 9.56648671e+01] [-4.06864134e-01 -9.13220420e-01 2.21368822e-02 1.02075542e+02] [ 5.13466340e-02 1.33216228e-03 9.98680003e-01 1.44198675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.65, Y:102.07, Z:14.42 [[-9.12276771e-01 4.06986273e-01 4.59702897e-02 9.56545452e+01] [-4.06396976e-01 -9.13433310e-01 2.19336816e-02 1.02070671e+02] [ 5.09175012e-02 1.32740154e-03 9.98701981e-01 1.44202780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.65, Y:102.07, Z:14.42 [[-9.12691829e-01 4.06099074e-01 4.55759539e-02 9.56510629e+01] [-4.05519887e-01 -9.13828066e-01 2.17229597e-02 1.02069472e+02] [ 5.04702597e-02 1.34441216e-03 9.98724659e-01 1.44199110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.65, Y:102.07, Z:14.42 [[-9.12913296e-01 4.05582698e-01 4.57382676e-02 9.56495446e+01] [-4.05000003e-01 -9.14057350e-01 2.17751764e-02 1.02069147e+02] [ 5.06390345e-02 1.35484962e-03 9.98716102e-01 1.44197160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.64, Y:102.06, Z:14.42 [[-9.12844358e-01 4.05734402e-01 4.57686980e-02 9.56358976e+01] [-4.05152266e-01 -9.13990063e-01 2.17670928e-02 1.02063303e+02] [ 5.06637936e-02 1.32667617e-03 9.98714884e-01 1.44204427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.19687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.64, Y:102.07, Z:14.42 [[-9.12115254e-01 4.07286537e-01 4.65128006e-02 9.56434497e+01] [-4.06688521e-01 -9.13299590e-01 2.20976564e-02 1.02068700e+02] [ 5.14801997e-02 1.23938741e-03 9.98673246e-01 1.44199663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.22687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.64, Y:102.07, Z:14.42 [[-9.12158260e-01 4.07164839e-01 4.67343729e-02 9.56433299e+01] [-4.06562149e-01 -9.13353863e-01 2.21797354e-02 1.02069161e+02] [ 5.17158284e-02 1.23100178e-03 9.98661083e-01 1.44198949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.64, Y:102.07, Z:14.42 [[-9.12275356e-01 4.06887128e-01 4.68672677e-02 9.56421676e+01] [-4.06281836e-01 -9.13477616e-01 2.22197026e-02 1.02068700e+02] [ 5.18531109e-02 1.22916754e-03 9.98653966e-01 1.44196192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.66, Y:102.07, Z:14.39 [[-9.09935539e-01 4.14323338e-01 1.88012506e-02 9.56612860e+01] [-4.13489752e-01 -9.09769478e-01 3.66840889e-02 1.02066159e+02] [ 3.23038781e-02 2.56060317e-02 9.99150034e-01 1.43927125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.64, Y:102.08, Z:14.43 [[-9.11982562e-01 4.06102751e-01 5.80375978e-02 9.56363123e+01] [-4.06795550e-01 -9.13519219e-01 -1.34053699e-04 1.02075023e+02] [ 5.29640214e-02 -2.37316911e-02 9.98314389e-01 1.44328475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.64, Y:102.07, Z:14.42 [[-9.12018996e-01 4.07376093e-01 4.76032601e-02 9.56380170e+01] [-4.06754789e-01 -9.13259730e-01 2.25212722e-02 1.02069487e+02] [ 5.26487683e-02 1.17697400e-03 9.98612398e-01 1.44199061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.64, Y:102.07, Z:14.42 [[-9.12181706e-01 4.07010574e-01 4.76122713e-02 9.56359647e+01] [-4.06389768e-01 -9.13422688e-01 2.25022068e-02 1.02068440e+02] [ 5.26487650e-02 1.17696150e-03 9.98612398e-01 1.44200180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.65, Y:102.08, Z:14.42 [[-9.12096311e-01 4.07219758e-01 4.74593447e-02 9.56528211e+01] [-4.06604434e-01 -9.13329497e-01 2.24067955e-02 1.02077530e+02] [ 5.24705093e-02 1.13997553e-03 9.98621823e-01 1.44191825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.65, Y:102.08, Z:14.42 [[-9.11526630e-01 4.08583718e-01 4.66749253e-02 9.56475631e+01] [-4.07991519e-01 -9.12720274e-01 2.20141415e-02 1.02077537e+02] [ 5.15957703e-02 1.02350257e-03 9.98667527e-01 1.44202385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.65, Y:102.08, Z:14.42 [[-9.11401586e-01 4.08972535e-01 4.57013646e-02 9.56518245e+01] [-4.08406398e-01 -9.12546187e-01 2.15330202e-02 1.02080737e+02] [ 5.05110199e-02 9.60499080e-04 9.98723042e-01 1.44196684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.65, Y:102.08, Z:14.42 [[-9.11107732e-01 4.09683492e-01 4.51900051e-02 9.56453807e+01] [-4.09132032e-01 -9.12227300e-01 2.12681496e-02 1.02078574e+02] [ 4.99367661e-02 8.88896924e-04 9.98751986e-01 1.44199192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.65, Y:102.08, Z:14.42 [[-9.09662045e-01 4.12971085e-01 4.43829512e-02 9.56529852e+01] [-4.12444091e-01 -9.10743885e-01 2.08673792e-02 1.02084086e+02] [ 4.90391256e-02 6.76776908e-04 9.98796629e-01 1.44187560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.63, Y:102.07, Z:14.42 [[-9.09339347e-01 4.13652759e-01 4.46469154e-02 9.56297450e+01] [-4.13121358e-01 -9.10434515e-01 2.09699501e-02 1.02074376e+02] [ 4.93223705e-02 6.24206450e-04 9.98782716e-01 1.44201236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.64, Y:102.08, Z:14.42 [[-9.09258008e-01 4.13864339e-01 4.43416762e-02 9.56385712e+01] [-4.13341472e-01 -9.10338378e-01 2.08054291e-02 1.02079473e+02] [ 4.89765547e-02 5.89249265e-04 9.98799755e-01 1.44200314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.64, Y:102.08, Z:14.42 [[-9.09336781e-01 4.13682888e-01 4.44194349e-02 9.56410299e+01] [-4.13159019e-01 -9.10420854e-01 2.08205037e-02 1.02081246e+02] [ 4.90534659e-02 5.80559701e-04 9.98795985e-01 1.44191984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.63, Y:102.08, Z:14.42 [[-9.09210243e-01 4.13850200e-01 4.54394814e-02 9.56313619e+01] [-4.13303318e-01 -9.10344821e-01 2.12761325e-02 1.02078108e+02] [ 5.01707283e-02 5.64189197e-04 9.98740497e-01 1.44189376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.63, Y:102.08, Z:14.42 [[-9.09274512e-01 4.13665763e-01 4.58312045e-02 9.56265099e+01] [-4.13110415e-01 -9.10428650e-01 2.14349705e-02 1.02076362e+02] [ 5.05929550e-02 5.56924399e-04 9.98719201e-01 1.44187606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.63, Y:102.08, Z:14.42 [[-9.09606104e-01 4.12918217e-01 4.59921897e-02 9.56306817e+01] [-4.12359164e-01 -9.10767923e-01 2.14874257e-02 1.02078471e+02] [ 5.07607606e-02 5.79792671e-04 9.98710673e-01 1.44182670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.63, Y:102.08, Z:14.42 [[-9.09802251e-01 4.12470163e-01 4.61327312e-02 9.56257111e+01] [-4.11908493e-01 -9.10970925e-01 2.15259855e-02 1.02075877e+02] [ 5.09044036e-02 5.81926271e-04 9.98703361e-01 1.44176735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.62, Y:102.07, Z:14.42 [[-9.10070049e-01 4.11849646e-01 4.63936925e-02 9.56213233e+01] [-4.11281933e-01 -9.11251617e-01 2.16254856e-02 1.02073900e+02] [ 5.11827759e-02 5.99819206e-04 9.98689123e-01 1.44179040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.65, Y:102.07, Z:14.38 [[-9.04167101e-01 4.27116511e-01 7.30345081e-03 9.56531369e+01] [-4.26462233e-01 -9.03508130e-01 4.24620106e-02 1.02069319e+02] [ 2.47349530e-02 3.52781071e-02 9.99071387e-01 1.43807544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.62, Y:102.08, Z:14.44 [[-9.08352601e-01 4.13746525e-01 6.09045536e-02 9.56192835e+01] [-4.15075514e-01 -9.09726513e-01 -1.04875483e-02 1.02082962e+02] [ 5.10673006e-02 -3.48063807e-02 9.98088496e-01 1.44387268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.63, Y:102.08, Z:14.42 [[-9.08128277e-01 4.16232490e-01 4.53160832e-02 9.56302397e+01] [-4.15698714e-01 -9.09258172e-01 2.10750092e-02 1.02077417e+02] [ 4.99761225e-02 3.00974310e-04 9.98750368e-01 1.44189630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.62, Y:102.07, Z:14.42 [[-9.07821165e-01 4.16971963e-01 4.46667054e-02 9.56182724e+01] [-4.16455311e-01 -9.08919317e-01 2.07520708e-02 1.02069891e+02] [ 4.92514631e-02 2.37482431e-04 9.98786382e-01 1.44190795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.64, Y:102.08, Z:14.42 [[-9.07524649e-01 4.17528892e-01 4.54822523e-02 9.56369018e+01] [-4.16994989e-01 -9.08663627e-01 2.11090368e-02 1.02077211e+02] [ 5.01417011e-02 1.91099884e-04 9.98742095e-01 1.44176227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.94687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.64, Y:102.08, Z:14.42 [[-9.07318394e-01 4.17912789e-01 4.60677060e-02 9.56367300e+01] [-4.17366656e-01 -9.08487137e-01 2.13587496e-02 1.02076126e+02] [ 5.07780129e-02 1.52061992e-04 9.98709953e-01 1.44167328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.97687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.62, Y:102.07, Z:14.42 [[-9.07013466e-01 4.18551557e-01 4.62727366e-02 9.56211570e+01] [-4.18002492e-01 -9.08193033e-01 2.14320330e-02 1.02067864e+02] [ 5.09949877e-02 9.70233693e-05 9.98698904e-01 1.44162197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.63, Y:102.07, Z:14.42 [[-9.06894522e-01 4.18765898e-01 4.66631434e-02 9.56317822e+01] [-4.18208945e-01 -9.08094223e-01 2.15907341e-02 1.02072066e+02] [ 5.14159942e-02 6.55744834e-05 9.98677321e-01 1.44154916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.63, Y:102.07, Z:14.42 [[-9.07143268e-01 4.18247799e-01 4.64744116e-02 9.56286450e+01] [-4.17695783e-01 -9.08332964e-01 2.14816199e-02 1.02069465e+02] [ 5.11988802e-02 7.47411641e-05 9.98688475e-01 1.44160675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.62, Y:102.07, Z:14.42 [[-9.07448745e-01 4.17623276e-01 4.61256326e-02 9.56234908e+01] [-4.17079806e-01 -9.08620268e-01 2.12989307e-02 1.02065701e+02] [ 5.08056139e-02 8.96180653e-05 9.98708557e-01 1.44167113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.62, Y:102.06, Z:14.42 [[-9.07949932e-01 4.16536850e-01 4.60865913e-02 9.56191171e+01] [-4.15993999e-01 -9.09118824e-01 2.12592865e-02 1.02061940e+02] [ 5.07534639e-02 1.30622278e-04 9.98711204e-01 1.44163740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.58, Y:102.04, Z:14.42 [[-9.08519417e-01 4.15287523e-01 4.61382904e-02 9.55831401e+01] [-4.14742948e-01 -9.09690190e-01 2.12613735e-02 1.02043377e+02] [ 5.08011333e-02 1.80840075e-04 9.98708772e-01 1.44172328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.60, Y:102.05, Z:14.42 [[-9.09762084e-01 4.12605220e-01 4.57152490e-02 9.56019383e+01] [-4.12068296e-01 -9.10909896e-01 2.10447582e-02 1.02049995e+02] [ 5.03256498e-02 3.07918337e-04 9.98732814e-01 1.44159498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.61, Y:102.05, Z:14.42 [[-9.10285059e-01 4.11471011e-01 4.55271163e-02 9.56103846e+01] [-4.10938173e-01 -9.11422781e-01 2.09363987e-02 1.02052961e+02] [ 5.01091721e-02 3.49260978e-04 9.98743685e-01 1.44155783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.62, Y:102.06, Z:14.41 [[-9.10786537e-01 4.10363017e-01 4.54981116e-02 9.56227574e+01] [-4.09830555e-01 -9.11922169e-01 2.09015315e-02 1.02057656e+02] [ 5.00679522e-02 3.90317124e-04 9.98745737e-01 1.44148818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.61, Y:102.05, Z:14.41 [[-9.11771831e-01 4.08202997e-01 4.51933827e-02 9.56131568e+01] [-4.07676043e-01 -9.12891054e-01 2.07404727e-02 1.02052006e+02] [ 4.97229579e-02 4.86319342e-04 9.98762930e-01 1.44149013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.63, Y:102.04, Z:14.39 [[-9.08508336e-01 4.17606486e-01 1.47453753e-02 9.56277673e+01] [-4.16850621e-01 -9.08194070e-01 3.76708273e-02 1.02042556e+02] [ 2.91232442e-02 2.80776418e-02 9.99181406e-01 1.43852519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.59, Y:102.05, Z:14.43 [[-9.12651184e-01 4.04667149e-01 5.75527091e-02 9.55941226e+01] [-4.05553269e-01 -9.14062075e-01 -4.13146760e-03 1.02049970e+02] [ 5.09348795e-02 -2.71112781e-02 9.98333920e-01 1.44297689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.60, Y:102.04, Z:14.41 [[-9.13513287e-01 4.04159998e-01 4.63483719e-02 9.56014407e+01] [-4.03603621e-01 -9.14688061e-01 2.12101202e-02 1.02044808e+02] [ 5.09665845e-02 6.69355910e-04 9.98700135e-01 1.44147340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.57, Y:102.03, Z:14.42 [[-9.15088166e-01 4.00463140e-01 4.73594960e-02 9.55687368e+01] [-3.99878441e-01 -9.16312452e-01 2.16499888e-02 1.02028985e+02] [ 5.20661184e-02 8.73607168e-04 9.98643258e-01 1.44159220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.57, Y:102.02, Z:14.40 [[-9.14293784e-01 4.03823038e-01 3.15250646e-02 9.55743203e+01] [-4.02959960e-01 -9.14712682e-01 3.03970298e-02 1.02022344e+02] [ 4.11113974e-02 1.50884766e-02 9.99040635e-01 1.44001806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.60, Y:102.03, Z:14.40 [[-9.14184148e-01 4.04382561e-01 2.72412730e-02 9.56010879e+01] [-4.03879130e-01 -9.14542580e-01 2.22152613e-02 1.02034005e+02] [ 3.38967683e-02 9.30665809e-03 9.99382007e-01 1.43963422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.56, Y:102.03, Z:14.43 [[-9.17604021e-01 3.93156087e-01 5.85760394e-02 9.55594821e+01] [-3.93766192e-01 -9.19209822e-01 1.22056130e-03 1.02029265e+02] [ 5.43235419e-02 -2.19452720e-02 9.98282204e-01 1.44272148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.58, Y:102.02, Z:14.39 [[-9.17013323e-01 3.98212245e-01 2.26621670e-02 9.55774357e+01] [-3.97246927e-01 -9.16936563e-01 3.77123207e-02 1.02016278e+02] [ 3.57972774e-02 2.55802243e-02 9.99031635e-01 1.43885513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.54, Y:102.02, Z:14.43 [[-9.19992378e-01 3.87368483e-01 5.96630721e-02 9.55416651e+01] [-3.88045966e-01 -9.21639987e-01 2.50605610e-04 1.02019863e+02] [ 5.50849497e-02 -2.29214592e-02 9.98218541e-01 1.44272709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.56, Y:102.02, Z:14.41 [[-9.20783707e-01 3.86974106e-01 4.90755111e-02 9.55582324e+01] [-3.86332356e-01 -9.22089183e-01 2.23349396e-02 1.02020241e+02] [ 5.38950412e-02 1.60619069e-03 9.98545314e-01 1.44132473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.55, Y:102.02, Z:14.41 [[-9.21357240e-01 3.85637271e-01 4.88337195e-02 9.55481012e+01] [-3.85001230e-01 -9.22648990e-01 2.22012266e-02 1.02016098e+02] [ 5.36180025e-02 1.65421881e-03 9.98560150e-01 1.44139394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.58, Y:102.01, Z:14.39 [[-9.18703287e-01 3.94428811e-01 2.02530116e-02 9.55753402e+01] [-3.93511224e-01 -9.18526582e-01 3.81816129e-02 1.02014814e+02] [ 3.36628577e-02 2.71077859e-02 9.99065553e-01 1.43870243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.54, Y:102.02, Z:14.43 [[-9.20472501e-01 3.86193814e-01 5.98724723e-02 9.55382508e+01] [-3.86971701e-01 -9.22090332e-01 -1.52369012e-03 1.02019873e+02] [ 5.46193882e-02 -2.45714673e-02 9.98204871e-01 1.44283892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.56, Y:102.01, Z:14.39 [[-9.18471866e-01 3.94742797e-01 2.42395698e-02 9.55550945e+01] [-3.93827090e-01 -9.18507391e-01 3.52759933e-02 1.02009650e+02] [ 3.61891682e-02 2.28538081e-02 9.99083604e-01 1.43929977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.69687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.53, Y:102.02, Z:14.43 [[-9.18696219e-01 3.90875717e-01 5.66871389e-02 9.55314227e+01] [-3.91423794e-01 -9.20209221e-01 1.55026078e-03 1.02018808e+02] [ 5.27699872e-02 -2.07644763e-02 9.98390788e-01 1.44287371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.72687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.54, Y:102.02, Z:14.42 [[-9.18200862e-01 3.93245366e-01 4.75947310e-02 9.55434948e+01] [-3.92655963e-01 -9.19432909e-01 2.15504332e-02 1.02018373e+02] [ 5.22347700e-02 1.09927147e-03 9.98634228e-01 1.44162492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.57, Y:102.01, Z:14.39 [[-9.14558845e-01 4.04167024e-01 1.52031653e-02 9.55666492e+01] [-4.03362390e-01 -9.14206860e-01 3.90461172e-02 1.02014353e+02] [ 2.96799909e-02 2.95775868e-02 9.99121747e-01 1.43854667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.56, Y:102.03, Z:14.43 [[-9.16860101e-01 3.94714485e-01 5.97329907e-02 9.55559319e+01] [-3.95703190e-01 -9.18363496e-01 -5.24153748e-03 1.02034975e+02] [ 5.27876875e-02 -2.84422916e-02 9.98200629e-01 1.44311210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.58, Y:102.02, Z:14.39 [[-9.13665448e-01 4.06096685e-01 1.73473898e-02 9.55796847e+01] [-4.05274665e-01 -9.13421792e-01 3.75909031e-02 1.02024298e+02] [ 3.11110251e-02 2.73150517e-02 9.99142629e-01 1.43865563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.54, Y:102.03, Z:14.43 [[-9.15351891e-01 3.98316468e-01 5.89483434e-02 9.55411908e+01] [-3.99161742e-01 -9.16876174e-01 -2.82579919e-03 1.02031742e+02] [ 5.29227692e-02 -2.61165241e-02 9.98257035e-01 1.44304418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.57, Y:102.02, Z:14.38 [[-9.12086747e-01 4.09799432e-01 1.27354787e-02 9.55674752e+01] [-4.09035130e-01 -9.11634033e-01 4.01702827e-02 1.02021017e+02] [ 2.80718548e-02 3.14295243e-02 9.99111683e-01 1.43836914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.56, Y:102.05, Z:14.43 [[-9.14929371e-01 3.99094636e-01 6.02305438e-02 9.55643174e+01] [-4.00226635e-01 -9.16385095e-01 -7.54977929e-03 1.02046333e+02] [ 5.21812962e-02 -3.10133827e-02 9.98155941e-01 1.44330873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.57, Y:102.04, Z:14.42 [[-9.13946438e-01 4.02974069e-01 4.81020611e-02 9.55686230e+01] [-4.02391551e-01 -9.15211288e-01 2.16641877e-02 1.02040069e+02] [ 5.27536552e-02 4.44044201e-04 9.98607458e-01 1.44163969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.55, Y:102.03, Z:14.42 [[-9.13776480e-01 4.03335165e-01 4.83041312e-02 9.55542280e+01] [-4.02749445e-01 -9.15052229e-01 2.17325494e-02 1.02034059e+02] [ 5.29663043e-02 4.04230449e-04 9.98596218e-01 1.44170969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.57, Y:102.04, Z:14.42 [[-9.13707092e-01 4.03517393e-01 4.80943231e-02 9.55682766e+01] [-4.02938190e-01 -9.14971899e-01 2.16157270e-02 1.02040905e+02] [ 5.27272759e-02 3.71403595e-04 9.98608881e-01 1.44163627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.57, Y:102.04, Z:14.42 [[-9.13680028e-01 4.03516052e-01 4.86168889e-02 9.55654956e+01] [-4.02925405e-01 -9.14972497e-01 2.18276867e-02 1.02040289e+02] [ 5.32909382e-02 3.54541789e-04 9.98578965e-01 1.44165013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.056875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:95.53, Y:102.03, Z:14.42 [[-9.13674504e-01 4.03444836e-01 4.93068360e-02 9.55338834e+01] [-4.02838445e-01 -9.15003905e-01 2.21142557e-02 1.02026672e+02] [ 5.40378297e-02 3.42542490e-04 9.98538830e-01 1.44178888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.56, Y:102.04, Z:14.42 [[-9.13845965e-01 4.02978801e-01 4.99363318e-02 9.55562980e+01] [-4.02357420e-01 -9.15209244e-01 2.23728659e-02 1.02036796e+02] [ 5.47179831e-02 3.53099629e-04 9.98501787e-01 1.44168191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.54, Y:102.01, Z:14.39 [[-9.11612497e-01 4.10362210e-01 2.37805040e-02 9.55353789e+01] [-4.09372703e-01 -9.11592600e-01 3.75888553e-02 1.02013700e+02] [ 3.71031772e-02 2.45313811e-02 9.99010293e-01 1.43921076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.55, Y:102.04, Z:14.43 [[-9.14194547e-01 4.00735909e-01 6.04901721e-02 9.55452336e+01] [-4.01454479e-01 -9.15878929e-01 2.98876306e-04 1.02038830e+02] [ 5.55214445e-02 -2.40108194e-02 9.98168748e-01 1.44307450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.54, Y:102.03, Z:14.42 [[-9.14503862e-01 4.01356886e-01 5.09444384e-02 9.55379759e+01] [-4.00711528e-01 -9.15921663e-01 2.27547403e-02 1.02029549e+02] [ 5.57938864e-02 3.95274196e-04 9.98442230e-01 1.44189479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.54, Y:102.01, Z:14.38 [[-9.10741409e-01 4.12850347e-01 1.02311580e-02 9.55362939e+01] [-4.12023975e-01 -9.10042781e-01 4.53693866e-02 1.02009834e+02] [ 2.80415585e-02 3.71042967e-02 9.98917886e-01 1.43821963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.53, Y:102.04, Z:14.44 [[-9.14426545e-01 3.99368310e-01 6.57954961e-02 9.55344176e+01] [-4.00887950e-01 -9.16058451e-01 -1.12145579e-02 1.02039149e+02] [ 5.57937812e-02 -3.66315110e-02 9.97770107e-01 1.44406664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.54, Y:102.03, Z:14.42 [[-9.14753339e-01 4.00813437e-01 5.07436413e-02 9.55354019e+01] [-4.00174818e-01 -9.16159615e-01 2.26202414e-02 1.02029037e+02] [ 5.55557716e-02 3.85613946e-04 9.98455511e-01 1.44204983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.55, Y:102.04, Z:14.42 [[-9.14978223e-01 4.00351739e-01 5.03322586e-02 9.55536769e+01] [-3.99724032e-01 -9.16361465e-01 2.24134701e-02 1.02036889e+02] [ 5.50958140e-02 3.88823713e-04 9.98480996e-01 1.44191477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.53, Y:102.03, Z:14.42 [[-9.15297392e-01 3.99720967e-01 4.95361755e-02 9.55345408e+01] [-3.99113285e-01 -9.16636782e-01 2.20362633e-02 1.02027600e+02] [ 5.42150370e-02 3.99188584e-04 9.98529204e-01 1.44199082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.53, Y:102.03, Z:14.42 [[-9.15420098e-01 3.99564925e-01 4.85171542e-02 9.55345582e+01] [-3.98982963e-01 -9.16704820e-01 2.15608194e-02 1.02027502e+02] [ 5.30908563e-02 3.79689458e-04 9.98589614e-01 1.44197584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.56, Y:102.02, Z:14.39 [[-9.11511609e-01 4.11056748e-01 1.33767276e-02 9.55554429e+01] [-4.10268814e-01 -9.11074956e-01 4.02731303e-02 1.02019757e+02] [ 2.87417434e-02 3.12213716e-02 9.99099163e-01 1.43863947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.54, Y:102.02, Z:14.40 [[-9.11777704e-01 4.09815319e-01 2.66987438e-02 9.55390102e+01] [-4.09617382e-01 -9.12168254e-01 1.27544565e-02 1.02022850e+02] [ 2.95807182e-02 6.92959526e-04 9.99562155e-01 1.44042748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.44687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.51, Y:102.03, Z:14.44 [[-9.15655304e-01 3.97257569e-01 6.13334283e-02 9.55075725e+01] [-3.98402983e-01 -9.17182135e-01 -7.21073671e-03 1.02026192e+02] [ 5.33894050e-02 -3.10379701e-02 9.98091286e-01 1.44405760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.47687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.51, Y:102.02, Z:14.42 [[-9.16000497e-01 3.98181175e-01 4.89371149e-02 9.55113781e+01] [-3.97591559e-01 -9.17306711e-01 2.16645104e-02 1.02018567e+02] [ 5.35167441e-02 3.87718470e-04 9.98566877e-01 1.44232183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.51, Y:102.02, Z:14.42 [[-9.16477931e-01 3.97080182e-01 4.89441722e-02 9.55110817e+01] [-3.96490063e-01 -9.17783822e-01 2.16445351e-02 1.02017976e+02] [ 5.35147853e-02 4.30860827e-04 9.98566964e-01 1.44236635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.50, Y:102.01, Z:14.42 [[-9.16952316e-01 3.95977692e-01 4.89910009e-02 9.55026083e+01] [-3.95386109e-01 -9.18260008e-01 2.16421440e-02 1.02013253e+02] [ 5.35562831e-02 4.74452849e-04 9.98564720e-01 1.44236743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.51, Y:102.01, Z:14.42 [[-9.17418386e-01 3.94953720e-01 4.85290027e-02 9.55056641e+01] [-3.94373025e-01 -9.18700877e-01 2.14153372e-02 1.02013521e+02] [ 5.30417044e-02 5.08294522e-04 9.98592169e-01 1.44231752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.50, Y:102.01, Z:14.42 [[-9.17510307e-01 3.94726950e-01 4.86361050e-02 9.54964977e+01] [-3.94144593e-01 -9.18798337e-01 2.14395955e-02 1.02008137e+02] [ 5.31495585e-02 5.01392030e-04 9.98586437e-01 1.44234309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.50, Y:102.01, Z:14.42 [[-9.16927710e-01 3.96055994e-01 4.88182896e-02 9.55018295e+01] [-3.95472379e-01 -9.18226272e-01 2.14967687e-02 1.02010370e+02] [ 5.33401601e-02 4.04697697e-04 9.98576318e-01 1.44239547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.65687499999999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:95.52, Y:102.02, Z:14.42 [[-9.16409950e-01 3.97301718e-01 4.84164074e-02 9.55219746e+01] [-3.96730617e-01 -9.17687991e-01 2.12971379e-02 1.02019068e+02] [ 5.28925452e-02 3.08637916e-04 9.98600162e-01 1.44242337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.53, Y:102.02, Z:14.43 [[-9.15829168e-01 3.98893410e-01 4.62707534e-02 9.55267146e+01] [-3.98374915e-01 -9.16997280e-01 2.03326259e-02 1.02020257e+02] [ 5.05407055e-02 1.88104404e-04 9.98721984e-01 1.44259933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.51, Y:102.01, Z:14.43 [[-9.15752513e-01 3.99192111e-01 4.51994905e-02 9.55077223e+01] [-3.98698732e-01 -9.16867295e-01 1.98414947e-02 1.02010280e+02] [ 4.93625028e-02 1.48919065e-04 9.98780918e-01 1.44266925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.51, Y:102.01, Z:14.43 [[-9.15777036e-01 3.99217211e-01 4.44751367e-02 9.55105172e+01] [-3.98740544e-01 -9.16856369e-01 1.95032466e-02 1.02009577e+02] [ 4.85633441e-02 1.26585179e-04 9.98820097e-01 1.44255973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.51, Y:102.01, Z:14.42 [[-9.15831211e-01 3.99108135e-01 4.43383459e-02 9.55141640e+01] [-3.98635266e-01 -9.16903857e-01 1.94227043e-02 1.02009596e+02] [ 4.84057597e-02 1.13090496e-04 9.98827748e-01 1.44246235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.52, Y:102.01, Z:14.42 [[-9.16085048e-01 3.98583615e-01 4.38096745e-02 9.55168582e+01] [-3.98122322e-01 -9.17131990e-01 1.91710579e-02 1.02008312e+02] [ 4.78205236e-02 1.20710132e-04 9.98855937e-01 1.44238332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.51, Y:102.01, Z:14.42 [[-9.16406470e-01 3.97924047e-01 4.30770884e-02 9.55140313e+01] [-3.97478253e-01 -9.17418353e-01 1.88309294e-02 1.02005952e+02] [ 4.70129912e-02 1.34579672e-04 9.98894269e-01 1.44238204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.52, Y:102.01, Z:14.42 [[-9.16841709e-01 3.96995339e-01 4.23790117e-02 9.55168800e+01] [-3.96563781e-01 -9.17820611e-01 1.85065630e-02 1.02006081e+02] [ 4.62433497e-02 1.61607704e-04 9.98930191e-01 1.44238281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.49, Y:101.99, Z:14.43 [[-9.17229086e-01 3.96161846e-01 4.17922881e-02 9.54922987e+01] [-3.95742161e-01 -9.18180679e-01 1.82313930e-02 1.01994344e+02] [ 4.55954538e-02 1.83393512e-04 9.98959970e-01 1.44254266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.52, Y:102.00, Z:14.42 [[-9.17911680e-01 3.94703878e-01 4.05832006e-02 9.55213402e+01] [-3.94307521e-01 -9.18808356e-01 1.76857061e-02 1.02003720e+02] [ 4.42688006e-02 2.31654957e-04 9.99019629e-01 1.44240756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.51, Y:102.00, Z:14.42 [[-9.18217917e-01 3.94028459e-01 4.02172966e-02 9.55101028e+01] [-3.93639380e-01 -9.19098207e-01 1.75078543e-02 1.01996903e+02] [ 4.38622381e-02 2.44913759e-04 9.99037559e-01 1.44236325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.51, Y:102.00, Z:14.42 [[-9.18439216e-01 3.93502161e-01 4.03169529e-02 9.55101031e+01] [-3.93111458e-01 -9.19323656e-01 1.75327390e-02 1.01995349e+02] [ 4.39634992e-02 2.53698923e-04 9.99033106e-01 1.44230199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.50, Y:101.99, Z:14.42 [[-9.18688288e-01 3.92920824e-01 4.03119723e-02 9.54989105e+01] [-3.92530471e-01 -9.19572268e-01 1.75120705e-02 1.01989245e+02] [ 4.39506290e-02 2.64456558e-04 9.99033669e-01 1.44226622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.51, Y:101.99, Z:14.42 [[-9.18835369e-01 3.92533294e-01 4.07330029e-02 9.55115718e+01] [-3.92135203e-01 -9.19737757e-01 1.76760225e-02 1.01993260e+02] [ 4.44021080e-02 2.68510326e-04 9.99013704e-01 1.44222268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.50, Y:101.98, Z:14.42 [[-9.19080910e-01 3.92013547e-01 4.01952675e-02 9.54973248e+01] [-3.91626204e-01 -9.19959404e-01 1.74244668e-02 1.01984391e+02] [ 4.38086413e-02 2.72974781e-04 9.99039903e-01 1.44217515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.50, Y:101.98, Z:14.42 [[-9.19357487e-01 3.91366797e-01 4.01726435e-02 9.54953824e+01] [-3.90980080e-01 -9.20234725e-01 1.73962376e-02 1.01982297e+02] [ 4.37765713e-02 2.86657945e-04 9.99041305e-01 1.44216488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.48, Y:101.98, Z:14.42 [[-9.19499567e-01 3.91040743e-01 4.00959236e-02 9.54844828e+01] [-3.90656000e-01 -9.20373324e-01 1.73445572e-02 1.01976251e+02] [ 4.36856470e-02 2.84599706e-04 9.99045286e-01 1.44219128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.51, Y:101.98, Z:14.42 [[-9.19783610e-01 3.90310307e-01 4.06936595e-02 9.55054209e+01] [-3.89914129e-01 -9.20683317e-01 1.75841324e-02 1.01983200e+02] [ 4.43292415e-02 3.06563972e-04 9.99016929e-01 1.44195395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.19687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.49, Y:101.98, Z:14.42 [[-9.20020711e-01 3.89666114e-01 4.14995283e-02 9.54930894e+01] [-3.89254536e-01 -9.20956142e-01 1.79078369e-02 1.01976975e+02] [ 4.51973228e-02 3.21701246e-04 9.98978027e-01 1.44197417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.22687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.48, Y:101.97, Z:14.42 [[-9.20290921e-01 3.88995776e-01 4.17960225e-02 9.54785566e+01] [-3.88578478e-01 -9.21239475e-01 1.80165306e-02 1.01969777e+02] [ 4.55125001e-02 3.39414745e-04 9.98963712e-01 1.44199159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.49, Y:101.97, Z:14.42 [[-9.20605074e-01 3.88193397e-01 4.23341986e-02 9.54913072e+01] [-3.87765342e-01 -9.21577860e-01 1.82287287e-02 1.01974378e+02] [ 4.60905323e-02 3.65725105e-04 9.98937200e-01 1.44189056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.49, Y:101.97, Z:14.42 [[-9.21002276e-01 3.87170795e-01 4.30532667e-02 9.54919536e+01] [-3.86727896e-01 -9.22007924e-01 1.85181785e-02 1.01973194e+02] [ 4.68651509e-02 4.05385262e-04 9.98901143e-01 1.44180701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.50, Y:101.97, Z:14.42 [[-9.21268703e-01 3.86467194e-01 4.36701864e-02 9.54953522e+01] [-3.86011678e-01 -9.22303054e-01 1.87632708e-02 1.01974183e+02] [ 4.75285349e-02 4.28812217e-04 9.98869789e-01 1.44176598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.48, Y:101.97, Z:14.42 [[-9.21511806e-01 3.85907807e-01 4.34874270e-02 9.54812411e+01] [-3.85456412e-01 -9.22537247e-01 1.86649883e-02 1.01967603e+02] [ 4.73217359e-02 4.37499518e-04 9.98879603e-01 1.44180672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.48, Y:101.97, Z:14.42 [[-9.21683577e-01 3.85448018e-01 4.39227745e-02 9.54815361e+01] [-3.84987982e-01 -9.22729444e-01 1.88315639e-02 1.01967504e+02] [ 4.77874263e-02 4.47002828e-04 9.98857428e-01 1.44185261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.49, Y:101.97, Z:14.42 [[-9.21904502e-01 3.84869978e-01 4.43530071e-02 9.54886863e+01] [-3.84401204e-01 -9.22970685e-01 1.89954857e-02 1.01970249e+02] [ 4.82473176e-02 4.62674430e-04 9.98835313e-01 1.44184662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.48, Y:101.96, Z:14.42 [[-9.22157541e-01 3.84175280e-01 4.51090308e-02 9.54774874e+01] [-3.83690576e-01 -9.23260048e-01 1.92983452e-02 1.01964949e+02] [ 4.90613130e-02 4.88204512e-04 9.98795649e-01 1.44193122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.48, Y:101.96, Z:14.42 [[-9.22674947e-01 3.82778897e-01 4.63816644e-02 9.54830002e+01] [-3.82265772e-01 -9.23839815e-01 1.98210783e-02 1.01964932e+02] [ 5.04363187e-02 5.58289591e-04 9.98727123e-01 1.44179934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.48, Y:101.96, Z:14.42 [[-9.23140546e-01 3.81531745e-01 4.73820713e-02 9.54799908e+01] [-3.80995726e-01 -9.24355529e-01 2.02265497e-02 1.01962405e+02] [ 5.15149504e-02 6.19581472e-04 9.98672031e-01 1.44179825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.47, Y:101.96, Z:14.42 [[-9.23490841e-01 3.80612364e-01 4.79468014e-02 9.54710177e+01] [-3.80063396e-01 -9.24734446e-01 2.04455398e-02 1.01957617e+02] [ 5.21198840e-02 6.58444597e-04 9.98640618e-01 1.44185393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.47, Y:101.96, Z:14.42 [[-9.23871013e-01 3.79605957e-01 4.85969957e-02 9.54733700e+01] [-3.79041786e-01 -9.25148000e-01 2.07003178e-02 1.01957348e+02] [ 5.28173773e-02 7.04131540e-04 9.98603940e-01 1.44187083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.48, Y:101.96, Z:14.42 [[-9.23988987e-01 3.79274667e-01 4.89395523e-02 9.54772493e+01] [-3.78703242e-01 -9.25283863e-01 2.08237228e-02 1.01958356e+02] [ 5.31808885e-02 7.07323398e-04 9.98584645e-01 1.44184974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.47, Y:101.96, Z:14.42 [[-9.24027838e-01 3.79170249e-01 4.90150611e-02 9.54743774e+01] [-3.78598104e-01 -9.25326667e-01 2.08335035e-02 1.01956756e+02] [ 5.32543879e-02 6.93728036e-04 9.98580737e-01 1.44191811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.47, Y:101.96, Z:14.42 [[-9.24026468e-01 3.79116527e-01 4.94544780e-02 9.54735220e+01] [-3.78535211e-01 -9.25348687e-01 2.09976275e-02 1.01956114e+02] [ 5.37231839e-02 6.82102275e-04 9.98555634e-01 1.44204872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.47, Y:101.95, Z:14.42 [[-9.24227259e-01 3.78628933e-01 4.94378877e-02 9.54667722e+01] [-3.78048518e-01 -9.25548300e-01 2.09681237e-02 1.01952163e+02] [ 5.36962912e-02 6.89391303e-04 9.98557076e-01 1.44224246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.45, Y:101.95, Z:14.42 [[-9.24681870e-01 3.77534198e-01 4.93089042e-02 9.54535948e+01] [-3.76956456e-01 -9.25995354e-01 2.08910164e-02 1.01945983e+02] [ 5.35468893e-02 7.30234384e-04 9.98565069e-01 1.44233917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.45, Y:101.94, Z:14.42 [[-9.25074816e-01 3.76500282e-01 4.98409717e-02 9.54527602e+01] [-3.75909743e-01 -9.26416177e-01 2.10934029e-02 1.01944838e+02] [ 5.41151546e-02 7.77268883e-04 9.98534399e-01 1.44239908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.46, Y:101.95, Z:14.42 [[-9.25440620e-01 3.75519387e-01 5.04464918e-02 9.54634228e+01] [-3.74914226e-01 -9.26814174e-01 2.13262754e-02 1.01948943e+02] [ 5.47629535e-02 8.23094058e-04 9.98499044e-01 1.44236561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.45, Y:101.94, Z:14.42 [[-9.25858831e-01 3.74385660e-01 5.11937764e-02 9.54538857e+01] [-3.73762008e-01 -9.27272668e-01 2.16185293e-02 1.01944209e+02] [ 5.55642570e-02 8.81417592e-04 9.98454724e-01 1.44244528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.45, Y:101.94, Z:14.43 [[-9.26516687e-01 3.72654627e-01 5.19168349e-02 9.54507543e+01] [-3.72011853e-01 -9.27969598e-01 2.18999180e-02 1.01942037e+02] [ 5.63383502e-02 9.76961556e-04 9.98411256e-01 1.44254806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.45, Y:101.94, Z:14.43 [[-9.26901047e-01 3.71717111e-01 5.17768080e-02 9.54549920e+01] [-3.71077671e-01 -9.28345502e-01 2.18172177e-02 1.01943660e+02] [ 5.61765999e-02 1.00918462e-03 9.98420338e-01 1.44257928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.46, Y:101.94, Z:14.43 [[-9.27157402e-01 3.71145580e-01 5.12845947e-02 9.54553020e+01] [-3.70518674e-01 -9.28574140e-01 2.15865474e-02 1.01943648e+02] [ 5.56333001e-02 1.01222716e-03 9.98450756e-01 1.44260027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.45, Y:101.94, Z:14.43 [[-9.27372019e-01 3.70718700e-01 5.04854807e-02 9.54476540e+01] [-3.70111804e-01 -9.28744661e-01 2.12275349e-02 1.01940375e+02] [ 5.47575648e-02 1.00054962e-03 9.98499178e-01 1.44270112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.94687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.44, Y:101.94, Z:14.43 [[-9.27459524e-01 3.70635142e-01 4.94815483e-02 9.54374188e+01] [-3.70053232e-01 -9.28778047e-01 2.07832699e-02 1.01936843e+02] [ 5.36603859e-02 9.64834686e-04 9.98558777e-01 1.44294112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.97687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.44, Y:101.94, Z:14.43 [[-9.27629976e-01 3.70304154e-01 4.87592118e-02 9.54408706e+01] [-3.69739832e-01 -9.28910078e-01 2.04578591e-02 1.01938502e+02] [ 5.28685534e-02 9.49100631e-04 9.98601029e-01 1.44301882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.43, Y:101.93, Z:14.43 [[-9.27754170e-01 3.70138238e-01 4.76433166e-02 9.54276216e+01] [-3.69600355e-01 -9.28976235e-01 1.99683051e-02 1.01932709e+02] [ 5.16505422e-02 9.16691599e-04 9.98664799e-01 1.44318598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.03687499999998 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:95.43, Y:101.94, Z:14.43 [[-9.27975925e-01 3.69819501e-01 4.57626444e-02 9.54343730e+01] [-3.69323889e-01 -9.29103205e-01 1.91598626e-02 1.01935097e+02] [ 4.96039104e-02 8.78653453e-04 9.98768582e-01 1.44317134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.44, Y:101.94, Z:14.43 [[-9.28172963e-01 3.69406670e-01 4.50961597e-02 9.54359171e+01] [-3.68925909e-01 -9.29267431e-01 1.88604223e-02 1.01935242e+02] [ 4.88735582e-02 8.68592305e-04 9.98804596e-01 1.44317149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.42, Y:101.93, Z:14.43 [[-9.28436003e-01 3.68746488e-01 4.50845457e-02 9.54157467e+01] [-3.68266204e-01 -9.29529583e-01 1.88349898e-02 1.01926562e+02] [ 4.88527554e-02 8.83968108e-04 9.98805600e-01 1.44322433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.42, Y:101.93, Z:14.43 [[-9.28675680e-01 3.68095544e-01 4.54659335e-02 9.54230519e+01] [-3.67607352e-01 -9.29787529e-01 1.89732914e-02 1.01929232e+02] [ 4.92576420e-02 9.06422861e-04 9.98785694e-01 1.44311426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.43, Y:101.93, Z:14.43 [[-9.28997129e-01 3.67176042e-01 4.63259010e-02 9.54315078e+01] [-3.66669141e-01 -9.30150980e-01 1.93104891e-02 1.01932488e+02] [ 5.01804311e-02 9.53110607e-04 9.98739714e-01 1.44303681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.43, Y:101.93, Z:14.43 [[-9.29139076e-01 3.66815748e-01 4.63334045e-02 9.54293907e+01] [-3.66309298e-01 -9.30293125e-01 1.92924694e-02 1.01931531e+02] [ 5.01804292e-02 9.53030298e-04 9.98739714e-01 1.44304830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.216875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:95.43, Y:101.93, Z:14.43 [[-9.29488706e-01 3.65733027e-01 4.78549644e-02 9.54261749e+01] [-3.65192470e-01 -9.30719240e-01 1.99036506e-02 1.01929842e+02] [ 5.18189585e-02 1.02394576e-03 9.98655970e-01 1.44292321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.81, Y:101.04, Z:14.96 [[-8.81412958e-01 -4.70997528e-01 -3.56724890e-02 9.58068326e+01] [-4.70802156e-01 8.82124233e-01 -1.42185766e-02 1.01042465e+02] [ 3.81644814e-02 4.26224708e-03 -9.99262381e-01 1.49617139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.36, Y:101.94, Z:14.43 [[-8.98525969e-01 4.36417258e-01 4.68087563e-02 9.53561523e+01] [-4.35766855e-01 -8.99743814e-01 2.38394032e-02 1.01936370e+02] [ 5.25198159e-02 1.02261834e-03 9.98619359e-01 1.44306947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.35, Y:101.94, Z:14.43 [[-8.98551647e-01 4.36299915e-01 4.74059320e-02 9.53529130e+01] [-4.35634168e-01 -8.99800728e-01 2.41147487e-02 1.01935435e+02] [ 5.31771549e-02 1.01670341e-03 9.98584577e-01 1.44316749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.34, Y:101.93, Z:14.43 [[-8.98211271e-01 4.37061606e-01 4.68365726e-02 9.53449021e+01] [-4.36413989e-01 -8.99431081e-01 2.38025328e-02 1.01931573e+02] [ 5.25294423e-02 9.39567769e-04 9.98618934e-01 1.44311308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.35, Y:101.93, Z:14.43 [[-8.98111335e-01 4.37240798e-01 4.70798648e-02 9.53472796e+01] [-4.36587941e-01 -8.99344012e-01 2.39022532e-02 1.01932887e+02] [ 5.27920348e-02 9.12383283e-04 9.98605111e-01 1.44300096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.34, Y:101.93, Z:14.43 [[-8.97897300e-01 4.37644213e-01 4.74128800e-02 9.53366158e+01] [-4.36984155e-01 -8.99147812e-01 2.40429090e-02 1.01928227e+02] [ 5.31534273e-02 8.69385807e-04 9.98585979e-01 1.44302745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.33, Y:101.93, Z:14.43 [[-8.97620887e-01 4.38206427e-01 4.74538830e-02 9.53298681e+01] [-4.37547293e-01 -8.98873997e-01 2.40396224e-02 1.01925968e+02] [ 5.31893786e-02 8.15149148e-04 9.98584110e-01 1.44307776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.33, Y:101.93, Z:14.43 [[-8.97097367e-01 4.39238971e-01 4.78062807e-02 9.53268240e+01] [-4.38573010e-01 -8.98369962e-01 2.41893891e-02 1.01925646e+02] [ 5.35726490e-02 7.33692811e-04 9.98563685e-01 1.44314358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.33, Y:101.93, Z:14.43 [[-8.95768749e-01 4.41879138e-01 4.83856983e-02 9.53348452e+01] [-4.41202069e-01 -8.97074418e-01 2.44585921e-02 1.01932106e+02] [ 5.42133138e-02 5.61372278e-04 9.98529219e-01 1.44321873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.34, Y:101.94, Z:14.43 [[-8.95407718e-01 4.42595878e-01 4.85170937e-02 9.53428703e+01] [-4.41917465e-01 -8.96721050e-01 2.45012854e-02 1.01937303e+02] [ 5.43504672e-02 4.98089002e-04 9.98521797e-01 1.44319006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.33, Y:101.93, Z:14.43 [[-8.94770876e-01 4.43853659e-01 4.87750824e-02 9.53336383e+01] [-4.43171170e-01 -8.96099195e-01 2.46078666e-02 1.01933479e+02] [ 5.46296037e-02 4.02692002e-04 9.98506607e-01 1.44320972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.33, Y:101.93, Z:14.43 [[-8.93612778e-01 4.46136741e-01 4.91753166e-02 9.53313157e+01] [-4.45447766e-01 -8.94964775e-01 2.47858654e-02 1.01933903e+02] [ 5.50680614e-02 2.43931108e-04 9.98482573e-01 1.44319032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.32, Y:101.93, Z:14.43 [[-8.93175639e-01 4.46947480e-01 4.97516734e-02 9.53163430e+01] [-4.46244861e-01 -8.94560182e-01 2.50520259e-02 1.01926949e+02] [ 5.57028059e-02 1.74430640e-04 9.98447378e-01 1.44325170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.34, Y:101.94, Z:14.43 [[-8.92800704e-01 4.47657959e-01 5.00924600e-02 9.53361211e+01] [-4.46948166e-01 -8.94204865e-01 2.51991406e-02 1.01937635e+02] [ 5.60735172e-02 1.09077348e-04 9.98426637e-01 1.44313584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.32, Y:101.93, Z:14.43 [[-8.92496149e-01 4.48204892e-01 5.06260678e-02 9.53178618e+01] [-4.47482166e-01 -8.93930854e-01 2.54428580e-02 1.01929030e+02] [ 5.66598175e-02 5.33902756e-05 9.98393541e-01 1.44327874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.69687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.33, Y:101.94, Z:14.43 [[-8.91788935e-01 4.49515723e-01 5.14597983e-02 9.53305978e+01] [-4.48772609e-01 -8.93272418e-01 2.58366631e-02 1.01937206e+02] [ 5.75816047e-02 -5.28976704e-05 9.98340802e-01 1.44330904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.72687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.33, Y:101.94, Z:14.43 [[-8.91824728e-01 4.49452771e-01 5.13893022e-02 9.53292429e+01] [-4.48713019e-01 -8.93304092e-01 2.57764473e-02 1.01937514e+02] [ 5.74915696e-02 -7.09757974e-05 9.98345989e-01 1.44339741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.33, Y:101.93, Z:14.41 [[-8.90148078e-01 4.54987541e-01 2.49546754e-02 9.53293552e+01] [-4.53966335e-01 -8.90219599e-01 3.77310576e-02 1.01926878e+02] [ 3.93823022e-02 2.22576459e-02 9.98976292e-01 1.44107668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.32, Y:101.94, Z:14.45 [[-8.92262684e-01 4.47290625e-01 6.16311563e-02 9.53169717e+01] [-4.47836479e-01 -8.94099021e-01 5.42471627e-03 1.01939403e+02] [ 5.75307813e-02 -2.27604082e-02 9.98084251e-01 1.44474124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.30, Y:101.93, Z:14.44 [[-8.92920789e-01 4.47199652e-01 5.20089933e-02 9.53023829e+01] [-4.46443472e-01 -8.94434163e-01 2.59952962e-02 1.01925935e+02] [ 5.81437077e-02 -7.33511050e-06 9.98308224e-01 1.44368860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.31, Y:101.93, Z:14.44 [[-8.93966793e-01 4.45121973e-01 5.18633086e-02 9.53123561e+01] [-4.44368270e-01 -8.95469943e-01 2.58925075e-02 1.01931190e+02] [ 5.79673581e-02 1.00633214e-04 9.98318474e-01 1.44367119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.31, Y:101.93, Z:14.44 [[-8.94677093e-01 4.43640741e-01 5.23047998e-02 9.53103296e+01] [-4.42873092e-01 -8.96204699e-01 2.60875806e-02 1.01930321e+02] [ 5.84493209e-02 1.75572381e-04 9.98290362e-01 1.44368096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.30, Y:101.93, Z:14.44 [[-8.95397447e-01 4.42162571e-01 5.24944994e-02 9.53031417e+01] [-4.41388282e-01 -8.96934891e-01 2.61569528e-02 1.01927268e+02] [ 5.86497735e-02 2.50411850e-04 9.98278589e-01 1.44373033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.30, Y:101.93, Z:14.44 [[-8.96039721e-01 4.40850195e-01 5.25730454e-02 9.52980501e+01] [-4.40072814e-01 -8.97580641e-01 2.61708080e-02 1.01925248e+02] [ 5.87259536e-02 3.14115411e-04 9.98274092e-01 1.44375578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.27, Y:101.91, Z:14.44 [[-8.97058434e-01 4.38850329e-01 5.19283587e-02 9.52708851e+01] [-4.38090004e-01 -8.98560078e-01 2.58250694e-02 1.01913307e+02] [ 5.79940903e-02 4.17301434e-04 9.98316839e-01 1.44394600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.30, Y:101.93, Z:14.44 [[-8.97412373e-01 4.38140999e-01 5.18024823e-02 9.53003923e+01] [-4.37384634e-01 -8.98906153e-01 2.57373279e-02 1.01928440e+02] [ 5.78421487e-02 4.39386775e-04 9.98325645e-01 1.44382607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.27, Y:101.91, Z:14.44 [[-8.97877297e-01 4.37202254e-01 5.16773462e-02 9.52704453e+01] [-4.36449432e-01 -8.99363087e-01 2.56501523e-02 1.01914311e+02] [ 5.76910021e-02 4.76141014e-04 9.98334374e-01 1.44394418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.28, Y:101.92, Z:14.44 [[-8.98352570e-01 4.36213674e-01 5.17715275e-02 9.52787222e+01] [-4.35457917e-01 -8.99842965e-01 2.56717751e-02 1.01918965e+02] [ 5.77846241e-02 5.17983577e-04 9.98328938e-01 1.44392712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.29, Y:101.92, Z:14.44 [[-8.98816844e-01 4.35296081e-01 5.14354265e-02 9.52854824e+01] [-4.34550042e-01 -9.00287187e-01 2.54802299e-02 1.01924357e+02] [ 5.73980996e-02 5.50793130e-04 9.98351218e-01 1.44388890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.27, Y:101.92, Z:14.44 [[-8.98828647e-01 4.35255841e-01 5.15695227e-02 9.52705608e+01] [-4.34507277e-01 -9.00306653e-01 2.55216969e-02 1.01918164e+02] [ 5.75368521e-02 5.32299431e-04 9.98343241e-01 1.44402209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.26, Y:101.92, Z:14.44 [[-8.98855701e-01 4.35230856e-01 5.13081983e-02 9.52624978e+01] [-4.34491243e-01 -9.00318745e-01 2.53676326e-02 1.01915575e+02] [ 5.72345092e-02 5.08878324e-04 9.98360632e-01 1.44401260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.27, Y:101.92, Z:14.44 [[-8.98528681e-01 4.35875359e-01 5.15643383e-02 9.52687212e+01] [-4.35130848e-01 -9.00006928e-01 2.54690831e-02 1.01919404e+02] [ 5.75096075e-02 4.47467360e-04 9.98344853e-01 1.44391264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.27, Y:101.92, Z:14.44 [[-8.97869160e-01 4.37225103e-01 5.16253947e-02 9.52692479e+01] [-4.36482500e-01 -8.99352041e-01 2.54741644e-02 1.01922753e+02] [ 5.75673483e-02 3.38885322e-04 9.98341568e-01 1.44383538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.27, Y:101.92, Z:14.44 [[-8.97618554e-01 4.37744977e-01 5.15777697e-02 9.52703488e+01] [-4.37006035e-01 -8.99099135e-01 2.54257811e-02 1.01924955e+02] [ 5.75035361e-02 2.82856239e-04 9.98345263e-01 1.44381446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.25, Y:101.92, Z:14.44 [[-8.97328830e-01 4.38333901e-01 5.16174648e-02 9.52526636e+01] [-4.37596228e-01 -8.98812184e-01 2.54204569e-02 1.01918002e+02] [ 5.75370544e-02 2.22900985e-04 9.98343347e-01 1.44388784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.26, Y:101.92, Z:14.44 [[-8.97052614e-01 4.38818831e-01 5.22937916e-02 9.52554409e+01] [-4.38063999e-01 -8.98575542e-01 2.57279719e-02 1.01921256e+02] [ 5.82798407e-02 1.71317052e-04 9.98300271e-01 1.44390454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.26, Y:101.93, Z:14.44 [[-8.96377699e-01 4.40180214e-01 5.24251732e-02 9.52558928e+01] [-4.39425396e-01 -8.97909447e-01 2.57671518e-02 1.01925680e+02] [ 5.84152487e-02 6.01478070e-05 9.98292370e-01 1.44392317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.25, Y:101.92, Z:14.44 [[-8.96297300e-01 4.40317659e-01 5.26451354e-02 9.52467907e+01] [-4.39558224e-01 -8.97842057e-01 2.58497458e-02 1.01922747e+02] [ 5.86491162e-02 2.84551679e-05 9.98278659e-01 1.44404833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.386875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.26, Y:101.93, Z:14.44 [[-8.96436244e-01 4.40081212e-01 5.22550197e-02 9.52636397e+01] [-4.39334062e-01 -8.97957976e-01 2.56330963e-02 1.01932047e+02] [ 5.82034558e-02 2.10264726e-05 9.98304742e-01 1.44394343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.25, Y:101.93, Z:14.44 [[-8.96803746e-01 4.39323049e-01 5.23287698e-02 9.52526938e+01] [-4.38573969e-01 -8.98329147e-01 2.56440511e-02 1.01927783e+02] [ 5.82744818e-02 4.76448316e-05 9.98300597e-01 1.44401439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.44687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.24, Y:101.92, Z:14.44 [[-8.97220439e-01 4.38458389e-01 5.24378223e-02 9.52402394e+01] [-4.37706177e-01 -8.98751486e-01 2.56723335e-02 1.01922594e+02] [ 5.83848207e-02 8.13836034e-05 9.98294148e-01 1.44403585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.47687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.22, Y:101.92, Z:14.44 [[-8.97854593e-01 4.37051617e-01 5.33199249e-02 9.52226561e+01] [-4.36272932e-01 -8.99436413e-01 2.60781162e-02 1.01915764e+02] [ 5.93553648e-02 1.52316489e-04 9.98236904e-01 1.44405300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.50687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.23, Y:101.91, Z:14.42 [[-8.97171317e-01 4.40691387e-01 2.95758195e-02 9.52282257e+01] [-4.39543602e-01 -8.97404601e-01 3.82936578e-02 1.01909727e+02] [ 4.34171617e-02 2.13561092e-02 9.98828747e-01 1.44181051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.53687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.22, Y:101.91, Z:14.43 [[-8.97704278e-01 4.39208764e-01 3.49669856e-02 9.52212429e+01] [-4.38716942e-01 -8.98377859e-01 2.10871346e-02 1.01912069e+02] [ 4.06752200e-02 3.58940200e-03 9.99165974e-01 1.44257691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.56687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.21, Y:101.91, Z:14.43 [[-8.98452760e-01 4.37387703e-01 3.84009854e-02 9.52147621e+01] [-4.37063485e-01 -8.99271635e-01 1.69125992e-02 1.01911387e+02] [ 4.19302799e-02 -1.58849713e-03 9.99119276e-01 1.44298475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.59687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.19, Y:101.90, Z:14.43 [[-8.99390968e-01 4.35506900e-01 3.78104049e-02 9.51928118e+01] [-4.35198341e-01 -9.00183899e-01 1.64727770e-02 1.01900933e+02] [ 4.12103258e-02 -1.63955863e-03 9.99149148e-01 1.44305571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.62687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.16, Y:101.89, Z:14.46 [[-9.02172935e-01 4.26284999e-01 6.60688604e-02 9.51556635e+01] [-4.26937813e-01 -9.04269229e-01 4.61135750e-03 1.01893657e+02] [ 6.17097900e-02 -2.40470528e-02 9.97804410e-01 1.44586903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.65687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.18, Y:101.90, Z:14.44 [[-9.02500068e-01 4.27117737e-01 5.53540005e-02 9.51764676e+01] [-4.26286804e-01 -9.04195911e-01 2.66329799e-02 1.01897274e+02] [ 6.14262790e-02 4.39586257e-04 9.98111526e-01 1.44446881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.16, Y:101.89, Z:14.45 [[-9.02664756e-01 4.26752664e-01 5.54842475e-02 9.51579551e+01] [-4.25918857e-01 -9.04368271e-01 2.66675401e-02 1.01889455e+02] [ 6.15586368e-02 4.40061370e-04 9.98103372e-01 1.44467096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.16, Y:101.89, Z:14.45 [[-9.02739940e-01 4.26624232e-01 5.52482258e-02 9.51636414e+01] [-4.25799084e-01 -9.04428874e-01 2.65245481e-02 1.01892356e+02] [ 6.12841056e-02 4.20125000e-04 9.98120274e-01 1.44466267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.17, Y:101.89, Z:14.45 [[-9.02841685e-01 4.26443500e-01 5.49802946e-02 9.51661997e+01] [-4.25627646e-01 -9.04514111e-01 2.63691153e-02 1.01893730e+02] [ 6.09753901e-02 4.06003124e-04 9.98139187e-01 1.44465627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.01, Y:101.81, Z:14.44 [[-9.01577224e-01 4.31102992e-01 3.61762225e-02 9.50103408e+01] [-4.29973602e-01 -9.02159485e-01 3.50851155e-02 1.01810604e+02] [ 4.77620205e-02 1.60771204e-02 9.98729351e-01 1.44366338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.19, Y:101.72, Z:15.15 [[-8.97229105e-01 -1.09038671e-03 4.41563975e-01 9.51887768e+01] [-4.24423497e-01 -2.73793722e-01 -8.63076875e-01 1.01715100e+02] [ 1.21838532e-01 -9.61787819e-01 2.45192910e-01 1.51464030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.96, Y:101.78, Z:14.42 [[-9.03547676e-01 4.16689164e-01 9.98585873e-02 9.49647526e+01] [-4.12488027e-01 -9.08948502e-01 6.05495569e-02 1.01783891e+02] [ 1.15996658e-01 1.35189397e-02 9.93157598e-01 1.44190979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.866875 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:95.00, Y:101.81, Z:14.44 [[-9.06103546e-01 4.05447350e-01 1.20784147e-01 9.50032759e+01] [-4.03791047e-01 -9.14019661e-01 3.89980800e-02 1.01811929e+02] [ 1.26210753e-01 -1.34352584e-02 9.91912466e-01 1.44365901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.01, Y:101.81, Z:14.43 [[-9.06546299e-01 4.06147324e-01 1.14970250e-01 9.50082250e+01] [-4.02813709e-01 -9.13807286e-01 5.19361035e-02 1.01809803e+02] [ 1.26154361e-01 7.70889563e-04 9.92010324e-01 1.44282176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.01, Y:101.81, Z:14.43 [[-9.07000118e-01 4.05143352e-01 1.14933242e-01 9.50091736e+01] [-4.01810881e-01 -9.14252769e-01 5.18641467e-02 1.01810014e+02] [ 1.26090449e-01 8.59359816e-04 9.92018377e-01 1.44282697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.02, Y:101.81, Z:14.43 [[-9.04825064e-01 4.09719744e-01 1.15850488e-01 9.50195943e+01] [-4.06378051e-01 -9.12211435e-01 5.22223922e-02 1.01812909e+02] [ 1.27076685e-01 1.73033942e-04 9.91892880e-01 1.44267668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.03, Y:101.82, Z:14.43 [[-9.03994596e-01 4.11716296e-01 1.15253900e-01 9.50304923e+01] [-4.08432144e-01 -9.11312058e-01 5.18991004e-02 1.01817848e+02] [ 1.26399974e-01 -1.56891034e-04 9.91979346e-01 1.44265500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.01, Y:101.81, Z:14.43 [[-9.03371097e-01 4.13393312e-01 1.14134263e-01 9.50093524e+01] [-4.10192931e-01 -9.10552458e-01 5.13417998e-02 1.01808287e+02] [ 1.25149591e-01 -4.36370039e-04 9.92137788e-01 1.44298147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.03, Y:101.82, Z:14.43 [[-9.02802054e-01 4.14673159e-01 1.13993961e-01 9.50328541e+01] [-4.11497575e-01 -9.09970182e-01 5.12251221e-02 1.01818059e+02] [ 1.24972789e-01 -6.62093184e-04 9.92159949e-01 1.44265006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.076875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.03, Y:101.82, Z:14.43 [[-9.02961006e-01 4.14321428e-01 1.14013928e-01 9.50307901e+01] [-4.11148667e-01 -9.10130384e-01 5.11806449e-02 1.01817064e+02] [ 1.24972778e-01 -6.62547983e-04 9.92159950e-01 1.44267867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.02, Y:101.81, Z:14.43 [[-9.01291423e-01 4.17837904e-01 1.14390807e-01 9.50192307e+01] [-4.14678942e-01 -9.08520798e-01 5.12965318e-02 1.01809577e+02] [ 1.25360063e-01 -1.20233466e-03 9.92110583e-01 1.44269603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.136875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.03, Y:101.81, Z:14.43 [[-9.00677654e-01 4.19118878e-01 1.14538770e-01 9.50311175e+01] [-4.15968796e-01 -9.07930238e-01 5.13092965e-02 1.01814543e+02] [ 1.25497908e-01 -1.43141751e-03 9.92092852e-01 1.44250534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.02, Y:101.81, Z:14.43 [[-9.00234434e-01 4.19929536e-01 1.15052809e-01 9.50229201e+01] [-4.16764422e-01 -9.07555300e-01 5.14858586e-02 1.01810311e+02] [ 1.26037219e-01 -1.60057476e-03 9.92024222e-01 1.44265341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.19687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.03, Y:101.81, Z:14.43 [[-9.00194892e-01 4.20264082e-01 1.14137018e-01 9.50252896e+01] [-4.17158637e-01 -9.07400282e-01 5.10235186e-02 1.01810681e+02] [ 1.25011315e-01 -1.68213206e-03 9.92153890e-01 1.44271846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.22687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.03, Y:101.81, Z:14.43 [[-9.00644842e-01 4.19554214e-01 1.13195099e-01 9.50317145e+01] [-4.16500919e-01 -9.07728838e-01 5.05503790e-02 1.01813320e+02] [ 1.23959080e-01 -1.61792467e-03 9.92286012e-01 1.44273772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.25687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.03, Y:101.81, Z:14.43 [[-9.01014897e-01 4.18909146e-01 1.12637841e-01 9.50286914e+01] [-4.15887352e-01 -9.08026798e-01 5.02498175e-02 1.01810895e+02] [ 1.23328286e-01 -1.56881940e-03 9.92364687e-01 1.44282028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.28687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.02, Y:101.81, Z:14.43 [[-9.01453232e-01 4.17944230e-01 1.12715091e-01 9.50230216e+01] [-4.14917209e-01 -9.08471472e-01 5.02324085e-02 1.01806571e+02] [ 1.23392790e-01 -1.48526411e-03 9.92356797e-01 1.44284249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.31687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.01, Y:101.80, Z:14.43 [[-9.01951843e-01 4.16727668e-01 1.13229519e-01 9.50082250e+01] [-4.13669846e-01 -9.09030344e-01 5.04092573e-02 1.01797526e+02] [ 1.23936000e-01 -1.37291490e-03 9.92289264e-01 1.44293862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.34687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.02, Y:101.80, Z:14.43 [[-9.03575721e-01 4.13166882e-01 1.13331565e-01 9.50165824e+01] [-4.10082155e-01 -9.10654851e-01 5.04020805e-02 1.01797987e+02] [ 1.24030410e-01 -9.33156071e-04 9.92277979e-01 1.44274311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.37687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.00, Y:101.79, Z:14.43 [[-9.04560797e-01 4.10934607e-01 1.13589233e-01 9.50014648e+01] [-4.07824860e-01 -9.11664571e-01 5.04637866e-02 1.01790528e+02] [ 1.24292596e-01 -6.76949912e-04 9.92245379e-01 1.44305425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.40687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.01, Y:101.79, Z:14.43 [[-9.05464649e-01 4.08904709e-01 1.13713269e-01 9.50055070e+01] [-4.05778840e-01 -9.12576977e-01 5.04657785e-02 1.01791055e+02] [ 1.24407805e-01 -4.47459776e-04 9.92231071e-01 1.44306578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.99, Y:101.78, Z:14.43 [[-9.06383721e-01 4.06785875e-01 1.13990363e-01 9.49945402e+01] [-4.03634683e-01 -9.13523513e-01 5.05354658e-02 1.01784368e+02] [ 1.24689990e-01 -2.05940331e-04 9.92195729e-01 1.44320470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.00, Y:101.78, Z:14.43 [[-9.07655079e-01 4.03525241e-01 1.15454050e-01 9.50044144e+01] [-4.00272905e-01 -9.14968492e-01 5.11298367e-02 1.01784873e+02] [ 1.26268998e-01 1.95128119e-04 9.91996019e-01 1.44294609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.496875 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:94.99, Y:101.78, Z:14.43 [[-9.08024365e-01 4.02453482e-01 1.16288208e-01 9.49938781e+01] [-3.99152027e-01 -9.15440390e-01 5.14446541e-02 1.01778726e+02] [ 1.27159002e-01 2.96325525e-04 9.91882302e-01 1.44305443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.01, Y:101.78, Z:14.43 [[-9.08518829e-01 4.01304954e-01 1.16395321e-01 9.50055207e+01] [-3.97994961e-01 -9.15944413e-01 5.14377609e-02 1.01783084e+02] [ 1.27253872e-01 4.07423285e-04 9.91870095e-01 1.44291727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.00, Y:101.78, Z:14.43 [[-9.08863526e-01 4.00402728e-01 1.16810729e-01 9.50013157e+01] [-3.97068556e-01 -9.16339140e-01 5.15668739e-02 1.01780426e+02] [ 1.27685760e-01 4.85383385e-04 9.91814555e-01 1.44300454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.586875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:95.01, Y:101.78, Z:14.43 [[-9.09130033e-01 3.99557437e-01 1.17628389e-01 9.50066339e+01] [-3.96176276e-01 -9.16707992e-01 5.18730669e-02 1.01781255e+02] [ 1.28557154e-01 5.57786084e-04 9.91701945e-01 1.44301333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.616875 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:95.00, Y:101.77, Z:14.41 [[-9.08717121e-01 4.06197143e-01 9.61097008e-02 9.49950227e+01] [-4.01533401e-01 -9.13564467e-01 6.45824543e-02 1.01765467e+02] [ 1.14035616e-01 2.00959269e-02 9.93273392e-01 1.44111659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.99, Y:101.78, Z:14.44 [[-9.09092716e-01 3.96849557e-01 1.26731459e-01 9.49927902e+01] [-3.95817815e-01 -9.17687692e-01 3.43155574e-02 1.01778934e+02] [ 1.29918014e-01 -1.89665458e-02 9.91343321e-01 1.44430438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.00, Y:101.78, Z:14.43 [[-9.09413870e-01 3.98656179e-01 1.18489088e-01 9.49986161e+01] [-3.95233843e-01 -9.17100278e-01 5.21276206e-02 1.01775141e+02] [ 1.29447374e-01 5.74683390e-04 9.91586127e-01 1.44323504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.99, Y:101.77, Z:14.43 [[-9.09669484e-01 3.98406429e-01 1.17361608e-01 9.49938513e+01] [-3.95054079e-01 -9.17208815e-01 5.15777553e-02 1.01771202e+02] [ 1.28194011e-01 5.54527935e-04 9.91748954e-01 1.44331044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.99, Y:101.77, Z:14.43 [[-9.09678247e-01 3.98561338e-01 1.16766205e-01 9.49911244e+01] [-3.95251234e-01 -9.17141554e-01 5.12623850e-02 1.01769697e+02] [ 1.27522343e-01 4.80290041e-04 9.91835582e-01 1.44335585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.96, Y:101.76, Z:14.44 [[-9.09513218e-01 3.98892435e-01 1.16921047e-01 9.49646919e+01] [-3.95583211e-01 -9.16997643e-01 5.12761636e-02 1.01758096e+02] [ 1.27669998e-01 3.84345304e-04 9.91816628e-01 1.44371444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.98, Y:101.77, Z:14.44 [[-9.09327768e-01 3.99413651e-01 1.16583639e-01 9.49810934e+01] [-3.96134818e-01 -9.16770782e-01 5.10738561e-02 1.01765472e+02] [ 1.27280070e-01 2.60036889e-04 9.91866784e-01 1.44359520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.826875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.99, Y:101.77, Z:14.44 [[-9.09136557e-01 3.99968048e-01 1.16173496e-01 9.49875169e+01] [-3.96723767e-01 -9.16529074e-01 5.08400366e-02 1.01768106e+02] [ 1.26810777e-01 1.31748828e-04 9.91926917e-01 1.44357683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.97, Y:101.76, Z:14.44 [[-9.08963520e-01 4.00637248e-01 1.15217684e-01 9.49700219e+01] [-3.97458411e-01 -9.16236757e-01 5.03688045e-02 1.01760259e+02] [ 1.25746296e-01 -1.08315455e-05 9.92062432e-01 1.44381947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.886875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.99, Y:101.77, Z:14.44 [[-9.08322614e-01 4.02292370e-01 1.14502741e-01 9.49898317e+01] [-3.99172757e-01 -9.15511205e-01 5.00034313e-02 1.01768034e+02] [ 1.24944541e-01 -2.87127331e-04 9.92163686e-01 1.44360674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.98, Y:101.76, Z:14.44 [[-9.08093399e-01 4.02784360e-01 1.14591181e-01 9.49819616e+01] [-3.99670491e-01 -9.15294814e-01 4.99890242e-02 1.01764101e+02] [ 1.25019510e-01 -4.04010581e-04 9.92154201e-01 1.44374318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.94687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.99, Y:101.77, Z:14.44 [[-9.07871564e-01 4.03297940e-01 1.14542549e-01 9.49893467e+01] [-4.00197422e-01 -9.15068576e-01 4.99151828e-02 1.01766903e+02] [ 1.24944978e-01 -5.23057974e-04 9.92163534e-01 1.44365829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.97687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.98, Y:101.76, Z:14.44 [[-9.07500440e-01 4.04133212e-01 1.14539509e-01 9.49818002e+01] [-4.01046100e-01 -9.14699883e-01 4.98613097e-02 1.01763072e+02] [ 1.24919886e-01 -6.86462818e-04 9.92166594e-01 1.44380167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.00687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.96, Y:101.75, Z:14.44 [[-9.07337872e-01 4.04320973e-01 1.15163086e-01 9.49606902e+01] [-4.01208247e-01 -9.14616841e-01 5.00797087e-02 1.01753333e+02] [ 1.25578375e-01 -7.65163697e-04 9.92083407e-01 1.44407806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.03687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.97, Y:101.76, Z:14.44 [[-9.07246464e-01 4.04451171e-01 1.15425752e-01 9.49738675e+01] [-4.01332011e-01 -9.14559213e-01 5.01404314e-02 1.01758430e+02] [ 1.25843041e-01 -8.34319927e-04 9.92049814e-01 1.44388571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.06687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.98, Y:101.76, Z:14.44 [[-9.07209807e-01 4.04494799e-01 1.15560911e-01 9.49775381e+01] [-4.01375453e-01 -9.14539865e-01 5.01456088e-02 1.01759379e+02] [ 1.25968698e-01 -8.90724874e-04 9.92033817e-01 1.44382560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.09687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.98, Y:101.76, Z:14.44 [[-9.07295166e-01 4.04715194e-01 1.14110009e-01 9.49760560e+01] [-4.01682204e-01 -9.14442287e-01 4.94642424e-02 1.01757558e+02] [ 1.24365948e-01 -9.57291874e-04 9.92235957e-01 1.44382751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.12687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.98, Y:101.76, Z:14.44 [[-9.07496885e-01 4.04484562e-01 1.13320977e-01 9.49792688e+01] [-4.01498151e-01 -9.14544315e-01 4.90706611e-02 1.01758545e+02] [ 1.23485381e-01 -9.66690820e-04 9.92345921e-01 1.44379537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.15687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.97, Y:101.76, Z:14.44 [[-9.07636883e-01 4.04358741e-01 1.12646783e-01 9.49736219e+01] [-4.01413252e-01 -9.14599927e-01 4.87275504e-02 1.01755788e+02] [ 1.22730150e-01 -9.90989464e-04 9.92439584e-01 1.44395434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.98, Y:101.76, Z:14.44 [[-9.07892861e-01 4.03974196e-01 1.11961609e-01 9.49766011e+01] [-4.01067888e-01 -9.14769856e-01 4.83803725e-02 1.01756615e+02] [ 1.21963527e-01 -9.80011042e-04 9.92534099e-01 1.44390556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.97, Y:101.75, Z:14.44 [[-9.08117062e-01 4.03427963e-01 1.12112805e-01 9.49711196e+01] [-4.00515922e-01 -9.15010911e-01 4.83945252e-02 1.01753653e+02] [ 1.22108144e-01 -9.55069223e-04 9.92516342e-01 1.44400245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.97, Y:101.75, Z:14.44 [[-9.08919930e-01 4.01610403e-01 1.12132269e-01 9.49718831e+01] [-3.98689844e-01 -9.15810302e-01 4.83518247e-02 1.01752437e+02] [ 1.22110483e-01 -7.58059829e-04 9.92516224e-01 1.44392062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.96, Y:101.75, Z:14.44 [[-9.09562069e-01 4.00024158e-01 1.12594476e-01 9.49635556e+01] [-3.97073630e-01 -9.16504402e-01 4.84996241e-02 1.01748157e+02] [ 1.22594354e-01 -5.94878864e-04 9.92456684e-01 1.44395033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.96, Y:101.75, Z:14.44 [[-9.10040049e-01 3.98808028e-01 1.13045420e-01 9.49620144e+01] [-3.95830800e-01 -9.17034310e-01 4.86420826e-02 1.01746680e+02] [ 1.23065382e-01 -4.80615898e-04 9.92398449e-01 1.44394547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.96, Y:101.74, Z:14.44 [[-9.10740774e-01 3.97078720e-01 1.13488911e-01 9.49584856e+01] [-3.94071115e-01 -9.17784508e-01 4.87806691e-02 1.01744951e+02] [ 1.23528130e-01 -2.96157516e-04 9.92341027e-01 1.44399383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.366875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:94.96, Y:101.74, Z:14.44 [[-9.12080991e-01 3.93792918e-01 1.14172689e-01 9.49574596e+01] [-3.90729712e-01 -9.19199177e-01 4.90220819e-02 1.01743218e+02] [ 1.24251991e-01 1.01446986e-04 9.92250690e-01 1.44406709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.95, Y:101.74, Z:14.44 [[-9.13007712e-01 3.91722261e-01 1.13888493e-01 9.49497257e+01] [-3.88664773e-01 -9.20083452e-01 4.88480919e-02 1.01738850e+02] [ 1.23921803e-01 3.34239415e-04 9.92291930e-01 1.44409723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.95, Y:101.74, Z:14.44 [[-9.13746765e-01 3.89874194e-01 1.14302063e-01 9.49476488e+01] [-3.86786542e-01 -9.20867973e-01 4.89729318e-02 1.01736791e+02] [ 1.24350392e-01 5.38358248e-04 9.92238223e-01 1.44409753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.95, Y:101.73, Z:14.44 [[-9.15254108e-01 3.86490354e-01 1.13732687e-01 9.49454114e+01] [-3.83413922e-01 -9.22292965e-01 4.86770057e-02 1.01734884e+02] [ 1.23708050e-01 9.45133931e-04 9.92318208e-01 1.44409224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.95, Y:101.73, Z:14.44 [[-9.16160722e-01 3.84528307e-01 1.13081882e-01 9.49454956e+01] [-3.81478621e-01 -9.23112478e-01 4.83468203e-02 1.01734949e+02] [ 1.22978017e-01 1.15513744e-03 9.92408723e-01 1.44414445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.94, Y:101.73, Z:14.44 [[-9.16938971e-01 3.82895531e-01 1.12311778e-01 9.49442314e+01] [-3.79881492e-01 -9.23790711e-01 4.79663927e-02 1.01734240e+02] [ 1.22118694e-01 1.31708911e-03 9.92514629e-01 1.44422267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.94, Y:101.73, Z:14.44 [[-9.17759404e-01 3.81171757e-01 1.11470926e-01 9.49433650e+01] [-3.78196368e-01 -9.24503044e-01 4.75565861e-02 1.01733796e+02] [ 1.21182438e-01 1.48760479e-03 9.92629137e-01 1.44428284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.576875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.94, Y:101.73, Z:14.44 [[-9.19265951e-01 3.77651499e-01 1.11038087e-01 9.49358164e+01] [-3.74679794e-01 -9.25945866e-01 4.73213075e-02 1.01729647e+02] [ 1.20686220e-01 1.89713921e-03 9.92688892e-01 1.44440439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.37, Y:100.85, Z:14.95 [[-8.73779117e-01 -4.76192628e-01 -9.87453070e-02 9.53724391e+01] [-4.74500231e-01 8.79277074e-01 -4.14892433e-02 1.00848517e+02] [ 1.06581356e-01 1.06022366e-02 -9.94247458e-01 1.49539836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.636875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.86, Y:101.73, Z:14.45 [[-8.89472934e-01 4.44483161e-01 1.06172595e-01 9.48635484e+01] [-4.41039563e-01 -8.95784163e-01 5.52705918e-02 1.01730317e+02] [ 1.19674576e-01 2.33538068e-03 9.92810426e-01 1.44461650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.86, Y:101.73, Z:14.45 [[-8.90497610e-01 4.42386670e-01 1.06339270e-01 9.48615693e+01] [-4.38923684e-01 -8.96820723e-01 5.53045153e-02 1.01729289e+02] [ 1.19833241e-01 2.57371456e-03 9.92790698e-01 1.44468513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.69687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.84, Y:101.72, Z:14.45 [[-8.91964360e-01 4.39441832e-01 1.06256558e-01 9.48414739e+01] [-4.35969749e-01 -8.98266303e-01 5.52089389e-02 1.01718105e+02] [ 1.19707802e-01 2.91976122e-03 9.92804874e-01 1.44493631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.72687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.85, Y:101.72, Z:14.45 [[-8.92475707e-01 4.38511564e-01 1.05805109e-01 9.48488522e+01] [-4.35068809e-01 -8.98720593e-01 5.49220150e-02 1.01721136e+02] [ 1.19173169e-01 2.98406161e-03 9.92869000e-01 1.44478129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.75687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.85, Y:101.72, Z:14.45 [[-8.92970129e-01 4.37539334e-01 1.05658315e-01 9.48539532e+01] [-4.34105685e-01 -8.99194060e-01 5.47932238e-02 1.01723361e+02] [ 1.18981520e-01 3.06183667e-03 9.92891748e-01 1.44471571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.78687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.84, Y:101.72, Z:14.45 [[-8.93569604e-01 4.36658283e-01 1.04225267e-01 9.48404808e+01] [-4.33317542e-01 -8.99622143e-01 5.39991548e-02 1.01716029e+02] [ 1.17342536e-01 3.08936711e-03 9.93086696e-01 1.44487041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.81687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.84, Y:101.72, Z:14.45 [[-8.94043069e-01 4.35897896e-01 1.03344158e-01 9.48399525e+01] [-4.32614500e-01 -8.99990731e-01 5.34918514e-02 1.01715434e+02] [ 1.16325770e-01 3.11583778e-03 9.93206226e-01 1.44486368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.84687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.82, Y:101.71, Z:14.45 [[-8.94871654e-01 4.34473090e-01 1.02165826e-01 9.48238792e+01] [-4.31261105e-01 -9.00679071e-01 5.28305886e-02 1.01706615e+02] [ 1.14972090e-01 3.21644943e-03 9.93363515e-01 1.44505606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.87687499999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.84, Y:101.71, Z:14.45 [[-8.95395823e-01 4.33569916e-01 1.01407336e-01 9.48352865e+01] [-4.30413666e-01 -9.01114254e-01 5.23180346e-02 1.01711900e+02] [ 1.14063122e-01 3.19824661e-03 9.93468357e-01 1.44490770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.90687499999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.82, Y:101.71, Z:14.45 [[-8.96414806e-01 4.31660177e-01 1.00548429e-01 9.48237948e+01] [-4.28551032e-01 -9.02030020e-01 5.18252531e-02 1.01705269e+02] [ 1.13068599e-01 3.36679140e-03 9.93581480e-01 1.44501109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.84, Y:101.71, Z:14.45 [[-8.96998105e-01 4.30450084e-01 1.00534197e-01 9.48372339e+01] [-4.27339934e-01 -9.02607700e-01 5.17679488e-02 1.01711858e+02] [ 1.13026458e-01 3.47347503e-03 9.93585907e-01 1.44485996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.82, Y:101.70, Z:14.45 [[-8.97607600e-01 4.29142842e-01 1.00682757e-01 9.48169445e+01] [-4.26020962e-01 -9.03229469e-01 5.17944540e-02 1.01701113e+02] [ 1.13166853e-01 3.59813043e-03 9.93569483e-01 1.44511771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.81, Y:101.70, Z:14.45 [[-8.97776065e-01 4.28785528e-01 1.00703072e-01 9.48149244e+01] [-4.25665838e-01 -9.03399149e-01 5.17549266e-02 1.01700004e+02] [ 1.13166833e-01 3.59847685e-03 9.93569484e-01 1.44514623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.83, Y:101.71, Z:14.45 [[-8.98014376e-01 4.28198591e-01 1.01074960e-01 9.48308354e+01] [-4.25057828e-01 -9.03677330e-01 5.18953427e-02 1.01707240e+02] [ 1.13560663e-01 3.64006070e-03 9.93524396e-01 1.44488451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.66, Y:101.62, Z:14.47 [[-8.98107803e-01 4.27776698e-01 1.02026820e-01 9.46603201e+01] [-4.24673514e-01 -9.03879670e-01 5.15164879e-02 1.01618809e+02] [ 1.14257522e-01 2.93927152e-03 9.93446818e-01 1.44691358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.81, Y:101.70, Z:14.45 [[-8.97966395e-01 4.28129539e-01 1.01791209e-01 9.48144777e+01] [-4.24835689e-01 -9.03706046e-01 5.31979273e-02 1.01696808e+02] [ 1.14764935e-01 4.52541250e-03 9.93382369e-01 1.44479050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.81, Y:101.69, Z:14.45 [[-8.97733954e-01 4.28418093e-01 1.02624000e-01 9.48068690e+01] [-4.25189266e-01 -9.03573422e-01 5.26227917e-02 1.01693326e+02] [ 1.15272875e-01 3.60664361e-03 9.93327316e-01 1.44496008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.81, Y:101.69, Z:14.45 [[-8.97310362e-01 4.29240988e-01 1.02889694e-01 9.48075860e+01] [-4.26006736e-01 -9.03183359e-01 5.27074986e-02 1.01694221e+02] [ 1.15552478e-01 3.46328186e-03 9.93295339e-01 1.44497584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.82, Y:101.70, Z:14.45 [[-8.95451933e-01 4.33098416e-01 1.02915492e-01 9.48236458e+01] [-4.29893841e-01 -9.01341908e-01 5.26692553e-02 1.01703492e+02] [ 1.15573017e-01 2.92005033e-03 9.93294695e-01 1.44476947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.82, Y:101.70, Z:14.45 [[-8.94608262e-01 4.34920805e-01 1.02566815e-01 9.48199071e+01] [-4.31755774e-01 -9.00464868e-01 5.24401873e-02 1.01702259e+02] [ 1.15165142e-01 2.62961012e-03 9.93342879e-01 1.44484389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.236875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:94.82, Y:101.70, Z:14.45 [[-8.93517165e-01 4.37186573e-01 1.02444990e-01 9.48223012e+01] [-4.34049722e-01 -8.99367922e-01 5.23276156e-02 1.01703657e+02] [ 1.15012669e-01 2.28940331e-03 9.93361387e-01 1.44475663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.82, Y:101.70, Z:14.45 [[-8.92864178e-01 4.38601924e-01 1.02087762e-01 9.48229559e+01] [-4.35501959e-01 -8.98679103e-01 5.20952300e-02 1.01704876e+02] [ 1.14593207e-01 2.05454427e-03 9.93410376e-01 1.44485119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.81, Y:101.70, Z:14.45 [[-8.91867620e-01 4.40686482e-01 1.01821279e-01 9.48138330e+01] [-4.37621988e-01 -8.97659405e-01 5.19094241e-02 1.01700568e+02] [ 1.14276610e-01 1.73710395e-03 9.93447451e-01 1.44491102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.326875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.82, Y:101.70, Z:14.45 [[-8.90127432e-01 4.44313126e-01 1.01286722e-01 9.48154193e+01] [-4.41309830e-01 -8.95870725e-01 5.15875776e-02 1.01703575e+02] [ 1.13660847e-01 1.22069209e-03 9.93518858e-01 1.44487889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.356875 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:94.81, Y:101.71, Z:14.45 [[-8.89679392e-01 4.44966269e-01 1.02350372e-01 9.48135451e+01] [-4.41909505e-01 -8.95546649e-01 5.20786743e-02 1.01705548e+02] [ 1.14832786e-01 1.10372129e-03 9.93384222e-01 1.44496715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.386875 meters Centerline goodness : 0.998615 Centerline is valid? [True, True] Translation: X:94.81, Y:101.70, Z:14.45 [[-8.88994209e-01 4.46291509e-01 1.02533824e-01 9.48061407e+01] [-4.43238327e-01 -8.94887199e-01 5.21218438e-02 1.01702899e+02] [ 1.15017743e-01 8.89096717e-04 9.93363040e-01 1.44504351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.416875 meters Centerline goodness : 0.996582 Centerline is valid? [True, True] Translation: X:94.80, Y:101.70, Z:14.45 [[-8.88235483e-01 4.47269886e-01 1.04820684e-01 9.48033451e+01] [-4.44091481e-01 -8.94398743e-01 5.32319848e-02 1.01704868e+02] [ 1.17560552e-01 7.32564779e-04 9.93065446e-01 1.44487494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.44687499999998 meters Centerline goodness : 0.997230 Centerline is valid? [True, True] Translation: X:95.18, Y:100.77, Z:14.98 [[-8.46657863e-01 -5.19549851e-01 -1.15058318e-01 9.51791341e+01] [-5.20073317e-01 8.53668871e-01 -2.78065179e-02 1.00768169e+02] [ 1.12668576e-01 3.62961539e-02 -9.92969476e-01 1.49791242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.47687499999998 meters Centerline goodness : 0.997407 Centerline is valid? [True, True] Translation: X:95.11, Y:100.91, Z:14.31 [[-8.47346222e-01 -8.25763310e-02 -5.24581290e-01 9.51063039e+01] [-5.29720327e-01 2.01054533e-01 8.23998453e-01 1.00913577e+02] [ 3.74266774e-02 9.76093348e-01 -2.14105160e-01 1.43117703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.50687499999998 meters Centerline goodness : 0.997403 Centerline is valid? [True, True] Translation: X:94.61, Y:101.60, Z:14.50 [[-8.81116217e-01 4.70965310e-01 4.27304268e-02 9.46055075e+01] [-4.70232380e-01 -8.82145845e-01 2.64616076e-02 1.01602173e+02] [ 5.01569678e-02 3.22252128e-03 9.98736148e-01 1.44997616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.53687499999998 meters Centerline goodness : 0.996980 Centerline is valid? [True, True] Translation: X:94.59, Y:101.59, Z:14.50 [[-8.81768244e-01 4.69621047e-01 4.40549276e-02 9.45860699e+01] [-4.69016425e-01 -8.82868027e-01 2.38252035e-02 1.01593912e+02] [ 5.00835040e-02 3.45823134e-04 9.98744974e-01 1.45018489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.56687499999998 meters Centerline goodness : 0.996174 Centerline is valid? [True, True] Translation: X:94.58, Y:101.59, Z:14.50 [[-8.82216063e-01 4.68799741e-01 4.38362978e-02 9.45833474e+01] [-4.68201427e-01 -8.83304403e-01 2.36802770e-02 1.01593385e+02] [ 4.98221026e-02 3.66903585e-04 9.98758041e-01 1.45015242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.59687499999998 meters Centerline goodness : 0.996343 Centerline is valid? [True, True] Translation: X:94.59, Y:101.60, Z:14.50 [[-8.82754377e-01 4.67824956e-01 4.34110695e-02 9.45938353e+01] [-4.67238089e-01 -8.83821052e-01 2.34289712e-02 1.01599757e+02] [ 4.93282745e-02 3.98721704e-04 9.98782540e-01 1.45011370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.62687499999998 meters Centerline goodness : 0.996234 Centerline is valid? [True, True] Translation: X:94.59, Y:101.58, Z:14.47 [[-8.78331577e-01 4.77938759e-01 1.04011339e-02 9.45917023e+01] [-4.77277857e-01 -8.77939439e-01 3.77913923e-02 1.01581412e+02] [ 2.71935368e-02 2.82291423e-02 9.99231518e-01 1.44719416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.65687499999999 meters Centerline goodness : 0.995344 Centerline is valid? [True, True] Translation: X:94.61, Y:101.60, Z:14.49 [[-8.78740406e-01 4.76667132e-01 2.45711926e-02 9.46067887e+01] [-4.76488768e-01 -8.79083832e-01 1.30411125e-02 1.01599413e+02] [ 2.78164079e-02 -2.48144768e-04 9.99613018e-01 1.44868990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.686875 meters Centerline goodness : 0.997020 Centerline is valid? [True, True] Translation: X:94.58, Y:101.60, Z:14.52 [[-8.84872648e-01 4.62701612e-01 5.39222973e-02 9.45794790e+01] [-4.63334934e-01 -8.86182835e-01 8.49674059e-04 1.01601120e+02] [ 4.81781598e-02 -2.42322307e-02 9.98544773e-01 1.45170356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.716875 meters Centerline goodness : 0.996016 Centerline is valid? [True, True] Translation: X:94.73, Y:101.23, Z:15.30 [[ -0.86237843 -0.22645563 0.45279276 94.73441185] [ -0.49181658 0.16259805 -0.85538198 101.23279393] [ 0.12008284 -0.96035396 -0.25159568 15.30459787] [ 0. 0. 0. 1. ]] SLAMing on 218.746875 meters Centerline goodness : 0.996416 Centerline is valid? [True, True] Translation: X:94.44, Y:101.53, Z:14.48 [[-8.74113058e-01 4.75605188e-01 9.86208214e-02 9.44411580e+01] [-4.72386704e-01 -8.79657177e-01 5.52634873e-02 1.01525821e+02] [ 1.13036115e-01 1.71937114e-03 9.93589392e-01 1.44845593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.776875 meters Centerline goodness : 0.996490 Centerline is valid? [True, True] Translation: X:94.46, Y:101.53, Z:14.48 [[-8.75379098e-01 4.73324502e-01 9.83633601e-02 9.44555244e+01] [-4.70121987e-01 -8.80886084e-01 5.50002194e-02 1.01532325e+02] [ 1.12679867e-01 1.90326415e-03 9.93629521e-01 1.44818342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.806875 meters Centerline goodness : 0.995878 Centerline is valid? [True, True] Translation: X:94.46, Y:101.53, Z:14.48 [[-8.75947286e-01 4.72162167e-01 9.88900438e-02 9.44556083e+01] [-4.68923575e-01 -8.81509394e-01 5.52437185e-02 1.01531993e+02] [ 1.13256497e-01 2.01871241e-03 9.93563733e-01 1.44814391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.836875 meters Centerline goodness : 0.995401 Centerline is valid? [True, True] Translation: X:94.47, Y:101.52, Z:14.45 [[-8.70083837e-01 4.89239473e-01 5.99904616e-02 9.44706811e+01] [-4.85304352e-01 -8.71590056e-01 6.93574845e-02 1.01518818e+02] [ 8.62195089e-02 3.12331942e-02 9.95786465e-01 1.44465731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.866875 meters Centerline goodness : 0.996015 Centerline is valid? [True, True] Translation: X:94.42, Y:101.52, Z:14.50 [[-8.76713130e-01 4.67279879e-01 1.14121003e-01 9.44240273e+01] [-4.67063274e-01 -8.83704855e-01 3.02923474e-02 1.01522128e+02] [ 1.15004289e-01 -2.67440307e-02 9.93004920e-01 1.45003797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.896875 meters Centerline goodness : 0.996180 Centerline is valid? [True, True] Translation: X:94.44, Y:101.52, Z:14.48 [[-8.77242368e-01 4.69242772e-01 1.01277091e-01 9.44444960e+01] [-4.65841440e-01 -8.83066114e-01 5.64445880e-02 1.01524001e+02] [ 1.15920582e-01 2.33651832e-03 9.93255737e-01 1.44831828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.926875 meters Centerline goodness : 0.995849 Centerline is valid? [True, True] Translation: X:94.44, Y:101.52, Z:14.48 [[-8.77551090e-01 4.68495472e-01 1.02059187e-01 9.44446173e+01] [-4.65042406e-01 -8.83462618e-01 5.68274824e-02 1.01523367e+02] [ 1.16788895e-01 2.40716916e-03 9.93153845e-01 1.44826252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.956875 meters Centerline goodness : 0.995689 Centerline is valid? [True, True] Translation: X:94.44, Y:101.52, Z:14.48 [[-8.77842591e-01 4.67796034e-01 1.02758242e-01 9.44445476e+01] [-4.64296822e-01 -8.83832998e-01 5.71637418e-02 1.01522536e+02] [ 1.17562097e-01 2.47044200e-03 9.93062460e-01 1.44827629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.986875 meters Centerline goodness : 0.996245 Centerline is valid? [True, True] Translation: X:94.44, Y:101.52, Z:14.48 [[-8.78268327e-01 4.66855185e-01 1.03397206e-01 9.44397527e+01] [-4.63311972e-01 -8.84330060e-01 5.74661813e-02 1.01519604e+02] [ 1.18265642e-01 2.56556351e-03 9.92978678e-01 1.44837002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.016875 meters Centerline goodness : 0.995735 Centerline is valid? [True, True] Translation: X:94.48, Y:101.52, Z:14.44 [[-8.71529835e-01 4.86026152e-01 6.49178392e-02 9.44797538e+01] [-4.81576035e-01 -8.73336311e-01 7.32680685e-02 1.01518041e+02] [ 9.23053037e-02 3.25924320e-02 9.95197199e-01 1.44444515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.046875 meters Centerline goodness : 0.995840 Centerline is valid? [True, True] Translation: X:94.44, Y:101.53, Z:14.50 [[-8.78490414e-01 4.62494217e-01 1.19806889e-01 9.44358438e+01] [-4.62192448e-01 -8.86202647e-01 3.19845103e-02 1.01525395e+02] [ 1.20965834e-01 -2.72757538e-02 9.92281865e-01 1.44973005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.076875 meters Centerline goodness : 0.996046 Centerline is valid? [True, True] Translation: X:94.43, Y:101.51, Z:14.48 [[-8.78684513e-01 4.65473930e-01 1.06054450e-01 9.44295980e+01] [-4.61751838e-01 -8.85057461e-01 5.88092824e-02 1.01512672e+02] [ 1.21238470e-01 2.70396855e-03 9.92619727e-01 1.44837219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.106875 meters Centerline goodness : 0.996076 Centerline is valid? [True, True] Translation: X:94.43, Y:101.51, Z:14.49 [[-8.78806924e-01 4.65066652e-01 1.06824155e-01 9.44316601e+01] [-4.61293870e-01 -8.85271455e-01 5.91812246e-02 1.01514098e+02] [ 1.22091589e-01 2.73154201e-03 9.92515079e-01 1.44855640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.136875 meters Centerline goodness : 0.996457 Centerline is valid? [True, True] Translation: X:94.43, Y:101.52, Z:14.49 [[-8.78639464e-01 4.65489362e-01 1.06359512e-01 9.44339798e+01] [-4.61759168e-01 -8.85049619e-01 5.88697104e-02 1.01515121e+02] [ 1.21536669e-01 2.61277105e-03 9.92583504e-01 1.44855452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.166875 meters Centerline goodness : 0.996414 Centerline is valid? [True, True] Translation: X:94.43, Y:101.51, Z:14.49 [[-8.78898003e-01 4.64957166e-01 1.06551092e-01 9.44303226e+01] [-4.61216234e-01 -8.85329232e-01 5.89214429e-02 1.01513257e+02] [ 1.21728743e-01 2.64284530e-03 9.92559887e-01 1.44869185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.19687499999998 meters Centerline goodness : 0.996105 Centerline is valid? [True, True] Translation: X:94.43, Y:101.51, Z:14.49 [[-8.78886741e-01 4.64995943e-01 1.06474734e-01 9.44295063e+01] [-4.61267320e-01 -8.85309030e-01 5.88249980e-02 1.01512860e+02] [ 1.21616429e-01 2.58719551e-03 9.92573801e-01 1.44870251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.22687499999998 meters Centerline goodness : 0.996537 Centerline is valid? [True, True] Translation: X:94.43, Y:101.51, Z:14.49 [[-8.78662609e-01 4.65406700e-01 1.06529914e-01 9.44281616e+01] [-4.61683835e-01 -8.85093462e-01 5.88013592e-02 1.01512347e+02] [ 1.21655477e-01 2.48341637e-03 9.92569281e-01 1.44878701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.25687499999998 meters Centerline goodness : 0.996098 Centerline is valid? [True, True] Translation: X:94.43, Y:101.51, Z:14.49 [[-8.78604885e-01 4.65443896e-01 1.06843039e-01 9.44281622e+01] [-4.61705978e-01 -8.85074031e-01 5.89198582e-02 1.01512319e+02] [ 1.21987888e-01 2.43720523e-03 9.92528597e-01 1.44882552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.28687499999998 meters Centerline goodness : 0.996192 Centerline is valid? [True, True] Translation: X:94.41, Y:101.50, Z:14.49 [[-8.78758384e-01 4.65110784e-01 1.07031120e-01 9.44135124e+01] [-4.61364044e-01 -8.85249125e-01 5.89678320e-02 1.01504413e+02] [ 1.22175780e-01 2.43816660e-03 9.92505483e-01 1.44896741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.31687499999998 meters Centerline goodness : 0.996465 Centerline is valid? [True, True] Translation: X:94.40, Y:101.50, Z:14.49 [[-8.78836589e-01 4.64940831e-01 1.07127370e-01 9.44038243e+01] [-4.61194328e-01 -8.85338491e-01 5.89537831e-02 1.01498348e+02] [ 1.22254005e-01 2.40420629e-03 9.92495934e-01 1.44895725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.34687499999998 meters Centerline goodness : 0.996297 Centerline is valid? [True, True] Translation: X:94.42, Y:101.51, Z:14.49 [[-8.79350347e-01 4.64055269e-01 1.06750530e-01 9.44189686e+01] [-4.60335366e-01 -8.85802804e-01 5.86919319e-02 1.01506415e+02] [ 1.21796219e-01 2.46972631e-03 9.92552055e-01 1.44893604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.37687499999998 meters Centerline goodness : 0.996162 Centerline is valid? [True, True] Translation: X:94.42, Y:101.51, Z:14.49 [[-8.79815692e-01 4.63232985e-01 1.06487319e-01 9.44184081e+01] [-4.59532100e-01 -8.86232930e-01 5.84930933e-02 1.01506108e+02] [ 1.21468499e-01 2.52879989e-03 9.92592066e-01 1.44898710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.40687499999999 meters Centerline goodness : 0.996272 Centerline is valid? [True, True] Translation: X:94.39, Y:101.49, Z:14.49 [[-8.80173551e-01 4.62637694e-01 1.06117308e-01 9.43892751e+01] [-4.58964804e-01 -8.86543761e-01 5.82363102e-02 1.01489588e+02] [ 1.21019950e-01 2.55395033e-03 9.92646790e-01 1.44920726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.436875 meters Centerline goodness : 0.996753 Centerline is valid? [True, True] Translation: X:94.41, Y:101.50, Z:14.49 [[-8.80219267e-01 4.62498388e-01 1.06345117e-01 9.44119424e+01] [-4.58815288e-01 -8.86616512e-01 5.83068754e-02 1.01501931e+02] [ 1.21254173e-01 2.53006939e-03 9.92618267e-01 1.44912517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.466875 meters Centerline goodness : 0.995397 Centerline is valid? [True, True] Translation: X:94.43, Y:101.49, Z:14.46 [[-8.73794275e-01 4.80315071e-01 7.60328703e-02 9.44299245e+01] [-4.75818557e-01 -8.76733872e-01 7.02454212e-02 1.01490497e+02] [ 1.00400527e-01 2.52021962e-02 9.94627862e-01 1.44616755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.496875 meters Centerline goodness : 0.995500 Centerline is valid? [True, True] Translation: X:94.43, Y:101.49, Z:14.47 [[-8.73625289e-01 4.79595559e-01 8.22615063e-02 9.44255052e+01] [-4.76655676e-01 -8.77456905e-01 5.35606795e-02 1.01493430e+02] [ 9.78683908e-02 7.58155018e-03 9.95170487e-01 1.44683657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.526875 meters Centerline goodness : 0.995890 Centerline is valid? [True, True] Translation: X:94.41, Y:101.51, Z:14.50 [[-8.79226043e-01 4.61329949e-01 1.18895931e-01 9.44099915e+01] [-4.61685970e-01 -8.86656483e-01 2.61982210e-02 1.01509090e+02] [ 1.17505872e-01 -3.18584248e-02 9.92561036e-01 1.45048260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.556875 meters Centerline goodness : 0.995630 Centerline is valid? [True, True] Translation: X:94.42, Y:101.49, Z:14.46 [[-8.73822078e-01 4.80195701e-01 7.64661076e-02 9.44243478e+01] [-4.74975151e-01 -8.76609607e-01 7.71634811e-02 1.01486393e+02] [ 1.04084496e-01 3.11076524e-02 9.94081854e-01 1.44579237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.586875 meters Centerline goodness : 0.995573 Centerline is valid? [True, True] Translation: X:94.45, Y:101.51, Z:14.46 [[-8.71974915e-01 4.82895920e-01 8.04442516e-02 9.44490366e+01] [-4.80468769e-01 -8.75670221e-01 4.84915047e-02 1.01507020e+02] [ 9.38589853e-02 3.63242517e-03 9.95578875e-01 1.44610527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.616875 meters Centerline goodness : 0.996199 Centerline is valid? [True, True] Translation: X:94.40, Y:101.50, Z:14.50 [[-8.79523273e-01 4.60039419e-01 1.21665710e-01 9.44003552e+01] [-4.58871989e-01 -8.87640271e-01 3.91311680e-02 1.01504866e+02] [ 1.25997264e-01 -2.14122134e-02 9.91799479e-01 1.45020802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.646875 meters Centerline goodness : 0.995059 Centerline is valid? [True, True] Translation: X:94.45, Y:101.50, Z:14.45 [[-8.71240312e-01 4.86044885e-01 6.85615670e-02 9.44529428e+01] [-4.81084067e-01 -8.73256825e-01 7.73345822e-02 1.01501225e+02] [ 9.74599345e-02 3.43931280e-02 9.94644999e-01 1.44458528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.676875 meters Centerline goodness : 0.996330 Centerline is valid? [True, True] Translation: X:94.40, Y:101.51, Z:14.51 [[-8.79167669e-01 4.59575349e-01 1.25915482e-01 9.43969785e+01] [-4.59383166e-01 -8.87650603e-01 3.23034829e-02 1.01507380e+02] [ 1.26614838e-01 -2.94432751e-02 9.91514890e-01 1.45069959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.706875 meters Centerline goodness : 0.996516 Centerline is valid? [True, True] Translation: X:94.40, Y:101.50, Z:14.49 [[-8.79525307e-01 4.62873083e-01 1.10379995e-01 9.43965891e+01] [-4.58948788e-01 -8.86421636e-01 6.01888173e-02 1.01498471e+02] [ 1.25702999e-01 2.27882299e-03 9.92065302e-01 1.44908531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.736875 meters Centerline goodness : 0.996258 Centerline is valid? [True, True] Translation: X:94.39, Y:101.49, Z:14.49 [[-8.79558968e-01 4.62825250e-01 1.10312331e-01 9.43891000e+01] [-4.58912466e-01 -8.86446725e-01 6.00961973e-02 1.01494524e+02] [ 1.25600042e-01 2.23444555e-03 9.92078443e-01 1.44919642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.766875 meters Centerline goodness : 0.996378 Centerline is valid? [True, True] Translation: X:94.38, Y:101.49, Z:14.49 [[-8.79619662e-01 4.62782463e-01 1.10007460e-01 9.43826533e+01] [-4.58898029e-01 -8.86469187e-01 5.98747055e-02 1.01492289e+02] [ 1.25227187e-01 2.18476186e-03 9.92125687e-01 1.44932207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.796875 meters Centerline goodness : 0.996159 Centerline is valid? [True, True] Translation: X:94.38, Y:101.49, Z:14.49 [[-8.79880879e-01 4.62208075e-01 1.10332834e-01 9.43777100e+01] [-4.58303128e-01 -8.86768714e-01 5.99957507e-02 1.01490168e+02] [ 1.25570225e-01 2.22323103e-03 9.92082242e-01 1.44942107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.826875 meters Centerline goodness : 0.996463 Centerline is valid? [True, True] Translation: X:94.38, Y:101.49, Z:14.49 [[-8.80062218e-01 4.61838669e-01 1.10433405e-01 9.43783741e+01] [-4.57930782e-01 -8.86961149e-01 5.99943214e-02 1.01490554e+02] [ 1.25657837e-01 2.22788014e-03 9.92071139e-01 1.44943934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.856875 meters Centerline goodness : 0.995300 Centerline is valid? [True, True] Translation: X:94.40, Y:101.48, Z:14.46 [[-8.75157857e-01 4.77354447e-01 7.89395813e-02 9.43961684e+01] [-4.72444315e-01 -8.78297179e-01 7.34195807e-02 1.01479393e+02] [ 1.04379575e-01 2.69591665e-02 9.94172071e-01 1.44640642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.886875 meters Centerline goodness : 0.995300 Centerline is valid? [True, True] Translation: X:94.39, Y:101.48, Z:14.48 [[-8.75382318e-01 4.74866971e-01 9.05933614e-02 9.43920421e+01] [-4.72000545e-01 -8.80052757e-01 5.21788369e-02 1.01484859e+02] [ 1.04504944e-01 2.91631526e-03 9.94520091e-01 1.44764805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.916875 meters Centerline goodness : 0.996381 Centerline is valid? [True, True] Translation: X:94.38, Y:101.50, Z:14.51 [[-8.80882382e-01 4.56663643e-01 1.24517249e-01 9.43817954e+01] [-4.55604148e-01 -8.89347736e-01 3.85417241e-02 1.01499621e+02] [ 1.28339738e-01 -2.27798495e-02 9.91468603e-01 1.45079870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.94687499999998 meters Centerline goodness : 0.995586 Centerline is valid? [True, True] Translation: X:94.38, Y:101.47, Z:14.46 [[-8.75936910e-01 4.77331923e-01 6.99197026e-02 9.43833819e+01] [-4.72024627e-01 -8.77935772e-01 8.01344543e-02 1.01467483e+02] [ 9.96357413e-02 3.71889047e-02 9.94328771e-01 1.44564174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.97687499999998 meters Centerline goodness : 0.996876 Centerline is valid? [True, True] Translation: X:94.35, Y:101.49, Z:14.52 [[-8.81585300e-01 4.53775710e-01 1.29980630e-01 9.43542392e+01] [-4.53792545e-01 -8.90560343e-01 3.12186063e-02 1.01486881e+02] [ 1.29921840e-01 -3.14623765e-02 9.91024941e-01 1.45151388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.00687499999998 meters Centerline goodness : 0.996545 Centerline is valid? [True, True] Translation: X:94.37, Y:101.49, Z:14.50 [[-8.82458976e-01 4.56372937e-01 1.13973236e-01 9.43742109e+01] [-4.52197066e-01 -8.89783944e-01 6.16631776e-02 1.01488323e+02] [ 1.29552961e-01 2.87686144e-03 9.91568330e-01 1.44954225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.03687499999998 meters Centerline goodness : 0.996440 Centerline is valid? [True, True] Translation: X:94.37, Y:101.48, Z:14.50 [[-8.82862964e-01 4.55611995e-01 1.13888969e-01 9.43662178e+01] [-4.51443562e-01 -8.90173634e-01 6.15598205e-02 1.01484663e+02] [ 1.29428350e-01 2.93444360e-03 9.91584435e-01 1.44973206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.06687499999998 meters Centerline goodness : 0.996757 Centerline is valid? [True, True] Translation: X:94.35, Y:101.47, Z:14.50 [[-8.83216679e-01 4.55097024e-01 1.13203339e-01 9.43482509e+01] [-4.50982027e-01 -8.90437001e-01 6.11323062e-02 1.01474968e+02] [ 1.28621572e-01 2.94040127e-03 9.91689390e-01 1.44999627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.09687499999998 meters Centerline goodness : 0.996286 Centerline is valid? [True, True] Translation: X:94.37, Y:101.48, Z:14.50 [[-8.83587552e-01 4.54466539e-01 1.12841491e-01 9.43661072e+01] [-4.50380211e-01 -8.90758855e-01 6.08796103e-02 1.01484628e+02] [ 1.28182303e-01 2.97089142e-03 9.91746173e-01 1.44982821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.12687499999998 meters Centerline goodness : 0.995961 Centerline is valid? [True, True] Translation: X:94.34, Y:101.47, Z:14.50 [[-8.83707602e-01 4.54241051e-01 1.12809315e-01 9.43398217e+01] [-4.50162643e-01 -8.90873929e-01 6.08049100e-02 1.01470009e+02] [ 1.28118964e-01 2.95122206e-03 9.91754416e-01 1.45021776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.15687499999999 meters Centerline goodness : 0.997203 Centerline is valid? [True, True] Translation: X:94.33, Y:101.46, Z:14.50 [[-8.83777408e-01 4.54233465e-01 1.12291817e-01 9.43308542e+01] [-4.50199827e-01 -8.90878007e-01 6.04689383e-02 1.01464971e+02] [ 1.27505326e-01 2.88732480e-03 9.91833683e-01 1.45038639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.186875 meters Centerline goodness : 0.996850 Centerline is valid? [True, True] Translation: X:94.36, Y:101.48, Z:14.50 [[-8.83454502e-01 4.54948181e-01 1.11938805e-01 9.43642660e+01] [-4.50953054e-01 -8.90513747e-01 6.02213354e-02 1.01484085e+02] [ 1.27080632e-01 2.72366390e-03 9.91888650e-01 1.45012965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.216875 meters Centerline goodness : 0.996886 Centerline is valid? [True, True] Translation: X:94.36, Y:101.48, Z:14.50 [[-8.82995198e-01 4.55875250e-01 1.11791045e-01 9.43552555e+01] [-4.51905385e-01 -8.90040070e-01 6.00849054e-02 1.01479769e+02] [ 1.26889731e-01 2.53570757e-03 9.91913588e-01 1.45028411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.246875 meters Centerline goodness : 0.996860 Centerline is valid? [True, True] Translation: X:94.36, Y:101.48, Z:14.50 [[-8.82496903e-01 4.56819628e-01 1.11870655e-01 9.43579412e+01] [-4.52858837e-01 -8.89556237e-01 6.00714107e-02 1.01481691e+02] [ 1.26957039e-01 2.35121908e-03 9.91905430e-01 1.45030743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.276875 meters Centerline goodness : 0.996552 Centerline is valid? [True, True] Translation: X:94.36, Y:101.48, Z:14.50 [[-8.80212523e-01 4.61183152e-01 1.11964348e-01 9.43632226e+01] [-4.57876143e-01 -8.87300911e-01 5.51953904e-02 1.01483511e+02] [ 1.24801252e-01 -2.68212985e-03 9.92178136e-01 1.45030991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.306875 meters Centerline goodness : 0.996628 Centerline is valid? [True, True] Translation: X:94.38, Y:101.48, Z:14.49 [[-8.76592182e-01 4.71381824e-01 9.68778744e-02 9.43798883e+01] [-4.66754172e-01 -8.81821396e-01 6.73169242e-02 1.01481236e+02] [ 1.17160957e-01 1.37913375e-02 9.93017175e-01 1.44869449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.336875 meters Centerline goodness : 0.996641 Centerline is valid? [True, True] Translation: X:94.34, Y:101.47, Z:14.51 [[-8.80242233e-01 4.60422273e-01 1.14825700e-01 9.43414011e+01] [-4.57202469e-01 -8.87688671e-01 5.45410430e-02 1.01474918e+02] [ 1.27041384e-01 -4.48926387e-03 9.91887258e-01 1.45084512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.366875 meters Centerline goodness : 0.996856 Centerline is valid? [True, True] Translation: X:94.36, Y:101.48, Z:14.50 [[-8.79913122e-01 4.61749390e-01 1.11983919e-01 9.43573876e+01] [-4.57844977e-01 -8.87009212e-01 5.99385985e-02 1.01481834e+02] [ 1.27007379e-01 1.46948448e-03 9.91900684e-01 1.45037638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.396875 meters Centerline goodness : 0.997256 Centerline is valid? [True, True] Translation: X:94.35, Y:101.48, Z:14.51 [[-8.79605784e-01 4.62410398e-01 1.11670446e-01 9.43491576e+01] [-4.58540348e-01 -8.86665033e-01 5.97148914e-02 1.01477505e+02] [ 1.26627066e-01 1.32015893e-03 9.91949517e-01 1.45053370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.426875 meters Centerline goodness : 0.996970 Centerline is valid? [True, True] Translation: X:94.36, Y:101.47, Z:14.49 [[-8.75900189e-01 4.71930021e-01 1.00403752e-01 9.43581130e+01] [-4.67559669e-01 -8.81581116e-01 6.48281752e-02 1.01473158e+02] [ 1.19108413e-01 9.83826605e-03 9.92832511e-01 1.44939231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.456875 meters Centerline goodness : 0.996419 Centerline is valid? [True, True] Translation: X:94.36, Y:101.47, Z:14.49 [[-8.75693065e-01 4.73261113e-01 9.58414042e-02 9.43576947e+01] [-4.69272272e-01 -8.80872715e-01 6.20225369e-02 1.01471527e+02] [ 1.13776933e-01 9.33699193e-03 9.93462445e-01 1.44906029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.486875 meters Centerline goodness : 0.996407 Centerline is valid? [True, True] Translation: X:94.35, Y:101.48, Z:14.51 [[-8.79789929e-01 4.59689048e-01 1.21060563e-01 9.43489707e+01] [-4.57591592e-01 -8.87958313e-01 4.62598019e-02 1.01481080e+02] [ 1.28761858e-01 -1.46973880e-02 9.91566625e-01 1.45131171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.516875 meters Centerline goodness : 0.996121 Centerline is valid? [True, True] Translation: X:94.35, Y:101.46, Z:14.48 [[-8.76650633e-01 4.73807913e-01 8.36045942e-02 9.43517764e+01] [-4.68936065e-01 -8.80307943e-01 7.18115044e-02 1.01460965e+02] [ 1.07622647e-01 2.37483914e-02 9.93908134e-01 1.44782240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.546875 meters Centerline goodness : 0.996635 Centerline is valid? [True, True] Translation: X:94.36, Y:101.47, Z:14.49 [[-8.77042107e-01 4.71325204e-01 9.30037334e-02 9.43614724e+01] [-4.67889057e-01 -8.81934435e-01 5.71968838e-02 1.01471937e+02] [ 1.08981528e-01 6.64864642e-03 9.94021540e-01 1.44876269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.576875 meters Centerline goodness : 0.997433 Centerline is valid? [True, True] Translation: X:94.34, Y:101.48, Z:14.52 [[-8.81192020e-01 4.55233639e-01 1.27526300e-01 9.43416812e+01] [-4.54429141e-01 -8.90012267e-01 3.70448324e-02 1.01480305e+02] [ 1.30364026e-01 -2.53080564e-02 9.91143140e-01 1.45206146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.606875 meters Centerline goodness : 0.996919 Centerline is valid? [True, True] Translation: X:94.35, Y:101.46, Z:14.48 [[-8.78713354e-01 4.69989187e-01 8.35045267e-02 9.43486075e+01] [-4.64684673e-01 -8.82238115e-01 7.56575391e-02 1.01459490e+02] [ 1.09229102e-01 2.76780163e-02 9.93631185e-01 1.44792551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.636875 meters Centerline goodness : 0.996827 Centerline is valid? [True, True] Translation: X:94.33, Y:101.47, Z:14.52 [[-8.82560452e-01 4.52551697e-01 1.27608818e-01 9.43287814e+01] [-4.51457210e-01 -8.91437780e-01 3.90521656e-02 1.01473193e+02] [ 1.31428445e-01 -2.31440239e-02 9.91055457e-01 1.45224842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.666875 meters Centerline goodness : 0.996565 Centerline is valid? [True, True] Translation: X:94.33, Y:101.47, Z:14.51 [[-8.83510740e-01 4.53987091e-01 1.15345109e-01 9.43266907e+01] [-4.49830085e-01 -8.91005271e-01 6.13392260e-02 1.01465318e+02] [ 1.30620317e-01 2.30816485e-03 9.91429778e-01 1.45101130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.69687499999998 meters Centerline goodness : 0.996564 Centerline is valid? [True, True] Translation: X:94.32, Y:101.46, Z:14.51 [[-8.84099768e-01 4.52792321e-01 1.15527984e-01 9.43155021e+01] [-4.48619588e-01 -8.91612684e-01 6.13782282e-02 1.01459917e+02] [ 1.30797806e-01 2.43636069e-03 9.91406071e-01 1.45123006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.72687499999998 meters Centerline goodness : 0.996479 Centerline is valid? [True, True] Translation: X:94.32, Y:101.46, Z:14.51 [[-8.84559217e-01 4.51920603e-01 1.15424261e-01 9.43180026e+01] [-4.47755685e-01 -8.92054632e-01 6.12648382e-02 1.01461446e+02] [ 1.30651590e-01 2.51050812e-03 9.91425166e-01 1.45126945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.75687499999998 meters Centerline goodness : 0.996282 Centerline is valid? [True, True] Translation: X:94.31, Y:101.46, Z:14.51 [[-8.85434036e-01 4.50321729e-01 1.14964816e-01 9.43140675e+01] [-4.46184233e-01 -8.92862330e-01 6.09630181e-02 1.01459931e+02] [ 1.30100726e-01 2.68324279e-03 9.91497152e-01 1.45146957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.78687499999998 meters Centerline goodness : 0.996424 Centerline is valid? [True, True] Translation: X:94.32, Y:101.46, Z:14.51 [[-8.85882380e-01 4.49355941e-01 1.15289407e-01 9.43216476e+01] [-4.45194473e-01 -8.93348480e-01 6.10767950e-02 1.01463692e+02] [ 1.30438837e-01 2.78064954e-03 9.91452459e-01 1.45138968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.81687499999998 meters Centerline goodness : 0.996277 Centerline is valid? [True, True] Translation: X:94.31, Y:101.46, Z:14.51 [[-8.86635920e-01 4.47761077e-01 1.15701181e-01 9.43110299e+01] [-4.43563876e-01 -8.94148296e-01 6.12365343e-02 1.01456766e+02] [ 1.30873350e-01 2.97364670e-03 9.91394636e-01 1.45149710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.84687499999998 meters Centerline goodness : 0.996157 Centerline is valid? [True, True] Translation: X:94.31, Y:101.44, Z:14.49 [[-8.84730669e-01 4.58386795e-01 8.44582125e-02 9.43145293e+01] [-4.53030074e-01 -8.88295673e-01 7.54622366e-02 1.01442465e+02] [ 1.09614757e-01 2.85016448e-02 9.93565429e-01 1.44879513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.87687499999998 meters Centerline goodness : 0.995821 Centerline is valid? [True, True] Translation: X:94.30, Y:101.46, Z:14.53 [[-8.87083662e-01 4.43701177e-01 1.27325730e-01 9.43037655e+01] [-4.42651034e-01 -8.95888459e-01 3.79991031e-02 1.01459413e+02] [ 1.30929899e-01 -2.26524824e-02 9.91132800e-01 1.45291831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.90687499999999 meters Centerline goodness : 0.996753 Centerline is valid? [True, True] Translation: X:94.29, Y:101.44, Z:14.52 [[-8.87436929e-01 4.46462671e-01 1.14572162e-01 9.42898629e+01] [-4.42357835e-01 -8.94797274e-01 6.04763151e-02 1.01444755e+02] [ 1.29519276e-01 2.98702167e-03 9.91572405e-01 1.45184665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.936875 meters Centerline goodness : 0.996481 Centerline is valid? [True, True] Translation: X:94.31, Y:101.46, Z:14.52 [[-8.87060177e-01 4.47205266e-01 1.14593597e-01 9.43144738e+01] [-4.43112658e-01 -8.94426889e-01 6.04293947e-02 1.01458078e+02] [ 1.29519938e-01 2.82663600e-03 9.91572789e-01 1.45157059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.966875 meters Centerline goodness : 0.996272 Centerline is valid? [True, True] Translation: X:94.32, Y:101.45, Z:14.49 [[-8.84682890e-01 4.58552492e-01 8.40582877e-02 9.43209930e+01] [-4.53197160e-01 -8.88202072e-01 7.55606631e-02 1.01445883e+02] [ 1.09309276e-01 2.87522486e-02 9.93591863e-01 1.44879458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.996875 meters Centerline goodness : 0.996438 Centerline is valid? [True, True] Translation: X:94.30, Y:101.44, Z:14.51 [[-8.85146604e-01 4.54898476e-01 9.78921154e-02 9.42994838e+01] [-4.51904701e-01 -8.90541251e-01 5.21384861e-02 1.01443607e+02] [ 1.10894685e-01 1.91229679e-03 9.93830324e-01 1.45052904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.026875 meters Centerline goodness : 0.996629 Centerline is valid? [True, True] Translation: X:94.29, Y:101.45, Z:14.53 [[-8.86121910e-01 4.45657472e-01 1.27190326e-01 9.42892998e+01] [-4.44606088e-01 -8.94914182e-01 3.81318006e-02 1.01450969e+02] [ 1.30818149e-01 -2.27601695e-02 9.91145089e-01 1.45319146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.056875 meters Centerline goodness : 0.996192 Centerline is valid? [True, True] Translation: X:94.30, Y:101.44, Z:14.49 [[-8.85144269e-01 4.57482122e-01 8.50278228e-02 9.43037224e+01] [-4.52179770e-01 -8.88785655e-01 7.47898132e-02 1.01436866e+02] [ 1.09786512e-01 2.77519132e-02 9.93567689e-01 1.44903477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.086875 meters Centerline goodness : 0.996216 Centerline is valid? [True, True] Translation: X:94.30, Y:101.46, Z:14.53 [[-8.86075921e-01 4.45678890e-01 1.27435430e-01 9.43015376e+01] [-4.44712911e-01 -8.94886547e-01 3.75299148e-02 1.01456473e+02] [ 1.30766543e-01 -2.34178272e-02 9.91136578e-01 1.45305803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.116875 meters Centerline goodness : 0.996617 Centerline is valid? [True, True] Translation: X:94.29, Y:101.44, Z:14.52 [[-8.86468790e-01 4.48097786e-01 1.15678252e-01 9.42939155e+01] [-4.43976845e-01 -8.93981239e-01 6.06803597e-02 1.01444842e+02] [ 1.30604922e-01 2.43277980e-03 9.91431508e-01 1.45180457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.146875 meters Centerline goodness : 0.996610 Centerline is valid? [True, True] Translation: X:94.29, Y:101.44, Z:14.52 [[-8.86872107e-01 4.47271090e-01 1.15786175e-01 9.42865361e+01] [-4.43145129e-01 -8.94394974e-01 6.06632088e-02 1.01440021e+02] [ 1.30691472e-01 2.49042834e-03 9.91419960e-01 1.45191554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.176875 meters Centerline goodness : 0.996350 Centerline is valid? [True, True] Translation: X:94.28, Y:101.44, Z:14.52 [[-8.87172586e-01 4.46593905e-01 1.16097747e-01 9.42843694e+01] [-4.42459414e-01 -8.94733377e-01 6.06782653e-02 1.01438513e+02] [ 1.30975073e-01 2.46355237e-03 9.91382601e-01 1.45199387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.206875 meters Centerline goodness : 0.996254 Centerline is valid? [True, True] Translation: X:94.28, Y:101.43, Z:14.52 [[-8.87650657e-01 4.45779508e-01 1.15572238e-01 9.42760308e+01] [-4.41683251e-01 -8.95139252e-01 6.03458725e-02 1.01433176e+02] [ 1.30354200e-01 2.51973153e-03 9.91464288e-01 1.45208811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.236875 meters Centerline goodness : 0.996793 Centerline is valid? [True, True] Translation: X:94.27, Y:101.43, Z:14.52 [[-8.88020218e-01 4.45110864e-01 1.15310067e-01 9.42670153e+01] [-4.41035235e-01 -8.95471813e-01 6.01510940e-02 1.01427137e+02] [ 1.30030820e-01 2.55958521e-03 9.91506649e-01 1.45218114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.266875 meters Centerline goodness : 0.996082 Centerline is valid? [True, True] Translation: X:94.29, Y:101.44, Z:14.52 [[-8.88652594e-01 4.44034891e-01 1.14584395e-01 9.42946865e+01] [-4.40009216e-01 -8.96005583e-01 5.97150300e-02 1.01439235e+02] [ 1.29183814e-01 2.64772672e-03 9.91617130e-01 1.45183279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.296875 meters Centerline goodness : 0.996394 Centerline is valid? [True, True] Translation: X:94.28, Y:101.43, Z:14.52 [[-8.88973235e-01 4.43327872e-01 1.14834601e-01 9.42813741e+01] [-4.39286155e-01 -8.96355445e-01 5.97878809e-02 1.01431508e+02] [ 1.29438254e-01 2.70457548e-03 9.91583796e-01 1.45203880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.326875 meters Centerline goodness : 0.996291 Centerline is valid? [True, True] Translation: X:94.28, Y:101.43, Z:14.52 [[-8.89446344e-01 4.42417948e-01 1.14680259e-01 9.42782245e+01] [-4.38387028e-01 -8.96804673e-01 5.96505766e-02 1.01429008e+02] [ 1.29236278e-01 2.78164938e-03 9.91609927e-01 1.45209863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.356875 meters Centerline goodness : 0.996672 Centerline is valid? [True, True] Translation: X:94.29, Y:101.43, Z:14.52 [[-8.89912157e-01 4.41403488e-01 1.14975272e-01 9.42886202e+01] [-4.37350790e-01 -8.97304095e-01 5.97465230e-02 1.01432115e+02] [ 1.29540106e-01 2.88463097e-03 9.91569987e-01 1.45199536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.386875 meters Centerline goodness : 0.995903 Centerline is valid? [True, True] Translation: X:94.29, Y:101.43, Z:14.52 [[-8.90302296e-01 4.40590916e-01 1.15071574e-01 9.42857156e+01] [-4.36532802e-01 -8.97703152e-01 5.97341100e-02 1.01429138e+02] [ 1.29618421e-01 2.94889881e-03 9.91559564e-01 1.45203105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.416875 meters Centerline goodness : 0.996395 Centerline is valid? [True, True] Translation: X:94.28, Y:101.43, Z:14.52 [[-8.90579116e-01 4.39985567e-01 1.15245557e-01 9.42839760e+01] [-4.35921689e-01 -8.97999962e-01 5.97356643e-02 1.01427083e+02] [ 1.29773336e-01 2.96129703e-03 9.91539264e-01 1.45203672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.44687499999998 meters Centerline goodness : 0.995785 Centerline is valid? [True, True] Translation: X:94.28, Y:101.42, Z:14.52 [[-8.90585019e-01 4.39787519e-01 1.15953706e-01 9.42760394e+01] [-4.35679214e-01 -8.98096986e-01 6.00452039e-02 1.01421535e+02] [ 1.30544806e-01 2.95673934e-03 9.91438002e-01 1.45219553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.47687499999998 meters Centerline goodness : 0.996429 Centerline is valid? [True, True] Translation: X:94.26, Y:101.41, Z:14.52 [[-8.90704729e-01 4.39353671e-01 1.16676635e-01 9.42606754e+01] [-4.35197876e-01 -8.98309210e-01 6.03603504e-02 1.01412906e+02] [ 1.31331238e-01 2.98582562e-03 9.91334046e-01 1.45244038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.50687499999998 meters Centerline goodness : 0.996136 Centerline is valid? [True, True] Translation: X:94.28, Y:101.42, Z:14.52 [[-8.90956294e-01 4.38729960e-01 1.17102112e-01 9.42769157e+01] [-4.34546914e-01 -8.98613843e-01 6.05156241e-02 1.01420250e+02] [ 1.31779597e-01 3.03041461e-03 9.91274409e-01 1.45227741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.53687499999998 meters Centerline goodness : 0.995977 Centerline is valid? [True, True] Translation: X:94.27, Y:101.42, Z:14.52 [[-8.91234467e-01 4.38003544e-01 1.17703105e-01 9.42693713e+01] [-4.33778783e-01 -8.98967897e-01 6.07674934e-02 1.01415686e+02] [ 1.32427691e-01 3.10097487e-03 9.91187818e-01 1.45240193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.56687499999998 meters Centerline goodness : 0.995759 Centerline is valid? [True, True] Translation: X:94.27, Y:101.41, Z:14.52 [[-8.91417166e-01 4.37789888e-01 1.17112981e-01 9.42714708e+01] [-4.33613414e-01 -8.99072090e-01 6.04051626e-02 1.01414874e+02] [ 1.31737782e-01 3.06443948e-03 9.91279863e-01 1.45242437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.59687499999998 meters Centerline goodness : 0.995757 Centerline is valid? [True, True] Translation: X:94.26, Y:101.41, Z:14.53 [[-8.91539179e-01 4.37786785e-01 1.16192183e-01 9.42611396e+01] [-4.33683535e-01 -8.99073857e-01 5.98731310e-02 1.01409443e+02] [ 1.30677019e-01 2.98860542e-03 9.91420488e-01 1.45264491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.62687499999998 meters Centerline goodness : 0.996686 Centerline is valid? [True, True] Translation: X:94.25, Y:101.40, Z:14.53 [[-8.91451235e-01 4.38120176e-01 1.15608853e-01 9.42512055e+01] [-4.34068490e-01 -8.98911819e-01 5.95154471e-02 1.01404031e+02] [ 1.29997082e-01 2.87295876e-03 9.91510214e-01 1.45289709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.65687499999999 meters Centerline goodness : 0.996889 Centerline is valid? [True, True] Translation: X:94.26, Y:101.41, Z:14.53 [[-8.91105343e-01 4.38867301e-01 1.15441585e-01 9.42646918e+01] [-4.34841147e-01 -8.98547806e-01 5.93718541e-02 1.01410602e+02] [ 1.29786149e-01 2.70782502e-03 9.91538312e-01 1.45287712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.686875 meters Centerline goodness : 0.996313 Centerline is valid? [True, True] Translation: X:94.27, Y:101.41, Z:14.53 [[-8.90995643e-01 4.39137091e-01 1.15262221e-01 9.42660162e+01] [-4.35133212e-01 -8.98416268e-01 5.92224457e-02 1.01410708e+02] [ 1.29560227e-01 2.61252064e-03 9.91568113e-01 1.45285639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.716875 meters Centerline goodness : 0.995892 Centerline is valid? [True, True] Translation: X:94.27, Y:101.41, Z:14.53 [[-8.90848847e-01 4.39304373e-01 1.15758367e-01 9.42673524e+01] [-4.35274711e-01 -8.98334669e-01 5.94201017e-02 1.01410352e+02] [ 1.30093265e-01 2.54763946e-03 9.91498488e-01 1.45283784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.746875 meters Centerline goodness : 0.995319 Centerline is valid? [True, True] Translation: X:94.26, Y:101.41, Z:14.53 [[-8.90941818e-01 4.39183135e-01 1.15502599e-01 9.42624853e+01] [-4.35177746e-01 -8.98394058e-01 5.92321438e-02 1.01406871e+02] [ 1.29780607e-01 2.50823338e-03 9.91539562e-01 1.45285427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.776875 meters Centerline goodness : 0.995713 Centerline is valid? [True, True] Translation: X:94.27, Y:101.41, Z:14.53 [[-8.90613921e-01 4.39868887e-01 1.15421858e-01 9.42671059e+01] [-4.35882263e-01 -8.98058915e-01 5.91340659e-02 1.01407013e+02] [ 1.29666864e-01 2.35528156e-03 9.91554818e-01 1.45271677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.806875 meters Centerline goodness : 0.995713 Centerline is valid? [True, True] Translation: X:94.27, Y:101.41, Z:14.53 [[-8.90782931e-01 4.39520490e-01 1.15444826e-01 9.42650802e+01] [-4.35536767e-01 -8.98229476e-01 5.90891961e-02 1.01405904e+02] [ 1.29666858e-01 2.35518111e-03 9.91554819e-01 1.45274478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.836875 meters Centerline goodness : 0.995323 Centerline is valid? [True, True] Translation: X:94.73, Y:100.54, Z:15.00 [[-8.44193580e-01 -5.15421701e-01 -1.47233387e-01 9.47250125e+01] [-5.23328135e-01 8.51936260e-01 1.82283082e-02 1.00540889e+02] [ 1.16038196e-01 9.24395947e-02 -9.88933799e-01 1.49954288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.866875 meters Centerline goodness : 0.995502 Centerline is valid? [True, True] Translation: X:94.59, Y:100.60, Z:14.43 [[-8.45335055e-01 -1.71525498e-01 -5.05952220e-01 9.45924620e+01] [-5.34012133e-01 2.98739944e-01 7.90939623e-01 1.00604753e+02] [ 1.54818253e-02 9.38793614e-01 -3.44132044e-01 1.44255844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.896875 meters Centerline goodness : 0.995870 Centerline is valid? [True, True] Translation: X:94.10, Y:101.36, Z:14.57 [[-8.47157341e-01 5.29156355e-01 4.81455182e-02 9.41011403e+01] [-5.28237685e-01 -8.48523767e-01 3.11827806e-02 1.01357628e+02] [ 5.73531829e-02 9.84444450e-04 9.98353466e-01 1.45724400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.926875 meters Centerline goodness : 0.995002 Centerline is valid? [True, True] Translation: X:94.09, Y:101.35, Z:14.57 [[-8.47507291e-01 5.28631439e-01 4.77513750e-02 9.40945138e+01] [-5.27729073e-01 -8.48850895e-01 3.08898487e-02 1.01352403e+02] [ 5.68631426e-02 9.79583097e-04 9.98381502e-01 1.45730445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.956875 meters Centerline goodness : 0.995728 Centerline is valid? [True, True] Translation: X:94.10, Y:101.35, Z:14.57 [[-8.47679089e-01 5.28345234e-01 4.78693655e-02 9.40963220e+01] [-5.27439516e-01 -8.49029067e-01 3.09386404e-02 1.01352817e+02] [ 5.69887659e-02 9.77843566e-04 9.98374341e-01 1.45727368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.986875 meters Centerline goodness : 0.996033 Centerline is valid? [True, True] Translation: X:94.10, Y:101.35, Z:14.57 [[-8.48104099e-01 5.27632001e-01 4.82069330e-02 9.40972147e+01] [-5.26713963e-01 -8.49472457e-01 3.11279042e-02 1.01352954e+02] [ 5.73745402e-02 1.00843843e-03 9.98352215e-01 1.45724397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.016875 meters Centerline goodness : 0.995570 Centerline is valid? [True, True] Translation: X:94.54, Y:100.48, Z:15.05 [[-7.84416141e-01 -6.19748608e-01 -2.45556721e-02 9.45429943e+01] [-6.19992275e-01 7.84601797e-01 3.09811159e-03 1.00484179e+02] [ 1.73463741e-02 1.76545357e-02 -9.99693663e-01 1.50502500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.046875 meters Centerline goodness : 0.995910 Centerline is valid? [True, True] Translation: X:94.01, Y:101.33, Z:14.57 [[-8.06701333e-01 5.89513797e-01 4.13091076e-02 9.40119907e+01] [-5.88186627e-01 -8.07715778e-01 4.03944738e-02 1.01334394e+02] [ 5.71791176e-02 8.28881120e-03 9.98329527e-01 1.45710988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.076875 meters Centerline goodness : 0.995722 Centerline is valid? [True, True] Translation: X:94.02, Y:101.34, Z:14.57 [[-8.07526348e-01 5.88039407e-01 4.59440085e-02 9.40200292e+01] [-5.87005398e-01 -8.08831396e-01 3.48774410e-02 1.01342183e+02] [ 5.76702663e-02 1.19507162e-03 9.98334970e-01 1.45738480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.106875 meters Centerline goodness : 0.995726 Centerline is valid? [True, True] Translation: X:94.02, Y:101.35, Z:14.57 [[-8.08348522e-01 5.86892357e-01 4.61522333e-02 9.40249476e+01] [-5.85848733e-01 -8.09663989e-01 3.50069623e-02 1.01345509e+02] [ 5.79131199e-02 1.25959885e-03 9.98320832e-01 1.45735392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.136875 meters Centerline goodness : 0.994804 Centerline is valid? [True, True] Translation: X:93.90, Y:101.22, Z:14.54 [[-8.00398624e-01 5.99400146e-01 -9.02821316e-03 9.38977347e+01] [-5.99158825e-01 -7.99411174e-01 4.41642060e-02 1.01221320e+02] [ 1.92547770e-02 4.07583033e-02 9.98983491e-01 1.45350629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.166875 meters Centerline goodness : 0.995998 Centerline is valid? [True, True] Translation: X:93.99, Y:101.33, Z:14.60 [[-8.12226178e-01 5.78596952e-01 7.42576823e-02 9.39876444e+01] [-5.80204236e-01 -8.14471017e-01 -8.91581219e-05 1.01327940e+02] [ 6.04291434e-02 -4.31570384e-02 9.97239083e-01 1.45972190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.19687499999998 meters Centerline goodness : 0.995883 Centerline is valid? [True, True] Translation: X:93.99, Y:101.31, Z:14.58 [[-8.14776280e-01 5.77913276e-01 4.64312247e-02 9.39872169e+01] [-5.76865230e-01 -8.16096634e-01 3.48251388e-02 1.01314245e+02] [ 5.80182763e-02 1.59013794e-03 9.98314255e-01 1.45756037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.22687499999998 meters Centerline goodness : 0.994755 Centerline is valid? [True, True] Translation: X:94.03, Y:101.31, Z:14.53 [[-8.04759223e-01 5.93427448e-01 -1.43686201e-02 9.40280312e+01] [-5.93396720e-01 -8.03610482e-01 4.57222727e-02 1.01314241e+02] [ 1.55860778e-02 4.53217127e-02 9.98850848e-01 1.45263612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.25687499999998 meters Centerline goodness : 0.995911 Centerline is valid? [True, True] Translation: X:93.98, Y:101.32, Z:14.60 [[-8.16186186e-01 5.73128051e-01 7.32417043e-02 9.39777518e+01] [-5.74759475e-01 -8.18321069e-01 -1.47435658e-03 1.01319900e+02] [ 5.90902346e-02 -4.32997130e-02 9.97313130e-01 1.45990985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.28687499999998 meters Centerline goodness : 0.995917 Centerline is valid? [True, True] Translation: X:93.98, Y:101.31, Z:14.58 [[-8.17699599e-01 5.73818897e-01 4.58174561e-02 9.39842601e+01] [-5.72795970e-01 -8.18980242e-01 3.42948808e-02 1.01311193e+02] [ 5.72026420e-02 1.79885604e-03 9.98360968e-01 1.45759158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.31687499999998 meters Centerline goodness : 0.994578 Centerline is valid? [True, True] Translation: X:94.01, Y:101.30, Z:14.53 [[-8.09618635e-01 5.86921244e-01 -6.41235228e-03 9.40080696e+01] [-5.86590504e-01 -8.08680208e-01 4.41350336e-02 1.01301962e+02] [ 2.07182464e-02 3.94939706e-02 9.99004995e-01 1.45318888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.34687499999998 meters Centerline goodness : 0.995487 Centerline is valid? [True, True] Translation: X:93.98, Y:101.32, Z:14.60 [[-8.19326632e-01 5.69061028e-01 6.98098605e-02 9.39769922e+01] [-5.70255281e-01 -8.21460589e-01 3.37872508e-03 1.01317225e+02] [ 5.92687499e-02 -3.70411622e-02 9.97554594e-01 1.45950194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.37687499999998 meters Centerline goodness : 0.995685 Centerline is valid? [True, True] Translation: X:93.97, Y:101.30, Z:14.58 [[-8.20295211e-01 5.70043921e-01 4.65370217e-02 9.39650935e+01] [-5.68986673e-01 -8.21611698e-01 3.47618097e-02 1.01297280e+02] [ 5.80511197e-02 2.03600090e-03 9.98311536e-01 1.45760885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.40687499999999 meters Centerline goodness : 0.995733 Centerline is valid? [True, True] Translation: X:93.97, Y:101.30, Z:14.58 [[-8.20901041e-01 5.69220427e-01 4.59302379e-02 9.39729733e+01] [-5.68191038e-01 -8.22182422e-01 3.42784085e-02 1.01303877e+02] [ 5.72750046e-02 2.04203170e-03 9.98356351e-01 1.45752392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.436875 meters Centerline goodness : 0.995613 Centerline is valid? [True, True] Translation: X:93.97, Y:101.30, Z:14.57 [[-8.21297566e-01 5.68674692e-01 4.56004625e-02 9.39733039e+01] [-5.67661052e-01 -8.22559991e-01 3.39998607e-02 1.01304708e+02] [ 5.68439764e-02 2.03839635e-03 9.98380993e-01 1.45747913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.466875 meters Centerline goodness : 0.995838 Centerline is valid? [True, True] Translation: X:93.96, Y:101.30, Z:14.58 [[-8.21389792e-01 5.68577767e-01 4.51456807e-02 9.39621366e+01] [-5.67585649e-01 -8.22627080e-01 3.36335757e-02 1.01297411e+02] [ 5.62613629e-02 2.00223524e-03 9.98414067e-01 1.45752711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.496875 meters Centerline goodness : 0.996198 Centerline is valid? [True, True] Translation: X:93.95, Y:101.29, Z:14.58 [[-8.21274736e-01 5.68739221e-01 4.52051641e-02 9.39548296e+01] [-5.67746282e-01 -8.22515540e-01 3.36503510e-02 1.01293107e+02] [ 5.63202244e-02 1.97111922e-03 9.98410811e-01 1.45759838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.526875 meters Centerline goodness : 0.996052 Centerline is valid? [True, True] Translation: X:93.96, Y:101.30, Z:14.58 [[-8.21149153e-01 5.68958105e-01 4.47296695e-02 9.39623614e+01] [-5.67987800e-01 -8.22364284e-01 3.32692606e-02 1.01301884e+02] [ 5.57128981e-02 1.91311855e-03 9.98444997e-01 1.45752857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.556875 meters Centerline goodness : 0.996647 Centerline is valid? [True, True] Translation: X:93.96, Y:101.30, Z:14.58 [[-8.21103993e-01 5.69046753e-01 4.44300147e-02 9.39579910e+01] [-5.68091098e-01 -8.22303041e-01 3.30183746e-02 1.01300220e+02] [ 5.53239351e-02 1.87122342e-03 9.98466705e-01 1.45753124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.586875 meters Centerline goodness : 0.996336 Centerline is valid? [True, True] Translation: X:93.95, Y:101.30, Z:14.58 [[-8.20921595e-01 5.69332696e-01 4.41363379e-02 9.39536783e+01] [-5.68391651e-01 -8.22105215e-01 3.27711308e-02 1.01298392e+02] [ 5.49423899e-02 1.81580302e-03 9.98487875e-01 1.45751861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.616875 meters Centerline goodness : 0.996315 Centerline is valid? [True, True] Translation: X:93.95, Y:101.30, Z:14.57 [[-8.20784538e-01 5.69547585e-01 4.39123080e-02 9.39537333e+01] [-5.68617837e-01 -8.21956455e-01 3.25782397e-02 1.01301349e+02] [ 5.46488628e-02 1.77039380e-03 9.98504065e-01 1.45749196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.646875 meters Centerline goodness : 0.995029 Centerline is valid? [True, True] Translation: X:93.99, Y:101.30, Z:14.53 [[-8.11073324e-01 5.84934836e-01 -3.36169745e-03 9.39912664e+01] [-5.84460222e-01 -8.10154647e-01 4.53397851e-02 1.01304827e+02] [ 2.37973250e-02 3.87386687e-02 9.98965967e-01 1.45344250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.676875 meters Centerline goodness : 0.995515 Centerline is valid? [True, True] Translation: X:93.98, Y:101.31, Z:14.55 [[-8.11663662e-01 5.83780464e-01 2.00616239e-02 9.39802491e+01] [-5.83608404e-01 -8.11911527e-01 1.41740324e-02 1.01311431e+02] [ 2.45627869e-02 -2.03585239e-04 9.99698269e-01 1.45543099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.706875 meters Centerline goodness : 0.995829 Centerline is valid? [True, True] Translation: X:93.98, Y:101.32, Z:14.56 [[-8.11684355e-01 5.83688458e-01 2.18241233e-02 9.39832029e+01] [-5.83523977e-01 -8.11976442e-01 1.39292815e-02 1.01315275e+02] [ 2.58510348e-02 -1.42871942e-03 9.99664785e-01 1.45557964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.736875 meters Centerline goodness : 0.995559 Centerline is valid? [True, True] Translation: X:93.98, Y:101.31, Z:14.55 [[-8.11939086e-01 5.83389699e-01 2.02824832e-02 9.39789284e+01] [-5.83152506e-01 -8.12190486e-01 1.67262913e-02 1.01313724e+02] [ 2.62311860e-02 1.75294879e-03 9.99654366e-01 1.45541953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.766875 meters Centerline goodness : 0.996734 Centerline is valid? [True, True] Translation: X:93.93, Y:101.30, Z:14.59 [[-8.21187036e-01 5.66801548e-01 6.62409023e-02 9.39327469e+01] [-5.67826235e-01 -8.23138743e-01 3.99708983e-03 1.01304463e+02] [ 5.67910098e-02 -3.43309638e-02 9.97795654e-01 1.45942861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.796875 meters Centerline goodness : 0.996264 Centerline is valid? [True, True] Translation: X:93.94, Y:101.30, Z:14.57 [[-8.21847337e-01 5.67955496e-01 4.46487342e-02 9.39387616e+01] [-5.67001039e-01 -8.23057356e-01 3.29607391e-02 1.01299401e+02] [ 5.54687020e-02 1.77281698e-03 9.98458853e-01 1.45749454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.826875 meters Centerline goodness : 0.996061 Centerline is valid? [True, True] Translation: X:93.95, Y:101.28, Z:14.54 [[-8.12482870e-01 5.82985023e-01 -2.22066851e-04 9.39499574e+01] [-5.82364419e-01 -8.11600269e-01 4.64401461e-02 1.01283450e+02] [ 2.68936801e-02 3.78611470e-02 9.98921050e-01 1.45371324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.856875 meters Centerline goodness : 0.996607 Centerline is valid? [True, True] Translation: X:93.91, Y:101.30, Z:14.60 [[-8.21542655e-01 5.66223756e-01 6.67706856e-02 9.39139481e+01] [-5.67289684e-01 -8.23510563e-01 3.57298447e-03 1.01295180e+02] [ 5.70094736e-02 -3.49429620e-02 9.97761950e-01 1.45953628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.886875 meters Centerline goodness : 0.996522 Centerline is valid? [True, True] Translation: X:93.94, Y:101.28, Z:14.54 [[-8.13012305e-01 5.82246237e-01 5.58583733e-04 9.39378847e+01] [-5.81656264e-01 -8.12230942e-01 4.42367236e-02 1.01279084e+02] [ 2.62103648e-02 3.56400969e-02 9.99020921e-01 1.45390245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.916875 meters Centerline goodness : 0.996438 Centerline is valid? [True, True] Translation: X:93.95, Y:101.30, Z:14.56 [[-8.13386303e-01 5.81280317e-01 2.27137527e-02 9.39475711e+01] [-5.81071173e-01 -8.13703222e-01 1.55999557e-02 1.01299606e+02] [ 2.75502009e-02 -5.09516627e-04 9.99620291e-01 1.45578143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.94687499999998 meters Centerline goodness : 0.996803 Centerline is valid? [True, True] Translation: X:93.93, Y:101.29, Z:14.56 [[-8.14204101e-01 5.80126223e-01 2.29182687e-02 9.39292977e+01] [-5.79873048e-01 -8.14526311e-01 1.71504349e-02 1.01288855e+02] [ 2.86169499e-02 6.74268138e-04 9.99590224e-01 1.45590837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.97687499999998 meters Centerline goodness : 0.997180 Centerline is valid? [True, True] Translation: X:93.92, Y:101.31, Z:14.59 [[-8.22536795e-01 5.65072224e-01 6.42386422e-02 9.39202786e+01] [-5.65947996e-01 -8.24423378e-01 5.38150955e-03 1.01305179e+02] [ 5.60007799e-02 -3.19292412e-02 9.97920055e-01 1.45941059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.00687499999998 meters Centerline goodness : 0.997409 Centerline is valid? [True, True] Translation: X:93.92, Y:101.30, Z:14.58 [[-8.23150630e-01 5.66095831e-01 4.42555202e-02 9.39194352e+01] [-5.65164478e-01 -8.24337590e-01 3.25061541e-02 1.01295634e+02] [ 5.48830872e-02 1.74581319e-03 9.98491261e-01 1.45761022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.03687499999998 meters Centerline goodness : 0.996653 Centerline is valid? [True, True] Translation: X:93.84, Y:101.22, Z:14.55 [[-8.15941886e-01 5.78006825e-01 1.21222665e-02 9.38449178e+01] [-5.77104252e-01 -8.15560472e-01 4.25652345e-02 1.01223925e+02] [ 3.44894374e-02 2.77349462e-02 9.99020146e-01 1.45513567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.06687499999998 meters Centerline goodness : 0.997247 Centerline is valid? [True, True] Translation: X:93.90, Y:101.29, Z:14.59 [[-8.22960286e-01 5.64834222e-01 6.08166917e-02 9.38995034e+01] [-5.65281897e-01 -8.24821392e-01 1.12271399e-02 1.01293352e+02] [ 5.65043811e-02 -2.51390846e-02 9.98085809e-01 1.45904133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.09687499999998 meters Centerline goodness : 0.996398 Centerline is valid? [True, True] Translation: X:93.83, Y:101.22, Z:14.56 [[-8.16738697e-01 5.76661289e-01 1.99914526e-02 9.38252332e+01] [-5.75626489e-01 -8.16690279e-01 4.08794949e-02 1.01216787e+02] [ 3.99004472e-02 2.18802558e-02 9.98964068e-01 1.45586845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.12687499999998 meters Centerline goodness : 0.996455 Centerline is valid? [True, True] Translation: X:93.91, Y:101.28, Z:14.55 [[-8.14495628e-01 5.80016770e-01 1.33198741e-02 9.39072308e+01] [-5.79503387e-01 -8.14445771e-01 2.92217387e-02 1.01277871e+02] [ 2.77974136e-02 1.60820663e-02 9.99484202e-01 1.45515857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.15687499999999 meters Centerline goodness : 0.997420 Centerline is valid? [True, True] Translation: X:93.87, Y:101.28, Z:14.60 [[-8.22490970e-01 5.64864521e-01 6.66083886e-02 9.38676402e+01] [-5.65950380e-01 -8.24433604e-01 3.06593028e-03 1.01277999e+02] [ 5.66460291e-02 -3.51753428e-02 9.97774485e-01 1.45990698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.186875 meters Centerline goodness : 0.996897 Centerline is valid? [True, True] Translation: X:93.90, Y:101.27, Z:14.54 [[-8.12985700e-01 5.82277062e-01 -2.77032436e-03 9.39011201e+01] [-5.81748964e-01 -8.12026131e-01 4.67087404e-02 1.01268896e+02] [ 2.49478524e-02 3.95851713e-02 9.98904710e-01 1.45380797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.216875 meters Centerline goodness : 0.997153 Centerline is valid? [True, True] Translation: X:93.85, Y:101.25, Z:14.57 [[-8.15295594e-01 5.78302246e-01 2.93190656e-02 9.38512308e+01] [-5.78164292e-01 -8.15802930e-01 1.38430969e-02 1.01250221e+02] [ 3.19240737e-02 -5.66502093e-03 9.99474242e-01 1.45667393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.246875 meters Centerline goodness : 0.996805 Centerline is valid? [True, True] Translation: X:93.88, Y:101.27, Z:14.55 [[-8.13152653e-01 5.81858839e-01 1.49349806e-02 9.38796642e+01] [-5.81541196e-01 -8.13246818e-01 2.09630760e-02 1.01267074e+02] [ 2.43433766e-02 8.36087437e-03 9.99668693e-01 1.45545302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.276875 meters Centerline goodness : 0.997778 Centerline is valid? [True, True] Translation: X:93.86, Y:101.28, Z:14.60 [[-8.20166067e-01 5.68104876e-01 6.77087357e-02 9.38576539e+01] [-5.69473530e-01 -8.22008912e-01 -1.11645623e-03 1.01279909e+02] [ 5.50229200e-02 -3.94740123e-02 9.97704506e-01 1.46011659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.306875 meters Centerline goodness : 0.997910 Centerline is valid? [True, True] Translation: X:93.87, Y:101.27, Z:14.58 [[-8.20250764e-01 5.70345179e-01 4.35322957e-02 9.38650261e+01] [-5.69464635e-01 -8.21404225e-01 3.17037641e-02 1.01274688e+02] [ 5.38397006e-02 1.21493377e-03 9.98548852e-01 1.45794005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.336875 meters Centerline goodness : 0.996981 Centerline is valid? [True, True] Translation: X:93.91, Y:101.29, Z:14.54 [[-8.11890585e-01 5.83809014e-01 8.44504711e-04 9.39097842e+01] [-5.83194939e-01 -8.11101269e-01 4.47034078e-02 1.01285270e+02] [ 2.67832313e-02 3.58017651e-02 9.98999946e-01 1.45413390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.366875 meters Centerline goodness : 0.997834 Centerline is valid? [True, True] Translation: X:93.86, Y:101.28, Z:14.60 [[-8.19294711e-01 5.69842880e-01 6.35237688e-02 9.38554704e+01] [-5.70867699e-01 -8.21038482e-01 2.42503189e-03 1.01279848e+02] [ 5.35373459e-02 -3.42768519e-02 9.97977380e-01 1.45995272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.396875 meters Centerline goodness : 0.997899 Centerline is valid? [True, True] Translation: X:93.86, Y:101.27, Z:14.58 [[-8.18723697e-01 5.72620178e-01 4.23985933e-02 9.38577240e+01] [-5.71792191e-01 -8.19820217e-01 3.07977739e-02 1.01273727e+02] [ 5.23946507e-02 9.71682742e-04 9.98625984e-01 1.45807524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.426875 meters Centerline goodness : 0.997923 Centerline is valid? [True, True] Translation: X:93.88, Y:101.28, Z:14.55 [[-8.11594590e-01 5.84159245e-01 8.49692256e-03 9.38846689e+01] [-5.83373443e-01 -8.11114556e-01 4.20547669e-02 1.01275378e+02] [ 3.14586585e-02 2.91745423e-02 9.99079176e-01 1.45496232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.456875 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:93.84, Y:101.27, Z:14.60 [[-8.17731644e-01 5.72417185e-01 6.04443974e-02 9.38398725e+01] [-5.73024241e-01 -8.19494523e-01 8.48208047e-03 1.01271343e+02] [ 5.43891412e-02 -2.77000393e-02 9.98135526e-01 1.45971576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.486875 meters Centerline goodness : 0.997560 Centerline is valid? [True, True] Translation: X:93.79, Y:101.21, Z:14.56 [[-8.12514688e-01 5.82563338e-01 2.09723628e-02 9.37888313e+01] [-5.81534066e-01 -8.12527129e-01 4.02218127e-02 1.01212101e+02] [ 4.04723672e-02 2.04846702e-02 9.98970653e-01 1.45624437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.516875 meters Centerline goodness : 0.997289 Centerline is valid? [True, True] Translation: X:93.79, Y:101.22, Z:14.58 [[-8.13137942e-01 5.80724360e-01 3.95715261e-02 9.37916637e+01] [-5.80324226e-01 -8.14085038e-01 2.21211018e-02 1.01223643e+02] [ 4.50608500e-02 -4.97680803e-03 9.98971847e-01 1.45777318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.546875 meters Centerline goodness : 0.998119 Centerline is valid? [True, True] Translation: X:93.78, Y:101.21, Z:14.57 [[-8.11019814e-01 5.83944413e-01 3.54370359e-02 9.37788097e+01] [-5.83319108e-01 -8.11792662e-01 2.70461264e-02 1.01213763e+02] [ 4.45609601e-02 1.26384425e-03 9.99005868e-01 1.45736684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.576875 meters Centerline goodness : 0.998140 Centerline is valid? [True, True] Translation: X:93.85, Y:101.26, Z:14.56 [[-8.09802032e-01 5.86383052e-01 1.93800217e-02 9.38533723e+01] [-5.85691821e-01 -8.09903609e-01 3.19567691e-02 1.01264416e+02] [ 3.44348573e-02 1.45279364e-02 9.99301346e-01 1.45581224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.606875 meters Centerline goodness : 0.997835 Centerline is valid? [True, True] Translation: X:93.85, Y:101.27, Z:14.56 [[-8.07875468e-01 5.88951622e-01 2.17534988e-02 9.38533728e+01] [-5.88611700e-01 -8.08160177e-01 2.03321129e-02 1.01268097e+02] [ 2.95549424e-02 3.62145133e-03 9.99556597e-01 1.45609522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.636875 meters Centerline goodness : 0.998208 Centerline is valid? [True, True] Translation: X:93.86, Y:101.28, Z:14.57 [[-8.07671873e-01 5.88940510e-01 2.85520991e-02 9.38585906e+01] [-5.88693738e-01 -8.08171368e-01 1.72836042e-02 1.01276345e+02] [ 3.32540036e-02 -2.84896098e-03 9.99442872e-01 1.45664144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.666875 meters Centerline goodness : 0.998301 Centerline is valid? [True, True] Translation: X:93.87, Y:101.28, Z:14.56 [[-8.05518559e-01 5.92175736e-01 2.16274819e-02 9.38675944e+01] [-5.91844218e-01 -8.05801711e-01 2.01003405e-02 1.01283260e+02] [ 2.93303958e-02 3.39109719e-03 9.99564019e-01 1.45617443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.69687499999998 meters Centerline goodness : 0.998301 Centerline is valid? [True, True] Translation: X:93.86, Y:101.28, Z:14.56 [[-8.05807717e-01 5.91700684e-01 2.37534057e-02 9.38646087e+01] [-5.91446688e-01 -8.06157735e-01 1.73355600e-02 1.01282166e+02] [ 2.94064545e-02 -7.97451207e-05 9.99567534e-01 1.45637703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.72687499999998 meters Centerline goodness : 0.997926 Centerline is valid? [True, True] Translation: X:93.77, Y:101.22, Z:14.59 [[-8.07158809e-01 5.88499595e-01 4.65068116e-02 9.37714332e+01] [-5.88686962e-01 -8.08286077e-01 1.10126113e-02 1.01223180e+02] [ 4.40717256e-02 -1.84890274e-02 9.98857267e-01 1.45861007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.75687499999998 meters Centerline goodness : 0.997864 Centerline is valid? [True, True] Translation: X:93.87, Y:101.28, Z:14.55 [[-8.03544825e-01 5.95115853e-01 1.23626230e-02 9.38700012e+01] [-5.94590905e-01 -8.03462542e-01 3.01595801e-02 1.01283108e+02] [ 2.78813487e-02 1.68838713e-02 9.99468641e-01 1.45543256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.78687499999998 meters Centerline goodness : 0.997879 Centerline is valid? [True, True] Translation: X:93.85, Y:101.28, Z:14.56 [[-8.03021245e-01 5.95546136e-01 2.19472214e-02 9.38546876e+01] [-5.95323091e-01 -8.03321106e-01 1.62977677e-02 1.01277749e+02] [ 2.73367388e-02 2.17660033e-05 9.99626281e-01 1.45633871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.81687499999998 meters Centerline goodness : 0.998236 Centerline is valid? [True, True] Translation: X:93.84, Y:101.27, Z:14.58 [[-8.05495675e-01 5.91506743e-01 3.60068109e-02 9.38416348e+01] [-5.91501001e-01 -8.06215624e-01 1.19555059e-02 1.01274615e+02] [ 3.61010159e-02 -1.16679564e-02 9.99280029e-01 1.45756333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.84687499999998 meters Centerline goodness : 0.998446 Centerline is valid? [True, True] Translation: X:93.82, Y:101.27, Z:14.60 [[-8.10850649e-01 5.82410890e-01 5.76088643e-02 9.38162291e+01] [-5.82737494e-01 -8.12561261e-01 1.26968537e-02 1.01269372e+02] [ 5.42055172e-02 -2.32755932e-02 9.98258488e-01 1.45967683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.87687499999998 meters Centerline goodness : 0.997878 Centerline is valid? [True, True] Translation: X:93.84, Y:101.26, Z:14.55 [[-8.04592609e-01 5.93766661e-01 8.47849582e-03 9.38433374e+01] [-5.92944101e-01 -8.04092562e-01 4.30400229e-02 1.01261911e+02] [ 3.23732261e-02 2.96024102e-02 9.99037372e-01 1.45501937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.90687499999999 meters Centerline goodness : 0.998056 Centerline is valid? [True, True] Translation: X:93.83, Y:101.26, Z:14.57 [[-8.05598415e-01 5.91906965e-01 2.56386175e-02 9.38265020e+01] [-5.91573998e-01 -8.06005857e-01 1.98686669e-02 1.01258894e+02] [ 3.24252781e-02 8.39027107e-04 9.99473810e-01 1.45661182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.936875 meters Centerline goodness : 0.998056 Centerline is valid? [True, True] Translation: X:93.83, Y:101.27, Z:14.57 [[-8.06861897e-01 5.89767111e-01 3.38915157e-02 9.38327822e+01] [-5.89585268e-01 -8.07543769e-01 1.61948507e-02 1.01265920e+02] [ 3.69200727e-02 -6.91493041e-03 9.99294297e-01 1.45721205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.966875 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:93.83, Y:101.26, Z:14.56 [[-8.07224447e-01 5.89812002e-01 2.25941197e-02 9.38306192e+01] [-5.89323154e-01 -8.07511660e-01 2.49627376e-02 1.01259743e+02] [ 3.29683373e-02 6.83529413e-03 9.99433023e-01 1.45622653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.996875 meters Centerline goodness : 0.998221 Centerline is valid? [True, True] Translation: X:93.83, Y:101.27, Z:14.58 [[-8.08756789e-01 5.86399907e-01 4.52504872e-02 9.38333046e+01] [-5.86449688e-01 -8.09872087e-01 1.35633994e-02 1.01268534e+02] [ 4.46006827e-02 -1.55676428e-02 9.98883591e-01 1.45796878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.026875 meters Centerline goodness : 0.998443 Centerline is valid? [True, True] Translation: X:93.81, Y:101.26, Z:14.59 [[-8.16183984e-01 5.75000695e-01 5.67265796e-02 9.38079748e+01] [-5.74881083e-01 -8.17991471e-01 2.00423171e-02 1.01260010e+02] [ 5.79262045e-02 -1.62528192e-02 9.98188560e-01 1.45922956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.056875 meters Centerline goodness : 0.998192 Centerline is valid? [True, True] Translation: X:93.80, Y:101.25, Z:14.58 [[-8.17666504e-01 5.73776380e-01 4.69271186e-02 9.37994379e+01] [-5.72803802e-01 -8.19011894e-01 3.33964269e-02 1.01248326e+02] [ 5.75959493e-02 4.27107665e-04 9.98339884e-01 1.45837568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.086875 meters Centerline goodness : 0.998147 Centerline is valid? [True, True] Translation: X:93.80, Y:101.25, Z:14.58 [[-8.20358615e-01 5.69980368e-01 4.61965666e-02 9.38024654e+01] [-5.69033672e-01 -8.21658049e-01 3.28440366e-02 1.01248809e+02] [ 5.66782368e-02 6.56486518e-04 9.98392281e-01 1.45838610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.116875 meters Centerline goodness : 0.998275 Centerline is valid? [True, True] Translation: X:93.79, Y:101.24, Z:14.58 [[-8.21698473e-01 5.68068169e-01 4.59366326e-02 9.37912198e+01] [-5.67130762e-01 -8.22981153e-01 3.26300648e-02 1.01239750e+02] [ 5.63410840e-02 7.59997008e-04 9.98411290e-01 1.45846684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.146875 meters Centerline goodness : 0.998457 Centerline is valid? [True, True] Translation: X:93.79, Y:101.24, Z:14.58 [[-8.22791374e-01 5.66517048e-01 4.55278848e-02 9.37865622e+01] [-5.65595375e-01 -8.24049594e-01 3.23131149e-02 1.01235268e+02] [ 5.58231655e-02 8.36591098e-04 9.98440321e-01 1.45846509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.176875 meters Centerline goodness : 0.997983 Centerline is valid? [True, True] Translation: X:93.75, Y:101.20, Z:14.57 [[-8.17963042e-01 5.74754493e-01 2.43666634e-02 9.37534822e+01] [-5.73731874e-01 -8.18138915e-01 3.84766633e-02 1.01196097e+02] [ 4.20499507e-02 1.74925571e-02 9.98962368e-01 1.45665185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.206875 meters Centerline goodness : 0.998036 Centerline is valid? [True, True] Translation: X:93.78, Y:101.22, Z:14.58 [[-8.19104144e-01 5.72233056e-01 4.02210344e-02 9.37758830e+01] [-5.71807038e-01 -8.20078497e-01 2.25381982e-02 1.01218060e+02] [ 4.58815075e-02 -4.53753898e-03 9.98936584e-01 1.45803725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.236875 meters Centerline goodness : 0.998385 Centerline is valid? [True, True] Translation: X:93.78, Y:101.23, Z:14.59 [[-8.25595238e-01 5.61888860e-01 5.17050487e-02 9.37778517e+01] [-5.61566793e-01 -8.27140582e-01 2.19361377e-02 1.01229688e+02] [ 5.50930155e-02 -1.09254675e-02 9.98421451e-01 1.45922156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.266875 meters Centerline goodness : 0.998219 Centerline is valid? [True, True] Translation: X:93.76, Y:101.22, Z:14.59 [[-8.25988317e-01 5.61900394e-01 4.48469341e-02 9.37638425e+01] [-5.61005135e-01 -8.27204242e-01 3.17235080e-02 1.01215709e+02] [ 5.49230258e-02 1.04388663e-03 9.98490046e-01 1.45866212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.296875 meters Centerline goodness : 0.998344 Centerline is valid? [True, True] Translation: X:93.76, Y:101.21, Z:14.59 [[-8.26158189e-01 5.61616646e-01 4.52701930e-02 9.37625022e+01] [-5.60705528e-01 -8.27396907e-01 3.19948244e-02 1.01213633e+02] [ 5.54252436e-02 1.04953870e-03 9.98462288e-01 1.45871216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.326875 meters Centerline goodness : 0.998072 Centerline is valid? [True, True] Translation: X:93.77, Y:101.22, Z:14.59 [[-8.26575355e-01 5.61023138e-01 4.50135666e-02 9.37723456e+01] [-5.60123058e-01 -8.27799443e-01 3.17843221e-02 1.01219093e+02] [ 5.50939454e-02 1.05900081e-03 9.98480614e-01 1.45865202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.356875 meters Centerline goodness : 0.997976 Centerline is valid? [True, True] Translation: X:93.77, Y:101.22, Z:14.59 [[-8.26924076e-01 5.60514472e-01 4.49455108e-02 9.37732786e+01] [-5.59617879e-01 -8.28143940e-01 3.17087304e-02 1.01218719e+02] [ 5.49945547e-02 1.06840111e-03 9.98486083e-01 1.45860441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.386875 meters Centerline goodness : 0.998058 Centerline is valid? [True, True] Translation: X:93.78, Y:101.22, Z:14.59 [[-8.27264903e-01 5.59953787e-01 4.56567229e-02 9.37773127e+01] [-5.59029374e-01 -8.28523114e-01 3.21808767e-02 1.01220376e+02] [ 5.58474540e-02 1.09866062e-03 9.98438709e-01 1.45862435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.416875 meters Centerline goodness : 0.998277 Centerline is valid? [True, True] Translation: X:93.76, Y:101.21, Z:14.59 [[-8.27816112e-01 5.59132806e-01 4.57273489e-02 9.37597079e+01] [-5.58205783e-01 -8.29077331e-01 3.22037683e-02 1.01206883e+02] [ 5.59176917e-02 1.13352766e-03 9.98434738e-01 1.45864788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.44687499999998 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:93.75, Y:101.20, Z:14.59 [[-8.28546484e-01 5.57989697e-01 4.64566633e-02 9.37478811e+01] [-5.57032625e-01 -8.29846999e-01 3.26896522e-02 1.01195922e+02] [ 5.67924117e-02 1.20701924e-03 9.98385279e-01 1.45869522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.47687499999998 meters Centerline goodness : 0.997996 Centerline is valid? [True, True] Translation: X:93.76, Y:101.20, Z:14.59 [[-8.28782487e-01 5.57620373e-01 4.66809229e-02 9.37590203e+01] [-5.56655043e-01 -8.30095201e-01 3.28195016e-02 1.01202931e+02] [ 5.70504328e-02 1.21505701e-03 9.98370558e-01 1.45866373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.50687499999998 meters Centerline goodness : 0.997798 Centerline is valid? [True, True] Translation: X:93.77, Y:101.21, Z:14.59 [[-8.28886767e-01 5.57464685e-01 4.66888829e-02 9.37694747e+01] [-5.56500365e-01 -8.30199782e-01 3.27973556e-02 1.01209470e+02] [ 5.70444679e-02 1.20291366e-03 9.98370914e-01 1.45864641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.53687499999998 meters Centerline goodness : 0.997926 Centerline is valid? [True, True] Translation: X:93.76, Y:101.20, Z:14.59 [[-8.28364172e-01 5.58272766e-01 4.63067764e-02 9.37621519e+01] [-5.57327149e-01 -8.29656725e-01 3.24987411e-02 1.01203569e+02] [ 5.65618905e-02 1.11276909e-03 9.98398475e-01 1.45872311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.56687499999998 meters Centerline goodness : 0.997686 Centerline is valid? [True, True] Translation: X:93.75, Y:101.19, Z:14.59 [[-8.27987422e-01 5.58887579e-01 4.56234815e-02 9.37480071e+01] [-5.57972552e-01 -8.29242800e-01 3.19845310e-02 1.01193459e+02] [ 5.57087006e-02 1.02613895e-03 9.98446537e-01 1.45881496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.59687499999998 meters Centerline goodness : 0.998123 Centerline is valid? [True, True] Translation: X:93.79, Y:101.21, Z:14.56 [[-8.21156335e-01 5.70417016e-01 1.80748839e-02 9.37901135e+01] [-5.69454614e-01 -8.21042553e-01 4.01318969e-02 1.01206663e+02] [ 3.77321657e-02 2.26617353e-02 9.99030895e-01 1.45636943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.62687499999998 meters Centerline goodness : 0.997760 Centerline is valid? [True, True] Translation: X:93.78, Y:101.21, Z:14.58 [[-8.21301892e-01 5.69480280e-01 3.39913501e-02 9.37777530e+01] [-5.69088302e-01 -8.22002747e-01 2.12129242e-02 1.01206822e+02] [ 4.00213252e-02 -1.92186493e-03 9.99196978e-01 1.45804099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.65687499999999 meters Centerline goodness : 0.998153 Centerline is valid? [True, True] Translation: X:93.77, Y:101.21, Z:14.60 [[-8.25229873e-01 5.62153448e-01 5.45816614e-02 9.37655253e+01] [-5.62299717e-01 -8.26813340e-01 1.40971565e-02 1.01209843e+02] [ 5.30536109e-02 -1.90578581e-02 9.98409792e-01 1.46008697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.686875 meters Centerline goodness : 0.998058 Centerline is valid? [True, True] Translation: X:93.76, Y:101.20, Z:14.59 [[-8.24861988e-01 5.63688176e-01 4.31084825e-02 9.37583244e+01] [-5.62882710e-01 -8.25987467e-01 3.01290399e-02 1.01198097e+02] [ 5.25904498e-02 5.87280262e-04 9.98615992e-01 1.45902552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.716875 meters Centerline goodness : 0.997514 Centerline is valid? [True, True] Translation: X:93.79, Y:101.21, Z:14.56 [[-8.17588201e-01 5.75637061e-01 1.38386164e-02 9.37946938e+01] [-5.74776584e-01 -8.17329153e-01 4.00616245e-02 1.01205320e+02] [ 3.43716604e-02 2.47997988e-02 9.99101376e-01 1.45627806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.746875 meters Centerline goodness : 0.998341 Centerline is valid? [True, True] Translation: X:93.76, Y:101.21, Z:14.60 [[-8.23680077e-01 5.64162615e-01 5.71985591e-02 9.37614380e+01] [-5.64594405e-01 -8.25309661e-01 9.85502661e-03 1.01206470e+02] [ 5.27663610e-02 -2.41765974e-02 9.98314181e-01 1.46034678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.776875 meters Centerline goodness : 0.998060 Centerline is valid? [True, True] Translation: X:93.75, Y:101.19, Z:14.59 [[-8.22507935e-01 5.67082709e-01 4.35648750e-02 9.37521796e+01] [-5.66268740e-01 -8.23660794e-01 3.03745171e-02 1.01192492e+02] [ 5.31075429e-02 3.13854523e-04 9.98588749e-01 1.45909420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.806875 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:93.77, Y:101.20, Z:14.59 [[-8.22166037e-01 5.67551173e-01 4.39166540e-02 9.37680393e+01] [-5.66726080e-01 -8.23338081e-01 3.05933751e-02 1.01203186e+02] [ 5.35215596e-02 2.64120774e-04 9.98566659e-01 1.45902096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.836875 meters Centerline goodness : 0.997351 Centerline is valid? [True, True] Translation: X:93.80, Y:101.20, Z:14.56 [[-8.14083554e-01 5.80638809e-01 1.12490312e-02 9.37960500e+01] [-5.79821424e-01 -8.13726139e-01 4.07048824e-02 1.01202601e+02] [ 3.27884652e-02 2.66147460e-02 9.99107888e-01 1.45596119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.866875 meters Centerline goodness : 0.997872 Centerline is valid? [True, True] Translation: X:93.76, Y:101.20, Z:14.60 [[-8.21245766e-01 5.67493306e-01 5.92177254e-02 9.37552458e+01] [-5.68031923e-01 -8.22957978e-01 8.93874261e-03 1.01201234e+02] [ 5.38063761e-02 -2.62966539e-02 9.98205069e-01 1.46048473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.896875 meters Centerline goodness : 0.997710 Centerline is valid? [True, True] Translation: X:93.74, Y:101.19, Z:14.59 [[-8.21909765e-01 5.67917543e-01 4.39773045e-02 9.37434594e+01] [-5.67095247e-01 -8.23085436e-01 3.05507046e-02 1.01185482e+02] [ 5.35473600e-02 1.70602115e-04 9.98565296e-01 1.45914702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.926875 meters Centerline goodness : 0.997866 Centerline is valid? [True, True] Translation: X:93.75, Y:101.19, Z:14.59 [[-8.22401136e-01 5.67200523e-01 4.40447291e-02 9.37530747e+01] [-5.66376039e-01 -8.23579704e-01 3.05721186e-02 1.01191811e+02] [ 5.36148666e-02 1.96665851e-04 9.98561669e-01 1.45908656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.956875 meters Centerline goodness : 0.996718 Centerline is valid? [True, True] Translation: X:93.80, Y:101.20, Z:14.55 [[-8.12593479e-01 5.82793806e-01 -6.57397086e-03 9.38016305e+01] [-5.82431764e-01 -8.11568009e-01 4.61585058e-02 1.01198029e+02] [ 2.15656669e-02 4.13369903e-02 9.98912496e-01 1.45452442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.986875 meters Centerline goodness : 0.996911 Centerline is valid? [True, True] Translation: X:93.77, Y:101.19, Z:14.57 [[-8.15373420e-01 5.78647918e-01 1.82420553e-02 9.37747566e+01] [-5.78499438e-01 -8.15577445e-01 1.31084592e-02 1.01192594e+02] [ 2.24629915e-02 1.35270489e-04 9.99747666e-01 1.45676435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.016875 meters Centerline goodness : 0.997579 Centerline is valid? [True, True] Translation: X:93.74, Y:101.20, Z:14.61 [[-8.26042922e-01 5.59392253e-01 6.87997002e-02 9.37442595e+01] [-5.60814918e-01 -8.27939534e-01 -1.66036161e-03 1.01195917e+02] [ 5.60331983e-02 -3.99554282e-02 9.97629112e-01 1.46127701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.046875 meters Centerline goodness : 0.997036 Centerline is valid? [True, True] Translation: X:93.78, Y:101.18, Z:14.54 [[-8.17359472e-01 5.76099305e-01 -5.75193401e-03 9.37822680e+01] [-5.75681153e-01 -8.16291646e-01 4.75306124e-02 1.01182926e+02] [ 2.26870971e-02 4.21608763e-02 9.98853221e-01 1.45447425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.076875 meters Centerline goodness : 0.996932 Centerline is valid? [True, True] Translation: X:93.76, Y:101.18, Z:14.56 [[-8.18576228e-01 5.74315638e-01 9.72151563e-03 9.37649242e+01] [-5.74130806e-01 -8.18594467e-01 1.66407939e-02 1.01180996e+02] [ 1.75150471e-02 8.04033672e-03 9.99814271e-01 1.45602028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.106875 meters Centerline goodness : 0.996785 Centerline is valid? [True, True] Translation: X:93.76, Y:101.18, Z:14.57 [[-8.20294910e-01 5.71647155e-01 1.83245680e-02 9.37571909e+01] [-5.71591810e-01 -8.20492585e-01 8.64409858e-03 1.01179520e+02] [ 1.99765465e-02 -3.38346290e-03 9.99794724e-01 1.45677575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.136875 meters Centerline goodness : 0.997918 Centerline is valid? [True, True] Translation: X:93.71, Y:101.17, Z:14.62 [[-8.31880210e-01 5.50292673e-01 7.17864205e-02 9.37129838e+01] [-5.52015351e-01 -8.33818315e-01 -5.10593952e-03 1.01174920e+02] [ 5.70470711e-02 -4.38747361e-02 9.97406958e-01 1.46167529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.166875 meters Centerline goodness : 0.997618 Centerline is valid? [True, True] Translation: X:93.73, Y:101.17, Z:14.59 [[-8.33283179e-01 5.50959455e-01 4.56379562e-02 9.37286950e+01] [-5.50061290e-01 -8.34531264e-01 3.14665885e-02 1.01173360e+02] [ 5.54231157e-02 1.11690586e-03 9.98462333e-01 1.45917325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.19687499999998 meters Centerline goodness : 0.997849 Centerline is valid? [True, True] Translation: X:93.73, Y:101.17, Z:14.59 [[-8.33835319e-01 5.50182756e-01 4.49176632e-02 9.37285110e+01] [-5.49313019e-01 -8.35043509e-01 3.09442305e-02 1.01172735e+02] [ 5.45331851e-02 1.12853512e-03 9.98511321e-01 1.45919535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.22687499999998 meters Centerline goodness : 0.997812 Centerline is valid? [True, True] Translation: X:93.72, Y:101.17, Z:14.59 [[-8.34494997e-01 5.49233297e-01 4.42818779e-02 9.37231585e+01] [-5.48388049e-01 -8.35668270e-01 3.04809882e-02 1.01169034e+02] [ 5.37461340e-02 1.15257953e-03 9.98553967e-01 1.45917909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.25687499999998 meters Centerline goodness : 0.997716 Centerline is valid? [True, True] Translation: X:93.72, Y:101.17, Z:14.59 [[-8.34869324e-01 5.48677116e-01 4.41206763e-02 9.37242321e+01] [-5.47838597e-01 -8.36033534e-01 3.03447087e-02 1.01169716e+02] [ 5.35358122e-02 1.16285710e-03 9.98565253e-01 1.45908650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.28687499999998 meters Centerline goodness : 0.997950 Centerline is valid? [True, True] Translation: X:93.71, Y:101.16, Z:14.59 [[-8.35150413e-01 5.48197639e-01 4.47564135e-02 9.37108159e+01] [-5.47335494e-01 -8.36347975e-01 3.07558485e-02 1.01161150e+02] [ 5.42922193e-02 1.18898588e-03 9.98524382e-01 1.45915203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.31687499999998 meters Centerline goodness : 0.997099 Centerline is valid? [True, True] Translation: X:93.72, Y:101.14, Z:14.55 [[-8.26148743e-01 5.63411006e-01 -6.80390814e-03 9.37214846e+01] [-5.63028669e-01 -8.24999677e-01 4.87262791e-02 1.01142706e+02] [ 2.18396999e-02 4.40859495e-02 9.98788995e-01 1.45472410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.34687499999998 meters Centerline goodness : 0.997171 Centerline is valid? [True, True] Translation: X:93.71, Y:101.15, Z:14.57 [[-8.27380366e-01 5.61228156e-01 2.15566120e-02 9.37121997e+01] [-5.61138644e-01 -8.27654349e-01 1.05688214e-02 1.01152223e+02] [ 2.37729438e-02 -3.35181276e-03 9.99711765e-01 1.45729406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.37687499999998 meters Centerline goodness : 0.997570 Centerline is valid? [True, True] Translation: X:93.70, Y:101.17, Z:14.61 [[-8.35028299e-01 5.45921613e-01 6.85370896e-02 9.36987976e+01] [-5.47298544e-01 -8.36935962e-01 -1.58078173e-03 1.01165451e+02] [ 5.64981721e-02 -3.88302468e-02 9.97647317e-01 1.46146904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.40687499999999 meters Centerline goodness : 0.997894 Centerline is valid? [True, True] Translation: X:93.71, Y:101.16, Z:14.59 [[-8.35747614e-01 5.47228055e-01 4.54684738e-02 9.37092468e+01] [-5.46343170e-01 -8.36982720e-01 3.11298338e-02 1.01161530e+02] [ 5.50914453e-02 1.17529416e-03 9.98480621e-01 1.45928177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.436875 meters Centerline goodness : 0.997556 Centerline is valid? [True, True] Translation: X:93.70, Y:101.15, Z:14.59 [[-8.36010674e-01 5.46867405e-01 4.49688130e-02 9.37000208e+01] [-5.46002892e-01 -8.37218424e-01 3.07595754e-02 1.01154841e+02] [ 5.44701280e-02 1.16223136e-03 9.98514724e-01 1.45929193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.466875 meters Centerline goodness : 0.997794 Centerline is valid? [True, True] Translation: X:93.70, Y:101.15, Z:14.59 [[-8.36232855e-01 5.46584829e-01 4.42677856e-02 9.36962209e+01] [-5.45748036e-01 -8.37402963e-01 3.02548989e-02 1.01152496e+02] [ 5.36068436e-02 1.14108347e-03 9.98561467e-01 1.45931371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.496875 meters Centerline goodness : 0.997796 Centerline is valid? [True, True] Translation: X:93.67, Y:101.14, Z:14.59 [[-8.36578859e-01 5.46102462e-01 4.36796679e-02 9.36745475e+01] [-5.45288474e-01 -8.37717622e-01 2.98272874e-02 1.01138309e+02] [ 5.28799826e-02 1.13485866e-03 9.98600230e-01 1.45946083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.526875 meters Centerline goodness : 0.997842 Centerline is valid? [True, True] Translation: X:93.72, Y:101.15, Z:14.56 [[-8.29247812e-01 5.58878210e-01 1.79275476e-03 9.37231529e+01] [-5.58297694e-01 -8.28524464e-01 4.30220438e-02 1.01150342e+02] [ 2.55294240e-02 3.46750448e-02 9.99072515e-01 1.45572745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.556875 meters Centerline goodness : 0.998135 Centerline is valid? [True, True] Translation: X:93.68, Y:101.15, Z:14.61 [[-8.36867498e-01 5.43840314e-01 6.23739048e-02 9.36805155e+01] [-5.44860599e-01 -8.38526284e-01 7.73917808e-04 1.01153229e+02] [ 5.27230463e-02 -3.33374165e-02 9.98052552e-01 1.46137612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.586875 meters Centerline goodness : 0.997912 Centerline is valid? [True, True] Translation: X:93.68, Y:101.15, Z:14.59 [[-8.37381495e-01 5.44912062e-01 4.31633632e-02 9.36832337e+01] [-5.44118742e-01 -8.38492416e-01 2.94153603e-02 1.01145165e+02] [ 5.22209373e-02 1.14588353e-03 9.98634899e-01 1.45943932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.616875 meters Centerline goodness : 0.997912 Centerline is valid? [True, True] Translation: X:93.68, Y:101.14, Z:14.59 [[-8.37597146e-01 5.44579598e-01 4.31750220e-02 9.36813694e+01] [-5.43786719e-01 -8.38708381e-01 2.93982393e-02 1.01143809e+02] [ 5.22209342e-02 1.14587775e-03 9.98634899e-01 1.45944986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.646875 meters Centerline goodness : 0.997845 Centerline is valid? [True, True] Translation: X:93.68, Y:101.14, Z:14.59 [[-8.38109441e-01 5.43797050e-01 4.30967986e-02 9.36802747e+01] [-5.43007311e-01 -8.39215942e-01 2.93200191e-02 1.01143140e+02] [ 5.21116603e-02 1.17150813e-03 9.98640577e-01 1.45935600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.676875 meters Centerline goodness : 0.997317 Centerline is valid? [True, True] Translation: X:93.70, Y:101.13, Z:14.56 [[-8.30846086e-01 5.56502273e-01 4.34686055e-05 9.36950516e+01] [-5.55973521e-01 -8.30060070e-01 4.35169371e-02 1.01131669e+02] [ 2.42533560e-02 3.61317095e-02 9.99052688e-01 1.45550986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.706875 meters Centerline goodness : 0.997983 Centerline is valid? [True, True] Translation: X:93.65, Y:101.14, Z:14.61 [[-8.38648796e-01 5.40846420e-01 6.44464656e-02 9.36541620e+01] [-5.41924682e-01 -8.40426588e-01 8.88014983e-04 1.01137193e+02] [ 5.46428029e-02 -3.41803977e-02 9.97920771e-01 1.46139047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.736875 meters Centerline goodness : 0.997275 Centerline is valid? [True, True] Translation: X:93.69, Y:101.13, Z:14.55 [[-8.30619328e-01 5.56840573e-01 -3.29601258e-04 9.36929573e+01] [-5.56315140e-01 -8.29809559e-01 4.39267631e-02 1.01130535e+02] [ 2.41866977e-02 3.66697807e-02 9.99034700e-01 1.45532674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.766875 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:93.64, Y:101.13, Z:14.61 [[-8.39066572e-01 5.40084006e-01 6.53953665e-02 9.36441401e+01] [-5.41203187e-01 -8.40891553e-01 7.12219735e-04 1.01131402e+02] [ 5.53750698e-02 -3.47945810e-02 9.97859178e-01 1.46139474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.796875 meters Centerline goodness : 0.998027 Centerline is valid? [True, True] Translation: X:93.64, Y:101.12, Z:14.59 [[-8.40057323e-01 5.40674933e-01 4.44332268e-02 9.36418413e+01] [-5.39837633e-01 -8.41230595e-01 3.01067388e-02 1.01120606e+02] [ 5.36565488e-02 1.30465843e-03 9.98558598e-01 1.45947924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.826875 meters Centerline goodness : 0.998325 Centerline is valid? [True, True] Translation: X:93.65, Y:101.13, Z:14.59 [[-8.40724749e-01 5.39650253e-01 4.42662496e-02 9.36507133e+01] [-5.38819287e-01 -8.41888237e-01 2.99661905e-02 1.01126626e+02] [ 5.34384971e-02 1.34180901e-03 9.98570241e-01 1.45939630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.856875 meters Centerline goodness : 0.998099 Centerline is valid? [True, True] Translation: X:93.64, Y:101.12, Z:14.59 [[-8.41510605e-01 5.38389287e-01 4.46864390e-02 9.36388134e+01] [-5.37542433e-01 -8.42695077e-01 3.02181920e-02 1.01118849e+02] [ 5.39261930e-02 1.40807184e-03 9.98543931e-01 1.45943846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.886875 meters Centerline goodness : 0.997832 Centerline is valid? [True, True] Translation: X:93.64, Y:101.12, Z:14.59 [[-8.42096611e-01 5.37385558e-01 4.57171781e-02 9.36357442e+01] [-5.36499331e-01 -8.43335383e-01 3.08852655e-02 1.01116799e+02] [ 5.51522096e-02 1.48114194e-03 9.98476860e-01 1.45944195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.916875 meters Centerline goodness : 0.998026 Centerline is valid? [True, True] Translation: X:93.63, Y:101.12, Z:14.59 [[-8.43069513e-01 5.35781202e-01 4.66079413e-02 9.36347555e+01] [-5.34859189e-01 -8.44355354e-01 3.14592343e-02 1.01116858e+02] [ 5.62089312e-02 1.59363566e-03 9.98417756e-01 1.45941883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.94687499999998 meters Centerline goodness : 0.998169 Centerline is valid? [True, True] Translation: X:93.63, Y:101.12, Z:14.59 [[-8.43618479e-01 5.34886617e-01 4.69485751e-02 9.36330025e+01] [-5.33951260e-01 -8.44922251e-01 3.16613415e-02 1.01116223e+02] [ 5.66031237e-02 1.64184191e-03 9.98395408e-01 1.45945455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.97687499999998 meters Centerline goodness : 0.997136 Centerline is valid? [True, True] Translation: X:93.65, Y:101.11, Z:14.56 [[-8.37193951e-01 5.46782783e-01 1.16136162e-02 9.36502483e+01] [-5.45917571e-01 -8.36768465e-01 4.23384242e-02 1.01108486e+02] [ 3.28678292e-02 2.91053955e-02 9.99035826e-01 1.45626073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.00687499999998 meters Centerline goodness : 0.998334 Centerline is valid? [True, True] Translation: X:93.60, Y:101.11, Z:14.61 [[-8.44408744e-01 5.32030671e-01 6.25878403e-02 9.36032217e+01] [-5.32607026e-01 -8.46320250e-01 8.47290613e-03 1.01105135e+02] [ 5.74772026e-02 -2.61801274e-02 9.98003493e-01 1.46111603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.03687499999998 meters Centerline goodness : 0.998042 Centerline is valid? [True, True] Translation: X:93.61, Y:101.10, Z:14.60 [[-8.45097741e-01 5.32575380e-01 4.66183837e-02 9.36115972e+01] [-5.31654542e-01 -8.46380848e-01 3.13513511e-02 1.01103441e+02] [ 5.61538649e-02 1.71008056e-03 9.98420662e-01 1.45953798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.06687499999998 meters Centerline goodness : 0.997504 Centerline is valid? [True, True] Translation: X:93.62, Y:101.09, Z:14.57 [[-8.38424743e-01 5.44751014e-01 1.70377112e-02 9.36226000e+01] [-5.43878292e-01 -8.38283564e-01 3.84326540e-02 1.01094319e+02] [ 3.52186605e-02 2.29564468e-02 9.99115933e-01 1.45692204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.09687499999998 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:93.61, Y:101.11, Z:14.61 [[-8.44798074e-01 5.31873633e-01 5.85376175e-02 9.36055254e+01] [-5.32111652e-01 -8.46578332e-01 1.27404376e-02 1.01106782e+02] [ 5.63329814e-02 -2.03854512e-02 9.98203901e-01 1.46084736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.12687499999998 meters Centerline goodness : 0.998010 Centerline is valid? [True, True] Translation: X:93.60, Y:101.10, Z:14.60 [[-8.45432094e-01 5.32077634e-01 4.62381546e-02 9.35961803e+01] [-5.31176085e-01 -8.46693961e-01 3.10049068e-02 1.01095101e+02] [ 5.56465837e-02 1.65194132e-03 9.98449162e-01 1.45970702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.15687499999999 meters Centerline goodness : 0.997977 Centerline is valid? [True, True] Translation: X:93.63, Y:101.09, Z:14.56 [[-8.37734428e-01 5.46068013e-01 3.27918589e-03 9.36296021e+01] [-5.45383174e-01 -8.36956430e-01 4.53996518e-02 1.01094599e+02] [ 2.75358334e-02 3.62444385e-02 9.98963522e-01 1.45588675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.186875 meters Centerline goodness : 0.998106 Centerline is valid? [True, True] Translation: X:93.61, Y:101.12, Z:14.61 [[-8.45341526e-01 5.30154934e-01 6.58289430e-02 9.36138532e+01] [-5.31261142e-01 -8.47207719e-01 8.24074715e-04 1.01115943e+02] [ 5.62076760e-02 -3.42757349e-02 9.97830582e-01 1.46148870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.216875 meters Centerline goodness : 0.997740 Centerline is valid? [True, True] Translation: X:93.62, Y:101.09, Z:14.56 [[-8.37766523e-01 5.46022518e-01 2.58122858e-03 9.36180449e+01] [-5.45394047e-01 -8.37011396e-01 4.42408999e-02 1.01085572e+02] [ 2.63170453e-02 3.56557582e-02 9.99017557e-01 1.45580453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.246875 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:93.60, Y:101.11, Z:14.61 [[-8.44825910e-01 5.31020521e-01 6.54705137e-02 9.36049211e+01] [-5.32070969e-01 -8.46698190e-01 1.63087023e-03 1.01109670e+02] [ 5.62997910e-02 -3.34571582e-02 9.97853172e-01 1.46146463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.276875 meters Centerline goodness : 0.998182 Centerline is valid? [True, True] Translation: X:93.60, Y:101.10, Z:14.60 [[-8.45185541e-01 5.32501200e-01 4.58680018e-02 9.36038673e+01] [-5.31621029e-01 -8.46427895e-01 3.06414759e-02 1.01099082e+02] [ 5.51405789e-02 1.51333805e-03 9.98477454e-01 1.45954017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.306875 meters Centerline goodness : 0.997288 Centerline is valid? [True, True] Translation: X:93.61, Y:101.08, Z:14.55 [[-8.36856212e-01 5.47401920e-01 -4.77685587e-03 9.36147847e+01] [-5.46967057e-01 -8.35771753e-01 4.80896663e-02 1.01079982e+02] [ 2.23320144e-02 4.28569188e-02 9.98831600e-01 1.45522561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.336875 meters Centerline goodness : 0.997688 Centerline is valid? [True, True] Translation: X:93.63, Y:101.10, Z:14.57 [[-8.37739877e-01 5.45747872e-01 1.87392242e-02 9.36285421e+01] [-5.45604726e-01 -8.37949401e-01 1.25013687e-02 1.01101604e+02] [ 2.25251170e-02 2.48685855e-04 9.99746246e-01 1.45733991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.366875 meters Centerline goodness : 0.998060 Centerline is valid? [True, True] Translation: X:93.60, Y:101.10, Z:14.62 [[-8.45575503e-01 5.29313023e-01 6.94967146e-02 9.35975396e+01] [-5.30881783e-01 -8.47431419e-01 -4.95194956e-03 1.01103998e+02] [ 5.62725681e-02 -4.10817870e-02 9.97569890e-01 1.46172759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.396875 meters Centerline goodness : 0.998091 Centerline is valid? [True, True] Translation: X:93.59, Y:101.09, Z:14.59 [[-8.46435949e-01 5.30504690e-01 4.59451769e-02 9.35917131e+01] [-5.29623685e-01 -8.47680550e-01 3.06012740e-02 1.01088083e+02] [ 5.51809523e-02 1.56836451e-03 9.98475139e-01 1.45945818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.426875 meters Centerline goodness : 0.998244 Centerline is valid? [True, True] Translation: X:93.60, Y:101.09, Z:14.59 [[-8.46699735e-01 5.30013162e-01 4.67504781e-02 9.35979080e+01] [-5.29101935e-01 -8.47987901e-01 3.11072866e-02 1.01091637e+02] [ 5.61311111e-02 1.60276295e-03 9.98422120e-01 1.45944601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.456875 meters Centerline goodness : 0.997325 Centerline is valid? [True, True] Translation: X:93.55, Y:101.04, Z:14.57 [[-8.39491987e-01 5.43241713e-01 1.19015025e-02 9.35524590e+01] [-5.42402207e-01 -8.39100620e-01 4.13520943e-02 1.01041580e+02] [ 3.24507407e-02 2.82593506e-02 9.99073750e-01 1.45660731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.486875 meters Centerline goodness : 0.998286 Centerline is valid? [True, True] Translation: X:93.58, Y:101.09, Z:14.61 [[-8.46814007e-01 5.28238795e-01 6.22078151e-02 9.35775444e+01] [-5.28798735e-01 -8.48705309e-01 8.43774579e-03 1.01086581e+02] [ 5.72532477e-02 -2.57502126e-02 9.98027551e-01 1.46101207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.516875 meters Centerline goodness : 0.998507 Centerline is valid? [True, True] Translation: X:93.59, Y:101.09, Z:14.59 [[-8.46842348e-01 5.29792248e-01 4.66713188e-02 9.35913412e+01] [-5.28888557e-01 -8.48126049e-01 3.09693186e-02 1.01087909e+02] [ 5.59904661e-02 1.54220404e-03 9.98430112e-01 1.45943924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.546875 meters Centerline goodness : 0.997990 Centerline is valid? [True, True] Translation: X:93.58, Y:101.08, Z:14.59 [[-8.46707422e-01 5.30027662e-01 4.64458733e-02 9.35836897e+01] [-5.29134592e-01 -8.47979033e-01 3.07919290e-02 1.01083203e+02] [ 5.57057009e-02 1.49563663e-03 9.98446112e-01 1.45945038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.576875 meters Centerline goodness : 0.997688 Centerline is valid? [True, True] Translation: X:93.58, Y:101.07, Z:14.57 [[-8.37968988e-01 5.45207889e-01 2.35867013e-02 9.35821779e+01] [-5.44254461e-01 -8.38104075e-01 3.69951491e-02 1.01065332e+02] [ 3.99381576e-02 1.81636203e-02 9.99037050e-01 1.45738861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.606875 meters Centerline goodness : 0.998153 Centerline is valid? [True, True] Translation: X:93.58, Y:101.09, Z:14.60 [[-8.44811711e-01 5.32244332e-01 5.48556665e-02 9.35818115e+01] [-5.32247345e-01 -8.46441979e-01 1.57714877e-02 1.01088292e+02] [ 5.48264239e-02 -1.58728453e-02 9.98369729e-01 1.46042960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.636875 meters Centerline goodness : 0.998150 Centerline is valid? [True, True] Translation: X:93.59, Y:101.09, Z:14.59 [[-8.44433972e-01 5.33744859e-01 4.52514333e-02 9.35903773e+01] [-5.32906314e-01 -8.45644773e-01 2.99295446e-02 1.01090051e+02] [ 5.42413786e-02 1.15874968e-03 9.98527180e-01 1.45948468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.666875 meters Centerline goodness : 0.998369 Centerline is valid? [True, True] Translation: X:93.59, Y:101.09, Z:14.59 [[-8.43480600e-01 5.35262285e-01 4.51083563e-02 9.35912265e+01] [-5.34432748e-01 -8.44685278e-01 2.98063803e-02 1.01091196e+02] [ 5.40565956e-02 1.03372075e-03 9.98537338e-01 1.45949685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.69687499999998 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:93.59, Y:101.09, Z:14.60 [[-8.42676267e-01 5.36527079e-01 4.51154310e-02 9.35890959e+01] [-5.35700492e-01 -8.43882591e-01 2.97851704e-02 1.01090762e+02] [ 5.40526773e-02 9.30897608e-04 9.98537652e-01 1.45954158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.72687499999998 meters Centerline goodness : 0.997962 Centerline is valid? [True, True] Translation: X:93.62, Y:101.09, Z:14.55 [[-8.30678889e-01 5.56699651e-01 -7.62115870e-03 9.36244927e+01] [-5.56394716e-01 -8.29578121e-01 4.71705663e-02 1.01087552e+02] [ 1.99374912e-02 4.34239660e-02 9.98857775e-01 1.45488960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.75687499999998 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:93.60, Y:101.11, Z:14.62 [[-8.39472450e-01 5.39095506e-01 6.82791402e-02 9.35969699e+01] [-5.40764807e-01 -8.41141782e-01 -7.34343322e-03 1.01109631e+02] [ 5.34736258e-02 -4.30875660e-02 9.97639230e-01 1.46189595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.78687499999998 meters Centerline goodness : 0.998058 Centerline is valid? [True, True] Translation: X:93.61, Y:101.08, Z:14.56 [[-8.30712852e-01 5.56700591e-01 7.80914565e-04 9.36131998e+01] [-5.56155881e-01 -8.29960469e-01 4.30842926e-02 1.01084885e+02] [ 2.46331794e-02 3.53563654e-02 9.99071136e-01 1.45556970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.81687499999998 meters Centerline goodness : 0.998386 Centerline is valid? [True, True] Translation: X:93.58, Y:101.10, Z:14.61 [[-8.38378618e-01 5.41412677e-01 6.31949885e-02 9.35772980e+01] [-5.42514969e-01 -8.40046067e-01 -3.38001352e-04 1.01095870e+02] [ 5.29037033e-02 -3.45676003e-02 9.98001142e-01 1.46149758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.84687499999998 meters Centerline goodness : 0.998415 Centerline is valid? [True, True] Translation: X:93.61, Y:101.11, Z:14.59 [[-8.38199223e-01 5.43626840e-01 4.34962303e-02 9.36125076e+01] [-5.42873953e-01 -8.39326949e-01 2.86032181e-02 1.01109609e+02] [ 5.20570353e-02 3.62224738e-04 9.98644048e-01 1.45936037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.87687499999998 meters Centerline goodness : 0.998469 Centerline is valid? [True, True] Translation: X:93.59, Y:101.10, Z:14.59 [[-8.38549277e-01 5.43118919e-01 4.30923491e-02 9.35914277e+01] [-5.42380655e-01 -8.39655706e-01 2.83111371e-02 1.01095709e+02] [ 5.15590510e-02 3.67826962e-04 9.98669880e-01 1.45940156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.90687499999999 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:93.58, Y:101.09, Z:14.59 [[-8.39553514e-01 5.41585162e-01 4.28416720e-02 9.35848812e+01] [-5.40854692e-01 -8.40645775e-01 2.81226415e-02 1.01091283e+02] [ 5.12454759e-02 4.39343195e-04 9.98685991e-01 1.45947027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.936875 meters Centerline goodness : 0.998414 Centerline is valid? [True, True] Translation: X:93.56, Y:101.08, Z:14.60 [[-8.40299985e-01 5.40407503e-01 4.30774367e-02 9.35641901e+01] [-5.39668676e-01 -8.41403285e-01 2.82530067e-02 1.01077992e+02] [ 5.15136336e-02 4.93457885e-04 9.98672169e-01 1.45960975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.966875 meters Centerline goodness : 0.998543 Centerline is valid? [True, True] Translation: X:93.60, Y:101.10, Z:14.59 [[-8.41145859e-01 5.39095735e-01 4.30050211e-02 9.36009232e+01] [-5.38358953e-01 -8.42244314e-01 2.81807370e-02 1.01101802e+02] [ 5.14128496e-02 5.51972119e-04 9.98677332e-01 1.45945237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.996875 meters Centerline goodness : 0.998393 Centerline is valid? [True, True] Translation: X:93.58, Y:101.09, Z:14.59 [[-8.42124614e-01 5.37555618e-01 4.31287828e-02 9.35833220e+01] [-5.36813951e-01 -8.43228063e-01 2.82349904e-02 1.01089730e+02] [ 5.15452777e-02 6.25248111e-04 9.98670463e-01 1.45949281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.026875 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:93.58, Y:101.09, Z:14.59 [[-8.43553287e-01 5.35285710e-01 4.34403092e-02 9.35811305e+01] [-5.34531533e-01 -8.44670734e-01 2.84146495e-02 1.01087121e+02] [ 5.19027137e-02 7.49055929e-04 9.98651865e-01 1.45946178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.056875 meters Centerline goodness : 0.998750 Centerline is valid? [True, True] Translation: X:93.58, Y:101.08, Z:14.60 [[-8.44054066e-01 5.34474645e-01 4.36988290e-02 9.35779650e+01] [-5.33711656e-01 -8.45184146e-01 2.85591993e-02 1.01084408e+02] [ 5.21977254e-02 7.82933914e-04 9.98636463e-01 1.45951207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.086875 meters Centerline goodness : 0.998080 Centerline is valid? [True, True] Translation: X:93.55, Y:101.05, Z:14.58 [[-8.38914859e-01 5.43795174e-01 2.25536805e-02 9.35500972e+01] [-5.42896426e-01 -8.39024513e-01 3.60740616e-02 1.01051614e+02] [ 3.85399914e-02 1.80187537e-02 9.99094587e-01 1.45765178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.116875 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:93.56, Y:101.08, Z:14.61 [[-8.45538916e-01 5.31172936e-01 5.40301126e-02 9.35600616e+01] [-5.31229033e-01 -8.47104015e-01 1.45086882e-02 1.01077111e+02] [ 5.34757478e-02 -1.64347040e-02 9.98433896e-01 1.46055116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.146875 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:93.56, Y:101.07, Z:14.59 [[-8.47097836e-01 5.29567491e-01 4.45368291e-02 9.35613222e+01] [-5.28771900e-01 -8.48267162e-01 2.90361962e-02 1.01070732e+02] [ 5.31557551e-02 1.04667530e-03 9.98585685e-01 1.45947553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.176875 meters Centerline goodness : 0.997822 Centerline is valid? [True, True] Translation: X:93.52, Y:101.03, Z:14.57 [[-8.41950287e-01 5.39154430e-01 2.07897661e-02 9.35235175e+01] [-5.38230507e-01 -8.41957885e-01 3.76143692e-02 1.01029801e+02] [ 3.77840613e-02 2.04797426e-02 9.99076046e-01 1.45745839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.206875 meters Centerline goodness : 0.997916 Centerline is valid? [True, True] Translation: X:93.51, Y:101.03, Z:14.59 [[-8.43671772e-01 5.35514353e-01 3.79778830e-02 9.35071391e+01] [-5.35154436e-01 -8.44518869e-01 1.99401418e-02 1.01027002e+02] [ 4.27512709e-02 -3.50109780e-03 9.99079612e-01 1.45906742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.236875 meters Centerline goodness : 0.997422 Centerline is valid? [True, True] Translation: X:93.56, Y:101.06, Z:14.59 [[-8.43798950e-01 5.35366163e-01 3.72344259e-02 9.35598214e+01] [-5.34890911e-01 -8.44619625e-01 2.25699398e-02 1.01058339e+02] [ 4.35321089e-02 -8.71864498e-04 9.99051648e-01 1.45866903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.266875 meters Centerline goodness : 0.998114 Centerline is valid? [True, True] Translation: X:93.55, Y:101.05, Z:14.59 [[-8.42059218e-01 5.38057944e-01 3.78143254e-02 9.35535188e+01] [-5.37583594e-01 -8.42906886e-01 2.26243559e-02 1.01053922e+02] [ 4.40471696e-02 -1.27731356e-03 9.99028636e-01 1.45887089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.296875 meters Centerline goodness : 0.998042 Centerline is valid? [True, True] Translation: X:93.57, Y:101.06, Z:14.58 [[-8.40860136e-01 5.40522977e-01 2.80917092e-02 9.35683168e+01] [-5.39887304e-01 -8.41292788e-01 2.73522022e-02 1.01060093e+02] [ 3.84178461e-02 7.83301930e-03 9.99231061e-01 1.45827332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.326875 meters Centerline goodness : 0.997428 Centerline is valid? [True, True] Translation: X:93.60, Y:101.08, Z:14.58 [[-8.38602319e-01 5.43856621e-01 3.10825691e-02 9.36009459e+01] [-5.43470389e-01 -8.39178103e-01 2.04950471e-02 1.01081742e+02] [ 3.72301784e-02 2.94738082e-04 9.99306673e-01 1.45848819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.356875 meters Centerline goodness : 0.997977 Centerline is valid? [True, True] Translation: X:93.57, Y:101.07, Z:14.61 [[-8.43495906e-01 5.34354094e-01 5.45926636e-02 9.35660156e+01] [-5.34521786e-01 -8.45059123e-01 1.27098319e-02 1.01071388e+02] [ 5.29255791e-02 -1.84602769e-02 9.98427815e-01 1.46074853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.386875 meters Centerline goodness : 0.998006 Centerline is valid? [True, True] Translation: X:93.58, Y:101.07, Z:14.59 [[-8.43191805e-01 5.35723137e-01 4.50366686e-02 9.35814880e+01] [-5.34926205e-01 -8.44393526e-01 2.92152160e-02 1.01073529e+02] [ 5.36799386e-02 5.42736467e-04 9.98558045e-01 1.45946779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.416875 meters Centerline goodness : 0.997532 Centerline is valid? [True, True] Translation: X:93.58, Y:101.06, Z:14.58 [[-8.36012993e-01 5.48008978e-01 2.77206703e-02 9.35830232e+01] [-5.47013274e-01 -8.36333610e-01 3.63671618e-02 1.01057014e+02] [ 4.31132595e-02 1.52398452e-02 9.98953950e-01 1.45750075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.44687499999998 meters Centerline goodness : 0.997896 Centerline is valid? [True, True] Translation: X:93.57, Y:101.07, Z:14.60 [[-8.42428866e-01 5.35946648e-01 5.54508484e-02 9.35747600e+01] [-5.35821100e-01 -8.44131760e-01 1.83662738e-02 1.01069660e+02] [ 5.66511651e-02 -1.42394554e-02 9.98292484e-01 1.45999055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.47687499999998 meters Centerline goodness : 0.997774 Centerline is valid? [True, True] Translation: X:93.57, Y:101.06, Z:14.59 [[-8.42701648e-01 5.36252398e-01 4.78257136e-02 9.35683272e+01] [-5.35358214e-01 -8.44057540e-01 3.09588672e-02 1.01060600e+02] [ 5.69694210e-02 4.85199789e-04 9.98375806e-01 1.45931995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.50687499999998 meters Centerline goodness : 0.997774 Centerline is valid? [True, True] Translation: X:93.57, Y:101.06, Z:14.59 [[-8.42909686e-01 5.35924258e-01 4.78377478e-02 9.35664274e+01] [-5.35030603e-01 -8.44265926e-01 3.09402626e-02 1.01059288e+02] [ 5.69694178e-02 4.85187982e-04 9.98375806e-01 1.45933088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.53687499999998 meters Centerline goodness : 0.997553 Centerline is valid? [True, True] Translation: X:93.57, Y:101.06, Z:14.59 [[-8.43258878e-01 5.35405202e-01 4.74945598e-02 9.35677235e+01] [-5.34524985e-01 -8.44595184e-01 3.06922764e-02 1.01059817e+02] [ 5.65464809e-02 4.94505718e-04 9.98399845e-01 1.45941628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.56687499999998 meters Centerline goodness : 0.998066 Centerline is valid? [True, True] Translation: X:93.57, Y:101.06, Z:14.59 [[-8.43711903e-01 5.34723445e-01 4.71281578e-02 9.35739406e+01] [-5.33857151e-01 -8.45026966e-01 3.04297369e-02 1.01063390e+02] [ 5.60960580e-02 5.14227127e-04 9.98425244e-01 1.45949312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.59687499999998 meters Centerline goodness : 0.997932 Centerline is valid? [True, True] Translation: X:93.57, Y:101.06, Z:14.60 [[-8.45006079e-01 5.32719584e-01 4.66323079e-02 9.35698898e+01] [-5.31869795e-01 -8.46291594e-01 3.00841952e-02 1.01058778e+02] [ 5.54909701e-02 6.19011791e-04 9.98458997e-01 1.45958390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.62687499999998 meters Centerline goodness : 0.997933 Centerline is valid? [True, True] Translation: X:93.56, Y:101.05, Z:14.60 [[-8.45817000e-01 5.31433524e-01 4.66048482e-02 9.35639778e+01] [-5.30584202e-01 -8.47099726e-01 3.00409725e-02 1.01053368e+02] [ 5.54437340e-02 6.81369057e-04 9.98461581e-01 1.45956340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.65687499999999 meters Centerline goodness : 0.996971 Centerline is valid? [True, True] Translation: X:93.61, Y:101.06, Z:14.57 [[-8.39315756e-01 5.43202733e-01 2.19055634e-02 9.36076526e+01] [-5.42232956e-01 -8.39358551e-01 3.82183843e-02 1.01063774e+02] [ 3.91469527e-02 2.01993737e-02 9.99029280e-01 1.45707347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.686875 meters Centerline goodness : 0.997067 Centerline is valid? [True, True] Translation: X:93.59, Y:101.05, Z:14.58 [[-8.39786115e-01 5.42303995e-01 2.58003386e-02 9.35888218e+01] [-5.41810479e-01 -8.40160110e-01 2.39247565e-02 1.01053896e+02] [ 3.46509063e-02 6.11278450e-03 9.99380783e-01 1.45754563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.716875 meters Centerline goodness : 0.997701 Centerline is valid? [True, True] Translation: X:93.55, Y:101.05, Z:14.61 [[-8.48690529e-01 5.25630711e-01 5.86237293e-02 9.35533636e+01] [-5.26092926e-01 -8.50384628e-01 8.49813197e-03 1.01050811e+02] [ 5.43195973e-02 -2.36292452e-02 9.98243978e-01 1.46083668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.746875 meters Centerline goodness : 0.997204 Centerline is valid? [True, True] Translation: X:93.55, Y:101.04, Z:14.60 [[-8.49485972e-01 5.25670784e-01 4.52085168e-02 9.35484648e+01] [-5.24867820e-01 -8.50687551e-01 2.90596127e-02 1.01039886e+02] [ 5.37341119e-02 9.57237657e-04 9.98554820e-01 1.45958260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.776875 meters Centerline goodness : 0.997433 Centerline is valid? [True, True] Translation: X:93.54, Y:101.03, Z:14.60 [[-8.50092937e-01 5.24694596e-01 4.51395581e-02 9.35353564e+01] [-5.23894042e-01 -8.51289956e-01 2.89904057e-02 1.01030781e+02] [ 5.36379616e-02 9.96193622e-04 9.98559951e-01 1.45964015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.806875 meters Centerline goodness : 0.996897 Centerline is valid? [True, True] Translation: X:93.58, Y:101.04, Z:14.57 [[-8.43706691e-01 5.36625785e-01 1.38487013e-02 9.35787838e+01] [-5.35804766e-01 -8.43428899e-01 3.92548595e-02 1.01039560e+02] [ 3.27455647e-02 2.56993875e-02 9.99133259e-01 1.45673081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.836875 meters Centerline goodness : 0.997751 Centerline is valid? [True, True] Translation: X:93.54, Y:101.04, Z:14.61 [[-8.51121148e-01 5.21798086e-01 5.76155298e-02 9.35395635e+01] [-5.22305414e-01 -8.52729198e-01 7.06893148e-03 1.01039789e+02] [ 5.28189994e-02 -2.40763860e-02 9.98313819e-01 1.46099427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.866875 meters Centerline goodness : 0.997849 Centerline is valid? [True, True] Translation: X:93.54, Y:101.03, Z:14.60 [[-8.52308305e-01 5.21220939e-01 4.35807884e-02 9.35401031e+01] [-5.20472753e-01 -8.53421029e-01 2.79402953e-02 1.01032653e+02] [ 5.17558282e-02 1.13113282e-03 9.98659128e-01 1.45973590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.896875 meters Centerline goodness : 0.997020 Centerline is valid? [True, True] Translation: X:93.53, Y:101.01, Z:14.57 [[-8.46670422e-01 5.31860504e-01 1.65408776e-02 9.35254758e+01] [-5.31026626e-01 -8.46515693e-01 3.77081377e-02 1.01006337e+02] [ 3.40575816e-02 2.31427184e-02 9.99151888e-01 1.45735574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.926875 meters Centerline goodness : 0.996910 Centerline is valid? [True, True] Translation: X:93.46, Y:100.97, Z:14.58 [[-8.47546809e-01 5.30089874e-01 2.58675947e-02 9.34630937e+01] [-5.29672497e-01 -8.47929346e-01 2.15144142e-02 1.00971746e+02] [ 3.33384658e-02 4.53311963e-03 9.99433839e-01 1.45843833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.956875 meters Centerline goodness : 0.997653 Centerline is valid? [True, True] Translation: X:93.52, Y:101.03, Z:14.61 [[-8.53375377e-01 5.17988328e-01 5.86392267e-02 9.35188673e+01] [-5.18515095e-01 -8.55039540e-01 7.03430908e-03 1.01025452e+02] [ 5.37825474e-02 -2.44024181e-02 9.98254456e-01 1.46095516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.986875 meters Centerline goodness : 0.997017 Centerline is valid? [True, True] Translation: X:93.53, Y:101.01, Z:14.56 [[-8.46696697e-01 5.32025485e-01 7.32024865e-03 9.35313015e+01] [-5.31284784e-01 -8.46107798e-01 4.28727472e-02 1.01006203e+02] [ 2.90031136e-02 3.24110767e-02 9.99053723e-01 1.45630489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.016875 meters Centerline goodness : 0.996899 Centerline is valid? [True, True] Translation: X:93.53, Y:101.02, Z:14.58 [[-8.47599623e-01 5.29975599e-01 2.64715723e-02 9.35321949e+01] [-5.29707200e-01 -8.48012847e-01 1.68669168e-02 1.01018798e+02] [ 3.13872877e-02 2.74209859e-04 9.99507260e-01 1.45805188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.046875 meters Centerline goodness : 0.997431 Centerline is valid? [True, True] Translation: X:93.42, Y:100.95, Z:14.59 [[-8.49566142e-01 5.26172838e-01 3.71418262e-02 9.34166744e+01] [-5.26016197e-01 -8.50348164e-01 1.46615303e-02 1.00949480e+02] [ 3.92979827e-02 -7.08126248e-03 9.99202444e-01 1.45936395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.076875 meters Centerline goodness : 0.997041 Centerline is valid? [True, True] Translation: X:93.51, Y:101.01, Z:14.58 [[-8.48419003e-01 5.28783073e-01 2.39511470e-02 9.35116804e+01] [-5.28308507e-01 -8.48725230e-01 2.35712769e-02 1.01005493e+02] [ 3.27920350e-02 7.34472451e-03 9.99435209e-01 1.45784989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.106875 meters Centerline goodness : 0.997485 Centerline is valid? [True, True] Translation: X:93.50, Y:101.02, Z:14.61 [[-8.53491988e-01 5.17283921e-01 6.29981949e-02 9.35020333e+01] [-5.18096505e-01 -8.55313074e-01 3.94430791e-03 1.01020693e+02] [ 5.59235067e-02 -2.92727094e-02 9.98005847e-01 1.46125850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.136875 meters Centerline goodness : 0.997352 Centerline is valid? [True, True] Translation: X:93.53, Y:101.01, Z:14.56 [[-8.47844503e-01 5.30127945e-01 1.11382980e-02 9.35279035e+01] [-5.29277889e-01 -8.47379559e-01 4.25769882e-02 1.01010789e+02] [ 3.20096172e-02 3.02034105e-02 9.99031100e-01 1.45644953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.166875 meters Centerline goodness : 0.996948 Centerline is valid? [True, True] Translation: X:93.51, Y:101.01, Z:14.58 [[-8.48307540e-01 5.28556870e-01 3.16536414e-02 9.35101041e+01] [-5.28298066e-01 -8.48894125e-01 1.67307292e-02 1.01012097e+02] [ 3.57137321e-02 -2.52975378e-03 9.99358859e-01 1.45837193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.19687499999998 meters Centerline goodness : 0.998051 Centerline is valid? [True, True] Translation: X:93.51, Y:101.03, Z:14.61 [[-8.52274540e-01 5.19493804e-01 6.12723144e-02 9.35098894e+01] [-5.20084047e-01 -8.54085230e-01 7.14176840e-03 1.01030629e+02] [ 5.60418831e-02 -2.57800059e-02 9.98095536e-01 1.46111620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.22687499999998 meters Centerline goodness : 0.997996 Centerline is valid? [True, True] Translation: X:93.50, Y:101.02, Z:14.60 [[-8.51975338e-01 5.21508242e-01 4.65529478e-02 9.34978191e+01] [-5.20674611e-01 -8.53245786e-01 2.94886144e-02 1.01017237e+02] [ 5.50996619e-02 8.84634203e-04 9.98480468e-01 1.45976440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.25687499999998 meters Centerline goodness : 0.997388 Centerline is valid? [True, True] Translation: X:93.51, Y:101.01, Z:14.57 [[-8.46333075e-01 5.32517917e-01 1.20413356e-02 9.35119329e+01] [-5.31672620e-01 -8.45929481e-01 4.15636686e-02 1.01010875e+02] [ 3.23195190e-02 2.87746591e-02 9.99063295e-01 1.45673393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.28687499999998 meters Centerline goodness : 0.998299 Centerline is valid? [True, True] Translation: X:93.50, Y:101.03, Z:14.61 [[-8.49548821e-01 5.23821446e-01 6.22727339e-02 9.34979670e+01] [-5.24552424e-01 -8.51361790e-01 5.27791849e-03 1.01032086e+02] [ 5.57813131e-02 -2.81814641e-02 9.98045215e-01 1.46141555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.31687499999998 meters Centerline goodness : 0.997903 Centerline is valid? [True, True] Translation: X:93.50, Y:101.01, Z:14.58 [[-8.45321200e-01 5.33867110e-01 2.04445065e-02 9.34954949e+01] [-5.32863599e-01 -8.45260099e-01 3.98967453e-02 1.01010831e+02] [ 3.85804857e-02 2.28314313e-02 9.98994631e-01 1.45752428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.34687499999998 meters Centerline goodness : 0.998465 Centerline is valid? [True, True] Translation: X:93.49, Y:101.03, Z:14.61 [[-8.48870183e-01 5.25229402e-01 5.96111298e-02 9.34896933e+01] [-5.25594365e-01 -8.50668655e-01 1.06490910e-02 1.01029526e+02] [ 5.63025353e-02 -2.22915781e-02 9.98164871e-01 1.46122668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.37687499999998 meters Centerline goodness : 0.998118 Centerline is valid? [True, True] Translation: X:93.50, Y:101.01, Z:14.57 [[-8.44104604e-01 5.36022472e-01 1.29354716e-02 9.35004894e+01] [-5.35090998e-01 -8.43683117e-01 4.33176925e-02 1.01014205e+02] [ 3.41326956e-02 2.96430093e-02 9.98977603e-01 1.45682633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.40687499999999 meters Centerline goodness : 0.998063 Centerline is valid? [True, True] Translation: X:93.49, Y:101.03, Z:14.62 [[-8.49020914e-01 5.24409111e-01 6.44869867e-02 9.34877202e+01] [-5.25205102e-01 -8.50959277e-01 5.28296213e-03 1.01033644e+02] [ 5.76462331e-02 -2.93835491e-02 9.97904564e-01 1.46159467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.436875 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:93.45, Y:101.00, Z:14.60 [[-8.49331509e-01 5.25629330e-01 4.84746907e-02 9.34490501e+01] [-5.24744166e-01 -8.50713578e-01 3.04953736e-02 1.01003178e+02] [ 5.72673404e-02 4.63870511e-04 9.98358771e-01 1.46014524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.466875 meters Centerline goodness : 0.997872 Centerline is valid? [True, True] Translation: X:93.50, Y:101.02, Z:14.57 [[-8.44062122e-01 5.36156040e-01 9.78959797e-03 9.34988266e+01] [-5.35268339e-01 -8.43485326e-01 4.49478623e-02 1.01017035e+02] [ 3.23564501e-02 3.26987262e-02 9.98941366e-01 1.45652679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.496875 meters Centerline goodness : 0.997715 Centerline is valid? [True, True] Translation: X:93.49, Y:101.02, Z:14.58 [[-8.43541670e-01 5.36348856e-01 2.77012028e-02 9.34917382e+01] [-5.36065808e-01 -8.43996375e-01 1.74231888e-02 1.01023821e+02] [ 3.27246221e-02 -1.52481847e-04 9.99464395e-01 1.45837936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.526875 meters Centerline goodness : 0.998292 Centerline is valid? [True, True] Translation: X:93.49, Y:101.03, Z:14.59 [[-8.41699366e-01 5.39190622e-01 2.85596026e-02 9.34921019e+01] [-5.38966833e-01 -8.42180907e-01 1.56867179e-02 1.01026454e+02] [ 3.25104832e-02 -2.18917803e-03 9.99468997e-01 1.45865032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.556875 meters Centerline goodness : 0.998465 Centerline is valid? [True, True] Translation: X:93.47, Y:101.03, Z:14.62 [[-8.45621419e-01 5.29928581e-01 6.40321370e-02 9.34702576e+01] [-5.30867022e-01 -8.47450686e-01 2.74572424e-03 1.01029781e+02] [ 5.57191162e-02 -3.16707067e-02 9.97944060e-01 1.46207194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.586875 meters Centerline goodness : 0.998238 Centerline is valid? [True, True] Translation: X:93.49, Y:101.02, Z:14.57 [[-8.40878754e-01 5.41071145e-01 1.28427938e-02 9.34896640e+01] [-5.40115774e-01 -8.40438810e-01 4.40176867e-02 1.01015524e+02] [ 3.46102825e-02 3.00769420e-02 9.98948200e-01 1.45713442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.616875 meters Centerline goodness : 0.998167 Centerline is valid? [True, True] Translation: X:93.47, Y:101.01, Z:14.59 [[-8.41225541e-01 5.39867874e-01 2.97030071e-02 9.34749811e+01] [-5.39543757e-01 -8.41749722e-01 1.87066528e-02 1.01014946e+02] [ 3.51016188e-02 -2.89557954e-04 9.99383706e-01 1.45885877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.646875 meters Centerline goodness : 0.998050 Centerline is valid? [True, True] Translation: X:93.47, Y:101.01, Z:14.59 [[-8.42277979e-01 5.37837578e-01 3.60353412e-02 9.34693463e+01] [-5.37637745e-01 -8.43026956e-01 1.58495270e-02 1.01011084e+02] [ 3.89032352e-02 -6.02425197e-03 9.99224823e-01 1.45932995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.676875 meters Centerline goodness : 0.997298 Centerline is valid? [True, True] Translation: X:93.47, Y:101.01, Z:14.58 [[-8.42255044e-01 5.38431791e-01 2.64130313e-02 9.34710948e+01] [-5.37949898e-01 -8.42650945e-01 2.34370068e-02 1.01006770e+02] [ 3.48761954e-02 5.53104970e-03 9.99376335e-01 1.45844603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.706875 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:93.47, Y:101.02, Z:14.62 [[-8.47717665e-01 5.26566514e-01 6.40504971e-02 9.34676776e+01] [-5.27442277e-01 -8.49582631e-01 3.74124622e-03 1.01021629e+02] [ 5.63862048e-02 -3.06114195e-02 9.97939646e-01 1.46197095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.736875 meters Centerline goodness : 0.998331 Centerline is valid? [True, True] Translation: X:93.48, Y:101.01, Z:14.58 [[-8.44604100e-01 5.34674941e-01 2.76879496e-02 9.34848265e+01] [-5.33617018e-01 -8.44885397e-01 3.77033555e-02 1.01010467e+02] [ 4.35521837e-02 1.70696475e-02 9.98905318e-01 1.45822868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.766875 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:93.46, Y:101.01, Z:14.61 [[-8.49978431e-01 5.23730750e-01 5.69453017e-02 9.34570840e+01] [-5.23768746e-01 -8.51720318e-01 1.54531465e-02 1.01008177e+02] [ 5.65947585e-02 -1.66913281e-02 9.98257699e-01 1.46134713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.796875 meters Centerline goodness : 0.998388 Centerline is valid? [True, True] Translation: X:93.45, Y:101.00, Z:14.61 [[-8.50826602e-01 5.23263048e-01 4.78526500e-02 9.34476629e+01] [-5.22415962e-01 -8.52171155e-01 2.97638173e-02 1.00996575e+02] [ 5.63529538e-02 3.24859381e-04 9.98410857e-01 1.46050389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.826875 meters Centerline goodness : 0.998385 Centerline is valid? [True, True] Translation: X:93.45, Y:101.00, Z:14.61 [[-8.51631012e-01 5.21909532e-01 4.83224639e-02 9.34502425e+01] [-5.21045188e-01 -8.53000754e-01 3.00270859e-02 1.00997079e+02] [ 5.68905205e-02 3.93810224e-04 9.98380345e-01 1.46058150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.856875 meters Centerline goodness : 0.997676 Centerline is valid? [True, True] Translation: X:93.47, Y:100.99, Z:14.58 [[-8.47036687e-01 5.31114395e-01 2.11270018e-02 9.34718520e+01] [-5.30075524e-01 -8.46987172e-01 4.04063085e-02 1.00994011e+02] [ 3.93546716e-02 2.30267192e-02 9.98959949e-01 1.45792698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.886875 meters Centerline goodness : 0.997903 Centerline is valid? [True, True] Translation: X:93.44, Y:100.99, Z:14.62 [[-8.53818936e-01 5.16997346e-01 6.08848737e-02 9.34413604e+01] [-5.17349941e-01 -8.55702595e-01 1.10502742e-02 1.00993909e+02] [ 5.78123068e-02 -2.20638524e-02 9.98083626e-01 1.46181498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.916875 meters Centerline goodness : 0.998336 Centerline is valid? [True, True] Translation: X:93.46, Y:101.00, Z:14.60 [[-8.54753996e-01 5.16734377e-01 4.87974354e-02 9.34577710e+01] [-5.15848169e-01 -8.56145493e-01 3.02582411e-02 1.00995982e+02] [ 5.74131777e-02 6.91284776e-04 9.98350264e-01 1.46046846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.94687499999998 meters Centerline goodness : 0.998142 Centerline is valid? [True, True] Translation: X:93.45, Y:100.99, Z:14.60 [[-8.55559248e-01 5.15397428e-01 4.88248354e-02 9.34507811e+01] [-5.14509556e-01 -8.56950941e-01 3.02489963e-02 1.00990339e+02] [ 5.74307435e-02 7.58964171e-04 9.98349204e-01 1.46046788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.97687499999998 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:93.45, Y:100.99, Z:14.60 [[-8.56207384e-01 5.14332426e-01 4.86936366e-02 9.34521274e+01] [-5.13449090e-01 -8.57590523e-01 3.01417689e-02 1.00989609e+02] [ 5.72620904e-02 8.05901731e-04 9.98358855e-01 1.46047728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.00687499999998 meters Centerline goodness : 0.998518 Centerline is valid? [True, True] Translation: X:93.44, Y:100.98, Z:14.60 [[-8.57301950e-01 5.12578583e-01 4.79224752e-02 9.34449743e+01] [-5.11721716e-01 -8.58639861e-01 2.96390749e-02 1.00983494e+02] [ 5.63405024e-02 8.86665443e-04 9.98411219e-01 1.46047021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.03687499999998 meters Centerline goodness : 0.998395 Centerline is valid? [True, True] Translation: X:93.42, Y:100.97, Z:14.61 [[-8.57815808e-01 5.11735102e-01 4.77412259e-02 9.34227796e+01] [-5.10884838e-01 -8.59142797e-01 2.95014831e-02 1.00969370e+02] [ 5.61134748e-02 9.16570138e-04 9.98423977e-01 1.46062766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.06687499999998 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:93.44, Y:100.98, Z:14.61 [[-8.58286461e-01 5.10974029e-01 4.74330242e-02 9.34395947e+01] [-5.10135043e-01 -8.59595639e-01 2.92843823e-02 1.00978988e+02] [ 5.57367796e-02 9.37141024e-04 9.98445058e-01 1.46055347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.09687499999998 meters Centerline goodness : 0.997839 Centerline is valid? [True, True] Translation: X:93.46, Y:100.98, Z:14.58 [[-8.54393025e-01 5.19179556e-01 2.15672683e-02 9.34624473e+01] [-5.18148167e-01 -8.54356248e-01 3.99734690e-02 1.00978379e+02] [ 3.91795384e-02 2.29780126e-02 9.98967955e-01 1.45814061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.12687499999998 meters Centerline goodness : 0.997966 Centerline is valid? [True, True] Translation: X:93.41, Y:100.97, Z:14.62 [[-8.59749502e-01 5.07269301e-01 5.92338598e-02 9.34138283e+01] [-5.07598130e-01 -8.61530247e-01 1.04772387e-02 1.00966370e+02] [ 5.63465434e-02 -2.10591957e-02 9.98189149e-01 1.46188471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.15687499999999 meters Centerline goodness : 0.997318 Centerline is valid? [True, True] Translation: X:93.44, Y:100.96, Z:14.58 [[-8.55785847e-01 5.17052909e-01 1.69373295e-02 9.34405382e+01] [-5.16061962e-01 -8.55521282e-01 4.19927199e-02 1.00959890e+02] [ 3.62027038e-02 2.71960639e-02 9.98974343e-01 1.45781833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.186875 meters Centerline goodness : 0.996886 Centerline is valid? [True, True] Translation: X:93.44, Y:100.97, Z:14.59 [[-8.56036751e-01 5.15801193e-01 3.39147455e-02 9.34434319e+01] [-5.15473145e-01 -8.56706679e-01 1.84689626e-02 1.00969897e+02] [ 3.85813020e-02 -1.67202975e-03 9.99254066e-01 1.45933397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.216875 meters Centerline goodness : 0.998142 Centerline is valid? [True, True] Translation: X:93.41, Y:100.96, Z:14.62 [[-8.60961300e-01 5.04896716e-01 6.18461475e-02 9.34141117e+01] [-5.05353650e-01 -8.62863614e-01 9.16903417e-03 1.00964636e+02] [ 5.79942056e-02 -2.33599928e-02 9.98043578e-01 1.46194944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.246875 meters Centerline goodness : 0.997293 Centerline is valid? [True, True] Translation: X:93.44, Y:100.95, Z:14.57 [[-8.55668129e-01 5.17343547e-01 1.37006367e-02 9.34374272e+01] [-5.16357628e-01 -8.55215983e-01 4.45019374e-02 1.00953731e+02] [ 3.47397936e-02 3.10044613e-02 9.98915347e-01 1.45745074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.276875 meters Centerline goodness : 0.997881 Centerline is valid? [True, True] Translation: X:93.40, Y:100.96, Z:14.62 [[-8.61041022e-01 5.04366383e-01 6.49839302e-02 9.34008234e+01] [-5.05190049e-01 -8.62997547e-01 4.27176199e-03 1.00957436e+02] [ 5.82355056e-02 -2.91510726e-02 9.97877167e-01 1.46238028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.306875 meters Centerline goodness : 0.997307 Centerline is valid? [True, True] Translation: X:93.43, Y:100.95, Z:14.57 [[-8.55297912e-01 5.18027286e-01 1.06401634e-02 9.34264423e+01] [-5.17121696e-01 -8.54727321e-01 4.50150796e-02 1.00945913e+02] [ 3.24134779e-02 3.29990443e-02 9.98929642e-01 1.45741625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.336875 meters Centerline goodness : 0.997430 Centerline is valid? [True, True] Translation: X:93.44, Y:100.96, Z:14.59 [[-8.54900224e-01 5.18102096e-01 2.67549008e-02 9.34388527e+01] [-5.17852017e-01 -8.55318776e-01 1.60959521e-02 1.00962275e+02] [ 3.12233156e-02 -9.46463186e-05 9.99512429e-01 1.45908138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.366875 meters Centerline goodness : 0.997092 Centerline is valid? [True, True] Translation: X:93.43, Y:100.96, Z:14.59 [[-8.54684588e-01 5.18379850e-01 2.82238529e-02 9.34292683e+01] [-5.18118645e-01 -8.55150295e-01 1.64633917e-02 1.00955757e+02] [ 3.26699267e-02 -5.52297227e-04 9.99466043e-01 1.45917496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.396875 meters Centerline goodness : 0.997109 Centerline is valid? [True, True] Translation: X:93.41, Y:100.94, Z:14.59 [[-8.53940633e-01 5.19601005e-01 2.82876456e-02 9.34105667e+01] [-5.19317216e-01 -8.54409032e-01 1.71707464e-02 1.00942742e+02] [ 3.30911570e-02 -2.74632778e-05 9.99452337e-01 1.45924305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.426875 meters Centerline goodness : 0.997109 Centerline is valid? [True, True] Translation: X:93.41, Y:100.94, Z:14.59 [[-8.54154132e-01 5.19253670e-01 2.82195761e-02 9.34086543e+01] [-5.18961380e-01 -8.54620132e-01 1.74216977e-02 1.00941420e+02] [ 3.31632983e-02 2.35944949e-04 9.99449919e-01 1.45924177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.456875 meters Centerline goodness : 0.996934 Centerline is valid? [True, True] Translation: X:93.44, Y:100.96, Z:14.59 [[-8.51696262e-01 5.23510715e-01 2.34522526e-02 9.34446256e+01] [-5.23208896e-01 -8.52013467e-01 1.80417048e-02 1.00960105e+02] [ 2.94266608e-02 3.09562533e-03 9.99562149e-01 1.45869686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.486875 meters Centerline goodness : 0.997065 Centerline is valid? [True, True] Translation: X:93.44, Y:100.96, Z:14.59 [[-8.50946922e-01 5.24642118e-01 2.52979072e-02 9.34367536e+01] [-5.24405770e-01 -8.51322871e-01 1.57466811e-02 1.00955203e+02] [ 2.97980591e-02 1.33221270e-04 9.99555930e-01 1.45883192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.516875 meters Centerline goodness : 0.997599 Centerline is valid? [True, True] Translation: X:93.42, Y:100.96, Z:14.62 [[-8.55360704e-01 5.13931590e-01 6.50567963e-02 9.34151179e+01] [-5.15072884e-01 -8.57145909e-01 -9.02979267e-04 1.00959300e+02] [ 5.52990972e-02 -3.42813647e-02 9.97881154e-01 1.46237873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.546875 meters Centerline goodness : 0.996955 Centerline is valid? [True, True] Translation: X:93.44, Y:100.94, Z:14.57 [[-8.47993856e-01 5.29930639e-01 8.94081494e-03 9.34408369e+01] [-5.29078301e-01 -8.47386713e-01 4.48543188e-02 1.00943706e+02] [ 3.13460056e-02 3.33057956e-02 9.98953528e-01 1.45701812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.576875 meters Centerline goodness : 0.997794 Centerline is valid? [True, True] Translation: X:93.41, Y:100.95, Z:14.62 [[-8.53369581e-01 5.17108768e-01 6.60218132e-02 9.34103919e+01] [-5.18173389e-01 -8.55274804e-01 1.16162552e-03 1.00953155e+02] [ 5.70674800e-02 -3.32194508e-02 9.97817504e-01 1.46236950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.606875 meters Centerline goodness : 0.997344 Centerline is valid? [True, True] Translation: X:93.44, Y:100.94, Z:14.57 [[-8.47792672e-01 5.30190998e-01 1.20453569e-02 9.34406053e+01] [-5.29255689e-01 -8.47304004e-01 4.43208790e-02 1.00943176e+02] [ 3.37046102e-02 3.11998427e-02 9.98944728e-01 1.45729688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.636875 meters Centerline goodness : 0.997480 Centerline is valid? [True, True] Translation: X:93.41, Y:100.95, Z:14.62 [[-8.53073216e-01 5.17680037e-01 6.53717625e-02 9.34100518e+01] [-5.18609995e-01 -8.55005070e-01 3.16283910e-03 1.00950940e+02] [ 5.75305270e-02 -3.12043161e-02 9.97855966e-01 1.46229901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.666875 meters Centerline goodness : 0.996778 Centerline is valid? [True, True] Translation: X:93.43, Y:100.93, Z:14.57 [[-8.48201165e-01 5.29518893e-01 1.28267509e-02 9.34273587e+01] [-5.28575529e-01 -8.47752478e-01 4.38593986e-02 1.00933402e+02] [ 3.40982901e-02 3.04216863e-02 9.98955368e-01 1.45734992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.69687499999998 meters Centerline goodness : 0.997948 Centerline is valid? [True, True] Translation: X:93.41, Y:100.95, Z:14.62 [[-8.53734993e-01 5.16617687e-01 6.51362254e-02 9.34112361e+01] [-5.17502794e-01 -8.55673205e-01 3.77160743e-03 1.00947711e+02] [ 5.76838019e-02 -3.04882254e-02 9.97869254e-01 1.46218589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.72687499999998 meters Centerline goodness : 0.997824 Centerline is valid? [True, True] Translation: X:93.41, Y:100.94, Z:14.61 [[-8.54184519e-01 5.17625198e-01 4.93250568e-02 9.34055471e+01] [-5.16759774e-01 -8.55607474e-01 2.99196679e-02 1.00935200e+02] [ 5.76900612e-02 6.77119584e-05 9.98334539e-01 1.46060664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.75687499999998 meters Centerline goodness : 0.997159 Centerline is valid? [True, True] Translation: X:93.40, Y:100.93, Z:14.61 [[-8.54464658e-01 5.17156019e-01 4.93943401e-02 9.34018277e+01] [-5.16288885e-01 -8.55891141e-01 2.99356149e-02 1.00932813e+02] [ 5.77575616e-02 7.71761293e-05 9.98330636e-01 1.46060332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.78687499999998 meters Centerline goodness : 0.997585 Centerline is valid? [True, True] Translation: X:93.40, Y:100.93, Z:14.61 [[-8.54643209e-01 5.16877018e-01 4.92253322e-02 9.34012397e+01] [-5.16016848e-01 -8.56059661e-01 2.98072092e-02 1.00932097e+02] [ 5.75464826e-02 7.34281618e-05 9.98342825e-01 1.46061691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.81687499999998 meters Centerline goodness : 0.996586 Centerline is valid? [True, True] Translation: X:93.44, Y:100.94, Z:14.57 [[-8.48798908e-01 5.28535787e-01 1.37962389e-02 9.34424539e+01] [-5.27635401e-01 -8.48443292e-01 4.17715666e-02 1.00938496e+02] [ 3.37830941e-02 2.81762760e-02 9.99031931e-01 1.45742216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.84687499999998 meters Centerline goodness : 0.997161 Centerline is valid? [True, True] Translation: X:93.40, Y:100.94, Z:14.62 [[-8.55105178e-01 5.14659989e-01 6.26117519e-02 9.34035989e+01] [-5.15407439e-01 -8.56931778e-01 4.80627305e-03 1.00940373e+02] [ 5.61275963e-02 -2.81606937e-02 9.98026387e-01 1.46211440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.87687499999998 meters Centerline goodness : 0.997393 Centerline is valid? [True, True] Translation: X:93.41, Y:100.93, Z:14.61 [[-8.55720673e-01 5.15231177e-01 4.77385005e-02 9.34052167e+01] [-5.14423294e-01 -8.57051235e-01 2.88419036e-02 1.00933009e+02] [ 5.57745887e-02 1.22816519e-04 9.98443379e-01 1.46070485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.90687499999999 meters Centerline goodness : 0.997407 Centerline is valid? [True, True] Translation: X:93.40, Y:100.93, Z:14.61 [[-8.56378894e-01 5.14129312e-01 4.78146540e-02 9.34003857e+01] [-5.13318534e-01 -8.57712668e-01 2.88628245e-02 1.00929418e+02] [ 5.58504585e-02 1.73365667e-04 9.98439130e-01 1.46073443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.936875 meters Centerline goodness : 0.997371 Centerline is valid? [True, True] Translation: X:93.40, Y:100.93, Z:14.61 [[-8.57280526e-01 5.12603459e-01 4.80394991e-02 9.33986943e+01] [-5.11784056e-01 -8.58625431e-01 2.89732629e-02 1.00927606e+02] [ 5.60997304e-02 2.52364352e-04 9.98425138e-01 1.46073639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.966875 meters Centerline goodness : 0.997260 Centerline is valid? [True, True] Translation: X:93.40, Y:100.92, Z:14.61 [[-8.59014101e-01 5.09731712e-01 4.76272676e-02 9.33965168e+01] [-5.08923286e-01 -8.60333313e-01 2.86998130e-02 1.00924553e+02] [ 5.56045298e-02 4.14918538e-04 9.98452785e-01 1.46065543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.996875 meters Centerline goodness : 0.997357 Centerline is valid? [True, True] Translation: X:93.41, Y:100.91, Z:14.57 [[-8.53999991e-01 5.20259608e-01 3.73571861e-03 9.34145896e+01] [-5.19541194e-01 -8.53157464e-01 4.68965728e-02 1.00913552e+02] [ 2.75855488e-02 3.81088130e-02 9.98892765e-01 1.45689722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.026875 meters Centerline goodness : 0.997281 Centerline is valid? [True, True] Translation: X:93.39, Y:100.93, Z:14.63 [[-8.60468487e-01 5.05066992e-01 6.70918526e-02 9.33909296e+01] [-5.06427839e-01 -8.62273690e-01 -3.86362553e-03 1.00930116e+02] [ 5.59001496e-02 -3.73017100e-02 9.97739323e-01 1.46259385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.056875 meters Centerline goodness : 0.996701 Centerline is valid? [True, True] Translation: X:93.41, Y:100.91, Z:14.57 [[-8.56070940e-01 5.16838219e-01 4.56087991e-03 9.34103078e+01] [-5.16188621e-01 -8.55377464e-01 4.33439917e-02 1.00909573e+02] [ 2.63031053e-02 3.47512574e-02 9.99049797e-01 1.45680193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.086875 meters Centerline goodness : 0.996779 Centerline is valid? [True, True] Translation: X:93.41, Y:100.92, Z:14.58 [[-8.57263441e-01 5.14432855e-01 2.14063331e-02 9.34066959e+01] [-5.14133592e-01 -8.57518712e-01 1.81192608e-02 1.00917385e+02] [ 2.76774742e-02 4.52726499e-03 9.99606653e-01 1.45841599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.116875 meters Centerline goodness : 0.996548 Centerline is valid? [True, True] Translation: X:93.40, Y:100.91, Z:14.59 [[-8.57963116e-01 5.13212593e-01 2.26301911e-02 9.33990111e+01] [-5.12999360e-01 -8.58260790e-01 1.48348528e-02 1.00913322e+02] [ 2.70360389e-02 1.11848302e-03 9.99633834e-01 1.45856988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.146875 meters Centerline goodness : 0.996941 Centerline is valid? [True, True] Translation: X:93.39, Y:100.91, Z:14.59 [[-8.59000894e-01 5.11387802e-01 2.44944750e-02 9.33947120e+01] [-5.11175393e-01 -8.59350043e-01 1.47384269e-02 1.00911245e+02] [ 2.85863799e-02 1.39349016e-04 9.99591316e-01 1.45877890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.176875 meters Centerline goodness : 0.997489 Centerline is valid? [True, True] Translation: X:93.38, Y:100.92, Z:14.63 [[-8.64571915e-01 4.97723351e-01 6.91872061e-02 9.33792790e+01] [-4.99164598e-01 -8.66497201e-01 -4.15975778e-03 1.00920642e+02] [ 5.78801119e-02 -3.81322137e-02 9.97595022e-01 1.46266604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.206875 meters Centerline goodness : 0.996613 Centerline is valid? [True, True] Translation: X:93.40, Y:100.90, Z:14.56 [[-8.58227149e-01 5.13270048e-01 1.34444560e-04 9.33997617e+01] [-5.12623806e-01 -8.57159665e-01 4.99413833e-02 1.00897807e+02] [ 2.57486566e-02 4.27921316e-02 9.98752142e-01 1.45636725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.236875 meters Centerline goodness : 0.996780 Centerline is valid? [True, True] Translation: X:93.39, Y:100.91, Z:14.59 [[-8.59778405e-01 5.09986346e-01 2.63632425e-02 9.33902098e+01] [-5.09835955e-01 -8.60178666e-01 1.26475564e-02 1.00907958e+02] [ 2.91271798e-02 -2.56683307e-03 9.99572418e-01 1.45887613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.266875 meters Centerline goodness : 0.996807 Centerline is valid? [True, True] Translation: X:93.38, Y:100.90, Z:14.59 [[-8.60494105e-01 5.08619878e-01 2.92526200e-02 9.33767645e+01] [-5.08480849e-01 -8.60981605e-01 1.25659073e-02 1.00900960e+02] [ 3.15772379e-02 -4.06150786e-03 9.99493063e-01 1.45921956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.296875 meters Centerline goodness : 0.997234 Centerline is valid? [True, True] Translation: X:93.37, Y:100.91, Z:14.62 [[-8.64824596e-01 4.97726291e-01 6.59314610e-02 9.33689737e+01] [-4.98863450e-01 -8.66680121e-01 -9.08515166e-04 1.00912487e+02] [ 5.66892948e-02 -3.36765024e-02 9.97823740e-01 1.46247487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.326875 meters Centerline goodness : 0.997166 Centerline is valid? [True, True] Translation: X:93.37, Y:100.90, Z:14.61 [[-8.65092305e-01 4.99299806e-01 4.81145274e-02 9.33717397e+01] [-4.98472099e-01 -8.66428828e-01 2.87515783e-02 1.00904054e+02] [ 5.60434710e-02 8.89019711e-04 9.98427934e-01 1.46074749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.356875 meters Centerline goodness : 0.997237 Centerline is valid? [True, True] Translation: X:93.37, Y:100.90, Z:14.61 [[-8.65310999e-01 4.98888503e-01 4.84472532e-02 9.33697885e+01] [-4.98050100e-01 -8.66665710e-01 2.89248312e-02 1.00902036e+02] [ 5.64178388e-02 8.99815295e-04 9.98406840e-01 1.46081501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.386875 meters Centerline goodness : 0.997013 Centerline is valid? [True, True] Translation: X:93.38, Y:100.89, Z:14.58 [[-8.61644621e-01 5.07033913e-01 2.20263045e-02 9.33773548e+01] [-5.05988685e-01 -8.61608978e-01 4.00676804e-02 1.00889892e+02] [ 3.92937345e-02 2.33790405e-02 9.98954165e-01 1.45839455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.41687499999998 meters Centerline goodness : 0.996924 Centerline is valid? [True, True] Translation: X:93.37, Y:100.89, Z:14.60 [[-8.62036483e-01 5.05390467e-01 3.83872048e-02 9.33677786e+01] [-5.05032372e-01 -8.62886188e-01 1.92283777e-02 1.00891459e+02] [ 4.28416277e-02 -2.81121798e-03 9.99077921e-01 1.45983292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.44687499999998 meters Centerline goodness : 0.997233 Centerline is valid? [True, True] Translation: X:93.34, Y:100.89, Z:14.62 [[-8.65593852e-01 4.97203423e-01 5.94646050e-02 9.33435239e+01] [-4.97361127e-01 -8.67443621e-01 1.31709332e-02 1.00886929e+02] [ 5.81308254e-02 -1.81747042e-02 9.98143520e-01 1.46177745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.47687499999998 meters Centerline goodness : 0.996908 Centerline is valid? [True, True] Translation: X:93.35, Y:100.88, Z:14.61 [[-8.65727050e-01 4.97946395e-01 5.06563156e-02 9.33482473e+01] [-4.97033675e-01 -8.67207320e-01 3.01494710e-02 1.00883911e+02] [ 5.89423481e-02 9.23317911e-04 9.98260961e-01 1.46078867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.50687499999998 meters Centerline goodness : 0.997064 Centerline is valid? [True, True] Translation: X:93.37, Y:100.89, Z:14.61 [[-8.65249501e-01 4.98642184e-01 5.19545250e-02 9.33663354e+01] [-4.97684996e-01 -8.66807480e-01 3.08939630e-02 1.00893522e+02] [ 6.04396041e-02 8.73998554e-04 9.98171473e-01 1.46062465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.53687499999998 meters Centerline goodness : 0.996891 Centerline is valid? [True, True] Translation: X:93.36, Y:100.89, Z:14.61 [[-8.65166136e-01 4.98726631e-01 5.25290952e-02 9.33648309e+01] [-4.97749994e-01 -8.66758917e-01 3.12077649e-02 1.00892323e+02] [ 6.10942050e-02 8.53544579e-04 9.98131639e-01 1.46060575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.56687499999998 meters Centerline goodness : 0.996653 Centerline is valid? [True, True] Translation: X:93.36, Y:100.89, Z:14.61 [[-8.65045710e-01 4.98953558e-01 5.23571109e-02 9.33625351e+01] [-4.97985389e-01 -8.66628346e-01 3.10783316e-02 1.00891103e+02] [ 6.08808006e-02 8.11101190e-04 9.98144714e-01 1.46060897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.59687499999998 meters Centerline goodness : 0.996831 Centerline is valid? [True, True] Translation: X:93.35, Y:100.88, Z:14.59 [[-8.62768952e-01 5.04188353e-01 3.77338156e-02 9.33499673e+01] [-5.03030443e-01 -8.63505397e-01 3.63153315e-02 1.00876251e+02] [ 5.08931205e-02 1.23504825e-02 9.98627736e-01 1.45942027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.62687499999998 meters Centerline goodness : 0.996998 Centerline is valid? [True, True] Translation: X:93.35, Y:100.89, Z:14.61 [[-8.63771993e-01 5.00574232e-01 5.76487858e-02 9.33522539e+01] [-5.00275997e-01 -8.65622430e-01 2.05362068e-02 1.00892114e+02] [ 6.01819779e-02 -1.11017036e-02 9.98125684e-01 1.46137751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.65687499999999 meters Centerline goodness : 0.997087 Centerline is valid? [True, True] Translation: X:93.36, Y:100.89, Z:14.61 [[-8.63486414e-01 5.01787746e-01 5.09928539e-02 9.33593555e+01] [-5.00877948e-01 -8.64990614e-01 3.02079269e-02 1.00894758e+02] [ 5.92663076e-02 5.42938471e-04 9.98242060e-01 1.46080754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.686875 meters Centerline goodness : 0.997004 Centerline is valid? [True, True] Translation: X:93.35, Y:100.89, Z:14.61 [[-8.63165457e-01 5.02391392e-01 5.04805168e-02 9.33540168e+01] [-5.01502433e-01 -8.64640194e-01 2.98771487e-02 1.00893115e+02] [ 5.86575062e-02 4.72820647e-04 9.98278054e-01 1.46082214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.716875 meters Centerline goodness : 0.997394 Centerline is valid? [True, True] Translation: X:93.35, Y:100.89, Z:14.61 [[-8.62600271e-01 5.03407241e-01 5.00192224e-02 9.33464846e+01] [-5.02537995e-01 -8.64049194e-01 2.95728422e-02 1.00892092e+02] [ 5.81062517e-02 3.72981998e-04 9.98310335e-01 1.46086265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.746875 meters Centerline goodness : 0.997529 Centerline is valid? [True, True] Translation: X:93.34, Y:100.89, Z:14.61 [[-8.62563908e-01 5.03485904e-01 4.98542816e-02 9.33355062e+01] [-5.02624023e-01 -8.64003372e-01 2.94493673e-02 1.00887408e+02] [ 5.79016087e-02 3.44001784e-04 9.98322235e-01 1.46089150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.776875 meters Centerline goodness : 0.997170 Centerline is valid? [True, True] Translation: X:93.34, Y:100.89, Z:14.61 [[-8.62844090e-01 5.02995871e-01 4.99522792e-02 9.33416569e+01] [-5.02131294e-01 -8.64288741e-01 2.94811091e-02 1.00892815e+02] [ 5.80020686e-02 3.54998165e-04 9.98316400e-01 1.46087140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.806875 meters Centerline goodness : 0.998021 Centerline is valid? [True, True] Translation: X:93.33, Y:100.88, Z:14.61 [[-8.63119480e-01 5.02534791e-01 4.98351935e-02 9.33259091e+01] [-5.01675004e-01 -8.64556911e-01 2.93860214e-02 1.00884974e+02] [ 5.78528591e-02 3.62576568e-04 9.98325055e-01 1.46092370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.836875 meters Centerline goodness : 0.997765 Centerline is valid? [True, True] Translation: X:93.34, Y:100.89, Z:14.61 [[-8.63436033e-01 5.01963244e-01 5.01110565e-02 9.33362664e+01] [-5.01094508e-01 -8.64888870e-01 2.95217976e-02 1.00892413e+02] [ 5.81593523e-02 3.79808644e-04 9.98307240e-01 1.46081552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.866875 meters Centerline goodness : 0.997536 Centerline is valid? [True, True] Translation: X:93.33, Y:100.89, Z:14.61 [[-8.64238740e-01 5.00489546e-01 5.10060292e-02 9.33320408e+01] [-4.99588714e-01 -8.65742457e-01 3.00185815e-02 1.00892512e+02] [ 5.91820713e-02 4.61184525e-04 9.98247099e-01 1.46079689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.896875 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:93.31, Y:100.88, Z:14.61 [[-8.64981971e-01 4.99213606e-01 5.09113400e-02 9.33130580e+01] [-4.98315636e-01 -8.66478795e-01 2.99336668e-02 1.00882417e+02] [ 5.90568903e-02 5.22165353e-04 9.98254482e-01 1.46091327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.926875 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:93.31, Y:100.88, Z:14.61 [[-8.65703855e-01 4.97997750e-01 5.05477589e-02 9.33122787e+01] [-4.97112078e-01 -8.67178129e-01 2.96929927e-02 1.00882658e+02] [ 5.86209545e-02 5.77436736e-04 9.98280146e-01 1.46093575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.956875 meters Centerline goodness : 0.997340 Centerline is valid? [True, True] Translation: X:93.31, Y:100.87, Z:14.58 [[-8.65661438e-01 5.00256713e-01 1.93260691e-02 9.33116088e+01] [-4.99086112e-01 -8.65378052e-01 4.50985643e-02 1.00870357e+02] [ 3.92852155e-02 2.93947153e-02 9.98795586e-01 1.45823122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.986875 meters Centerline goodness : 0.997695 Centerline is valid? [True, True] Translation: X:93.39, Y:100.69, Z:15.31 [[-8.56006503e-01 -3.45482523e-02 5.15809349e-01 9.33877204e+01] [-5.00256339e-01 -1.96263439e-01 -8.43341128e-01 1.00692590e+02] [ 1.30370479e-01 -9.79942386e-01 1.50719798e-01 1.53097922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.016875 meters Centerline goodness : 0.997863 Centerline is valid? [True, True] Translation: X:93.55, Y:100.04, Z:14.40 [[-8.66596612e-01 -4.78262973e-02 -4.96712148e-01 9.35450606e+01] [-4.97954199e-01 1.47577625e-01 8.54553954e-01 1.00038826e+02] [ 3.24334478e-02 9.87893461e-01 -1.51705576e-01 1.43956712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.046875 meters Centerline goodness : 0.997339 Centerline is valid? [True, True] Translation: X:93.50, Y:100.00, Z:14.43 [[-8.55209023e-01 -1.04445381e-01 -5.07650165e-01 9.34953161e+01] [-5.17409023e-01 1.15185911e-01 8.47950535e-01 1.00002590e+02] [-3.00903701e-02 9.87837724e-01 -1.52549013e-01 1.44333077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.076875 meters Centerline goodness : 0.998227 Centerline is valid? [True, True] Translation: X:93.05, Y:100.73, Z:14.66 [[-8.66470042e-01 4.99139514e-01 -9.45582559e-03 9.30458094e+01] [-4.99171875e-01 -8.66502056e-01 1.27546798e-03 1.00731303e+02] [-7.55685585e-03 5.82523698e-03 9.99954479e-01 1.46566836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.106875 meters Centerline goodness : 0.998052 Centerline is valid? [True, True] Translation: X:93.02, Y:100.72, Z:14.66 [[-8.66728371e-01 4.98741929e-01 -6.19834743e-03 9.30206417e+01] [-4.98728166e-01 -8.66750526e-01 -3.70714524e-03 1.00718415e+02] [-7.22132966e-03 -1.21797507e-04 9.99973918e-01 1.46597805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.136875 meters Centerline goodness : 0.998056 Centerline is valid? [True, True] Translation: X:93.05, Y:100.73, Z:14.66 [[-8.66799248e-01 4.98614234e-01 -6.55059528e-03 9.30460290e+01] [-4.98598889e-01 -8.66823990e-01 -3.91387015e-03 1.00733471e+02] [-7.62972450e-03 -1.26420174e-04 9.99970885e-01 1.46605512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.16687499999998 meters Centerline goodness : 0.997666 Centerline is valid? [True, True] Translation: X:93.06, Y:100.73, Z:14.63 [[-8.62958327e-01 5.03983038e-01 -3.61112702e-02 9.30577577e+01] [-5.04604822e-01 -8.63289790e-01 1.02328690e-02 1.00727079e+02] [-2.60172984e-02 2.70524606e-02 9.99295384e-01 1.46339087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.19687499999998 meters Centerline goodness : 0.997475 Centerline is valid? [True, True] Translation: X:93.05, Y:100.73, Z:14.66 [[-8.63988979e-01 5.03442385e-01 -8.29510099e-03 9.30485035e+01] [-5.03207985e-01 -8.63923525e-01 -2.04417981e-02 1.00734058e+02] [-1.74576005e-02 -1.34873272e-02 9.99756633e-01 1.46597291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.22687499999998 meters Centerline goodness : 0.998023 Centerline is valid? [True, True] Translation: X:93.02, Y:100.72, Z:14.67 [[-8.67482917e-01 4.97463292e-01 1.91344388e-03 9.30161068e+01] [-4.97422405e-01 -8.67347299e-01 -1.67216407e-02 1.00719524e+02] [-6.65878208e-03 -1.54575275e-02 9.99858353e-01 1.46687855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.25687499999998 meters Centerline goodness : 0.997445 Centerline is valid? [True, True] Translation: X:93.04, Y:100.72, Z:14.64 [[-8.63864790e-01 5.02832844e-01 -2.99458837e-02 9.30421809e+01] [-5.03242795e-01 -8.64110799e-01 7.69522049e-03 1.00718548e+02] [-2.20071519e-02 2.17176803e-02 9.99521900e-01 1.46389073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.28687499999998 meters Centerline goodness : 0.997766 Centerline is valid? [True, True] Translation: X:93.02, Y:100.72, Z:14.67 [[-8.68013502e-01 4.96509982e-01 5.51342786e-03 9.30217913e+01] [-4.96497242e-01 -8.67737492e-01 -2.28502269e-02 1.00723517e+02] [-6.56115766e-03 -2.25717072e-02 9.99723696e-01 1.46724174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.31687499999998 meters Centerline goodness : 0.997766 Centerline is valid? [True, True] Translation: X:93.02, Y:100.72, Z:14.66 [[-8.68333914e-01 4.95944470e-01 -5.94106662e-03 9.30227923e+01] [-4.95931957e-01 -8.68354230e-01 -3.52490637e-03 1.00717710e+02] [-6.90710815e-03 -1.14430949e-04 9.99976139e-01 1.46605692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.34687499999998 meters Centerline goodness : 0.998251 Centerline is valid? [True, True] Translation: X:93.02, Y:100.71, Z:14.66 [[-8.68564842e-01 4.95539215e-01 -6.00007507e-03 9.30180899e+01] [-4.95526465e-01 -8.68585559e-01 -3.55670909e-03 1.00714527e+02] [-6.97406738e-03 -1.16036480e-04 9.99975674e-01 1.46606704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.37687499999998 meters Centerline goodness : 0.997454 Centerline is valid? [True, True] Translation: X:93.03, Y:100.71, Z:14.64 [[-8.64231188e-01 5.02183627e-01 -3.02664510e-02 9.30258934e+01] [-5.02576392e-01 -8.64507361e-01 6.63274942e-03 1.00706244e+02] [-2.28347115e-02 2.09434326e-02 9.99519859e-01 1.46389226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.40687499999999 meters Centerline goodness : 0.997267 Centerline is valid? [True, True] Translation: X:93.04, Y:100.72, Z:14.65 [[-8.64458002e-01 5.02194450e-01 -2.26516453e-02 9.30381836e+01] [-5.02079891e-01 -8.64752529e-01 -1.09016735e-02 1.00718639e+02] [-2.50628275e-02 1.94889667e-03 9.99683978e-01 1.46482140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.436875 meters Centerline goodness : 0.997296 Centerline is valid? [True, True] Translation: X:93.03, Y:100.71, Z:14.65 [[-8.64385504e-01 5.02246832e-01 -2.42037217e-02 9.30274161e+01] [-5.02123386e-01 -8.64721187e-01 -1.13743102e-02 1.00711168e+02] [-2.66421822e-02 2.32146578e-03 9.99642339e-01 1.46464774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.466875 meters Centerline goodness : 0.998115 Centerline is valid? [True, True] Translation: X:93.01, Y:100.71, Z:14.68 [[-8.70564751e-01 4.92014893e-01 6.19352009e-03 9.30071178e+01] [-4.91983746e-01 -8.70159220e-01 -2.78374888e-02 1.00712584e+02] [-8.30711049e-03 -2.72814477e-02 9.99593275e-01 1.46751579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.496875 meters Centerline goodness : 0.997806 Centerline is valid? [True, True] Translation: X:93.01, Y:100.70, Z:14.66 [[-8.71469500e-01 4.90390652e-01 -7.61049657e-03 9.30093672e+01] [-4.90370109e-01 -8.71502711e-01 -4.49226391e-03 1.00704933e+02] [-8.83553261e-03 -1.82910945e-04 9.99960949e-01 1.46609010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.526875 meters Centerline goodness : 0.997559 Centerline is valid? [True, True] Translation: X:93.00, Y:100.70, Z:14.66 [[-8.72447080e-01 4.88644536e-01 -7.91273077e-03 9.30044595e+01] [-4.88622298e-01 -8.72482937e-01 -4.66620738e-03 1.00700964e+02] [-9.18383932e-03 -2.04682306e-04 9.99957807e-01 1.46604421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.556875 meters Centerline goodness : 0.998052 Centerline is valid? [True, True] Translation: X:93.00, Y:100.70, Z:14.66 [[-8.74315399e-01 4.85297003e-01 -7.70728636e-03 9.29991513e+01] [-4.85275810e-01 -8.74349338e-01 -4.54125119e-03 1.00695259e+02] [-8.94271633e-03 -2.30326213e-04 9.99959987e-01 1.46600700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.586875 meters Centerline goodness : 0.997736 Centerline is valid? [True, True] Translation: X:92.99, Y:100.69, Z:14.66 [[-8.75253074e-01 4.83605272e-01 -7.61560181e-03 9.29874918e+01] [-4.83584550e-01 -8.75286172e-01 -4.48335950e-03 1.00686992e+02] [-8.83400724e-03 -2.41286818e-04 9.99960950e-01 1.46592209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.616875 meters Centerline goodness : 0.997880 Centerline is valid? [True, True] Translation: X:93.00, Y:100.70, Z:14.66 [[-8.76234142e-01 4.81833802e-01 -7.06509011e-03 9.30038241e+01] [-4.81815936e-01 -8.76262592e-01 -4.15614380e-03 1.00695125e+02] [-8.19344475e-03 -2.37682097e-04 9.99966405e-01 1.46591005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.646875 meters Centerline goodness : 0.997944 Centerline is valid? [True, True] Translation: X:93.00, Y:100.69, Z:14.66 [[-8.77671571e-01 4.79217288e-01 -6.58816542e-03 9.30015311e+01] [-4.79201701e-01 -8.77696264e-01 -3.87261800e-03 1.00691355e+02] [-7.63823367e-03 -2.41826644e-04 9.99970799e-01 1.46587355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.676875 meters Centerline goodness : 0.998085 Centerline is valid? [True, True] Translation: X:92.98, Y:100.68, Z:14.66 [[-8.78343329e-01 4.77981771e-01 -6.81337371e-03 9.29811668e+01] [-4.77965093e-01 -8.78369717e-01 -4.00120105e-03 1.00678714e+02] [-7.89716230e-03 -2.57873450e-04 9.99968784e-01 1.46577988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.706875 meters Centerline goodness : 0.997740 Centerline is valid? [True, True] Translation: X:93.00, Y:100.67, Z:14.62 [[-8.70899134e-01 4.88818603e-01 -5.09025635e-02 9.30014659e+01] [-4.89989137e-01 -8.71631723e-01 1.29917653e-02 1.00668691e+02] [-3.80176726e-02 3.62562203e-02 9.98619118e-01 1.46209780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.736875 meters Centerline goodness : 0.997973 Centerline is valid? [True, True] Translation: X:92.99, Y:100.69, Z:14.68 [[-8.78792050e-01 4.77059475e-01 1.17809576e-02 9.29901289e+01] [-4.77146122e-01 -8.78028448e-01 -3.73847867e-02 1.00692998e+02] [-7.49075084e-03 -3.84746916e-02 9.99231498e-01 1.46778945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.766875 meters Centerline goodness : 0.997283 Centerline is valid? [True, True] Translation: X:92.98, Y:100.66, Z:14.63 [[-8.73246376e-01 4.85305885e-01 -4.38059997e-02 9.29833881e+01] [-4.86141619e-01 -8.73819172e-01 1.03141060e-02 1.00657643e+02] [-3.32730261e-02 3.03026752e-02 9.98986814e-01 1.46256090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.796875 meters Centerline goodness : 0.997859 Centerline is valid? [True, True] Translation: X:92.98, Y:100.68, Z:14.67 [[-8.79586525e-01 4.75680983e-01 7.42611522e-03 9.29762059e+01] [-4.75657297e-01 -8.79039228e-01 -3.22516898e-02 1.00679300e+02] [-8.81366893e-03 -3.19004377e-02 9.99452191e-01 1.46720687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.826875 meters Centerline goodness : 0.997939 Centerline is valid? [True, True] Translation: X:92.99, Y:100.68, Z:14.66 [[-8.79836636e-01 4.75195058e-01 -8.78350707e-03 9.29863098e+01] [-4.75167394e-01 -8.79880410e-01 -5.13925013e-03 1.00675218e+02] [-1.01705821e-02 -3.48064381e-04 9.99948218e-01 1.46556839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.856875 meters Centerline goodness : 0.997482 Centerline is valid? [True, True] Translation: X:92.98, Y:100.67, Z:14.66 [[-8.79824322e-01 4.75212801e-01 -9.05302374e-03 9.29823114e+01] [-4.75183478e-01 -8.79870825e-01 -5.29084410e-03 1.00672106e+02] [-1.04797683e-02 -3.53166016e-04 9.99945023e-01 1.46554443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.886875 meters Centerline goodness : 0.997230 Centerline is valid? [True, True] Translation: X:93.00, Y:100.67, Z:14.63 [[-8.73968622e-01 4.84644256e-01 -3.60387782e-02 9.29970771e+01] [-4.85090156e-01 -8.74453615e-01 4.29132581e-03 1.00665468e+02] [-2.94344735e-02 2.12325407e-02 9.99341178e-01 1.46315065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.91687499999998 meters Centerline goodness : 0.997604 Centerline is valid? [True, True] Translation: X:92.97, Y:100.67, Z:14.67 [[-8.78432657e-01 4.77863037e-01 1.72750567e-03 9.29652684e+01] [-4.77755125e-01 -8.78144886e-01 -2.47305562e-02 1.00667269e+02] [-1.03008184e-02 -2.25494529e-02 9.99692660e-01 1.46654078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.94687499999998 meters Centerline goodness : 0.997933 Centerline is valid? [True, True] Translation: X:92.97, Y:100.67, Z:14.65 [[-8.77784606e-01 4.78956776e-01 -9.72584794e-03 9.29748892e+01] [-4.78923305e-01 -8.77838427e-01 -5.67124625e-03 1.00666202e+02] [-1.12540049e-02 -3.20197420e-04 9.99936620e-01 1.46539918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.97687499999998 meters Centerline goodness : 0.997906 Centerline is valid? [True, True] Translation: X:92.98, Y:100.67, Z:14.65 [[-8.77075839e-01 4.80245368e-01 -1.01173102e-02 9.29798662e+01] [-4.80209301e-01 -8.77134135e-01 -5.89382944e-03 1.00668757e+02] [-1.17047224e-02 -3.10908956e-04 9.99931449e-01 1.46535306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.00687499999998 meters Centerline goodness : 0.997525 Centerline is valid? [True, True] Translation: X:92.99, Y:100.67, Z:14.65 [[-8.75574602e-01 4.82966655e-01 -1.05984312e-02 9.29870700e+01] [-4.82927348e-01 -8.75638699e-01 -6.16816435e-03 1.00672395e+02] [-1.22594142e-02 -2.82415785e-04 9.99924811e-01 1.46525747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.03687499999998 meters Centerline goodness : 0.997727 Centerline is valid? [True, True] Translation: X:92.99, Y:100.67, Z:14.65 [[-8.75154363e-01 4.83715041e-01 -1.11624277e-02 9.29886303e+01] [-4.83671581e-01 -8.75225502e-01 -6.49013255e-03 1.00672841e+02] [-1.29090162e-02 -2.80918744e-04 9.99916636e-01 1.46515622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.06687499999998 meters Centerline goodness : 0.997554 Centerline is valid? [True, True] Translation: X:92.98, Y:100.67, Z:14.65 [[-8.74770258e-01 4.84408862e-01 -1.11826111e-02 9.29790945e+01] [-4.84365368e-01 -8.74841690e-01 -6.49665128e-03 1.00666906e+02] [-1.29300499e-02 -2.66607762e-04 9.99916368e-01 1.46508399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.09687499999998 meters Centerline goodness : 0.997352 Centerline is valid? [True, True] Translation: X:92.98, Y:100.67, Z:14.65 [[-8.74164614e-01 4.85517869e-01 -1.04224044e-02 9.29821209e+01] [-4.85480244e-01 -8.74226714e-01 -6.04857358e-03 1.00668182e+02] [-1.20482349e-02 -2.27577544e-04 9.99927392e-01 1.46494558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.12687499999998 meters Centerline goodness : 0.997495 Centerline is valid? [True, True] Translation: X:92.98, Y:100.67, Z:14.65 [[-8.74065019e-01 4.85705417e-01 -1.00294422e-02 9.29775355e+01] [-4.85670657e-01 -8.74122533e-01 -5.81465696e-03 1.00665012e+02] [-1.15911718e-02 -2.11382481e-04 9.99932798e-01 1.46484780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.15687499999999 meters Centerline goodness : 0.998034 Centerline is valid? [True, True] Translation: X:92.98, Y:100.67, Z:14.65 [[-8.73950229e-01 4.85913512e-01 -9.95273999e-03 9.29800494e+01] [-4.85879353e-01 -8.74006875e-01 -5.76508083e-03 1.00666318e+02] [-1.15000939e-02 -2.02562841e-04 9.99933851e-01 1.46485978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.186875 meters Centerline goodness : 0.997470 Centerline is valid? [True, True] Translation: X:92.98, Y:100.66, Z:14.65 [[-8.73787214e-01 4.86198487e-01 -1.03409757e-02 9.29772743e+01] [-4.86161699e-01 -8.73848379e-01 -5.98431747e-03 1.00664327e+02] [-1.19460109e-02 -2.01633782e-04 9.99928624e-01 1.46482813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.216875 meters Centerline goodness : 0.997679 Centerline is valid? [True, True] Translation: X:92.96, Y:100.66, Z:14.65 [[-8.73628299e-01 4.86470415e-01 -1.09604541e-02 9.29647154e+01] [-4.86429185e-01 -8.73697026e-01 -6.33670118e-03 1.00656890e+02] [-1.26587338e-02 -2.04436733e-04 9.99919854e-01 1.46475867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.246875 meters Centerline goodness : 0.997896 Centerline is valid? [True, True] Translation: X:92.97, Y:100.66, Z:14.65 [[-8.72854050e-01 4.87844109e-01 -1.15729516e-02 9.29656125e+01] [-4.87798349e-01 -8.72930747e-01 -6.68438916e-03 1.00657355e+02] [-1.33633251e-02 -1.89229480e-04 9.99910689e-01 1.46471354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.276875 meters Centerline goodness : 0.997170 Centerline is valid? [True, True] Translation: X:93.01, Y:100.66, Z:14.62 [[-8.64828493e-01 4.99757118e-01 -4.81092593e-02 9.30060277e+01] [-5.00640158e-01 -8.65621844e-01 7.63252005e-03 1.00661438e+02] [-3.78300195e-02 3.06862480e-02 9.98812917e-01 1.46168869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.306875 meters Centerline goodness : 0.997522 Centerline is valid? [True, True] Translation: X:92.97, Y:100.67, Z:14.66 [[-8.72209698e-01 4.89126753e-01 2.29406226e-03 9.29703322e+01] [-4.88894000e-01 -8.71629143e-01 -3.52887221e-02 1.00669433e+02] [-1.52610866e-02 -3.19007189e-02 9.99374526e-01 1.46627088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.336875 meters Centerline goodness : 0.998250 Centerline is valid? [True, True] Translation: X:92.96, Y:100.65, Z:14.65 [[-8.72217754e-01 4.88905405e-01 -1.44116256e-02 9.29609486e+01] [-4.88834913e-01 -8.72336785e-01 -8.30432782e-03 1.00654584e+02] [-1.66318219e-02 -1.98276388e-04 9.99861662e-01 1.46467840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.366875 meters Centerline goodness : 0.997528 Centerline is valid? [True, True] Translation: X:92.97, Y:100.66, Z:14.65 [[-8.72129250e-01 4.89033095e-01 -1.54014315e-02 9.29716845e+01] [-4.88952757e-01 -8.72265207e-01 -8.86621852e-03 1.00659244e+02] [-1.77700072e-02 -2.01916081e-04 9.99842081e-01 1.46453743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.396875 meters Centerline goodness : 0.997826 Centerline is valid? [True, True] Translation: X:92.97, Y:100.66, Z:14.65 [[-8.72402409e-01 4.88541742e-01 -1.55242706e-02 9.29667377e+01] [-4.88460203e-01 -8.72540500e-01 -8.92786405e-03 1.00656192e+02] [-1.79071891e-02 -2.05701749e-04 9.99839632e-01 1.46457125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.426875 meters Centerline goodness : 0.997454 Centerline is valid? [True, True] Translation: X:92.97, Y:100.65, Z:14.63 [[-8.67906947e-01 4.95792804e-01 -3.04471233e-02 9.29742785e+01] [-4.95932764e-01 -8.68354651e-01 -3.30065706e-03 1.00649784e+02] [-2.80753432e-02 1.22350629e-02 9.99530929e-01 1.46322418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.456875 meters Centerline goodness : 0.997324 Centerline is valid? [True, True] Translation: X:92.96, Y:100.66, Z:14.65 [[-8.73051450e-01 4.87547583e-01 -8.86115575e-03 9.29620077e+01] [-4.87317647e-01 -8.72999880e-01 -1.98171803e-02 1.00656719e+02] [-1.73976062e-02 -1.29832204e-02 9.99764352e-01 1.46523907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.486875 meters Centerline goodness : 0.997441 Centerline is valid? [True, True] Translation: X:92.94, Y:100.64, Z:14.64 [[-8.74055954e-01 4.85607001e-01 -1.45612236e-02 9.29373212e+01] [-4.85535243e-01 -8.74177206e-01 -8.35101860e-03 1.00637588e+02] [-1.67844029e-02 -2.29270300e-04 9.99859106e-01 1.46441102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.516875 meters Centerline goodness : 0.997464 Centerline is valid? [True, True] Translation: X:92.97, Y:100.65, Z:14.63 [[-8.70810209e-01 4.90959115e-01 -2.54701298e-02 9.29699190e+01] [-4.91036316e-01 -8.71131828e-01 -3.56001236e-03 1.00646877e+02] [-2.39356612e-02 9.40666360e-03 9.99669245e-01 1.46344067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.546875 meters Centerline goodness : 0.997011 Centerline is valid? [True, True] Translation: X:92.97, Y:100.65, Z:14.63 [[-8.70245288e-01 4.91749425e-01 -2.92513550e-02 9.29718547e+01] [-4.91752899e-01 -8.70701870e-01 -7.57232324e-03 1.00645911e+02] [-2.91928951e-02 7.79466003e-03 9.99543405e-01 1.46298480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.576875 meters Centerline goodness : 0.997385 Centerline is valid? [True, True] Translation: X:92.94, Y:100.64, Z:14.65 [[-8.76363122e-01 4.81631053e-01 -4.38266944e-03 9.29387861e+01] [-4.81411579e-01 -8.76178109e-01 -2.35544810e-02 1.00642061e+02] [-1.51845685e-02 -1.85324107e-02 9.99712948e-01 1.46512108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.606875 meters Centerline goodness : 0.997347 Centerline is valid? [True, True] Translation: X:92.96, Y:100.64, Z:14.63 [[-8.72180902e-01 4.88120894e-01 -3.22252706e-02 9.29599705e+01] [-4.88407304e-01 -8.72614990e-01 1.17653004e-03 1.00636920e+02] [-2.75459653e-02 1.67652045e-02 9.99479939e-01 1.46259039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.636875 meters Centerline goodness : 0.998091 Centerline is valid? [True, True] Translation: X:92.94, Y:100.65, Z:14.65 [[-8.76846642e-01 4.80749488e-01 -4.46047808e-03 9.29449263e+01] [-4.80541206e-01 -8.76677616e-01 -2.27267894e-02 1.00645578e+02] [-1.48362937e-02 -1.77844655e-02 9.99731763e-01 1.46508729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.66687499999998 meters Centerline goodness : 0.997504 Centerline is valid? [True, True] Translation: X:92.95, Y:100.63, Z:14.62 [[-8.71791818e-01 4.88537401e-01 -3.61971535e-02 9.29503783e+01] [-4.88941916e-01 -8.72312101e-01 2.72052292e-03 1.00630479e+02] [-3.02461378e-02 2.00700352e-02 9.99340965e-01 1.46223998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.69687499999998 meters Centerline goodness : 0.997816 Centerline is valid? [True, True] Translation: X:92.94, Y:100.63, Z:14.63 [[-8.71586314e-01 4.89612354e-01 -2.48402856e-02 9.29448386e+01] [-4.89332744e-01 -8.71936865e-01 -1.67203618e-02 1.00634438e+02] [-2.98456565e-02 -2.41807343e-03 9.99551594e-01 1.46329223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.72687499999998 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:92.96, Y:100.64, Z:14.64 [[-8.72589940e-01 4.87942095e-01 -2.23451927e-02 9.29582156e+01] [-4.87694525e-01 -8.72871191e-01 -1.58092963e-02 1.00642876e+02] [-2.72184961e-02 -2.89740474e-03 9.99625309e-01 1.46353509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.75687499999998 meters Centerline goodness : 0.997146 Centerline is valid? [True, True] Translation: X:92.96, Y:100.64, Z:14.63 [[-8.71609948e-01 4.89348126e-01 -2.88878995e-02 9.29601137e+01] [-4.89229059e-01 -8.72079009e-01 -1.15381956e-02 1.00640977e+02] [-3.08387252e-02 4.07599384e-03 9.99516063e-01 1.46289474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.78687499999998 meters Centerline goodness : 0.997233 Centerline is valid? [True, True] Translation: X:92.96, Y:100.64, Z:14.63 [[-8.71290143e-01 4.89686601e-01 -3.25656270e-02 9.29627619e+01] [-4.89546803e-01 -8.71884794e-01 -1.26820131e-02 1.00641510e+02] [-3.46036869e-02 4.89268563e-03 9.99389137e-01 1.46266800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.81687499999998 meters Centerline goodness : 0.997783 Centerline is valid? [True, True] Translation: X:92.95, Y:100.64, Z:14.63 [[-8.72026436e-01 4.88765528e-01 -2.60413923e-02 9.29486174e+01] [-4.88385377e-01 -8.72403317e-01 -1.98034233e-02 1.00636611e+02] [-3.23978277e-02 -4.55087339e-03 9.99464692e-01 1.46320892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.84687499999998 meters Centerline goodness : 0.997852 Centerline is valid? [True, True] Translation: X:92.93, Y:100.64, Z:14.65 [[-8.77269405e-01 4.79994938e-01 -1.80279278e-03 9.29323039e+01] [-4.79750318e-01 -8.76930673e-01 -2.88483391e-02 1.00640261e+02] [-1.54279810e-02 -2.44428749e-02 9.99582174e-01 1.46520650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.87687499999998 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:92.94, Y:100.64, Z:14.64 [[-8.77130926e-01 4.80050626e-01 -1.38828815e-02 9.29381861e+01] [-4.79985834e-01 -8.77240748e-01 -7.89111348e-03 1.00636100e+02] [-1.59667633e-02 -2.57953210e-04 9.99872490e-01 1.46393647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.90687499999999 meters Centerline goodness : 0.997462 Centerline is valid? [True, True] Translation: X:92.92, Y:100.63, Z:14.64 [[-8.76639819e-01 4.80971689e-01 -1.29946744e-02 9.29240724e+01] [-4.80915115e-01 -8.76736098e-01 -7.38009648e-03 1.00628580e+02] [-1.49425176e-02 -2.20351087e-04 9.99888330e-01 1.46381649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.936875 meters Centerline goodness : 0.997869 Centerline is valid? [True, True] Translation: X:92.93, Y:100.63, Z:14.64 [[-8.76783458e-01 4.80731733e-01 -1.21560062e-02 9.29254537e+01] [-4.80682284e-01 -8.76867697e-01 -6.89808205e-03 1.00630054e+02] [-1.39753361e-02 -2.04947401e-04 9.99902319e-01 1.46384424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.966875 meters Centerline goodness : 0.997956 Centerline is valid? [True, True] Translation: X:92.93, Y:100.63, Z:14.64 [[-8.77039269e-01 4.80273283e-01 -1.18192478e-02 9.29282443e+01] [-4.80226573e-01 -8.77118882e-01 -6.70112905e-03 1.00631708e+02] [-1.35852587e-02 -2.01236451e-04 9.99907696e-01 1.46383753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.996875 meters Centerline goodness : 0.997794 Centerline is valid? [True, True] Translation: X:92.93, Y:100.63, Z:14.64 [[-8.78161141e-01 4.78237607e-01 -1.10363567e-02 9.29287804e+01] [-4.78196785e-01 -8.78230463e-01 -6.25213383e-03 1.00631228e+02] [-1.26824701e-02 -2.12830714e-04 9.99919552e-01 1.46376544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.026875 meters Centerline goodness : 0.997551 Centerline is valid? [True, True] Translation: X:92.92, Y:100.63, Z:14.64 [[-8.79051560e-01 4.76614998e-01 -1.03197717e-02 9.29248557e+01] [-4.76579250e-01 -8.79112107e-01 -5.84140885e-03 1.00628759e+02] [-1.18563393e-02 -2.16710498e-04 9.99929688e-01 1.46374005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.056875 meters Centerline goodness : 0.997624 Centerline is valid? [True, True] Translation: X:92.92, Y:100.63, Z:14.64 [[-8.79937138e-01 4.74987567e-01 -9.87134863e-03 9.29237264e+01] [-4.74954809e-01 -8.79992478e-01 -5.58290585e-03 1.00628047e+02] [-1.13385234e-02 -2.24161694e-04 9.99935692e-01 1.46371283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.086875 meters Centerline goodness : 0.997739 Centerline is valid? [True, True] Translation: X:92.91, Y:100.62, Z:14.64 [[-8.80784409e-01 4.73432871e-01 -8.95219677e-03 9.29064091e+01] [-4.73405889e-01 -8.80829875e-01 -5.05922657e-03 1.00618338e+02] [-1.02805665e-02 -2.18065216e-04 9.99947130e-01 1.46366883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.116875 meters Centerline goodness : 0.997878 Centerline is valid? [True, True] Translation: X:92.91, Y:100.61, Z:14.62 [[-8.76426010e-01 4.80348064e-01 -3.38110332e-02 9.29132390e+01] [-4.80810817e-01 -8.76798766e-01 6.69946992e-03 1.00608617e+02] [-2.64273947e-02 2.21283002e-02 9.99405789e-01 1.46150459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.146875 meters Centerline goodness : 0.997964 Centerline is valid? [True, True] Translation: X:92.91, Y:100.63, Z:14.65 [[-8.81644953e-01 4.71904939e-01 2.81173322e-03 9.29094522e+01] [-4.71822287e-01 -8.81342224e-01 -2.48920637e-02 1.00628911e+02] [-9.26858858e-03 -2.32726007e-02 9.99686190e-01 1.46486872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.176875 meters Centerline goodness : 0.997518 Centerline is valid? [True, True] Translation: X:92.92, Y:100.62, Z:14.62 [[-8.76543468e-01 4.80094674e-01 -3.43606221e-02 9.29242217e+01] [-4.80563677e-01 -8.76935884e-01 6.48139044e-03 1.00616756e+02] [-2.70203815e-02 2.21936874e-02 9.99388483e-01 1.46158650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.206875 meters Centerline goodness : 0.997686 Centerline is valid? [True, True] Translation: X:92.92, Y:100.62, Z:14.63 [[-8.76712531e-01 4.80576922e-01 -2.05173060e-02 9.29161993e+01] [-4.80347286e-01 -8.76945470e-01 -1.52685336e-02 1.00622208e+02] [-2.53302634e-02 -3.53068245e-03 9.99672903e-01 1.46298349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.236875 meters Centerline goodness : 0.997686 Centerline is valid? [True, True] Translation: X:92.91, Y:100.62, Z:14.63 [[-8.76900496e-01 4.80177348e-01 -2.17998871e-02 9.29145945e+01] [-4.80004828e-01 -8.77171020e-01 -1.28983678e-02 1.00620370e+02] [-2.53157332e-02 -8.46534051e-04 9.99679147e-01 1.46284628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.266875 meters Centerline goodness : 0.997815 Centerline is valid? [True, True] Translation: X:92.90, Y:100.62, Z:14.65 [[-8.81129856e-01 4.72873742e-01 7.75041517e-04 9.28954242e+01] [-4.72767867e-01 -8.80895421e-01 -2.26671924e-02 1.00623892e+02] [-1.00359896e-02 -2.03391547e-02 9.99742766e-01 1.46478929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.296875 meters Centerline goodness : 0.998070 Centerline is valid? [True, True] Translation: X:92.90, Y:100.62, Z:14.64 [[-8.80855108e-01 4.73298557e-01 -9.09698650e-03 9.29016762e+01] [-4.73270949e-01 -8.80902058e-01 -5.11597524e-03 1.00622734e+02] [-1.04349378e-02 -2.01093487e-04 9.99945534e-01 1.46380531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.326875 meters Centerline goodness : 0.998110 Centerline is valid? [True, True] Translation: X:92.89, Y:100.62, Z:14.64 [[-8.80125010e-01 4.74668016e-01 -8.38101233e-03 9.28886241e+01] [-4.74644689e-01 -8.80164898e-01 -4.70874596e-03 1.00619153e+02] [-9.61176396e-03 -1.66282098e-04 9.99953792e-01 1.46371913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.356875 meters Centerline goodness : 0.997923 Centerline is valid? [True, True] Translation: X:92.91, Y:100.62, Z:14.61 [[-8.74958647e-01 4.82980723e-01 -3.43072669e-02 9.29099704e+01] [-4.83481340e-01 -8.75321110e-01 7.66476461e-03 1.00618581e+02] [-2.63279413e-02 2.32932754e-02 9.99381940e-01 1.46142012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.386875 meters Centerline goodness : 0.998391 Centerline is valid? [True, True] Translation: X:92.89, Y:100.63, Z:14.65 [[-8.79685867e-01 4.75534105e-01 4.48221842e-03 9.28917621e+01] [-4.75487493e-01 -8.79362425e-01 -2.51668434e-02 1.00631972e+02] [-8.02619789e-03 -2.42701552e-02 9.99673216e-01 1.46491658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.41687499999998 meters Centerline goodness : 0.997797 Centerline is valid? [True, True] Translation: X:92.91, Y:100.62, Z:14.61 [[-8.74269776e-01 4.84393087e-01 -3.18699953e-02 9.29054043e+01] [-4.84872739e-01 -8.74537487e-01 9.08905242e-03 1.00621687e+02] [-2.34688314e-02 2.33991757e-02 9.99450695e-01 1.46134707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.44687499999998 meters Centerline goodness : 0.997766 Centerline is valid? [True, True] Translation: X:92.90, Y:100.63, Z:14.63 [[-8.74611584e-01 4.84470661e-01 -1.85136904e-02 9.28963912e+01] [-4.84293458e-01 -8.74803214e-01 -1.33859539e-02 1.00627512e+02] [-2.26809378e-02 -2.74145116e-03 9.99738996e-01 1.46264959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.47687499999998 meters Centerline goodness : 0.997883 Centerline is valid? [True, True] Translation: X:92.90, Y:100.63, Z:14.63 [[-8.75202248e-01 4.83473706e-01 -1.65590248e-02 9.28975695e+01] [-4.83326487e-01 -8.75354712e-01 -1.22325214e-02 1.00630268e+02] [-2.04091228e-02 -2.70251492e-03 9.99788060e-01 1.46273892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.50687499999998 meters Centerline goodness : 0.998449 Centerline is valid? [True, True] Translation: X:92.86, Y:100.62, Z:14.65 [[-8.80900580e-01 4.73275598e-01 4.93729406e-03 9.28575633e+01] [-4.73276340e-01 -8.80698864e-01 -1.94683858e-02 1.00623289e+02] [-4.86564263e-03 -1.94864168e-02 9.99798282e-01 1.46461097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.53687499999998 meters Centerline goodness : 0.997991 Centerline is valid? [True, True] Translation: X:92.86, Y:100.61, Z:14.62 [[-8.77689021e-01 4.78573711e-01 -2.50835866e-02 9.28623649e+01] [-4.78839195e-01 -8.77885094e-01 5.54853218e-03 1.00609842e+02] [-1.93651252e-02 1.68808902e-02 9.99669959e-01 1.46178559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.56687499999998 meters Centerline goodness : 0.998418 Centerline is valid? [True, True] Translation: X:92.87, Y:100.62, Z:14.63 [[-8.78624283e-01 4.77278413e-01 -1.49895132e-02 9.28672845e+01] [-4.77191214e-01 -8.78751673e-01 -9.16745062e-03 1.00620076e+02] [-1.75474861e-02 -9.01880735e-04 9.99845624e-01 1.46289993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.59687499999998 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:92.86, Y:100.63, Z:14.65 [[-8.83695121e-01 4.68053742e-01 2.93745979e-03 9.28584109e+01] [-4.68026003e-01 -8.83529084e-01 -1.81112508e-02 1.00626977e+02] [-5.88170755e-03 -1.73796315e-02 9.99831663e-01 1.46462311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.62687499999998 meters Centerline goodness : 0.998219 Centerline is valid? [True, True] Translation: X:92.85, Y:100.61, Z:14.61 [[-8.80867445e-01 4.72183234e-01 -3.33996785e-02 9.28539016e+01] [-4.72724307e-01 -8.81150559e-01 1.02675020e-02 1.00606083e+02] [-2.45820032e-02 2.48331481e-02 9.99389334e-01 1.46125938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.65687499999999 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:92.86, Y:100.62, Z:14.62 [[-8.81237687e-01 4.72098836e-01 -2.32986563e-02 9.28562825e+01] [-4.71959250e-01 -8.81545213e-01 -1.15110006e-02 1.00615294e+02] [-2.59731489e-02 8.52088794e-04 9.99662278e-01 1.46241019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.686875 meters Centerline goodness : 0.998453 Centerline is valid? [True, True] Translation: X:92.85, Y:100.61, Z:14.62 [[-8.80448642e-01 4.73380310e-01 -2.68564811e-02 9.28458847e+01] [-4.73277643e-01 -8.80851198e-01 -1.04613475e-02 1.00608939e+02] [-2.86087595e-02 3.49989286e-03 9.99584559e-01 1.46217020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.716875 meters Centerline goodness : 0.998649 Centerline is valid? [True, True] Translation: X:92.83, Y:100.61, Z:14.63 [[-8.81989144e-01 4.71001540e-01 -1.58965071e-02 9.28298872e+01] [-4.70727826e-01 -8.82090782e-01 -1.81979724e-02 1.00605361e+02] [-2.25934354e-02 -8.56748592e-03 9.99708025e-01 1.46314633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.746875 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:92.84, Y:100.60, Z:14.62 [[-8.80181620e-01 4.73621033e-01 -3.10392324e-02 9.28390125e+01] [-4.73668698e-01 -8.80680820e-01 -6.26553930e-03 1.00603400e+02] [-3.03031478e-02 9.18750027e-03 9.99498529e-01 1.46177571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.776875 meters Centerline goodness : 0.998070 Centerline is valid? [True, True] Translation: X:92.83, Y:100.60, Z:14.62 [[-8.80917631e-01 4.72798978e-01 -2.11010232e-02 9.28297544e+01] [-4.72526968e-01 -8.81157428e-01 -1.67287640e-02 1.00603737e+02] [-2.65026659e-02 -4.76586058e-03 9.99637382e-01 1.46248400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.806875 meters Centerline goodness : 0.998227 Centerline is valid? [True, True] Translation: X:92.84, Y:100.61, Z:14.62 [[-8.81027211e-01 4.72481220e-01 -2.35063690e-02 9.28414171e+01] [-4.72312212e-01 -8.81340738e-01 -1.26364266e-02 1.00609161e+02] [-2.66875948e-02 -3.06905246e-05 9.99643822e-01 1.46222261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.836875 meters Centerline goodness : 0.998235 Centerline is valid? [True, True] Translation: X:92.84, Y:100.61, Z:14.62 [[-8.81013836e-01 4.72614078e-01 -2.12262487e-02 9.28401907e+01] [-4.72398055e-01 -8.81265053e-01 -1.45596735e-02 1.00609618e+02] [-2.55870579e-02 -2.80003516e-03 9.99668676e-01 1.46238254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.866875 meters Centerline goodness : 0.998018 Centerline is valid? [True, True] Translation: X:92.82, Y:100.59, Z:14.62 [[-8.80443010e-01 4.73518548e-01 -2.45008284e-02 9.28164923e+01] [-4.73414743e-01 -8.80780070e-01 -1.02444928e-02 1.00594835e+02] [-2.64307987e-02 2.57936130e-03 9.99647318e-01 1.46194246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.896875 meters Centerline goodness : 0.998245 Centerline is valid? [True, True] Translation: X:92.84, Y:100.61, Z:14.62 [[-8.80235264e-01 4.74098108e-01 -2.04172307e-02 9.28351318e+01] [-4.73859080e-01 -8.80462730e-01 -1.55869425e-02 1.00608056e+02] [-2.53663507e-02 -4.04528633e-03 9.99670038e-01 1.46241899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.926875 meters Centerline goodness : 0.998265 Centerline is valid? [True, True] Translation: X:92.83, Y:100.60, Z:14.62 [[-8.79507204e-01 4.75303987e-01 -2.35201812e-02 9.28258392e+01] [-4.75159086e-01 -8.79821251e-01 -1.17647487e-02 1.00603064e+02] [-2.62853873e-02 8.28646553e-04 9.99654136e-01 1.46218809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.956875 meters Centerline goodness : 0.998386 Centerline is valid? [True, True] Translation: X:92.85, Y:100.62, Z:14.63 [[-8.79214898e-01 4.75967820e-01 -2.08757595e-02 9.28547918e+01] [-4.75749286e-01 -8.79457498e-01 -1.47351861e-02 1.00621339e+02] [-2.53728176e-02 -3.02376750e-03 9.99673485e-01 1.46257378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.986875 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:92.85, Y:100.62, Z:14.63 [[-8.79369921e-01 4.75681636e-01 -2.08692180e-02 9.28453123e+01] [-4.75507766e-01 -8.79616312e-01 -1.29424754e-02 1.00616050e+02] [-2.45134024e-02 -1.45774835e-03 9.99698439e-01 1.46256017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.016875 meters Centerline goodness : 0.998472 Centerline is valid? [True, True] Translation: X:92.84, Y:100.61, Z:14.63 [[-8.79023986e-01 4.76439735e-01 -1.79446655e-02 9.28355814e+01] [-4.76227179e-01 -8.79195096e-01 -1.49551828e-02 1.00611808e+02] [-2.29021053e-02 -4.60022697e-03 9.99727129e-01 1.46278908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.046875 meters Centerline goodness : 0.998435 Centerline is valid? [True, True] Translation: X:92.84, Y:100.61, Z:14.63 [[-8.78432182e-01 4.77344688e-01 -2.23371923e-02 9.28425117e+01] [-4.77224207e-01 -8.78715341e-01 -1.07891126e-02 1.00613762e+02] [-2.47781592e-02 1.18234520e-03 9.99692275e-01 1.46252000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.076875 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:92.82, Y:100.60, Z:14.62 [[-8.78133048e-01 4.77777546e-01 -2.47177245e-02 9.28233101e+01] [-4.77672100e-01 -8.78476759e-01 -1.03898362e-02 1.00602679e+02] [-2.66779769e-02 2.68330885e-03 9.99640478e-01 1.46232127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.106875 meters Centerline goodness : 0.998185 Centerline is valid? [True, True] Translation: X:92.81, Y:100.60, Z:14.63 [[-8.78133660e-01 4.77961016e-01 -2.08456815e-02 9.28090066e+01] [-4.77730504e-01 -8.78374408e-01 -1.52304260e-02 1.00596893e+02] [-2.55898631e-02 -3.41573184e-03 9.99666690e-01 1.46272856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.136875 meters Centerline goodness : 0.998300 Centerline is valid? [True, True] Translation: X:92.83, Y:100.61, Z:14.63 [[-8.77832442e-01 4.78541194e-01 -2.02121060e-02 9.28342557e+01] [-4.78363872e-01 -8.78063080e-01 -1.31618491e-02 1.00611399e+02] [-2.40459910e-02 -1.88515682e-03 9.99709076e-01 1.46274759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.16687499999998 meters Centerline goodness : 0.998278 Centerline is valid? [True, True] Translation: X:92.85, Y:100.62, Z:14.62 [[-8.76996770e-01 4.79899797e-01 -2.39343028e-02 9.28451274e+01] [-4.79810400e-01 -8.77318324e-01 -9.72303227e-03 1.00615245e+02] [-2.56640837e-02 2.95685954e-03 9.99666250e-01 1.46236001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.19687499999998 meters Centerline goodness : 0.998249 Centerline is valid? [True, True] Translation: X:92.84, Y:100.61, Z:14.63 [[-8.77035486e-01 4.79977342e-01 -2.07486755e-02 9.28362237e+01] [-4.79781147e-01 -8.77278027e-01 -1.39037637e-02 1.00611952e+02] [-2.48758486e-02 -2.23927084e-03 9.99688040e-01 1.46256018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.22687499999998 meters Centerline goodness : 0.998011 Centerline is valid? [True, True] Translation: X:92.83, Y:100.61, Z:14.63 [[-8.77465049e-01 4.79342943e-01 -1.68946903e-02 9.28283542e+01] [-4.79193408e-01 -8.77623627e-01 -1.22656891e-02 1.00608392e+02] [-2.07066509e-02 -2.66688922e-03 9.99782037e-01 1.46272084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.25687499999998 meters Centerline goodness : 0.998249 Centerline is valid? [True, True] Translation: X:92.83, Y:100.61, Z:14.63 [[-8.77106687e-01 4.80000951e-01 -1.68210073e-02 9.28315909e+01] [-4.79867450e-01 -8.77265659e-01 -1.14975986e-02 1.00610335e+02] [-2.02753503e-02 -2.01276669e-03 9.99792408e-01 1.46271110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.28687499999998 meters Centerline goodness : 0.998492 Centerline is valid? [True, True] Translation: X:92.81, Y:100.60, Z:14.62 [[-8.76721488e-01 4.80622212e-01 -1.90190032e-02 9.28081836e+01] [-4.80547948e-01 -8.76926295e-01 -8.59896996e-03 1.00596499e+02] [-2.08111200e-02 1.60064124e-03 9.99782144e-01 1.46245307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.31687499999998 meters Centerline goodness : 0.998539 Centerline is valid? [True, True] Translation: X:92.83, Y:100.61, Z:14.63 [[-8.76343300e-01 4.81275413e-01 -1.99097146e-02 9.28307049e+01] [-4.81169076e-01 -8.76569162e-01 -1.01402661e-02 1.00609484e+02] [-2.23325026e-02 6.93584732e-04 9.99750358e-01 1.46254440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.34687499999998 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:92.83, Y:100.61, Z:14.63 [[-8.75778181e-01 4.82309422e-01 -1.97534862e-02 9.28303080e+01] [-4.82163298e-01 -8.76000461e-01 -1.19057245e-02 1.00610067e+02] [-2.30463061e-02 -9.02367714e-04 9.99733991e-01 1.46272018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.37687499999998 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:92.80, Y:100.61, Z:14.66 [[-8.80456966e-01 4.74004578e-01 1.07327456e-02 9.28008282e+01] [-4.74116174e-01 -8.80066709e-01 -2.63901738e-02 1.00608379e+02] [-3.06353116e-03 -2.83239806e-02 9.99594101e-01 1.46558466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.40687499999999 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:92.82, Y:100.60, Z:14.61 [[-8.76300169e-01 4.80638602e-01 -3.29324856e-02 9.28200297e+01] [-4.81214360e-01 -8.76519092e-01 1.21252464e-02 1.00595677e+02] [-2.30380910e-02 2.64729404e-02 9.99384025e-01 1.46137108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.436875 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:92.81, Y:100.61, Z:14.66 [[-8.81027172e-01 4.72982710e-01 8.85877141e-03 9.28107835e+01] [-4.73043704e-01 -8.80651360e-01 -2.61311601e-02 1.00612947e+02] [-4.55809785e-03 -2.72128482e-02 9.99619270e-01 1.46553550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.466875 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:92.82, Y:100.59, Z:14.62 [[-8.77534408e-01 4.78544304e-01 -3.04747795e-02 9.28157908e+01] [-4.79031417e-01 -8.77729242e-01 1.09671528e-02 1.00594114e+02] [-2.15003366e-02 2.42224307e-02 9.99475367e-01 1.46164446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.496875 meters Centerline goodness : 0.998570 Centerline is valid? [True, True] Translation: X:92.80, Y:100.59, Z:14.63 [[-8.78769378e-01 4.76978574e-01 -1.59943778e-02 9.28008559e+01] [-4.76828360e-01 -8.78908802e-01 -1.24109783e-02 1.00594501e+02] [-1.99773702e-02 -3.27981474e-03 9.99795053e-01 1.46313638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.526875 meters Centerline goodness : 0.998053 Centerline is valid? [True, True] Translation: X:92.82, Y:100.60, Z:14.63 [[-8.78978001e-01 4.76493926e-01 -1.87406624e-02 9.28210683e+01] [-4.76395779e-01 -8.79177663e-01 -9.67986759e-03 1.00603421e+02] [-2.10887699e-02 4.19581785e-04 9.99777519e-01 1.46290787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.556875 meters Centerline goodness : 0.998564 Centerline is valid? [True, True] Translation: X:92.82, Y:100.60, Z:14.63 [[-8.79727059e-01 4.75008753e-01 -2.11420356e-02 9.28184607e+01] [-4.74917927e-01 -8.79979372e-01 -9.44816352e-03 1.00601105e+02] [-2.30925156e-02 1.72892660e-03 9.99731837e-01 1.46269815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.586875 meters Centerline goodness : 0.998422 Centerline is valid? [True, True] Translation: X:92.82, Y:100.60, Z:14.63 [[-8.80569684e-01 4.73681698e-01 -1.49224848e-02 9.28215326e+01] [-4.73500548e-01 -8.80679465e-01 -1.41742996e-02 1.00604942e+02] [-1.98560322e-02 -5.41565377e-03 9.99788182e-01 1.46326450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.616875 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:92.81, Y:100.60, Z:14.63 [[-8.81538748e-01 4.71786931e-01 -1.75079651e-02 9.28081830e+01] [-4.71684998e-01 -8.81712503e-01 -9.81453406e-03 1.00595594e+02] [-2.00673606e-02 -3.93647584e-04 9.99798553e-01 1.46291165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.646875 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:92.77, Y:100.59, Z:14.65 [[-8.86696129e-01 4.62313283e-01 6.03347797e-03 9.27722161e+01] [-4.62337159e-01 -8.86484091e-01 -1.97561997e-02 1.00588290e+02] [-3.78497128e-03 -2.03072468e-02 9.99786622e-01 1.46499659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.676875 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:92.80, Y:100.59, Z:14.62 [[-8.83488206e-01 4.68088121e-01 -1.84959643e-02 9.28015577e+01] [-4.68243759e-01 -8.83585319e-01 4.97659886e-03 1.00588047e+02] [-1.40132757e-02 1.30573862e-02 9.99816550e-01 1.46247495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.706875 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:92.77, Y:100.59, Z:14.65 [[-8.87654241e-01 4.60497060e-01 3.52233198e-03 9.27747385e+01] [-4.60500540e-01 -8.87558638e-01 -1.33759699e-02 1.00587159e+02] [-3.03331864e-03 -1.34952722e-02 9.99904334e-01 1.46457793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.736875 meters Centerline goodness : 0.998439 Centerline is valid? [True, True] Translation: X:92.81, Y:100.58, Z:14.61 [[-8.82455325e-01 4.69167660e-01 -3.39750985e-02 9.28068635e+01] [-4.69792418e-01 -8.82679177e-01 1.31359903e-02 1.00583135e+02] [-2.38261302e-02 2.75531683e-02 9.99336349e-01 1.46101864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.766875 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:92.79, Y:100.59, Z:14.63 [[-8.83896663e-01 4.67414226e-01 -1.58312963e-02 9.27921942e+01] [-4.67255490e-01 -8.84029779e-01 -1.27928087e-02 1.00586060e+02] [-1.99748781e-02 -3.91026078e-03 9.99792836e-01 1.46279163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.796875 meters Centerline goodness : 0.998259 Centerline is valid? [True, True] Translation: X:92.78, Y:100.59, Z:14.65 [[-8.88788125e-01 4.58207816e-01 1.00631277e-02 9.27765363e+01] [-4.58315777e-01 -8.88496016e-01 -2.28358947e-02 1.00590238e+02] [-1.52253661e-03 -2.49083622e-02 9.99688579e-01 1.46511212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.826875 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:92.77, Y:100.58, Z:14.64 [[-8.89211920e-01 4.57489902e-01 -2.26974982e-03 9.27682025e+01] [-4.57488240e-01 -8.89214814e-01 -1.23457379e-03 1.00577736e+02] [-2.58310020e-03 -5.94138804e-05 9.99996662e-01 1.46378294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.856875 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:92.78, Y:100.58, Z:14.64 [[-8.89299506e-01 4.57317853e-01 -2.60209326e-03 9.27797424e+01] [-4.57315675e-01 -8.89303310e-01 -1.41281878e-03 1.00584252e+02] [-2.96015740e-03 -6.64410047e-05 9.99995617e-01 1.46383144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.886875 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:92.79, Y:100.57, Z:14.61 [[-8.83829317e-01 4.66541323e-01 -3.44228563e-02 9.27892861e+01] [-4.67168912e-01 -8.84075825e-01 1.27727815e-02 1.00573068e+02] [-2.44733847e-02 2.73702470e-02 9.99325734e-01 1.46110768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.91687499999998 meters Centerline goodness : 0.998117 Centerline is valid? [True, True] Translation: X:92.78, Y:100.58, Z:14.63 [[-8.84300786e-01 4.66592397e-01 -1.74256876e-02 9.27759938e+01] [-4.66396167e-01 -8.84461138e-01 -1.42516681e-02 1.00576550e+02] [-2.20620634e-02 -4.47548742e-03 9.99746586e-01 1.46290283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.94687499999998 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:92.77, Y:100.58, Z:14.65 [[-8.87400430e-01 4.60961116e-01 5.94353696e-03 9.27684443e+01] [-4.60962078e-01 -8.87090652e-01 -2.41689682e-02 1.00584493e+02] [-5.86849847e-03 -2.41872979e-02 9.99690220e-01 1.46516026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.97687499999998 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:92.77, Y:100.58, Z:14.64 [[-8.86974991e-01 4.61779447e-01 -5.92513249e-03 9.27715838e+01] [-4.61768438e-01 -8.86994777e-01 -3.19001547e-03 1.00579706e+02] [-6.72864515e-03 -9.34247726e-05 9.99977358e-01 1.46391329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.00687499999998 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:92.78, Y:100.58, Z:14.64 [[-8.86263119e-01 4.63141640e-01 -6.12418467e-03 9.27797934e+01] [-4.63129934e-01 -8.86284274e-01 -3.29388766e-03 1.00584000e+02] [-6.95330510e-03 -8.29579101e-05 9.99975822e-01 1.46397246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.03687499999998 meters Centerline goodness : 0.998548 Centerline is valid? [True, True] Translation: X:92.77, Y:100.57, Z:14.62 [[-8.81053294e-01 4.71992192e-01 -3.11201652e-02 9.27740326e+01] [-4.72436378e-01 -8.81324092e-01 8.46839055e-03 1.00566841e+02] [-2.34299371e-02 2.21634015e-02 9.99479776e-01 1.46164916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.06687499999998 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:92.78, Y:100.58, Z:14.63 [[-8.81940534e-01 4.71126712e-01 -1.48497775e-02 9.27777539e+01] [-4.70956051e-01 -8.82051141e-01 -1.36448624e-02 1.00578671e+02] [-1.95267224e-02 -5.04036470e-03 9.99796630e-01 1.46332385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.09687499999998 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:92.77, Y:100.57, Z:14.62 [[-8.79753799e-01 4.74813406e-01 -2.41967688e-02 9.27719157e+01] [-4.74841638e-01 -8.80057439e-01 -4.93187387e-03 1.00569852e+02] [-2.36362662e-02 7.15079854e-03 9.99695050e-01 1.46225831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.12687499999998 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:92.77, Y:100.57, Z:14.63 [[-8.79970921e-01 4.74580210e-01 -2.06107174e-02 9.27688485e+01] [-4.74440969e-01 -8.80212195e-01 -1.15004227e-02 1.00570505e+02] [-2.35996778e-02 -3.41468791e-04 9.99721431e-01 1.46264739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.15687499999999 meters Centerline goodness : 0.998597 Centerline is valid? [True, True] Translation: X:92.75, Y:100.57, Z:14.65 [[-8.83863655e-01 4.67674595e-01 8.09394019e-03 9.27468763e+01] [-4.67725826e-01 -8.83540628e-01 -2.42592402e-02 1.00572511e+02] [-4.19410534e-03 -2.52276056e-02 9.99672935e-01 1.46511184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.186875 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:92.75, Y:100.57, Z:14.64 [[-8.83570336e-01 4.68285542e-01 -3.48029393e-03 9.27543090e+01] [-4.68281824e-01 -8.83577190e-01 -1.86609285e-03 1.00568806e+02] [-3.94897264e-03 -1.90658968e-05 9.99992203e-01 1.46375703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.216875 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:92.76, Y:100.57, Z:14.64 [[-8.82424375e-01 4.70439617e-01 -3.71346418e-03 9.27604584e+01] [-4.70435413e-01 -8.82432188e-01 -1.98880297e-03 1.00572258e+02] [-4.21249203e-03 -8.02316539e-06 9.99991127e-01 1.46382901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.246875 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:92.76, Y:100.57, Z:14.64 [[-8.82048578e-01 4.71143316e-01 -3.77912281e-03 9.27633196e+01] [-4.71138977e-01 -8.82056674e-01 -2.02191982e-03 1.00573990e+02] [-4.28601451e-03 -2.93945046e-06 9.99990815e-01 1.46384855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.276875 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:92.75, Y:100.57, Z:14.64 [[-8.81585695e-01 4.72006532e-01 -4.06147454e-03 9.27487936e+01] [-4.72001541e-01 -8.81595051e-01 -2.17051876e-03 1.00565906e+02] [-4.60507489e-03 3.52395039e-06 9.99989397e-01 1.46385269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.306875 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:92.75, Y:100.57, Z:14.64 [[-8.81386468e-01 4.72368845e-01 -5.05643548e-03 9.27514955e+01] [-4.72361140e-01 -8.81400972e-01 -2.69812694e-03 1.00566820e+02] [-5.73125825e-03 1.03710477e-05 9.99983576e-01 1.46384157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.336875 meters Centerline goodness : 0.998532 Centerline is valid? [True, True] Translation: X:92.76, Y:100.56, Z:14.62 [[-8.77788642e-01 4.78478634e-01 -2.33515907e-02 9.27615080e+01] [-4.78690337e-01 -8.77973944e-01 4.16105584e-03 1.00561687e+02] [-1.85111119e-02 1.48307084e-02 9.99718655e-01 1.46231031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.366875 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:92.74, Y:100.56, Z:14.65 [[-8.81547788e-01 4.72094755e-01 -2.00741286e-04 9.27393934e+01] [-4.72023877e-01 -8.81422647e-01 -1.69580907e-02 1.00563027e+02] [-8.18276357e-03 -1.48546126e-02 9.99856181e-01 1.46468718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.396875 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:92.76, Y:100.57, Z:14.64 [[-8.82099591e-01 4.71013275e-01 -6.84144915e-03 9.27563810e+01] [-4.70999224e-01 -8.82126122e-01 -3.63819303e-03 1.00566954e+02] [-7.74865822e-03 1.30686636e-05 9.99969979e-01 1.46397062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.426875 meters Centerline goodness : 0.998699 Centerline is valid? [True, True] Translation: X:92.75, Y:100.56, Z:14.64 [[-8.82806566e-01 4.69691249e-01 -6.53425971e-03 9.27463621e+01] [-4.69678417e-01 -8.82830748e-01 -3.47187121e-03 1.00560992e+02] [-7.39935291e-03 4.01005286e-06 9.99972624e-01 1.46397937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.456875 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:92.75, Y:100.56, Z:14.64 [[-8.84194664e-01 4.67083808e-01 -5.70201174e-03 9.27532616e+01] [-4.67073996e-01 -8.84213049e-01 -3.02766925e-03 1.00562364e+02] [-6.45596847e-03 -1.37875856e-05 9.99979160e-01 1.46398050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.486875 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:92.76, Y:100.56, Z:14.64 [[-8.84984439e-01 4.65587295e-01 -5.56903230e-03 9.27562008e+01] [-4.65577922e-01 -8.85001960e-01 -2.95443837e-03 1.00562736e+02] [-6.30415347e-03 -2.18134989e-05 9.99980128e-01 1.46397403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.516875 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:92.75, Y:100.56, Z:14.64 [[-8.85766889e-01 4.64097165e-01 -5.55343748e-03 9.27481944e+01] [-4.64087831e-01 -8.85784297e-01 -2.94345653e-03 1.00557251e+02] [-6.28519754e-03 -2.99335758e-05 9.99980248e-01 1.46392694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.546875 meters Centerline goodness : 0.998441 Centerline is valid? [True, True] Translation: X:92.75, Y:100.56, Z:14.64 [[-8.86535886e-01 4.62628378e-01 -5.39504450e-03 9.27492795e+01] [-4.62619558e-01 -8.86552301e-01 -2.85704042e-03 1.00556714e+02] [-6.10473709e-03 -3.70157591e-05 9.99981365e-01 1.46390921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.576875 meters Centerline goodness : 0.998353 Centerline is valid? [True, True] Translation: X:92.75, Y:100.55, Z:14.64 [[-8.87692700e-01 4.60408556e-01 -5.06268212e-03 9.27487123e+01] [-4.60400765e-01 -8.87707136e-01 -2.67892912e-03 1.00554684e+02] [-5.72758093e-03 -4.72031030e-05 9.99983596e-01 1.46385855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.606875 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:92.74, Y:100.55, Z:14.64 [[-8.88312388e-01 4.59215506e-01 -4.71384255e-03 9.27401968e+01] [-4.59208745e-01 -8.88324893e-01 -2.49247558e-03 1.00549487e+02] [-5.33200711e-03 -4.94592167e-05 9.99985784e-01 1.46387564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.636875 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:92.74, Y:100.55, Z:14.64 [[-8.89043626e-01 4.57801054e-01 -4.43010335e-03 9.27385319e+01] [-4.57795073e-01 -8.89054662e-01 -2.34066313e-03 1.00548271e+02] [-5.01016209e-03 -5.28721519e-05 9.99987448e-01 1.46386862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.66687499999998 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:92.72, Y:100.54, Z:14.64 [[-8.89885717e-01 4.56160367e-01 -4.59686857e-03 9.27203715e+01] [-4.56153918e-01 -8.89897587e-01 -2.42629202e-03 1.00538066e+02] [-5.19752051e-03 -6.22430088e-05 9.99986491e-01 1.46386112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.69687499999998 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:92.73, Y:100.54, Z:14.64 [[-8.91235909e-01 4.53517177e-01 -4.55238584e-03 9.27317011e+01] [-4.53510830e-01 -8.91247533e-01 -2.40063663e-03 1.00542333e+02] [-5.14603259e-03 -7.49772892e-05 9.99986756e-01 1.46383065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.72687499999998 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:92.71, Y:100.53, Z:14.64 [[-8.91963163e-01 4.52088526e-01 -4.20485476e-03 9.27133388e+01] [-4.52083103e-01 -8.91973071e-01 -2.21575881e-03 1.00532136e+02] [-4.75233634e-03 -7.54314540e-05 9.99988705e-01 1.46383237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.75687499999998 meters Centerline goodness : 0.998646 Centerline is valid? [True, True] Translation: X:92.73, Y:100.54, Z:14.64 [[-8.92783040e-01 4.50463373e-01 -4.60358843e-03 9.27296583e+01] [-4.50456860e-01 -8.92794905e-01 -2.42403794e-03 1.00540322e+02] [-5.20200060e-03 -9.04219708e-05 9.99986465e-01 1.46389570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.78687499999998 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:92.71, Y:100.53, Z:14.64 [[-8.93683197e-01 4.48673954e-01 -4.69332016e-03 9.27137098e+01] [-4.48667182e-01 -8.93695515e-01 -2.46712193e-03 1.00531922e+02] [-5.30133252e-03 -9.90866823e-05 9.99985943e-01 1.46393064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.81687499999998 meters Centerline goodness : 0.998600 Centerline is valid? [True, True] Translation: X:92.71, Y:100.53, Z:14.64 [[-8.95189808e-01 4.45658393e-01 -4.87894701e-03 9.27133062e+01] [-4.45651044e-01 -8.95203096e-01 -2.56204917e-03 1.00531282e+02] [-5.50944718e-03 -1.19212477e-04 9.99984816e-01 1.46394220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.84687499999998 meters Centerline goodness : 0.998604 Centerline is valid? [True, True] Translation: X:92.70, Y:100.52, Z:14.64 [[-8.95924098e-01 4.44182613e-01 -4.67087507e-03 9.26983300e+01] [-4.44175868e-01 -8.95936265e-01 -2.45075791e-03 1.00522868e+02] [-5.27339042e-03 -1.21003073e-04 9.99986088e-01 1.46389502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.87687499999998 meters Centerline goodness : 0.998515 Centerline is valid? [True, True] Translation: X:92.70, Y:100.52, Z:14.64 [[-8.96560941e-01 4.42899886e-01 -4.26260272e-03 9.27016471e+01] [-4.42894262e-01 -8.96571066e-01 -2.23499480e-03 1.00524219e+02] [-4.81160521e-03 -1.15926752e-04 9.99988417e-01 1.46386184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.90687499999999 meters Centerline goodness : 0.998442 Centerline is valid? [True, True] Translation: X:92.72, Y:100.53, Z:14.64 [[-8.97067425e-01 4.41877033e-01 -3.83703445e-03 9.27202104e+01] [-4.41872472e-01 -8.97075624e-01 -2.01053627e-03 1.00533600e+02] [-4.33051988e-03 -1.08106699e-04 9.99990617e-01 1.46390273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.936875 meters Centerline goodness : 0.998344 Centerline is valid? [True, True] Translation: X:92.73, Y:100.52, Z:14.61 [[-8.92623354e-01 4.49530484e-01 -3.38510416e-02 9.27321830e+01] [-4.50110802e-01 -8.92896361e-01 1.16770620e-02 1.00524303e+02] [-2.49762765e-02 2.56599377e-02 9.99358671e-01 1.46120289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.966875 meters Centerline goodness : 0.998374 Centerline is valid? [True, True] Translation: X:92.70, Y:100.52, Z:14.63 [[-8.94191345e-01 4.47393111e-01 -1.61630294e-02 9.27018046e+01] [-4.47238536e-01 -8.94329208e-01 -1.23676902e-02 1.00519138e+02] [-1.99882887e-02 -3.83035188e-03 9.99792877e-01 1.46300478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.996875 meters Centerline goodness : 0.998440 Centerline is valid? [True, True] Translation: X:92.70, Y:100.53, Z:14.65 [[-8.97901518e-01 4.40139432e-01 7.08122798e-03 9.27004609e+01] [-4.40183284e-01 -8.97634457e-01 -2.21598215e-02 1.00530347e+02] [-3.39705701e-03 -2.30143755e-02 9.99729363e-01 1.46512935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.026875 meters Centerline goodness : 0.998503 Centerline is valid? [True, True] Translation: X:92.72, Y:100.52, Z:14.61 [[-8.92532662e-01 4.49588904e-01 -3.54296992e-02 9.27245953e+01] [-4.50269368e-01 -8.92783686e-01 1.39566186e-02 1.00519460e+02] [-2.53563165e-02 2.84096462e-02 9.99274712e-01 1.46109379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.056875 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:92.71, Y:100.53, Z:14.65 [[-8.96664419e-01 4.42567712e-01 1.12579397e-02 9.27066964e+01] [-4.42706463e-01 -8.96251964e-01 -2.72654358e-02 1.00534890e+02] [-1.97685089e-03 -2.94319088e-02 9.99564833e-01 1.46540683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.086875 meters Centerline goodness : 0.998437 Centerline is valid? [True, True] Translation: X:92.70, Y:100.52, Z:14.64 [[-8.96199887e-01 4.43645388e-01 -2.12897464e-03 9.26992368e+01] [-4.43643994e-01 -8.96202414e-01 -1.11314157e-03 1.00522972e+02] [-2.40183233e-03 -5.30905322e-05 9.99997114e-01 1.46381659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.116875 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:92.70, Y:100.52, Z:14.64 [[-8.95372905e-01 4.45312157e-01 -2.10821683e-03 9.26998388e+01] [-4.45310797e-01 -8.95375386e-01 -1.10132241e-03 1.00523821e+02] [-2.37807771e-03 -4.72825274e-05 9.99997171e-01 1.46383573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.146875 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:92.70, Y:100.53, Z:14.64 [[-8.94254769e-01 4.47552092e-01 -2.35236277e-03 9.27010261e+01] [-4.47550412e-01 -8.94257862e-01 -1.22696183e-03 1.00525063e+02] [-2.65274824e-03 -4.44155396e-05 9.99996480e-01 1.46388251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.176875 meters Centerline goodness : 0.998218 Centerline is valid? [True, True] Translation: X:92.70, Y:100.53, Z:14.64 [[-8.91224447e-01 4.53549825e-01 -3.39724162e-03 9.27041519e+01] [-4.53546382e-01 -8.91230921e-01 -1.76750216e-03 1.00527436e+02] [-3.82937708e-03 -3.44344922e-05 9.99992667e-01 1.46390681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.206875 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:92.69, Y:100.52, Z:14.64 [[-8.89539535e-01 4.56842666e-01 -3.76769585e-03 9.26907627e+01] [-4.56838469e-01 -8.89547513e-01 -1.95828535e-03 1.00520331e+02] [-4.24617277e-03 -2.07438360e-05 9.99990985e-01 1.46391778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.236875 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:92.71, Y:100.53, Z:14.64 [[-8.87922247e-01 4.59976327e-01 -3.98268588e-03 9.27056344e+01] [-4.59971683e-01 -8.87931179e-01 -2.06688032e-03 1.00528455e+02] [-4.48706698e-03 -3.30629200e-06 9.99989933e-01 1.46400145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.266875 meters Centerline goodness : 0.998663 Centerline is valid? [True, True] Translation: X:92.71, Y:100.53, Z:14.64 [[-8.84728767e-01 4.66089457e-01 -3.95301566e-03 9.27094238e+01] [-4.66084952e-01 -8.84737598e-01 -2.04953067e-03 1.00531018e+02] [-4.45264622e-03 2.91623645e-05 9.99990087e-01 1.46412724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.296875 meters Centerline goodness : 0.998546 Centerline is valid? [True, True] Translation: X:92.71, Y:100.53, Z:14.64 [[-8.83443834e-01 4.68517937e-01 -4.23483534e-03 9.27093845e+01] [-4.68512807e-01 -8.83453983e-01 -2.19314222e-03 1.00530745e+02] [-4.76880862e-03 4.65566185e-05 9.99988628e-01 1.46411777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.326875 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:92.70, Y:100.53, Z:14.64 [[-8.82309812e-01 4.70650520e-01 -4.18130797e-03 9.26996193e+01] [-4.70645551e-01 -8.82319718e-01 -2.16350220e-03 1.00525003e+02] [-4.70750390e-03 5.90347739e-05 9.99988918e-01 1.46412395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.356875 meters Centerline goodness : 0.998355 Centerline is valid? [True, True] Translation: X:92.73, Y:100.52, Z:14.61 [[-8.75318315e-01 4.82149538e-01 -3.67378638e-02 9.27317462e+01] [-4.82852226e-01 -8.75605805e-01 1.29692428e-02 1.00523645e+02] [-2.59147725e-02 2.90911751e-02 9.99240776e-01 1.46118388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.386875 meters Centerline goodness : 0.998547 Centerline is valid? [True, True] Translation: X:92.71, Y:100.53, Z:14.66 [[-8.79865232e-01 4.75133583e-01 9.23320714e-03 9.27057438e+01] [-4.75195102e-01 -8.79435358e-01 -2.79833242e-02 1.00533508e+02] [-5.17580825e-03 -2.90091288e-02 9.99565746e-01 1.46558207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.41687499999998 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:92.71, Y:100.53, Z:14.64 [[-8.80084788e-01 4.74799479e-01 -4.02740382e-03 9.27089660e+01] [-4.74794934e-01 -8.80094000e-01 -2.07899653e-03 1.00525281e+02] [-4.53160040e-03 8.24977084e-05 9.99989729e-01 1.46404873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.44687499999998 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:92.71, Y:100.52, Z:14.64 [[-8.80439925e-01 4.74142429e-01 -3.80740571e-03 9.27062459e+01] [-4.74138367e-01 -8.80448154e-01 -1.96393343e-03 1.00522258e+02] [-4.28340749e-03 7.61117249e-05 9.99990823e-01 1.46400660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.47687499999998 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:92.70, Y:100.52, Z:14.64 [[-8.81188365e-01 4.72753962e-01 -3.27967062e-03 9.27030712e+01] [-4.72750942e-01 -8.81194466e-01 -1.69099054e-03 1.00518385e+02] [-3.68945008e-03 6.03861836e-05 9.99993192e-01 1.46401737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.50687499999998 meters Centerline goodness : 0.998452 Centerline is valid? [True, True] Translation: X:92.70, Y:100.51, Z:14.64 [[-8.84169620e-01 4.67152204e-01 -3.59197239e-03 9.27003330e+01] [-4.67148544e-01 -8.84176915e-01 -1.84969216e-03 1.00511984e+02] [-4.04002684e-03 4.25430559e-05 9.99991838e-01 1.46401027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.53687499999998 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:92.70, Y:100.51, Z:14.64 [[-8.86229875e-01 4.63226542e-01 -4.21645954e-03 9.26985958e+01] [-4.63221469e-01 -8.86239905e-01 -2.16818712e-03 1.00507891e+02] [-4.74115652e-03 3.16423822e-05 9.99988760e-01 1.46395309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.56687499999998 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:92.69, Y:100.50, Z:14.64 [[-8.90379065e-01 4.55200802e-01 -4.16527831e-03 9.26891199e+01] [-4.55195772e-01 -8.90388808e-01 -2.13995546e-03 1.00496851e+02] [-4.68282663e-03 -9.35446760e-06 9.99989035e-01 1.46385634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.59687499999998 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:92.68, Y:100.49, Z:14.64 [[-8.92491842e-01 4.51043565e-01 -4.24428490e-03 9.26785677e+01] [-4.51038306e-01 -8.92501934e-01 -2.17840981e-03 1.00488928e+02] [-4.77059021e-03 -2.98779096e-05 9.99988620e-01 1.46373682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.62687499999998 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:92.68, Y:100.49, Z:14.64 [[-8.94464320e-01 4.47115158e-01 -4.64924809e-03 9.26775874e+01] [-4.47108808e-01 -8.94476402e-01 -2.38341784e-03 1.00486144e+02] [-5.22430494e-03 -5.31624502e-05 9.99986352e-01 1.46373129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.65687499999999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:92.68, Y:100.49, Z:14.64 [[-8.96114459e-01 4.43801221e-01 -4.39921788e-03 9.26817195e+01] [-4.43795505e-01 -8.96125255e-01 -2.25341588e-03 1.00486066e+02] [-4.94231896e-03 -6.69654261e-05 9.99987784e-01 1.46373927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.686875 meters Centerline goodness : 0.998569 Centerline is valid? [True, True] Translation: X:92.68, Y:100.48, Z:14.64 [[-8.97630986e-01 4.40720534e-01 -4.90142628e-03 9.26782605e+01] [-4.40713410e-01 -8.97644363e-01 -2.50755985e-03 1.00482441e+02] [-5.50487079e-03 -9.07391332e-05 9.99984844e-01 1.46366935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.716875 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:92.67, Y:100.48, Z:14.64 [[-9.00053047e-01 4.35745618e-01 -5.50176705e-03 9.26718093e+01] [-4.35736569e-01 -9.00069852e-01 -2.81126754e-03 1.00475711e+02] [-6.17697217e-03 -1.32968809e-04 9.99980914e-01 1.46365882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.746875 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:92.66, Y:100.47, Z:14.64 [[-9.01351497e-01 4.33050795e-01 -5.69978764e-03 9.26624403e+01] [-4.33041048e-01 -9.01369505e-01 -2.90946378e-03 1.00469492e+02] [-6.39756037e-03 -1.54207516e-04 9.99979524e-01 1.46363215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.776875 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:92.66, Y:100.47, Z:14.64 [[-9.02530494e-01 4.30583097e-01 -6.07495762e-03 9.26630953e+01] [-4.30571992e-01 -9.02550921e-01 -3.09758430e-03 1.00468073e+02] [-6.81672603e-03 -1.79957686e-04 9.99976750e-01 1.46356903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.806875 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:92.67, Y:100.47, Z:14.64 [[-9.03525028e-01 4.28493000e-01 -6.02263444e-03 9.26662553e+01] [-4.28482059e-01 -9.03545080e-01 -3.06798965e-03 1.00468284e+02] [-6.75633381e-03 -1.91414625e-04 9.99977157e-01 1.46353379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.836875 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:92.67, Y:100.47, Z:14.63 [[-9.04675619e-01 4.26062561e-01 -5.72011485e-03 9.26668477e+01] [-4.26052659e-01 -9.04693681e-01 -2.91138361e-03 1.00466761e+02] [-6.41538331e-03 -1.96787633e-04 9.99979402e-01 1.46339045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.866875 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:92.67, Y:100.47, Z:14.63 [[-9.05075934e-01 4.25221331e-01 -4.93685940e-03 9.26658777e+01] [-4.25213951e-01 -9.05089382e-01 -2.51116261e-03 1.00465651e+02] [-5.53609893e-03 -1.73571350e-04 9.99984661e-01 1.46337028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.896875 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:92.65, Y:100.46, Z:14.63 [[-9.05361757e-01 4.24612079e-01 -4.96706915e-03 9.26524788e+01] [-4.24604613e-01 -9.05375365e-01 -2.52408434e-03 1.00458574e+02] [-5.56881874e-03 -1.76168960e-04 9.99984479e-01 1.46329640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.926875 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:92.66, Y:100.46, Z:14.63 [[-9.05357519e-01 4.24624645e-01 -4.65544620e-03 9.26598690e+01] [-4.24618097e-01 -9.05369474e-01 -2.36384487e-03 1.00462064e+02] [-5.21864566e-03 -1.63338019e-04 9.99986369e-01 1.46328325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.956875 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:92.65, Y:100.46, Z:14.63 [[-9.05416454e-01 4.24503756e-01 -4.19592719e-03 9.26521798e+01] [-4.24498443e-01 -9.05426165e-01 -2.12907201e-03 1.00458438e+02] [-4.70290133e-03 -1.46532270e-04 9.99988931e-01 1.46333513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.986875 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:92.65, Y:100.46, Z:14.63 [[-9.05136826e-01 4.25103449e-01 -3.79265194e-03 9.26546080e+01] [-4.25099118e-01 -9.05144763e-01 -1.92319020e-03 1.00460763e+02] [-4.25045383e-03 -1.28497277e-04 9.99990959e-01 1.46328730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.016875 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:92.64, Y:100.46, Z:14.63 [[-9.05095671e-01 4.25191249e-01 -3.77217095e-03 9.26441289e+01] [-4.25186973e-01 -9.05103522e-01 -1.91099983e-03 1.00456127e+02] [-4.22674562e-03 -1.25759722e-04 9.99991059e-01 1.46327897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.046875 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:92.64, Y:100.46, Z:14.63 [[-9.05261973e-01 4.24837058e-01 -3.77290932e-03 9.26420848e+01] [-4.24832785e-01 -9.05269826e-01 -1.90953928e-03 1.00455010e+02] [-4.22674401e-03 -1.25777722e-04 9.99991059e-01 1.46327537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.076875 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:92.65, Y:100.46, Z:14.63 [[-9.05360323e-01 4.24627302e-01 -3.78675574e-03 9.26514934e+01] [-4.24623004e-01 -9.05368234e-01 -1.91464219e-03 1.00460458e+02] [-4.24141770e-03 -1.25497473e-04 9.99990997e-01 1.46331822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.106875 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:92.64, Y:100.46, Z:14.63 [[-9.05109758e-01 4.25160088e-01 -3.90211176e-03 9.26428769e+01] [-4.25155538e-01 -9.05118160e-01 -1.97086215e-03 1.00457554e+02] [-4.36980414e-03 -1.24842141e-04 9.99990445e-01 1.46328914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.136875 meters Centerline goodness : 0.998413 Centerline is valid? [True, True] Translation: X:92.64, Y:100.46, Z:14.63 [[-9.05107849e-01 4.25166758e-01 -3.60681121e-03 9.26402898e+01] [-4.25162876e-01 -9.05115028e-01 -1.82043865e-03 1.00457337e+02] [-4.03856903e-03 -1.14211086e-04 9.99991838e-01 1.46327985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.16687499999998 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:92.64, Y:100.45, Z:14.62 [[-9.01029535e-01 4.33305645e-01 -1.97988864e-02 9.26422460e+01] [-4.33487768e-01 -9.01140382e-01 5.86236480e-03 1.00448718e+02] [-1.53013803e-02 1.38647389e-02 9.99786796e-01 1.46179420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.19687499999998 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:92.64, Y:100.46, Z:14.64 [[-9.04989104e-01 4.25426247e-01 2.68885235e-03 9.26400454e+01] [-4.25417168e-01 -9.04876193e-01 -1.48090940e-02 1.00464241e+02] [-3.86709879e-03 -1.45459526e-02 9.99886724e-01 1.46402968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.22687499999998 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:92.64, Y:100.46, Z:14.63 [[-9.05157645e-01 4.25057453e-01 -3.97494832e-03 9.26352865e+01] [-4.25052759e-01 -9.05166364e-01 -2.00138198e-03 1.00459960e+02] [-4.44869185e-03 -1.22003450e-04 9.99990097e-01 1.46338094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.25687499999998 meters Centerline goodness : 0.998498 Centerline is valid? [True, True] Translation: X:92.64, Y:100.46, Z:14.63 [[-9.05479968e-01 4.24371463e-01 -3.85869928e-03 9.26354687e+01] [-4.24367040e-01 -9.05488182e-01 -1.94115840e-03 1.00461369e+02] [-4.31777882e-03 -1.20175256e-04 9.99990671e-01 1.46335979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.28687499999998 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:92.62, Y:100.45, Z:14.63 [[-9.05897166e-01 4.23480714e-01 -3.79593085e-03 9.26175116e+01] [-4.23476433e-01 -9.05905111e-01 -1.90786127e-03 1.00453624e+02] [-4.24669561e-03 -1.20838864e-04 9.99990975e-01 1.46334346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.31687499999998 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:92.63, Y:100.46, Z:14.63 [[-9.06885721e-01 4.21362113e-01 -3.50118697e-03 9.26301736e+01] [-4.21358460e-01 -9.06892472e-01 -1.75849535e-03 1.00462296e+02] [-3.91616343e-03 -1.19499571e-04 9.99992325e-01 1.46338708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.34687499999998 meters Centerline goodness : 0.998489 Centerline is valid? [True, True] Translation: X:92.62, Y:100.46, Z:14.63 [[-9.07438010e-01 4.20171828e-01 -3.44866203e-03 9.26193803e+01] [-4.20168281e-01 -9.07444555e-01 -1.73050905e-03 1.00457665e+02] [-3.85658073e-03 -1.21311295e-04 9.99992556e-01 1.46336086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.37687499999998 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:92.62, Y:100.46, Z:14.63 [[-9.08027128e-01 4.18897328e-01 -3.42973537e-03 9.26239257e+01] [-4.18893817e-01 -9.08033597e-01 -1.71938108e-03 1.00460995e+02] [-3.83455908e-03 -1.24549722e-04 9.99992640e-01 1.46338119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.40687499999999 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:92.62, Y:100.46, Z:14.63 [[-9.08405455e-01 4.18072198e-01 -3.89444668e-03 9.26219934e+01] [-4.18067676e-01 -9.08413792e-01 -1.94959807e-03 1.00460998e+02] [-4.35284182e-03 -1.42883246e-04 9.99990516e-01 1.46336512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.436875 meters Centerline goodness : 0.998603 Centerline is valid? [True, True] Translation: X:92.62, Y:100.46, Z:14.63 [[-9.09096703e-01 4.16569541e-01 -3.60590300e-03 9.26181662e+01] [-4.16565658e-01 -9.09103844e-01 -1.80386294e-03 1.00461625e+02] [-4.02957463e-03 -1.37790495e-04 9.99991872e-01 1.46339961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.466875 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:92.61, Y:100.46, Z:14.63 [[-9.09476450e-01 4.15737302e-01 -3.88363696e-03 9.26060108e+01] [-4.15732801e-01 -9.09484729e-01 -1.94045835e-03 1.00456546e+02] [-4.33882943e-03 -1.50245906e-04 9.99990576e-01 1.46337506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.496875 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:92.60, Y:100.45, Z:14.63 [[-9.10048899e-01 4.14478943e-01 -4.26697209e-03 9.25977124e+01] [-4.14473508e-01 -9.10058887e-01 -2.12933066e-03 1.00453212e+02] [-4.76575859e-03 -1.69248130e-04 9.99988629e-01 1.46336596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.526875 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:92.60, Y:100.45, Z:14.63 [[-9.10966491e-01 4.12456782e-01 -4.41089192e-03 9.25979625e+01] [-4.12450962e-01 -9.10977151e-01 -2.19878437e-03 1.00454952e+02] [-4.92512528e-03 -1.83742264e-04 9.99987855e-01 1.46330070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.556875 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:92.59, Y:100.45, Z:14.63 [[-9.11402855e-01 4.11499678e-01 -3.58496866e-03 9.25926845e+01] [-4.11495828e-01 -9.11409892e-01 -1.78648694e-03 1.00452943e+02] [-4.00251470e-03 -1.53009651e-04 9.99991978e-01 1.46332432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.586875 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:92.58, Y:100.45, Z:14.63 [[-9.11893993e-01 4.10408695e-01 -3.74813044e-03 9.25794865e+01] [-4.10404487e-01 -9.11901681e-01 -1.86569949e-03 1.00447168e+02] [-4.18362574e-03 -1.63070611e-04 9.99991235e-01 1.46327243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.616875 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:92.57, Y:100.44, Z:14.63 [[-9.12185015e-01 4.09762098e-01 -3.67702255e-03 9.25657077e+01] [-4.09758050e-01 -9.12192412e-01 -1.82865639e-03 1.00441094e+02] [-4.10346615e-03 -1.61383373e-04 9.99991568e-01 1.46318446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.646875 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:92.58, Y:100.45, Z:14.63 [[-9.12386440e-01 4.09317098e-01 -3.23988269e-03 9.25776214e+01] [-4.09313955e-01 -9.12392181e-01 -1.61039681e-03 1.00449094e+02] [-3.61520659e-03 -1.43175011e-04 9.99993455e-01 1.46331161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.676875 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:92.58, Y:100.45, Z:14.63 [[-9.12323897e-01 4.09457113e-01 -3.15902544e-03 9.25768624e+01] [-4.09454131e-01 -9.12329356e-01 -1.56876638e-03 1.00449531e+02] [-3.52441420e-03 -1.37747046e-04 9.99993780e-01 1.46332364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.706875 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:92.59, Y:100.46, Z:14.63 [[-9.12086659e-01 4.09984384e-01 -3.27578655e-03 9.25930593e+01] [-4.09981188e-01 -9.12092531e-01 -1.62486350e-03 1.00458413e+02] [-3.65398910e-03 -1.39005463e-04 9.99993315e-01 1.46333084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.736875 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:92.58, Y:100.45, Z:14.63 [[-9.11837907e-01 4.10540739e-01 -2.81663734e-03 9.25779284e+01] [-4.10538380e-01 -9.11842250e-01 -1.39660562e-03 1.00452224e+02] [-3.14169243e-03 -1.17140213e-04 9.99995058e-01 1.46332499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.766875 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:92.58, Y:100.46, Z:14.63 [[-9.10643178e-01 4.13182513e-01 -3.03522019e-03 9.25811854e+01] [-4.13179796e-01 -9.10648229e-01 -1.50303810e-03 1.00456948e+02] [-3.38504696e-03 -1.14639735e-04 9.99994264e-01 1.46339904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.796875 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:92.56, Y:100.45, Z:14.63 [[-9.10069303e-01 4.14443674e-01 -3.21014089e-03 9.25625300e+01] [-4.14440649e-01 -9.10074957e-01 -1.58775319e-03 1.00449436e+02] [-3.57950310e-03 -1.14552564e-04 9.99993587e-01 1.46339966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.826875 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:92.55, Y:100.45, Z:14.63 [[-9.09274461e-01 4.16185840e-01 -3.04981311e-03 9.25519891e+01] [-4.16183123e-01 -9.09279570e-01 -1.50732267e-03 1.00445474e+02] [-3.40045911e-03 -1.01289261e-04 9.99994213e-01 1.46338677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.856875 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:92.59, Y:100.46, Z:14.63 [[-9.08403778e-01 4.18083133e-01 -3.01159052e-03 9.25855262e+01] [-4.18080499e-01 -9.08408766e-01 -1.48696641e-03 1.00463280e+02] [-3.35743080e-03 -9.16786395e-05 9.99994360e-01 1.46341164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.886875 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:92.56, Y:100.45, Z:14.63 [[-9.06505469e-01 4.22185768e-01 -2.64818690e-03 9.25555107e+01] [-4.22183750e-01 -9.06509334e-01 -1.30697852e-03 1.00451834e+02] [-2.95239387e-03 -6.67617041e-05 9.99995639e-01 1.46338783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.91687499999998 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:92.57, Y:100.46, Z:14.63 [[-9.05467479e-01 4.24409091e-01 -2.35949293e-03 9.25730361e+01] [-4.24407498e-01 -9.05470552e-01 -1.16404337e-03 1.00462189e+02] [-2.63048195e-03 -5.26169235e-05 9.99996539e-01 1.46340810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.94687499999998 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:92.57, Y:100.46, Z:14.63 [[-9.04399926e-01 4.26680169e-01 -2.19262316e-03 9.25687092e+01] [-4.26678802e-01 -9.04402582e-01 -1.08105145e-03 1.00462175e+02] [-2.44427726e-03 -4.21570231e-05 9.99997012e-01 1.46340219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.97687499999998 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:92.57, Y:100.46, Z:14.63 [[-9.03311418e-01 4.28982817e-01 -1.49165616e-03 9.25654103e+01] [-4.28982185e-01 -9.03312649e-01 -7.36729271e-04 1.00462861e+02] [-1.66347607e-03 -2.56020445e-05 9.99998616e-01 1.46341542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.00687499999998 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:92.58, Y:100.47, Z:14.64 [[-9.01897846e-01 4.31945984e-01 -1.71525611e-03 9.25783284e+01] [-4.31945158e-01 -9.01899477e-01 -8.45347570e-04 1.00472056e+02] [-1.91213308e-03 -2.15205812e-05 9.99998172e-01 1.46361466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.03687499999998 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:92.56, Y:100.46, Z:14.64 [[-9.01641544e-01 4.32477723e-01 -2.35493718e-03 9.25583605e+01] [-4.32476175e-01 -9.01644619e-01 -1.15718669e-03 1.00462372e+02] [-2.62377390e-03 -2.49133662e-05 9.99996558e-01 1.46359923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.06687499999998 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:92.55, Y:100.46, Z:14.64 [[-9.01469180e-01 4.32832320e-01 -3.08208545e-03 9.25505982e+01] [-4.32829683e-01 -9.01474449e-01 -1.51116210e-03 1.00459050e+02] [-3.43250108e-03 -2.82479927e-05 9.99994109e-01 1.46367769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.09687499999998 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:92.56, Y:100.46, Z:14.64 [[-9.01366885e-01 4.33044374e-01 -3.21079762e-03 9.25619346e+01] [-4.33041520e-01 -9.01372603e-01 -1.57243919e-03 1.00464167e+02] [-3.57506095e-03 -2.69359343e-05 9.99993609e-01 1.46364711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.12687499999998 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:92.56, Y:100.46, Z:14.64 [[-9.01618449e-01 4.32524097e-01 -2.66047386e-03 9.25565777e+01] [-4.32522136e-01 -9.01622374e-01 -1.30268408e-03 1.00461032e+02] [-2.96218501e-03 -2.38101624e-05 9.99995612e-01 1.46357910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.15687499999999 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:92.56, Y:100.46, Z:14.64 [[-9.01995694e-01 4.31739290e-01 -2.22559268e-03 9.25609103e+01] [-4.31737916e-01 -9.01998440e-01 -1.08967977e-03 1.00462592e+02] [-2.47793869e-03 -2.20137140e-05 9.99996930e-01 1.46351244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.186875 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:92.56, Y:100.46, Z:14.64 [[-9.02663995e-01 4.30340764e-01 -2.13036507e-03 9.25574242e+01] [-4.30339503e-01 -9.02666509e-01 -1.04228657e-03 1.00460623e+02] [-2.37154760e-03 -2.40543184e-05 9.99997188e-01 1.46350522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.216875 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:92.53, Y:100.45, Z:14.63 [[-9.03289936e-01 4.29028125e-01 -1.46931086e-03 9.25274688e+01] [-4.29027521e-01 -9.03291131e-01 -7.20135324e-04 1.00445625e+02] [-1.63617378e-03 -2.01161951e-05 9.99998661e-01 1.46344939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.246875 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:92.56, Y:100.46, Z:14.64 [[-9.04089269e-01 4.27343268e-01 -5.69492888e-04 9.25580935e+01] [-4.27343175e-01 -9.04089449e-01 -2.82639653e-04 1.00460790e+02] [-6.35656664e-04 -1.21625788e-05 9.99999798e-01 1.46353564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.276875 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:92.55, Y:100.46, Z:14.63 [[-9.04392591e-01 4.26700651e-01 -7.71641068e-04 9.25475518e+01] [-4.26700481e-01 -9.04392920e-01 -3.80329677e-04 1.00456124e+02] [-8.60153640e-04 -1.47077272e-05 9.99999630e-01 1.46346597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.306875 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:92.56, Y:100.46, Z:14.64 [[-9.04889696e-01 4.25646023e-01 -3.18498742e-04 9.25565722e+01] [-4.25645992e-01 -9.04889752e-01 -1.61195017e-04 1.00461736e+02] [-3.56818266e-04 -1.02959972e-05 9.99999936e-01 1.46351065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.336875 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:92.54, Y:100.45, Z:14.63 [[-9.05329778e-01 4.24709027e-01 -4.85685046e-04 9.25400906e+01] [-4.24708959e-01 -9.05329908e-01 -2.41163696e-04 1.00454768e+02] [-5.42129597e-04 -1.20578852e-05 9.99999853e-01 1.46341436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.366875 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:92.53, Y:100.45, Z:14.63 [[-9.05628025e-01 4.24072165e-01 -8.24460453e-04 9.25345992e+01] [-4.24071972e-01 -9.05628400e-01 -4.04766014e-04 1.00452541e+02] [-9.18304800e-04 -1.69368758e-05 9.99999578e-01 1.46339122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.396875 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:92.53, Y:100.45, Z:14.63 [[-9.05330504e-01 4.24704292e-01 -1.71544916e-03 9.25251715e+01] [-4.24703473e-01 -9.05332129e-01 -8.34665207e-04 1.00448877e+02] [-1.90753714e-03 -2.70906557e-05 9.99998180e-01 1.46339418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.426875 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:92.54, Y:100.46, Z:14.63 [[-9.05089264e-01 4.25213197e-01 -2.67613390e-03 9.25404192e+01] [-4.25211220e-01 -9.05093219e-01 -1.29730628e-03 1.00457166e+02] [-2.97378240e-03 -3.62558266e-05 9.99995578e-01 1.46348901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.456875 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:92.53, Y:100.46, Z:14.64 [[-9.04892404e-01 4.25626267e-01 -3.46659605e-03 9.25336496e+01] [-4.25622965e-01 -9.04899044e-01 -1.67698391e-03 1.00455314e+02] [-3.85068786e-03 -4.20271106e-05 9.99992585e-01 1.46356162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.486875 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:92.54, Y:100.46, Z:14.64 [[-9.04923181e-01 4.25562100e-01 -3.30693491e-03 9.25406784e+01] [-4.25559100e-01 -9.04929222e-01 -1.59844287e-03 1.00458654e+02] [-3.67277875e-03 -3.91717611e-05 9.99993255e-01 1.46354961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.516875 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:92.53, Y:100.45, Z:14.63 [[-9.05057972e-01 4.25276323e-01 -3.18048843e-03 9.25300425e+01] [-4.25273551e-01 -9.05063560e-01 -1.53605718e-03 1.00452931e+02] [-3.53179294e-03 -3.76431908e-05 9.99993763e-01 1.46342892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.546875 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:92.52, Y:100.45, Z:14.63 [[-9.04897048e-01 4.25619243e-01 -3.09706246e-03 9.25163684e+01] [-4.25616621e-01 -9.04902348e-01 -1.49447277e-03 1.00445048e+02] [-3.43861546e-03 -3.41827428e-05 9.99994087e-01 1.46323377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.576875 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:92.53, Y:100.45, Z:14.63 [[-9.04921401e-01 4.25567391e-01 -3.10702961e-03 9.25266609e+01] [-4.25564756e-01 -9.04926735e-01 -1.49776959e-03 1.00449702e+02] [-3.44903606e-03 -3.31214601e-05 9.99994052e-01 1.46325075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.606875 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:92.53, Y:100.45, Z:14.63 [[-9.04974920e-01 4.25456946e-01 -2.60427384e-03 9.25291337e+01] [-4.25455096e-01 -9.04978666e-01 -1.25512872e-03 1.00451083e+02] [-2.89081549e-03 -2.78584338e-05 9.99995821e-01 1.46327910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.636875 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:92.52, Y:100.45, Z:14.63 [[-9.04961347e-01 4.25489652e-01 -1.87524300e-03 9.25249137e+01] [-4.25488690e-01 -9.04963290e-01 -9.04590296e-04 1.00449148e+02] [-2.08191989e-03 -2.07245643e-05 9.99997833e-01 1.46327945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.66687499999998 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:92.52, Y:100.45, Z:14.63 [[-9.04814226e-01 4.25805807e-01 -7.94350076e-04 9.25180661e+01] [-4.25805631e-01 -9.04814575e-01 -3.86351047e-04 1.00445648e+02] [-8.83250046e-04 -1.13371884e-05 9.99999610e-01 1.46330826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.69687499999998 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:92.51, Y:100.44, Z:14.63 [[-9.04915758e-01 4.25589802e-01 -8.90070913e-04 9.25136290e+01] [-4.25589583e-01 -9.04916195e-01 -4.31757394e-04 1.00443615e+02] [-9.89191128e-04 -1.18991611e-05 9.99999511e-01 1.46334354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.72687499999998 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:92.53, Y:100.45, Z:14.63 [[-9.04818233e-01 4.25797084e-01 -8.99428347e-04 9.25264489e+01] [-4.25796861e-01 -9.04818680e-01 -4.35793634e-04 1.00449507e+02] [-9.99379228e-04 -1.13402596e-05 9.99999501e-01 1.46341680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.75687499999998 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:92.52, Y:100.45, Z:14.63 [[-9.04626577e-01 4.26203164e-01 -1.27221474e-03 9.25182158e+01] [-4.26202723e-01 -9.04627472e-01 -6.13221853e-04 1.00445678e+02] [-1.41223750e-03 -1.25153991e-05 9.99999003e-01 1.46344240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.78687499999998 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:92.52, Y:100.45, Z:14.64 [[-9.04030006e-01 4.27465618e-01 -1.70126780e-03 9.25212357e+01] [-4.27464837e-01 -9.04031606e-01 -8.17168373e-04 1.00447172e+02] [-1.88731125e-03 -1.15125653e-05 9.99998219e-01 1.46360252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.81687499999998 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:92.52, Y:100.45, Z:14.64 [[-9.03857657e-01 4.27829494e-01 -1.80541244e-03 9.25217781e+01] [-4.27828615e-01 -9.03859460e-01 -8.67287896e-04 1.00447060e+02] [-2.00289046e-03 -1.14977007e-05 9.99997994e-01 1.46360725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.84687499999998 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:92.51, Y:100.44, Z:14.64 [[-9.03610856e-01 4.28345618e-01 -2.73007339e-03 9.25145669e+01] [-4.28343631e-01 -9.03614980e-01 -1.30473405e-03 1.00443555e+02] [-3.02581233e-03 -9.56230594e-06 9.99995422e-01 1.46359213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.87687499999998 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:92.50, Y:100.43, Z:14.64 [[-9.03175222e-01 4.29256516e-01 -3.65535252e-03 9.24966981e+01] [-4.29252977e-01 -9.03182619e-01 -1.74317652e-03 1.00434454e+02] [-4.04972075e-03 -5.32289234e-06 9.99991800e-01 1.46365623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.90687499999999 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:92.51, Y:100.44, Z:14.64 [[-9.02893639e-01 4.29836935e-01 -4.82551445e-03 9.25117841e+01] [-4.29830797e-01 -9.02906534e-01 -2.29691991e-03 1.00440961e+02] [-5.34428954e-03 2.80343023e-07 9.99985719e-01 1.46373938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.936875 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:92.51, Y:100.44, Z:14.64 [[-9.03058981e-01 4.29489445e-01 -4.82641368e-03 9.25097276e+01] [-4.29483313e-01 -9.03071878e-01 -2.29502724e-03 1.00439901e+02] [-5.34428844e-03 3.19174493e-07 9.99985719e-01 1.46373578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.966875 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:92.49, Y:100.43, Z:14.64 [[-9.02945288e-01 4.29714906e-01 -5.90821734e-03 9.24934305e+01] [-4.29705749e-01 -9.02964617e-01 -2.80531038e-03 1.00431973e+02] [-6.54039489e-03 5.75317134e-06 9.99978611e-01 1.46370805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.996875 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:92.48, Y:100.43, Z:14.64 [[-9.02929646e-01 4.29744951e-01 -6.10993473e-03 9.24846273e+01] [-4.29735180e-01 -9.02950318e-01 -2.89801019e-03 1.00427629e+02] [-6.76237276e-03 8.95458210e-06 9.99977135e-01 1.46375929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.026875 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:92.49, Y:100.43, Z:14.64 [[-9.02673347e-01 4.30286306e-01 -5.87561974e-03 9.24901992e+01] [-4.30277298e-01 -9.02692470e-01 -2.78431110e-03 1.00429460e+02] [-6.50192863e-03 1.48223610e-05 9.99978862e-01 1.46384239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.056875 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:92.51, Y:100.44, Z:14.64 [[-9.02920688e-01 4.29773717e-01 -5.36495174e-03 9.25054125e+01] [-4.29766207e-01 -9.02936627e-01 -2.54069220e-03 1.00435495e+02] [-5.93613416e-03 1.16314139e-05 9.99982381e-01 1.46382850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.086875 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:92.50, Y:100.43, Z:14.64 [[-9.03178296e-01 4.29237450e-01 -4.91708069e-03 9.24977147e+01] [-4.29231147e-01 -9.03191681e-01 -2.32604389e-03 1.00430334e+02] [-5.43949151e-03 9.73182574e-06 9.99985206e-01 1.46373543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.116875 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:92.49, Y:100.42, Z:14.64 [[-9.03524045e-01 4.28514540e-01 -4.42596965e-03 9.24874585e+01] [-4.28509432e-01 -9.03534885e-01 -2.09228622e-03 1.00424095e+02] [-4.89559305e-03 6.13882773e-06 9.99988017e-01 1.46367230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.146875 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:92.49, Y:100.42, Z:14.64 [[-9.04365384e-01 4.26748019e-01 -3.06276640e-03 9.24888454e+01] [-4.26745561e-01 -9.04370570e-01 -1.44828904e-03 1.00422877e+02] [-3.38793027e-03 -2.76050445e-06 9.99994261e-01 1.46367063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.176875 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:92.49, Y:100.42, Z:14.64 [[-9.04996840e-01 4.25411064e-01 -2.47932146e-03 9.24894273e+01] [-4.25409448e-01 -9.05000236e-01 -1.17237765e-03 1.00421975e+02] [-2.74252892e-03 -6.27129254e-06 9.99996239e-01 1.46363744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.206875 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:92.50, Y:100.42, Z:14.64 [[-9.05552437e-01 4.24227702e-01 -2.37513823e-03 9.24989317e+01] [-4.24226218e-01 -9.05555551e-01 -1.12221879e-03 1.00424897e+02] [-2.62689590e-03 -8.63205301e-06 9.99996550e-01 1.46357829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.236875 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:92.50, Y:100.42, Z:14.64 [[-9.06573948e-01 4.22036811e-01 -2.93380953e-03 9.24971836e+01] [-4.22034544e-01 -9.06578695e-01 -1.38335395e-03 1.00421664e+02] [-3.24355550e-03 -1.59436838e-05 9.99994740e-01 1.46351638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.266875 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:92.49, Y:100.42, Z:14.64 [[-9.07108943e-01 4.20883378e-01 -3.24776431e-03 9.24861741e+01] [-4.20880601e-01 -9.07114756e-01 -1.52923888e-03 1.00415985e+02] [-3.58972616e-03 -2.02652719e-05 9.99993557e-01 1.46356060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.296875 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:92.49, Y:100.42, Z:14.64 [[-9.07574049e-01 4.19875736e-01 -3.70304386e-03 9.24938421e+01] [-4.19872127e-01 -9.07581603e-01 -1.74102078e-03 1.00418822e+02] [-4.09182686e-03 -2.53003754e-05 9.99991628e-01 1.46357358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.326875 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:92.49, Y:100.42, Z:14.64 [[-9.08013957e-01 4.18921385e-01 -3.94039200e-03 9.24910697e+01] [-4.18917300e-01 -9.08022506e-01 -1.85035970e-03 1.00416863e+02] [-4.35311987e-03 -2.94540592e-05 9.99990525e-01 1.46362994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.356875 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:92.48, Y:100.41, Z:14.64 [[-9.08482809e-01 4.17903298e-01 -3.97723277e-03 9.24780698e+01] [-4.17899135e-01 -9.08491515e-01 -1.86576210e-03 1.00409398e+02] [-4.39299036e-03 -3.29306589e-05 9.99990350e-01 1.46360362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.386875 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:92.49, Y:100.41, Z:14.64 [[-9.08767423e-01 4.17290296e-01 -3.25278956e-03 9.24851502e+01] [-4.17287509e-01 -9.08773243e-01 -1.52550214e-03 1.00412082e+02] [-3.59262536e-03 -2.89781947e-05 9.99993546e-01 1.46362140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.41687499999998 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:92.49, Y:100.40, Z:14.61 [[-9.04489494e-01 4.25227042e-01 -3.28742808e-02 9.24876567e+01] [-4.25838251e-01 -9.04686872e-01 1.42634847e-02 1.00397545e+02] [-2.36757108e-02 2.69002983e-02 9.99357711e-01 1.46077334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.44687499999998 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:92.47, Y:100.41, Z:14.65 [[-9.09051381e-01 4.16585378e-01 9.06696317e-03 9.24701053e+01] [-4.16676626e-01 -9.08690192e-01 -2.57434406e-02 1.00410780e+02] [-2.48528045e-03 -2.71801019e-02 9.99627463e-01 1.46490239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.47687499999998 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:92.48, Y:100.41, Z:14.63 [[-9.09400731e-01 4.15914897e-01 -2.26040821e-03 9.24798169e+01] [-4.15913549e-01 -9.09403540e-01 -1.05942559e-03 1.00406987e+02] [-2.49625411e-03 -2.33080049e-05 9.99996884e-01 1.46349737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.50687499999998 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:92.48, Y:100.41, Z:14.63 [[-9.09648714e-01 4.15373180e-01 -2.08264473e-03 9.24785385e+01] [-4.15372032e-01 -9.09651098e-01 -9.76867299e-04 1.00405734e+02] [-2.30024454e-03 -2.35337085e-05 9.99997354e-01 1.46346566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.53687499999998 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:92.47, Y:100.40, Z:14.63 [[-9.10104513e-01 4.14371962e-01 -2.37762762e-03 9.24706252e+01] [-4.14370470e-01 -9.10107618e-01 -1.11214617e-03 1.00401552e+02] [-2.62473920e-03 -2.69505722e-05 9.99996555e-01 1.46344494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.56687499999998 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:92.49, Y:100.39, Z:14.60 [[-9.05613800e-01 4.22028460e-01 -4.19001559e-02 9.24881610e+01] [-4.23083512e-01 -9.05863528e-01 2.02881664e-02 1.00389330e+02] [-2.93936394e-02 3.61005085e-02 9.98915796e-01 1.45987346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.59687499999998 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:92.44, Y:100.40, Z:14.65 [[-9.11028012e-01 4.12143133e-01 1.28840672e-02 9.24446751e+01] [-4.12338002e-01 -9.10393910e-01 -3.40631866e-02 1.00398228e+02] [-2.30933212e-03 -3.63451077e-02 9.99336630e-01 1.46526758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.62687499999998 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:92.44, Y:100.39, Z:14.63 [[-9.11483516e-01 4.11332280e-01 -1.88556439e-03 9.24394444e+01] [-4.11331339e-01 -9.11485466e-01 -8.80432628e-04 1.00385394e+02] [-2.08081490e-03 -2.69081020e-05 9.99997835e-01 1.46335136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.65687499999999 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:92.46, Y:100.40, Z:14.63 [[-9.11791685e-01 4.10650611e-01 -1.41349617e-03 9.24596461e+01] [-4.10650080e-01 -9.11792781e-01 -6.60789416e-04 1.00395031e+02] [-1.56016918e-03 -2.20499797e-05 9.99998783e-01 1.46337583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.686875 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:92.46, Y:100.40, Z:14.63 [[-9.11878228e-01 4.10460137e-01 -7.57423429e-04 9.24637773e+01] [-4.10459982e-01 -9.11878542e-01 -3.56401068e-04 1.00398054e+02] [-8.36966603e-04 -1.41023678e-05 9.99999650e-01 1.46337054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.716875 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:92.46, Y:100.40, Z:14.63 [[-9.11769812e-01 4.10700962e-01 -7.27707560e-04 9.24622405e+01] [-4.10700819e-01 -9.11770103e-01 -3.42287180e-04 1.00398375e+02] [-8.04079671e-04 -1.32170268e-05 9.99999677e-01 1.46334982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.746875 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:92.45, Y:100.39, Z:14.63 [[-9.11496505e-01 4.11307208e-01 -7.08070869e-04 9.24510082e+01] [-4.11307074e-01 -9.11496780e-01 -3.32894604e-04 1.00394224e+02] [-7.82326268e-04 -1.21977110e-05 9.99999694e-01 1.46332356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.776875 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:92.45, Y:100.40, Z:14.63 [[-9.11180970e-01 4.12005760e-01 -7.03506904e-04 9.24540893e+01] [-4.12005627e-01 -9.11181241e-01 -3.30461722e-04 1.00397065e+02] [-7.77174427e-04 -1.12616288e-05 9.99999698e-01 1.46334338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.806875 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:92.44, Y:100.39, Z:14.63 [[-9.10409841e-01 4.13705370e-01 -1.33715786e-03 9.24418992e+01] [-4.13704902e-01 -9.10410823e-01 -6.22249426e-04 1.00394345e+02] [-1.47479091e-03 -1.33132409e-05 9.99998912e-01 1.46335692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.836875 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:92.43, Y:100.39, Z:14.63 [[-9.10385896e-01 4.13757129e-01 -1.59973096e-03 9.24283029e+01] [-4.13756463e-01 -9.10387301e-01 -7.42556355e-04 1.00389453e+02] [-1.76361273e-03 -1.41138103e-05 9.99998445e-01 1.46332260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.866875 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:92.44, Y:100.40, Z:14.63 [[-9.10426529e-01 4.13663818e-01 -2.40438812e-03 9.24393775e+01] [-4.13662323e-01 -9.10429704e-01 -1.11195079e-03 1.00395292e+02] [-2.64900017e-03 -1.77447239e-05 9.99996491e-01 1.46332604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.896875 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:92.45, Y:100.40, Z:14.63 [[-9.10700980e-01 4.13055983e-01 -2.91222873e-03 9.24477818e+01] [-4.13053796e-01 -9.10705636e-01 -1.34414721e-03 1.00400264e+02] [-3.20739116e-03 -2.12090430e-05 9.99994856e-01 1.46339637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.926875 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:92.44, Y:100.40, Z:14.63 [[-9.11089246e-01 4.12198470e-01 -2.96759857e-03 9.24386069e+01] [-4.12196200e-01 -9.11094079e-01 -1.36819867e-03 1.00396239e+02] [-3.26773088e-03 -2.33182415e-05 9.99994661e-01 1.46338012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.956875 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:92.44, Y:100.40, Z:14.63 [[-9.11570593e-01 4.11131376e-01 -3.16958138e-03 9.24405619e+01] [-4.11128787e-01 -9.11576103e-01 -1.45945165e-03 1.00396979e+02] [-3.48934101e-03 -2.72870597e-05 9.99993912e-01 1.46340039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.986875 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:92.44, Y:100.40, Z:14.63 [[-9.11921407e-01 4.10347838e-01 -3.74169450e-03 9.24408538e+01] [-4.10344234e-01 -9.11929082e-01 -1.72007795e-03 1.00396426e+02] [-4.11799030e-03 -3.31931376e-05 9.99991521e-01 1.46343625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.016875 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:92.44, Y:100.39, Z:14.63 [[-9.12157298e-01 4.09819058e-01 -4.17179014e-03 9.24355171e+01] [-4.09814585e-01 -9.12166837e-01 -1.91518657e-03 1.00393301e+02] [-4.59024857e-03 -3.72909579e-05 9.99989464e-01 1.46341611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.046875 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:92.43, Y:100.39, Z:14.63 [[-9.12489718e-01 4.09077892e-01 -4.21811612e-03 9.24301054e+01] [-4.09073320e-01 -9.12499467e-01 -1.93443707e-03 1.00389731e+02] [-4.64036415e-03 -3.96351723e-05 9.99989233e-01 1.46338230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.076875 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:92.42, Y:100.39, Z:14.63 [[-9.12507431e-01 4.09036091e-01 -4.43440654e-03 9.24226725e+01] [-4.09031050e-01 -9.12518205e-01 -2.03127343e-03 1.00385336e+02] [-4.87734084e-03 -3.97421359e-05 9.99988105e-01 1.46337690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.106875 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:92.43, Y:100.39, Z:14.63 [[-9.12583966e-01 4.08866716e-01 -4.30266597e-03 9.24283065e+01] [-4.08861976e-01 -9.12594109e-01 -1.96908269e-03 1.00387052e+02] [-4.73167999e-03 -3.77567758e-05 9.99988805e-01 1.46337630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.136875 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:92.43, Y:100.39, Z:14.63 [[-9.12188895e-01 4.09747854e-01 -4.25623610e-03 9.24301746e+01] [-4.09743234e-01 -9.12198825e-01 -1.94590218e-03 1.00386652e+02] [-4.67986281e-03 -3.10664177e-05 9.99989049e-01 1.46335767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.16687499999998 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:92.42, Y:100.38, Z:14.63 [[-9.11702758e-01 4.10828614e-01 -4.23454525e-03 9.24227847e+01] [-4.10824062e-01 -9.11712591e-01 -1.93402722e-03 1.00382527e+02] [-4.65524195e-03 -2.36048653e-05 9.99989164e-01 1.46335299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.19687499999998 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:92.42, Y:100.38, Z:14.63 [[-9.11289015e-01 4.11746412e-01 -4.15004583e-03 9.24238267e+01] [-4.11742058e-01 -9.11298465e-01 -1.89362021e-03 1.00382285e+02] [-4.56162172e-03 -1.68868880e-05 9.99989596e-01 1.46338148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.22687499999998 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:92.43, Y:100.38, Z:14.63 [[-9.10931717e-01 4.12532850e-01 -4.47837230e-03 9.24254094e+01] [-4.12527802e-01 -9.10942725e-01 -2.04087348e-03 1.00382001e+02] [-4.92146802e-03 -1.16433018e-05 9.99987889e-01 1.46333324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.25687499999998 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:92.43, Y:100.38, Z:14.63 [[-9.10103122e-01 4.14355489e-01 -4.67293828e-03 9.24293990e+01] [-4.14350029e-01 -9.10115119e-01 -2.12710220e-03 1.00381906e+02] [-5.13428824e-03 3.49756261e-07 9.99986819e-01 1.46335029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.28687499999998 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:92.43, Y:100.38, Z:14.63 [[-9.09879208e-01 4.14849149e-01 -4.47331356e-03 9.24309185e+01] [-4.14844160e-01 -9.09890204e-01 -2.03439713e-03 1.00381706e+02] [-4.91419211e-03 4.67235963e-06 9.99987925e-01 1.46344160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.31687499999998 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:92.43, Y:100.38, Z:14.63 [[-9.09740590e-01 4.15151149e-01 -4.64569440e-03 9.24251150e+01] [-4.15145785e-01 -9.09752452e-01 -2.11042888e-03 1.00377837e+02] [-5.10257885e-03 8.69763316e-06 9.99986982e-01 1.46340847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.34687499999998 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:92.42, Y:100.38, Z:14.63 [[-9.09767030e-01 4.15091235e-01 -4.81851729e-03 9.24245630e+01] [-4.15085476e-01 -9.09779790e-01 -2.18650460e-03 1.00376177e+02] [-5.29138855e-03 1.08867494e-05 9.99986000e-01 1.46334531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.37687499999998 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:92.42, Y:100.37, Z:14.63 [[-9.10118169e-01 4.14318882e-01 -4.97828167e-03 9.24201573e+01] [-4.14312737e-01 -9.10131784e-01 -2.25651497e-03 1.00371362e+02] [-5.46580913e-03 8.87023759e-06 9.99985062e-01 1.46325624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.40687499999999 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:92.41, Y:100.37, Z:14.63 [[-9.10597980e-01 4.13263726e-01 -4.94080843e-03 9.24146191e+01] [-4.13257670e-01 -9.10611384e-01 -2.23729838e-03 1.00367974e+02] [-5.42375067e-03 4.54759732e-06 9.99985291e-01 1.46329971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.436875 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:92.40, Y:100.36, Z:14.63 [[-9.11394372e-01 4.11504002e-01 -4.97541324e-03 9.24025678e+01] [-4.11497847e-01 -9.11407953e-01 -2.25064383e-03 1.00360083e+02] [-5.46078014e-03 -3.85228598e-06 9.99985090e-01 1.46326729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.466875 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:92.42, Y:100.37, Z:14.63 [[-9.12001183e-01 4.10159923e-01 -4.76231640e-03 9.24204212e+01] [-4.10154276e-01 -9.12013617e-01 -2.15226845e-03 1.00367011e+02] [-5.22607167e-03 -9.58694327e-06 9.99986344e-01 1.46333301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.496875 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:92.42, Y:100.36, Z:14.63 [[-9.12757264e-01 4.08470229e-01 -5.12340213e-03 9.24161981e+01] [-4.08463683e-01 -9.12771643e-01 -2.31261599e-03 1.00364154e+02] [-5.62113096e-03 -1.81333386e-05 9.99984201e-01 1.46327633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.526875 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:92.42, Y:100.36, Z:14.63 [[-9.13526961e-01 4.06744325e-01 -5.24836903e-03 9.24156452e+01] [-4.06737442e-01 -9.13542037e-01 -2.36646798e-03 1.00362868e+02] [-5.75715316e-03 -2.71241116e-05 9.99983427e-01 1.46327642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.556875 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:92.40, Y:100.36, Z:14.63 [[-9.14469480e-01 4.04617457e-01 -5.50302524e-03 9.24040827e+01] [-4.04609868e-01 -9.14486037e-01 -2.47848673e-03 1.00356964e+02] [-6.03527874e-03 -3.99221519e-05 9.99981787e-01 1.46323188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.586875 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:92.41, Y:100.36, Z:14.63 [[-9.16071269e-01 4.00971112e-01 -5.96635886e-03 9.24075516e+01] [-4.00962135e-01 -9.16090696e-01 -2.68392699e-03 1.00357172e+02] [-6.54190303e-03 -6.63844198e-05 9.99978599e-01 1.46317732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.616875 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:92.38, Y:100.35, Z:14.63 [[-9.16940440e-01 3.98979899e-01 -5.93879179e-03 9.23844794e+01] [-3.98970981e-01 -9.16959669e-01 -2.66882429e-03 1.00346337e+02] [-6.51043980e-03 -7.77473354e-05 9.99978804e-01 1.46313826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.646875 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:92.40, Y:100.35, Z:14.63 [[-9.17641937e-01 3.97356131e-01 -6.43281455e-03 9.23990049e+01] [-3.97345651e-01 -9.17664479e-01 -2.88735680e-03 1.00352239e+02] [-7.05047434e-03 -9.35088017e-05 9.99975141e-01 1.46310587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.676875 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:92.38, Y:100.34, Z:14.63 [[-9.18420428e-01 3.95560903e-01 -5.95738231e-03 9.23758092e+01] [-3.95551893e-01 -9.18439744e-01 -2.67161883e-03 1.00341455e+02] [-6.52828464e-03 -9.72154644e-05 9.99978686e-01 1.46305863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.706875 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:92.38, Y:100.34, Z:14.63 [[-9.19402155e-01 3.93286792e-01 -5.01759631e-03 9.23824608e+01] [-3.93280374e-01 -9.19415842e-01 -2.24876461e-03 1.00344071e+02] [-5.49766696e-03 -9.41968799e-05 9.99984883e-01 1.46296679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.736875 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:92.39, Y:100.35, Z:14.63 [[-9.19787790e-01 3.92395763e-01 -3.99823769e-03 9.23876629e+01] [-3.92391683e-01 -9.19796477e-01 -1.79120426e-03 1.00346800e+02] [-4.38042590e-03 -7.86525959e-05 9.99990403e-01 1.46294511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.766875 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:92.39, Y:100.35, Z:14.63 [[-9.19716417e-01 3.92573005e-01 -2.85466662e-03 9.23886761e+01] [-3.92570925e-01 -9.19720845e-01 -1.27920541e-03 1.00347882e+02] [-3.12767791e-03 -5.58471007e-05 9.99995107e-01 1.46282258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.796875 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:92.39, Y:100.35, Z:14.63 [[-9.19549615e-01 3.92964414e-01 -2.73410652e-03 9.23873425e+01] [-3.92962510e-01 -9.19553678e-01 -1.22415106e-03 1.00347617e+02] [-2.99520551e-03 -5.12662754e-05 9.99995513e-01 1.46276928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.826875 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:92.39, Y:100.35, Z:14.63 [[-9.19429118e-01 3.93247322e-01 -2.57705019e-03 9.23863964e+01] [-3.93245635e-01 -9.19432728e-01 -1.15296666e-03 1.00348325e+02] [-2.82282534e-03 -4.66573821e-05 9.99996015e-01 1.46279800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.856875 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:92.38, Y:100.35, Z:14.63 [[-9.19580656e-01 3.92892828e-01 -2.57749536e-03 9.23843055e+01] [-3.92891142e-01 -9.19584267e-01 -1.15196862e-03 1.00347311e+02] [-2.82282439e-03 -4.66529685e-05 9.99996015e-01 1.46279454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.886875 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:92.31, Y:100.29, Z:14.59 [[-9.13279099e-01 4.05103314e-01 -4.25745530e-02 9.23082624e+01] [-4.06168532e-01 -9.13579460e-01 1.99923183e-02 1.00294599e+02] [-3.07962828e-02 3.55510102e-02 9.98893245e-01 1.45901408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.91687499999998 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:92.37, Y:100.35, Z:14.65 [[-9.17966000e-01 3.96484112e-01 1.17801076e-02 9.23690400e+01] [-3.96647789e-01 -9.17310947e-01 -3.48017055e-02 1.00352889e+02] [-2.99230170e-03 -3.66193360e-02 9.99324807e-01 1.46477555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.94687499999998 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:92.37, Y:100.34, Z:14.63 [[-9.16194557e-01 4.00709390e-01 -4.41800683e-03 9.23684877e+01] [-4.00704578e-01 -9.16205208e-01 -1.96405671e-03 1.00344769e+02] [-4.83481684e-03 -2.91424988e-05 9.99988312e-01 1.46292468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.97687499999998 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:92.38, Y:100.35, Z:14.63 [[-9.15300647e-01 4.02740079e-01 -5.01544856e-03 9.23795691e+01] [-4.02733925e-01 -9.15314388e-01 -2.22654661e-03 1.00350929e+02] [-5.48743179e-03 -1.80682642e-05 9.99984944e-01 1.46292873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.00687499999998 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:92.38, Y:100.35, Z:14.63 [[-9.14462652e-01 4.04639604e-01 -4.98499397e-03 9.23773142e+01] [-4.04633565e-01 -9.14476239e-01 -2.21074566e-03 1.00351014e+02] [-5.45321378e-03 -4.54845627e-06 9.99985131e-01 1.46295981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.03687499999998 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:92.37, Y:100.35, Z:14.63 [[-9.13088937e-01 4.07729036e-01 -5.06221389e-03 9.23747042e+01] [-4.07722869e-01 -9.13102970e-01 -2.24258401e-03 1.00351580e+02] [-5.53668916e-03 1.63017194e-05 9.99984672e-01 1.46287105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.06687499999998 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:92.37, Y:100.35, Z:14.63 [[-9.12759692e-01 4.08470721e-01 -4.62762211e-03 9.23703087e+01] [-4.08465585e-01 -9.12771423e-01 -2.04842439e-03 1.00350393e+02] [-5.06068261e-03 2.05051557e-05 9.99987194e-01 1.46286608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.09687499999998 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:92.37, Y:100.35, Z:14.63 [[-9.12721308e-01 4.08557101e-01 -4.57263340e-03 9.23714715e+01] [-4.08552098e-01 -9.12732762e-01 -2.02205520e-03 1.00351408e+02] [-4.99971732e-03 2.25861021e-05 9.99987501e-01 1.46283514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.12687499999998 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:92.37, Y:100.35, Z:14.63 [[-9.12891465e-01 4.08173164e-01 -4.88273714e-03 9.23652740e+01] [-4.08167467e-01 -9.12904523e-01 -2.15656982e-03 1.00349031e+02] [-5.33772675e-03 2.42602644e-05 9.99985754e-01 1.46283559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.15687499999999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:92.37, Y:100.35, Z:14.63 [[-9.13205279e-01 4.07461770e-01 -5.57003310e-03 9.23662840e+01] [-4.07454364e-01 -9.13222265e-01 -2.45679122e-03 1.00349564e+02] [-6.08772674e-03 2.59795876e-05 9.99981469e-01 1.46281733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.186875 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:92.36, Y:100.35, Z:14.63 [[-9.13737106e-01 4.06263480e-01 -5.87255926e-03 9.23599493e+01] [-4.06255242e-01 -9.13755977e-01 -2.58723665e-03 1.00347263e+02] [-6.41718589e-03 2.17038559e-05 9.99979409e-01 1.46283048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.216875 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:92.35, Y:100.34, Z:14.63 [[-9.14318159e-01 4.04950316e-01 -6.12740649e-03 9.23532248e+01] [-4.04941331e-01 -9.14338691e-01 -2.69756797e-03 1.00344254e+02] [-6.69490583e-03 1.48047625e-05 9.99977589e-01 1.46282129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.246875 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:92.35, Y:100.34, Z:14.63 [[-9.15943472e-01 4.01258966e-01 -6.22883362e-03 9.23469847e+01] [-4.01249631e-01 -9.15964651e-01 -2.73707133e-03 1.00341565e+02] [-6.80366583e-03 -7.68542637e-06 9.99976855e-01 1.46271304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.276875 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:92.34, Y:100.34, Z:14.63 [[-9.16969387e-01 3.98908720e-01 -6.24310484e-03 9.23383546e+01] [-3.98899307e-01 -9.16990640e-01 -2.74045325e-03 1.00337900e+02] [-6.81805940e-03 -2.25415467e-05 9.99976757e-01 1.46270709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.306875 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:92.34, Y:100.34, Z:14.63 [[-9.19049018e-01 3.94084926e-01 -6.78033547e-03 9.23440616e+01] [-3.94073719e-01 -9.19074027e-01 -2.97265681e-03 1.00340142e+02] [-7.40310946e-03 -6.00653054e-05 9.99972595e-01 1.46258879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.336875 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:92.35, Y:100.34, Z:14.63 [[-9.20143049e-01 3.91520614e-01 -6.95544871e-03 9.23456127e+01] [-3.91508773e-01 -9.20169334e-01 -3.04606839e-03 1.00340607e+02] [-7.59278917e-03 -7.96994658e-05 9.99971171e-01 1.46255134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.366875 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:92.32, Y:100.33, Z:14.62 [[-9.21336084e-01 3.88703052e-01 -7.05389789e-03 9.23245787e+01] [-3.88690816e-01 -9.21363081e-01 -3.08588319e-03 1.00331537e+02] [-7.69869331e-03 -1.01350209e-04 9.99970360e-01 1.46245167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.396875 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:92.32, Y:100.33, Z:14.62 [[-9.23132056e-01 3.84417946e-01 -7.07458073e-03 9.23201683e+01] [-3.84405537e-01 -9.23159155e-01 -3.09167186e-03 1.00329267e+02] [-7.71945811e-03 -1.34513397e-04 9.99970196e-01 1.46239221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.426875 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:92.33, Y:100.32, Z:14.60 [[-9.20370208e-01 3.89457635e-01 -3.52339368e-02 9.23259694e+01] [-3.90121656e-01 -9.20653624e-01 1.42125977e-02 1.00317352e+02] [-2.69030469e-02 2.68263733e-02 9.99278025e-01 1.45967447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.456875 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:92.31, Y:100.33, Z:14.64 [[-9.24471343e-01 3.81229684e-01 4.08205221e-03 9.23137619e+01] [-3.81187331e-01 -9.24066174e-01 -2.82475586e-02 1.00334221e+02] [-6.99672148e-03 -2.76700850e-02 9.99592623e-01 1.46369412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.486875 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:92.31, Y:100.33, Z:14.62 [[-9.24960315e-01 3.80006153e-01 -6.61362163e-03 9.23112161e+01] [-3.79995240e-01 -9.24983946e-01 -2.88405617e-03 1.00325658e+02] [-7.21345292e-03 -1.54492766e-04 9.99973971e-01 1.46223797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.516875 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:92.31, Y:100.33, Z:14.62 [[-9.25117516e-01 3.79627107e-01 -6.39066810e-03 9.23143510e+01] [-3.79616928e-01 -9.25139577e-01 -2.78404306e-03 1.00328956e+02] [-6.96915820e-03 -1.49561206e-04 9.99975704e-01 1.46220306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.546875 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:92.31, Y:100.33, Z:14.62 [[-9.25037572e-01 3.79820962e-01 -6.44417144e-03 9.23126590e+01] [-3.79810638e-01 -9.25060006e-01 -2.80429920e-03 1.00329110e+02] [-7.02637689e-03 -1.46517260e-04 9.99975304e-01 1.46221310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.576875 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:92.31, Y:100.33, Z:14.62 [[-9.24778077e-01 3.80438723e-01 -7.20319906e-03 9.23053460e+01] [-3.80425873e-01 -9.24806117e-01 -3.13059693e-03 1.00326238e+02] [-7.85256285e-03 -1.54824113e-04 9.99969156e-01 1.46216400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.606875 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:92.30, Y:100.32, Z:14.62 [[-9.23963506e-01 3.82402170e-01 -7.74726321e-03 9.22976185e+01] [-3.82387409e-01 -9.23995974e-01 -3.36303560e-03 1.00324153e+02] [-8.44447212e-03 -1.44866258e-04 9.99964334e-01 1.46206882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.636875 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:92.34, Y:100.33, Z:14.59 [[-9.18725156e-01 3.92703578e-01 -4.15690789e-02 9.23400789e+01] [-3.93607463e-01 -9.19138025e-01 1.60765403e-02 1.00326968e+02] [-3.18944061e-02 3.11318217e-02 9.99006285e-01 1.45895052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.66687499999998 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:92.30, Y:100.34, Z:14.64 [[-9.22770756e-01 3.85315689e-01 5.09433205e-03 9.23019001e+01] [-3.85268271e-01 -9.22224745e-01 -3.27090192e-02 1.00338242e+02] [-7.90517920e-03 -3.21456109e-02 9.99451934e-01 1.46382408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.69687499999998 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:92.30, Y:100.33, Z:14.62 [[-9.22181308e-01 3.86682256e-01 -7.64647091e-03 9.23043927e+01] [-3.86668086e-01 -9.22213003e-01 -3.31175665e-03 1.00331174e+02] [-8.33227243e-03 -9.73938076e-05 9.99965281e-01 1.46210917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.72687499999998 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:92.32, Y:100.34, Z:14.62 [[-9.21003058e-01 3.89485248e-01 -7.38977233e-03 9.23160672e+01] [-3.89472129e-01 -9.21032702e-01 -3.19734108e-03 1.00338307e+02] [-8.05153916e-03 -6.66505500e-05 9.99967584e-01 1.46208225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.75687499999998 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:92.30, Y:100.33, Z:14.62 [[-9.20407479e-01 3.90893786e-01 -7.21951881e-03 9.23028474e+01] [-3.90881334e-01 -9.20435791e-01 -3.12049236e-03 1.00333167e+02] [-7.86488458e-03 -5.01493645e-05 9.99969070e-01 1.46201993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.78687499999998 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:92.31, Y:100.34, Z:14.62 [[-9.19934996e-01 3.92004835e-01 -7.19810944e-03 9.23108497e+01] [-3.91992516e-01 -9.19963156e-01 -3.10796028e-03 1.00337793e+02] [-7.84033093e-03 -3.75163948e-05 9.99969263e-01 1.46199670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.81687499999998 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:92.29, Y:100.33, Z:14.62 [[-9.19462076e-01 3.93120584e-01 -6.75991209e-03 9.22885883e+01] [-3.93109770e-01 -9.19486925e-01 -2.91601499e-03 1.00329413e+02] [-7.36199630e-03 -2.37777151e-05 9.99972900e-01 1.46194759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.84687499999998 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:92.29, Y:100.33, Z:14.62 [[-9.18654426e-01 3.95004222e-01 -6.76088317e-03 9.22873040e+01] [-3.94993478e-01 -9.18679305e-01 -2.91334707e-03 1.00330572e+02] [-7.36186784e-03 -5.85442171e-06 9.99972901e-01 1.46194992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.87687499999998 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:92.30, Y:100.34, Z:14.62 [[-9.18399316e-01 3.95600105e-01 -6.57666542e-03 9.23015490e+01] [-3.95589975e-01 -9.18422864e-01 -2.83106008e-03 1.00337223e+02] [-7.16012755e-03 1.61926559e-06 9.99974366e-01 1.46198387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.90687499999999 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:92.30, Y:100.34, Z:14.62 [[-9.18296321e-01 3.95840076e-01 -6.51928977e-03 9.23038864e+01] [-3.95830148e-01 -9.18319462e-01 -2.80340491e-03 1.00338750e+02] [-7.09649069e-03 6.17502671e-06 9.99974820e-01 1.46200673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.936875 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:92.29, Y:100.33, Z:14.62 [[-9.18186452e-01 3.96080993e-01 -7.31350212e-03 9.22904146e+01] [-3.96068539e-01 -9.18215578e-01 -3.14090000e-03 1.00333116e+02] [-7.95942236e-03 1.27162715e-05 9.99968323e-01 1.46197757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.966875 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:92.29, Y:100.34, Z:14.62 [[-9.17906428e-01 3.96708967e-01 -8.35374438e-03 9.22940959e+01] [-3.96692787e-01 -9.17944440e-01 -3.58304138e-03 1.00335133e+02] [-9.08969785e-03 2.49734201e-05 9.99958688e-01 1.46202473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.996875 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:92.30, Y:100.34, Z:14.62 [[-9.18033071e-01 3.96404141e-01 -8.89030630e-03 9.23009533e+01] [-3.96385844e-01 -9.18076117e-01 -3.80874597e-03 1.00338082e+02] [-9.67178056e-03 2.74368045e-05 9.99953227e-01 1.46201807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.026875 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:92.30, Y:100.34, Z:14.62 [[-9.18155890e-01 3.96104443e-01 -9.54105000e-03 9.23008095e+01] [-3.96083403e-01 -9.18205461e-01 -4.08278788e-03 1.00337613e+02] [-1.03778546e-02 3.04158077e-05 9.99946148e-01 1.46197232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.056875 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:92.30, Y:100.34, Z:14.62 [[-9.18405156e-01 3.95527742e-01 -9.47500914e-03 9.22994925e+01] [-3.95507004e-01 -9.18454030e-01 -4.05028213e-03 1.00336446e+02] [-1.03043593e-02 2.76324888e-05 9.99946908e-01 1.46196868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.086875 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:92.29, Y:100.33, Z:14.62 [[-9.19351884e-01 3.93315453e-01 -9.75028167e-03 9.22903758e+01] [-3.93293417e-01 -9.19403586e-01 -4.16339310e-03 1.00331646e+02] [-1.06019708e-02 7.09830236e-06 9.99943798e-01 1.46191934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.116875 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:92.26, Y:100.32, Z:14.62 [[-9.19866113e-01 3.92110675e-01 -9.77508387e-03 9.22612821e+01] [-3.92088506e-01 -9.19918050e-01 -4.16956456e-03 1.00318903e+02] [-1.06272069e-02 -2.74311759e-06 9.99943530e-01 1.46180905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.146875 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:92.31, Y:100.32, Z:14.59 [[-9.15454360e-01 4.00351453e-01 -4.07679887e-02 9.23095417e+01] [-4.01123571e-01 -9.15937361e-01 1.25949048e-02 1.00323028e+02] [-3.22985355e-02 2.78830617e-02 9.99089255e-01 1.45891664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.176875 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:92.27, Y:100.33, Z:14.63 [[-9.21605944e-01 3.88122799e-01 1.78239949e-03 9.22741340e+01] [-3.87997808e-01 -9.21171290e-01 -3.00192640e-02 1.00331747e+02] [-1.00092655e-02 -2.83574992e-02 9.99547731e-01 1.46329780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.206875 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:92.27, Y:100.32, Z:14.62 [[-9.22436962e-01 3.86050642e-01 -8.65758986e-03 9.22727498e+01] [-3.86033041e-01 -9.22477587e-01 -3.68678908e-03 1.00322565e+02] [-9.40971989e-03 -5.87147738e-05 9.99955726e-01 1.46174254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.236875 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:92.26, Y:100.32, Z:14.62 [[-9.23380731e-01 3.83788381e-01 -8.63154810e-03 9.22588526e+01] [-3.83770824e-01 -9.23421070e-01 -3.67178413e-03 1.00316311e+02] [-9.37974147e-03 -7.79183882e-05 9.99956006e-01 1.46163937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.266875 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:92.26, Y:100.32, Z:14.62 [[-9.24351781e-01 3.81443490e-01 -8.63993316e-03 9.22594547e+01] [-3.81425834e-01 -9.24392154e-01 -3.67138347e-03 1.00315995e+02] [-9.38711175e-03 -9.81561431e-05 9.99955935e-01 1.46157212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.296875 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:92.26, Y:100.31, Z:14.62 [[-9.25277969e-01 3.79184324e-01 -8.94022458e-03 9.22570280e+01] [-3.79165356e-01 -9.25321152e-01 -3.79466535e-03 1.00314456e+02] [-9.71145652e-03 -1.21296817e-04 9.99952835e-01 1.46154387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.326875 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:92.24, Y:100.31, Z:14.62 [[-9.26519300e-01 3.76149857e-01 -8.55988423e-03 9.22422318e+01] [-3.76132372e-01 -9.26558830e-01 -3.62954334e-03 1.00308121e+02] [-9.29648852e-03 -1.43192399e-04 9.99956776e-01 1.46150027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.356875 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:92.25, Y:100.31, Z:14.62 [[-9.26601853e-01 3.75955067e-01 -8.17271605e-03 9.22539743e+01] [-3.75939152e-01 -9.26637885e-01 -3.46185522e-03 1.00313585e+02] [-8.87465032e-03 -1.35317521e-04 9.99960610e-01 1.46155306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.386875 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:92.25, Y:100.31, Z:14.62 [[-9.26708990e-01 3.75691824e-01 -8.13030392e-03 9.22458530e+01] [-3.75676096e-01 -9.26744644e-01 -3.44015659e-03 1.00310210e+02] [-8.82715432e-03 -1.33663202e-04 9.99961031e-01 1.46156388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.41687499999998 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:92.24, Y:100.31, Z:14.62 [[-9.26808989e-01 3.75446519e-01 -8.06286286e-03 9.22394415e+01] [-3.75431074e-01 -9.26844051e-01 -3.40796212e-03 1.00307674e+02] [-8.75252399e-03 -1.31480660e-04 9.99961687e-01 1.46153264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.44687499999998 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:92.25, Y:100.31, Z:14.61 [[-9.26541879e-01 3.76099686e-01 -8.31704707e-03 9.22494510e+01] [-3.76083315e-01 -9.26579198e-01 -3.51136464e-03 1.00312437e+02] [-9.02702594e-03 -1.25523759e-04 9.99959248e-01 1.46149683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.47687499999998 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:92.24, Y:100.31, Z:14.61 [[-9.26377489e-01 3.76511811e-01 -7.97526459e-03 9.22389313e+01] [-3.76496803e-01 -9.26411811e-01 -3.36362716e-03 1.00308387e+02] [-8.65482466e-03 -1.13326859e-04 9.99962540e-01 1.46147568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.50687499999998 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:92.22, Y:100.30, Z:14.61 [[-9.26197107e-01 3.76955822e-01 -7.95161053e-03 9.22216914e+01] [-3.76940950e-01 -9.26231233e-01 -3.35003044e-03 1.00302247e+02] [-8.62784350e-03 -1.05500875e-04 9.99962774e-01 1.46142337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.53687499999998 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:92.23, Y:100.30, Z:14.59 [[-9.23377624e-01 3.82887938e-01 -2.77595230e-02 9.22298316e+01] [-3.83246110e-01 -9.23604485e-01 8.78492772e-03 1.00295582e+02] [-2.22751771e-02 1.87505349e-02 9.99576027e-01 1.45946499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.56687499999998 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:92.23, Y:100.31, Z:14.63 [[-9.26378553e-01 3.76593573e-01 2.38402688e-04 9.22280314e+01] [-3.76516958e-01 -9.26176942e-01 -2.07666221e-02 1.00311947e+02] [-7.59977335e-03 -1.93275160e-02 9.99784322e-01 1.46253220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.59687499999998 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:92.21, Y:100.30, Z:14.61 [[-9.26755827e-01 3.75602092e-01 -6.83414812e-03 9.22134609e+01] [-3.75591110e-01 -9.26781020e-01 -2.87377582e-03 1.00300437e+02] [-7.41315498e-03 -9.64432094e-05 9.99972518e-01 1.46144080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.62687499999998 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:92.22, Y:100.30, Z:14.61 [[-9.27175231e-01 3.74569691e-01 -6.60592123e-03 9.22163862e+01] [-3.74559425e-01 -9.27198758e-01 -2.77494182e-03 1.00302208e+02] [-7.16441106e-03 -9.85472645e-05 9.99974330e-01 1.46143892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.65687499999999 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:92.21, Y:100.30, Z:14.61 [[-9.27230020e-01 3.74438810e-01 -6.32986293e-03 9.22139251e+01] [-3.74429399e-01 -9.27251621e-01 -2.65626622e-03 1.00301832e+02] [-6.86398483e-03 -9.28830097e-05 9.99976438e-01 1.46147594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.686875 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:92.21, Y:100.30, Z:14.62 [[-9.26775374e-01 3.75570205e-01 -5.86748189e-03 9.22074337e+01] [-3.75562157e-01 -9.26793944e-01 -2.45993418e-03 1.00300198e+02] [-6.36182467e-03 -7.62022682e-05 9.99979761e-01 1.46150364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.716875 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:92.23, Y:100.31, Z:14.62 [[-9.26201501e-01 3.76991493e-01 -5.30988617e-03 9.22251957e+01] [-3.76984936e-01 -9.26216719e-01 -2.22423489e-03 1.00309116e+02] [-5.75662298e-03 -5.83425938e-05 9.99983429e-01 1.46162613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.746875 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:92.22, Y:100.31, Z:14.62 [[-9.26349143e-01 3.76628544e-01 -5.31077357e-03 9.22230956e+01] [-3.76621993e-01 -9.26364365e-01 -2.22211240e-03 1.00308156e+02] [-5.75662235e-03 -5.82977921e-05 9.99983429e-01 1.46162270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.776875 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:92.20, Y:100.29, Z:14.60 [[-9.23802013e-01 3.82241187e-01 -2.19434536e-02 9.22048631e+01] [-3.82478931e-01 -9.23931714e-01 7.74950828e-03 1.00291845e+02] [-1.73120714e-02 1.55519200e-02 9.99729178e-01 1.45988683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.806875 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:92.21, Y:100.30, Z:14.61 [[-9.23580164e-01 3.83016046e-01 -1.72739440e-02 9.22074240e+01] [-3.82974404e-01 -9.23740818e-01 -5.78862976e-03 1.00297447e+02] [-1.81737852e-02 1.26921478e-03 9.99834038e-01 1.46054784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.836875 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:92.24, Y:100.31, Z:14.61 [[-9.23725025e-01 3.82777369e-01 -1.46138321e-02 9.22357446e+01] [-3.82685721e-01 -9.23837302e-01 -8.73380345e-03 1.00311905e+02] [-1.68439055e-02 -2.47512794e-03 9.99855068e-01 1.46090621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.866875 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:92.21, Y:100.31, Z:14.62 [[-9.26362152e-01 3.76632056e-01 1.20762428e-03 9.22126443e+01] [-3.76600824e-01 -9.26233259e-01 -1.62409771e-02 1.00311010e+02] [-4.99833081e-03 -1.54998188e-02 9.99867377e-01 1.46244611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.896875 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:92.22, Y:100.31, Z:14.62 [[-9.26762342e-01 3.75623740e-01 -4.28567584e-03 9.22206907e+01] [-3.75619486e-01 -9.26772250e-01 -1.78834330e-03 1.00310434e+02] [-4.64358964e-03 -4.75858722e-05 9.99989217e-01 1.46165949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.926875 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:92.20, Y:100.29, Z:14.59 [[-9.23615623e-01 3.82288977e-01 -2.80948245e-02 9.22020583e+01] [-3.82726151e-01 -9.23782595e-01 1.21000605e-02 1.00291323e+02] [-2.13277902e-02 2.19284289e-02 9.99532025e-01 1.45938661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.956875 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:92.19, Y:100.30, Z:14.63 [[-9.27069099e-01 3.74865197e-01 4.35537970e-03 9.21863599e+01] [-3.74866642e-01 -9.26816482e-01 -2.20501757e-02 1.00303533e+02] [-4.22920577e-03 -2.20747231e-02 9.99747378e-01 1.46297125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.986875 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:92.20, Y:100.29, Z:14.59 [[-9.23670291e-01 3.81866966e-01 -3.17932863e-02 9.22004560e+01] [-3.82433040e-01 -9.23877854e-01 1.39527721e-02 1.00288946e+02] [-2.40450104e-02 2.50465642e-02 9.99397072e-01 1.45916300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.016875 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:92.20, Y:100.31, Z:14.63 [[-9.27699104e-01 3.73292656e-01 5.19276450e-03 9.22041108e+01] [-3.73298064e-01 -9.27354661e-01 -2.57271860e-02 1.00311609e+02] [-4.78823522e-03 -2.58055363e-02 9.99655514e-01 1.46319835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.046875 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:92.22, Y:100.30, Z:14.59 [[-9.24293534e-01 3.80495710e-01 -3.00745300e-02 9.22151859e+01] [-3.80986635e-01 -9.24495623e-01 1.25310441e-02 1.00295833e+02] [-2.30357628e-02 2.30403570e-02 9.99469107e-01 1.45930017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.076875 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:92.18, Y:100.30, Z:14.63 [[-9.27929295e-01 3.72723030e-01 4.97653186e-03 9.21810797e+01] [-3.72734819e-01 -9.27650078e-01 -2.31103585e-02 1.00301377e+02] [-3.99728269e-03 -2.32997054e-02 9.99720534e-01 1.46295389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.106875 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:92.21, Y:100.31, Z:14.62 [[-9.27738932e-01 3.73217096e-01 -3.07783225e-03 9.22095711e+01] [-3.73214909e-01 -9.27744037e-01 -1.27824376e-03 1.00306147e+02] [-3.33250294e-03 -3.71836189e-05 9.99994447e-01 1.46164330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.136875 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:92.20, Y:100.30, Z:14.62 [[-9.25721599e-01 3.78201668e-01 -1.73764532e-03 9.22024129e+01] [-3.78200977e-01 -9.25723230e-01 -7.23277909e-04 1.00303099e+02] [-1.88212355e-03 -1.23748251e-05 9.99998229e-01 1.46163394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.16687499999998 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:92.22, Y:100.31, Z:14.62 [[-9.25132949e-01 3.79635996e-01 -2.35322167e-03 9.22191523e+01] [-3.79634741e-01 -9.25135941e-01 -9.76421594e-04 1.00311031e+02] [-2.54773473e-03 -9.95508831e-06 9.99996754e-01 1.46179784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.19687499999998 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:92.21, Y:100.31, Z:14.62 [[-9.24669669e-01 3.80761342e-01 -2.60850363e-03 9.22062104e+01] [-3.80759808e-01 -9.24673348e-01 -1.08054549e-03 1.00306127e+02] [-2.82344374e-03 -5.93429385e-06 9.99996014e-01 1.46188694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.22687499999998 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:92.21, Y:100.30, Z:14.62 [[-9.23453730e-01 3.83705952e-01 -1.71783865e-03 9.22055395e+01] [-3.83705290e-01 -9.23455328e-01 -7.12737986e-04 1.00304690e+02] [-1.85982906e-03 9.63223818e-07 9.99998271e-01 1.46186586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.25687499999998 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:92.20, Y:100.30, Z:14.62 [[-9.23034043e-01 3.84714248e-01 -1.76169871e-03 9.21964677e+01] [-3.84713556e-01 -9.23035724e-01 -7.30006556e-04 1.00300561e+02] [-1.90695477e-03 3.92847323e-06 9.99998182e-01 1.46187550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.28687499999998 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:92.17, Y:100.29, Z:14.62 [[-9.22761578e-01 3.85365323e-01 -2.15368740e-03 9.21723894e+01] [-3.85364294e-01 -9.22764091e-01 -8.90272371e-04 1.00290354e+02] [-2.33042550e-03 8.44508741e-06 9.99997285e-01 1.46187077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.31687499999998 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:92.22, Y:100.29, Z:14.59 [[-9.17132715e-01 3.96762795e-01 -3.80377060e-02 9.22221633e+01] [-3.97650017e-01 -9.17334420e-01 1.92879995e-02 1.00291965e+02] [-2.72405364e-02 3.28153497e-02 9.99090139e-01 1.45855919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.34687499999998 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:92.20, Y:100.31, Z:14.64 [[-9.22278887e-01 3.86417937e-01 9.10122741e-03 9.22024040e+01] [-3.86503152e-01 -9.21719893e-01 -3.23689987e-02 1.00310936e+02] [-4.11917935e-03 -3.33708972e-02 9.99434548e-01 1.46374083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.37687499999998 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:92.17, Y:100.27, Z:14.58 [[-9.16980413e-01 3.96952814e-01 -3.96911242e-02 9.21727904e+01] [-3.97919811e-01 -9.17198735e-01 2.01569915e-02 1.00269460e+02] [-2.84032744e-02 3.42774511e-02 9.99008664e-01 1.45832154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.40687499999999 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:92.20, Y:100.31, Z:14.64 [[-9.22233059e-01 3.86512162e-01 9.72285235e-03 9.22004673e+01] [-3.86614881e-01 -9.21641878e-01 -3.32442922e-02 1.00309533e+02] [-3.88833534e-03 -3.44179847e-02 9.99399962e-01 1.46383517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.436875 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:92.23, Y:100.29, Z:14.58 [[-9.17324748e-01 3.96159513e-01 -3.96604045e-02 9.22253582e+01] [-3.97140544e-01 -9.17524414e-01 2.06963154e-02 1.00289715e+02] [-2.81903472e-02 3.47359969e-02 9.98998856e-01 1.45843288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.466875 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:92.18, Y:100.30, Z:14.64 [[-9.23501002e-01 3.83435646e-01 1.10907367e-02 9.21849375e+01] [-3.83588652e-01 -9.22918144e-01 -3.28914174e-02 1.00301941e+02] [-2.37589980e-03 -3.46295377e-02 9.99397394e-01 1.46393621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.496875 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:92.18, Y:100.29, Z:14.62 [[-9.24411557e-01 3.81388871e-01 -2.40874482e-03 9.21799508e+01] [-3.81387584e-01 -9.24414695e-01 -9.90960748e-04 1.00289000e+02] [-2.60462051e-03 2.60980056e-06 9.99996608e-01 1.46202406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.526875 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:92.20, Y:100.29, Z:14.62 [[-9.25394696e-01 3.78999446e-01 -2.01916240e-03 9.21969292e+01] [-3.78998535e-01 -9.25396899e-01 -8.30651053e-04 1.00294875e+02] [-2.18334291e-03 -3.42048625e-06 9.99997617e-01 1.46198466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.556875 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:92.18, Y:100.29, Z:14.62 [[-9.26948273e-01 3.75186535e-01 -1.40093452e-03 9.21810564e+01] [-3.75186091e-01 -9.26949332e-01 -5.77380793e-04 1.00286214e+02] [-1.51522082e-03 -9.59098273e-06 9.99998852e-01 1.46187856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.586875 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:92.19, Y:100.29, Z:14.62 [[-9.27824211e-01 3.73016135e-01 -1.09379573e-03 9.21905625e+01] [-3.73015862e-01 -9.27824856e-01 -4.51524693e-04 1.00289377e+02] [-1.18327686e-03 -1.09323847e-05 9.99999300e-01 1.46186127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.616875 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:92.18, Y:100.28, Z:14.62 [[-9.28669999e-01 3.70906171e-01 -8.02902345e-04 9.21779677e+01] [-3.70906022e-01 -9.28670347e-01 -3.32553873e-04 1.00283834e+02] [-8.68977883e-04 -1.10314908e-05 9.99999622e-01 1.46185144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.646875 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:92.17, Y:100.28, Z:14.62 [[-9.29649436e-01 3.68444401e-01 -8.06477694e-04 9.21695213e+01] [-3.68444250e-01 -9.29649785e-01 -3.33681818e-04 1.00280461e+02] [-8.72685013e-04 -1.30650443e-05 9.99999619e-01 1.46184427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.676875 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:92.16, Y:100.28, Z:14.62 [[-9.31417589e-01 3.63951276e-01 -8.62668160e-04 9.21625917e+01] [-3.63951102e-01 -9.31417988e-01 -3.56173320e-04 1.00277580e+02] [-9.33134376e-04 -1.77770669e-05 9.99999564e-01 1.46194722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.706875 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:92.13, Y:100.26, Z:14.62 [[-9.32362193e-01 3.61524814e-01 -7.41286151e-04 9.21252621e+01] [-3.61524684e-01 -9.32362488e-01 -3.06594140e-04 1.00262297e+02] [-8.01988789e-04 -1.78635434e-05 9.99999678e-01 1.46190699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.736875 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:92.14, Y:100.27, Z:14.62 [[-9.33325535e-01 3.59030310e-01 -8.25466912e-04 9.21404972e+01] [-3.59030149e-01 -9.33325900e-01 -3.40419833e-04 1.00267942e+02] [-8.92650687e-04 -2.13550146e-05 9.99999601e-01 1.46192072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.766875 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:92.15, Y:100.27, Z:14.62 [[-9.33558073e-01 3.58425166e-01 -8.51881937e-04 9.21513065e+01] [-3.58424995e-01 -9.33558461e-01 -3.50667682e-04 1.00271945e+02] [-9.20969712e-04 -2.20328659e-05 9.99999576e-01 1.46190673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.796875 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:92.15, Y:100.27, Z:14.62 [[-9.33736474e-01 3.57960755e-01 -5.43594374e-04 9.21450473e+01] [-3.57960684e-01 -9.33736632e-01 -2.25547087e-04 1.00269719e+02] [-5.88310986e-04 -1.60161278e-05 9.99999827e-01 1.46188965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.826875 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:92.14, Y:100.27, Z:14.62 [[-9.33771256e-01 3.57870407e-01 -1.13066655e-04 9.21414303e+01] [-3.57870403e-01 -9.33771263e-01 -5.13461045e-05 1.00268366e+02] [-1.23953645e-04 -7.48230710e-06 9.99999992e-01 1.46188212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.856875 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:92.15, Y:100.27, Z:14.62 [[-9.33855148e-01 3.57651294e-01 3.37683578e-04 9.21454985e+01] [-3.57651270e-01 -9.33855209e-01 1.30643016e-04 1.00269946e+02] [ 3.62072213e-04 1.22869291e-06 9.99999934e-01 1.46188551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.886875 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:92.14, Y:100.27, Z:14.62 [[-9.33837356e-01 3.57696575e-01 9.76344790e-04 9.21394410e+01] [-3.57696364e-01 -9.33837866e-01 3.87968758e-04 1.00267413e+02] [ 1.05052283e-03 1.30647373e-05 9.99999448e-01 1.46179276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.91687499999998 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:92.43, Y:99.26, Z:15.16 [[-8.91558787e-01 -4.52904936e-01 2.19300558e-04 9.24344687e+01] [-4.52529984e-01 8.90840172e-01 4.02542266e-02 9.92574218e+01] [-1.84266997e-02 3.57897694e-02 -9.99189446e-01 1.51599405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.94687499999998 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:92.46, Y:99.33, Z:14.59 [[-8.78431195e-01 -3.04488074e-01 -3.68301030e-01 9.24572329e+01] [-4.67955256e-01 3.91933374e-01 7.92089710e-01 9.93275428e+01] [-9.68324050e-02 8.68144713e-01 -4.86773297e-01 1.45884427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.97687499999998 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:91.97, Y:100.25, Z:14.65 [[-8.84878050e-01 4.62671572e-01 -5.40911597e-02 9.19734044e+01] [-4.61748066e-01 -8.86529314e-01 -2.92318221e-02 1.00247186e+02] [-6.14781317e-02 -8.90109372e-04 9.98108034e-01 1.46453475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.00687499999998 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:91.98, Y:100.23, Z:14.61 [[-8.77118145e-01 4.72179005e-01 -8.78108596e-02 9.19759214e+01] [-4.72805057e-01 -8.81041983e-01 -1.48459170e-02 1.00232168e+02] [-8.43749842e-02 2.84957954e-02 9.96026532e-01 1.46149828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.03687499999998 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:91.98, Y:100.26, Z:14.66 [[-8.83446781e-01 4.66831143e-01 -3.98806888e-02 9.19756130e+01] [-4.64488654e-01 -8.83802900e-01 -5.60600120e-02 1.00259222e+02] [-6.14172279e-02 -3.10019097e-02 9.97630596e-01 1.46629201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.06687499999998 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:91.96, Y:100.24, Z:14.64 [[-8.82688133e-01 4.66818744e-01 -5.42394705e-02 9.19586266e+01] [-4.65903536e-01 -8.84352863e-01 -2.92217119e-02 1.00240875e+02] [-6.16080739e-02 -5.23297282e-04 9.98100281e-01 1.46440269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.09687499999998 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:91.96, Y:100.24, Z:14.64 [[-8.82342721e-01 4.67504530e-01 -5.39521714e-02 9.19552900e+01] [-4.66602195e-01 -8.83990564e-01 -2.90357545e-02 1.00239133e+02] [-6.12675571e-02 -4.45285071e-04 9.98121279e-01 1.46437147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.12687499999998 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:92.00, Y:100.24, Z:14.61 [[-8.72797364e-01 4.78408921e-01 -9.66936700e-02 9.20042036e+01] [-4.79778218e-01 -8.77331944e-01 -1.00757871e-02 1.00243204e+02] [-8.96527919e-02 3.75973963e-02 9.95263188e-01 1.46079082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.15687499999999 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:91.96, Y:100.25, Z:14.67 [[-8.81878497e-01 4.70176444e-01 -3.49918130e-02 9.19601019e+01] [-4.67565025e-01 -8.81690337e-01 -6.32858264e-02 1.00254142e+02] [-6.06074482e-02 -3.94494616e-02 9.97381811e-01 1.46660229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.186875 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:91.94, Y:100.23, Z:14.64 [[-8.82142965e-01 4.67993292e-01 -5.29723369e-02 9.19388737e+01] [-4.67128278e-01 -8.83731950e-01 -2.84431579e-02 1.00231487e+02] [-6.01245537e-02 -3.46055109e-04 9.98190823e-01 1.46428398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.216875 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:91.97, Y:100.25, Z:14.65 [[-8.82327099e-01 4.67652787e-01 -5.29127648e-02 9.19685336e+01] [-4.66790713e-01 -8.83912185e-01 -2.83844803e-02 1.00247269e+02] [-6.00443189e-02 -3.45208970e-04 9.98195652e-01 1.46452160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.246875 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:91.96, Y:100.24, Z:14.64 [[-8.82597001e-01 4.67099944e-01 -5.32933052e-02 9.19638514e+01] [-4.66226059e-01 -8.84204452e-01 -2.85613368e-02 1.00244387e+02] [-6.04631765e-02 -3.61422533e-04 9.98170363e-01 1.46445152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.276875 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:91.96, Y:100.24, Z:14.64 [[-8.83123807e-01 4.66158646e-01 -5.28058560e-02 9.19641342e+01] [-4.65300572e-01 -8.84701055e-01 -2.82740242e-02 1.00244248e+02] [-5.98975774e-02 -3.98868890e-04 9.98204449e-01 1.46444340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.306875 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:91.96, Y:100.24, Z:14.64 [[-8.84007070e-01 4.64409344e-01 -5.34365115e-02 9.19563766e+01] [-4.63529074e-01 -8.85620523e-01 -2.85847226e-02 1.00239906e+02] [-6.05994835e-02 -4.99720165e-04 9.98162037e-01 1.46434221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.336875 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:91.95, Y:100.24, Z:14.64 [[-8.84363959e-01 4.63675123e-01 -5.39051809e-02 9.19510821e+01] [-4.62779625e-01 -8.86005135e-01 -2.88083401e-02 1.00237735e+02] [-6.11179777e-02 -5.30838357e-04 9.98130408e-01 1.46433251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.366875 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:91.95, Y:100.24, Z:14.64 [[-8.84499076e-01 4.63219283e-01 -5.55812944e-02 9.19535233e+01] [-4.62268100e-01 -8.86243527e-01 -2.96751529e-02 1.00239543e+02] [-6.30046655e-02 -5.54186000e-04 9.98013079e-01 1.46440141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.396875 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:91.93, Y:100.23, Z:14.64 [[-8.84694392e-01 4.62779497e-01 -5.61335010e-02 9.19330100e+01] [-4.61810221e-01 -8.86473246e-01 -2.99416655e-02 1.00228255e+02] [-6.36172357e-02 -5.66199066e-04 9.97974211e-01 1.46415436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.426875 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:91.95, Y:100.24, Z:14.64 [[-8.84990769e-01 4.62136721e-01 -5.67537766e-02 9.19529810e+01] [-4.61146376e-01 -8.86808490e-01 -3.02443606e-02 1.00239280e+02] [-6.43067606e-02 -5.94181554e-04 9.97930001e-01 1.46430371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.456875 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:91.97, Y:100.23, Z:14.61 [[-8.78340232e-01 4.69290779e-01 -9.10197837e-02 9.19689573e+01] [-4.70006695e-01 -8.82539707e-01 -1.47435768e-02 1.00231266e+02] [-8.72475978e-02 2.98300311e-02 9.95739939e-01 1.46129945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.486875 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:91.94, Y:100.24, Z:14.66 [[-8.85129785e-01 4.63391365e-01 -4.25876406e-02 9.19361503e+01] [-4.60848012e-01 -8.85590253e-01 -5.78706549e-02 1.00241335e+02] [-6.45319613e-02 -3.15966108e-02 9.97415300e-01 1.46592795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.516875 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:91.93, Y:100.23, Z:14.64 [[-8.85634280e-01 4.60845265e-01 -5.72150693e-02 9.19282132e+01] [-4.59840842e-01 -8.87480280e-01 -3.04163223e-02 1.00227841e+02] [-6.47944638e-02 -6.27912064e-04 9.97898433e-01 1.46407371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.546875 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:91.93, Y:100.23, Z:14.64 [[-8.85979164e-01 4.60256551e-01 -5.66112014e-02 9.19304864e+01] [-4.59273836e-01 -8.87785728e-01 -3.00673335e-02 1.00229198e+02] [-6.40973039e-02 -6.38987352e-04 9.97943449e-01 1.46405321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.576875 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:91.94, Y:100.23, Z:14.62 [[-8.82143946e-01 4.64724468e-01 -7.65063891e-02 9.19447947e+01] [-4.64727629e-01 -8.85253037e-01 -1.88491756e-02 1.00225561e+02] [-7.64871864e-02 1.89269466e-02 9.96890907e-01 1.46202711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.606875 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:91.95, Y:100.23, Z:14.62 [[-8.80321093e-01 4.68117073e-01 -7.68191330e-02 9.19473798e+01] [-4.67115830e-01 -8.83629948e-01 -3.16372610e-02 1.00229032e+02] [-8.26896285e-02 8.03248485e-03 9.96542977e-01 1.46216610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.636875 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:91.93, Y:100.24, Z:14.66 [[-8.86229896e-01 4.61486003e-01 -4.03390609e-02 9.19307447e+01] [-4.59198083e-01 -8.86635528e-01 -5.49050183e-02 1.00239108e+02] [-6.11039421e-02 -3.01348493e-02 9.97676400e-01 1.46550677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.66687499999998 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:91.93, Y:100.23, Z:14.64 [[-8.86601989e-01 4.59341879e-01 -5.42397634e-02 9.19336051e+01] [-4.58444602e-01 -8.88259365e-01 -2.87027413e-02 1.00231430e+02] [-6.13633489e-02 -5.81980774e-04 9.98115324e-01 1.46387286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.69687499999998 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:91.93, Y:100.21, Z:14.61 [[-8.81009702e-01 4.65523050e-01 -8.43219778e-02 9.19252964e+01] [-4.66127593e-01 -8.84613303e-01 -1.35783267e-02 1.00212112e+02] [-8.09133674e-02 2.73421630e-02 9.96346041e-01 1.46089683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.72687499999998 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:91.89, Y:100.22, Z:14.65 [[-8.86498418e-01 4.61005521e-01 -3.99307519e-02 9.18938479e+01] [-4.58835466e-01 -8.86929741e-01 -5.31568413e-02 1.00221069e+02] [-5.99213688e-02 -2.88018106e-02 9.97787495e-01 1.46523023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.75687499999998 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:91.90, Y:100.22, Z:14.64 [[-8.86675142e-01 4.59268047e-01 -5.36661421e-02 9.18989267e+01] [-4.58395583e-01 -8.88297596e-01 -2.82996614e-02 1.00215547e+02] [-6.06686353e-02 -4.92283824e-04 9.98157840e-01 1.46373382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.78687499999998 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:91.92, Y:100.21, Z:14.61 [[-8.81029925e-01 4.65612711e-01 -8.36126439e-02 9.19179186e+01] [-4.66121452e-01 -8.84601451e-01 -1.45280785e-02 1.00209868e+02] [-8.07283241e-02 2.61739751e-02 9.96392423e-01 1.46109054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.81687499999998 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:91.89, Y:100.22, Z:14.65 [[-8.86489945e-01 4.60818138e-01 -4.22163643e-02 9.18856236e+01] [-4.58589143e-01 -8.87062907e-01 -5.30603106e-02 1.00216174e+02] [-6.18997244e-02 -2.76774655e-02 9.97698543e-01 1.46507362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.84687499999998 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:91.91, Y:100.20, Z:14.61 [[-8.81449935e-01 4.64555477e-01 -8.50542188e-02 9.19075906e+01] [-4.65114785e-01 -8.85134424e-01 -1.43278900e-02 1.00203746e+02] [-8.19405167e-02 2.69306570e-02 9.96273302e-01 1.46094826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.87687499999998 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:91.92, Y:100.22, Z:14.63 [[-8.82302161e-01 4.65442758e-01 -7.00423859e-02 9.19164972e+01] [-4.63650036e-01 -8.85070338e-01 -4.09773283e-02 1.00218958e+02] [-8.10650388e-02 -3.67923060e-03 9.96702023e-01 1.46281549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.90687499999999 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:91.90, Y:100.22, Z:14.65 [[-8.88205809e-01 4.57323789e-01 -4.41066141e-02 9.19009518e+01] [-4.55065894e-01 -8.88899321e-01 -5.26595644e-02 1.00222773e+02] [-6.32888108e-02 -2.67011153e-02 9.97637999e-01 1.46525079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.936875 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:91.87, Y:100.20, Z:14.64 [[-8.89097579e-01 4.54237171e-01 -5.63390415e-02 9.18744692e+01] [-4.53277892e-01 -8.90880518e-01 -2.95136323e-02 1.00200200e+02] [-6.35975433e-02 -7.03257031e-04 9.97975379e-01 1.46356506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.966875 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:91.88, Y:100.20, Z:14.64 [[-8.89994725e-01 4.52515342e-01 -5.60290493e-02 9.18795952e+01] [-4.51564950e-01 -8.91756261e-01 -2.93234711e-02 1.00202129e+02] [-6.32335760e-02 -7.96979728e-04 9.97998437e-01 1.46356943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.996875 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:91.83, Y:100.17, Z:14.63 [[-8.91340317e-01 4.49916751e-01 -5.55639954e-02 9.18254139e+01] [-4.48978780e-01 -8.93069996e-01 -2.90523106e-02 1.00171829e+02] [-6.26936583e-02 -9.48440855e-04 9.98032367e-01 1.46295896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.026875 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:91.86, Y:100.19, Z:14.63 [[-8.92031175e-01 4.48516704e-01 -5.57956034e-02 9.18577122e+01] [-4.47569967e-01 -8.93773861e-01 -2.91446252e-02 1.00188112e+02] [-6.29405032e-02 -1.02547789e-03 9.98016754e-01 1.46322697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.056875 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:91.85, Y:100.18, Z:14.63 [[-8.92724921e-01 4.47129564e-01 -5.58334023e-02 9.18458017e+01] [-4.46180674e-01 -8.94468528e-01 -2.91351814e-02 1.00181340e+02] [-6.29684221e-02 -1.09791743e-03 9.98014916e-01 1.46316195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.086875 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:91.82, Y:100.17, Z:14.63 [[-8.93397476e-01 4.45766017e-01 -5.59786391e-02 9.18248101e+01] [-4.44811322e-01 -8.95148751e-01 -2.91822267e-02 1.00169928e+02] [-6.31176538e-02 -1.17139522e-03 9.98005406e-01 1.46295825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.116875 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:91.86, Y:100.19, Z:14.63 [[-8.94699266e-01 4.43055862e-01 -5.66985576e-02 9.18642855e+01] [-4.42072858e-01 -8.96492984e-01 -2.95282694e-02 1.00189378e+02] [-6.39125319e-02 -1.35402761e-03 9.97954586e-01 1.46331609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.146875 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:91.84, Y:100.17, Z:14.63 [[-8.95228688e-01 4.41929954e-01 -5.71271497e-02 9.18376942e+01] [-4.40931929e-01 -8.97048446e-01 -2.97173262e-02 1.00174887e+02] [-6.43787974e-02 -1.41461869e-03 9.97924531e-01 1.46313578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.176875 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:91.86, Y:100.19, Z:14.63 [[-8.95561045e-01 4.41217476e-01 -5.74243241e-02 9.18647103e+01] [-4.40209393e-01 -8.97399042e-01 -2.98437460e-02 1.00188187e+02] [-6.47001157e-02 -1.44816956e-03 9.97903702e-01 1.46335849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.206875 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:91.87, Y:100.19, Z:14.63 [[-8.95925191e-01 4.40416078e-01 -5.78941349e-02 9.18681417e+01] [-4.39392232e-01 -8.97792557e-01 -3.00498064e-02 1.00189566e+02] [-6.52113413e-02 -1.48414543e-03 9.97870372e-01 1.46342954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.236875 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:91.85, Y:100.18, Z:14.63 [[-8.96188159e-01 4.39881894e-01 -5.78852606e-02 9.18482414e+01] [-4.38859424e-01 -8.98054392e-01 -3.00119204e-02 1.00178446e+02] [-6.51858129e-02 -1.49283559e-03 9.97872027e-01 1.46327055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.266875 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:91.83, Y:100.17, Z:14.63 [[-8.96298914e-01 4.39719047e-01 -5.74057101e-02 9.18316447e+01] [-4.38714981e-01 -8.98134182e-01 -2.97347785e-02 1.00169495e+02] [-6.46329790e-02 -1.46650466e-03 9.97908026e-01 1.46309187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.296875 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:91.84, Y:100.16, Z:14.61 [[-8.93500429e-01 4.42690342e-01 -7.53806651e-02 9.18402460e+01] [-4.42534491e-01 -8.96535675e-01 -1.96725122e-02 1.00164176e+02] [-7.62902866e-02 1.57811462e-02 9.96960755e-01 1.46143239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.326875 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:91.81, Y:100.16, Z:14.64 [[-8.97493950e-01 4.38400095e-01 -4.80621173e-02 9.18135190e+01] [-4.36419565e-01 -8.98539710e-01 -4.65226200e-02 1.00164317e+02] [-6.35812419e-02 -2.07785217e-02 9.97760331e-01 1.46408264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.356875 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:91.83, Y:100.17, Z:14.63 [[-8.97305980e-01 4.37659881e-01 -5.74091223e-02 9.18338403e+01] [-4.36671866e-01 -8.99139620e-01 -2.94215064e-02 1.00168214e+02] [-6.44954294e-02 -1.33114503e-03 9.97917115e-01 1.46321837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.386875 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:91.81, Y:100.15, Z:14.63 [[-8.96922202e-01 4.38435327e-01 -5.74893712e-02 9.18073528e+01] [-4.37448013e-01 -8.98761870e-01 -2.94336015e-02 1.00154334e+02] [-6.45739855e-02 -1.25103947e-03 9.97912138e-01 1.46301305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.41687499999998 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:91.80, Y:100.15, Z:14.63 [[-8.95677257e-01 4.41069623e-01 -5.67436240e-02 9.18018300e+01] [-4.40114848e-01 -8.97472308e-01 -2.90237472e-02 1.00151529e+02] [-6.37273245e-02 -1.02219887e-03 9.97966825e-01 1.46304260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.44687499999998 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:91.83, Y:100.17, Z:14.63 [[-8.95020437e-01 4.42410665e-01 -5.66676346e-02 9.18304175e+01] [-4.41462970e-01 -8.96812129e-01 -2.89560330e-02 1.00166348e+02] [-6.36306798e-02 -8.99578964e-04 9.97973110e-01 1.46330792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.47687499999998 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:91.84, Y:100.17, Z:14.63 [[-8.94452444e-01 4.43648747e-01 -5.59518971e-02 9.18389691e+01] [-4.42728950e-01 -8.96200416e-01 -2.85638266e-02 1.00170838e+02] [-6.28164193e-02 -7.77459863e-04 9.98024796e-01 1.46338622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.50687499999998 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:91.82, Y:100.16, Z:14.63 [[-8.93430586e-01 4.45711248e-01 -5.58862393e-02 9.18219821e+01] [-4.44799905e-01 -8.95176588e-01 -2.84942153e-02 1.00161933e+02] [-6.27282453e-02 -5.99409518e-04 9.98030464e-01 1.46325486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.53687499999998 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:91.84, Y:100.17, Z:14.63 [[-8.92415786e-01 4.47663675e-01 -5.64915746e-02 9.18350692e+01] [-4.46738161e-01 -8.94201900e-01 -2.87745851e-02 1.00168951e+02] [-6.33962099e-02 -4.41951875e-04 9.97988339e-01 1.46337189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.56687499999998 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:91.85, Y:100.18, Z:14.64 [[-8.90064833e-01 4.52384676e-01 -5.59705097e-02 9.18482399e+01] [-4.51487198e-01 -8.91822908e-01 -2.84817710e-02 1.00176777e+02] [-6.28004995e-02 -8.06541861e-05 9.98026097e-01 1.46362386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.59687499999998 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:91.83, Y:100.17, Z:14.64 [[-8.88828769e-01 4.54792890e-01 -5.60967578e-02 9.18330359e+01] [-4.53897867e-01 -8.90597224e-01 -2.85186230e-02 1.00169774e+02] [-6.29296837e-02 1.14026112e-04 9.98017957e-01 1.46353291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.62687499999998 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:91.88, Y:100.18, Z:14.61 [[-8.80084248e-01 4.65775030e-01 -9.22243872e-02 9.18838026e+01] [-4.66734557e-01 -8.84313275e-01 -1.22018793e-02 1.00182186e+02] [-8.72385805e-02 3.23056267e-02 9.95663486e-01 1.46071998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.65687499999999 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:91.80, Y:100.14, Z:14.61 [[-8.75572393e-01 4.75052304e-01 -8.77399170e-02 9.17964467e+01] [-4.73831240e-01 -8.79896004e-01 -3.55946386e-02 1.00143354e+02] [-9.41113174e-02 1.04082308e-02 9.95507272e-01 1.46052828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.686875 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:91.84, Y:100.19, Z:14.66 [[-8.85309477e-01 4.63538829e-01 -3.68630451e-02 9.18375261e+01] [-4.60650159e-01 -8.85084069e-01 -6.65403755e-02 1.00188514e+02] [-6.34709416e-02 -4.19278575e-02 9.97102550e-01 1.46600914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.716875 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:91.83, Y:100.17, Z:14.64 [[-8.85093079e-01 4.61990669e-01 -5.63459348e-02 9.18315477e+01] [-4.61112060e-01 -8.86884454e-01 -2.84891810e-02 1.00173636e+02] [-6.31340694e-02 7.66213148e-04 9.98004761e-01 1.46351827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.746875 meters Centerline goodness : 0.998402 Centerline is valid? [True, True] Translation: X:91.81, Y:100.17, Z:14.63 [[-8.84606135e-01 4.62975986e-01 -5.59036909e-02 9.18124490e+01] [-4.62114759e-01 -8.86370413e-01 -2.82390044e-02 1.00165149e+02] [-6.26253585e-02 8.53524137e-04 9.98036741e-01 1.46341362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.776875 meters Centerline goodness : 0.997878 Centerline is valid? [True, True] Translation: X:91.87, Y:100.18, Z:14.60 [[-8.77715214e-01 4.70163174e-01 -9.25342814e-02 9.18697650e+01] [-4.71329761e-01 -8.81898212e-01 -1.01882277e-02 1.00176636e+02] [-8.63959468e-02 3.46717983e-02 9.95657374e-01 1.46040742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.806875 meters Centerline goodness : 0.998494 Centerline is valid? [True, True] Translation: X:91.82, Y:100.18, Z:14.66 [[-8.84860629e-01 4.64150635e-01 -3.98227976e-02 9.18237046e+01] [-4.61659988e-01 -8.85128350e-01 -5.84624665e-02 1.00181619e+02] [-6.23836781e-02 -3.33465426e-02 9.97495005e-01 1.46550495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.836875 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:91.83, Y:100.18, Z:14.64 [[-8.85875985e-01 4.60726608e-01 -5.43574469e-02 9.18322456e+01] [-4.59911080e-01 -8.87541818e-01 -2.74102223e-02 1.00176468e+02] [-6.08731260e-02 7.17534404e-04 9.98145254e-01 1.46357124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.866875 meters Centerline goodness : 0.997669 Centerline is valid? [True, True] Translation: X:91.82, Y:100.17, Z:14.63 [[-8.88832728e-01 4.55329529e-01 -5.14917729e-02 9.18193509e+01] [-4.54589994e-01 -8.90322918e-01 -2.59429959e-02 1.00172240e+02] [-5.76569176e-02 3.48660959e-04 9.98336395e-01 1.46322403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.896875 meters Centerline goodness : 0.994575 Centerline is valid? [True, True] Translation: X:91.93, Y:100.20, Z:14.60 [[-8.73876027e-01 4.77428524e-01 -9.16662061e-02 9.19320019e+01] [-4.78763169e-01 -8.77905217e-01 -8.26188517e-03 1.00202140e+02] [-8.44187002e-02 3.66665399e-02 9.95755516e-01 1.46003246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.926875 meters Centerline goodness : 0.996602 Centerline is valid? [True, True] Translation: X:91.80, Y:100.18, Z:14.65 [[-8.91440369e-01 4.52000829e-01 -3.20829967e-02 9.18023127e+01] [-4.49829278e-01 -8.91250851e-01 -5.76675098e-02 1.00175546e+02] [-5.46597604e-02 -3.69752750e-02 9.97820194e-01 1.46505651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.956875 meters Centerline goodness : 0.993657 Centerline is valid? [True, True] Translation: X:91.90, Y:100.19, Z:14.60 [[-8.78685939e-01 4.69069535e-01 -8.87963516e-02 9.18974266e+01] [-4.69452157e-01 -8.82777877e-01 -1.78295505e-02 1.00186173e+02] [-8.67507537e-02 2.60190634e-02 9.95890212e-01 1.45967812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.986875 meters Centerline goodness : 0.993644 Centerline is valid? [True, True] Translation: X:91.91, Y:100.20, Z:14.60 [[-8.78642268e-01 4.70454137e-01 -8.16129221e-02 9.19070783e+01] [-4.68804773e-01 -8.82417354e-01 -3.95183257e-02 1.00197365e+02] [-9.06082186e-02 3.53805609e-03 9.95880331e-01 1.46049101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.016875 meters Centerline goodness : 0.994606 Centerline is valid? [True, True] Translation: X:91.87, Y:100.19, Z:14.61 [[-8.82261368e-01 4.66084991e-01 -6.61789888e-02 9.18735054e+01] [-4.63526520e-01 -8.84627309e-01 -5.07709467e-02 1.00188546e+02] [-8.22073170e-02 -1.41175285e-02 9.96515255e-01 1.46141463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.046875 meters Centerline goodness : 0.994567 Centerline is valid? [True, True] Translation: X:91.88, Y:100.19, Z:14.61 [[-8.84828435e-01 4.61410938e-01 -6.46419877e-02 9.18769463e+01] [-4.59406801e-01 -8.87139137e-01 -4.39265665e-02 1.00188366e+02] [-7.76146355e-02 -9.17050631e-03 9.96941257e-01 1.46128751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.076875 meters Centerline goodness : 0.993606 Centerline is valid? [True, True] Translation: X:91.29, Y:99.91, Z:14.56 [[-9.05180974e-01 4.20340605e-01 -6.29379048e-02 9.12870233e+01] [-4.18901174e-01 -9.07349812e-01 -3.51870067e-02 9.99145903e+01] [-7.18972238e-02 -5.48584678e-03 9.97396959e-01 1.45629645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.106875 meters Centerline goodness : 0.991305 Centerline is valid? [True, True] Translation: X:92.10, Y:99.37, Z:15.39 [[-8.76505211e-01 -4.14159080e-01 2.45379036e-01 9.21003592e+01] [-4.79768695e-01 7.93375247e-01 -3.74670143e-01 9.93702958e+01] [-3.95046116e-02 -4.46125513e-01 -8.94098100e-01 1.53926191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.136875 meters Centerline goodness : 0.993466 Centerline is valid? [True, True] Translation: X:92.07, Y:99.22, Z:15.25 [[-8.37245324e-01 -5.36710178e-01 1.04701732e-01 9.20720927e+01] [-5.46204043e-01 8.29958196e-01 -1.13271953e-01 9.92236223e+01] [-2.61038508e-02 -1.52024923e-01 -9.88031888e-01 1.52528032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.16687499999998 meters Centerline goodness : 0.991930 Centerline is valid? [True, True] Translation: X:92.05, Y:99.12, Z:15.04 [[-7.94566497e-01 -5.99185414e-01 -9.81881962e-02 9.20500692e+01] [-6.05007691e-01 7.67648682e-01 2.11379269e-01 9.91155724e+01] [-5.12813353e-02 2.27359499e-01 -9.72459708e-01 1.50430724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.19687499999998 meters Centerline goodness : 0.988903 Centerline is valid? [True, True] Translation: X:91.90, Y:99.16, Z:15.24 [[-7.52995818e-01 -6.48927365e-01 1.09043909e-01 9.18970043e+01] [-6.57387014e-01 7.49161685e-01 -8.12347461e-02 9.91643767e+01] [-2.89760688e-02 -1.32853474e-01 -9.90712038e-01 1.52387527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.22687499999998 meters Centerline goodness : 0.990382 Centerline is valid? [True, True] Translation: X:91.84, Y:99.04, Z:15.10 [[-7.00561311e-01 -7.10626398e-01 -6.49920960e-02 9.18355845e+01] [-7.12366400e-01 6.91115097e-01 1.22041119e-01 9.90359064e+01] [-4.18086221e-02 1.31795472e-01 -9.90394867e-01 1.50955813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.25687499999998 meters Centerline goodness : 0.989085 Centerline is valid? [True, True] Translation: X:91.76, Y:99.00, Z:15.08 [[-6.45949896e-01 -7.59459991e-01 -7.72609482e-02 9.17584842e+01] [-7.61463079e-01 6.33851940e-01 1.35667600e-01 9.89975702e+01] [-5.40621124e-02 1.46465832e-01 -9.87737338e-01 1.50841938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.28687499999998 meters Centerline goodness : 0.989432 Centerline is valid? [True, True] Translation: X:91.67, Y:98.93, Z:15.08 [[-5.90225457e-01 -8.01971206e-01 -9.20657105e-02 9.16680907e+01] [-8.04806500e-01 5.75761410e-01 1.44171069e-01 9.89319343e+01] [-6.26131632e-02 1.59188518e-01 -9.85260680e-01 1.50760790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.31687499999998 meters Centerline goodness : 0.988522 Centerline is valid? [True, True] Translation: X:91.60, Y:98.83, Z:14.95 [[-5.29820295e-01 -8.08439096e-01 -2.56352654e-01 9.16021011e+01] [-8.42577810e-01 4.67275740e-01 2.67798466e-01 9.88285725e+01] [-9.67113735e-02 3.57882119e-01 -9.28745013e-01 1.49542509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.34687499999998 meters Centerline goodness : 0.991020 Centerline is valid? [True, True] Translation: X:91.50, Y:98.80, Z:15.08 [[-4.72359020e-01 -8.78544727e-01 -7.09656216e-02 9.15042596e+01] [-8.75669792e-01 4.58590313e-01 1.51318673e-01 9.88049580e+01] [-1.00396076e-01 1.33619191e-01 -9.85934349e-01 1.50829123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.37687499999998 meters Centerline goodness : 0.988379 Centerline is valid? [True, True] Translation: X:91.44, Y:98.73, Z:15.03 [[-0.40717635 -0.90332566 -0.13494504 91.44367841] [-0.90576972 0.38037042 0.18681423 98.72840081] [-0.11742499 0.19829546 -0.97308288 15.03488608] [ 0. 0. 0. 1. ]] SLAMing on 246.40687499999999 meters Centerline goodness : 0.987259 Centerline is valid? [True, True] Translation: X:91.38, Y:98.61, Z:14.96 [[-0.33886995 -0.91008519 -0.23856256 91.37872708] [-0.92964651 0.2849119 0.23362915 98.605686 ] [-0.14465312 0.30094875 -0.9426056 14.95938483] [ 0. 0. 0. 1. ]] SLAMing on 246.436875 meters Centerline goodness : 0.988912 Centerline is valid? [True, True] Translation: X:91.26, Y:98.49, Z:15.06 [[-2.72892297e-01 -9.60386804e-01 -5.64533546e-02 9.12649329e+01] [-9.51012397e-01 2.60436832e-01 1.66577540e-01 9.84912441e+01] [-1.45276338e-01 9.91455675e-02 -9.84410962e-01 1.50561989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.466875 meters Centerline goodness : 0.992640 Centerline is valid? [True, True] Translation: X:91.23, Y:98.44, Z:15.04 [[-2.06328915e-01 -9.75593302e-01 -7.51404501e-02 9.12267007e+01] [-9.66602562e-01 1.91291729e-01 1.70548999e-01 9.84419482e+01] [-1.52012714e-01 1.07820142e-01 -9.82480001e-01 1.50392629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.496875 meters Centerline goodness : 0.987369 Centerline is valid? [True, True] Translation: X:91.20, Y:98.32, Z:14.92 [[-1.36763458e-01 -9.57971560e-01 -2.52163135e-01 9.12028636e+01] [-9.74592137e-01 8.45375881e-02 2.07421222e-01 9.83218023e+01] [-1.77386368e-01 2.74123852e-01 -9.45193203e-01 1.49204228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.526875 meters Centerline goodness : 0.988215 Centerline is valid? [True, True] Translation: X:91.17, Y:98.16, Z:14.81 [[-6.95530067e-02 -9.17929167e-01 -3.90600082e-01 9.11716431e+01] [-9.74947061e-01 -2.03806100e-02 2.21501377e-01 9.81592336e+01] [-2.11283242e-01 3.96220488e-01 -8.93514810e-01 1.48116367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.556875 meters Centerline goodness : 0.988215 Centerline is valid? [True, True] Translation: X:91.10, Y:98.02, Z:14.94 [[ 3.01796954e-04 -9.88710118e-01 -1.49840621e-01 9.10953192e+01] [-9.75837775e-01 -3.30307741e-02 2.15985195e-01 9.80230584e+01] [-2.18496099e-01 1.46154954e-01 -9.64830650e-01 1.49383174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.586875 meters Centerline goodness : 0.990764 Centerline is valid? [True, True] Translation: X:90.98, Y:97.94, Z:15.07 [[ 6.15150099e-02 -9.88456929e-01 1.38451450e-01 9.09765534e+01] [-9.77825734e-01 -3.18617455e-02 2.06982279e-01 9.79372947e+01] [-2.00181763e-01 -1.48113907e-01 -9.68498597e-01 1.50678932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.616875 meters Centerline goodness : 0.990083 Centerline is valid? [True, True] Translation: X:91.02, Y:97.97, Z:15.01 [[ 1.37413653e-01 -9.90429489e-01 1.29195788e-02 9.10169481e+01] [-9.70355471e-01 -1.31987597e-01 2.02458723e-01 9.79734697e+01] [-1.98815866e-01 -4.03571767e-02 -9.79205571e-01 1.50121531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.646875 meters Centerline goodness : 0.990310 Centerline is valid? [True, True] Translation: X:91.03, Y:98.00, Z:14.98 [[ 2.11439386e-01 -9.75097371e-01 -6.69216159e-02 9.10347210e+01] [-9.56497878e-01 -2.20515424e-01 1.91009834e-01 9.80020886e+01] [-2.01010435e-01 2.36233817e-02 -9.79304213e-01 1.49750289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.676875 meters Centerline goodness : 0.990742 Centerline is valid? [True, True] Translation: X:91.05, Y:98.03, Z:14.92 [[ 0.28583154 -0.9448586 -0.15982037 91.0511741 ] [-0.93486471 -0.31158469 0.17012628 98.03402556] [-0.21054286 0.10078297 -0.9723757 14.92491089] [ 0. 0. 0. 1. ]] SLAMing on 246.706875 meters Centerline goodness : 0.989702 Centerline is valid? [True, True] Translation: X:91.04, Y:98.05, Z:14.93 [[ 3.55718510e-01 -9.20551936e-01 -1.61395402e-01 9.10421739e+01] [-9.09102719e-01 -3.80875077e-01 1.68719951e-01 9.80501690e+01] [-2.16786963e-01 8.67081893e-02 -9.72360583e-01 1.49296683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.736875 meters Centerline goodness : 0.988961 Centerline is valid? [True, True] Translation: X:91.04, Y:98.07, Z:14.90 [[ 0.42465582 -0.87955119 -0.21460928 91.04441084] [-0.87711909 -0.45842456 0.14320975 98.07243599] [-0.22434247 0.12742304 -0.96614379 14.90448499] [ 0. 0. 0. 1. ]] SLAMing on 246.766875 meters Centerline goodness : 0.989181 Centerline is valid? [True, True] Translation: X:91.07, Y:98.08, Z:14.82 [[ 4.88516951e-01 -8.04712714e-01 -3.37325712e-01 9.10706613e+01] [-8.37745713e-01 -5.40665987e-01 7.65663897e-02 9.80788016e+01] [-2.43994486e-01 2.45189189e-01 -9.38269126e-01 1.48171417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.796875 meters Centerline goodness : 0.989554 Centerline is valid? [True, True] Translation: X:91.10, Y:98.05, Z:14.76 [[ 5.43796397e-01 -7.42391653e-01 -3.91331204e-01 9.10982208e+01] [-7.95784223e-01 -6.04227865e-01 4.04494444e-02 9.80511580e+01] [-2.66482548e-01 2.89418936e-01 -9.19360501e-01 1.47620171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.826875 meters Centerline goodness : 0.992148 Centerline is valid? [True, True] Translation: X:91.14, Y:98.01, Z:14.57 [[ 0.58714016 -0.56496303 -0.57972684 91.14352042] [-0.74962518 -0.6497585 -0.12599991 98.00899667] [-0.30549715 0.50855744 -0.80500982 14.568325 ] [ 0. 0. 0. 1. ]] SLAMing on 246.856875 meters Centerline goodness : 0.986474 Centerline is valid? [True, True] Translation: X:91.20, Y:97.97, Z:14.77 [[ 0.64862798 -0.67921594 -0.34343479 91.19957749] [-0.69362538 -0.71327194 0.10063289 97.96993672] [-0.31331386 0.17294177 -0.93376955 14.76817707] [ 0. 0. 0. 1. ]] SLAMing on 246.886875 meters Centerline goodness : 0.990686 Centerline is valid? [True, True] Translation: X:90.26, Y:97.31, Z:14.27 [[ 6.28818470e-01 7.49664295e-01 2.06375327e-01 9.02617653e+01] [-7.05905273e-01 6.61685913e-01 -2.52724153e-01 9.73126686e+01] [-3.26013921e-01 1.32361838e-02 9.45272303e-01 1.42720096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.91687499999998 meters Centerline goodness : 0.987948 Centerline is valid? [True, True] Translation: X:90.28, Y:97.28, Z:14.27 [[ 6.26918598e-01 7.43596919e-01 2.32457941e-01 9.02788360e+01] [-7.07007664e-01 6.68346479e-01 -2.31199366e-01 9.72796776e+01] [-3.27281583e-01 -1.94063633e-02 9.44727558e-01 1.42738451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.94687499999998 meters Centerline goodness : 0.990488 Centerline is valid? [True, True] Translation: X:90.30, Y:97.24, Z:14.25 [[ 6.19606268e-01 7.54584310e-01 2.16080061e-01 9.03018219e+01] [-7.14067796e-01 6.56195600e-01 -2.43955976e-01 9.72384997e+01] [-3.25876136e-01 -3.13916116e-03 9.45407261e-01 1.42532880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.97687499999998 meters Centerline goodness : 0.992200 Centerline is valid? [True, True] Translation: X:91.15, Y:97.53, Z:15.07 [[ 0.68888182 -0.67320722 0.26876361 91.15293632] [-0.67592585 -0.46264194 0.57366077 97.53145867] [-0.26185125 -0.57684874 -0.77374379 15.07195012] [ 0. 0. 0. 1. ]] SLAMing on 247.00687499999998 meters Centerline goodness : 0.991148 Centerline is valid? [True, True] Translation: X:91.22, Y:97.41, Z:15.05 [[ 0.73373734 -0.60126154 0.31640809 91.21758766] [-0.64447704 -0.46846075 0.60431273 97.40967516] [-0.21512523 -0.64732457 -0.7312264 15.05167713] [ 0. 0. 0. 1. ]] SLAMing on 247.03687499999998 meters Centerline goodness : 0.990908 Centerline is valid? [True, True] Translation: X:91.31, Y:97.33, Z:15.02 [[ 0.77569856 -0.5474342 0.31401839 91.31211832] [-0.6083005 -0.51600437 0.60308373 97.33123073] [-0.1681138 -0.65882872 -0.73326834 15.02406515] [ 0. 0. 0. 1. ]] SLAMing on 247.06687499999998 meters Centerline goodness : 0.990770 Centerline is valid? [True, True] Translation: X:91.47, Y:97.36, Z:14.96 [[ 0.81890812 -0.53913906 0.19677032 91.46980086] [-0.55868841 -0.67037723 0.48832533 97.35720612] [-0.13136492 -0.50982687 -0.85018811 14.95616043] [ 0. 0. 0. 1. ]] SLAMing on 247.09687499999998 meters Centerline goodness : 0.990292 Centerline is valid? [True, True] Translation: X:91.61, Y:97.42, Z:14.85 [[ 8.63487601e-01 -5.01696949e-01 5.18587891e-02 9.16083784e+01] [-4.91617631e-01 -8.14220019e-01 3.08800690e-01 9.74213191e+01] [-1.12699900e-01 -2.92140262e-01 -9.49711956e-01 1.48546599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.12687499999998 meters Centerline goodness : 0.990888 Centerline is valid? [True, True] Translation: X:91.67, Y:97.53, Z:14.69 [[ 9.00644400e-01 -4.17706932e-01 -1.19835657e-01 9.16707838e+01] [-4.18133901e-01 -9.08099777e-01 2.27779910e-02 9.75280287e+01] [-1.18337258e-01 2.95924808e-02 -9.92532407e-01 1.46949578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.15687499999999 meters Centerline goodness : 0.990869 Centerline is valid? [True, True] Translation: X:91.66, Y:97.55, Z:14.66 [[ 9.30479710e-01 -3.33623610e-01 -1.51336699e-01 9.16592810e+01] [-3.43530923e-01 -9.38105201e-01 -4.41037111e-02 9.75510149e+01] [-1.27255705e-01 9.30264443e-02 -9.87497882e-01 1.46570727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.186875 meters Centerline goodness : 0.989167 Centerline is valid? [True, True] Translation: X:91.65, Y:97.56, Z:14.65 [[ 9.54711070e-01 -2.52169659e-01 -1.57915284e-01 9.16491092e+01] [-2.64271122e-01 -9.62538761e-01 -6.06622364e-02 9.75595348e+01] [-1.36702407e-01 9.96473580e-02 -9.85587569e-01 1.46472745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.216875 meters Centerline goodness : 0.986360 Centerline is valid? [True, True] Translation: X:91.63, Y:97.57, Z:14.64 [[ 0.97188066 -0.16942098 -0.16353749 91.63178066] [-0.18765864 -0.97678716 -0.10330088 97.56681903] [-0.14223999 0.13108535 -0.98111387 14.63583393] [ 0. 0. 0. 1. ]] SLAMing on 247.246875 meters Centerline goodness : 0.986237 Centerline is valid? [True, True] Translation: X:91.62, Y:97.54, Z:14.68 [[ 9.83410816e-01 -1.04198721e-01 -1.48478263e-01 9.16166557e+01] [-1.09441305e-01 -9.93610982e-01 -2.75647678e-02 9.75449746e+01] [-1.44657419e-01 4.33571455e-02 -9.88531431e-01 1.46769223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.276875 meters Centerline goodness : 0.987833 Centerline is valid? [True, True] Translation: X:91.60, Y:97.53, Z:14.71 [[ 9.88780267e-01 -3.93326030e-02 -1.44105967e-01 9.16028282e+01] [-3.46870744e-02 -9.98798767e-01 3.46096750e-02 9.75253385e+01] [-1.45294151e-01 -2.92227493e-02 -9.88956845e-01 1.47082712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.306875 meters Centerline goodness : 0.989781 Centerline is valid? [True, True] Translation: X:91.57, Y:97.57, Z:14.62 [[ 9.86620038e-01 7.12020584e-02 -1.46666860e-01 9.15698028e+01] [ 4.97466396e-02 -9.88168378e-01 -1.45081111e-01 9.75703235e+01] [-1.55261627e-01 1.35843748e-01 -9.78488786e-01 1.46181390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.336875 meters Centerline goodness : 0.987819 Centerline is valid? [True, True] Translation: X:91.56, Y:97.56, Z:14.63 [[ 0.97890355 0.14176133 -0.14714469 91.55544384] [ 0.12306473 -0.98394706 -0.12924108 97.56048588] [-0.16310397 0.10840623 -0.98063509 14.62777782] [ 0. 0. 0. 1. ]] SLAMing on 247.366875 meters Centerline goodness : 0.990778 Centerline is valid? [True, True] Translation: X:91.53, Y:97.55, Z:14.63 [[ 0.96466692 0.2205395 -0.14415294 91.53420183] [ 0.20132825 -0.9699468 -0.13663872 97.55128741] [-0.16995492 0.10278879 -0.98007642 14.62928856] [ 0. 0. 0. 1. ]] SLAMing on 247.396875 meters Centerline goodness : 0.988711 Centerline is valid? [True, True] Translation: X:91.62, Y:96.50, Z:14.06 [[ 9.68406728e-01 -1.60573828e-01 1.90799517e-01 9.16246334e+01] [ 1.60711916e-01 9.86889578e-01 1.48540041e-02 9.64993568e+01] [-1.90683219e-01 1.62790384e-02 9.81516634e-01 1.40645668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.426875 meters Centerline goodness : 0.986771 Centerline is valid? [True, True] Translation: X:91.67, Y:96.49, Z:14.06 [[ 9.69414930e-01 -1.53085134e-01 1.91832312e-01 9.16727439e+01] [ 1.50370728e-01 9.88212492e-01 2.87178606e-02 9.64870677e+01] [-1.93967364e-01 1.00644154e-03 9.81007466e-01 1.40564211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.456875 meters Centerline goodness : 0.986679 Centerline is valid? [True, True] Translation: X:91.68, Y:96.51, Z:14.06 [[ 9.67335556e-01 -1.70510596e-01 1.87584803e-01 9.16803791e+01] [ 1.67701583e-01 9.85354540e-01 3.08643635e-02 9.65071599e+01] [-1.90100239e-01 1.60207227e-03 9.81763379e-01 1.40586563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.486875 meters Centerline goodness : 0.988052 Centerline is valid? [True, True] Translation: X:91.72, Y:96.50, Z:14.07 [[ 9.68533313e-01 -1.71988580e-01 1.79897612e-01 9.17179534e+01] [ 1.64011383e-01 9.84726523e-01 5.84289486e-02 9.64987927e+01] [-1.87199061e-01 -2.70851271e-02 9.81948526e-01 1.40743653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.516875 meters Centerline goodness : 0.989774 Centerline is valid? [True, True] Translation: X:91.73, Y:96.52, Z:14.04 [[ 9.66635528e-01 -1.70604523e-01 1.91075518e-01 9.17285841e+01] [ 1.69350350e-01 9.85287536e-01 2.29984754e-02 9.65164512e+01] [-1.92187971e-01 1.01275625e-02 9.81305873e-01 1.40433396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.546875 meters Centerline goodness : 0.990562 Centerline is valid? [True, True] Translation: X:91.76, Y:96.52, Z:14.04 [[ 9.66271949e-01 -1.74133400e-01 1.89726329e-01 9.17595256e+01] [ 1.69961838e-01 9.84711160e-01 3.81694290e-02 9.65153718e+01] [-1.93472206e-01 -4.63581306e-03 9.81094804e-01 1.40445681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.576875 meters Centerline goodness : 0.986928 Centerline is valid? [True, True] Translation: X:91.80, Y:96.51, Z:14.05 [[ 9.66630309e-01 -1.79836980e-01 1.82440416e-01 9.17963264e+01] [ 1.69983140e-01 9.83069347e-01 6.84133913e-02 9.65125910e+01] [-1.91654839e-01 -3.51186628e-02 9.80833881e-01 1.40516976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.606875 meters Centerline goodness : 0.986657 Centerline is valid? [True, True] Translation: X:91.84, Y:96.52, Z:14.03 [[ 9.68594518e-01 -1.64443495e-01 1.86502004e-01 9.18413763e+01] [ 1.61730189e-01 9.86385622e-01 2.97783647e-02 9.65167902e+01] [-1.88859754e-01 1.31984355e-03 9.82003183e-01 1.40328390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.636875 meters Centerline goodness : 0.990386 Centerline is valid? [True, True] Translation: X:91.85, Y:96.53, Z:14.04 [[ 9.67220243e-01 -1.75903225e-01 1.83147639e-01 9.18500165e+01] [ 1.71610790e-01 9.84386384e-01 3.91558971e-02 9.65264788e+01] [-1.87175690e-01 -6.44226541e-03 9.82305328e-01 1.40369989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.66687499999998 meters Centerline goodness : 0.980950 Centerline is valid? [True, True] Translation: X:91.90, Y:96.54, Z:13.99 [[ 9.66589846e-01 -1.66038883e-01 1.95282257e-01 9.19000293e+01] [ 1.69151024e-01 9.85589858e-01 7.50591054e-04 9.65448064e+01] [-1.92592840e-01 3.23066800e-02 9.80746795e-01 1.39935091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.69687499999998 meters Centerline goodness : 0.990051 Centerline is valid? [True, True] Translation: X:91.91, Y:96.53, Z:14.04 [[ 9.67230166e-01 -1.80881587e-01 1.78178722e-01 9.19100895e+01] [ 1.72957247e-01 9.83149918e-01 5.91779439e-02 9.65288330e+01] [-1.85880597e-01 -2.64213912e-02 9.82217040e-01 1.40366262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.72687499999998 meters Centerline goodness : 0.990681 Centerline is valid? [True, True] Translation: X:91.93, Y:96.54, Z:14.03 [[ 9.67165387e-01 -1.79915992e-01 1.79503064e-01 9.19342319e+01] [ 1.73898472e-01 9.83551407e-01 4.88462059e-02 9.65361332e+01] [-1.85338704e-01 -1.60270512e-02 9.82543993e-01 1.40287527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.75687499999998 meters Centerline goodness : 0.989412 Centerline is valid? [True, True] Translation: X:91.96, Y:96.55, Z:14.01 [[ 9.66461636e-01 -1.78693967e-01 1.84446125e-01 9.19590730e+01] [ 1.76206735e-01 9.83898195e-01 2.99253890e-02 9.65461079e+01] [-1.86823696e-01 3.57890895e-03 9.82386939e-01 1.40111642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.78687499999998 meters Centerline goodness : 0.990899 Centerline is valid? [True, True] Translation: X:92.01, Y:96.53, Z:14.02 [[ 9.68838517e-01 -1.70802071e-01 1.79383892e-01 9.20101070e+01] [ 1.63213819e-01 9.84980004e-01 5.63528296e-02 9.65283110e+01] [-1.86314727e-01 -2.53188617e-02 9.82163824e-01 1.40217403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.81687499999998 meters Centerline goodness : 0.990739 Centerline is valid? [True, True] Translation: X:92.01, Y:96.55, Z:14.00 [[ 9.66128920e-01 -1.76945379e-01 1.87843668e-01 9.20091016e+01] [ 1.75655713e-01 9.84168124e-01 2.36256972e-02 9.65520780e+01] [-1.89050209e-01 1.01703441e-02 9.81914753e-01 1.39989238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.84687499999998 meters Centerline goodness : 0.990813 Centerline is valid? [True, True] Translation: X:92.04, Y:96.55, Z:14.00 [[ 9.65509679e-01 -1.81976714e-01 1.86213683e-01 9.20371734e+01] [ 1.77824531e-01 9.83292761e-01 3.89073465e-02 9.65523154e+01] [-1.90182798e-01 -4.45205878e-03 9.81738602e-01 1.40003598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.87687499999998 meters Centerline goodness : 0.990960 Centerline is valid? [True, True] Translation: X:92.07, Y:96.55, Z:14.00 [[ 9.66186865e-01 -1.80868741e-01 1.83764632e-01 9.20699477e+01] [ 1.75252194e-01 9.83424991e-01 4.64968265e-02 9.65521458e+01] [-1.89128554e-01 -1.27194681e-02 9.81869953e-01 1.40005294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.90687499999999 meters Centerline goodness : 0.991084 Centerline is valid? [True, True] Translation: X:92.09, Y:96.56, Z:13.98 [[ 9.65732938e-01 -1.80009348e-01 1.86966648e-01 9.20893771e+01] [ 1.77461669e-01 9.83657542e-01 3.04170522e-02 9.65627929e+01] [-1.89386507e-01 3.80466410e-03 9.81895247e-01 1.39846065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.936875 meters Centerline goodness : 0.990671 Centerline is valid? [True, True] Translation: X:92.12, Y:96.56, Z:13.98 [[ 9.65523245e-01 -1.80672773e-01 1.87409213e-01 9.21185833e+01] [ 1.76914080e-01 9.83540544e-01 3.67342726e-02 9.65645917e+01] [-1.90961442e-01 -2.31246575e-03 9.81594815e-01 1.39791492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.966875 meters Centerline goodness : 0.988788 Centerline is valid? [True, True] Translation: X:92.17, Y:96.56, Z:13.97 [[ 9.67399997e-01 -1.72455095e-01 1.85462897e-01 9.21718487e+01] [ 1.68061853e-01 9.84993730e-01 3.92755157e-02 9.65584878e+01] [-1.89453053e-01 -6.82589569e-03 9.81866054e-01 1.39737245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.996875 meters Centerline goodness : 0.989684 Centerline is valid? [True, True] Translation: X:92.17, Y:96.57, Z:13.97 [[ 9.65405487e-01 -1.81975913e-01 1.86753882e-01 9.21725499e+01] [ 1.77673648e-01 9.83289694e-01 3.96667780e-02 9.65723954e+01] [-1.90851566e-01 -5.11328161e-03 9.81605590e-01 1.39711359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.026875 meters Centerline goodness : 0.990424 Centerline is valid? [True, True] Translation: X:92.20, Y:96.58, Z:13.96 [[ 9.65298344e-01 -1.78585154e-01 1.90542514e-01 9.22009807e+01] [ 1.75579826e-01 9.83922608e-01 3.26806567e-02 9.65768994e+01] [-1.93315368e-01 1.90883779e-03 9.81134815e-01 1.39595752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.056875 meters Centerline goodness : 0.991585 Centerline is valid? [True, True] Translation: X:92.23, Y:96.58, Z:13.96 [[ 9.65969316e-01 -1.78539869e-01 1.87154469e-01 9.22316279e+01] [ 1.72901634e-01 9.83856612e-01 4.61648445e-02 9.65755913e+01] [-1.92375427e-01 -1.22345098e-02 9.81245133e-01 1.39634497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.086875 meters Centerline goodness : 0.990301 Centerline is valid? [True, True] Translation: X:92.28, Y:96.57, Z:13.95 [[ 9.68316612e-01 -1.66125128e-01 1.86454770e-01 9.22786526e+01] [ 1.62667333e-01 9.86101755e-01 3.38033672e-02 9.65733676e+01] [-1.89478965e-01 -2.40226173e-03 9.81881842e-01 1.39501582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.116875 meters Centerline goodness : 0.990231 Centerline is valid? [True, True] Translation: X:92.28, Y:96.59, Z:13.94 [[ 9.66603223e-01 -1.71515766e-01 1.90422036e-01 9.22786462e+01] [ 1.70551601e-01 9.85112715e-01 2.15659622e-02 9.65915226e+01] [-1.91286071e-01 1.16310545e-02 9.81465413e-01 1.39384489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.146875 meters Centerline goodness : 0.990759 Centerline is valid? [True, True] Translation: X:92.32, Y:96.58, Z:13.96 [[ 9.68510337e-01 -1.74488585e-01 1.77599159e-01 9.23193013e+01] [ 1.66050383e-01 9.84201829e-01 6.14331318e-02 9.65813779e+01] [-1.85512798e-01 -3.00082148e-02 9.82183541e-01 1.39625428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.176875 meters Centerline goodness : 0.991324 Centerline is valid? [True, True] Translation: X:92.34, Y:96.59, Z:13.94 [[ 9.68908455e-01 -1.65880225e-01 1.83576026e-01 9.23394518e+01] [ 1.61764259e-01 9.86124973e-01 3.72808682e-02 9.65919459e+01] [-1.87213062e-01 -6.42570860e-03 9.82298315e-01 1.39437177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.206875 meters Centerline goodness : 0.990413 Centerline is valid? [True, True] Translation: X:92.38, Y:96.59, Z:13.95 [[ 9.70552001e-01 -1.66510222e-01 1.74078025e-01 9.23766347e+01] [ 1.59866285e-01 9.85788272e-01 5.16164041e-02 9.65907560e+01] [-1.80198735e-01 -2.22671971e-02 9.83378151e-01 1.39545723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.236875 meters Centerline goodness : 0.990956 Centerline is valid? [True, True] Translation: X:92.42, Y:96.59, Z:13.93 [[ 9.71981763e-01 -1.49501507e-01 1.81385642e-01 9.24188663e+01] [ 1.45911182e-01 9.88745276e-01 3.30560942e-02 9.65884149e+01] [-1.84286132e-01 -5.66372737e-03 9.82856319e-01 1.39345774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.266875 meters Centerline goodness : 0.991965 Centerline is valid? [True, True] Translation: X:92.42, Y:96.60, Z:13.93 [[ 9.70924299e-01 -1.57687149e-01 1.80113213e-01 9.24232918e+01] [ 1.54376214e-01 9.87482562e-01 3.23446159e-02 9.66017129e+01] [-1.82958987e-01 -3.59897775e-03 9.83113959e-01 1.39341185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.296875 meters Centerline goodness : 0.992912 Centerline is valid? [True, True] Translation: X:92.45, Y:96.61, Z:13.92 [[ 9.71493989e-01 -1.53316653e-01 1.80813258e-01 9.24548492e+01] [ 1.51090907e-01 9.88175168e-01 2.61031808e-02 9.66072437e+01] [-1.82677223e-01 1.96015586e-03 9.83170987e-01 1.39239037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.326875 meters Centerline goodness : 0.993344 Centerline is valid? [True, True] Translation: X:92.48, Y:96.61, Z:13.93 [[ 9.71698029e-01 -1.56517617e-01 1.76932686e-01 9.24795129e+01] [ 1.50343882e-01 9.87474541e-01 4.78617505e-02 9.66068103e+01] [-1.82207730e-01 -1.99064218e-02 9.83058532e-01 1.39323334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.356875 meters Centerline goodness : 0.991136 Centerline is valid? [True, True] Translation: X:92.51, Y:96.61, Z:13.92 [[ 9.72501495e-01 -1.49428456e-01 1.78639241e-01 9.25120121e+01] [ 1.46675501e-01 9.88771233e-01 2.85962621e-02 9.66143812e+01] [-1.80906437e-01 -1.60790755e-03 9.83498996e-01 1.39185503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.386875 meters Centerline goodness : 0.991115 Centerline is valid? [True, True] Translation: X:92.54, Y:96.62, Z:13.92 [[ 9.73017208e-01 -1.50321687e-01 1.75045434e-01 9.25442008e+01] [ 1.45483824e-01 9.88542585e-01 4.02245577e-02 9.66155771e+01] [-1.79086489e-01 -1.36729077e-02 9.83738319e-01 1.39224465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.41687499999998 meters Centerline goodness : 0.991422 Centerline is valid? [True, True] Translation: X:92.57, Y:96.62, Z:13.91 [[ 9.73715129e-01 -1.47062407e-01 1.73929571e-01 9.25702673e+01] [ 1.43368540e-01 9.89095962e-01 3.36844175e-02 9.66204514e+01] [-1.76986748e-01 -7.86299830e-03 9.84181825e-01 1.39146948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.44687499999998 meters Centerline goodness : 0.991729 Centerline is valid? [True, True] Translation: X:92.60, Y:96.62, Z:13.91 [[ 9.73963547e-01 -1.47056903e-01 1.72537754e-01 9.25980222e+01] [ 1.43308255e-01 9.89092005e-01 3.40550987e-02 9.66246855e+01] [-1.75663751e-01 -8.44234015e-03 9.84414026e-01 1.39105893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.47687499999998 meters Centerline goodness : 0.991729 Centerline is valid? [True, True] Translation: X:92.63, Y:96.63, Z:13.91 [[ 9.74024938e-01 -1.46737980e-01 1.72462708e-01 9.26256164e+01] [ 1.43087939e-01 9.89143601e-01 3.34780375e-02 9.66293002e+01] [-1.75502884e-01 -7.93110992e-03 9.84446969e-01 1.39055856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.50687499999998 meters Centerline goodness : 0.992246 Centerline is valid? [True, True] Translation: X:92.65, Y:96.63, Z:13.90 [[ 9.73951828e-01 -1.46663652e-01 1.72938171e-01 9.26524496e+01] [ 1.43126623e-01 9.89160139e-01 3.28175209e-02 9.66333509e+01] [-1.75876683e-01 -7.21062800e-03 9.84385798e-01 1.38996433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.53687499999998 meters Centerline goodness : 0.990918 Centerline is valid? [True, True] Translation: X:92.68, Y:96.64, Z:13.90 [[ 9.73726269e-01 -1.47391332e-01 1.73588448e-01 9.26805957e+01] [ 1.43319900e-01 9.89027598e-01 3.58304007e-02 9.66384649e+01] [-1.76964856e-01 -1.00103233e-02 9.84166263e-01 1.38959326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.56687499999998 meters Centerline goodness : 0.993538 Centerline is valid? [True, True] Translation: X:92.70, Y:96.64, Z:13.90 [[ 9.73238704e-01 -1.52252221e-01 1.72121137e-01 9.27010300e+01] [ 1.46351267e-01 9.88137079e-01 4.65448225e-02 9.66407506e+01] [-1.77165830e-01 -2.01090763e-02 9.83975555e-01 1.38986232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.59687499999998 meters Centerline goodness : 0.991998 Centerline is valid? [True, True] Translation: X:92.73, Y:96.65, Z:13.88 [[ 9.73629845e-01 -1.45914898e-01 1.75367523e-01 9.27340140e+01] [ 1.44151752e-01 9.89292412e-01 2.28209509e-02 9.66484312e+01] [-1.76819676e-01 3.06037676e-03 9.84238506e-01 1.38815152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.62687499999998 meters Centerline goodness : 0.991915 Centerline is valid? [True, True] Translation: X:92.76, Y:96.65, Z:13.88 [[ 9.73466290e-01 -1.49083271e-01 1.73601730e-01 9.27630224e+01] [ 1.45331037e-01 9.88791760e-01 3.42015238e-02 9.66478232e+01] [-1.76754835e-01 -8.06431100e-03 9.84221873e-01 1.38841934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.65687499999999 meters Centerline goodness : 0.992277 Centerline is valid? [True, True] Translation: X:92.79, Y:96.65, Z:13.88 [[ 9.73150700e-01 -1.48435060e-01 1.75911192e-01 9.27870755e+01] [ 1.45600357e-01 9.88918750e-01 2.89869246e-02 9.66530193e+01] [-1.78264552e-01 -2.59591359e-03 9.83979172e-01 1.38753783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.686875 meters Centerline goodness : 0.992285 Centerline is valid? [True, True] Translation: X:92.82, Y:96.65, Z:13.88 [[ 9.73428045e-01 -1.51137831e-01 1.72032547e-01 9.28190849e+01] [ 1.45234093e-01 9.88305143e-01 4.64758355e-02 9.66522086e+01] [-1.77044908e-01 -2.02558907e-02 9.83994309e-01 1.38793200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.716875 meters Centerline goodness : 0.993228 Centerline is valid? [True, True] Translation: X:92.84, Y:96.66, Z:13.86 [[ 9.73138195e-01 -1.48808429e-01 1.75664749e-01 9.28419642e+01] [ 1.47455485e-01 9.88849862e-01 2.08045719e-02 9.66618000e+01] [-1.76801958e-01 5.65700723e-03 9.84230189e-01 1.38615174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.746875 meters Centerline goodness : 0.992851 Centerline is valid? [True, True] Translation: X:92.87, Y:96.66, Z:13.87 [[ 9.73243395e-01 -1.52640763e-01 1.71750083e-01 9.28703685e+01] [ 1.48666689e-01 9.88237483e-01 3.58453982e-02 9.66609624e+01] [-1.75201338e-01 -9.35278093e-03 9.84488200e-01 1.38653898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.776875 meters Centerline goodness : 0.993092 Centerline is valid? [True, True] Translation: X:92.90, Y:96.66, Z:13.86 [[ 9.73680071e-01 -1.52556872e-01 1.69332575e-01 9.28989116e+01] [ 1.48003401e-01 9.88206869e-01 3.92705692e-02 9.66623854e+01] [-1.73326609e-01 -1.31751737e-02 9.84776270e-01 1.38641020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.806875 meters Centerline goodness : 0.992418 Centerline is valid? [True, True] Translation: X:92.93, Y:96.67, Z:13.86 [[ 9.73819169e-01 -1.53741557e-01 1.67450768e-01 9.29301400e+01] [ 1.49962574e-01 9.88069818e-01 3.50608304e-02 9.66665649e+01] [-1.70843357e-01 -9.03156048e-03 9.85256808e-01 1.38591456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.836875 meters Centerline goodness : 0.992571 Centerline is valid? [True, True] Translation: X:92.95, Y:96.67, Z:13.85 [[ 9.73457085e-01 -1.52734566e-01 1.70450744e-01 9.29543337e+01] [ 1.50641979e-01 9.88266607e-01 2.52211824e-02 9.66727582e+01] [-1.72302925e-01 1.12529883e-03 9.85043367e-01 1.38481050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.866875 meters Centerline goodness : 0.991943 Centerline is valid? [True, True] Translation: X:93.00, Y:96.66, Z:13.84 [[ 9.74377728e-01 -1.46217818e-01 1.70904632e-01 9.29997711e+01] [ 1.42790330e-01 9.89227539e-01 3.22459088e-02 9.66614437e+01] [-1.73778494e-01 -7.01616665e-03 9.84759772e-01 1.38420376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.896875 meters Centerline goodness : 0.994152 Centerline is valid? [True, True] Translation: X:93.00, Y:96.68, Z:13.84 [[ 9.72655695e-01 -1.55872987e-01 1.72175816e-01 9.30032623e+01] [ 1.53087618e-01 9.87774521e-01 2.94223742e-02 9.66759977e+01] [-1.74657038e-01 -2.25985420e-03 9.84626738e-01 1.38400056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.926875 meters Centerline goodness : 0.992776 Centerline is valid? [True, True] Translation: X:93.04, Y:96.67, Z:13.84 [[ 9.73968257e-01 -1.52932117e-01 1.67324840e-01 9.30430032e+01] [ 1.48605580e-01 9.88160191e-01 3.81551934e-02 9.66728639e+01] [-1.71178901e-01 -1.22965422e-02 9.85163225e-01 1.38445290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.956875 meters Centerline goodness : 0.993637 Centerline is valid? [True, True] Translation: X:93.07, Y:96.68, Z:13.83 [[ 9.73799189e-01 -1.51303809e-01 1.69771306e-01 9.30680868e+01] [ 1.48651588e-01 9.88484579e-01 2.83009296e-02 9.66795668e+01] [-1.72098356e-01 -2.32264808e-03 9.85077033e-01 1.38332977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.986875 meters Centerline goodness : 0.993598 Centerline is valid? [True, True] Translation: X:93.10, Y:96.68, Z:13.83 [[ 9.74185635e-01 -1.52277370e-01 1.66655188e-01 9.30980866e+01] [ 1.45802518e-01 9.88024301e-01 5.04936187e-02 9.66770451e+01] [-1.72348411e-01 -2.48914120e-02 9.84721505e-01 1.38333531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.016875 meters Centerline goodness : 0.993384 Centerline is valid? [True, True] Translation: X:93.12, Y:96.69, Z:13.82 [[ 9.74153343e-01 -1.48296353e-01 1.70392067e-01 9.31212700e+01] [ 1.47839939e-01 9.88890838e-01 1.54357727e-02 9.66914862e+01] [-1.70788223e-01 1.01539432e-02 9.85255439e-01 1.38168789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.046875 meters Centerline goodness : 0.991983 Centerline is valid? [True, True] Translation: X:93.15, Y:96.70, Z:13.81 [[ 9.73879280e-01 -1.50397369e-01 1.70116956e-01 9.31486162e+01] [ 1.48992848e-01 9.88613832e-01 2.10671024e-02 9.66962989e+01] [-1.71348412e-01 4.82939528e-03 9.85198659e-01 1.38120804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.076875 meters Centerline goodness : 0.994864 Centerline is valid? [True, True] Translation: X:93.18, Y:96.68, Z:13.83 [[ 9.74922019e-01 -1.51982948e-01 1.62567650e-01 9.31789242e+01] [ 1.43184300e-01 9.87585201e-01 6.46043862e-02 9.66838417e+01] [-1.70368170e-01 -3.97071035e-02 9.84580130e-01 1.38270525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.106875 meters Centerline goodness : 0.993493 Centerline is valid? [True, True] Translation: X:93.20, Y:96.71, Z:13.80 [[ 9.74521169e-01 -1.44754361e-01 1.71332033e-01 9.32024611e+01] [ 1.45718100e-01 9.89301347e-01 7.00576136e-03 9.67073330e+01] [-1.70513126e-01 1.81389156e-02 9.85188436e-01 1.37999984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.136875 meters Centerline goodness : 0.992742 Centerline is valid? [True, True] Translation: X:93.23, Y:96.71, Z:13.80 [[ 9.74082106e-01 -1.48293032e-01 1.70801719e-01 9.32310229e+01] [ 1.46137526e-01 9.88943377e-01 2.51956667e-02 9.67079340e+01] [-1.72649571e-01 4.17892498e-04 9.84983224e-01 1.38039175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.16687499999998 meters Centerline goodness : 0.993536 Centerline is valid? [True, True] Translation: X:93.25, Y:96.72, Z:13.79 [[ 9.72687190e-01 -1.51209790e-01 1.76111411e-01 9.32496773e+01] [ 1.49564478e-01 9.88492336e-01 2.26576260e-02 9.67184591e+01] [-1.77510835e-01 4.30122873e-03 9.84109447e-01 1.37921322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.19687499999998 meters Centerline goodness : 0.992830 Centerline is valid? [True, True] Translation: X:93.30, Y:96.71, Z:13.80 [[ 9.74469037e-01 -1.45341674e-01 1.71131220e-01 9.33002262e+01] [ 1.41094859e-01 9.89312294e-01 3.67889273e-02 9.67118185e+01] [-1.74649184e-01 -1.17039352e-02 9.84561161e-01 1.37952977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.22687499999998 meters Centerline goodness : 0.992810 Centerline is valid? [True, True] Translation: X:93.33, Y:96.72, Z:13.79 [[ 9.74466069e-01 -1.43852630e-01 1.72401570e-01 9.33280740e+01] [ 1.40562323e-01 9.89579832e-01 3.12088050e-02 9.67191268e+01] [-1.75094586e-01 -6.17875626e-03 9.84532229e-01 1.37866705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.25687499999998 meters Centerline goodness : 0.991150 Centerline is valid? [True, True] Translation: X:93.34, Y:96.74, Z:13.78 [[ 9.74166037e-01 -1.50329128e-01 1.68527999e-01 9.33430978e+01] [ 1.47019066e-01 9.88615172e-01 3.20224296e-02 9.67360915e+01] [-1.71423240e-01 -6.41833437e-03 9.85176572e-01 1.37835154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.28687499999998 meters Centerline goodness : 0.992143 Centerline is valid? [True, True] Translation: X:93.38, Y:96.74, Z:13.77 [[ 9.75181555e-01 -1.43501215e-01 1.68607046e-01 9.33825141e+01] [ 1.41250448e-01 9.89649743e-01 2.53317354e-02 9.67356594e+01] [-1.70497054e-01 -8.87220490e-04 9.85357786e-01 1.37729345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.31687499999998 meters Centerline goodness : 0.990617 Centerline is valid? [True, True] Translation: X:93.38, Y:96.76, Z:13.75 [[ 9.72940656e-01 -1.46337644e-01 1.78806527e-01 9.33838274e+01] [ 1.47715560e-01 9.89013708e-01 5.65673898e-03 9.67561491e+01] [-1.77669901e-01 2.09088350e-02 9.83867993e-01 1.37480272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.34687499999998 meters Centerline goodness : 0.993056 Centerline is valid? [True, True] Translation: X:93.43, Y:96.74, Z:13.79 [[ 9.75818756e-01 -1.47567868e-01 1.61249741e-01 9.34317832e+01] [ 1.40446142e-01 9.88572309e-01 5.47692561e-02 9.67362583e+01] [-1.67489211e-01 -3.07979634e-02 9.85392739e-01 1.37868935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.37687499999998 meters Centerline goodness : 0.993068 Centerline is valid? [True, True] Translation: X:93.46, Y:96.75, Z:13.77 [[ 9.75678853e-01 -1.43351455e-01 1.65834667e-01 9.34551541e+01] [ 1.40731158e-01 9.89665657e-01 2.75069010e-02 9.67486515e+01] [-1.68064029e-01 -3.49979684e-03 9.85769868e-01 1.37685837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.40687499999999 meters Centerline goodness : 0.991893 Centerline is valid? [True, True] Translation: X:93.48, Y:96.75, Z:13.77 [[ 9.75644265e-01 -1.45168265e-01 1.64451947e-01 9.34832131e+01] [ 1.42250150e-01 9.89392582e-01 2.94484886e-02 9.67532119e+01] [-1.66982522e-01 -5.33793486e-03 9.85945406e-01 1.37660907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.436875 meters Centerline goodness : 0.992678 Centerline is valid? [True, True] Translation: X:93.51, Y:96.76, Z:13.76 [[ 9.75565399e-01 -1.46186044e-01 1.64017658e-01 9.35117255e+01] [ 1.42955004e-01 9.89231033e-01 3.13979347e-02 9.67563079e+01] [-1.66841297e-01 -7.18359371e-03 9.85957594e-01 1.37627679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.466875 meters Centerline goodness : 0.992060 Centerline is valid? [True, True] Translation: X:93.54, Y:96.76, Z:13.75 [[ 9.74589133e-01 -1.49745352e-01 1.66590369e-01 9.35376223e+01] [ 1.47511303e-01 9.88724446e-01 2.57756640e-02 9.67625633e+01] [-1.68571756e-01 -5.46719691e-04 9.85689233e-01 1.37541289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.496875 meters Centerline goodness : 0.992281 Centerline is valid? [True, True] Translation: X:93.56, Y:96.77, Z:13.74 [[ 9.72610020e-01 -1.53700013e-01 1.74373322e-01 9.35559906e+01] [ 1.53074178e-01 9.88066487e-01 1.71147343e-02 9.67720495e+01] [-1.74922970e-01 1.00460908e-02 9.84530868e-01 1.37354848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.526875 meters Centerline goodness : 0.990865 Centerline is valid? [True, True] Translation: X:93.61, Y:96.76, Z:13.75 [[ 9.73516761e-01 -1.57233461e-01 1.65960100e-01 9.36075396e+01] [ 1.50179245e-01 9.87165885e-01 5.43112249e-02 9.67596054e+01] [-1.72369691e-01 -2.79491252e-02 9.84635738e-01 1.37541884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.556875 meters Centerline goodness : 0.991677 Centerline is valid? [True, True] Translation: X:93.63, Y:96.78, Z:13.73 [[ 9.73157161e-01 -1.54478707e-01 1.70591527e-01 9.36303428e+01] [ 1.53200815e-01 9.87978021e-01 2.07108604e-02 9.67762769e+01] [-1.71740066e-01 5.97983875e-03 9.85124150e-01 1.37301514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.586875 meters Centerline goodness : 0.991528 Centerline is valid? [True, True] Translation: X:93.64, Y:96.78, Z:13.72 [[ 9.71808084e-01 -1.60602360e-01 1.72614976e-01 9.36367210e+01] [ 1.59607503e-01 9.86983563e-01 1.97203538e-02 9.67836027e+01] [-1.73535279e-01 8.38624592e-03 9.84791946e-01 1.37246362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.616875 meters Centerline goodness : 0.992044 Centerline is valid? [True, True] Translation: X:93.66, Y:96.79, Z:13.72 [[ 9.71353400e-01 -1.62193973e-01 1.73682719e-01 9.36627878e+01] [ 1.60341980e-01 9.86751500e-01 2.47371668e-02 9.67867776e+01] [-1.75393903e-01 3.82009995e-03 9.84490927e-01 1.37182227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.646875 meters Centerline goodness : 0.991603 Centerline is valid? [True, True] Translation: X:93.71, Y:96.78, Z:13.73 [[ 9.73162703e-01 -1.60260982e-01 1.65138640e-01 9.37138754e+01] [ 1.55560425e-01 9.86970961e-01 4.11008089e-02 9.67802090e+01] [-1.69573898e-01 -1.43087373e-02 9.85413595e-01 1.37254210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.676875 meters Centerline goodness : 0.993410 Centerline is valid? [True, True] Translation: X:93.72, Y:96.80, Z:13.71 [[ 9.71527061e-01 -1.64533407e-01 1.70481458e-01 9.37181226e+01] [ 1.62201398e-01 9.86371168e-01 2.76156769e-02 9.67953609e+01] [-1.72701696e-01 8.22953397e-04 9.84973831e-01 1.37117066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.706875 meters Centerline goodness : 0.990485 Centerline is valid? [True, True] Translation: X:93.77, Y:96.79, Z:13.71 [[ 9.73163093e-01 -1.60403475e-01 1.64997938e-01 9.37676108e+01] [ 1.56248453e-01 9.86988576e-01 3.79469559e-02 9.67928808e+01] [-1.68937903e-01 -1.11479046e-02 9.85563650e-01 1.37147478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.736875 meters Centerline goodness : 0.991599 Centerline is valid? [True, True] Translation: X:93.78, Y:96.81, Z:13.70 [[ 9.72420944e-01 -1.62439557e-01 1.67364564e-01 9.37820174e+01] [ 1.61146806e-01 9.86699077e-01 2.13691078e-02 9.68088082e+01] [-1.68609649e-01 6.19049701e-03 9.85663464e-01 1.37031686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.766875 meters Centerline goodness : 0.991230 Centerline is valid? [True, True] Translation: X:93.81, Y:96.82, Z:13.70 [[ 9.71985163e-01 -1.62942919e-01 1.69394356e-01 9.38075431e+01] [ 1.61780611e-01 9.86608863e-01 2.07360794e-02 9.68169518e+01] [-1.70504770e-01 7.24956087e-03 9.85330182e-01 1.36959051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.796875 meters Centerline goodness : 0.992264 Centerline is valid? [True, True] Translation: X:93.83, Y:96.82, Z:13.69 [[ 9.71394500e-01 -1.65274740e-01 1.70519750e-01 9.38332570e+01] [ 1.62361918e-01 9.86244610e-01 3.09867156e-02 9.68188063e+01] [-1.73295506e-01 -2.41441147e-03 9.84866914e-01 1.36931444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.826875 meters Centerline goodness : 0.990780 Centerline is valid? [True, True] Translation: X:93.86, Y:96.82, Z:13.69 [[ 9.71595329e-01 -1.62878334e-01 1.71677502e-01 9.38619356e+01] [ 1.60695378e-01 9.86644676e-01 2.66322759e-02 9.68245247e+01] [-1.73722514e-01 1.71198622e-03 9.84793154e-01 1.36866903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.856875 meters Centerline goodness : 0.990241 Centerline is valid? [True, True] Translation: X:93.91, Y:96.82, Z:13.69 [[ 9.72721595e-01 -1.57984928e-01 1.69863068e-01 9.39061113e+01] [ 1.53169452e-01 9.87341808e-01 4.11737042e-02 9.68190261e+01] [-1.74217733e-01 -1.40327182e-02 9.84607162e-01 1.36890971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.886875 meters Centerline goodness : 0.992268 Centerline is valid? [True, True] Translation: X:93.91, Y:96.83, Z:13.66 [[ 9.70901104e-01 -1.56239954e-01 1.81494140e-01 9.39053033e+01] [ 1.52965251e-01 9.87713623e-01 3.19911111e-02 9.68307391e+01] [-1.84262525e-01 -3.29790826e-03 9.82871531e-01 1.36608802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.91687499999998 meters Centerline goodness : 0.992190 Centerline is valid? [True, True] Translation: X:93.95, Y:96.83, Z:13.67 [[ 9.72130041e-01 -1.53328539e-01 1.77351465e-01 9.39464668e+01] [ 1.52087508e-01 9.88151212e-01 2.06535979e-02 9.68347403e+01] [-1.78416851e-01 6.89495946e-03 9.83930834e-01 1.36656095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.94687499999998 meters Centerline goodness : 0.990964 Centerline is valid? [True, True] Translation: X:93.98, Y:96.84, Z:13.67 [[ 9.72413762e-01 -1.53841002e-01 1.75340871e-01 9.39760481e+01] [ 1.50792561e-01 9.88089855e-01 3.06601180e-02 9.68375846e+01] [-1.77969319e-01 -3.37422178e-03 9.84030252e-01 1.36665327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.97687499999998 meters Centerline goodness : 0.991301 Centerline is valid? [True, True] Translation: X:94.00, Y:96.84, Z:13.66 [[ 9.72787984e-01 -1.49958903e-01 1.76623514e-01 9.40017458e+01] [ 1.47374337e-01 9.88691771e-01 2.77378069e-02 9.68438688e+01] [-1.78785746e-01 -9.53231969e-04 9.83887569e-01 1.36577405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.00687499999998 meters Centerline goodness : 0.991038 Centerline is valid? [True, True] Translation: X:94.03, Y:96.85, Z:13.66 [[ 9.72900477e-01 -1.50223633e-01 1.75776911e-01 9.40320447e+01] [ 1.46479551e-01 9.88623692e-01 3.41604469e-02 9.68472969e+01] [-1.78908925e-01 -7.48699210e-03 9.83837152e-01 1.36557075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.03687499999998 meters Centerline goodness : 0.990689 Centerline is valid? [True, True] Translation: X:94.06, Y:96.85, Z:13.65 [[ 9.73595001e-01 -1.47169033e-01 1.74510890e-01 9.40618514e+01] [ 1.43060945e-01 9.89060339e-01 3.59612655e-02 9.68528727e+01] [-1.77894184e-01 -1.00460155e-02 9.83998342e-01 1.36536053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.06687499999998 meters Centerline goodness : 0.991285 Centerline is valid? [True, True] Translation: X:94.09, Y:96.86, Z:13.65 [[ 9.74064013e-01 -1.43330613e-01 1.75087506e-01 9.40865125e+01] [ 1.39801749e-01 9.89649587e-01 3.23908253e-02 9.68577918e+01] [-1.77917874e-01 -7.07319769e-03 9.84019918e-01 1.36475231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.09687499999998 meters Centerline goodness : 0.990413 Centerline is valid? [True, True] Translation: X:94.12, Y:96.86, Z:13.65 [[ 9.74231111e-01 -1.43661659e-01 1.73882345e-01 9.41182091e+01] [ 1.39702216e-01 9.89579571e-01 3.48649427e-02 9.68620012e+01] [-1.77079172e-01 -9.67476298e-03 9.84149057e-01 1.36457096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.12687499999998 meters Centerline goodness : 0.990435 Centerline is valid? [True, True] Translation: X:94.14, Y:96.87, Z:13.64 [[ 9.74383781e-01 -1.41218894e-01 1.75024203e-01 9.41420683e+01] [ 1.38194321e-01 9.89968296e-01 2.94126349e-02 9.68679370e+01] [-1.77422032e-01 -4.47184347e-03 9.84124700e-01 1.36377009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.15687499999999 meters Centerline goodness : 0.990794 Centerline is valid? [True, True] Translation: X:94.17, Y:96.87, Z:13.64 [[ 9.74898525e-01 -1.41276324e-01 1.72086801e-01 9.41714475e+01] [ 1.36689172e-01 9.89874042e-01 3.82812246e-02 9.68694515e+01] [-1.75752488e-01 -1.37979071e-02 9.84337686e-01 1.36405162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.186875 meters Centerline goodness : 0.990520 Centerline is valid? [True, True] Translation: X:94.20, Y:96.88, Z:13.63 [[ 9.75188697e-01 -1.39415509e-01 1.71960231e-01 9.41995684e+01] [ 1.35989147e-01 9.90206041e-01 3.16061489e-02 9.68758226e+01] [-1.74682447e-01 -7.43723409e-03 9.84596735e-01 1.36321828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.216875 meters Centerline goodness : 0.992882 Centerline is valid? [True, True] Translation: X:94.23, Y:96.87, Z:13.63 [[ 9.75699395e-01 -1.39859183e-01 1.68671575e-01 9.42271702e+01] [ 1.32554398e-01 9.89710572e-01 5.38731322e-02 9.68708525e+01] [-1.74470693e-01 -3.02058235e-02 9.84198956e-01 1.36297398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.246875 meters Centerline goodness : 0.992440 Centerline is valid? [True, True] Translation: X:94.25, Y:96.88, Z:13.62 [[ 9.75822697e-01 -1.33775918e-01 1.72841163e-01 9.42486171e+01] [ 1.30012151e-01 9.90964133e-01 3.29685848e-02 9.68823182e+01] [-1.75689795e-01 -9.70004198e-03 9.84397788e-01 1.36168573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.276875 meters Centerline goodness : 0.988986 Centerline is valid? [True, True] Translation: X:94.28, Y:96.90, Z:13.60 [[ 9.75403264e-01 -1.33199371e-01 1.75631432e-01 9.42768202e+01] [ 1.35852935e-01 9.90724109e-01 -3.11771142e-03 9.69004667e+01] [-1.73587017e-01 2.69010714e-02 9.84451055e-01 1.35995221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.306875 meters Centerline goodness : 0.991240 Centerline is valid? [True, True] Translation: X:94.31, Y:96.89, Z:13.61 [[ 9.75676905e-01 -1.38598318e-01 1.69838404e-01 9.43103110e+01] [ 1.34831229e-01 9.90299616e-01 3.35739447e-02 9.68915099e+01] [-1.72844198e-01 -9.85780173e-03 9.84899846e-01 1.36135770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.336875 meters Centerline goodness : 0.989809 Centerline is valid? [True, True] Translation: X:94.34, Y:96.89, Z:13.61 [[ 9.75221529e-01 -1.38499401e-01 1.72513433e-01 9.43373401e+01] [ 1.34035288e-01 9.90273579e-01 3.73199820e-02 9.68944086e+01] [-1.76004290e-01 -1.32723621e-02 9.84299921e-01 1.36099291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.366875 meters Centerline goodness : 0.989809 Centerline is valid? [True, True] Translation: X:94.36, Y:96.90, Z:13.60 [[ 9.75238840e-01 -1.37213327e-01 1.73440791e-01 9.43641833e+01] [ 1.33999319e-01 9.90522271e-01 3.01631189e-02 9.69005618e+01] [-1.75935748e-01 -6.17529718e-03 9.84382283e-01 1.36015279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.396875 meters Centerline goodness : 0.989769 Centerline is valid? [True, True] Translation: X:94.39, Y:96.90, Z:13.60 [[ 9.75343030e-01 -1.37183463e-01 1.72877619e-01 9.43908379e+01] [ 1.33979665e-01 9.90526136e-01 3.01234635e-02 9.69037530e+01] [-1.75372241e-01 -6.21862458e-03 9.84482557e-01 1.35975731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.426875 meters Centerline goodness : 0.988187 Centerline is valid? [True, True] Translation: X:94.42, Y:96.91, Z:13.59 [[ 9.75384376e-01 -1.37126494e-01 1.72689445e-01 9.44207359e+01] [ 1.34718705e-01 9.90552002e-01 2.56437411e-02 9.69095376e+01] [-1.74574312e-01 -1.74800606e-03 9.84642450e-01 1.35907905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.456875 meters Centerline goodness : 0.989730 Centerline is valid? [True, True] Translation: X:94.44, Y:96.91, Z:13.59 [[ 9.75331148e-01 -1.37023829e-01 1.73071146e-01 9.44437411e+01] [ 1.34036609e-01 9.90555248e-01 2.88875034e-02 9.69123589e+01] [-1.75394809e-01 -4.97701234e-03 9.84485597e-01 1.35872267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.486875 meters Centerline goodness : 0.990819 Centerline is valid? [True, True] Translation: X:94.47, Y:96.91, Z:13.58 [[ 9.75442222e-01 -1.36871541e-01 1.72564923e-01 9.44714726e+01] [ 1.32911352e-01 9.90532360e-01 3.43542896e-02 9.69127956e+01] [-1.75633264e-01 -1.05747873e-02 9.84398867e-01 1.35848874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.516875 meters Centerline goodness : 0.990429 Centerline is valid? [True, True] Translation: X:94.50, Y:96.91, Z:13.58 [[ 9.76471275e-01 -1.35868905e-01 1.67461908e-01 9.45017542e+01] [ 1.29921900e-01 9.90455542e-01 4.60230399e-02 9.69119096e+01] [-1.72116674e-01 -2.31832072e-02 9.84803731e-01 1.35781495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.546875 meters Centerline goodness : 0.990580 Centerline is valid? [True, True] Translation: X:94.51, Y:96.93, Z:13.56 [[ 9.74663510e-01 -1.34703997e-01 1.78566163e-01 9.45129233e+01] [ 1.35393607e-01 9.90756487e-01 8.37589102e-03 9.69324860e+01] [-1.78043851e-01 1.60130416e-02 9.83892255e-01 1.35559534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.576875 meters Centerline goodness : 0.990612 Centerline is valid? [True, True] Translation: X:94.57, Y:96.92, Z:13.56 [[ 9.76536709e-01 -1.28532423e-01 1.72787363e-01 9.45680756e+01] [ 1.24498603e-01 9.91636056e-01 3.40298570e-02 9.69194913e+01] [-1.75716119e-01 -1.17196193e-02 9.84371117e-01 1.35639801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.606875 meters Centerline goodness : 0.992720 Centerline is valid? [True, True] Translation: X:94.58, Y:96.93, Z:13.56 [[ 9.75562434e-01 -1.32904204e-01 1.74969741e-01 9.45785376e+01] [ 1.26840123e-01 9.90881501e-01 4.54470462e-02 9.69263056e+01] [-1.79414383e-01 -2.21432476e-02 9.83524355e-01 1.35558697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.636875 meters Centerline goodness : 0.990800 Centerline is valid? [True, True] Translation: X:94.59, Y:96.95, Z:13.53 [[ 9.73343087e-01 -1.33115991e-01 1.86770897e-01 9.45914342e+01] [ 1.34863822e-01 9.90858395e-01 3.37487416e-03 9.69474418e+01] [-1.85512761e-01 2.19037266e-02 9.82397701e-01 1.35314248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.66687499999998 meters Centerline goodness : 0.989407 Centerline is valid? [True, True] Translation: X:94.65, Y:96.93, Z:13.55 [[ 9.75195268e-01 -1.32541601e-01 1.77276376e-01 9.46495134e+01] [ 1.28405209e-01 9.91116018e-01 3.46574781e-02 9.69337918e+01] [-1.80295013e-01 -1.10345986e-02 9.83550683e-01 1.35451055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.69687499999998 meters Centerline goodness : 0.989068 Centerline is valid? [True, True] Translation: X:94.68, Y:96.93, Z:13.55 [[ 9.75088149e-01 -1.32993423e-01 1.77527043e-01 9.46821275e+01] [ 1.24055628e-01 9.90424234e-01 6.05808325e-02 9.69266234e+01] [-1.83883938e-01 -3.70484230e-02 9.82249516e-01 1.35465517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.72687499999998 meters Centerline goodness : 0.990494 Centerline is valid? [True, True] Translation: X:94.67, Y:96.96, Z:13.51 [[ 9.72507699e-01 -1.33515847e-01 1.90793852e-01 9.46738796e+01] [ 1.39070445e-01 9.90153805e-01 -1.59641166e-02 9.69644106e+01] [-1.86783796e-01 4.20590122e-02 9.81500307e-01 1.35093760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.75687499999998 meters Centerline goodness : 0.990821 Centerline is valid? [True, True] Translation: X:94.73, Y:96.94, Z:13.54 [[ 9.73674691e-01 -1.38159788e-01 1.81299393e-01 9.47324596e+01] [ 1.32238883e-01 9.90222570e-01 4.44087890e-02 9.69401218e+01] [-1.85662260e-01 -1.92648846e-02 9.82424750e-01 1.35352614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.78687499999998 meters Centerline goodness : 0.989445 Centerline is valid? [True, True] Translation: X:94.74, Y:96.96, Z:13.53 [[ 9.72208758e-01 -1.48340181e-01 1.81122396e-01 9.47419431e+01] [ 1.45300794e-01 9.88932259e-01 3.00111205e-02 9.69606679e+01] [-1.83569635e-01 -2.85984612e-03 9.83002548e-01 1.35275175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.81687499999998 meters Centerline goodness : 0.990076 Centerline is valid? [True, True] Translation: X:94.77, Y:96.95, Z:13.55 [[ 9.73920554e-01 -1.49650356e-01 1.70538929e-01 9.47742773e+01] [ 1.39352818e-01 9.87701333e-01 7.09004215e-02 9.69505073e+01] [-1.79051801e-01 -4.52862973e-02 9.82796827e-01 1.35499778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.84687499999998 meters Centerline goodness : 0.989962 Centerline is valid? [True, True] Translation: X:94.79, Y:96.98, Z:13.51 [[ 9.72641184e-01 -1.41844640e-01 1.83981591e-01 9.47879102e+01] [ 1.43064311e-01 9.89690738e-01 6.69679014e-03 9.69756170e+01] [-1.83034780e-01 1.98076255e-02 9.82906876e-01 1.35085209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.87687499999998 meters Centerline goodness : 0.991112 Centerline is valid? [True, True] Translation: X:94.84, Y:96.96, Z:13.51 [[ 9.74360442e-01 -1.35446696e-01 1.79655009e-01 9.48382983e+01] [ 1.31515187e-01 9.90742084e-01 3.36731288e-02 9.69596088e+01] [-1.82552692e-01 -9.18240254e-03 9.83153192e-01 1.35140773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.90687499999999 meters Centerline goodness : 0.991359 Centerline is valid? [True, True] Translation: X:94.85, Y:96.98, Z:13.50 [[ 9.72647193e-01 -1.42787170e-01 1.83219166e-01 9.48454928e+01] [ 1.40989256e-01 9.89746917e-01 2.28707330e-02 9.69771948e+01] [-1.84606252e-01 3.58677965e-03 9.82806017e-01 1.35033864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.936875 meters Centerline goodness : 0.991136 Centerline is valid? [True, True] Translation: X:94.87, Y:96.98, Z:13.50 [[ 9.72026480e-01 -1.44503602e-01 1.85157317e-01 9.48680706e+01] [ 1.41282352e-01 9.89497970e-01 3.05460982e-02 9.69799274e+01] [-1.87626811e-01 -3.53215498e-03 9.82234037e-01 1.34994255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.966875 meters Centerline goodness : 0.991620 Centerline is valid? [True, True] Translation: X:94.90, Y:96.98, Z:13.50 [[ 9.72416063e-01 -1.45811215e-01 1.82060678e-01 9.48980215e+01] [ 1.41308195e-01 9.89253759e-01 3.75365696e-02 9.69824899e+01] [-1.85577463e-01 -1.07744974e-02 9.82570565e-01 1.35003769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.996875 meters Centerline goodness : 0.991812 Centerline is valid? [True, True] Translation: X:94.92, Y:96.99, Z:13.49 [[ 9.72247108e-01 -1.44643863e-01 1.83885057e-01 9.49237678e+01] [ 1.40500859e-01 9.89446281e-01 3.54339707e-02 9.69868964e+01] [-1.87069692e-01 -8.61456695e-03 9.82308872e-01 1.34928578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.026875 meters Centerline goodness : 0.989088 Centerline is valid? [True, True] Translation: X:94.98, Y:96.98, Z:13.49 [[ 9.73733364e-01 -1.39408731e-01 1.80023727e-01 9.49754340e+01] [ 1.33417693e-01 9.90036375e-01 4.50299289e-02 9.69816171e+01] [-1.84507603e-01 -1.98287938e-02 9.82631041e-01 1.34937476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.056875 meters Centerline goodness : 0.990767 Centerline is valid? [True, True] Translation: X:94.98, Y:97.00, Z:13.47 [[ 9.71918514e-01 -1.41154236e-01 1.88281394e-01 9.49753170e+01] [ 1.41862121e-01 9.89838112e-01 9.78015455e-03 9.70023775e+01] [-1.87748610e-01 1.72044845e-02 9.82066426e-01 1.34678777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.086875 meters Centerline goodness : 0.991383 Centerline is valid? [True, True] Translation: X:95.01, Y:97.00, Z:13.48 [[ 9.72070326e-01 -1.44591421e-01 1.84858332e-01 9.50085811e+01] [ 1.40323701e-01 9.89449702e-01 3.60353390e-02 9.69974797e+01] [-1.88118423e-01 -9.08887830e-03 9.82104298e-01 1.34758762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.116875 meters Centerline goodness : 0.988624 Centerline is valid? [True, True] Translation: X:95.06, Y:96.99, Z:13.48 [[ 9.73686064e-01 -1.38796362e-01 1.80751260e-01 9.50592617e+01] [ 1.32064741e-01 9.90038185e-01 4.88190209e-02 9.69901649e+01] [-1.85726552e-01 -2.36635319e-02 9.82316489e-01 1.34799024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.146875 meters Centerline goodness : 0.990942 Centerline is valid? [True, True] Translation: X:95.08, Y:97.00, Z:13.47 [[ 9.73043809e-01 -1.39968794e-01 1.83287979e-01 9.50815215e+01] [ 1.35511892e-01 9.90096394e-01 3.66832056e-02 9.70025524e+01] [-1.86607271e-01 -1.08566653e-02 9.82374602e-01 1.34714626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.176875 meters Centerline goodness : 0.988950 Centerline is valid? [True, True] Translation: X:95.11, Y:97.01, Z:13.45 [[ 9.73166704e-01 -1.34633485e-01 1.86602228e-01 9.51107582e+01] [ 1.33783759e-01 9.90861307e-01 1.71981396e-02 9.70100307e+01] [-1.87212373e-01 8.22769075e-03 9.82285006e-01 1.34530509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.206875 meters Centerline goodness : 0.987855 Centerline is valid? [True, True] Translation: X:95.14, Y:97.01, Z:13.46 [[ 9.72981683e-01 -1.37769335e-01 1.85273458e-01 9.51394765e+01] [ 1.34095033e-01 9.90442593e-01 3.22798872e-02 9.70123313e+01] [-1.87949903e-01 -6.56348846e-03 9.82156685e-01 1.34569107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.236875 meters Centerline goodness : 0.990350 Centerline is valid? [True, True] Translation: X:95.15, Y:97.02, Z:13.45 [[ 9.71497275e-01 -1.43106649e-01 1.88980244e-01 9.51465623e+01] [ 1.39823370e-01 9.89701550e-01 3.06637799e-02 9.70235583e+01] [-1.91422232e-01 -3.36592387e-03 9.81502012e-01 1.34494760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.266875 meters Centerline goodness : 0.989943 Centerline is valid? [True, True] Translation: X:95.18, Y:97.03, Z:13.45 [[ 9.72154949e-01 -1.41464690e-01 1.86822101e-01 9.51784817e+01] [ 1.37227414e-01 9.89903621e-01 3.54888358e-02 9.70269029e+01] [-1.89956291e-01 -8.86353354e-03 9.81752538e-01 1.34462830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.296875 meters Centerline goodness : 0.990615 Centerline is valid? [True, True] Translation: X:95.20, Y:97.03, Z:13.44 [[ 9.72511930e-01 -1.41397627e-01 1.85006103e-01 9.52047796e+01] [ 1.36389473e-01 9.89863980e-01 3.95880398e-02 9.70310798e+01] [-1.88728532e-01 -1.32669563e-02 9.81939677e-01 1.34443492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.326875 meters Centerline goodness : 0.990635 Centerline is valid? [True, True] Translation: X:95.23, Y:97.04, Z:13.43 [[ 9.72817813e-01 -1.38499555e-01 1.85589266e-01 9.52313878e+01] [ 1.34511043e-01 9.90329469e-01 3.39753063e-02 9.70371843e+01] [-1.88500084e-01 -8.08797737e-03 9.82039868e-01 1.34347498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.356875 meters Centerline goodness : 0.990360 Centerline is valid? [True, True] Translation: X:95.28, Y:97.03, Z:13.43 [[ 9.74632367e-01 -1.28388746e-01 1.83325066e-01 9.52781654e+01] [ 1.24238597e-01 9.91669831e-01 3.39958344e-02 9.70317751e+01] [-1.86162620e-01 -1.03573914e-02 9.82464352e-01 1.34291204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.386875 meters Centerline goodness : 0.991261 Centerline is valid? [True, True] Translation: X:95.29, Y:97.04, Z:13.44 [[ 9.74951810e-01 -1.34912484e-01 1.76826442e-01 9.52900052e+01] [ 1.27879527e-01 9.90496209e-01 5.06368149e-02 9.70386451e+01] [-1.81977459e-01 -2.67559725e-02 9.82938616e-01 1.34406626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.41687499999998 meters Centerline goodness : 0.989931 Centerline is valid? [True, True] Translation: X:95.32, Y:97.05, Z:13.43 [[ 9.75143302e-01 -1.30035554e-01 1.79405396e-01 9.53190997e+01] [ 1.25211043e-01 9.91401842e-01 3.80076511e-02 9.70466871e+01] [-1.82805186e-01 -1.45993695e-02 9.83040753e-01 1.34282595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.44687499999998 meters Centerline goodness : 0.989642 Centerline is valid? [True, True] Translation: X:95.36, Y:97.05, Z:13.41 [[ 9.75701134e-01 -1.19457323e-01 1.83677011e-01 9.53572278e+01] [ 1.18686446e-01 9.92815048e-01 1.52252481e-02 9.70514654e+01] [-1.84176067e-01 6.94467972e-03 9.82868734e-01 1.34069207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.47687499999998 meters Centerline goodness : 0.987876 Centerline is valid? [True, True] Translation: X:95.39, Y:97.05, Z:13.40 [[ 9.75960786e-01 -1.17413890e-01 1.83615148e-01 9.53894891e+01] [ 1.16393874e-01 9.93068365e-01 1.63611889e-02 9.70535559e+01] [-1.84263426e-01 5.40379974e-03 9.82862040e-01 1.33983377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.50687499999998 meters Centerline goodness : 0.992800 Centerline is valid? [True, True] Translation: X:95.40, Y:97.05, Z:13.42 [[ 9.75565163e-01 -1.29011107e-01 1.77844726e-01 9.53986760e+01] [ 1.19679462e-01 9.90857116e-01 6.22816344e-02 9.70475566e+01] [-1.84253735e-01 -3.94754318e-02 9.82085664e-01 1.34169493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.53687499999998 meters Centerline goodness : 0.990325 Centerline is valid? [True, True] Translation: X:95.45, Y:97.04, Z:13.40 [[ 9.76248962e-01 -1.16163326e-01 1.82877136e-01 9.54455384e+01] [ 1.07610348e-01 9.92611810e-01 5.60518341e-02 9.70434699e+01] [-1.88037172e-01 -3.50410726e-02 9.81536624e-01 1.34016800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.56687499999998 meters Centerline goodness : 0.989975 Centerline is valid? [True, True] Translation: X:95.44, Y:97.09, Z:13.36 [[ 9.73271774e-01 -1.18152660e-01 1.96931467e-01 9.54420078e+01] [ 1.27415467e-01 9.91231595e-01 -3.50031852e-02 9.70908965e+01] [-1.91068973e-01 5.91597271e-02 9.79792210e-01 1.33550269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.59687499999998 meters Centerline goodness : 0.990725 Centerline is valid? [True, True] Translation: X:95.49, Y:97.06, Z:13.40 [[ 9.75122513e-01 -1.31628735e-01 1.78353471e-01 9.54859208e+01] [ 1.25095355e-01 9.91009631e-01 4.74453774e-02 9.70639283e+01] [-1.82995183e-01 -2.39538648e-02 9.82821945e-01 1.34011733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.62687499999998 meters Centerline goodness : 0.988189 Centerline is valid? [True, True] Translation: X:95.54, Y:97.06, Z:13.38 [[ 9.75179776e-01 -1.21483758e-01 1.85111050e-01 9.55352926e+01] [ 1.16608538e-01 9.92486972e-01 3.70413287e-02 9.70620275e+01] [-1.88220226e-01 -1.45364256e-02 9.82019266e-01 1.33847096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.65687499999999 meters Centerline goodness : 0.991201 Centerline is valid? [True, True] Translation: X:95.56, Y:97.07, Z:13.38 [[ 9.75464368e-01 -1.22136699e-01 1.83171759e-01 9.55584922e+01] [ 1.18791788e-01 9.92490734e-01 2.91659913e-02 9.70701513e+01] [-1.85358512e-01 -6.69108455e-03 9.82648183e-01 1.33798262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.686875 meters Centerline goodness : 0.991290 Centerline is valid? [True, True] Translation: X:95.57, Y:97.08, Z:13.37 [[ 9.73805069e-01 -1.29171842e-01 1.87131835e-01 9.55655520e+01] [ 1.27118298e-01 9.91621228e-01 2.29843163e-02 9.70845620e+01] [-1.88532826e-01 1.40563666e-03 9.82065883e-01 1.33691416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.716875 meters Centerline goodness : 0.991475 Centerline is valid? [True, True] Translation: X:95.60, Y:97.08, Z:13.37 [[ 9.74508989e-01 -1.30586458e-01 1.82426442e-01 9.55974711e+01] [ 1.25549387e-01 9.91322731e-01 3.89434694e-02 9.70815937e+01] [-1.85928968e-01 -1.50472331e-02 9.82447963e-01 1.33745049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.746875 meters Centerline goodness : 0.992438 Centerline is valid? [True, True] Translation: X:95.62, Y:97.09, Z:13.36 [[ 9.74124791e-01 -1.29266296e-01 1.85394487e-01 9.56199510e+01] [ 1.26075872e-01 9.91598181e-01 2.89468800e-02 9.70885157e+01] [-1.87578692e-01 -4.82410187e-03 9.82237732e-01 1.33622427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.776875 meters Centerline goodness : 0.992116 Centerline is valid? [True, True] Translation: X:95.65, Y:97.08, Z:13.37 [[ 9.74991967e-01 -1.28421990e-01 1.81379318e-01 9.56505708e+01] [ 1.22977839e-01 9.91562254e-01 4.09969163e-02 9.70846843e+01] [-1.85113791e-01 -1.76660275e-02 9.82558291e-01 1.33657933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.806875 meters Centerline goodness : 0.993122 Centerline is valid? [True, True] Translation: X:95.67, Y:97.09, Z:13.35 [[ 9.74379665e-01 -1.27291775e-01 1.85421336e-01 9.56714385e+01] [ 1.25030568e-01 9.91865311e-01 2.38864233e-02 9.70941321e+01] [-1.86953536e-01 -9.11101049e-05 9.82368753e-01 1.33492088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.836875 meters Centerline goodness : 0.988953 Centerline is valid? [True, True] Translation: X:95.73, Y:97.08, Z:13.36 [[ 9.75679796e-01 -1.26344821e-01 1.79125439e-01 9.57270403e+01] [ 1.19414536e-01 9.91634488e-01 4.90021523e-02 9.70848758e+01] [-1.83818131e-01 -2.64202289e-02 9.82605143e-01 1.33564360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.866875 meters Centerline goodness : 0.988195 Centerline is valid? [True, True] Translation: X:95.75, Y:97.10, Z:13.34 [[ 9.75627186e-01 -1.23123405e-01 1.81637609e-01 9.57510494e+01] [ 1.20707387e-01 9.92389696e-01 2.43396178e-02 9.70963350e+01] [-1.83252068e-01 -1.82139157e-03 9.83064272e-01 1.33391494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.896875 meters Centerline goodness : 0.991110 Centerline is valid? [True, True] Translation: X:95.76, Y:97.11, Z:13.33 [[ 9.75114224e-01 -1.28418949e-01 1.80723059e-01 9.57564349e+01] [ 1.27479725e-01 9.91698005e-01 1.68518716e-02 9.71075686e+01] [-1.81386797e-01 6.60602630e-03 9.83389643e-01 1.33327073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.926875 meters Centerline goodness : 0.988084 Centerline is valid? [True, True] Translation: X:95.81, Y:97.10, Z:13.34 [[ 9.76454144e-01 -1.26504160e-01 1.74739811e-01 9.58106746e+01] [ 1.20663930e-01 9.91731275e-01 4.36954643e-02 9.70959794e+01] [-1.78822593e-01 -2.15818250e-02 9.83644603e-01 1.33390944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.956875 meters Centerline goodness : 0.986533 Centerline is valid? [True, True] Translation: X:95.84, Y:97.11, Z:13.32 [[ 9.76376688e-01 -1.23883717e-01 1.77034989e-01 9.58354029e+01] [ 1.21815695e-01 9.92296641e-01 2.25457755e-02 9.71079799e+01] [-1.78464279e-01 -4.47529439e-04 9.83946290e-01 1.33228427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.986875 meters Centerline goodness : 0.990284 Centerline is valid? [True, True] Translation: X:95.86, Y:97.11, Z:13.32 [[ 9.76455003e-01 -1.26136563e-01 1.75000556e-01 9.58604778e+01] [ 1.24599930e-01 9.92009773e-01 1.97855300e-02 9.71106622e+01] [-1.76097941e-01 2.48537727e-03 9.84369513e-01 1.33223078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.016875 meters Centerline goodness : 0.990284 Centerline is valid? [True, True] Translation: X:95.89, Y:97.11, Z:13.32 [[ 9.76437864e-01 -1.27412798e-01 1.74169678e-01 9.58891614e+01] [ 1.24877553e-01 9.91844826e-01 2.54840804e-02 9.71131997e+01] [-1.75996292e-01 -3.13373795e-03 9.84385842e-01 1.33204172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.046875 meters Centerline goodness : 0.990031 Centerline is valid? [True, True] Translation: X:95.92, Y:97.11, Z:13.31 [[ 9.75744511e-01 -1.29332105e-01 1.76623485e-01 9.59216098e+01] [ 1.25350907e-01 9.91544576e-01 3.35634202e-02 9.71107000e+01] [-1.79470886e-01 -1.06094090e-02 9.83706075e-01 1.33147378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.076875 meters Centerline goodness : 0.991905 Centerline is valid? [True, True] Translation: X:95.92, Y:97.12, Z:13.31 [[ 9.73981807e-01 -1.36431169e-01 1.80958495e-01 9.59235118e+01] [ 1.34164376e-01 9.90649540e-01 2.47670773e-02 9.71240794e+01] [-1.82645451e-01 1.55500924e-04 9.83178832e-01 1.33071517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.106875 meters Centerline goodness : 0.991911 Centerline is valid? [True, True] Translation: X:95.96, Y:97.12, Z:13.32 [[ 9.74658332e-01 -1.38690027e-01 1.75516985e-01 9.59597704e+01] [ 1.32832685e-01 9.90127734e-01 4.47498517e-02 9.71185113e+01] [-1.79990592e-01 -2.03014235e-02 9.83458814e-01 1.33171280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.136875 meters Centerline goodness : 0.992243 Centerline is valid? [True, True] Translation: X:95.98, Y:97.13, Z:13.30 [[ 9.74333037e-01 -1.36865019e-01 1.78726324e-01 9.59805653e+01] [ 1.34049658e-01 9.90584788e-01 2.77933075e-02 9.71282988e+01] [-1.80847509e-01 -3.12173522e-03 9.83506194e-01 1.33033175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.16687499999998 meters Centerline goodness : 0.992024 Centerline is valid? [True, True] Translation: X:96.01, Y:97.13, Z:13.30 [[ 9.74225317e-01 -1.36776028e-01 1.79380461e-01 9.60098239e+01] [ 1.33369904e-01 9.90582289e-01 3.09709001e-02 9.71303095e+01] [-1.81927184e-01 -6.24868023e-03 9.83292151e-01 1.32981818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.19687499999998 meters Centerline goodness : 0.991237 Centerline is valid? [True, True] Translation: X:96.04, Y:97.13, Z:13.29 [[ 9.74473858e-01 -1.34980625e-01 1.79390440e-01 9.60405821e+01] [ 1.31276036e-01 9.90815595e-01 3.24200280e-02 9.71319041e+01] [-1.82118922e-01 -8.04280383e-03 9.83243618e-01 1.32934317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.22687499999998 meters Centerline goodness : 0.990322 Centerline is valid? [True, True] Translation: X:96.07, Y:97.14, Z:13.27 [[ 9.73432327e-01 -1.34838422e-01 1.85062432e-01 9.60661566e+01] [ 1.34464164e-01 9.90810445e-01 1.46304801e-02 9.71430204e+01] [-1.85334542e-01 1.06424830e-02 9.82617853e-01 1.32719608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.25687499999998 meters Centerline goodness : 0.986964 Centerline is valid? [True, True] Translation: X:96.12, Y:97.13, Z:13.28 [[ 9.75511848e-01 -1.29448786e-01 1.77819138e-01 9.61194174e+01] [ 1.22470736e-01 9.91225882e-01 4.97209272e-02 9.71266029e+01] [-1.82695245e-01 -2.67257129e-02 9.82806280e-01 1.32821837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.28687499999998 meters Centerline goodness : 0.986964 Centerline is valid? [True, True] Translation: X:96.14, Y:97.14, Z:13.26 [[ 9.75297903e-01 -1.25028539e-01 1.82103993e-01 9.61441319e+01] [ 1.23172284e-01 9.92152089e-01 2.15132890e-02 9.71398293e+01] [-1.83364632e-01 1.44829905e-03 9.83043902e-01 1.32615008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.31687499999998 meters Centerline goodness : 0.991079 Centerline is valid? [True, True] Translation: X:96.15, Y:97.15, Z:13.26 [[ 9.74457740e-01 -1.29508613e-01 1.83465613e-01 9.61502547e+01] [ 1.29939774e-01 9.91474226e-01 9.72189193e-03 9.71545823e+01] [-1.83160495e-01 1.43659075e-02 9.82978054e-01 1.32553284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.34687499999998 meters Centerline goodness : 0.989872 Centerline is valid? [True, True] Translation: X:96.18, Y:97.16, Z:13.25 [[ 9.74019524e-01 -1.30719879e-01 1.84927768e-01 9.61753159e+01] [ 1.29565054e-01 9.91400769e-01 1.83687746e-02 9.71568009e+01] [-1.85738695e-01 6.06863111e-03 9.82580434e-01 1.32502328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.37687499999998 meters Centerline goodness : 0.991313 Centerline is valid? [True, True] Translation: X:96.22, Y:97.14, Z:13.29 [[ 9.77031819e-01 -1.34638702e-01 1.65170348e-01 9.62180581e+01] [ 1.23949540e-01 9.89566575e-01 7.34472953e-02 9.71400210e+01] [-1.73335904e-01 -5.12875559e-02 9.83526436e-01 1.32917990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.40687499999999 meters Centerline goodness : 0.992605 Centerline is valid? [True, True] Translation: X:96.23, Y:97.17, Z:13.23 [[ 9.75218378e-01 -1.20748462e-01 1.85388577e-01 9.62275398e+01] [ 1.23708285e-01 9.92308702e-01 -4.43848266e-03 9.71684210e+01] [-1.83426759e-01 2.72625929e-02 9.82655268e-01 1.32311940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.436875 meters Centerline goodness : 0.988426 Centerline is valid? [True, True] Translation: X:96.28, Y:97.15, Z:13.26 [[ 9.76617916e-01 -1.23323575e-01 1.76092991e-01 9.62813129e+01] [ 1.16331121e-01 9.91974468e-01 4.95350819e-02 9.71534383e+01] [-1.80788594e-01 -2.78917534e-02 9.83126408e-01 1.32561470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.466875 meters Centerline goodness : 0.991197 Centerline is valid? [True, True] Translation: X:96.29, Y:97.17, Z:13.23 [[ 9.76146871e-01 -1.19629370e-01 1.81179747e-01 9.62879250e+01] [ 1.18600470e-01 9.92804257e-01 1.65419718e-02 9.71715657e+01] [-1.81854930e-01 5.34060909e-03 9.83310868e-01 1.32341634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.496875 meters Centerline goodness : 0.993235 Centerline is valid? [True, True] Translation: X:96.31, Y:97.17, Z:13.24 [[ 9.76158433e-01 -1.20135537e-01 1.80782099e-01 9.63140547e+01] [ 1.15798526e-01 9.92677015e-01 3.43954305e-02 9.71673850e+01] [-1.83590348e-01 -1.26410888e-02 9.82921557e-01 1.32365997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.526875 meters Centerline goodness : 0.992074 Centerline is valid? [True, True] Translation: X:96.34, Y:97.17, Z:13.23 [[ 9.76146874e-01 -1.18524558e-01 1.81904398e-01 9.63418193e+01] [ 1.15086130e-01 9.92920911e-01 2.93810674e-02 9.71735805e+01] [-1.84099058e-01 -7.74556388e-03 9.82877176e-01 1.32285004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.556875 meters Centerline goodness : 0.989838 Centerline is valid? [True, True] Translation: X:96.39, Y:97.17, Z:13.23 [[ 9.77391042e-01 -1.13139645e-01 1.78622987e-01 9.63913358e+01] [ 1.07390861e-01 9.93347725e-01 4.15632002e-02 9.71656303e+01] [-1.82137184e-01 -2.14410232e-02 9.83039332e-01 1.32282606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.586875 meters Centerline goodness : 0.978321 Centerline is valid? [True, True] Translation: X:96.42, Y:97.19, Z:13.18 [[ 9.76352972e-01 -9.74092336e-02 1.92993046e-01 9.64169835e+01] [ 1.04960870e-01 9.94045399e-01 -2.92738875e-02 9.71869655e+01] [-1.88992302e-01 4.88383650e-02 9.80763337e-01 1.31783812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.616875 meters Centerline goodness : 0.987299 Centerline is valid? [True, True] Translation: X:96.46, Y:97.17, Z:13.22 [[ 9.77143303e-01 -1.13001046e-01 1.80060351e-01 9.64562828e+01] [ 1.05959255e-01 9.93197261e-01 4.82891005e-02 9.71665403e+01] [-1.84292166e-01 -2.81063104e-02 9.82469558e-01 1.32192836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.646875 meters Centerline goodness : 0.993725 Centerline is valid? [True, True] Translation: X:96.46, Y:97.17, Z:13.21 [[ 9.76746596e-01 -1.13781864e-01 1.81713439e-01 9.64565050e+01] [ 1.09867427e-01 9.93447040e-01 3.14980546e-02 9.71741250e+01] [-1.84106585e-01 -1.08012295e-02 9.82846936e-01 1.32129578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.676875 meters Centerline goodness : 0.993098 Centerline is valid? [True, True] Translation: X:96.48, Y:97.18, Z:13.20 [[ 9.75846509e-01 -1.14353345e-01 1.86136789e-01 9.64831693e+01] [ 1.11847822e-01 9.93436881e-01 2.39421954e-02 9.71800664e+01] [-1.87653021e-01 -2.54491341e-03 9.82232084e-01 1.32010029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.706875 meters Centerline goodness : 0.992892 Centerline is valid? [True, True] Translation: X:96.52, Y:97.18, Z:13.21 [[ 9.76346086e-01 -1.16943719e-01 1.81858428e-01 9.65159955e+01] [ 1.12174447e-01 9.93024193e-01 3.63296867e-02 9.71782441e+01] [-1.84838347e-01 -1.50704789e-02 9.82653380e-01 1.32059394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.736875 meters Centerline goodness : 0.993175 Centerline is valid? [True, True] Translation: X:96.53, Y:97.19, Z:13.17 [[ 9.75019462e-01 -1.12413288e-01 1.91573227e-01 9.65327701e+01] [ 1.14886300e-01 9.93376991e-01 -1.81447420e-03 9.71941214e+01] [-1.90100465e-01 2.37782869e-02 9.81476646e-01 1.31730236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.766875 meters Centerline goodness : 0.993395 Centerline is valid? [True, True] Translation: X:96.57, Y:97.18, Z:13.20 [[ 9.76580139e-01 -1.21232035e-01 1.77747085e-01 9.65738953e+01] [ 1.13123064e-01 9.92051731e-01 5.51047718e-02 9.71758426e+01] [-1.83014767e-01 -3.37069308e-02 9.82532156e-01 1.32047725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.796875 meters Centerline goodness : 0.993017 Centerline is valid? [True, True] Translation: X:96.59, Y:97.19, Z:13.18 [[ 9.76319591e-01 -1.17401475e-01 1.81705668e-01 9.65947884e+01] [ 1.15075634e-01 9.93082783e-01 2.33277652e-02 9.71890226e+01] [-1.83187484e-01 -1.86545928e-03 9.83076226e-01 1.31810908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.826875 meters Centerline goodness : 0.993379 Centerline is valid? [True, True] Translation: X:96.63, Y:97.19, Z:13.19 [[ 9.76861525e-01 -1.19911189e-01 1.77095647e-01 9.66293498e+01] [ 1.14420426e-01 9.92588644e-01 4.09359156e-02 9.71854882e+01] [-1.80691802e-01 -1.97253615e-02 9.83341946e-01 1.31883365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.856875 meters Centerline goodness : 0.993635 Centerline is valid? [True, True] Translation: X:96.65, Y:97.20, Z:13.17 [[ 9.76054979e-01 -1.20123983e-01 1.81347475e-01 9.66507170e+01] [ 1.18172918e-01 9.92758824e-01 2.15656671e-02 9.71957983e+01] [-1.82624860e-01 3.81083492e-04 9.83182595e-01 1.31694213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.886875 meters Centerline goodness : 0.993382 Centerline is valid? [True, True] Translation: X:96.68, Y:97.20, Z:13.16 [[ 9.75703444e-01 -1.21581335e-01 1.82265651e-01 9.66785096e+01] [ 1.19231189e-01 9.92580297e-01 2.38385898e-02 9.71972138e+01] [-1.83811622e-01 -1.52764398e-03 9.82960301e-01 1.31632552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.91687499999998 meters Centerline goodness : 0.993013 Centerline is valid? [True, True] Translation: X:96.73, Y:97.18, Z:13.17 [[ 9.77132508e-01 -1.18660669e-01 1.76441794e-01 9.67309163e+01] [ 1.12143879e-01 9.92603650e-01 4.64945595e-02 9.71837461e+01] [-1.80653844e-01 -2.56444784e-02 9.83212362e-01 1.31704762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.94687499999998 meters Centerline goodness : 0.994666 Centerline is valid? [True, True] Translation: X:96.73, Y:97.21, Z:13.15 [[ 9.75377751e-01 -1.22855201e-01 1.83152510e-01 9.67328434e+01] [ 1.23765104e-01 9.92290262e-01 6.49890267e-03 9.72057846e+01] [-1.82538876e-01 1.63290045e-02 9.83063031e-01 1.31458356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.97687499999998 meters Centerline goodness : 0.991251 Centerline is valid? [True, True] Translation: X:96.79, Y:97.19, Z:13.15 [[ 9.75882953e-01 -1.20720783e-01 1.81876209e-01 9.67852126e+01] [ 1.16626378e-01 9.92624753e-01 3.30815291e-02 9.71905434e+01] [-1.84528455e-01 -1.10721368e-02 9.82764802e-01 1.31516087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.00687499999998 meters Centerline goodness : 0.994855 Centerline is valid? [True, True] Translation: X:96.79, Y:97.21, Z:13.14 [[ 9.74538792e-01 -1.25094116e-01 1.86079566e-01 9.67892751e+01] [ 1.24923274e-01 9.92085241e-01 1.26905348e-02 9.72073586e+01] [-1.86194303e-01 1.08782502e-02 9.82452719e-01 1.31378133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.03687499999998 meters Centerline goodness : 0.992645 Centerline is valid? [True, True] Translation: X:96.84, Y:97.20, Z:13.14 [[ 9.75625784e-01 -1.22735983e-01 1.81907142e-01 9.68407691e+01] [ 1.18639680e-01 9.92379701e-01 3.32739409e-02 9.71971911e+01] [-1.84604865e-01 -1.08815097e-02 9.82752582e-01 1.31437214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.06687499999998 meters Centerline goodness : 0.991320 Centerline is valid? [True, True] Translation: X:96.87, Y:97.20, Z:13.13 [[ 9.75303522e-01 -1.19608866e-01 1.85679186e-01 9.68672878e+01] [ 1.17374293e-01 9.92820873e-01 2.30215217e-02 9.72024820e+01] [-1.87099749e-01 -6.59008134e-04 9.82340699e-01 1.31292810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.09687499999998 meters Centerline goodness : 0.994303 Centerline is valid? [True, True] Translation: X:96.87, Y:97.22, Z:13.12 [[ 9.74350706e-01 -1.24200083e-01 1.87656713e-01 9.68711000e+01] [ 1.24394329e-01 9.92174215e-01 1.07878783e-02 9.72186687e+01] [-1.87528007e-01 1.28322541e-02 9.82175432e-01 1.31200837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.12687499999998 meters Centerline goodness : 0.991997 Centerline is valid? [True, True] Translation: X:96.93, Y:97.20, Z:13.14 [[ 9.76458242e-01 -1.20789152e-01 1.78715646e-01 9.69256061e+01] [ 1.13567569e-01 9.92264282e-01 5.01398264e-02 9.72017491e+01] [-1.83389499e-01 -2.86631452e-02 9.82622367e-01 1.31371326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.15687499999999 meters Centerline goodness : 0.995037 Centerline is valid? [True, True] Translation: X:96.93, Y:97.22, Z:13.11 [[ 9.75459100e-01 -1.17791486e-01 1.86023411e-01 9.69255523e+01] [ 1.19153227e-01 9.92868285e-01 3.88301105e-03 9.72247848e+01] [-1.85154130e-01 1.83775712e-02 9.82537639e-01 1.31072268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.186875 meters Centerline goodness : 0.994799 Centerline is valid? [True, True] Translation: X:96.96, Y:97.22, Z:13.12 [[ 9.75820872e-01 -1.20427276e-01 1.82403114e-01 9.69586042e+01] [ 1.16445737e-01 9.92667683e-01 3.24231579e-02 9.72182823e+01] [-1.84970309e-01 -1.03991293e-02 9.82689088e-01 1.31182499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.216875 meters Centerline goodness : 0.994653 Centerline is valid? [True, True] Translation: X:96.98, Y:97.23, Z:13.11 [[ 9.76287063e-01 -1.15989430e-01 1.82784088e-01 9.69814600e+01] [ 1.13422502e-01 9.93245422e-01 2.44717635e-02 9.72258381e+01] [-1.84387924e-01 -3.15963765e-03 9.82848468e-01 1.31086010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.246875 meters Centerline goodness : 0.993693 Centerline is valid? [True, True] Translation: X:97.01, Y:97.23, Z:13.11 [[ 9.78647363e-01 -1.08877758e-01 1.74341540e-01 9.70134351e+01] [ 1.03593476e-01 9.93848677e-01 3.91560940e-02 9.72330502e+01] [-1.77532337e-01 -2.02593619e-02 9.83906412e-01 1.31088416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.276875 meters Centerline goodness : 0.991309 Centerline is valid? [True, True] Translation: X:97.03, Y:97.25, Z:13.09 [[ 9.79566224e-01 -9.81690103e-02 1.75535915e-01 9.70334188e+01] [ 9.55569743e-02 9.95151411e-01 2.32923535e-02 9.72544171e+01] [-1.76971401e-01 -6.04272181e-03 9.84197444e-01 1.30853629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.306875 meters Centerline goodness : 0.990564 Centerline is valid? [True, True] Translation: X:97.06, Y:97.27, Z:13.08 [[ 9.80345562e-01 -8.90770924e-02 1.76033665e-01 9.70603789e+01] [ 8.48031958e-02 9.95894296e-01 3.16696900e-02 9.72655216e+01] [-1.78131967e-01 -1.61190227e-02 9.83874575e-01 1.30795372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.336875 meters Centerline goodness : 0.988764 Centerline is valid? [True, True] Translation: X:97.09, Y:97.29, Z:13.07 [[ 9.82139123e-01 -6.61967258e-02 1.76127045e-01 9.70869930e+01] [ 6.26240128e-02 9.97704366e-01 2.57726990e-02 9.72925198e+01] [-1.77428790e-01 -1.42825937e-02 9.84029995e-01 1.30681311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.366875 meters Centerline goodness : 0.986415 Centerline is valid? [True, True] Translation: X:97.12, Y:97.31, Z:13.06 [[ 9.82878771e-01 -5.17254963e-02 1.76843982e-01 9.71176794e+01] [ 4.77792045e-02 9.98506228e-01 2.65039524e-02 9.73074303e+01] [-1.77950748e-01 -1.76007074e-02 9.83881978e-01 1.30624286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.396875 meters Centerline goodness : 0.981665 Centerline is valid? [True, True] Translation: X:97.15, Y:97.34, Z:13.06 [[ 9.83864132e-01 -1.97230090e-02 1.77826804e-01 9.71464051e+01] [ 1.52946540e-02 9.99538680e-01 2.62392889e-02 9.73388363e+01] [-1.78262287e-01 -2.30960958e-02 9.83711913e-01 1.30551771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.426875 meters Centerline goodness : 0.979631 Centerline is valid? [True, True] Translation: X:97.18, Y:97.36, Z:13.05 [[ 9.84263272e-01 -1.72347511e-03 1.76699859e-01 9.71778229e+01] [-2.84317140e-03 9.99668540e-01 2.55876437e-02 9.73584647e+01] [-1.76685390e-01 -2.56873659e-02 9.83932128e-01 1.30504284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.456875 meters Centerline goodness : 0.977117 Centerline is valid? [True, True] Translation: X:97.21, Y:97.38, Z:13.05 [[ 9.84134768e-01 1.71820835e-02 1.76588603e-01 9.72083747e+01] [-2.22256952e-02 9.99398434e-01 2.66230775e-02 9.73781243e+01] [-1.76024933e-01 -3.01255007e-02 9.83924630e-01 1.30464610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.486875 meters Centerline goodness : 0.977497 Centerline is valid? [True, True] Translation: X:97.23, Y:97.42, Z:13.05 [[ 9.82499304e-01 5.81274657e-02 1.76964164e-01 9.72348546e+01] [-6.45521358e-02 9.97440085e-01 3.07619576e-02 9.74190649e+01] [-1.74723036e-01 -4.16470166e-02 9.83736442e-01 1.30475133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.516875 meters Centerline goodness : 0.972157 Centerline is valid? [True, True] Translation: X:97.27, Y:97.45, Z:13.04 [[ 9.80680293e-01 8.27115701e-02 1.77270864e-01 9.72717373e+01] [-8.69818905e-02 9.96074211e-01 1.64413027e-02 9.74488348e+01] [-1.75215051e-01 -3.15430165e-02 9.84024758e-01 1.30360015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.546875 meters Centerline goodness : 0.978980 Centerline is valid? [True, True] Translation: X:97.29, Y:97.47, Z:13.04 [[ 9.79037378e-01 1.01510591e-01 1.76582592e-01 9.72929138e+01] [-1.09833487e-01 9.93223726e-01 3.79899348e-02 9.74667119e+01] [-1.71529639e-01 -5.65882479e-02 9.83552415e-01 1.30400972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.576875 meters Centerline goodness : 0.971829 Centerline is valid? [True, True] Translation: X:97.33, Y:97.51, Z:13.03 [[ 9.75235975e-01 1.29644791e-01 1.79184325e-01 9.73276299e+01] [-1.33329228e-01 9.91034292e-01 8.62254948e-03 9.75050174e+01] [-1.76459942e-01 -3.22995281e-02 9.83777734e-01 1.30262903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.606875 meters Centerline goodness : 0.979013 Centerline is valid? [True, True] Translation: X:97.35, Y:97.52, Z:13.04 [[ 9.73312842e-01 1.49837348e-01 1.73812777e-01 9.73537760e+01] [-1.59506294e-01 9.86260760e-01 4.29820391e-02 9.75187850e+01] [-1.64984407e-01 -6.95592026e-02 9.83840263e-01 1.30360641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.636875 meters Centerline goodness : 0.982828 Centerline is valid? [True, True] Translation: X:97.38, Y:97.59, Z:13.02 [[ 9.61878880e-01 2.05110124e-01 1.80883549e-01 9.73826156e+01] [-2.08774182e-01 9.77963081e-01 1.24581777e-03 9.75891481e+01] [-1.76641903e-01 -3.89621408e-02 9.83503731e-01 1.30212577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.66687499999998 meters Centerline goodness : 0.987946 Centerline is valid? [True, True] Translation: X:97.40, Y:97.61, Z:13.02 [[ 9.58968238e-01 2.26371865e-01 1.70691817e-01 9.74048875e+01] [-2.30978806e-01 9.72930906e-01 7.36505778e-03 9.76117043e+01] [-1.64404103e-01 -4.64890486e-02 9.85296940e-01 1.30218553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.69687499999998 meters Centerline goodness : 0.989106 Centerline is valid? [True, True] Translation: X:97.44, Y:97.63, Z:13.02 [[ 9.58579293e-01 2.30320872e-01 1.67565015e-01 9.74370370e+01] [-2.37678007e-01 9.71022640e-01 2.49839432e-02 9.76270525e+01] [-1.56955100e-01 -6.37756096e-02 9.85544402e-01 1.30237217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.72687499999998 meters Centerline goodness : 0.991704 Centerline is valid? [True, True] Translation: X:97.47, Y:97.66, Z:13.02 [[ 9.60906171e-01 2.19942918e-01 1.68179796e-01 9.74672776e+01] [-2.26294543e-01 9.73866891e-01 1.93405930e-02 9.76594120e+01] [-1.59530909e-01 -5.66426653e-02 9.85566587e-01 1.30222160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.75687499999998 meters Centerline goodness : 0.993160 Centerline is valid? [True, True] Translation: X:97.50, Y:97.68, Z:13.02 [[ 9.64355081e-01 2.02464296e-01 1.70374547e-01 9.74964632e+01] [-2.09525641e-01 9.77499965e-01 2.43479695e-02 9.76757600e+01] [-1.61611519e-01 -5.91779242e-02 9.85078520e-01 1.30174689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.78687499999998 meters Centerline goodness : 0.994028 Centerline is valid? [True, True] Translation: X:97.52, Y:97.69, Z:13.01 [[ 9.67948534e-01 1.81138589e-01 1.73966797e-01 9.75248806e+01] [-1.87443939e-01 9.82063741e-01 2.03857602e-02 9.76937102e+01] [-1.67153836e-01 -5.23413884e-02 9.84540489e-01 1.30101692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.81687499999998 meters Centerline goodness : 0.993848 Centerline is valid? [True, True] Translation: X:97.55, Y:97.71, Z:13.00 [[ 9.71860333e-01 1.56678659e-01 1.75895684e-01 9.75543641e+01] [-1.62292519e-01 9.86580210e-01 1.79060524e-02 9.77086160e+01] [-1.70729705e-01 -4.59487356e-02 9.84245946e-01 1.30030977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.84687499999998 meters Centerline goodness : 0.993603 Centerline is valid? [True, True] Translation: X:97.59, Y:97.71, Z:13.00 [[ 9.80633288e-01 9.93562008e-02 1.68780037e-01 9.75939801e+01] [-1.08129617e-01 9.93180772e-01 4.35882947e-02 9.77075025e+01] [-1.63298320e-01 -6.09942536e-02 9.84689474e-01 1.30042385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.87687499999998 meters Centerline goodness : 0.993735 Centerline is valid? [True, True] Translation: X:97.63, Y:97.72, Z:12.99 [[ 9.82542316e-01 7.19140109e-02 1.71577891e-01 9.76251466e+01] [-7.62835349e-02 9.96905080e-01 1.90022051e-02 9.77189909e+01] [-1.69680347e-01 -3.17590387e-02 9.84987281e-01 1.29948935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.90687499999999 meters Centerline goodness : 0.993563 Centerline is valid? [True, True] Translation: X:97.66, Y:97.72, Z:12.99 [[ 9.84320356e-01 3.93115896e-02 1.71953586e-01 9.76580024e+01] [-4.32110876e-02 9.98885428e-01 1.89922130e-02 9.77208947e+01] [-1.71015317e-01 -2.61247233e-02 9.84921956e-01 1.29887777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.936875 meters Centerline goodness : 0.993548 Centerline is valid? [True, True] Translation: X:97.69, Y:97.72, Z:12.98 [[ 9.84963196e-01 6.08889420e-03 1.72656966e-01 9.76896359e+01] [-9.51384511e-03 9.99773911e-01 1.90161440e-02 9.77216491e+01] [-1.72502143e-01 -2.03728336e-02 9.84798435e-01 1.29825849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.966875 meters Centerline goodness : 0.993123 Centerline is valid? [True, True] Translation: X:97.72, Y:97.72, Z:12.98 [[ 9.83053853e-01 -5.59858868e-02 1.74558593e-01 9.77221177e+01] [ 5.34541805e-02 9.98386179e-01 1.91752085e-02 9.77189826e+01] [-1.75350428e-01 -9.51937606e-03 9.84460060e-01 1.29769557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.996875 meters Centerline goodness : 0.993294 Centerline is valid? [True, True] Translation: X:97.75, Y:97.72, Z:12.97 [[ 9.80959698e-01 -8.08152453e-02 1.76598320e-01 9.77535633e+01] [ 7.86306151e-02 9.96716096e-01 1.93455483e-02 9.77203103e+01] [-1.77581803e-01 -5.09116870e-03 9.84092873e-01 1.29714084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.026875 meters Centerline goodness : 0.992211 Centerline is valid? [True, True] Translation: X:97.79, Y:97.72, Z:12.97 [[ 9.76512421e-01 -1.17957727e-01 1.80303815e-01 9.77858063e+01] [ 1.16313851e-01 9.93017104e-01 1.97007510e-02 9.77228616e+01] [-1.81368628e-01 1.73380296e-03 9.83413654e-01 1.29658180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.056875 meters Centerline goodness : 0.992344 Centerline is valid? [True, True] Translation: X:97.82, Y:97.73, Z:12.96 [[ 9.74664064e-01 -1.30574508e-01 1.81604682e-01 9.78181495e+01] [ 1.29133415e-01 9.91429756e-01 1.97888827e-02 9.77264721e+01] [-1.82632210e-01 4.16372000e-03 9.83172487e-01 1.29595881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.086875 meters Centerline goodness : 0.991343 Centerline is valid? [True, True] Translation: X:97.85, Y:97.73, Z:12.95 [[ 9.73243759e-01 -1.40091551e-01 1.82128917e-01 9.78489745e+01] [ 1.38816864e-01 9.90120258e-01 1.97927719e-02 9.77301153e+01] [-1.83102331e-01 6.01937332e-03 9.83075431e-01 1.29540152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.116875 meters Centerline goodness : 0.992621 Centerline is valid? [True, True] Translation: X:97.88, Y:97.73, Z:12.95 [[ 9.71538460e-01 -1.50044705e-01 1.83301954e-01 9.78796180e+01] [ 1.48934996e-01 9.88647009e-01 1.98861608e-02 9.77339562e+01] [-1.84204742e-01 7.97990573e-03 9.82855500e-01 1.29472811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.146875 meters Centerline goodness : 0.992140 Centerline is valid? [True, True] Translation: X:97.91, Y:97.74, Z:12.94 [[ 9.71342531e-01 -1.51033641e-01 1.83527999e-01 9.79117339e+01] [ 1.49947612e-01 9.88494398e-01 1.98629872e-02 9.77376303e+01] [-1.84416379e-01 8.22582101e-03 9.82813785e-01 1.29405688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.176875 meters Centerline goodness : 0.992140 Centerline is valid? [True, True] Translation: X:97.94, Y:97.74, Z:12.93 [[ 9.71360913e-01 -1.50912820e-01 1.83530100e-01 9.79445051e+01] [ 1.49828321e-01 9.88512877e-01 1.98435591e-02 9.77410928e+01] [-1.84416515e-01 8.22274910e-03 9.82813785e-01 1.29345886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.206875 meters Centerline goodness : 0.992338 Centerline is valid? [True, True] Translation: X:97.98, Y:97.75, Z:12.93 [[ 9.71474645e-01 -1.50696158e-01 1.83105658e-01 9.79768053e+01] [ 1.49617075e-01 9.88546245e-01 1.97750644e-02 9.77466827e+01] [-1.83988437e-01 8.18475922e-03 9.82894330e-01 1.29284993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.236875 meters Centerline goodness : 0.992788 Centerline is valid? [True, True] Translation: X:98.01, Y:97.75, Z:12.92 [[ 9.72531324e-01 -1.44023851e-01 1.82865947e-01 9.80077691e+01] [ 1.42834605e-01 9.89549930e-01 1.97284668e-02 9.77538920e+01] [-1.83796355e-01 6.93303339e-03 9.82939893e-01 1.29199094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.266875 meters Centerline goodness : 0.993349 Centerline is valid? [True, True] Translation: X:98.04, Y:97.76, Z:12.91 [[ 9.73400299e-01 -1.39094005e-01 1.82056904e-01 9.80393410e+01] [ 1.37839422e-01 9.90260846e-01 1.95895477e-02 9.77586526e+01] [-1.83008612e-01 6.02614683e-03 9.83092841e-01 1.29128445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.296875 meters Centerline goodness : 0.993433 Centerline is valid? [True, True] Translation: X:98.07, Y:97.76, Z:12.91 [[ 9.74471647e-01 -1.33534764e-01 1.80481236e-01 9.80705259e+01] [ 1.32216754e-01 9.91031575e-01 1.93687140e-02 9.77627045e+01] [-1.81449000e-01 4.98838051e-03 9.83387704e-01 1.29064610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.326875 meters Centerline goodness : 0.993455 Centerline is valid? [True, True] Translation: X:98.10, Y:97.77, Z:12.90 [[ 9.75579820e-01 -1.27118452e-01 1.79122624e-01 9.81021630e+01] [ 1.25721680e-01 9.91880217e-01 1.91753762e-02 9.77662727e+01] [-1.80105731e-01 3.81248714e-03 9.83639868e-01 1.28997760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.356875 meters Centerline goodness : 0.993523 Centerline is valid? [True, True] Translation: X:98.13, Y:97.77, Z:12.89 [[ 9.77642693e-01 -1.14188250e-01 1.76566722e-01 9.81347763e+01] [ 1.12630714e-01 9.93458063e-01 1.88520437e-02 9.77688212e+01] [-1.77564316e-01 1.45627321e-03 9.84108121e-01 1.28927112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.386875 meters Centerline goodness : 0.993407 Centerline is valid? [True, True] Translation: X:98.17, Y:97.77, Z:12.89 [[ 9.78529950e-01 -1.08169437e-01 1.75438051e-01 9.81670799e+01] [ 1.06544929e-01 9.94132387e-01 1.86808760e-02 9.77720643e+01] [-1.76429348e-01 4.12238018e-04 9.84313220e-01 1.28865351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.41687499999998 meters Centerline goodness : 0.993430 Centerline is valid? [True, True] Translation: X:98.20, Y:97.78, Z:12.88 [[ 9.79296893e-01 -1.01812582e-01 1.74962264e-01 9.81997744e+01] [ 1.00105275e-01 9.94803365e-01 1.85795190e-02 9.77750182e+01] [-1.75944678e-01 -6.80219679e-04 9.84399821e-01 1.28800916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.44687499999998 meters Centerline goodness : 0.994200 Centerline is valid? [True, True] Translation: X:98.23, Y:97.78, Z:12.87 [[ 9.80386885e-01 -9.24394351e-02 1.74058918e-01 9.82323667e+01] [ 9.06121062e-02 9.95715653e-01 1.84332520e-02 9.77766557e+01] [-1.75017149e-01 -2.29987328e-03 9.84562699e-01 1.28736879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.47687499999998 meters Centerline goodness : 0.992736 Centerline is valid? [True, True] Translation: X:98.26, Y:97.78, Z:12.87 [[ 9.80727192e-01 -8.88412543e-02 1.74015535e-01 9.82648087e+01] [ 8.69676359e-02 9.96041605e-01 1.83780155e-02 9.77782034e+01] [-1.74959439e-01 -2.89009988e-03 9.84571400e-01 1.28670168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.50687499999998 meters Centerline goodness : 0.992854 Centerline is valid? [True, True] Translation: X:98.30, Y:97.78, Z:12.86 [[ 9.81022953e-01 -8.56836496e-02 1.73931821e-01 9.82971993e+01] [ 8.37716399e-02 9.96316592e-01 1.83183285e-02 9.77784244e+01] [-1.74860740e-01 -3.40014688e-03 9.84587305e-01 1.28613492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.53687499999998 meters Centerline goodness : 0.992397 Centerline is valid? [True, True] Translation: X:98.33, Y:97.78, Z:12.86 [[ 9.81202753e-01 -8.29845198e-02 1.74226081e-01 9.83294658e+01] [ 8.10328268e-02 9.96543452e-01 1.82983346e-02 9.77777343e+01] [-1.75142338e-01 -3.83634446e-03 9.84535649e-01 1.28558170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.56687499999998 meters Centerline goodness : 0.992163 Centerline is valid? [True, True] Translation: X:98.36, Y:97.78, Z:12.85 [[ 9.81385668e-01 -8.07768083e-02 1.74233398e-01 9.83617454e+01] [ 7.87994917e-02 9.96723454e-01 1.82482093e-02 9.77765858e+01] [-1.75136547e-01 -4.17902784e-03 9.84535284e-01 1.28506091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.59687499999998 meters Centerline goodness : 0.991453 Centerline is valid? [True, True] Translation: X:98.39, Y:97.78, Z:12.84 [[ 9.81506778e-01 -7.89395127e-02 1.74393230e-01 9.83942972e+01] [ 7.69381982e-02 9.96869416e-01 1.82175820e-02 9.77750831e+01] [-1.75285365e-01 -4.46317929e-03 9.84507553e-01 1.28437927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.62687499999998 meters Centerline goodness : 0.990329 Centerline is valid? [True, True] Translation: X:98.43, Y:97.77, Z:12.84 [[ 9.81961268e-01 -7.76114215e-02 1.72419648e-01 9.84270194e+01] [ 7.56441012e-02 9.96973096e-01 1.79615353e-02 9.77685509e+01] [-1.73291771e-01 -4.59500266e-03 9.84859811e-01 1.28372174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.65687499999999 meters Centerline goodness : 0.990188 Centerline is valid? [True, True] Translation: X:98.46, Y:97.77, Z:12.83 [[ 9.82043628e-01 -7.80054489e-02 1.71771540e-01 9.84587697e+01] [ 7.60679171e-02 9.96942972e-01 1.78432980e-02 9.77664996e+01] [-1.72638304e-01 -4.45659379e-03 9.84975205e-01 1.28305909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.686875 meters Centerline goodness : 0.989671 Centerline is valid? [True, True] Translation: X:98.49, Y:97.76, Z:12.82 [[ 9.82190394e-01 -7.87178999e-02 1.70603405e-01 9.84920156e+01] [ 7.68256631e-02 9.96887855e-01 1.76754389e-02 9.77646590e+01] [-1.71463836e-01 -4.25392655e-03 9.85181231e-01 1.28243556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.716875 meters Centerline goodness : 0.988081 Centerline is valid? [True, True] Translation: X:98.52, Y:97.76, Z:12.82 [[ 9.82163971e-01 -8.16261485e-02 1.69384494e-01 9.85246237e+01] [ 7.98125727e-02 9.96656266e-01 1.74997076e-02 9.77570420e+01] [-1.70246552e-01 -3.66856999e-03 9.85394669e-01 1.28179995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.746875 meters Centerline goodness : 0.984049 Centerline is valid? [True, True] Translation: X:98.55, Y:97.75, Z:12.83 [[ 9.79765126e-01 -1.02395573e-01 1.71975130e-01 9.85472518e+01] [ 9.41509898e-02 9.94012330e-01 5.54534001e-02 9.77543405e+01] [-1.76623582e-01 -3.81396789e-02 9.83539260e-01 1.28284485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.776875 meters Centerline goodness : 0.981604 Centerline is valid? [True, True] Translation: X:98.58, Y:97.77, Z:12.81 [[ 9.78924583e-01 -9.64699624e-02 1.80000577e-01 9.85769453e+01] [ 9.67523882e-02 9.95282217e-01 7.23079201e-03 9.77671965e+01] [-1.79848928e-01 1.03370857e-02 9.83639928e-01 1.28111622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.806875 meters Centerline goodness : 0.980932 Centerline is valid? [True, True] Translation: X:98.61, Y:97.76, Z:12.81 [[ 9.78838208e-01 -1.01815977e-01 1.77508507e-01 9.86097467e+01] [ 9.82102349e-02 9.94742886e-01 2.90058683e-02 9.77591720e+01] [-1.79528586e-01 -1.09588999e-02 9.83691715e-01 1.28111822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.836875 meters Centerline goodness : 0.981035 Centerline is valid? [True, True] Translation: X:98.64, Y:97.75, Z:12.81 [[ 9.78884958e-01 -1.02526545e-01 1.76840453e-01 9.86426177e+01] [ 9.77349369e-02 9.94574832e-01 3.56200281e-02 9.77533590e+01] [-1.79533063e-01 -1.75844191e-02 9.83594768e-01 1.28075369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.866875 meters Centerline goodness : 0.978622 Centerline is valid? [True, True] Translation: X:98.67, Y:97.76, Z:12.79 [[ 9.77902028e-01 -9.95292323e-02 1.83851993e-01 9.86697539e+01] [ 9.88258782e-02 9.95019719e-01 1.30078657e-02 9.77566312e+01] [-1.84231022e-01 5.44891645e-03 9.82867865e-01 1.27934168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.896875 meters Centerline goodness : 0.980557 Centerline is valid? [True, True] Translation: X:98.71, Y:97.77, Z:12.77 [[ 9.76759402e-01 -8.54819778e-02 1.96555086e-01 9.87139665e+01] [ 9.48271735e-02 9.94744408e-01 -3.86182518e-02 9.77724964e+01] [-1.92220908e-01 5.63595038e-02 9.79731968e-01 1.27675176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.926875 meters Centerline goodness : 0.979405 Centerline is valid? [True, True] Translation: X:98.74, Y:97.74, Z:12.79 [[ 9.77854439e-01 -1.06512754e-01 1.80154736e-01 9.87440777e+01] [ 9.54483821e-02 9.93037810e-01 6.90327003e-02 9.77400974e+01] [-1.86253327e-01 -5.03084544e-02 9.81212901e-01 1.27925167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.956875 meters Centerline goodness : 0.979102 Centerline is valid? [True, True] Translation: X:98.78, Y:97.77, Z:12.76 [[ 9.77412268e-01 -8.27023846e-02 1.94487978e-01 9.87770371e+01] [ 9.15717295e-02 9.95109062e-01 -3.70482509e-02 9.77685163e+01] [-1.90472771e-01 5.40210154e-02 9.80205006e-01 1.27558506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.986875 meters Centerline goodness : 0.975635 Centerline is valid? [True, True] Translation: X:98.79, Y:97.73, Z:12.78 [[ 9.78378644e-01 -1.03449424e-01 1.79090610e-01 9.87947236e+01] [ 9.00634925e-02 9.92608265e-01 8.13474012e-02 9.77273728e+01] [-1.86182161e-01 -6.34590343e-02 9.80463744e-01 1.27830222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.016875 meters Centerline goodness : 0.976249 Centerline is valid? [True, True] Translation: X:98.84, Y:97.77, Z:12.74 [[ 9.77425550e-01 -7.85033561e-02 1.96154318e-01 9.88356157e+01] [ 8.88178562e-02 9.95060530e-01 -4.43388192e-02 9.77682545e+01] [-1.91704673e-01 6.07599008e-02 9.79570086e-01 1.27414569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.046875 meters Centerline goodness : 0.976082 Centerline is valid? [True, True] Translation: X:98.87, Y:97.74, Z:12.75 [[ 9.78288300e-01 -8.76668282e-02 1.87793847e-01 9.88729531e+01] [ 8.66018804e-02 9.96146245e-01 1.38842428e-02 9.77446934e+01] [-1.88287323e-01 2.68050799e-03 9.82110329e-01 1.27492015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.076875 meters Centerline goodness : 0.975080 Centerline is valid? [True, True] Translation: X:98.91, Y:97.74, Z:12.74 [[ 9.78433649e-01 -8.87221721e-02 1.86536782e-01 9.89061065e+01] [ 8.73021301e-02 9.96056094e-01 1.58302211e-02 9.77442541e+01] [-1.87205590e-01 7.96237355e-04 9.82320433e-01 1.27444776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.106875 meters Centerline goodness : 0.974730 Centerline is valid? [True, True] Translation: X:98.94, Y:97.74, Z:12.74 [[ 9.79010171e-01 -8.89486976e-02 1.83377249e-01 9.89367248e+01] [ 8.67483611e-02 9.96029429e-01 2.00024413e-02 9.77423166e+01] [-1.84428327e-01 -3.67491769e-03 9.82839095e-01 1.27432041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.136875 meters Centerline goodness : 0.975448 Centerline is valid? [True, True] Translation: X:98.97, Y:97.75, Z:12.73 [[ 9.78686259e-01 -8.77981861e-02 1.85646668e-01 9.89677569e+01] [ 8.79645526e-02 9.96096439e-01 7.35677976e-03 9.77472243e+01] [-1.85567896e-01 9.13034680e-03 9.82589025e-01 1.27330767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.16687499999998 meters Centerline goodness : 0.973388 Centerline is valid? [True, True] Translation: X:99.00, Y:97.74, Z:12.73 [[ 9.79027257e-01 -9.06668154e-02 1.82442206e-01 9.90028351e+01] [ 8.95423463e-02 9.95878786e-01 1.44087292e-02 9.77426296e+01] [-1.82996716e-01 2.22976461e-03 9.83110996e-01 1.27301578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.19687499999998 meters Centerline goodness : 0.973078 Centerline is valid? [True, True] Translation: X:99.03, Y:97.74, Z:12.73 [[ 9.79745114e-01 -9.12845536e-02 1.78231992e-01 9.90342251e+01] [ 8.99988341e-02 9.95824298e-01 1.53028569e-02 9.77413753e+01] [-1.78884663e-01 1.04777219e-03 9.83869493e-01 1.27284883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.22687499999998 meters Centerline goodness : 0.973250 Centerline is valid? [True, True] Translation: X:99.07, Y:97.74, Z:12.72 [[ 9.79518119e-01 -9.33489162e-02 1.78410300e-01 9.90688228e+01] [ 9.13120495e-02 9.95629175e-01 1.96126427e-02 9.77404605e+01] [-1.79461319e-01 -2.91992872e-03 9.83760697e-01 1.27242428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.25687499999998 meters Centerline goodness : 0.972641 Centerline is valid? [True, True] Translation: X:99.10, Y:97.74, Z:12.72 [[ 9.79734856e-01 -9.39550027e-02 1.76895644e-01 9.91001168e+01] [ 9.16175207e-02 9.95565281e-01 2.13541730e-02 9.77365053e+01] [-1.78117493e-01 -4.71468728e-03 9.83997932e-01 1.27226493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.28687499999998 meters Centerline goodness : 0.971440 Centerline is valid? [True, True] Translation: X:99.13, Y:97.74, Z:12.71 [[ 9.79774559e-01 -9.21222632e-02 1.77638122e-01 9.91318598e+01] [ 9.17655506e-02 9.95727979e-01 1.02408376e-02 9.77410893e+01] [-1.77822658e-01 6.26734795e-03 9.84042592e-01 1.27149894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.31687499999998 meters Centerline goodness : 0.972509 Centerline is valid? [True, True] Translation: X:99.16, Y:97.74, Z:12.71 [[ 9.79828042e-01 -9.15455792e-02 1.77641255e-01 9.91625657e+01] [ 9.08068295e-02 9.95792540e-01 1.23019108e-02 9.77398711e+01] [-1.78020022e-01 4.07728194e-03 9.84018418e-01 1.27103462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.34687499999998 meters Centerline goodness : 0.973863 Centerline is valid? [True, True] Translation: X:99.20, Y:97.74, Z:12.70 [[ 9.79910660e-01 -9.03788288e-02 1.77782919e-01 9.91954599e+01] [ 9.00647050e-02 9.95887173e-01 9.85331902e-03 9.77404395e+01] [-1.77942260e-01 6.35659381e-03 9.84020399e-01 1.27047890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.37687499999998 meters Centerline goodness : 0.975002 Centerline is valid? [True, True] Translation: X:99.23, Y:97.73, Z:12.70 [[ 9.80351003e-01 -8.92757830e-02 1.75902660e-01 9.92275809e+01] [ 8.79088204e-02 9.96006924e-01 1.55642770e-02 9.77336182e+01] [-1.76589780e-01 2.04940768e-04 9.84284516e-01 1.27035641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.40687499999999 meters Centerline goodness : 0.975719 Centerline is valid? [True, True] Translation: X:99.26, Y:97.73, Z:12.70 [[ 9.80704046e-01 -8.84017379e-02 1.74369456e-01 9.92612764e+01] [ 8.73323176e-02 9.96083481e-01 1.38117860e-02 9.77348451e+01] [-1.74907520e-01 1.68281423e-03 9.84583428e-01 1.26996376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.436875 meters Centerline goodness : 0.969880 Centerline is valid? [True, True] Translation: X:99.29, Y:97.72, Z:12.73 [[ 9.82433798e-01 -9.92488958e-02 1.58030028e-01 9.92892769e+01] [ 8.92729072e-02 9.93611620e-01 6.90383665e-02 9.77215252e+01] [-1.63872454e-01 -5.37178245e-02 9.85017875e-01 1.27273373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.466875 meters Centerline goodness : 0.976650 Centerline is valid? [True, True] Translation: X:99.31, Y:97.75, Z:12.68 [[ 9.81727232e-01 -7.42301467e-02 1.75218511e-01 9.93146685e+01] [ 8.19503485e-02 9.95940649e-01 -3.72338993e-02 9.77484167e+01] [-1.71743359e-01 5.09127509e-02 9.83825244e-01 1.26755839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.496875 meters Centerline goodness : 0.972858 Centerline is valid? [True, True] Translation: X:99.35, Y:97.72, Z:12.71 [[ 9.83518342e-01 -9.32816863e-02 1.54887693e-01 9.93481632e+01] [ 8.33431754e-02 9.94095882e-01 6.94787192e-02 9.77180707e+01] [-1.60454310e-01 -5.54247625e-02 9.85485926e-01 1.27147326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.526875 meters Centerline goodness : 0.973225 Centerline is valid? [True, True] Translation: X:99.38, Y:97.73, Z:12.70 [[ 9.83886682e-01 -8.16354572e-02 1.59068063e-01 9.93760683e+01] [ 7.91459332e-02 9.96621699e-01 2.19342480e-02 9.77311816e+01] [-1.60321296e-01 -8.99122417e-03 9.87023931e-01 1.26963793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.556875 meters Centerline goodness : 0.974381 Centerline is valid? [True, True] Translation: X:99.41, Y:97.73, Z:12.69 [[ 9.84473090e-01 -7.84109045e-02 1.57049242e-01 9.94081912e+01] [ 7.64502803e-02 9.96901833e-01 1.84956686e-02 9.77313398e+01] [-1.58012939e-01 -6.20202954e-03 9.87417564e-01 1.26914594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.586875 meters Centerline goodness : 0.974708 Centerline is valid? [True, True] Translation: X:99.44, Y:97.73, Z:12.68 [[ 9.84469144e-01 -7.49621398e-02 1.58748805e-01 9.94397097e+01] [ 7.33570080e-02 9.97178106e-01 1.59553567e-02 9.77274713e+01] [-1.59496880e-01 -4.06221895e-03 9.87190075e-01 1.26819221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.616875 meters Centerline goodness : 0.973532 Centerline is valid? [True, True] Translation: X:99.47, Y:97.73, Z:12.68 [[ 9.84678873e-01 -7.56585461e-02 1.57109203e-01 9.94741037e+01] [ 7.31477591e-02 9.97084779e-01 2.17105785e-02 9.77259949e+01] [-1.58293786e-01 -9.88576181e-03 9.87342569e-01 1.26797614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.646875 meters Centerline goodness : 0.972777 Centerline is valid? [True, True] Translation: X:99.51, Y:97.73, Z:12.67 [[ 9.84728901e-01 -7.50372579e-02 1.57093607e-01 9.95071579e+01] [ 7.30424090e-02 9.97158320e-01 1.84415833e-02 9.77267841e+01] [-1.58031003e-01 -6.68546450e-03 9.87411518e-01 1.26748732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.676875 meters Centerline goodness : 0.977046 Centerline is valid? [True, True] Translation: X:99.54, Y:97.73, Z:12.64 [[ 9.83612730e-01 -6.22365778e-02 1.69211720e-01 9.95409984e+01] [ 6.75682785e-02 9.97377645e-01 -2.59299264e-02 9.77324099e+01] [-1.67154197e-01 3.69383503e-02 9.85238566e-01 1.26435750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.706875 meters Centerline goodness : 0.973085 Centerline is valid? [True, True] Translation: X:99.57, Y:97.71, Z:12.68 [[ 9.84672814e-01 -8.26138429e-02 1.53604697e-01 9.95712544e+01] [ 7.43349310e-02 9.95492936e-01 5.88908514e-02 9.77050446e+01] [-1.57777590e-01 -4.65700258e-02 9.86375925e-01 1.26802286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.736875 meters Centerline goodness : 0.975769 Centerline is valid? [True, True] Translation: X:99.60, Y:97.72, Z:12.64 [[ 9.83335129e-01 -6.40595622e-02 1.70142283e-01 9.96010805e+01] [ 6.86450907e-02 9.97415856e-01 -2.12005270e-02 9.77212262e+01] [-1.68344514e-01 3.25266554e-02 9.85191424e-01 1.26355572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.766875 meters Centerline goodness : 0.976232 Centerline is valid? [True, True] Translation: X:99.64, Y:97.70, Z:12.64 [[ 9.83375610e-01 -7.13758238e-02 1.66966768e-01 9.96372888e+01] [ 6.96666976e-02 9.97440737e-01 1.60787863e-02 9.77024347e+01] [-1.67687093e-01 -4.17946296e-03 9.85831411e-01 1.26436333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.796875 meters Centerline goodness : 0.972324 Centerline is valid? [True, True] Translation: X:99.66, Y:97.70, Z:12.66 [[ 9.84080378e-01 -8.42829721e-02 1.56467855e-01 9.96617558e+01] [ 7.72039583e-02 9.95720678e-01 5.07925263e-02 9.76991558e+01] [-1.60079224e-01 -3.79039907e-02 9.86376160e-01 1.26647761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.826875 meters Centerline goodness : 0.972583 Centerline is valid? [True, True] Translation: X:99.69, Y:97.70, Z:12.65 [[ 9.83711574e-01 -7.59243311e-02 1.62932608e-01 9.96911767e+01] [ 7.37677928e-02 9.97089560e-01 1.92541345e-02 9.77043362e+01] [-1.63920260e-01 -6.92133609e-03 9.86449311e-01 1.26457792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.856875 meters Centerline goodness : 0.974418 Centerline is valid? [True, True] Translation: X:99.72, Y:97.70, Z:12.63 [[ 9.83377232e-01 -7.13045074e-02 1.66987684e-01 9.97245380e+01] [ 6.97719990e-02 9.97449674e-01 1.50338174e-02 9.76972930e+01] [-1.67633790e-01 -3.13284924e-03 9.85844358e-01 1.26345769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.886875 meters Centerline goodness : 0.975354 Centerline is valid? [True, True] Translation: X:99.76, Y:97.70, Z:12.61 [[ 9.82712887e-01 -6.22333935e-02 1.74362800e-01 9.97600001e+01] [ 6.53852146e-02 9.97783238e-01 -1.23848441e-02 9.77016849e+01] [-1.73205528e-01 2.35714949e-02 9.84603590e-01 1.26109029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.91687499999998 meters Centerline goodness : 0.974125 Centerline is valid? [True, True] Translation: X:99.78, Y:97.68, Z:12.64 [[ 9.84007956e-01 -7.29245451e-02 1.62512623e-01 9.97845737e+01] [ 6.61450827e-02 9.96714184e-01 4.67510817e-02 9.76827285e+01] [-1.65387937e-01 -3.52540255e-02 9.85598287e-01 1.26376118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.94687499999998 meters Centerline goodness : 0.975766 Centerline is valid? [True, True] Translation: X:99.82, Y:97.70, Z:12.60 [[ 9.83037453e-01 -5.72879614e-02 1.74228169e-01 9.98183885e+01] [ 6.16523780e-02 9.97902512e-01 -1.97373135e-02 9.76981135e+01] [-1.72732017e-01 3.01440993e-02 9.84507483e-01 1.25956981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.97687499999998 meters Centerline goodness : 0.976289 Centerline is valid? [True, True] Translation: X:99.85, Y:97.69, Z:12.60 [[ 9.83511201e-01 -6.30873870e-02 1.69486574e-01 9.98547792e+01] [ 6.14266298e-02 9.97998435e-01 1.50297160e-02 9.76869444e+01] [-1.70095522e-01 -4.37090496e-03 9.85417885e-01 1.26041365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.006875 meters Centerline goodness : 0.974128 Centerline is valid? [True, True] Translation: X:99.88, Y:97.68, Z:12.62 [[ 9.84451241e-01 -7.45760693e-02 1.59041391e-01 9.98786066e+01] [ 6.77662317e-02 9.96554200e-01 4.78274497e-02 9.76820509e+01] [-1.62060149e-01 -3.63061564e-02 9.86112758e-01 1.26247859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.036875 meters Centerline goodness : 0.976893 Centerline is valid? [True, True] Translation: X:99.91, Y:97.70, Z:12.58 [[ 9.83046612e-01 -6.16984352e-02 1.72663433e-01 9.99129429e+01] [ 6.50041650e-02 9.97792971e-01 -1.35515618e-02 9.76955366e+01] [-1.71446250e-01 2.45456593e-02 9.84887656e-01 1.25810710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.06687500000004 meters Centerline goodness : 0.978657 Centerline is valid? [True, True] Translation: X:99.94, Y:97.67, Z:12.61 [[ 9.83882179e-01 -7.80205248e-02 1.60899523e-01 9.99434284e+01] [ 7.16185495e-02 9.96406492e-01 4.52204133e-02 9.76748036e+01] [-1.63849450e-01 -3.29681683e-02 9.85934307e-01 1.26098157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.096875 meters Centerline goodness : 0.978068 Centerline is valid? [True, True] Translation: X:99.97, Y:97.69, Z:12.57 [[ 9.83163615e-01 -6.55966158e-02 1.70547324e-01 9.99724062e+01] [ 7.06031561e-02 9.97228767e-01 -2.34516843e-02 9.76924235e+01] [-1.68536346e-01 3.50980220e-02 9.85070368e-01 1.25700081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.12687500000004 meters Centerline goodness : 0.978068 Centerline is valid? [True, True] Translation: X:100.01, Y:97.69, Z:12.58 [[ 9.83518390e-01 -7.26506783e-02 1.65570093e-01 1.00008411e+02] [ 7.15003947e-02 9.97357082e-01 1.29052014e-02 9.76852729e+01] [-1.66070077e-01 -8.54175857e-04 9.86113584e-01 1.25812248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.156875 meters Centerline goodness : 0.977936 Centerline is valid? [True, True] Translation: X:100.03, Y:97.68, Z:12.60 [[ 9.83945783e-01 -8.27724121e-02 1.58112063e-01 1.00032400e+02] [ 7.59076488e-02 9.95910945e-01 4.89838670e-02 9.76779220e+01] [-1.61520047e-01 -3.61955544e-02 9.86205433e-01 1.25998911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.18687500000004 meters Centerline goodness : 0.980273 Centerline is valid? [True, True] Translation: X:100.06, Y:97.69, Z:12.56 [[ 9.82750987e-01 -6.99085520e-02 1.71211248e-01 1.00064400e+02] [ 7.33896983e-02 9.97203939e-01 -1.40803545e-02 9.76900588e+01] [-1.69748194e-01 2.64026242e-02 9.85133723e-01 1.25578389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.216875 meters Centerline goodness : 0.980289 Centerline is valid? [True, True] Translation: X:100.10, Y:97.68, Z:12.56 [[ 9.82874855e-01 -7.56826095e-02 1.68015362e-01 1.00098398e+02] [ 7.47913357e-02 9.97131319e-01 1.16357037e-02 9.76831214e+01] [-1.68414000e-01 1.12965280e-03 9.85715704e-01 1.25636851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.24687500000005 meters Centerline goodness : 0.980074 Centerline is valid? [True, True] Translation: X:100.13, Y:97.68, Z:12.56 [[ 9.83053576e-01 -7.66859588e-02 1.66508047e-01 1.00127216e+02] [ 7.55381555e-02 9.97055206e-01 1.32250696e-02 9.76832421e+01] [-1.67031893e-01 -4.23241140e-04 9.85951402e-01 1.25606167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.276875 meters Centerline goodness : 0.979661 Centerline is valid? [True, True] Translation: X:100.15, Y:97.68, Z:12.58 [[ 9.83774444e-01 -8.89938701e-02 1.55781686e-01 1.00151769e+02] [ 8.35565080e-02 9.95654123e-01 4.11239382e-02 9.76797268e+01] [-1.58764456e-01 -2.74401058e-02 9.86935098e-01 1.25804885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.306875 meters Centerline goodness : 0.981011 Centerline is valid? [True, True] Translation: X:100.19, Y:97.69, Z:12.54 [[ 9.82968518e-01 -7.52970341e-02 1.67640238e-01 1.00185126e+02] [ 7.69765999e-02 9.97026637e-01 -3.53391120e-03 9.76868388e+01] [-1.66875690e-01 1.63780990e-02 9.85841905e-01 1.25448010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.336875 meters Centerline goodness : 0.981650 Centerline is valid? [True, True] Translation: X:100.20, Y:97.68, Z:12.57 [[ 9.83220951e-01 -8.96067754e-02 1.58893637e-01 1.00204008e+02] [ 8.46020263e-02 9.95689931e-01 3.80007621e-02 9.76803890e+01] [-1.61613921e-01 -2.39204217e-02 9.86564116e-01 1.25732461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.366875 meters Centerline goodness : 0.981688 Centerline is valid? [True, True] Translation: X:100.22, Y:97.69, Z:12.56 [[ 9.82030100e-01 -9.28883952e-02 1.64282165e-01 1.00217398e+02] [ 8.96355756e-02 9.95605325e-01 2.71200936e-02 9.76904709e+01] [-1.66079340e-01 -1.19072218e-02 9.86040502e-01 1.25623246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.396875 meters Centerline goodness : 0.981475 Centerline is valid? [True, True] Translation: X:100.26, Y:97.68, Z:12.55 [[ 9.82760365e-01 -8.40597793e-02 1.64669425e-01 1.00261742e+02] [ 8.18808724e-02 9.96441673e-01 1.99878704e-02 9.76841379e+01] [-1.65763653e-01 -6.16001060e-03 9.86146270e-01 1.25548293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.426875 meters Centerline goodness : 0.981475 Centerline is valid? [True, True] Translation: X:100.29, Y:97.69, Z:12.55 [[ 9.82742300e-01 -8.43996221e-02 1.64603390e-01 1.00290637e+02] [ 8.21367943e-02 9.96409837e-01 2.05178738e-02 9.76877204e+01] [-1.65744137e-01 -6.64378775e-03 9.86146410e-01 1.25504628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.456875 meters Centerline goodness : 0.985796 Centerline is valid? [True, True] Translation: X:100.30, Y:97.68, Z:12.56 [[ 9.82262720e-01 -9.26381273e-02 1.63027990e-01 1.00304675e+02] [ 8.53643264e-02 9.95039293e-01 5.10855913e-02 9.76820302e+01] [-1.66951729e-01 -3.62626974e-02 9.85297994e-01 1.25638417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.486875 meters Centerline goodness : 0.983376 Centerline is valid? [True, True] Translation: X:100.32, Y:97.72, Z:12.50 [[ 9.79059749e-01 -8.49526352e-02 1.85000156e-01 1.00322711e+02] [ 9.23112943e-02 9.95231264e-01 -3.15175635e-02 9.77162245e+01] [-1.81440439e-01 4.79351817e-02 9.82232959e-01 1.25020796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.516875 meters Centerline goodness : 0.984021 Centerline is valid? [True, True] Translation: X:100.37, Y:97.68, Z:12.56 [[ 9.82140475e-01 -9.90337995e-02 1.59976227e-01 1.00371282e+02] [ 8.69428369e-02 9.92922645e-01 8.09046644e-02 9.76784711e+01] [-1.66856314e-01 -6.55509586e-02 9.83799798e-01 1.25635364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.546875 meters Centerline goodness : 0.984160 Centerline is valid? [True, True] Translation: X:100.39, Y:97.71, Z:12.51 [[ 9.81008055e-01 -8.22868094e-02 1.75647595e-01 1.00387357e+02] [ 8.50197798e-02 9.96346516e-01 -8.07818033e-03 9.77092512e+01] [-1.74341141e-01 2.28582798e-02 9.84419964e-01 1.25054776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.57687500000003 meters Centerline goodness : 0.987044 Centerline is valid? [True, True] Translation: X:100.41, Y:97.70, Z:12.52 [[ 9.82400046e-01 -8.03895546e-02 1.68605069e-01 1.00414493e+02] [ 7.74697725e-02 9.96709745e-01 2.38352528e-02 9.76979043e+01] [-1.69966420e-01 -1.03539572e-02 9.85395459e-01 1.25179781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.606875 meters Centerline goodness : 0.984961 Centerline is valid? [True, True] Translation: X:100.47, Y:97.68, Z:12.53 [[ 9.84115116e-01 -7.46685338e-02 1.61065353e-01 1.00472728e+02] [ 6.63025326e-02 9.96186546e-01 5.67127816e-02 9.76800950e+01] [-1.64685798e-01 -4.51328648e-02 9.85312952e-01 1.25276094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.63687500000003 meters Centerline goodness : 0.985555 Centerline is valid? [True, True] Translation: X:100.47, Y:97.71, Z:12.50 [[ 9.82572673e-01 -7.30167129e-02 1.70937128e-01 1.00473583e+02] [ 7.32800935e-02 9.97299960e-01 4.77688796e-03 9.77072669e+01] [-1.70824383e-01 7.83264913e-03 9.85270359e-01 1.24957043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.666875 meters Centerline goodness : 0.985487 Centerline is valid? [True, True] Translation: X:100.51, Y:97.70, Z:12.50 [[ 9.82997628e-01 -7.12316640e-02 1.69238631e-01 1.00507853e+02] [ 6.85408179e-02 9.97412362e-01 2.16964698e-02 9.77002848e+01] [-1.70346178e-01 -9.72782412e-03 9.85336262e-01 1.24974933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.69687500000003 meters Centerline goodness : 0.985177 Centerline is valid? [True, True] Translation: X:100.54, Y:97.70, Z:12.49 [[ 9.82913187e-01 -7.06951899e-02 1.69952511e-01 1.00538731e+02] [ 6.67281572e-02 9.97351148e-01 2.89489290e-02 9.76999253e+01] [-1.71548882e-01 -1.71136662e-02 9.85026956e-01 1.24945987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.726875 meters Centerline goodness : 0.985595 Centerline is valid? [True, True] Translation: X:100.57, Y:97.70, Z:12.48 [[ 9.82699260e-01 -6.87483427e-02 1.71976246e-01 1.00570935e+02] [ 6.52020401e-02 9.97528279e-01 2.61921021e-02 9.77027043e+01] [-1.73351832e-01 -1.45257573e-02 9.84752834e-01 1.24849606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.75687500000004 meters Centerline goodness : 0.985756 Centerline is valid? [True, True] Translation: X:100.60, Y:97.70, Z:12.48 [[ 9.83122417e-01 -6.68501458e-02 1.70297887e-01 1.00602826e+02] [ 6.37257181e-02 9.97684720e-01 2.37535945e-02 9.77037281e+01] [-1.71491531e-01 -1.25003360e-02 9.85106287e-01 1.24805052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.786875 meters Centerline goodness : 0.987226 Centerline is valid? [True, True] Translation: X:100.63, Y:97.70, Z:12.48 [[ 9.82941405e-01 -6.42827626e-02 1.72319239e-01 1.00632494e+02] [ 5.90994188e-02 9.97636629e-01 3.50487436e-02 9.76956989e+01] [-1.74165014e-01 -2.42668945e-02 9.84417424e-01 1.24814927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.81687500000004 meters Centerline goodness : 0.987676 Centerline is valid? [True, True] Translation: X:100.66, Y:97.70, Z:12.46 [[ 9.82108363e-01 -6.28421499e-02 1.77521910e-01 1.00661605e+02] [ 6.13314634e-02 9.98019404e-01 1.39900580e-02 9.77042382e+01] [-1.78049476e-01 -2.85207446e-03 9.84017403e-01 1.24631901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.846875 meters Centerline goodness : 0.988190 Centerline is valid? [True, True] Translation: X:100.70, Y:97.70, Z:12.47 [[ 9.82442807e-01 -6.46322738e-02 1.75010859e-01 1.00695327e+02] [ 5.98048629e-02 9.97673553e-01 3.27239862e-02 9.76977160e+01] [-1.76718731e-01 -2.16829445e-02 9.84022530e-01 1.24690334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.87687500000004 meters Centerline goodness : 0.989244 Centerline is valid? [True, True] Translation: X:100.73, Y:97.69, Z:12.47 [[ 9.82699538e-01 -6.25300099e-02 1.74331914e-01 1.00728869e+02] [ 5.74749643e-02 9.97771192e-01 3.39009738e-02 9.76940684e+01] [-1.76063190e-01 -2.32947508e-02 9.84103200e-01 1.24669637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.906875 meters Centerline goodness : 0.987975 Centerline is valid? [True, True] Translation: X:100.76, Y:97.70, Z:12.45 [[ 9.83445647e-01 -6.48265440e-02 1.69210458e-01 1.00762337e+02] [ 6.29140097e-02 9.97880129e-01 1.66456090e-02 9.77012229e+01] [-1.69930831e-01 -5.72434331e-03 9.85439366e-01 1.24537638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.93687500000004 meters Centerline goodness : 0.990784 Centerline is valid? [True, True] Translation: X:100.79, Y:97.70, Z:12.45 [[ 9.82538760e-01 -7.07114850e-02 1.72097271e-01 1.00785210e+02] [ 6.60183588e-02 9.97277524e-01 3.28499009e-02 9.76982182e+01] [-1.73951605e-01 -2.09147216e-02 9.84532078e-01 1.24534104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.966875 meters Centerline goodness : 0.989273 Centerline is valid? [True, True] Translation: X:100.82, Y:97.70, Z:12.45 [[ 9.82540687e-01 -7.27238163e-02 1.71245570e-01 1.00821636e+02] [ 6.86722915e-02 9.97203816e-01 2.94731515e-02 9.76984226e+01] [-1.72910136e-01 -1.71987448e-02 9.84787433e-01 1.24490578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.99687500000005 meters Centerline goodness : 0.989781 Centerline is valid? [True, True] Translation: X:100.85, Y:97.70, Z:12.44 [[ 9.81373038e-01 -7.92891162e-02 1.74986276e-01 1.00846833e+02] [ 7.64818193e-02 9.96811638e-01 2.27396036e-02 9.77019520e+01] [-1.76231359e-01 -8.93276514e-03 9.84308241e-01 1.24393717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.026875 meters Centerline goodness : 0.989625 Centerline is valid? [True, True] Translation: X:100.88, Y:97.70, Z:12.43 [[ 9.81606106e-01 -8.19972095e-02 1.72412034e-01 1.00880800e+02] [ 7.91167348e-02 9.96587743e-01 2.35247153e-02 9.77027348e+01] [-1.73752681e-01 -9.45132702e-03 9.84743966e-01 1.24337066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.056875 meters Centerline goodness : 0.990371 Centerline is valid? [True, True] Translation: X:100.91, Y:97.70, Z:12.43 [[ 9.81758531e-01 -8.54434350e-02 1.69851721e-01 1.00913390e+02] [ 8.12261290e-02 9.96193436e-01 3.16378545e-02 9.77008664e+01] [-1.71908416e-01 -1.72643358e-02 9.84961643e-01 1.24331332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.086875 meters Centerline goodness : 0.992532 Centerline is valid? [True, True] Translation: X:100.94, Y:97.70, Z:12.42 [[ 9.81976224e-01 -8.29278385e-02 1.69840130e-01 1.00939576e+02] [ 8.12304397e-02 9.96551538e-01 1.69306549e-02 9.77035829e+01] [-1.70658465e-01 -2.82931217e-03 9.85326181e-01 1.24224174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.116875 meters Centerline goodness : 0.990823 Centerline is valid? [True, True] Translation: X:100.98, Y:97.69, Z:12.44 [[ 9.83041493e-01 -8.81521315e-02 1.60806173e-01 1.00983250e+02] [ 8.00400251e-02 9.95202827e-01 5.62576952e-02 9.76905197e+01] [-1.64993994e-01 -4.24327185e-02 9.85381371e-01 1.24429138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.146875 meters Centerline goodness : 0.990156 Centerline is valid? [True, True] Translation: X:101.01, Y:97.71, Z:12.41 [[ 9.82314031e-01 -7.99661195e-02 1.69306128e-01 1.01006160e+02] [ 7.95220918e-02 9.96788661e-01 9.41285879e-03 9.77081954e+01] [-1.69515138e-01 4.21719417e-03 9.85518561e-01 1.24084247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.176875 meters Centerline goodness : 0.989853 Centerline is valid? [True, True] Translation: X:101.04, Y:97.71, Z:12.41 [[ 9.82435997e-01 -8.09939537e-02 1.68105594e-01 1.01040150e+02] [ 7.81954407e-02 9.96667789e-01 2.32118926e-02 9.77064449e+01] [-1.69425454e-01 -9.65910783e-03 9.85495671e-01 1.24099386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.206875 meters Centerline goodness : 0.991823 Centerline is valid? [True, True] Translation: X:101.07, Y:97.71, Z:12.40 [[ 9.82972650e-01 -7.64340817e-02 1.67100572e-01 1.01067089e+02] [ 7.56490985e-02 9.97073080e-01 1.10674099e-02 9.77091315e+01] [-1.67457409e-01 1.76204640e-03 9.85877736e-01 1.24008353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.236875 meters Centerline goodness : 0.990018 Centerline is valid? [True, True] Translation: X:101.10, Y:97.71, Z:12.39 [[ 9.82424192e-01 -7.88141046e-02 1.69207104e-01 1.01098258e+02] [ 7.62693908e-02 9.96855494e-01 2.14966065e-02 9.77131952e+01] [-1.70369268e-01 -8.21346347e-03 9.85346057e-01 1.23937601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.266875 meters Centerline goodness : 0.991542 Centerline is valid? [True, True] Translation: X:101.15, Y:97.70, Z:12.41 [[ 9.84735533e-01 -7.21835596e-02 1.58383912e-01 1.01151055e+02] [ 6.49627632e-02 9.96618641e-01 5.03102854e-02 9.76952767e+01] [-1.61479934e-01 -3.92532692e-02 9.86095032e-01 1.24125106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.296875 meters Centerline goodness : 0.990935 Centerline is valid? [True, True] Translation: X:101.16, Y:97.72, Z:12.38 [[ 9.82829497e-01 -7.11609115e-02 1.70241902e-01 1.01158814e+02] [ 6.97905474e-02 9.97463028e-01 1.40280958e-02 9.77175826e+01] [-1.70808255e-01 -1.90595078e-03 9.85302445e-01 1.23787140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.32687500000003 meters Centerline goodness : 0.991777 Centerline is valid? [True, True] Translation: X:101.19, Y:97.72, Z:12.38 [[ 9.83016533e-01 -7.16149437e-02 1.68966849e-01 1.01192061e+02] [ 6.99257578e-02 9.97424929e-01 1.59342153e-02 9.77172105e+01] [-1.69672875e-01 -3.84846212e-03 9.85492925e-01 1.23813638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.356875 meters Centerline goodness : 0.992190 Centerline is valid? [True, True] Translation: X:101.23, Y:97.72, Z:12.38 [[ 9.83058098e-01 -7.10609965e-02 1.68958904e-01 1.01225700e+02] [ 6.92341994e-02 9.97460871e-01 1.66864428e-02 9.77181009e+01] [-1.69715651e-01 -4.70600826e-03 9.85481837e-01 1.23766591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.38687500000003 meters Centerline goodness : 0.991463 Centerline is valid? [True, True] Translation: X:101.26, Y:97.72, Z:12.38 [[ 9.83239845e-01 -7.16127937e-02 1.67663399e-01 1.01258060e+02] [ 6.83633302e-02 9.97345181e-01 2.50807544e-02 9.77175957e+01] [-1.69014386e-01 -1.31983688e-02 9.85525211e-01 1.23758619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.416875 meters Centerline goodness : 0.991146 Centerline is valid? [True, True] Translation: X:101.28, Y:97.72, Z:12.37 [[ 9.82850202e-01 -7.26656085e-02 1.69485071e-01 1.01284784e+02] [ 7.00250587e-02 9.97313219e-01 2.15135697e-02 9.77240794e+01] [-1.70592998e-01 -9.27641433e-03 9.85297913e-01 1.23669273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.44687500000003 meters Centerline goodness : 0.991833 Centerline is valid? [True, True] Translation: X:101.32, Y:97.72, Z:12.37 [[ 9.83095699e-01 -7.30431401e-02 1.67891472e-01 1.01318244e+02] [ 6.95171644e-02 9.97220919e-01 2.67918428e-02 9.77215571e+01] [-1.69381848e-01 -1.46676063e-02 9.85441348e-01 1.23665887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.476875 meters Centerline goodness : 0.991968 Centerline is valid? [True, True] Translation: X:101.35, Y:97.72, Z:12.37 [[ 9.83458324e-01 -7.22824821e-02 1.66087228e-01 1.01352698e+02] [ 6.84468098e-02 9.97241555e-01 2.87108776e-02 9.77203000e+01] [-1.67704379e-01 -1.68678106e-02 9.85693014e-01 1.23651232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.50687500000004 meters Centerline goodness : 0.993192 Centerline is valid? [True, True] Translation: X:101.39, Y:97.72, Z:12.37 [[ 9.84459193e-01 -7.35289001e-02 1.59479147e-01 1.01385547e+02] [ 6.87010719e-02 9.97002437e-01 3.55851590e-02 9.77178638e+01] [-1.61617636e-01 -2.40757486e-02 9.86559729e-01 1.23734142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.536875 meters Centerline goodness : 0.992065 Centerline is valid? [True, True] Translation: X:101.41, Y:97.73, Z:12.35 [[ 9.83276775e-01 -7.23932794e-02 1.67110731e-01 1.01412774e+02] [ 7.14488740e-02 9.97376053e-01 1.16647502e-02 9.77292742e+01] [-1.67516690e-01 4.70195591e-04 9.85869128e-01 1.23474564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.56687500000004 meters Centerline goodness : 0.992246 Centerline is valid? [True, True] Translation: X:101.45, Y:97.72, Z:12.36 [[ 9.83680247e-01 -7.71922047e-02 1.62525490e-01 1.01449704e+02] [ 7.30833358e-02 9.96840219e-01 3.11191825e-02 9.77218382e+01] [-1.64414104e-01 -1.87334201e-02 9.86213497e-01 1.23566726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.596875 meters Centerline goodness : 0.991600 Centerline is valid? [True, True] Translation: X:101.48, Y:97.73, Z:12.34 [[ 9.83980715e-01 -7.07868586e-02 1.63618989e-01 1.01481498e+02] [ 7.02598988e-02 9.97488003e-01 9.01274920e-03 9.77278868e+01] [-1.63845963e-01 2.62748221e-03 9.86482436e-01 1.23419489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.62687500000004 meters Centerline goodness : 0.992784 Centerline is valid? [True, True] Translation: X:101.51, Y:97.73, Z:12.34 [[ 9.83640080e-01 -7.48089591e-02 1.63877435e-01 1.01509679e+02] [ 7.22434540e-02 9.97153806e-01 2.15678345e-02 9.77275114e+01] [-1.65024475e-01 -9.37591453e-03 9.86244906e-01 1.23397716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.656875 meters Centerline goodness : 0.991445 Centerline is valid? [True, True] Translation: X:101.54, Y:97.73, Z:12.33 [[ 9.83973339e-01 -7.18354340e-02 1.63205818e-01 1.01543867e+02] [ 7.03339949e-02 9.97411209e-01 1.49669375e-02 9.77293101e+01] [-1.63858468e-01 -3.24815035e-03 9.86478511e-01 1.23327012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.68687500000004 meters Centerline goodness : 0.992711 Centerline is valid? [True, True] Translation: X:101.57, Y:97.73, Z:12.33 [[ 9.83949204e-01 -7.16677658e-02 1.63424894e-01 1.01573839e+02] [ 7.03990844e-02 9.97426887e-01 1.35489370e-02 9.77320070e+01] [-1.63975405e-01 -1.82650287e-03 9.86462736e-01 1.23263098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.716875 meters Centerline goodness : 0.991945 Centerline is valid? [True, True] Translation: X:101.59, Y:97.74, Z:12.32 [[ 9.83280335e-01 -7.56311304e-02 1.65649374e-01 1.01594751e+02] [ 7.42331967e-02 9.97133691e-01 1.46230898e-02 9.77387650e+01] [-1.66280533e-01 -2.08191408e-03 9.86076290e-01 1.23168448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.74687500000005 meters Centerline goodness : 0.991631 Centerline is valid? [True, True] Translation: X:101.64, Y:97.73, Z:12.32 [[ 9.84473491e-01 -7.19499695e-02 1.60109801e-01 1.01635447e+02] [ 6.88253842e-02 9.97315847e-01 2.49833466e-02 9.77317862e+01] [-1.61477593e-01 -1.35758239e-02 9.86782997e-01 1.23227518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.776875 meters Centerline goodness : 0.992430 Centerline is valid? [True, True] Translation: X:101.66, Y:97.74, Z:12.31 [[ 9.83798240e-01 -7.35540355e-02 1.63495647e-01 1.01658106e+02] [ 7.13637245e-02 9.97264817e-01 1.92380974e-02 9.77394851e+01] [-1.64463496e-01 -7.25874808e-03 9.86356461e-01 1.23110579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.806875 meters Centerline goodness : 0.992258 Centerline is valid? [True, True] Translation: X:101.69, Y:97.74, Z:12.31 [[ 9.84112666e-01 -7.23286679e-02 1.62144454e-01 1.01690983e+02] [ 6.99843335e-02 9.97344939e-01 2.01311968e-02 9.77406644e+01] [-1.63170014e-01 -8.46379422e-03 9.86561661e-01 1.23072176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.836875 meters Centerline goodness : 0.992930 Centerline is valid? [True, True] Translation: X:101.73, Y:97.73, Z:12.33 [[ 9.85692759e-01 -7.63396780e-02 1.50273210e-01 1.01725354e+02] [ 6.90433624e-02 9.96194469e-01 5.31939297e-02 9.77310114e+01] [-1.53762148e-01 -4.20575037e-02 9.87212423e-01 1.23311590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.866875 meters Centerline goodness : 0.991125 Centerline is valid? [True, True] Translation: X:101.75, Y:97.75, Z:12.29 [[ 9.84948522e-01 -6.71803924e-02 1.59258293e-01 1.01749268e+02] [ 6.94873800e-02 9.97542635e-01 -8.95517943e-03 9.77546405e+01] [-1.58265324e-01 1.98868322e-02 9.87196334e-01 1.22863595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.896875 meters Centerline goodness : 0.992609 Centerline is valid? [True, True] Translation: X:101.78, Y:97.75, Z:12.30 [[ 9.84944734e-01 -6.74855899e-02 1.59152651e-01 1.01778784e+02] [ 6.44667096e-02 9.97629730e-01 2.40617079e-02 9.77462916e+01] [-1.60399235e-01 -1.34394048e-02 9.86960723e-01 1.22969676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.926875 meters Centerline goodness : 0.992356 Centerline is valid? [True, True] Translation: X:101.81, Y:97.75, Z:12.29 [[ 9.84990765e-01 -6.69313317e-02 1.59101824e-01 1.01810326e+02] [ 6.48884448e-02 9.97730050e-01 1.80065948e-02 9.77508088e+01] [-1.59945876e-01 -7.41245963e-03 9.87097955e-01 1.22894997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.956875 meters Centerline goodness : 0.993989 Centerline is valid? [True, True] Translation: X:101.84, Y:97.75, Z:12.28 [[ 9.84988756e-01 -6.45052166e-02 1.60113171e-01 1.01839632e+02] [ 6.24448351e-02 9.97888387e-01 1.78720221e-02 9.77512492e+01] [-1.60927913e-01 -7.60550025e-03 9.86936859e-01 1.22847772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.986875 meters Centerline goodness : 0.993989 Centerline is valid? [True, True] Translation: X:101.87, Y:97.75, Z:12.28 [[ 9.85077376e-01 -6.40178001e-02 1.59763213e-01 1.01870722e+02] [ 6.15368589e-02 9.97895630e-01 2.04334615e-02 9.77522524e+01] [-1.60735118e-01 -1.02972143e-02 9.86943863e-01 1.22811372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.016875 meters Centerline goodness : 0.992868 Centerline is valid? [True, True] Translation: X:101.91, Y:97.75, Z:12.29 [[ 9.85676324e-01 -6.34292827e-02 1.56265512e-01 1.01908328e+02] [ 5.83097157e-02 9.97607597e-01 3.71356927e-02 9.77476054e+01] [-1.58247152e-01 -2.74919756e-02 9.87016733e-01 1.22905234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.046875 meters Centerline goodness : 0.993038 Centerline is valid? [True, True] Translation: X:101.94, Y:97.76, Z:12.28 [[ 9.85901285e-01 -5.90783948e-02 1.56551589e-01 1.01938070e+02] [ 5.69421205e-02 9.98213402e-01 1.80996929e-02 9.77573804e+01] [-1.57341195e-01 -8.93013110e-03 9.87503925e-01 1.22786520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.07687500000003 meters Centerline goodness : 0.994637 Centerline is valid? [True, True] Translation: X:101.96, Y:97.76, Z:12.27 [[ 9.85794566e-01 -5.65150338e-02 1.58161707e-01 1.01963773e+02] [ 5.57685057e-02 9.98401727e-01 9.15782639e-03 9.77618732e+01] [-1.58426476e-01 -2.07293447e-04 9.87370756e-01 1.22679259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.106875 meters Centerline goodness : 0.992296 Centerline is valid? [True, True] Translation: X:102.01, Y:97.76, Z:12.28 [[ 9.86268663e-01 -5.68050425e-02 1.55071958e-01 1.02005497e+02] [ 5.20575436e-02 9.98047656e-01 3.45092414e-02 9.77566294e+01] [-1.56729504e-01 -2.59627181e-02 9.87300258e-01 1.22767678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.13687500000003 meters Centerline goodness : 0.992116 Centerline is valid? [True, True] Translation: X:102.03, Y:97.77, Z:12.25 [[ 9.85606803e-01 -5.30399293e-02 1.60517896e-01 1.02027070e+02] [ 5.37401017e-02 9.98554956e-01 -2.07175174e-05 9.77731126e+01] [-1.60284842e-01 8.64666740e-03 9.87032930e-01 1.22490875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.166875 meters Centerline goodness : 0.991385 Centerline is valid? [True, True] Translation: X:102.06, Y:97.77, Z:12.25 [[ 9.85788359e-01 -5.34426433e-02 1.59264545e-01 1.02060708e+02] [ 5.19010148e-02 9.98556513e-01 1.38265762e-02 9.77713621e+01] [-1.59773577e-01 -5.36408640e-03 9.87139114e-01 1.22504585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.19687500000003 meters Centerline goodness : 0.991936 Centerline is valid? [True, True] Translation: X:102.09, Y:97.77, Z:12.25 [[ 9.86273617e-01 -5.36545446e-02 1.56158707e-01 1.02094718e+02] [ 5.07006814e-02 9.98452674e-01 2.28407315e-02 9.77702986e+01] [-1.57142587e-01 -1.46098581e-02 9.87467852e-01 1.22513806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.226875 meters Centerline goodness : 0.991507 Centerline is valid? [True, True] Translation: X:102.12, Y:97.77, Z:12.24 [[ 9.86053329e-01 -5.19068033e-02 1.58128165e-01 1.02122695e+02] [ 4.94694711e-02 9.98588883e-01 1.93135745e-02 9.77738345e+01] [-1.58907534e-01 -1.12216977e-02 9.87229694e-01 1.22434177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.25687500000004 meters Centerline goodness : 0.988362 Centerline is valid? [True, True] Translation: X:102.17, Y:97.77, Z:12.24 [[ 9.86778976e-01 -4.50684122e-02 1.55679450e-01 1.02170851e+02] [ 4.31929326e-02 9.98947888e-01 1.54106239e-02 9.77716114e+01] [-1.56210190e-01 -8.48262765e-03 9.87687411e-01 1.22354839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.286875 meters Centerline goodness : 0.990666 Centerline is valid? [True, True] Translation: X:102.18, Y:97.78, Z:12.23 [[ 9.86677395e-01 -4.90989092e-02 1.55103244e-01 1.02184922e+02] [ 4.78062044e-02 9.98783872e-01 1.20558247e-02 9.77822748e+01] [-1.55506547e-01 -4.48031236e-03 9.87824701e-01 1.22320025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.31687500000004 meters Centerline goodness : 0.991273 Centerline is valid? [True, True] Translation: X:102.22, Y:97.78, Z:12.23 [[ 9.86731202e-01 -4.96415354e-02 1.54587363e-01 1.02216828e+02] [ 4.73677027e-02 9.98708769e-01 1.83601455e-02 9.77819070e+01] [-1.55299181e-01 -1.07940802e-02 9.87808510e-01 1.22294269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.346875 meters Centerline goodness : 0.990915 Centerline is valid? [True, True] Translation: X:102.25, Y:97.79, Z:12.22 [[ 9.86600693e-01 -4.67897590e-02 1.56300322e-01 1.02245364e+02] [ 4.63545881e-02 9.98904353e-01 6.43009012e-03 9.77884907e+01] [-1.56429934e-01 9.01305669e-04 9.87688647e-01 1.22160340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.37687500000004 meters Centerline goodness : 0.993045 Centerline is valid? [True, True] Translation: X:102.27, Y:97.79, Z:12.21 [[ 9.86755233e-01 -4.27095752e-02 1.56492819e-01 1.02274268e+02] [ 4.21227253e-02 9.99087457e-01 7.06601937e-03 9.77861545e+01] [-1.56651799e-01 -3.80527580e-04 9.87653820e-01 1.22086885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.406875 meters Centerline goodness : 0.989463 Centerline is valid? [True, True] Translation: X:102.31, Y:97.79, Z:12.20 [[ 9.86388874e-01 -4.30175879e-02 1.58702479e-01 1.02305631e+02] [ 4.18884352e-02 9.99067594e-01 1.04547305e-02 9.77916431e+01] [-1.59004241e-01 -3.66463136e-03 9.87271098e-01 1.22023736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.43687500000004 meters Centerline goodness : 0.990068 Centerline is valid? [True, True] Translation: X:102.34, Y:97.79, Z:12.20 [[ 9.86578843e-01 -4.21613856e-02 1.57748548e-01 1.02339288e+02] [ 3.98398527e-02 9.99046602e-01 1.78514054e-02 9.77894117e+01] [-1.58350791e-01 -1.13271400e-02 9.87317944e-01 1.22019687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.466875 meters Centerline goodness : 0.989864 Centerline is valid? [True, True] Translation: X:102.37, Y:97.79, Z:12.20 [[ 9.86884521e-01 -3.85422903e-02 1.56759161e-01 1.02373600e+02] [ 3.57604366e-02 9.99149517e-01 2.05288762e-02 9.77871554e+01] [-1.57417070e-01 -1.46538541e-02 9.87423481e-01 1.22018671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.49687500000005 meters Centerline goodness : 0.990659 Centerline is valid? [True, True] Translation: X:102.41, Y:97.78, Z:12.21 [[ 9.87439486e-01 -3.53347555e-02 1.53995832e-01 1.02410845e+02] [ 3.18949977e-02 9.99184714e-01 2.47511074e-02 9.77843708e+01] [-1.54744856e-01 -1.95285240e-02 9.87761442e-01 1.22053438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.526875 meters Centerline goodness : 0.990659 Centerline is valid? [True, True] Translation: X:102.44, Y:97.79, Z:12.19 [[ 9.87417399e-01 -3.29585119e-02 1.54662914e-01 1.02441454e+02] [ 3.12077948e-02 9.99418549e-01 1.37345697e-02 9.77895215e+01] [-1.55025656e-01 -8.73506463e-03 9.87871826e-01 1.21945457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.556875 meters Centerline goodness : 0.992059 Centerline is valid? [True, True] Translation: X:102.47, Y:97.79, Z:12.19 [[ 9.87271528e-01 -3.07906513e-02 1.56034822e-01 1.02472285e+02] [ 2.86627734e-02 9.99463159e-01 1.58694164e-02 9.77877800e+01] [-1.56439686e-01 -1.11950322e-02 9.87624066e-01 1.21906385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.586875 meters Centerline goodness : 0.991766 Centerline is valid? [True, True] Translation: X:102.49, Y:97.80, Z:12.17 [[ 9.85971708e-01 -3.30790454e-02 1.63601857e-01 1.02490587e+02] [ 3.43839356e-02 9.99395429e-01 -5.14994751e-03 9.78009564e+01] [-1.63332592e-01 1.07029783e-02 9.86513006e-01 1.21650606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.616875 meters Centerline goodness : 0.991599 Centerline is valid? [True, True] Translation: X:102.53, Y:97.79, Z:12.19 [[ 9.86849349e-01 -3.86172469e-02 1.56962002e-01 1.02529120e+02] [ 3.30051713e-02 9.98724673e-01 3.82058421e-02 9.77854333e+01] [-1.58237228e-01 -3.25228526e-02 9.86865362e-01 1.21891237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.646875 meters Centerline goodness : 0.991680 Centerline is valid? [True, True] Translation: X:102.56, Y:97.79, Z:12.17 [[ 9.86752114e-01 -3.58930163e-02 1.58214910e-01 1.02563188e+02] [ 3.58640607e-02 9.99352057e-01 3.03904366e-03 9.77919571e+01] [-1.58221476e-01 2.67544639e-03 9.87400024e-01 1.21699818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.676875 meters Centerline goodness : 0.992086 Centerline is valid? [True, True] Translation: X:102.60, Y:97.78, Z:12.18 [[ 9.86629423e-01 -4.13114947e-02 1.57657041e-01 1.02596175e+02] [ 3.71283862e-02 9.98878290e-01 2.93878214e-02 9.77845181e+01] [-1.58694251e-01 -2.31413378e-02 9.87056540e-01 1.21809826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.706875 meters Centerline goodness : 0.992083 Centerline is valid? [True, True] Translation: X:102.62, Y:97.80, Z:12.16 [[ 9.86299862e-01 -3.89709950e-02 1.60292991e-01 1.02622824e+02] [ 3.95341905e-02 9.99218166e-01 -3.24658128e-04 9.77951832e+01] [-1.60155016e-01 6.65726391e-03 9.87069426e-01 1.21579138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.736875 meters Centerline goodness : 0.991655 Centerline is valid? [True, True] Translation: X:102.66, Y:97.79, Z:12.16 [[ 9.86187291e-01 -4.34170329e-02 1.59842386e-01 1.02656582e+02] [ 4.22048621e-02 9.99048727e-01 1.09722639e-02 9.77939356e+01] [-1.60166716e-01 -4.07458133e-03 9.87081568e-01 1.21564859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.766875 meters Centerline goodness : 0.992628 Centerline is valid? [True, True] Translation: X:102.69, Y:97.80, Z:12.15 [[ 9.86256184e-01 -4.70625484e-02 1.58378836e-01 1.02688313e+02] [ 4.62729998e-02 9.98891195e-01 8.67119044e-03 9.77953320e+01] [-1.58611313e-01 -1.22335135e-03 9.87340344e-01 1.21481366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.796875 meters Centerline goodness : 0.992553 Centerline is valid? [True, True] Translation: X:102.72, Y:97.79, Z:12.15 [[ 9.86373238e-01 -4.95275985e-02 1.56891215e-01 1.02721454e+02] [ 4.75513638e-02 9.98735348e-01 1.63270501e-02 9.77926552e+01] [-1.57501441e-01 -8.64417409e-03 9.87480923e-01 1.21484737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.82687500000003 meters Centerline goodness : 0.992906 Centerline is valid? [True, True] Translation: X:102.75, Y:97.79, Z:12.14 [[ 9.86257931e-01 -5.10264153e-02 1.57135608e-01 1.02753105e+02] [ 4.88432709e-02 9.98649145e-01 1.77262350e-02 9.77925357e+01] [-1.57827846e-01 -9.80762276e-03 9.87417937e-01 1.21448543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.856875 meters Centerline goodness : 0.993425 Centerline is valid? [True, True] Translation: X:102.78, Y:97.79, Z:12.14 [[ 9.86162784e-01 -5.20165086e-02 1.57407898e-01 1.02784454e+02] [ 5.00902610e-02 9.98613586e-01 1.61824217e-02 9.77933419e+01] [-1.58031419e-01 -8.07389939e-03 9.87401075e-01 1.21396035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.88687500000003 meters Centerline goodness : 0.993467 Centerline is valid? [True, True] Translation: X:102.81, Y:97.80, Z:12.12 [[ 9.84988803e-01 -5.53017597e-02 1.63519951e-01 1.02808655e+02] [ 5.47980593e-02 9.98468587e-01 7.59292759e-03 9.78005475e+01] [-1.63689437e-01 1.48162730e-03 9.86510807e-01 1.21238151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.916875 meters Centerline goodness : 0.992561 Centerline is valid? [True, True] Translation: X:102.84, Y:97.80, Z:12.13 [[ 9.85557905e-01 -5.67715254e-02 1.59538739e-01 1.02844432e+02] [ 5.38914964e-02 9.98297206e-01 2.23247649e-02 9.77952456e+01] [-1.60534488e-01 -1.34045672e-02 9.86939206e-01 1.21307071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.94687500000003 meters Centerline goodness : 0.993239 Centerline is valid? [True, True] Translation: X:102.87, Y:97.80, Z:12.11 [[ 9.85044901e-01 -5.56901097e-02 1.63049546e-01 1.02871372e+02] [ 5.55979697e-02 9.98440048e-01 5.13181021e-03 9.78030363e+01] [-1.63080987e-01 4.01016020e-03 9.86604536e-01 1.21135411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.976875 meters Centerline goodness : 0.992873 Centerline is valid? [True, True] Translation: X:102.90, Y:97.80, Z:12.11 [[ 9.84321504e-01 -5.87405988e-02 1.66315121e-01 1.02900294e+02] [ 5.74997565e-02 9.98270113e-01 1.22703060e-02 9.78037243e+01] [-1.66748180e-01 -2.51484708e-03 9.85996308e-01 1.21089825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.00687500000004 meters Centerline goodness : 0.992384 Centerline is valid? [True, True] Translation: X:102.94, Y:97.80, Z:12.12 [[ 9.85735250e-01 -5.50194928e-02 1.59056193e-01 1.02941491e+02] [ 5.16011022e-02 9.98340998e-01 2.55456258e-02 9.77958274e+01] [-1.60197826e-01 -1.69737490e-02 9.86938979e-01 1.21211727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.036875 meters Centerline goodness : 0.992622 Centerline is valid? [True, True] Translation: X:102.97, Y:97.80, Z:12.11 [[ 9.85774627e-01 -5.19976347e-02 1.59826880e-01 1.02971865e+02] [ 5.05758705e-02 9.98636215e-01 1.29534609e-02 9.78009236e+01] [-1.60282459e-01 -4.68580954e-03 9.87060067e-01 1.21101686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.06687500000004 meters Centerline goodness : 0.992693 Centerline is valid? [True, True] Translation: X:103.00, Y:97.80, Z:12.11 [[ 9.86031501e-01 -4.82167037e-02 1.59427190e-01 1.03003599e+02] [ 4.63788544e-02 9.98807801e-01 1.52308297e-02 9.78029365e+01] [-1.59971501e-01 -7.62402747e-03 9.87092191e-01 1.21059108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.096875 meters Centerline goodness : 0.993426 Centerline is valid? [True, True] Translation: X:103.04, Y:97.80, Z:12.10 [[ 9.86237171e-01 -4.46889759e-02 1.59182718e-01 1.03036088e+02] [ 4.30708547e-02 9.98979415e-01 1.36025393e-02 9.78043285e+01] [-1.59628142e-01 -6.55919418e-03 9.87155425e-01 1.20999980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.12687500000004 meters Centerline goodness : 0.992891 Centerline is valid? [True, True] Translation: X:103.07, Y:97.81, Z:12.09 [[ 9.85974715e-01 -4.23875016e-02 1.61422309e-01 1.03067456e+02] [ 4.24227893e-02 9.99094529e-01 3.22956254e-03 9.78114056e+01] [-1.61413039e-01 3.66371760e-03 9.86880139e-01 1.20868539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.156875 meters Centerline goodness : 0.992327 Centerline is valid? [True, True] Translation: X:103.10, Y:97.81, Z:12.09 [[ 9.86634674e-01 -4.11124101e-02 1.57676221e-01 1.03100977e+02] [ 3.82878362e-02 9.99047933e-01 2.09109632e-02 9.78057009e+01] [-1.58385803e-01 -1.45944000e-02 9.87269437e-01 1.20940163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.18687500000004 meters Centerline goodness : 0.993145 Centerline is valid? [True, True] Translation: X:103.13, Y:97.81, Z:12.09 [[ 9.86857952e-01 -3.64771025e-02 1.57419196e-01 1.03131640e+02] [ 3.48797921e-02 9.99308275e-01 1.28984918e-02 9.78097361e+01] [-1.57780805e-01 -7.23823038e-03 9.87447632e-01 1.20853429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.216875 meters Centerline goodness : 0.992340 Centerline is valid? [True, True] Translation: X:103.16, Y:97.81, Z:12.08 [[ 9.87280247e-01 -3.01327916e-02 1.56108067e-01 1.03163262e+02] [ 2.90891229e-02 9.99536607e-01 8.96630038e-03 9.78132524e+01] [-1.56305907e-01 -4.31120452e-03 9.87699285e-01 1.20775609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.24687500000005 meters Centerline goodness : 0.992580 Centerline is valid? [True, True] Translation: X:103.19, Y:97.82, Z:12.07 [[ 9.87466541e-01 -2.72832202e-02 1.55452422e-01 1.03194795e+02] [ 2.60958322e-02 9.99612633e-01 9.67428135e-03 9.78151337e+01] [-1.55656150e-01 -5.49636883e-03 9.87796008e-01 1.20720376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.276875 meters Centerline goodness : 0.992689 Centerline is valid? [True, True] Translation: X:103.23, Y:97.81, Z:12.07 [[ 9.87744794e-01 -2.28701122e-02 1.54392939e-01 1.03226941e+02] [ 2.09126473e-02 9.99679164e-01 1.42909137e-02 9.78146930e+01] [-1.54670239e-01 -1.08870106e-02 9.87906165e-01 1.20702939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.306875 meters Centerline goodness : 0.992863 Centerline is valid? [True, True] Translation: X:103.25, Y:97.82, Z:12.06 [[ 9.87621582e-01 -1.99324023e-02 1.55583772e-01 1.03254935e+02] [ 1.86758529e-02 9.99780133e-01 9.53405609e-03 9.78179653e+01] [-1.55739601e-01 -6.51037991e-03 9.87776691e-01 1.20623424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.336875 meters Centerline goodness : 0.993911 Centerline is valid? [True, True] Translation: X:103.29, Y:97.82, Z:12.06 [[ 9.87835488e-01 -1.85141513e-02 1.54396484e-01 1.03285801e+02] [ 1.64588951e-02 9.99758245e-01 1.45793137e-02 9.78165188e+01] [-1.54629081e-01 -1.18607680e-02 9.87901397e-01 1.20612721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.366875 meters Centerline goodness : 0.993031 Centerline is valid? [True, True] Translation: X:103.32, Y:97.82, Z:12.05 [[ 9.87701270e-01 -1.75388365e-02 1.55365989e-01 1.03317626e+02] [ 1.62848899e-02 9.99823767e-01 9.34013339e-03 9.78206638e+01] [-1.55502424e-01 -6.69514358e-03 9.87812822e-01 1.20530254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.396875 meters Centerline goodness : 0.993102 Centerline is valid? [True, True] Translation: X:103.35, Y:97.82, Z:12.05 [[ 9.87727807e-01 -1.70247298e-02 1.55254428e-01 1.03350668e+02] [ 1.50711160e-02 9.99791853e-01 1.37517870e-02 9.78200467e+01] [-1.55456233e-01 -1.12431649e-02 9.87778797e-01 1.20516093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.426875 meters Centerline goodness : 0.992447 Centerline is valid? [True, True] Translation: X:103.39, Y:97.82, Z:12.05 [[ 9.87759872e-01 -1.78113788e-02 1.54961899e-01 1.03385281e+02] [ 1.59542735e-02 9.99785326e-01 1.32197920e-02 9.78205549e+01] [-1.55164096e-01 -1.05856755e-02 9.87831993e-01 1.20469973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.456875 meters Centerline goodness : 0.993240 Centerline is valid? [True, True] Translation: X:103.41, Y:97.82, Z:12.04 [[ 9.87655448e-01 -1.54319105e-02 1.55879994e-01 1.03413395e+02] [ 1.46573569e-02 9.99873863e-01 6.11717748e-03 9.78240121e+01] [-1.55954731e-01 -3.75687497e-03 9.87757059e-01 1.20381107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.486875 meters Centerline goodness : 0.992827 Centerline is valid? [True, True] Translation: X:103.45, Y:97.82, Z:12.05 [[ 9.88037641e-01 -1.66396774e-02 1.53312563e-01 1.03446455e+02] [ 1.36190963e-02 9.99692318e-01 2.07313593e-02 9.78194793e+01] [-1.53610355e-01 -1.83953847e-02 9.87960257e-01 1.20450489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.516875 meters Centerline goodness : 0.992813 Centerline is valid? [True, True] Translation: X:103.48, Y:97.83, Z:12.03 [[ 9.87718140e-01 -1.59183280e-02 1.55433209e-01 1.03475819e+02] [ 1.58651747e-02 9.99872888e-01 1.58256861e-03 9.78265654e+01] [-1.55438644e-01 9.02843300e-04 9.87845136e-01 1.20274595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.546875 meters Centerline goodness : 0.993356 Centerline is valid? [True, True] Translation: X:103.51, Y:97.82, Z:12.03 [[ 9.87905255e-01 -1.97170165e-02 1.53800020e-01 1.03510486e+02] [ 1.78682394e-02 9.99750635e-01 1.33938354e-02 9.78233625e+01] [-1.54025754e-01 -1.04837049e-02 9.88011214e-01 1.20307569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.57687500000003 meters Centerline goodness : 0.993654 Centerline is valid? [True, True] Translation: X:103.54, Y:97.82, Z:12.03 [[ 9.87960766e-01 -1.88983847e-02 1.53546005e-01 1.03540419e+02] [ 1.72173418e-02 9.99776473e-01 1.22706039e-02 9.78241335e+01] [-1.53743577e-01 -9.47922121e-03 9.88065310e-01 1.20256032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.606875 meters Centerline goodness : 0.993476 Centerline is valid? [True, True] Translation: X:103.57, Y:97.83, Z:12.02 [[ 9.87920701e-01 -1.90654842e-02 1.53782954e-01 1.03571079e+02] [ 1.82091167e-02 9.99809868e-01 6.97538929e-03 9.78279273e+01] [-1.53886704e-01 -4.09087973e-03 9.88080031e-01 1.20176469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.63687500000003 meters Centerline goodness : 0.992574 Centerline is valid? [True, True] Translation: X:103.60, Y:97.83, Z:12.01 [[ 9.87947363e-01 -2.08758072e-02 1.53376035e-01 1.03602427e+02] [ 2.00091605e-02 9.99773928e-01 7.19206459e-03 9.78295431e+01] [-1.53491502e-01 -4.03645553e-03 9.88141724e-01 1.20128525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.666875 meters Centerline goodness : 0.993480 Centerline is valid? [True, True] Translation: X:103.64, Y:97.83, Z:12.01 [[ 9.88185784e-01 -2.11046751e-02 1.51800687e-01 1.03635735e+02] [ 1.88330036e-02 9.99688340e-01 1.63872193e-02 9.78255461e+01] [-1.52099224e-01 -1.33347543e-02 9.88275271e-01 1.20143124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.69687500000003 meters Centerline goodness : 0.993520 Centerline is valid? [True, True] Translation: X:103.66, Y:97.83, Z:12.00 [[ 9.87985345e-01 -1.85387977e-02 1.53431650e-01 1.03664003e+02] [ 1.77901769e-02 9.99822203e-01 6.25078013e-03 9.78292927e+01] [-1.53520252e-01 -3.44610297e-03 9.88139492e-01 1.20035202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.726875 meters Centerline goodness : 0.993220 Centerline is valid? [True, True] Translation: X:103.70, Y:97.83, Z:12.00 [[ 9.88262024e-01 -2.22149013e-02 1.51144535e-01 1.03698187e+02] [ 2.05239969e-02 9.99708207e-01 1.27383529e-02 9.78290096e+01] [-1.51383414e-01 -9.48674040e-03 9.88429595e-01 1.20036304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.75687500000004 meters Centerline goodness : 0.993468 Centerline is valid? [True, True] Translation: X:103.73, Y:97.83, Z:11.99 [[ 9.88072773e-01 -1.95046081e-02 1.52747393e-01 1.03727949e+02] [ 1.89564214e-02 9.99807585e-01 5.04448041e-03 9.78324615e+01] [-1.52816393e-01 -2.08876980e-03 9.88252390e-01 1.19941080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.786875 meters Centerline goodness : 0.992672 Centerline is valid? [True, True] Translation: X:103.76, Y:97.83, Z:12.00 [[ 9.88335944e-01 -2.03046631e-02 1.50929730e-01 1.03762113e+02] [ 1.82378388e-02 9.99720163e-01 1.50657492e-02 9.78297120e+01] [-1.51193399e-01 -1.21373894e-02 9.88429684e-01 1.19964200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.81687500000004 meters Centerline goodness : 0.994078 Centerline is valid? [True, True] Translation: X:103.79, Y:97.83, Z:11.99 [[ 9.88283100e-01 -1.82954557e-02 1.51531486e-01 1.03793239e+02] [ 1.76002533e-02 9.99827531e-01 5.92792556e-03 9.78339829e+01] [-1.51613806e-01 -3.19147611e-03 9.88434656e-01 1.19870771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.846875 meters Centerline goodness : 0.992724 Centerline is valid? [True, True] Translation: X:103.82, Y:97.83, Z:11.98 [[ 9.88276787e-01 -1.81586018e-02 1.51589109e-01 1.03824470e+02] [ 1.68795449e-02 9.99810280e-01 9.72031863e-03 9.78341405e+01] [-1.51736856e-01 -7.04761010e-03 9.88395800e-01 1.19845099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.87687500000004 meters Centerline goodness : 0.992710 Centerline is valid? [True, True] Translation: X:103.86, Y:97.83, Z:11.98 [[ 9.88131340e-01 -1.76539924e-02 1.52593550e-01 1.03856631e+02] [ 1.59460590e-02 9.99795845e-01 1.24093557e-02 9.78335477e+01] [-1.52781472e-01 -9.82880753e-03 9.88211119e-01 1.19821130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.906875 meters Centerline goodness : 0.992681 Centerline is valid? [True, True] Translation: X:103.89, Y:97.83, Z:11.98 [[ 9.88227228e-01 -1.66117738e-02 1.52088774e-01 1.03889783e+02] [ 1.55043458e-02 9.99843971e-01 8.46456444e-03 9.78349984e+01] [-1.52205656e-01 -6.00687609e-03 9.88330590e-01 1.19772225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.93687500000004 meters Centerline goodness : 0.992681 Centerline is valid? [True, True] Translation: X:103.92, Y:97.84, Z:11.97 [[ 9.88270556e-01 -1.61104052e-02 1.51861000e-01 1.03922740e+02] [ 1.50019999e-02 9.99851827e-01 8.44182080e-03 9.78359190e+01] [-1.51974500e-01 -6.06458422e-03 9.88365809e-01 1.19724288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.966875 meters Centerline goodness : 0.993441 Centerline is valid? [True, True] Translation: X:103.96, Y:97.83, Z:11.97 [[ 9.87760594e-01 -8.45683639e-03 1.55748166e-01 1.03962456e+02] [ 6.40123111e-03 9.99885728e-01 1.36950966e-02 9.78254684e+01] [-1.55846185e-01 -1.25304967e-02 9.87701854e-01 1.19655901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.99687500000005 meters Centerline goodness : 0.994230 Centerline is valid? [True, True] Translation: X:103.98, Y:97.84, Z:11.96 [[ 9.87889712e-01 -1.42401976e-02 1.54502858e-01 1.03982522e+02] [ 1.35608338e-02 9.99893194e-01 5.45018056e-03 9.78382986e+01] [-1.54563968e-01 -3.28898973e-03 9.87977309e-01 1.19605770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.026875 meters Centerline goodness : 0.992894 Centerline is valid? [True, True] Translation: X:104.02, Y:97.84, Z:11.95 [[ 9.87963457e-01 -1.28909711e-02 1.54149380e-01 1.04015090e+02] [ 1.26347529e-02 9.99916689e-01 2.64174253e-03 9.78410482e+01] [-1.54170593e-01 -6.62305745e-04 9.88044022e-01 1.19533927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.056875 meters Centerline goodness : 0.992406 Centerline is valid? [True, True] Translation: X:104.05, Y:97.84, Z:11.95 [[ 9.88320833e-01 -1.39896641e-02 1.51743932e-01 1.04049056e+02] [ 1.22084809e-02 9.99845283e-01 1.26634631e-02 9.78389378e+01] [-1.51897612e-01 -1.06630015e-02 9.88338715e-01 1.19548041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.086875 meters Centerline goodness : 0.991764 Centerline is valid? [True, True] Translation: X:104.08, Y:97.84, Z:11.95 [[ 9.88206426e-01 -1.22878966e-02 1.52633768e-01 1.04076939e+02] [ 1.16662627e-02 9.99919607e-01 4.96766171e-03 9.78428619e+01] [-1.52682539e-01 -3.12840959e-03 9.88270335e-01 1.19457033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.116875 meters Centerline goodness : 0.992803 Centerline is valid? [True, True] Translation: X:104.11, Y:97.84, Z:11.95 [[ 9.88390557e-01 -1.29665154e-02 1.51380241e-01 1.04110463e+02] [ 1.11998136e-02 9.99858929e-01 1.25174605e-02 9.78406486e+01] [-1.51521193e-01 -1.06767093e-02 9.88396346e-01 1.19452064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.146875 meters Centerline goodness : 0.992978 Centerline is valid? [True, True] Translation: X:104.13, Y:97.85, Z:11.92 [[ 9.87463563e-01 -1.67849176e-02 1.56952156e-01 1.04132134e+02] [ 1.84278311e-02 9.99789521e-01 -9.01820641e-03 9.78532962e+01] [-1.56767751e-01 1.17974380e-02 9.87565032e-01 1.19183018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.176875 meters Centerline goodness : 0.992281 Centerline is valid? [True, True] Translation: X:104.17, Y:97.85, Z:11.92 [[ 9.87645418e-01 -2.07933103e-02 1.55319566e-01 1.04166849e+02] [ 1.93343109e-02 9.99753674e-01 1.08984647e-02 9.78476750e+01] [-1.55507922e-01 -7.76082192e-03 9.87804159e-01 1.19240680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.206875 meters Centerline goodness : 0.993051 Centerline is valid? [True, True] Translation: X:104.20, Y:97.84, Z:11.93 [[ 9.88174588e-01 -2.31646823e-02 1.51573025e-01 1.04201036e+02] [ 1.98020177e-02 9.99523993e-01 2.36572769e-02 9.78415753e+01] [-1.52048888e-01 -2.03760681e-02 9.88162917e-01 1.19303286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.236875 meters Centerline goodness : 0.993017 Centerline is valid? [True, True] Translation: X:104.23, Y:97.85, Z:11.91 [[ 9.87633198e-01 -2.75893019e-02 1.54335661e-01 1.04225308e+02] [ 2.81638654e-02 9.99602138e-01 -1.53719027e-03 9.78514318e+01] [-1.54231847e-01 5.86486893e-03 9.88017278e-01 1.19097275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.266875 meters Centerline goodness : 0.992910 Centerline is valid? [True, True] Translation: X:104.26, Y:97.84, Z:11.92 [[ 9.87745024e-01 -3.21206448e-02 1.52735168e-01 1.04261657e+02] [ 2.97907857e-02 9.99402620e-01 1.75189268e-02 9.78437064e+01] [-1.53206646e-01 -1.27541321e-02 9.88111864e-01 1.19178082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.296875 meters Centerline goodness : 0.992625 Centerline is valid? [True, True] Translation: X:104.29, Y:97.84, Z:11.91 [[ 9.87764285e-01 -3.44352844e-02 1.52104995e-01 1.04294341e+02] [ 3.29166443e-02 9.99380034e-01 1.24917007e-02 9.78444834e+01] [-1.52440850e-01 -7.33206975e-03 9.88285398e-01 1.19132681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.32687500000003 meters Centerline goodness : 0.994124 Centerline is valid? [True, True] Translation: X:104.33, Y:97.84, Z:11.92 [[ 9.87950105e-01 -3.86131725e-02 1.49878663e-01 1.04325364e+02] [ 3.59813251e-02 9.99147620e-01 2.02330706e-02 9.78421425e+01] [-1.50532172e-01 -1.45964313e-02 9.88497349e-01 1.19182233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.356875 meters Centerline goodness : 0.992289 Centerline is valid? [True, True] Translation: X:104.35, Y:97.85, Z:11.90 [[ 9.86780147e-01 -4.23147492e-02 1.56442974e-01 1.04354296e+02] [ 4.32226445e-02 9.99062571e-01 -2.40448806e-03 9.78502173e+01] [-1.56194575e-01 9.13458014e-03 9.87684066e-01 1.18979342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.38687500000003 meters Centerline goodness : 0.992364 Centerline is valid? [True, True] Translation: X:104.39, Y:97.85, Z:11.90 [[ 9.86408197e-01 -4.87560046e-02 1.56913103e-01 1.04385877e+02] [ 4.81189657e-02 9.98810699e-01 7.85834222e-03 9.78497488e+01] [-1.57109627e-01 -2.01036961e-04 9.87581148e-01 1.18985086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.416875 meters Centerline goodness : 0.991471 Centerline is valid? [True, True] Translation: X:104.42, Y:97.85, Z:11.89 [[ 9.85918460e-01 -4.90817657e-02 1.59861726e-01 1.04417545e+02] [ 4.91577475e-02 9.98784958e-01 3.48175045e-03 9.78518458e+01] [-1.59838378e-01 4.42572032e-03 9.87133277e-01 1.18882142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.44687500000003 meters Centerline goodness : 0.992847 Centerline is valid? [True, True] Translation: X:104.45, Y:97.85, Z:11.89 [[ 9.86128409e-01 -5.08920155e-02 1.57989758e-01 1.04445386e+02] [ 4.88830351e-02 9.98666914e-01 1.65784318e-02 9.78488171e+01] [-1.58622854e-01 -8.62544371e-03 9.87301571e-01 1.18924732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.476875 meters Centerline goodness : 0.991857 Centerline is valid? [True, True] Translation: X:104.48, Y:97.86, Z:11.88 [[ 9.86129162e-01 -5.10311327e-02 1.57940175e-01 1.04476715e+02] [ 4.99961515e-02 9.98693985e-01 1.05218470e-02 9.78553008e+01] [-1.58270845e-01 -2.47949925e-03 9.87392623e-01 1.18818921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.50687500000004 meters Centerline goodness : 0.989985 Centerline is valid? [True, True] Translation: X:104.52, Y:97.86, Z:11.87 [[ 9.86240291e-01 -5.19230994e-02 1.56952475e-01 1.04515604e+02] [ 5.14346160e-02 9.98650589e-01 7.17505820e-03 9.78577800e+01] [-1.57113233e-01 9.96458804e-04 9.87580093e-01 1.18738078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.536875 meters Centerline goodness : 0.991262 Centerline is valid? [True, True] Translation: X:104.54, Y:97.86, Z:11.87 [[ 9.86540350e-01 -4.73434898e-02 1.56514321e-01 1.04541706e+02] [ 4.76229501e-02 9.98863449e-01 1.96607989e-03 9.78612903e+01] [-1.56429515e-01 5.51405656e-03 9.87673733e-01 1.18666904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.56687500000004 meters Centerline goodness : 0.991846 Centerline is valid? [True, True] Translation: X:104.57, Y:97.86, Z:11.87 [[ 9.86692425e-01 -4.66239187e-02 1.55769922e-01 1.04567320e+02] [ 4.56170649e-02 9.98908604e-01 1.00341651e-02 9.78639013e+01] [-1.56067748e-01 -2.79486799e-03 9.87742399e-01 1.18655375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.596875 meters Centerline goodness : 0.990927 Centerline is valid? [True, True] Translation: X:104.60, Y:97.86, Z:11.86 [[ 9.87221271e-01 -4.38458124e-02 1.53204788e-01 1.04601620e+02] [ 4.26422356e-02 9.99028357e-01 1.11346906e-02 9.78647131e+01] [-1.53544137e-01 -4.45940873e-03 9.88131728e-01 1.18628009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.62687500000004 meters Centerline goodness : 0.991643 Centerline is valid? [True, True] Translation: X:104.63, Y:97.87, Z:11.85 [[ 9.87029537e-01 -4.16285794e-02 1.55047589e-01 1.04629184e+02] [ 4.14052230e-02 9.99131517e-01 4.67113131e-03 9.78702790e+01] [-1.55107385e-01 1.80923541e-03 9.87895959e-01 1.18523027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.656875 meters Centerline goodness : 0.991697 Centerline is valid? [True, True] Translation: X:104.66, Y:97.87, Z:11.87 [[ 9.87834375e-01 -3.86029293e-02 1.50642165e-01 1.04661516e+02] [ 3.45207480e-02 9.98964918e-01 2.96211258e-02 9.78652451e+01] [-1.51629700e-01 -2.40604861e-02 9.88144487e-01 1.18663435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.68687500000004 meters Centerline goodness : 0.988832 Centerline is valid? [True, True] Translation: X:104.70, Y:97.88, Z:11.84 [[ 9.87806749e-01 -3.35387731e-02 1.52029531e-01 1.04695649e+02] [ 3.44995670e-02 9.99397917e-01 -3.68563335e-03 9.78787534e+01] [-1.51814385e-01 8.88564649e-03 9.88369080e-01 1.18424915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.716875 meters Centerline goodness : 0.990159 Centerline is valid? [True, True] Translation: X:104.72, Y:97.88, Z:11.84 [[ 9.87462393e-01 -3.31104586e-02 1.54342867e-01 1.04720431e+02] [ 3.32798926e-02 9.99444965e-01 1.48655258e-03 9.78808116e+01] [-1.54306422e-01 3.66859927e-03 9.88016229e-01 1.18382337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.74687500000005 meters Centerline goodness : 0.985961 Centerline is valid? [True, True] Translation: X:104.78, Y:97.86, Z:11.85 [[ 9.87987948e-01 -2.14133078e-02 1.53040144e-01 1.04775185e+02] [ 1.73868794e-02 9.99467831e-01 2.75998500e-02 9.78644755e+01] [-1.53549705e-01 -2.46074286e-02 9.87834481e-01 1.18460683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.776875 meters Centerline goodness : 0.986606 Centerline is valid? [True, True] Translation: X:104.80, Y:97.88, Z:11.83 [[ 9.88124682e-01 -1.57512230e-02 1.52844734e-01 1.04801711e+02] [ 1.66481067e-02 9.99850876e-01 -4.58982824e-03 9.78790627e+01] [-1.52749646e-01 7.07989802e-03 9.88239556e-01 1.18255577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.806875 meters Centerline goodness : 0.989389 Centerline is valid? [True, True] Translation: X:104.81, Y:97.90, Z:11.82 [[ 9.87389611e-01 -1.75650683e-02 1.57331576e-01 1.04808452e+02] [ 1.93376113e-02 9.99765543e-01 -9.74252227e-03 9.78951361e+01] [-1.57123560e-01 1.26620821e-02 9.87497777e-01 1.18197438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.836875 meters Centerline goodness : 0.986285 Centerline is valid? [True, True] Translation: X:104.87, Y:97.87, Z:11.84 [[ 9.88344572e-01 -1.21526792e-02 1.51747554e-01 1.04867258e+02] [ 7.20930951e-03 9.99426570e-01 3.30840826e-02 9.78725421e+01] [-1.52062597e-01 -3.16044784e-02 9.87865438e-01 1.18378880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.866875 meters Centerline goodness : 0.985215 Centerline is valid? [True, True] Translation: X:104.90, Y:97.89, Z:11.80 [[ 9.87857891e-01 8.37911600e-05 1.55360163e-01 1.04901188e+02] [ 3.28758734e-03 9.99764660e-01 -2.14433383e-02 9.78889196e+01] [-1.55325397e-01 2.16937310e-02 9.87625133e-01 1.18021698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.896875 meters Centerline goodness : 0.988679 Centerline is valid? [True, True] Translation: X:104.91, Y:97.89, Z:11.82 [[ 9.88409028e-01 -5.52100201e-03 1.51713917e-01 1.04906178e+02] [ 5.58607705e-03 9.99984398e-01 -2.72297294e-06 9.78890753e+01] [-1.51711535e-01 8.50177041e-04 9.88424447e-01 1.18176518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.926875 meters Centerline goodness : 0.986993 Centerline is valid? [True, True] Translation: X:104.94, Y:97.89, Z:11.82 [[ 9.88821422e-01 -4.56738454e-03 1.49034674e-01 1.04939680e+02] [ 2.10373162e-03 9.99858596e-01 1.66841966e-02 9.78869128e+01] [-1.49089803e-01 -1.61841620e-02 9.88691207e-01 1.18240418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.956875 meters Centerline goodness : 0.988611 Centerline is valid? [True, True] Translation: X:104.97, Y:97.88, Z:11.83 [[ 9.89585406e-01 -4.18043814e-03 1.43886233e-01 1.04971425e+02] [-1.82079573e-04 9.99541054e-01 3.02927025e-02 9.78836130e+01] [-1.43946834e-01 -3.00034150e-02 9.89130479e-01 1.18339587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.986875 meters Centerline goodness : 0.987637 Centerline is valid? [True, True] Translation: X:105.00, Y:97.89, Z:11.81 [[ 9.89073258e-01 2.32918923e-03 1.47406461e-01 1.05000659e+02] [-2.26862633e-03 9.99997259e-01 -5.78978704e-04 9.78947564e+01] [-1.47407406e-01 2.38242174e-04 9.89075831e-01 1.18105457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.016875 meters Centerline goodness : 0.986212 Centerline is valid? [True, True] Translation: X:105.03, Y:97.89, Z:11.82 [[ 9.89453779e-01 2.07342218e-04 1.44848803e-01 1.05034587e+02] [-2.71334920e-03 9.99850043e-01 1.71035069e-02 9.78914557e+01] [-1.44823535e-01 -1.73161549e-02 9.89305966e-01 1.18183750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.046875 meters Centerline goodness : 0.983551 Centerline is valid? [True, True] Translation: X:105.09, Y:97.89, Z:11.79 [[ 9.88857927e-01 1.39287384e-02 1.48209277e-01 1.05089063e+02] [-1.14551346e-02 9.99780707e-01 -1.75305037e-02 9.78939300e+01] [-1.48420954e-01 1.56374204e-02 9.88800633e-01 1.17877402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.07687500000003 meters Centerline goodness : 0.984245 Centerline is valid? [True, True] Translation: X:105.11, Y:97.89, Z:11.81 [[ 9.89476377e-01 2.07704924e-03 1.44679598e-01 1.05112650e+02] [-5.37549898e-03 9.99734388e-01 2.24111191e-02 9.78913967e+01] [-1.44594620e-01 -2.29529980e-02 9.89224725e-01 1.18091346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.106875 meters Centerline goodness : 0.985734 Centerline is valid? [True, True] Translation: X:105.12, Y:97.91, Z:11.79 [[ 9.89401447e-01 2.49588645e-04 1.45205767e-01 1.05121508e+02] [ 1.25048414e-03 9.99946795e-01 -1.02393053e-02 9.79106850e+01] [-1.45200597e-01 1.03123610e-02 9.89348494e-01 1.17900954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.13687500000003 meters Centerline goodness : 0.984742 Centerline is valid? [True, True] Translation: X:105.17, Y:97.89, Z:11.80 [[ 9.89983660e-01 3.17352261e-03 1.41146312e-01 1.05174073e+02] [-6.64691092e-03 9.99686399e-01 2.41437821e-02 9.78910433e+01] [-1.41025428e-01 -2.48401368e-02 9.89694294e-01 1.18040987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.166875 meters Centerline goodness : 0.984274 Centerline is valid? [True, True] Translation: X:105.18, Y:97.92, Z:11.78 [[ 9.89746062e-01 1.65224774e-03 1.42828577e-01 1.05182842e+02] [ 9.07552958e-04 9.99840172e-01 -1.78551847e-02 9.79159079e+01] [-1.42835251e-01 1.78017232e-02 9.89586373e-01 1.17780535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.19687500000003 meters Centerline goodness : 0.983529 Centerline is valid? [True, True] Translation: X:105.22, Y:97.90, Z:11.79 [[ 9.90419022e-01 -1.49007268e-03 1.38086713e-01 1.05220138e+02] [-9.25818771e-04 9.99847665e-01 1.74295857e-02 9.79036437e+01] [-1.38091649e-01 -1.73904365e-02 9.90266767e-01 1.17943678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.226875 meters Centerline goodness : 0.983259 Centerline is valid? [True, True] Translation: X:105.27, Y:97.91, Z:11.76 [[ 9.89281421e-01 1.32614676e-02 1.45418030e-01 1.05273369e+02] [-9.78547272e-03 9.99649658e-01 -2.45927911e-02 9.79065849e+01] [-1.45693221e-01 2.29062072e-02 9.89064604e-01 1.17573337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.25687500000004 meters Centerline goodness : 0.982408 Centerline is valid? [True, True] Translation: X:105.31, Y:97.90, Z:11.76 [[ 9.89500969e-01 8.97914173e-03 1.44247034e-01 1.05305560e+02] [-8.16493556e-03 9.99947225e-01 -6.23552649e-03 9.79040885e+01] [-1.44295411e-01 4.99229177e-03 9.89522062e-01 1.17641842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.286875 meters Centerline goodness : 0.982497 Centerline is valid? [True, True] Translation: X:105.34, Y:97.91, Z:11.76 [[ 9.89582693e-01 6.53995753e-03 1.43816976e-01 1.05339901e+02] [-5.87228527e-03 9.99969923e-01 -5.06650171e-03 9.79064005e+01] [-1.43845785e-01 4.16918810e-03 9.89591334e-01 1.17606174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.31687500000004 meters Centerline goodness : 0.981765 Centerline is valid? [True, True] Translation: X:105.37, Y:97.91, Z:11.76 [[ 9.89716658e-01 6.62488975e-03 1.42888237e-01 1.05372366e+02] [-5.81620399e-03 9.99964623e-01 -6.07650727e-03 9.79083532e+01] [-1.42923438e-01 5.18295333e-03 9.89720177e-01 1.17570023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.346875 meters Centerline goodness : 0.982522 Centerline is valid? [True, True] Translation: X:105.40, Y:97.91, Z:11.75 [[ 9.89977741e-01 7.23600575e-03 1.41037982e-01 1.05402339e+02] [-6.99069728e-03 9.99973068e-01 -2.23468996e-03 9.79091437e+01] [-1.41050354e-01 1.22633948e-03 9.90001664e-01 1.17546702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.37687500000004 meters Centerline goodness : 0.982522 Centerline is valid? [True, True] Translation: X:105.44, Y:97.91, Z:11.75 [[ 9.90075083e-01 6.54348474e-03 1.40387010e-01 1.05435359e+02] [-6.06157899e-03 9.99974178e-01 -3.86002557e-03 9.79112642e+01] [-1.40408643e-01 2.97074819e-03 9.90089182e-01 1.17502955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.406875 meters Centerline goodness : 0.980988 Centerline is valid? [True, True] Translation: X:105.46, Y:97.91, Z:11.77 [[ 9.91258053e-01 -2.24039690e-03 1.31918359e-01 1.05458205e+02] [-1.09331843e-03 9.99682003e-01 2.51931966e-02 9.79141844e+01] [-1.31932852e-01 -2.51171878e-02 9.90940386e-01 1.17720329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.43687500000004 meters Centerline goodness : 0.979585 Centerline is valid? [True, True] Translation: X:105.49, Y:97.93, Z:11.76 [[ 9.91393537e-01 -1.51324621e-03 1.30906702e-01 1.05488930e+02] [ 1.21203014e-03 9.99996432e-01 2.38064180e-03 9.79275401e+01] [-1.30909837e-01 -2.20149002e-03 9.91391834e-01 1.17590891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.466875 meters Centerline goodness : 0.982414 Centerline is valid? [True, True] Translation: X:105.53, Y:97.92, Z:11.72 [[ 9.90246071e-01 1.31047774e-02 1.38711875e-01 1.05531181e+02] [-9.07896440e-03 9.99520120e-01 -2.96159201e-02 9.79249137e+01] [-1.39033420e-01 2.80676883e-02 9.89889849e-01 1.17238686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.49687500000005 meters Centerline goodness : 0.982180 Centerline is valid? [True, True] Translation: X:105.57, Y:97.92, Z:11.74 [[ 9.90322216e-01 8.77020604e-03 1.38509900e-01 1.05566842e+02] [-8.90926644e-03 9.99960238e-01 3.83995411e-04 9.79175031e+01] [-1.38501025e-01 -1.61430079e-03 9.90360975e-01 1.17367339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.526875 meters Centerline goodness : 0.978260 Centerline is valid? [True, True] Translation: X:105.59, Y:97.92, Z:11.76 [[ 9.91420155e-01 -2.75472966e-03 1.30684691e-01 1.05587859e+02] [-3.46621183e-04 9.99718987e-01 2.37028741e-02 9.79234275e+01] [-1.30713262e-01 -2.35448051e-02 9.91140598e-01 1.17582874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.556875 meters Centerline goodness : 0.982086 Centerline is valid? [True, True] Translation: X:105.63, Y:97.93, Z:11.71 [[ 9.90062196e-01 1.30598412e-02 1.40022457e-01 1.05629377e+02] [-9.26090434e-03 9.99572043e-01 -2.77482695e-02 9.79265415e+01] [-1.40324921e-01 2.61757780e-02 9.89759438e-01 1.17141559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.586875 meters Centerline goodness : 0.978307 Centerline is valid? [True, True] Translation: X:105.65, Y:97.93, Z:11.75 [[ 9.91411588e-01 -5.72095070e-03 1.30653488e-01 1.05649793e+02] [ 2.25636431e-03 9.99642279e-01 2.66500230e-02 9.79269282e+01] [-1.30759214e-01 -2.61263398e-02 9.91069847e-01 1.17517512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.616875 meters Centerline goodness : 0.982889 Centerline is valid? [True, True] Translation: X:105.69, Y:97.93, Z:11.71 [[ 9.89673655e-01 1.13184370e-02 1.42891389e-01 1.05691321e+02] [-8.00586773e-03 9.99686202e-01 -2.37361318e-02 9.79259860e+01] [-1.43115206e-01 2.23470548e-02 9.89453711e-01 1.17060269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.646875 meters Centerline goodness : 0.982768 Centerline is valid? [True, True] Translation: X:105.72, Y:97.92, Z:11.71 [[ 9.89861475e-01 7.81275133e-03 1.41821090e-01 1.05721573e+02] [-7.47030343e-03 9.99967755e-01 -2.94690891e-03 9.79188008e+01] [-1.41839541e-01 1.85758502e-03 9.89887920e-01 1.17141435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.676875 meters Centerline goodness : 0.983067 Centerline is valid? [True, True] Translation: X:105.75, Y:97.92, Z:11.71 [[ 9.89799804e-01 6.26896889e-03 1.42327260e-01 1.05751526e+02] [-5.75444189e-03 9.99975337e-01 -4.02641648e-03 9.79187551e+01] [-1.42348991e-01 3.16633229e-03 9.89811466e-01 1.17110892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.706875 meters Centerline goodness : 0.982611 Centerline is valid? [True, True] Translation: X:105.79, Y:97.92, Z:11.71 [[ 9.89850035e-01 4.45446737e-03 1.42045999e-01 1.05786140e+02] [-4.43346040e-03 9.99990064e-01 -4.64371971e-04 9.79194049e+01] [-1.42046656e-01 -1.70096699e-04 9.89859949e-01 1.17089876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.736875 meters Centerline goodness : 0.976779 Centerline is valid? [True, True] Translation: X:105.80, Y:97.93, Z:11.73 [[ 9.91130031e-01 -9.47761187e-03 1.32557298e-01 1.05804247e+02] [ 7.03291122e-03 9.99796669e-01 1.88986597e-02 9.79306608e+01] [-1.32709459e-01 -1.77987655e-02 9.90995158e-01 1.17308589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.766875 meters Centerline goodness : 0.981140 Centerline is valid? [True, True] Translation: X:105.84, Y:97.93, Z:11.71 [[ 9.90763065e-01 -2.28269719e-03 1.35585173e-01 1.05835599e+02] [ 1.93809126e-03 9.99994548e-01 2.67356304e-03 9.79296695e+01] [-1.35590537e-01 -2.38609107e-03 9.90762087e-01 1.17148589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.796875 meters Centerline goodness : 0.981140 Centerline is valid? [True, True] Translation: X:105.87, Y:97.93, Z:11.71 [[ 9.90763460e-01 -2.04687815e-03 1.35586049e-01 1.05868714e+02] [ 1.70624886e-03 9.99995090e-01 2.62843477e-03 9.79301582e+01] [-1.35590763e-01 -2.37281359e-03 9.90762088e-01 1.17105240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.82687500000003 meters Centerline goodness : 0.982807 Centerline is valid? [True, True] Translation: X:105.90, Y:97.93, Z:11.71 [[ 9.90922289e-01 -1.65373924e-03 1.34425747e-01 1.05900152e+02] [ 1.31958542e-03 9.99995814e-01 2.57484685e-03 9.79290965e+01] [-1.34429442e-01 -2.37408688e-03 9.90920324e-01 1.17073916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.856875 meters Centerline goodness : 0.977802 Centerline is valid? [True, True] Translation: X:105.93, Y:97.94, Z:11.71 [[ 9.91310346e-01 -6.78291221e-03 1.31368912e-01 1.05932439e+02] [ 6.51232114e-03 9.99975696e-01 2.48929557e-03 9.79366076e+01] [-1.31382604e-01 -1.61214790e-03 9.91330425e-01 1.17065081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.88687500000003 meters Centerline goodness : 0.981167 Centerline is valid? [True, True] Translation: X:105.97, Y:97.93, Z:11.70 [[ 9.91451647e-01 -3.48937134e-03 1.30427975e-01 1.05965066e+02] [ 3.19777397e-03 9.99991898e-01 2.44506443e-03 9.79296989e+01] [-1.30435450e-01 -2.00708397e-03 9.91454772e-01 1.17005075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.916875 meters Centerline goodness : 0.978878 Centerline is valid? [True, True] Translation: X:106.00, Y:97.93, Z:11.70 [[ 9.91670178e-01 -7.45583017e-03 1.28587205e-01 1.05998228e+02] [ 7.21108814e-03 9.99971194e-01 2.36877650e-03 9.79342864e+01] [-1.28601162e-01 -1.42179134e-03 9.91695376e-01 1.16982939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.94687500000003 meters Centerline goodness : 0.982431 Centerline is valid? [True, True] Translation: X:106.04, Y:97.92, Z:11.67 [[ 9.90146525e-01 4.69717948e-03 1.39956403e-01 1.06035233e+02] [-2.34936136e-03 9.99853818e-01 -1.69358514e-02 9.79219092e+01] [-1.40015495e-01 1.64401662e-02 9.90012819e-01 1.16673633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.976875 meters Centerline goodness : 0.981684 Centerline is valid? [True, True] Translation: X:106.06, Y:97.92, Z:11.70 [[ 9.91372346e-01 -8.75295149e-03 1.30783245e-01 1.06059926e+02] [ 6.55535718e-03 9.99830159e-01 1.72244162e-02 9.79232139e+01] [-1.30911797e-01 -1.62184790e-02 9.91261349e-01 1.16955626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.00687500000004 meters Centerline goodness : 0.982742 Centerline is valid? [True, True] Translation: X:106.09, Y:97.92, Z:11.68 [[ 9.91108124e-01 -5.24419825e-03 1.32955577e-01 1.06091533e+02] [ 5.00325773e-03 9.99985181e-01 2.14621424e-03 9.79246210e+01] [-1.32964862e-01 -1.46191935e-03 9.91119674e-01 1.16822057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.036875 meters Centerline goodness : 0.984313 Centerline is valid? [True, True] Translation: X:106.12, Y:97.92, Z:11.68 [[ 9.90974410e-01 -5.77875488e-03 1.33926567e-01 1.06123428e+02] [ 5.54494870e-03 9.99982382e-01 2.11870442e-03 9.79223301e+01] [-1.33936451e-01 -1.35696592e-03 9.90988994e-01 1.16781185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.06687500000004 meters Centerline goodness : 0.982927 Centerline is valid? [True, True] Translation: X:106.16, Y:97.93, Z:11.68 [[ 9.91101657e-01 -8.24089185e-03 1.32851768e-01 1.06156204e+02] [ 8.03816926e-03 9.99965567e-01 2.06218719e-03 9.79257185e+01] [-1.32864188e-01 -9.75952145e-04 9.91133773e-01 1.16755193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.096875 meters Centerline goodness : 0.983367 Centerline is valid? [True, True] Translation: X:106.20, Y:97.92, Z:11.65 [[ 9.90060322e-01 3.89709508e-04 1.40642837e-01 1.06196355e+02] [ 1.80033600e-03 9.99879112e-01 -1.54441113e-02 9.79208387e+01] [-1.40631854e-01 1.55438062e-02 9.89939933e-01 1.16474262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.12687500000004 meters Centerline goodness : 0.982356 Centerline is valid? [True, True] Translation: X:106.24, Y:97.92, Z:11.65 [[ 9.89918200e-01 -5.16755731e-03 1.41545943e-01 1.06237039e+02] [ 4.77919654e-03 9.99983825e-01 3.08352250e-03 9.79186361e+01] [-1.41559587e-01 -2.37595916e-03 9.89926885e-01 1.16512456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.156875 meters Centerline goodness : 0.982886 Centerline is valid? [True, True] Translation: X:106.26, Y:97.92, Z:11.65 [[ 9.90139874e-01 -3.34340823e-03 1.40042318e-01 1.06263962e+02] [ 3.88801258e-03 9.99985906e-01 -3.61544416e-03 9.79216955e+01] [-1.40028257e-01 4.12428172e-03 9.90138918e-01 1.16453012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.18687500000004 meters Centerline goodness : 0.984006 Centerline is valid? [True, True] Translation: X:106.30, Y:97.92, Z:11.64 [[ 9.90107299e-01 -1.32104699e-03 1.40306065e-01 1.06295499e+02] [ 1.90076914e-03 9.99990202e-01 -3.99791231e-03 9.79216237e+01] [-1.40299409e-01 4.22505159e-03 9.90100108e-01 1.16402357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.216875 meters Centerline goodness : 0.984515 Centerline is valid? [True, True] Translation: X:106.32, Y:97.92, Z:11.66 [[ 9.90785705e-01 -7.57349245e-03 1.35226957e-01 1.06319959e+02] [ 5.15789445e-03 9.99820976e-01 1.82047174e-02 9.79213356e+01] [-1.35340621e-01 -1.73394874e-02 9.90647394e-01 1.16553838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.24687500000005 meters Centerline goodness : 0.983860 Centerline is valid? [True, True] Translation: X:106.35, Y:97.93, Z:11.63 [[ 9.90520563e-01 4.03047734e-03 1.37305389e-01 1.06351692e+02] [-5.98916078e-04 9.99686663e-01 -2.50243328e-02 9.79282834e+01] [-1.37363226e-01 2.47048818e-02 9.90212610e-01 1.16251000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.276875 meters Centerline goodness : 0.983240 Centerline is valid? [True, True] Translation: X:106.39, Y:97.92, Z:11.63 [[ 9.90671524e-01 3.00775492e-03 1.36238340e-01 1.06387339e+02] [-2.94630437e-03 9.99995447e-01 -6.52689870e-04 9.79216426e+01] [-1.36239682e-01 2.45201652e-04 9.90675875e-01 1.16335275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.306875 meters Centerline goodness : 0.983597 Centerline is valid? [True, True] Translation: X:106.42, Y:97.92, Z:11.63 [[ 9.90812676e-01 3.34952591e-03 1.35199933e-01 1.06422669e+02] [-3.80381998e-03 9.99987954e-01 3.10198011e-03 9.79220885e+01] [-1.35187914e-01 -3.58775742e-03 9.90813482e-01 1.16315744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.336875 meters Centerline goodness : 0.986330 Centerline is valid? [True, True] Translation: X:106.43, Y:97.93, Z:11.63 [[ 9.91276034e-01 -1.69072561e-03 1.31791371e-01 1.06426327e+02] [ 2.24328379e-03 9.99989306e-01 -4.04431582e-03 9.79342534e+01] [-1.31783124e-01 4.30467879e-03 9.91269226e-01 1.16323904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.366875 meters Centerline goodness : 0.984190 Centerline is valid? [True, True] Translation: X:106.48, Y:97.91, Z:11.64 [[ 9.91396562e-01 1.08392331e-02 1.30442970e-01 1.06480437e+02] [-1.44829668e-02 9.99530043e-01 2.70173573e-02 9.79101648e+01] [-1.30088820e-01 -2.86741163e-02 9.91087632e-01 1.16428212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.396875 meters Centerline goodness : 0.984303 Centerline is valid? [True, True] Translation: X:106.51, Y:97.92, Z:11.63 [[ 9.91347774e-01 1.52532544e-02 1.30372270e-01 1.06509300e+02] [-1.52857328e-02 9.99882884e-01 -7.51623625e-04 9.79202635e+01] [-1.30368466e-01 -1.24771528e-03 9.91464829e-01 1.16262162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.426875 meters Centerline goodness : 0.988681 Centerline is valid? [True, True] Translation: X:106.52, Y:97.92, Z:11.63 [[ 9.91465345e-01 8.26184182e-03 1.30108462e-01 1.06517885e+02] [-9.87557921e-03 9.99882049e-01 1.17627033e-02 9.79245367e+01] [-1.29995934e-01 -1.29472091e-02 9.91429991e-01 1.16330741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.456875 meters Centerline goodness : 0.987105 Centerline is valid? [True, True] Translation: X:106.54, Y:97.94, Z:11.59 [[ 9.90083900e-01 1.53789351e-02 1.39632947e-01 1.06542752e+02] [-1.04942171e-02 9.99309174e-01 -3.56517258e-02 9.79403763e+01] [-1.40084771e-01 3.38328612e-02 9.89561314e-01 1.15917663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.486875 meters Centerline goodness : 0.988567 Centerline is valid? [True, True] Translation: X:106.60, Y:97.91, Z:11.62 [[ 9.90641426e-01 1.66444419e-02 1.35471502e-01 1.06597534e+02] [-2.06574280e-02 9.99386832e-01 2.82706536e-02 9.79060312e+01] [-1.34917886e-01 -3.08045734e-02 9.90377828e-01 1.16216042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.516875 meters Centerline goodness : 0.991265 Centerline is valid? [True, True] Translation: X:106.60, Y:97.92, Z:11.60 [[ 9.90137922e-01 1.58719147e-02 1.39194028e-01 1.06603304e+02] [-1.41638470e-02 9.99811851e-01 -1.32532007e-02 9.79247780e+01] [-1.39378193e-01 1.11509737e-02 9.90176436e-01 1.15988354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.546875 meters Centerline goodness : 0.986243 Centerline is valid? [True, True] Translation: X:106.66, Y:97.91, Z:11.61 [[ 9.90174107e-01 1.56598348e-02 1.38960450e-01 1.06660051e+02] [-1.87006137e-02 9.99612813e-01 2.06036464e-02 9.79053944e+01] [-1.38583996e-01 -2.29998429e-02 9.90083574e-01 1.16083709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.57687500000003 meters Centerline goodness : 0.987671 Centerline is valid? [True, True] Translation: X:106.69, Y:97.91, Z:11.59 [[ 9.90218484e-01 1.97614633e-02 1.38118932e-01 1.06688743e+02] [-1.90368127e-02 9.99797225e-01 -6.56573511e-03 9.79120796e+01] [-1.38220673e-01 3.87216802e-03 9.90393887e-01 1.15913540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.606875 meters Centerline goodness : 0.992540 Centerline is valid? [True, True] Translation: X:106.70, Y:97.91, Z:11.59 [[ 9.90454830e-01 1.61849766e-02 1.36884175e-01 1.06695600e+02] [-1.51776409e-02 9.99849532e-01 -8.39960900e-03 9.79149208e+01] [-1.36999526e-01 6.24185445e-03 9.90551447e-01 1.15907639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.63687500000003 meters Centerline goodness : 0.988233 Centerline is valid? [True, True] Translation: X:106.73, Y:97.92, Z:11.58 [[ 9.89770961e-01 1.35895285e-02 1.42016790e-01 1.06728312e+02] [-1.24115413e-02 9.99880859e-01 -9.17726888e-03 9.79182571e+01] [-1.42124585e-01 7.32074699e-03 9.89821706e-01 1.15765591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.666875 meters Centerline goodness : 0.993936 Centerline is valid? [True, True] Translation: X:106.75, Y:97.90, Z:11.60 [[ 9.90928045e-01 1.61979125e-02 1.33413779e-01 1.06753844e+02] [-1.94477207e-02 9.99544174e-01 2.30917889e-02 9.79001895e+01] [-1.32978927e-01 -2.54768951e-02 9.90791367e-01 1.15974630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.69687500000003 meters Centerline goodness : 0.988035 Centerline is valid? [True, True] Translation: X:106.81, Y:97.90, Z:11.59 [[ 9.91072781e-01 2.02396361e-02 1.31776703e-01 1.06809532e+02] [-2.32524398e-02 9.99501321e-01 2.13643011e-02 9.78954873e+01] [-1.31278583e-01 -2.42377071e-02 9.91049175e-01 1.15876046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.726875 meters Centerline goodness : 0.991025 Centerline is valid? [True, True] Translation: X:106.82, Y:97.91, Z:11.57 [[ 9.90918537e-01 1.70856641e-02 1.33373659e-01 1.06815353e+02] [-1.57078253e-02 9.99811906e-01 -1.13761224e-02 9.79139729e+01] [-1.33542940e-01 9.17780048e-03 9.91000530e-01 1.15684401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.75687500000004 meters Centerline goodness : 0.992092 Centerline is valid? [True, True] Translation: X:106.85, Y:97.91, Z:11.57 [[ 9.90645223e-01 1.57496428e-02 1.35550694e-01 1.06846175e+02] [-1.57078032e-02 9.99875675e-01 -1.37826282e-03 9.79063444e+01] [-1.35555548e-01 -7.63834139e-04 9.90769453e-01 1.15690627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.786875 meters Centerline goodness : 0.993480 Centerline is valid? [True, True] Translation: X:106.87, Y:97.90, Z:11.56 [[ 9.90599168e-01 1.46444090e-02 1.36010400e-01 1.06873385e+02] [-1.37041694e-02 9.99875304e-01 -7.84678303e-03 9.79049699e+01] [-1.36108352e-01 5.90910718e-03 9.90676334e-01 1.15622669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.81687500000004 meters Centerline goodness : 0.991507 Centerline is valid? [True, True] Translation: X:106.91, Y:97.90, Z:11.56 [[ 9.90283394e-01 1.00081700e-02 1.38703410e-01 1.06907625e+02] [-1.08418827e-02 9.99927409e-01 5.25648939e-03 9.79034394e+01] [-1.38640733e-01 -6.70922026e-03 9.90320016e-01 1.15603326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.846875 meters Centerline goodness : 0.991627 Centerline is valid? [True, True] Translation: X:106.94, Y:97.90, Z:11.56 [[ 9.90312496e-01 9.29392133e-03 1.38545242e-01 1.06940727e+02] [-1.06270406e-02 9.99904051e-01 8.88562818e-03 9.79000080e+01] [-1.38449366e-01 -1.02718745e-02 9.90316243e-01 1.15580288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.87687500000004 meters Centerline goodness : 0.991708 Centerline is valid? [True, True] Translation: X:106.97, Y:97.90, Z:11.54 [[ 9.90513648e-01 8.16143308e-03 1.37171802e-01 1.06974741e+02] [-7.31439355e-03 9.99950951e-01 -6.67794770e-03 9.78987742e+01] [-1.37219576e-01 5.61126979e-03 9.90524761e-01 1.15449179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.906875 meters Centerline goodness : 0.989956 Centerline is valid? [True, True] Translation: X:107.03, Y:97.87, Z:11.57 [[ 9.90625104e-01 1.49949503e-02 1.35783116e-01 1.07026024e+02] [-2.04862994e-02 9.99023889e-01 3.91354176e-02 9.78677952e+01] [-1.35063743e-01 -4.15502207e-02 9.89965335e-01 1.15666264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.93687500000004 meters Centerline goodness : 0.995244 Centerline is valid? [True, True] Translation: X:107.03, Y:97.88, Z:11.54 [[ 9.90562604e-01 1.38732686e-02 1.36357105e-01 1.07025344e+02] [-1.37679278e-02 9.99903746e-01 -1.71563310e-03 9.78814888e+01] [-1.36367782e-01 -1.77912795e-04 9.90658264e-01 1.15445079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.966875 meters Centerline goodness : 0.990220 Centerline is valid? [True, True] Translation: X:107.08, Y:97.88, Z:11.53 [[ 9.90532394e-01 1.45978998e-02 1.36500833e-01 1.07081480e+02] [-1.33898065e-02 9.99862675e-01 -9.76446848e-03 9.78768491e+01] [-1.36624629e-01 7.84430260e-03 9.90591832e-01 1.15346783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.99687500000005 meters Centerline goodness : 0.992361 Centerline is valid? [True, True] Translation: X:107.09, Y:97.89, Z:11.53 [[ 9.90482981e-01 4.44948682e-03 1.37563321e-01 1.07093805e+02] [-3.09170193e-03 9.99944392e-01 -1.00823478e-02 9.78861796e+01] [-1.37600533e-01 9.56108911e-03 9.90441659e-01 1.15307171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.026875 meters Centerline goodness : 0.992205 Centerline is valid? [True, True] Translation: X:107.12, Y:97.88, Z:11.53 [[ 9.90345614e-01 1.30905635e-03 1.38614038e-01 1.07123433e+02] [-1.49133600e-03 9.99998155e-01 1.21116257e-03 9.78818956e+01] [-1.38612197e-01 -1.40618964e-03 9.90345738e-01 1.15328626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.056875 meters Centerline goodness : 0.992603 Centerline is valid? [True, True] Translation: X:107.16, Y:97.87, Z:11.54 [[ 9.90682509e-01 -1.77015814e-03 1.36180152e-01 1.07160473e+02] [ 1.04999035e-03 9.99985084e-01 5.35999301e-03 9.78731648e+01] [-1.36187609e-01 -5.16706348e-03 9.90669590e-01 1.15360217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.086875 meters Centerline goodness : 0.993116 Centerline is valid? [True, True] Translation: X:107.19, Y:97.87, Z:11.53 [[ 9.90415923e-01 -3.20143311e-03 1.38079870e-01 1.07191795e+02] [ 3.59616025e-03 9.99990130e-01 -2.60930763e-03 9.78741770e+01] [-1.38070154e-01 3.08085717e-03 9.90417660e-01 1.15255518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.116875 meters Centerline goodness : 0.993441 Centerline is valid? [True, True] Translation: X:107.22, Y:97.87, Z:11.52 [[ 9.90410602e-01 -5.40419761e-03 1.38049390e-01 1.07223156e+02] [ 5.22866872e-03 9.99984995e-01 1.63410788e-03 9.78712009e+01] [-1.38056150e-01 -8.96623243e-04 9.90423998e-01 1.15240719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.146875 meters Centerline goodness : 0.993555 Centerline is valid? [True, True] Translation: X:107.26, Y:97.87, Z:11.52 [[ 9.90422410e-01 -5.69825575e-03 1.37952817e-01 1.07255472e+02] [ 5.18436262e-03 9.99978221e-01 4.08416974e-03 9.78681357e+01] [-1.37973086e-01 -3.32985581e-03 9.90430381e-01 1.15229731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.176875 meters Centerline goodness : 0.993862 Centerline is valid? [True, True] Translation: X:107.29, Y:97.87, Z:11.52 [[ 9.90134006e-01 -7.69659604e-03 1.39912163e-01 1.07287437e+02] [ 7.64913639e-03 9.99970360e-01 8.76963575e-04 9.78674051e+01] [-1.39914766e-01 2.01895761e-04 9.90163531e-01 1.15174464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.206875 meters Centerline goodness : 0.992803 Centerline is valid? [True, True] Translation: X:107.32, Y:97.86, Z:11.52 [[ 9.90423149e-01 -8.89948286e-03 1.37778026e-01 1.07322634e+02] [ 7.27623429e-03 9.99898114e-01 1.22808063e-02 9.78619491e+01] [-1.37873281e-01 -1.11606896e-02 9.90386994e-01 1.15231784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.236875 meters Centerline goodness : 0.992932 Centerline is valid? [True, True] Translation: X:107.36, Y:97.86, Z:11.51 [[ 9.90585581e-01 -1.00980650e-02 1.36521925e-01 1.07355133e+02] [ 1.01474719e-02 9.99948457e-01 3.34050528e-04 9.78641400e+01] [-1.36518262e-01 1.05444676e-03 9.90636993e-01 1.15120163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.266875 meters Centerline goodness : 0.993087 Centerline is valid? [True, True] Translation: X:107.39, Y:97.86, Z:11.51 [[ 9.90685557e-01 -9.50307458e-03 1.35837474e-01 1.07385939e+02] [ 8.94158196e-03 9.99948774e-01 4.74310710e-03 9.78611406e+01] [-1.35875590e-01 -3.48432579e-03 9.90719781e-01 1.15108318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.296875 meters Centerline goodness : 0.993180 Centerline is valid? [True, True] Translation: X:107.42, Y:97.86, Z:11.50 [[ 9.90656653e-01 -8.30590042e-03 1.36126442e-01 1.07415764e+02] [ 9.15452033e-03 9.99942364e-01 -5.60923172e-03 9.78640399e+01] [-1.36072006e-01 6.80299500e-03 9.90675592e-01 1.14990719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.32687500000003 meters Centerline goodness : 0.992482 Centerline is valid? [True, True] Translation: X:107.45, Y:97.86, Z:11.50 [[ 9.91115974e-01 -8.75454650e-03 1.32712031e-01 1.07450505e+02] [ 7.84527903e-03 9.99942045e-01 7.37278869e-03 9.78589638e+01] [-1.32768885e-01 -6.26612573e-03 9.91127216e-01 1.15049734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.356875 meters Centerline goodness : 0.992732 Centerline is valid? [True, True] Translation: X:107.48, Y:97.86, Z:11.50 [[ 9.91172332e-01 -7.60792039e-03 1.32361355e-01 1.07481672e+02] [ 7.15681305e-03 9.99966848e-01 3.88355878e-03 9.78593901e+01] [-1.32386513e-01 -2.90199054e-03 9.91193921e-01 1.14991017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.38687500000003 meters Centerline goodness : 0.993357 Centerline is valid? [True, True] Translation: X:107.51, Y:97.86, Z:11.49 [[ 9.91040179e-01 -6.05898468e-03 1.33426577e-01 1.07511803e+02] [ 6.73147626e-03 9.99966811e-01 -4.58963926e-03 9.78626611e+01] [-1.33394340e-01 5.44667475e-03 9.91048073e-01 1.14881138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.416875 meters Centerline goodness : 0.992515 Centerline is valid? [True, True] Translation: X:107.55, Y:97.86, Z:11.49 [[ 9.91544093e-01 -5.96753976e-03 1.29632943e-01 1.07547212e+02] [ 5.01954252e-03 9.99958228e-01 7.63843457e-03 9.78579181e+01] [-1.29673111e-01 -6.92314661e-03 9.91532629e-01 1.14936276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.44687500000003 meters Centerline goodness : 0.993216 Centerline is valid? [True, True] Translation: X:107.58, Y:97.86, Z:11.49 [[ 9.91838886e-01 -3.62919452e-03 1.27445885e-01 1.07579685e+02] [ 2.82756675e-03 9.99975070e-01 6.47030223e-03 9.78586539e+01] [-1.27466190e-01 -6.05713561e-03 9.91824421e-01 1.14904501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.476875 meters Centerline goodness : 0.992932 Centerline is valid? [True, True] Translation: X:107.61, Y:97.86, Z:11.49 [[ 9.92031752e-01 -2.73211350e-03 1.25958482e-01 1.07610094e+02] [ 1.91154779e-03 9.99976161e-01 6.63498207e-03 9.78588695e+01] [-1.25973607e-01 -6.34133722e-03 9.92013325e-01 1.14872422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.50687500000004 meters Centerline goodness : 0.993580 Centerline is valid? [True, True] Translation: X:107.64, Y:97.86, Z:11.47 [[ 9.91767031e-01 7.51893783e-04 1.28053081e-01 1.07636511e+02] [-6.71255126e-05 9.99985677e-01 -5.35176612e-03 9.78632413e+01] [-1.28055271e-01 5.29910957e-03 9.91752876e-01 1.14746098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.536875 meters Centerline goodness : 0.991528 Centerline is valid? [True, True] Translation: X:107.67, Y:97.87, Z:11.47 [[ 9.91657764e-01 5.58775992e-04 1.28897508e-01 1.07673086e+02] [ 5.77304837e-05 9.99988578e-01 -4.77913419e-03 9.78654287e+01] [-1.28898706e-01 4.74670684e-03 9.91646405e-01 1.14692379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.56687500000004 meters Centerline goodness : 0.992206 Centerline is valid? [True, True] Translation: X:107.70, Y:97.86, Z:11.47 [[ 9.91639188e-01 4.28722025e-03 1.28970311e-01 1.07699788e+02] [-3.79629434e-03 9.99984584e-01 -4.05209477e-03 9.78644822e+01] [-1.28985695e-01 3.52860671e-03 9.91640176e-01 1.14660252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.596875 meters Centerline goodness : 0.992762 Centerline is valid? [True, True] Translation: X:107.73, Y:97.86, Z:11.47 [[ 9.91655577e-01 5.48346410e-03 1.28798865e-01 1.07733476e+02] [-6.60899485e-03 9.99943607e-01 8.31289727e-03 9.78605752e+01] [-1.28746018e-01 -9.09476198e-03 9.91635895e-01 1.14705150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.62687500000004 meters Centerline goodness : 0.991842 Centerline is valid? [True, True] Translation: X:107.76, Y:97.86, Z:11.46 [[ 9.91475599e-01 9.09782030e-03 1.29974482e-01 1.07762967e+02] [-9.02223294e-03 9.99958614e-01 -1.17038325e-03 9.78639167e+01] [-1.29979751e-01 -1.22536138e-05 9.91516649e-01 1.14606944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.656875 meters Centerline goodness : 0.993058 Centerline is valid? [True, True] Translation: X:107.79, Y:97.87, Z:11.45 [[ 9.91254793e-01 1.43697668e-02 1.31177150e-01 1.07791707e+02] [-1.31700738e-02 9.99863179e-01 -1.00086177e-02 9.78694367e+01] [-1.31303024e-01 8.19347757e-03 9.91308420e-01 1.14505473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.68687500000004 meters Centerline goodness : 0.990594 Centerline is valid? [True, True] Translation: X:107.83, Y:97.86, Z:11.46 [[ 9.91172156e-01 1.42537498e-02 1.31812697e-01 1.07826905e+02] [-1.54199027e-02 9.99850444e-01 7.83050629e-03 9.78636964e+01] [-1.31681370e-01 -9.79391878e-03 9.91243712e-01 1.14557799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.716875 meters Centerline goodness : 0.990540 Centerline is valid? [True, True] Translation: X:107.86, Y:97.87, Z:11.45 [[ 9.91237789e-01 1.84231766e-02 1.30798445e-01 1.07859175e+02] [-1.88459533e-02 9.99820409e-01 1.99507864e-03 9.78662360e+01] [-1.30738199e-01 -4.44261874e-03 9.91406973e-01 1.14493481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.74687500000005 meters Centerline goodness : 0.990540 Centerline is valid? [True, True] Translation: X:107.89, Y:97.87, Z:11.44 [[ 9.91261722e-01 1.91971102e-02 1.30505435e-01 1.07891137e+02] [-1.94679335e-02 9.99810162e-01 7.99594708e-04 9.78656228e+01] [-1.30465310e-01 -3.33327876e-03 9.91447271e-01 1.14448427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.776875 meters Centerline goodness : 0.991524 Centerline is valid? [True, True] Translation: X:107.92, Y:97.87, Z:11.44 [[ 9.90953118e-01 2.55559984e-02 1.31752832e-01 1.07916583e+02] [-2.53393065e-02 9.99673391e-01 -3.32127062e-03 9.78686008e+01] [-1.31794679e-01 -4.73019185e-05 9.91277035e-01 1.14353597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.806875 meters Centerline goodness : 0.991318 Centerline is valid? [True, True] Translation: X:107.95, Y:97.86, Z:11.44 [[ 9.91029481e-01 2.80173321e-02 1.30673631e-01 1.07950850e+02] [-2.90557104e-02 9.99559508e-01 6.04616976e-03 9.78643977e+01] [-1.30446673e-01 -9.78874767e-03 9.91407003e-01 1.14370758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.836875 meters Centerline goodness : 0.991779 Centerline is valid? [True, True] Translation: X:107.98, Y:97.86, Z:11.44 [[ 9.91006103e-01 3.07846452e-02 1.30227530e-01 1.07980979e+02] [-3.21674585e-02 9.99446112e-01 8.52779510e-03 9.78626012e+01] [-1.29892873e-01 -1.26401856e-02 9.91447461e-01 1.14365532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.866875 meters Centerline goodness : 0.990688 Centerline is valid? [True, True] Translation: X:108.01, Y:97.87, Z:11.43 [[ 9.90807911e-01 3.37181502e-02 1.31006754e-01 1.08011062e+02] [-3.35178546e-02 9.99431143e-01 -3.73426425e-03 9.78671137e+01] [-1.31058142e-01 -6.91126784e-04 9.91374443e-01 1.14253694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.896875 meters Centerline goodness : 0.990358 Centerline is valid? [True, True] Translation: X:108.04, Y:97.87, Z:11.42 [[ 9.90727313e-01 3.53713159e-02 1.31180260e-01 1.08042861e+02] [-3.54291687e-02 9.99370396e-01 -1.89358444e-03 9.78668752e+01] [-1.31164647e-01 -2.77158175e-03 9.91356724e-01 1.14197630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.926875 meters Centerline goodness : 0.991200 Centerline is valid? [True, True] Translation: X:108.08, Y:97.86, Z:11.42 [[ 9.90782679e-01 3.66950694e-02 1.30396143e-01 1.08075880e+02] [-3.72768939e-02 9.99302927e-01 2.02314693e-03 9.78642784e+01] [-1.30231008e-01 -6.86526214e-03 9.91459910e-01 1.14172931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.956875 meters Centerline goodness : 0.990125 Centerline is valid? [True, True] Translation: X:108.11, Y:97.86, Z:11.41 [[ 9.90703777e-01 3.83475836e-02 1.30520073e-01 1.08107050e+02] [-3.82848046e-02 9.99262392e-01 -2.99109283e-03 9.78642284e+01] [-1.30538501e-01 -2.03364851e-03 9.91441155e-01 1.14103290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.986875 meters Centerline goodness : 0.990631 Centerline is valid? [True, True] Translation: X:108.12, Y:97.88, Z:11.38 [[ 9.89524071e-01 3.60548640e-02 1.39793272e-01 1.08122064e+02] [-3.08711765e-02 9.98759306e-01 -3.90745464e-02 9.78820814e+01] [-1.41028659e-01 3.43496215e-02 9.89409430e-01 1.13757240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.016875 meters Centerline goodness : 0.990645 Centerline is valid? [True, True] Translation: X:108.17, Y:97.85, Z:11.42 [[ 9.90381234e-01 3.03872440e-02 1.34987504e-01 1.08165452e+02] [-3.57989731e-02 9.98642160e-01 3.78453419e-02 9.78508688e+01] [-1.33654197e-01 -4.23137305e-02 9.90124287e-01 1.14206982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.046875 meters Centerline goodness : 0.989729 Centerline is valid? [True, True] Translation: X:108.20, Y:97.85, Z:11.41 [[ 9.90830729e-01 3.40320512e-02 1.30752770e-01 1.08197508e+02] [-3.69018923e-02 9.99126898e-01 1.95880447e-02 9.78540812e+01] [-1.29971988e-01 -2.42334613e-02 9.91221480e-01 1.14145685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.07687500000003 meters Centerline goodness : 0.991522 Centerline is valid? [True, True] Translation: X:108.23, Y:97.86, Z:11.40 [[ 9.90639608e-01 4.17175933e-02 1.29972341e-01 1.08227994e+02] [-4.19293047e-02 9.99119965e-01 -1.10831545e-03 9.78550309e+01] [-1.29904197e-01 -4.35170871e-03 9.91517000e-01 1.14029162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.106875 meters Centerline goodness : 0.990956 Centerline is valid? [True, True] Translation: X:108.26, Y:97.85, Z:11.40 [[ 9.90963885e-01 3.88521495e-02 1.28378697e-01 1.08264334e+02] [-3.98716429e-02 9.99190327e-01 5.37991258e-03 9.78483902e+01] [-1.28065731e-01 -1.04499686e-02 9.91710626e-01 1.14041807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.13687500000003 meters Centerline goodness : 0.990985 Centerline is valid? [True, True] Translation: X:108.28, Y:97.86, Z:11.38 [[ 9.90082043e-01 3.72325717e-02 1.35466911e-01 1.08283169e+02] [-3.44757774e-02 9.99149052e-01 -2.26405150e-02 9.78610546e+01] [-1.36194600e-01 1.77456403e-02 9.90523156e-01 1.13751339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.166875 meters Centerline goodness : 0.991150 Centerline is valid? [True, True] Translation: X:108.33, Y:97.84, Z:11.41 [[ 9.91077401e-01 3.41557341e-02 1.28836996e-01 1.08326196e+02] [-3.74256599e-02 9.99033666e-01 2.30446033e-02 9.78379737e+01] [-1.27925391e-01 -2.76607951e-02 9.91397990e-01 1.14057579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.19687500000003 meters Centerline goodness : 0.992310 Centerline is valid? [True, True] Translation: X:108.35, Y:97.85, Z:11.39 [[ 9.90846366e-01 2.99938252e-02 1.31620093e-01 1.08350048e+02] [-3.03510218e-02 9.99539051e-01 7.08099305e-04 9.78455419e+01] [-1.31538184e-01 -4.69642193e-03 9.91299980e-01 1.13878276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.226875 meters Centerline goodness : 0.992746 Centerline is valid? [True, True] Translation: X:108.38, Y:97.84, Z:11.39 [[ 9.91175037e-01 3.11341112e-02 1.28851514e-01 1.08378446e+02] [-3.26699788e-02 9.99417923e-01 9.82276906e-03 9.78388681e+01] [-1.28470690e-01 -1.39456597e-02 9.91615248e-01 1.13929018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.25687500000004 meters Centerline goodness : 0.990298 Centerline is valid? [True, True] Translation: X:108.43, Y:97.83, Z:11.39 [[ 9.91291783e-01 3.53837195e-02 1.26840820e-01 1.08429759e+02] [-3.69021739e-02 9.99272377e-01 9.64080996e-03 9.78278669e+01] [-1.26407400e-01 -1.42375577e-02 9.91876233e-01 1.13887985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.286875 meters Centerline goodness : 0.991353 Centerline is valid? [True, True] Translation: X:108.45, Y:97.84, Z:11.38 [[ 9.91703814e-01 2.87761759e-02 1.25281595e-01 1.08445802e+02] [-2.68851107e-02 9.99498028e-01 -1.67595586e-02 9.78448695e+01] [-1.25700983e-01 1.32523086e-02 9.91979657e-01 1.13753003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.31687500000004 meters Centerline goodness : 0.990163 Centerline is valid? [True, True] Translation: X:108.48, Y:97.84, Z:11.37 [[ 9.91690060e-01 2.23654286e-02 1.26691015e-01 1.08482154e+02] [-2.15391391e-02 9.99736884e-01 -7.88843450e-03 9.78394975e+01] [-1.26834108e-01 5.09406669e-03 9.91910863e-01 1.13731398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.346875 meters Centerline goodness : 0.991971 Centerline is valid? [True, True] Translation: X:108.51, Y:97.83, Z:11.38 [[ 9.91616706e-01 2.34624454e-02 1.27066214e-01 1.08507867e+02] [-2.44864780e-02 9.99679011e-01 6.50280221e-03 9.78337350e+01] [-1.26872856e-01 -9.55969137e-03 9.91872921e-01 1.13806901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.37687500000004 meters Centerline goodness : 0.992172 Centerline is valid? [True, True] Translation: X:108.54, Y:97.83, Z:11.37 [[ 9.91810112e-01 2.36759080e-02 1.25507586e-01 1.08541310e+02] [-2.33247858e-02 9.99718836e-01 -4.26661634e-03 9.78346307e+01] [-1.25573314e-01 1.30423567e-03 9.92083485e-01 1.13713840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.406875 meters Centerline goodness : 0.992161 Centerline is valid? [True, True] Translation: X:108.57, Y:97.84, Z:11.36 [[ 9.91557281e-01 2.35910503e-02 1.27505373e-01 1.08571187e+02] [-2.26192328e-02 9.99703058e-01 -9.06456050e-03 9.78360762e+01] [-1.27681353e-01 6.10395726e-03 9.91796458e-01 1.13628129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.43687500000004 meters Centerline goodness : 0.989409 Centerline is valid? [True, True] Translation: X:108.62, Y:97.81, Z:11.37 [[ 9.91344287e-01 2.74637020e-02 1.28383217e-01 1.08617981e+02] [-3.04421358e-02 9.99309666e-01 2.12947977e-02 9.78143777e+01] [-1.27709755e-01 -2.50187354e-02 9.91495981e-01 1.13738928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.466875 meters Centerline goodness : 0.986635 Centerline is valid? [True, True] Translation: X:108.65, Y:97.82, Z:11.35 [[ 9.91414269e-01 3.37572376e-02 1.26325755e-01 1.08647765e+02] [-3.18687386e-02 9.99348476e-01 -1.69412939e-02 9.78220851e+01] [-1.26815342e-01 1.27699980e-02 9.91844139e-01 1.13502584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.49687500000005 meters Centerline goodness : 0.991911 Centerline is valid? [True, True] Translation: X:108.66, Y:97.82, Z:11.35 [[ 9.91541434e-01 3.04832243e-02 1.26160050e-01 1.08659040e+02] [-2.90475853e-02 9.99490816e-01 -1.32040086e-02 9.78216592e+01] [-1.26498312e-01 9.42767683e-03 9.91922021e-01 1.13523770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.526875 meters Centerline goodness : 0.991031 Centerline is valid? [True, True] Translation: X:108.69, Y:97.83, Z:11.34 [[ 9.91130538e-01 2.84564717e-02 1.29809418e-01 1.08687929e+02] [-2.57527707e-02 9.99416005e-01 -2.24598171e-02 9.78268431e+01] [-1.30372738e-01 1.89176584e-02 9.91284556e-01 1.13365045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.556875 meters Centerline goodness : 0.994517 Centerline is valid? [True, True] Translation: X:108.74, Y:97.79, Z:11.39 [[ 9.93949023e-01 3.65756805e-02 1.03573932e-01 1.08742531e+02] [-4.08047119e-02 9.98405315e-01 3.90102963e-02 9.77880467e+01] [-1.01981936e-01 -4.30005504e-02 9.93856447e-01 1.13924136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.586875 meters Centerline goodness : 0.989843 Centerline is valid? [True, True] Translation: X:108.78, Y:97.80, Z:11.35 [[ 9.91956219e-01 4.42849499e-02 1.18582050e-01 1.08776712e+02] [-4.35055612e-02 9.99011242e-01 -9.15442793e-03 9.77958532e+01] [-1.18870204e-01 3.92181308e-03 9.92902057e-01 1.13474618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.616875 meters Centerline goodness : 0.990625 Centerline is valid? [True, True] Translation: X:108.79, Y:97.81, Z:11.34 [[ 9.92450853e-01 3.92470276e-02 1.16193697e-01 1.08792734e+02] [-3.63737865e-02 9.98980258e-01 -2.67468071e-02 9.78121547e+01] [-1.17124942e-01 2.23184868e-02 9.92866372e-01 1.13366854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.646875 meters Centerline goodness : 0.994263 Centerline is valid? [True, True] Translation: X:108.84, Y:97.78, Z:11.38 [[ 9.94408440e-01 4.76770454e-02 9.42271378e-02 1.08839074e+02] [-5.04858245e-02 9.98341909e-01 2.76516680e-02 9.77819487e+01] [-9.27525508e-02 -3.22541868e-02 9.95166635e-01 1.13826951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.676875 meters Centerline goodness : 0.990982 Centerline is valid? [True, True] Translation: X:108.85, Y:97.82, Z:11.32 [[ 9.92350454e-01 4.41178487e-02 1.15300443e-01 1.08853114e+02] [-3.98560805e-02 9.98443607e-01 -3.90109900e-02 9.78171430e+01] [-1.16842072e-01 3.41171499e-02 9.92564331e-01 1.13222625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.706875 meters Centerline goodness : 0.990882 Centerline is valid? [True, True] Translation: X:108.88, Y:97.80, Z:11.34 [[ 9.92179487e-01 3.96592690e-02 1.18351209e-01 1.08880692e+02] [-4.06334312e-02 9.99157121e-01 5.82855008e-03 9.78037247e+01] [-1.18020297e-01 -1.05919835e-02 9.92954692e-01 1.13401312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.736875 meters Centerline goodness : 0.990211 Centerline is valid? [True, True] Translation: X:108.92, Y:97.80, Z:11.34 [[ 9.92387309e-01 4.61009753e-02 1.14202145e-01 1.08920156e+02] [-4.65950254e-02 9.98912484e-01 1.65909430e-03 9.78019307e+01] [-1.14001463e-01 -6.96771600e-03 9.93456148e-01 1.13409756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.766875 meters Centerline goodness : 0.989513 Centerline is valid? [True, True] Translation: X:108.95, Y:97.80, Z:11.34 [[ 9.92409128e-01 4.83145166e-02 1.13092129e-01 1.08952897e+02] [-4.89761241e-02 9.98795208e-01 3.07753459e-03 9.78001866e+01] [-1.12807187e-01 -8.59298755e-03 9.93579740e-01 1.13405222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.796875 meters Centerline goodness : 0.985679 Centerline is valid? [True, True] Translation: X:109.00, Y:97.79, Z:11.34 [[ 9.91873015e-01 5.29339655e-02 1.15697523e-01 1.09001418e+02] [-5.45492057e-02 9.98452271e-01 1.08372847e-02 9.77899129e+01] [-1.14944794e-01 -1.70604182e-02 9.93225370e-01 1.13355504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.82687500000003 meters Centerline goodness : 0.985006 Centerline is valid? [True, True] Translation: X:109.03, Y:97.80, Z:11.32 [[ 9.91705744e-01 5.64338870e-02 1.15476985e-01 1.09033926e+02] [-5.54970498e-02 9.98394742e-01 -1.13144023e-02 9.77977431e+01] [-1.15930131e-01 4.81192575e-03 9.93245715e-01 1.13199418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.856875 meters Centerline goodness : 0.989778 Centerline is valid? [True, True] Translation: X:109.04, Y:97.80, Z:11.32 [[ 9.91753963e-01 5.66137634e-02 1.14973729e-01 1.09040245e+02] [-5.44269796e-02 9.98273745e-01 -2.20733975e-02 9.78031743e+01] [-1.16024913e-01 1.56337066e-02 9.93123259e-01 1.13155519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.88687500000003 meters Centerline goodness : 0.987401 Centerline is valid? [True, True] Translation: X:109.08, Y:97.79, Z:11.32 [[ 9.91632523e-01 5.99823477e-02 1.14311229e-01 1.09076669e+02] [-6.00141828e-02 9.98192504e-01 -3.16604264e-03 9.77949694e+01] [-1.14294519e-01 -3.72074416e-03 9.93439942e-01 1.13223975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.916875 meters Centerline goodness : 0.988483 Centerline is valid? [True, True] Translation: X:109.11, Y:97.79, Z:11.32 [[ 9.91649704e-01 6.15023559e-02 1.13350453e-01 1.09107265e+02] [-6.14327745e-02 9.98102761e-01 -4.11007282e-03 9.77935082e+01] [-1.13388180e-01 -2.88768034e-03 9.93546568e-01 1.13187733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.94687500000003 meters Centerline goodness : 0.987385 Centerline is valid? [True, True] Translation: X:109.14, Y:97.79, Z:11.32 [[ 9.91669040e-01 6.23001034e-02 1.12744016e-01 1.09140150e+02] [-6.26992673e-02 9.98032465e-01 -5.35336640e-06 9.77900193e+01] [-1.12522522e-01 -7.06365844e-03 9.93624067e-01 1.13182632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.976875 meters Centerline goodness : 0.988122 Centerline is valid? [True, True] Translation: X:109.17, Y:97.79, Z:11.31 [[ 9.91619512e-01 6.23728031e-02 1.13138755e-01 1.09170982e+02] [-6.22207315e-02 9.98050492e-01 -4.87821792e-03 9.77907038e+01] [-1.13222458e-01 -2.20224002e-03 9.93567222e-01 1.13122993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.00687500000004 meters Centerline goodness : 0.984794 Centerline is valid? [True, True] Translation: X:109.22, Y:97.77, Z:11.32 [[ 9.90899460e-01 7.18401382e-02 1.13829936e-01 1.09220424e+02] [-7.38522653e-02 9.97177084e-01 1.35538188e-02 9.77695878e+01] [-1.12534895e-01 -2.18370704e-02 9.93407791e-01 1.13177248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.036875 meters Centerline goodness : 0.988346 Centerline is valid? [True, True] Translation: X:109.23, Y:97.79, Z:11.30 [[ 9.91809072e-01 6.70201156e-02 1.08733937e-01 1.09231556e+02] [-6.42914132e-02 9.97526577e-01 -2.84137571e-02 9.77946147e+01] [-1.10369286e-01 2.11903636e-02 9.93664727e-01 1.12969289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.06687500000004 meters Centerline goodness : 0.984465 Centerline is valid? [True, True] Translation: X:109.29, Y:97.78, Z:11.29 [[ 9.90790793e-01 7.06604775e-02 1.15501955e-01 1.09286039e+02] [-7.02240835e-02 9.97500368e-01 -7.84815214e-03 9.77769456e+01] [-1.15767797e-01 -3.35142073e-04 9.93276248e-01 1.12935249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.096875 meters Centerline goodness : 0.984570 Centerline is valid? [True, True] Translation: X:109.32, Y:97.78, Z:11.29 [[ 9.90643735e-01 7.13927350e-02 1.16310223e-01 1.09321541e+02] [-7.05359348e-02 9.97443278e-01 -1.14712332e-02 9.77792518e+01] [-1.16831813e-01 3.15985498e-03 9.93146687e-01 1.12864942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.12687500000004 meters Centerline goodness : 0.989092 Centerline is valid? [True, True] Translation: X:109.33, Y:97.78, Z:11.30 [[ 9.91238133e-01 6.21533781e-02 1.16550082e-01 1.09326325e+02] [-6.40411999e-02 9.97868720e-01 1.25196613e-02 9.77809730e+01] [-1.15523542e-01 -1.98739728e-02 9.93105904e-01 1.12999622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.156875 meters Centerline goodness : 0.984440 Centerline is valid? [True, True] Translation: X:109.38, Y:97.78, Z:11.27 [[ 9.90300448e-01 7.51476012e-02 1.16866849e-01 1.09382609e+02] [-7.19606469e-02 9.96917478e-01 -3.12603290e-02 9.77832570e+01] [-1.18855743e-01 2.25473038e-02 9.92655495e-01 1.12668302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.18687500000004 meters Centerline goodness : 0.986970 Centerline is valid? [True, True] Translation: X:109.40, Y:97.78, Z:11.29 [[ 9.91689346e-01 6.67182755e-02 1.10004152e-01 1.09398921e+02] [-6.68628952e-02 9.97759340e-01 -2.37774407e-03 9.77836417e+01] [-1.09916309e-01 -4.99721265e-03 9.93928284e-01 1.12907785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.216875 meters Centerline goodness : 0.987560 Centerline is valid? [True, True] Translation: X:109.43, Y:97.78, Z:11.28 [[ 9.91351607e-01 7.11520706e-02 1.10269555e-01 1.09430060e+02] [-7.08814006e-02 9.97464361e-01 -6.37768247e-03 9.77815500e+01] [-1.10443736e-01 -1.49353473e-03 9.93881256e-01 1.12824089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.24687500000005 meters Centerline goodness : 0.984831 Centerline is valid? [True, True] Translation: X:109.47, Y:97.77, Z:11.28 [[ 9.90632518e-01 7.83012231e-02 1.11875525e-01 1.09470190e+02] [-7.87537440e-02 9.96894030e-01 -3.75435831e-04 9.77696940e+01] [-1.11557440e-01 -8.43869752e-03 9.93722157e-01 1.12783197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.276875 meters Centerline goodness : 0.985606 Centerline is valid? [True, True] Translation: X:109.50, Y:97.78, Z:11.27 [[ 9.90723896e-01 7.99899905e-02 1.09853368e-01 1.09497974e+02] [-7.89992974e-02 9.96785300e-01 -1.33482933e-02 9.77751082e+01] [-1.10567952e-01 4.54613431e-03 9.93858169e-01 1.12685825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.306875 meters Centerline goodness : 0.986264 Centerline is valid? [True, True] Translation: X:109.51, Y:97.79, Z:11.26 [[ 9.90689156e-01 7.72544994e-02 1.12101466e-01 1.09507547e+02] [-7.47004702e-02 9.96845458e-01 -2.68136638e-02 9.77912960e+01] [-1.13819314e-01 1.81899738e-02 9.93334933e-01 1.12564229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.336875 meters Centerline goodness : 0.985358 Centerline is valid? [True, True] Translation: X:109.56, Y:97.76, Z:11.28 [[ 9.90144043e-01 8.30464607e-02 1.12774376e-01 1.09559444e+02] [-8.58674044e-02 9.96098048e-01 2.03830135e-02 9.77613226e+01] [-1.10641599e-01 -2.98657623e-02 9.93411533e-01 1.12755322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.366875 meters Centerline goodness : 0.984991 Centerline is valid? [True, True] Translation: X:109.59, Y:97.77, Z:11.26 [[ 9.89726303e-01 8.86428908e-02 1.12179688e-01 1.09593225e+02] [-8.83426380e-02 9.96060735e-01 -7.65441979e-03 9.77671077e+01] [-1.12416292e-01 -2.33446894e-03 9.93658456e-01 1.12593351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.396875 meters Centerline goodness : 0.986731 Centerline is valid? [True, True] Translation: X:109.60, Y:97.79, Z:11.24 [[ 9.90123402e-01 8.37282707e-02 1.12450992e-01 1.09595348e+02] [-8.07282003e-02 9.96254568e-01 -3.09805340e-02 9.77855467e+01] [-1.14623761e-01 2.15965855e-02 9.93174195e-01 1.12433828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.426875 meters Centerline goodness : 0.988064 Centerline is valid? [True, True] Translation: X:109.62, Y:97.77, Z:11.25 [[ 9.89468215e-01 8.98612699e-02 1.13479527e-01 1.09622557e+02] [-9.01089937e-02 9.95927526e-01 -2.95495635e-03 9.77733143e+01] [-1.13282921e-01 -7.30169059e-03 9.93535941e-01 1.12542619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.456875 meters Centerline goodness : 0.977423 Centerline is valid? [True, True] Translation: X:109.67, Y:97.77, Z:11.25 [[ 9.89348554e-01 9.13613493e-02 1.13324945e-01 1.09671933e+02] [-9.13581220e-02 9.95804354e-01 -5.23277225e-03 9.77693374e+01] [-1.13327547e-01 -5.17611850e-03 9.93544199e-01 1.12466606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.486875 meters Centerline goodness : 0.985529 Centerline is valid? [True, True] Translation: X:109.69, Y:97.77, Z:11.24 [[ 9.89053022e-01 9.47413057e-02 1.13129148e-01 1.09685572e+02] [-9.44576323e-02 9.95497717e-01 -7.87725241e-03 9.77687950e+01] [-1.13366109e-01 -2.89489113e-03 9.93549065e-01 1.12442381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.516875 meters Centerline goodness : 0.986746 Centerline is valid? [True, True] Translation: X:109.72, Y:97.76, Z:11.24 [[ 9.88556938e-01 9.85836739e-02 1.14177225e-01 1.09715880e+02] [-9.84762255e-02 9.95117551e-01 -6.59490654e-03 9.77644489e+01] [-1.14269911e-01 -4.72430154e-03 9.93438508e-01 1.12408776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.546875 meters Centerline goodness : 0.986206 Centerline is valid? [True, True] Translation: X:109.75, Y:97.76, Z:11.23 [[ 9.88216863e-01 9.88989002e-02 1.16817973e-01 1.09748696e+02] [-9.82805465e-02 9.95097332e-01 -1.10559902e-02 9.77627864e+01] [-1.17338678e-01 -5.55218220e-04 9.93091802e-01 1.12317209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.57687500000003 meters Centerline goodness : 0.986114 Centerline is valid? [True, True] Translation: X:109.79, Y:97.74, Z:11.26 [[ 9.88746688e-01 9.98924525e-02 1.11361958e-01 1.09785455e+02] [-1.03342275e-01 9.94315463e-01 2.56346195e-02 9.77431577e+01] [-1.08168211e-01 -3.68545431e-02 9.93449234e-01 1.12571760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.606875 meters Centerline goodness : 0.986114 Centerline is valid? [True, True] Translation: X:109.82, Y:97.75, Z:11.24 [[ 9.88617635e-01 1.03581421e-01 1.09114897e-01 1.09815773e+02] [-1.03960503e-01 9.94578939e-01 -2.22438423e-03 9.77488473e+01] [-1.08753783e-01 -9.14457407e-03 9.94026655e-01 1.12406142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.63687500000003 meters Centerline goodness : 0.985516 Centerline is valid? [True, True] Translation: X:109.85, Y:97.75, Z:11.23 [[ 9.88480662e-01 1.04159194e-01 1.09803662e-01 1.09847174e+02] [-1.02771966e-01 9.94537805e-01 -1.82339541e-02 9.77505309e+01] [-1.11103127e-01 6.73917283e-03 9.93786033e-01 1.12265214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.666875 meters Centerline goodness : 0.988956 Centerline is valid? [True, True] Translation: X:109.87, Y:97.74, Z:11.24 [[ 9.88353202e-01 1.02939445e-01 1.12077732e-01 1.09871936e+02] [-1.04451788e-01 9.94500214e-01 7.69073278e-03 9.77398752e+01] [-1.10669649e-01 -1.93078799e-02 9.93669681e-01 1.12371120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.69687500000003 meters Centerline goodness : 0.989559 Centerline is valid? [True, True] Translation: X:109.90, Y:97.75, Z:11.21 [[ 9.88242218e-01 1.05455119e-01 1.10709248e-01 1.09897941e+02] [-1.02188958e-01 9.94156503e-01 -3.47888666e-02 9.77510008e+01] [-1.13730983e-01 2.30665639e-02 9.93243775e-01 1.12122002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.726875 meters Centerline goodness : 0.987394 Centerline is valid? [True, True] Translation: X:109.94, Y:97.73, Z:11.24 [[ 9.88577300e-01 1.00418673e-01 1.12387776e-01 1.09936842e+02] [-1.03173465e-01 9.94482753e-01 1.89549688e-02 9.77266475e+01] [-1.09864272e-01 -3.03338882e-02 9.93483617e-01 1.12361488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.75687500000004 meters Centerline goodness : 0.987741 Centerline is valid? [True, True] Translation: X:109.97, Y:97.73, Z:11.22 [[ 9.88491390e-01 1.00972706e-01 1.12646724e-01 1.09966173e+02] [-1.00930555e-01 9.94874823e-01 -6.09177348e-03 9.77304746e+01] [-1.12684492e-01 -5.34783074e-03 9.93616428e-01 1.12209835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.786875 meters Centerline goodness : 0.988797 Centerline is valid? [True, True] Translation: X:110.00, Y:97.72, Z:11.22 [[ 9.88295041e-01 1.03251650e-01 1.12303196e-01 1.09998245e+02] [-1.03544365e-01 9.94619563e-01 -3.23881315e-03 9.77240557e+01] [-1.12033368e-01 -8.42746008e-03 9.93668709e-01 1.12202526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.81687500000004 meters Centerline goodness : 0.987873 Centerline is valid? [True, True] Translation: X:110.03, Y:97.72, Z:11.22 [[ 9.88158470e-01 1.05741049e-01 1.11183046e-01 1.10030449e+02] [-1.05478930e-01 9.94387286e-01 -8.25356908e-03 9.77201870e+01] [-1.11431748e-01 -3.57163452e-03 9.93765671e-01 1.12155888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.846875 meters Centerline goodness : 0.991144 Centerline is valid? [True, True] Translation: X:110.06, Y:97.72, Z:11.21 [[ 9.87971058e-01 1.06161748e-01 1.12440527e-01 1.10057450e+02] [-1.05020304e-01 9.94340659e-01 -1.60433389e-02 9.77170452e+01] [-1.13507376e-01 4.04181626e-03 9.93528932e-01 1.12077411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.87687500000004 meters Centerline goodness : 0.987653 Centerline is valid? [True, True] Translation: X:110.09, Y:97.71, Z:11.21 [[ 9.88143926e-01 1.01824025e-01 1.14906263e-01 1.10091822e+02] [-1.02153970e-01 9.94763988e-01 -3.02897816e-03 9.77114521e+01] [-1.14613035e-01 -8.74506450e-03 9.93371721e-01 1.12078026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.906875 meters Centerline goodness : 0.990267 Centerline is valid? [True, True] Translation: X:110.12, Y:97.71, Z:11.20 [[ 9.88161217e-01 1.02465691e-01 1.14184898e-01 1.10117283e+02] [-1.00807442e-01 9.94700490e-01 -2.02186872e-02 9.77102529e+01] [-1.15651496e-01 8.46863503e-03 9.93253751e-01 1.11960391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.93687500000004 meters Centerline goodness : 0.988808 Centerline is valid? [True, True] Translation: X:110.15, Y:97.70, Z:11.21 [[ 9.88177805e-01 9.95780126e-02 1.16571199e-01 1.10153309e+02] [-1.01418088e-01 9.94794169e-01 9.94652088e-03 9.76963114e+01] [-1.14973894e-01 -2.16513594e-02 9.93132530e-01 1.12085083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.966875 meters Centerline goodness : 0.987137 Centerline is valid? [True, True] Translation: X:110.20, Y:97.67, Z:11.22 [[ 9.87883679e-01 1.06791706e-01 1.12611580e-01 1.10200020e+02] [-1.10538926e-01 9.93489711e-01 2.75561338e-02 9.76748825e+01] [-1.08935680e-01 -3.96702180e-02 9.93256911e-01 1.12195688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.99687500000005 meters Centerline goodness : 0.988451 Centerline is valid? [True, True] Translation: X:110.23, Y:97.68, Z:11.19 [[ 9.87856124e-01 1.10916564e-01 1.08801631e-01 1.10232008e+02] [-1.10000616e-01 9.93827152e-01 -1.44033786e-02 9.76833113e+01] [-1.09727588e-01 2.26021932e-03 9.93959128e-01 1.11946571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.026875 meters Centerline goodness : 0.989343 Centerline is valid? [True, True] Translation: X:110.24, Y:97.70, Z:11.17 [[ 9.88614010e-01 1.04425409e-01 1.08340542e-01 1.10241541e+02] [-1.00728814e-01 9.94146708e-01 -3.90644080e-02 9.76973225e+01] [-1.11785710e-01 2.77066066e-02 9.93346012e-01 1.11745683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.056875 meters Centerline goodness : 0.989819 Centerline is valid? [True, True] Translation: X:110.28, Y:97.68, Z:11.20 [[ 9.88575035e-01 1.03912625e-01 1.09185927e-01 1.10278457e+02] [-1.04879209e-01 9.94480037e-01 3.13168779e-03 9.76750558e+01] [-1.08257803e-01 -1.45472420e-02 9.94016411e-01 1.11961031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.086875 meters Centerline goodness : 0.989412 Centerline is valid? [True, True] Translation: X:110.31, Y:97.67, Z:11.20 [[ 9.88988729e-01 1.03075889e-01 1.06191595e-01 1.10311993e+02] [-1.04227504e-01 9.94539158e-01 5.33769372e-03 9.76699011e+01] [-1.05061512e-01 -1.63470037e-02 9.94331360e-01 1.11967270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.116875 meters Centerline goodness : 0.990572 Centerline is valid? [True, True] Translation: X:110.34, Y:97.67, Z:11.19 [[ 9.88500188e-01 1.07529109e-01 1.06324359e-01 1.10335674e+02] [-1.07670284e-01 9.94176795e-01 -4.42842626e-03 9.76687334e+01] [-1.06181395e-01 -7.07047370e-03 9.94321638e-01 1.11894416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.146875 meters Centerline goodness : 0.991109 Centerline is valid? [True, True] Translation: X:110.37, Y:97.66, Z:11.20 [[ 9.88324038e-01 1.12145296e-01 1.03145669e-01 1.10371153e+02] [-1.13084883e-01 9.93579889e-01 3.28852915e-03 9.76582407e+01] [-1.02114669e-01 -1.49143483e-02 9.94660825e-01 1.11951473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.176875 meters Centerline goodness : 0.990530 Centerline is valid? [True, True] Translation: X:110.40, Y:97.66, Z:11.18 [[ 9.88051380e-01 1.14458507e-01 1.03216860e-01 1.10401531e+02] [-1.14133316e-01 9.93424032e-01 -9.07072003e-03 9.76582166e+01] [-1.03576331e-01 -2.81814509e-03 9.94617515e-01 1.11845395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.206875 meters Centerline goodness : 0.991918 Centerline is valid? [True, True] Translation: X:110.43, Y:97.66, Z:11.18 [[ 9.87976353e-01 1.14861809e-01 1.03486674e-01 1.10427786e+02] [-1.13867139e-01 9.93375249e-01 -1.54883427e-02 9.76577642e+01] [-1.04580119e-01 3.51838482e-03 9.94510241e-01 1.11757411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.236875 meters Centerline goodness : 0.990826 Centerline is valid? [True, True] Translation: X:110.46, Y:97.64, Z:11.19 [[ 9.87713999e-01 1.17182357e-01 1.03389320e-01 1.10463198e+02] [-1.18235025e-01 9.92977211e-01 4.09112749e-03 9.76440804e+01] [-1.02183831e-01 -1.62651028e-02 9.94632551e-01 1.11851457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.266875 meters Centerline goodness : 0.991603 Centerline is valid? [True, True] Translation: X:110.51, Y:97.63, Z:11.19 [[ 9.86994838e-01 1.25508661e-01 1.00442844e-01 1.10511307e+02] [-1.27296904e-01 9.91797159e-01 1.15712889e-02 9.76259329e+01] [-9.81666298e-02 -2.42068654e-02 9.94875540e-01 1.11890419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.296875 meters Centerline goodness : 0.991879 Centerline is valid? [True, True] Translation: X:110.53, Y:97.64, Z:11.17 [[ 9.87317591e-01 1.23128595e-01 1.00216382e-01 1.10525322e+02] [-1.21993353e-01 9.92378351e-01 -1.74020312e-02 9.76404194e+01] [-1.01595255e-01 4.95559905e-03 9.94813473e-01 1.11697376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.32687500000003 meters Centerline goodness : 0.992173 Centerline is valid? [True, True] Translation: X:110.55, Y:97.64, Z:11.16 [[ 9.87119368e-01 1.22889041e-01 1.02438452e-01 1.10552073e+02] [-1.21161639e-01 9.92367643e-01 -2.29416495e-02 9.76407930e+01] [-1.04475882e-01 1.02345358e-02 9.94474758e-01 1.11601227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.356875 meters Centerline goodness : 0.992563 Centerline is valid? [True, True] Translation: X:110.59, Y:97.62, Z:11.18 [[ 9.86775939e-01 1.25485316e-01 1.02599621e-01 1.10587679e+02] [-1.26551092e-01 9.91952348e-01 3.91930144e-03 9.76213758e+01] [-1.01282120e-01 -1.68515665e-02 9.94715013e-01 1.11751073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.38687500000003 meters Centerline goodness : 0.993177 Centerline is valid? [True, True] Translation: X:110.61, Y:97.62, Z:11.16 [[ 9.86285773e-01 1.28863179e-01 1.03124463e-01 1.10611711e+02] [-1.28424748e-01 9.91659268e-01 -1.09078346e-02 9.76237980e+01] [-1.03669948e-01 -2.48549110e-03 9.94608649e-01 1.11629869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.416875 meters Centerline goodness : 0.991714 Centerline is valid? [True, True] Translation: X:110.65, Y:97.62, Z:11.17 [[ 9.87150819e-01 1.24146652e-01 1.00602536e-01 1.10647133e+02] [-1.24526653e-01 9.92213067e-01 -2.51825989e-03 9.76155262e+01] [-1.00131784e-01 -1.00417948e-02 9.94923509e-01 1.11652258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.44687500000003 meters Centerline goodness : 0.991353 Centerline is valid? [True, True] Translation: X:110.68, Y:97.61, Z:11.16 [[ 9.87596417e-01 1.18403495e-01 1.03120942e-01 1.10681497e+02] [-1.18618238e-01 9.92931596e-01 -4.06924926e-03 9.76108219e+01] [-1.02873854e-01 -8.21324837e-03 9.94660501e-01 1.11585082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.476875 meters Centerline goodness : 0.992337 Centerline is valid? [True, True] Translation: X:110.71, Y:97.61, Z:11.15 [[ 9.87735905e-01 1.17573793e-01 1.02733564e-01 1.10709022e+02] [-1.16488902e-01 9.93054631e-01 -1.65177642e-02 9.76084575e+01] [-1.03962097e-01 4.34786877e-03 9.94571756e-01 1.11518108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.50687500000004 meters Centerline goodness : 0.992529 Centerline is valid? [True, True] Translation: X:110.74, Y:97.60, Z:11.16 [[ 9.88084800e-01 1.14665742e-01 1.02665454e-01 1.10744423e+02] [-1.14964941e-01 9.93364966e-01 -3.01775701e-03 9.75980344e+01] [-1.02330298e-01 -8.82112804e-03 9.94711364e-01 1.11573727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.536875 meters Centerline goodness : 0.992072 Centerline is valid? [True, True] Translation: X:110.77, Y:97.60, Z:11.15 [[ 9.88366690e-01 1.11136678e-01 1.03826421e-01 1.10770934e+02] [-1.10633730e-01 9.93804627e-01 -1.06085844e-02 9.75993866e+01] [-1.04362181e-01 -1.00153283e-03 9.94538854e-01 1.11472049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.56687500000004 meters Centerline goodness : 0.992239 Centerline is valid? [True, True] Translation: X:110.80, Y:97.60, Z:11.13 [[ 9.87845867e-01 1.13437115e-01 1.06266475e-01 1.10796509e+02] [-1.11681382e-01 9.93492722e-01 -2.23490682e-02 9.75997758e+01] [-1.08110183e-01 1.02094479e-02 9.94086493e-01 1.11331318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.596875 meters Centerline goodness : 0.992945 Centerline is valid? [True, True] Translation: X:110.83, Y:97.59, Z:11.14 [[ 9.87649263e-01 1.12554383e-01 1.08997447e-01 1.10830004e+02] [-1.13667968e-01 9.93510588e-01 4.03784089e-03 9.75853757e+01] [-1.07835641e-01 -1.63774889e-02 9.94033829e-01 1.11430222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.62687500000004 meters Centerline goodness : 0.993258 Centerline is valid? [True, True] Translation: X:110.86, Y:97.58, Z:11.15 [[ 9.87751667e-01 1.17640807e-01 1.02505049e-01 1.10864307e+02] [-1.18927071e-01 9.92881669e-01 6.50711084e-03 9.75759738e+01] [-1.01009883e-01 -1.86180348e-02 9.94711201e-01 1.11532911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.656875 meters Centerline goodness : 0.992625 Centerline is valid? [True, True] Translation: X:110.89, Y:97.58, Z:11.13 [[ 9.87429980e-01 1.18868544e-01 1.04174394e-01 1.10892169e+02] [-1.17438804e-01 9.92883226e-01 -1.97744149e-02 9.75816974e+01] [-1.05783564e-01 7.29173390e-03 9.94362443e-01 1.11301842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.68687500000004 meters Centerline goodness : 0.988807 Centerline is valid? [True, True] Translation: X:110.94, Y:97.57, Z:11.14 [[ 9.87714544e-01 1.15540117e-01 1.05216254e-01 1.10938730e+02] [-1.16842124e-01 9.93130678e-01 6.27498359e-03 9.75668482e+01] [-1.03768477e-01 -1.84915831e-02 9.94429567e-01 1.11407679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.716875 meters Centerline goodness : 0.995051 Centerline is valid? [True, True] Translation: X:110.95, Y:97.58, Z:11.12 [[ 9.87463790e-01 1.23117454e-01 9.87793342e-02 1.10949905e+02] [-1.19690340e-01 9.92008221e-01 -3.99238381e-02 9.75755241e+01] [-1.02905233e-01 2.76004124e-02 9.94308167e-01 1.11152851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.74687500000005 meters Centerline goodness : 0.992941 Centerline is valid? [True, True] Translation: X:110.99, Y:97.56, Z:11.14 [[ 9.87711929e-01 1.18669165e-01 1.01699434e-01 1.10985357e+02] [-1.20622625e-01 9.92609912e-01 1.32568684e-02 9.75567865e+01] [-9.93746844e-02 -2.53612197e-02 9.94726837e-01 1.11421156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.776875 meters Centerline goodness : 0.993329 Centerline is valid? [True, True] Translation: X:111.03, Y:97.54, Z:11.15 [[ 9.87406685e-01 1.25306810e-01 9.65724668e-02 1.11030290e+02] [-1.27567733e-01 9.91674052e-01 1.75797572e-02 9.75414694e+01] [-9.35655461e-02 -2.96779004e-02 9.95170694e-01 1.11459648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.806875 meters Centerline goodness : 0.994047 Centerline is valid? [True, True] Translation: X:111.04, Y:97.56, Z:11.11 [[ 9.87535412e-01 1.24064388e-01 9.68598887e-02 1.11042148e+02] [-1.21960126e-01 9.92157438e-01 -2.73741997e-02 9.75604135e+01] [-9.94964223e-02 1.52199473e-02 9.94921512e-01 1.11133732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.836875 meters Centerline goodness : 0.993455 Centerline is valid? [True, True] Translation: X:111.08, Y:97.55, Z:11.13 [[ 9.87641041e-01 1.23303565e-01 9.67543516e-02 1.11079578e+02] [-1.23678824e-01 9.92320010e-01 -2.13232931e-03 9.75458213e+01] [-9.62742029e-02 -9.86048853e-03 9.95306008e-01 1.11279162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.866875 meters Centerline goodness : 0.993197 Centerline is valid? [True, True] Translation: X:111.11, Y:97.54, Z:11.12 [[ 9.87581728e-01 1.23462372e-01 9.71564333e-02 1.11110765e+02] [-1.23478978e-01 9.92329857e-01 -5.86491759e-03 9.75433695e+01] [-9.71353262e-02 -6.20469169e-03 9.95251843e-01 1.11234137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.896875 meters Centerline goodness : 0.993470 Centerline is valid? [True, True] Translation: X:111.14, Y:97.54, Z:11.12 [[ 9.87350122e-01 1.24786632e-01 9.78163208e-02 1.11138986e+02] [-1.24482423e-01 9.92178874e-01 -9.23081436e-03 9.75409228e+01] [-9.82031693e-02 -3.06236693e-03 9.95161675e-01 1.11184265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.926875 meters Centerline goodness : 0.993371 Centerline is valid? [True, True] Translation: X:111.17, Y:97.53, Z:11.13 [[ 9.86938905e-01 1.29207788e-01 9.62130264e-02 1.11172270e+02] [-1.30138943e-01 9.91489799e-01 3.44009792e-03 9.75314483e+01] [-9.49497467e-02 -1.59162280e-02 9.95354821e-01 1.11278732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.956875 meters Centerline goodness : 0.992152 Centerline is valid? [True, True] Translation: X:111.20, Y:97.53, Z:11.11 [[ 9.86912399e-01 1.29895278e-01 9.55569648e-02 1.11204401e+02] [-1.29153503e-01 9.91526717e-01 -1.39335245e-02 9.75342283e+01] [-9.65571826e-02 1.40965141e-03 9.95326441e-01 1.11134521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.986875 meters Centerline goodness : 0.992949 Centerline is valid? [True, True] Translation: X:111.23, Y:97.53, Z:11.12 [[ 9.86588033e-01 1.33373497e-01 9.41039996e-02 1.11230704e+02] [-1.33252424e-01 9.91053010e-01 -7.59754468e-03 9.75296230e+01] [-9.42753632e-02 -5.04393934e-03 9.95533382e-01 1.11150962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.016875 meters Centerline goodness : 0.992606 Centerline is valid? [True, True] Translation: X:111.27, Y:97.53, Z:11.11 [[ 9.86366840e-01 1.34883150e-01 9.42708493e-02 1.11265421e+02] [-1.34611651e-01 9.90855140e-01 -9.26261103e-03 9.75257264e+01] [-9.46581257e-02 -3.55362225e-03 9.95503496e-01 1.11095191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.046875 meters Centerline goodness : 0.993843 Centerline is valid? [True, True] Translation: X:111.29, Y:97.52, Z:11.11 [[ 9.85910594e-01 1.37623908e-01 9.50787118e-02 1.11292377e+02] [-1.37631944e-01 9.90462082e-01 -6.50482645e-03 9.75217393e+01] [-9.50670785e-02 -6.67269068e-03 9.95448505e-01 1.11078209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.07687500000003 meters Centerline goodness : 0.993683 Centerline is valid? [True, True] Translation: X:111.33, Y:97.52, Z:11.11 [[ 9.85788150e-01 1.38889556e-01 9.45061601e-02 1.11325303e+02] [-1.38852715e-01 9.90288318e-01 -6.99788934e-03 9.75168624e+01] [-9.45602801e-02 -6.22400056e-03 9.95499681e-01 1.11051025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.106875 meters Centerline goodness : 0.994036 Centerline is valid? [True, True] Translation: X:111.35, Y:97.52, Z:11.10 [[ 9.85182281e-01 1.43233772e-01 9.43396036e-02 1.11353926e+02] [-1.43030029e-01 9.89677852e-01 -8.95320896e-03 9.75150167e+01] [-9.46482182e-02 -4.67285338e-03 9.95499814e-01 1.11017023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.13687500000003 meters Centerline goodness : 0.994360 Centerline is valid? [True, True] Translation: X:111.38, Y:97.51, Z:11.10 [[ 9.84976204e-01 1.46019475e-01 9.21964822e-02 1.11383815e+02] [-1.45228771e-01 9.89280347e-01 -1.52642881e-02 9.75094094e+01] [-9.34370513e-02 1.64537874e-03 9.95623830e-01 1.10976216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.166875 meters Centerline goodness : 0.992715 Centerline is valid? [True, True] Translation: X:111.42, Y:97.50, Z:11.11 [[ 9.85163320e-01 1.44932485e-01 9.19119580e-02 1.11421177e+02] [-1.45786508e-01 9.89312628e-01 2.61100314e-03 9.75003234e+01] [-9.05512415e-02 -1.59717879e-02 9.95763714e-01 1.11053702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.19687500000003 meters Centerline goodness : 0.993079 Centerline is valid? [True, True] Translation: X:111.45, Y:97.50, Z:11.10 [[ 9.84704515e-01 1.48232542e-01 9.15649012e-02 1.11450606e+02] [-1.48027398e-01 9.88941709e-01 -9.06566365e-03 9.74996120e+01] [-9.18961762e-02 -4.62711412e-03 9.95757843e-01 1.10950557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.226875 meters Centerline goodness : 0.992434 Centerline is valid? [True, True] Translation: X:111.48, Y:97.50, Z:11.09 [[ 9.85181560e-01 1.44457182e-01 9.24630550e-02 1.11480518e+02] [-1.43846888e-01 9.89511026e-01 -1.32666228e-02 9.74986869e+01] [-9.34096713e-02 -2.30490554e-04 9.95627732e-01 1.10872503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.25687500000004 meters Centerline goodness : 0.992669 Centerline is valid? [True, True] Translation: X:111.51, Y:97.49, Z:11.09 [[ 9.85293801e-01 1.43957966e-01 9.20447179e-02 1.11512730e+02] [-1.44015441e-01 9.89556932e-01 -6.05230473e-03 9.74901623e+01] [-9.19547662e-02 -7.29256229e-03 9.95736481e-01 1.10898303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.286875 meters Centerline goodness : 0.993389 Centerline is valid? [True, True] Translation: X:111.54, Y:97.49, Z:11.07 [[ 9.85979135e-01 1.46570696e-01 7.97632557e-02 1.11540303e+02] [-1.44446526e-01 9.89001152e-01 -3.18107169e-02 9.74947642e+01] [-8.35484707e-02 1.98431779e-02 9.96306128e-01 1.10743983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.31687500000004 meters Centerline goodness : 0.992316 Centerline is valid? [True, True] Translation: X:111.58, Y:97.47, Z:11.10 [[ 9.85595644e-01 1.42247343e-01 9.14708732e-02 1.11579124e+02] [-1.44595005e-01 9.89298001e-01 1.95384014e-02 9.74655494e+01] [-8.77126664e-02 -3.24831946e-02 9.95616056e-01 1.11046602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.346875 meters Centerline goodness : 0.992882 Centerline is valid? [True, True] Translation: X:111.60, Y:97.48, Z:11.08 [[ 9.86031445e-01 1.40136364e-01 9.00210430e-02 1.11604806e+02] [-1.39124187e-01 9.90121128e-01 -1.74531573e-02 9.74770279e+01] [-9.15775586e-02 4.68525748e-03 9.95786925e-01 1.10769073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.37687500000004 meters Centerline goodness : 0.993686 Centerline is valid? [True, True] Translation: X:111.63, Y:97.48, Z:11.07 [[ 9.86688057e-01 1.42904305e-01 7.76211203e-02 1.11632621e+02] [-1.40940220e-01 9.89555960e-01 -3.02466056e-02 9.74772099e+01] [-8.11328123e-02 1.89040267e-02 9.96524011e-01 1.10704508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.406875 meters Centerline goodness : 0.994126 Centerline is valid? [True, True] Translation: X:111.66, Y:97.46, Z:11.08 [[ 9.87149615e-01 1.38551901e-01 7.96178870e-02 1.11663810e+02] [-1.38708018e-01 9.90326802e-01 -3.59334394e-03 9.74645615e+01] [-7.93455920e-02 -7.49647119e-03 9.96818981e-01 1.10824518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.43687500000004 meters Centerline goodness : 0.993419 Centerline is valid? [True, True] Translation: X:111.69, Y:97.46, Z:11.07 [[ 9.87301817e-01 1.36110657e-01 8.19085584e-02 1.11694448e+02] [-1.35141292e-01 9.90675461e-01 -1.72905494e-02 9.74637975e+01] [-8.34982269e-02 6.00176236e-03 9.96489852e-01 1.10698924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.466875 meters Centerline goodness : 0.993237 Centerline is valid? [True, True] Translation: X:111.72, Y:97.46, Z:11.06 [[ 9.87320814e-01 1.34289157e-01 8.46406140e-02 1.11720876e+02] [-1.33197998e-01 9.90917973e-01 -1.84354013e-02 9.74616235e+01] [-8.63475802e-02 6.92769511e-03 9.96240986e-01 1.10637918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.49687500000005 meters Centerline goodness : 0.992085 Centerline is valid? [True, True] Translation: X:111.76, Y:97.44, Z:11.08 [[ 9.86705162e-01 1.29980384e-01 9.75603524e-02 1.11755742e+02] [-1.32573819e-01 9.90959854e-01 2.05609107e-02 9.74418111e+01] [-9.40058775e-02 -3.32215053e-02 9.95017199e-01 1.10836322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.526875 meters Centerline goodness : 0.991661 Centerline is valid? [True, True] Translation: X:111.79, Y:97.44, Z:11.08 [[ 9.86823435e-01 1.34046246e-01 9.06151844e-02 1.11793861e+02] [-1.35324568e-01 9.90768330e-01 8.08561632e-03 9.74401052e+01] [-8.86948084e-02 -2.02415363e-02 9.95853157e-01 1.10793162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.556875 meters Centerline goodness : 0.991661 Centerline is valid? [True, True] Translation: X:111.82, Y:97.44, Z:11.07 [[ 9.86790222e-01 1.36065720e-01 8.79271210e-02 1.11824851e+02] [-1.35910598e-01 9.90690584e-01 -7.77664887e-03 9.74402201e+01] [-8.81667062e-02 -4.27630655e-03 9.96096554e-01 1.10687896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.586875 meters Centerline goodness : 0.990207 Centerline is valid? [True, True] Translation: X:111.86, Y:97.44, Z:11.06 [[ 9.86984959e-01 1.34036134e-01 8.88538485e-02 1.11857263e+02] [-1.33538710e-01 9.90976334e-01 -1.15463598e-02 9.74407785e+01] [-8.95996904e-02 -4.69344843e-04 9.95977748e-01 1.10597155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.616875 meters Centerline goodness : 0.992299 Centerline is valid? [True, True] Translation: X:111.88, Y:97.43, Z:11.06 [[ 9.86289148e-01 1.41507714e-01 8.49075053e-02 1.11881156e+02] [-1.41403567e-01 9.89925341e-01 -7.26988414e-03 9.74347992e+01] [-8.50808358e-02 -4.83601631e-03 9.96362316e-01 1.10635739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.646875 meters Centerline goodness : 0.992309 Centerline is valid? [True, True] Translation: X:111.91, Y:97.43, Z:11.06 [[ 9.85934990e-01 1.43908410e-01 8.49856717e-02 1.11912353e+02] [-1.43844986e-01 9.89576167e-01 -6.90149817e-03 9.74302524e+01] [-8.50929788e-02 -5.42033418e-03 9.96358271e-01 1.10601098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.676875 meters Centerline goodness : 0.991067 Centerline is valid? [True, True] Translation: X:111.95, Y:97.43, Z:11.06 [[ 9.85724769e-01 1.46990344e-01 8.21006623e-02 1.11946650e+02] [-1.46955466e-01 9.89121749e-01 -6.50059578e-03 9.74254038e+01] [-8.21630755e-02 -5.65734280e-03 9.96602841e-01 1.10595058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.706875 meters Centerline goodness : 0.993182 Centerline is valid? [True, True] Translation: X:111.97, Y:97.43, Z:11.05 [[ 9.85287890e-01 1.49583213e-01 8.26597607e-02 1.11972442e+02] [-1.48775574e-01 9.88743469e-01 -1.58801972e-02 9.74250718e+01] [-8.41047094e-02 3.34881263e-03 9.96451295e-01 1.10501192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.736875 meters Centerline goodness : 0.993763 Centerline is valid? [True, True] Translation: X:112.00, Y:97.42, Z:11.05 [[ 9.85532662e-01 1.54667422e-01 6.93062763e-02 1.12003852e+02] [-1.53528415e-01 9.87910251e-01 -2.15025844e-02 9.74233345e+01] [-7.17941301e-02 1.05510165e-02 9.97363664e-01 1.10486253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.766875 meters Centerline goodness : 0.991348 Centerline is valid? [True, True] Translation: X:112.05, Y:97.39, Z:11.07 [[ 9.83307093e-01 1.59867129e-01 8.68887945e-02 1.12051126e+02] [-1.63126555e-01 9.86093855e-01 3.17590443e-02 9.73924441e+01] [-8.06032791e-02 -4.54027632e-02 9.95711655e-01 1.10715715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.796875 meters Centerline goodness : 0.992336 Centerline is valid? [True, True] Translation: X:112.07, Y:97.42, Z:11.03 [[ 9.84519813e-01 1.56480865e-01 7.89587030e-02 1.12068561e+02] [-1.54191864e-01 9.87444112e-01 -3.43364813e-02 9.74214243e+01] [-8.33403087e-02 2.16301566e-02 9.96286369e-01 1.10325950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.82687500000003 meters Centerline goodness : 0.992690 Centerline is valid? [True, True] Translation: X:112.10, Y:97.41, Z:11.05 [[ 9.84214461e-01 1.56674154e-01 8.23110195e-02 1.12098128e+02] [-1.56647604e-01 9.87631007e-01 -6.82066067e-03 9.74072400e+01] [-8.23615363e-02 -6.18083109e-03 9.96583351e-01 1.10454649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.856875 meters Centerline goodness : 0.991789 Centerline is valid? [True, True] Translation: X:112.13, Y:97.41, Z:11.04 [[ 9.83731177e-01 1.58639388e-01 8.43001573e-02 1.12126459e+02] [-1.58240622e-01 9.87334376e-01 -1.14339906e-02 9.74063470e+01] [-8.50463244e-02 -2.09173635e-03 9.96374803e-01 1.10395006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.88687500000003 meters Centerline goodness : 0.993146 Centerline is valid? [True, True] Translation: X:112.16, Y:97.39, Z:11.05 [[ 9.83661878e-01 1.59914571e-01 8.26839780e-02 1.12159066e+02] [-1.60588035e-01 9.87020356e-01 1.51650229e-03 9.73947599e+01] [-8.13682586e-02 -1.47697830e-02 9.96574664e-01 1.10480162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.916875 meters Centerline goodness : 0.990754 Centerline is valid? [True, True] Translation: X:112.20, Y:97.39, Z:11.04 [[ 9.84375018e-01 1.57731855e-01 7.82718695e-02 1.12195184e+02] [-1.57520238e-01 9.87475567e-01 -8.90952489e-03 9.73933710e+01] [-7.86968746e-02 -3.55908981e-03 9.96892238e-01 1.10406361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.94687500000003 meters Centerline goodness : 0.991201 Centerline is valid? [True, True] Translation: X:112.23, Y:97.38, Z:11.05 [[ 9.83242860e-01 1.64000886e-01 7.96064561e-02 1.12226263e+02] [-1.64629588e-01 9.86354532e-01 1.35477710e-03 9.73840802e+01] [-7.82980042e-02 -1.44376530e-02 9.96825449e-01 1.10482223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.976875 meters Centerline goodness : 0.991358 Centerline is valid? [True, True] Translation: X:112.26, Y:97.38, Z:11.04 [[ 9.82662724e-01 1.68369968e-01 7.76242574e-02 1.12259984e+02] [-1.67871436e-01 9.85723826e-01 -1.29506661e-02 9.73794527e+01] [-7.86965832e-02 -3.04758746e-04 9.96898568e-01 1.10386505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.00687500000004 meters Centerline goodness : 0.991195 Centerline is valid? [True, True] Translation: X:112.30, Y:97.36, Z:11.04 [[ 9.81236326e-01 1.75736173e-01 7.93225738e-02 1.12302301e+02] [-1.75988925e-01 9.84384624e-01 -3.84833888e-03 9.73595510e+01] [-7.87602143e-02 -1.01837646e-02 9.96841572e-01 1.10394527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.036875 meters Centerline goodness : 0.991327 Centerline is valid? [True, True] Translation: X:112.32, Y:97.37, Z:11.03 [[ 9.82550510e-01 1.69976096e-01 7.55157151e-02 1.12322029e+02] [-1.68797059e-01 9.85410216e-01 -2.17775101e-02 9.73714196e+01] [-7.81156132e-02 8.65067300e-03 9.96906774e-01 1.10307042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.06687500000004 meters Centerline goodness : 0.991563 Centerline is valid? [True, True] Translation: X:112.34, Y:97.37, Z:11.02 [[ 9.82786009e-01 1.65480526e-01 8.21453384e-02 1.12343301e+02] [-1.63942991e-01 9.86148677e-01 -2.51690937e-02 9.73736931e+01] [-8.51725116e-02 1.12686806e-02 9.96302494e-01 1.10169507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.096875 meters Centerline goodness : 0.994211 Centerline is valid? [True, True] Translation: X:112.37, Y:97.36, Z:11.02 [[ 9.82714269e-01 1.66367452e-01 8.12067449e-02 1.12373648e+02] [-1.65649723e-01 9.86062141e-01 -1.55442725e-02 9.73615550e+01] [-8.26609577e-02 1.82370365e-03 9.96576058e-01 1.10234150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.12687500000004 meters Centerline goodness : 0.991507 Centerline is valid? [True, True] Translation: X:112.42, Y:97.34, Z:11.04 [[ 9.82317587e-01 1.69024525e-01 8.05162670e-02 1.12416044e+02] [-1.70516782e-01 9.85281906e-01 1.19830108e-02 9.73424577e+01] [-7.73057983e-02 -2.55004970e-02 9.96681262e-01 1.10426400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.156875 meters Centerline goodness : 0.991040 Centerline is valid? [True, True] Translation: X:112.45, Y:97.34, Z:11.03 [[ 9.82479824e-01 1.69792176e-01 7.68375757e-02 1.12448062e+02] [-1.69427750e-01 9.85478000e-01 -1.12849462e-02 9.73439511e+01] [-7.76378360e-02 -1.93118564e-03 9.96979758e-01 1.10292980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.18687500000004 meters Centerline goodness : 0.991669 Centerline is valid? [True, True] Translation: X:112.48, Y:97.34, Z:11.03 [[ 9.82427791e-01 1.69399091e-01 7.83555000e-02 1.12478488e+02] [-1.69037729e-01 9.85545142e-01 -1.12702772e-02 9.73376440e+01] [-7.91320571e-02 -2.17280229e-03 9.96861774e-01 1.10258802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.216875 meters Centerline goodness : 0.991765 Centerline is valid? [True, True] Translation: X:112.51, Y:97.33, Z:11.02 [[ 9.82301440e-01 1.70386159e-01 7.77974137e-02 1.12511169e+02] [-1.69827076e-01 9.85377309e-01 -1.37957547e-02 9.73320967e+01] [-7.90104119e-02 3.39482428e-04 9.96873733e-01 1.10222912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.24687500000005 meters Centerline goodness : 0.991521 Centerline is valid? [True, True] Translation: X:112.54, Y:97.33, Z:11.02 [[ 9.82091511e-01 1.71988219e-01 7.69175942e-02 1.12541770e+02] [-1.71651969e-01 9.85096110e-01 -1.10115716e-02 9.73257108e+01] [-7.76650834e-02 -2.38868556e-03 9.96976644e-01 1.10208888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.276875 meters Centerline goodness : 0.991159 Centerline is valid? [True, True] Translation: X:112.58, Y:97.32, Z:11.02 [[ 9.82357558e-01 1.72177689e-01 7.29963757e-02 1.12575829e+02] [-1.71877187e-01 9.85063213e-01 -1.04259213e-02 9.73195143e+01] [-7.37011554e-02 -2.30442913e-03 9.97277709e-01 1.10192239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.306875 meters Centerline goodness : 0.991843 Centerline is valid? [True, True] Translation: X:112.61, Y:97.31, Z:11.02 [[ 9.81927709e-01 1.73905646e-01 7.46645884e-02 1.12606262e+02] [-1.74030511e-01 9.84728166e-01 -4.88058844e-03 9.73131575e+01] [-7.43730851e-02 -8.20153144e-03 9.97196760e-01 1.10204569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.336875 meters Centerline goodness : 0.992672 Centerline is valid? [True, True] Translation: X:112.63, Y:97.31, Z:11.01 [[ 9.81235858e-01 1.77942099e-01 7.42482310e-02 1.12634544e+02] [-1.77453575e-01 9.84040929e-01 -1.31787297e-02 9.73102302e+01] [-7.54083491e-02 -2.44171825e-04 9.97152707e-01 1.10129321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.366875 meters Centerline goodness : 0.992362 Centerline is valid? [True, True] Translation: X:112.67, Y:97.30, Z:11.02 [[ 9.81124879e-01 1.78320531e-01 7.48048165e-02 1.12668213e+02] [-1.78384473e-01 9.83943294e-01 -5.87992042e-03 9.73011183e+01] [-7.46522081e-02 -7.57508155e-03 9.97180859e-01 1.10160990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.396875 meters Centerline goodness : 0.993371 Centerline is valid? [True, True] Translation: X:112.70, Y:97.30, Z:11.00 [[ 9.80397007e-01 1.87311015e-01 6.11252164e-02 1.12695333e+02] [-1.86039217e-01 9.82200252e-01 -2.59243972e-02 9.73039045e+01] [-6.48931281e-02 1.40445140e-02 9.97793382e-01 1.10039525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.426875 meters Centerline goodness : 0.993799 Centerline is valid? [True, True] Translation: X:112.73, Y:97.29, Z:11.01 [[ 9.79993579e-01 1.88589447e-01 6.36129378e-02 1.12727705e+02] [-1.88419716e-01 9.82049961e-01 -8.71123688e-03 9.72925574e+01] [-6.41139304e-02 -3.44897546e-03 9.97936626e-01 1.10109020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.456875 meters Centerline goodness : 0.992259 Centerline is valid? [True, True] Translation: X:112.76, Y:97.28, Z:11.02 [[ 9.79730913e-01 1.85678786e-01 7.51713224e-02 1.12763199e+02] [-1.87381174e-01 9.82153625e-01 1.62034722e-02 9.72774746e+01] [-7.08211458e-02 -2.99607332e-02 9.97038976e-01 1.10234273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.486875 meters Centerline goodness : 0.992606 Centerline is valid? [True, True] Translation: X:112.80, Y:97.28, Z:11.01 [[ 9.79482318e-01 1.88910796e-01 7.01933008e-02 1.12796065e+02] [-1.88706419e-01 9.81986702e-01 -9.59191469e-03 9.72790085e+01] [-7.07409042e-02 -3.85081562e-03 9.97487291e-01 1.10081326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.516875 meters Centerline goodness : 0.992584 Centerline is valid? [True, True] Translation: X:112.83, Y:97.27, Z:11.01 [[ 9.79109076e-01 1.91176445e-01 6.92602645e-02 1.12825720e+02] [-1.91387312e-01 9.81507843e-01 -3.64026984e-03 9.72706181e+01] [-6.86754266e-02 -9.69131462e-03 9.97591983e-01 1.10106756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.546875 meters Centerline goodness : 0.993835 Centerline is valid? [True, True] Translation: X:112.85, Y:97.27, Z:10.99 [[ 9.79571195e-01 1.93495670e-01 5.47695149e-02 1.12854141e+02] [-1.91745598e-01 9.80797579e-01 -3.56333312e-02 9.72744302e+01] [-6.06127029e-02 2.44035714e-02 9.97863000e-01 1.09903042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.57687500000003 meters Centerline goodness : 0.993492 Centerline is valid? [True, True] Translation: X:112.89, Y:97.26, Z:11.00 [[ 9.80325545e-01 1.88442344e-01 5.87478467e-02 1.12885071e+02] [-1.88361460e-01 9.82075097e-01 -6.96165692e-03 9.72592992e+01] [-5.90066681e-02 -4.24114004e-03 9.98248579e-01 1.10036283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.606875 meters Centerline goodness : 0.993044 Centerline is valid? [True, True] Translation: X:112.92, Y:97.25, Z:11.00 [[ 9.80721511e-01 1.86506827e-01 5.83139877e-02 1.12916866e+02] [-1.86395175e-01 9.82447012e-01 -7.39646507e-03 9.72520368e+01] [-5.86698942e-02 -3.61557351e-03 9.98270891e-01 1.10018092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.63687500000003 meters Centerline goodness : 0.993313 Centerline is valid? [True, True] Translation: X:112.95, Y:97.24, Z:11.01 [[ 9.81417715e-01 1.77458810e-01 7.29906768e-02 1.12949954e+02] [-1.78506767e-01 9.83905824e-01 8.04138577e-03 9.72373241e+01] [-7.03889372e-02 -2.09212882e-02 9.97300204e-01 1.10088392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.666875 meters Centerline goodness : 0.994897 Centerline is valid? [True, True] Translation: X:112.98, Y:97.24, Z:10.99 [[ 9.81820595e-01 1.80939929e-01 5.73503370e-02 1.12978410e+02] [-1.79319661e-01 9.83261035e-01 -3.22830661e-02 9.72439733e+01] [-6.22316474e-02 2.14121362e-02 9.97832021e-01 1.09859791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.69687500000003 meters Centerline goodness : 0.993056 Centerline is valid? [True, True] Translation: X:113.01, Y:97.22, Z:11.00 [[ 9.82411504e-01 1.70482717e-01 7.61792620e-02 1.13009874e+02] [-1.71150593e-01 9.85242247e-01 2.27799138e-03 9.72242491e+01] [-7.46666691e-02 -1.52760508e-02 9.97091536e-01 1.09986232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.726875 meters Centerline goodness : 0.993078 Centerline is valid? [True, True] Translation: X:113.04, Y:97.22, Z:10.99 [[ 9.83021472e-01 1.67555579e-01 7.47924739e-02 1.13044015e+02] [-1.67484198e-01 9.85847953e-01 -7.27027419e-03 9.72208583e+01] [-7.49521823e-02 -5.37972190e-03 9.97172617e-01 1.09913114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.75687500000004 meters Centerline goodness : 0.993961 Centerline is valid? [True, True] Translation: X:113.07, Y:97.22, Z:10.98 [[ 9.82871236e-01 1.68761326e-01 7.40523379e-02 1.13070430e+02] [-1.67963086e-01 9.85648019e-01 -1.69229101e-02 9.72178974e+01] [-7.58454729e-02 4.19498239e-03 9.97110759e-01 1.09837817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.786875 meters Centerline goodness : 0.993452 Centerline is valid? [True, True] Translation: X:113.10, Y:97.21, Z:10.98 [[ 9.83276528e-01 1.67657506e-01 7.11212370e-02 1.13104051e+02] [-1.66874797e-01 9.85834098e-01 -1.68503167e-02 9.72118463e+01] [-7.29388226e-02 4.70017890e-03 9.97325341e-01 1.09801295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.81687500000004 meters Centerline goodness : 0.994330 Centerline is valid? [True, True] Translation: X:113.13, Y:97.20, Z:10.99 [[ 9.83070323e-01 1.67547286e-01 7.41663475e-02 1.13133137e+02] [-1.67684165e-01 9.85830851e-01 -4.42192465e-03 9.72006535e+01] [-7.38563550e-02 -8.08945913e-03 9.97236080e-01 1.09879441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.846875 meters Centerline goodness : 0.993815 Centerline is valid? [True, True] Translation: X:113.16, Y:97.20, Z:10.98 [[ 9.83273026e-01 1.66797632e-01 7.31621926e-02 1.13164049e+02] [-1.66404980e-01 9.85990746e-01 -1.14730464e-02 9.71971258e+01] [-7.40509218e-02 -8.93416206e-04 9.97254061e-01 1.09817138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.87687500000004 meters Centerline goodness : 0.994326 Centerline is valid? [True, True] Translation: X:113.19, Y:97.19, Z:10.98 [[ 9.83265124e-01 1.67343091e-01 7.20137894e-02 1.13194758e+02] [-1.66929077e-01 9.85898621e-01 -1.17725203e-02 9.71914023e+01] [-7.29683456e-02 -4.45686768e-04 9.97334158e-01 1.09797432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.906875 meters Centerline goodness : 0.993028 Centerline is valid? [True, True] Translation: X:113.23, Y:97.19, Z:10.98 [[ 9.83189832e-01 1.67466437e-01 7.27512637e-02 1.13226624e+02] [-1.67208591e-01 9.85874180e-01 -9.66375198e-03 9.71854526e+01] [-7.33419466e-02 -2.66333358e-03 9.97303297e-01 1.09776662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.93687500000004 meters Centerline goodness : 0.994328 Centerline is valid? [True, True] Translation: X:113.26, Y:97.18, Z:10.97 [[ 9.82793346e-01 1.70245508e-01 7.16498894e-02 1.13255286e+02] [-1.69786455e-01 9.85401671e-01 -1.24942266e-02 9.71820143e+01] [-7.27310067e-02 1.14062013e-04 9.97351587e-01 1.09736778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.966875 meters Centerline goodness : 0.993457 Centerline is valid? [True, True] Translation: X:113.29, Y:97.18, Z:10.97 [[ 9.82636564e-01 1.70809244e-01 7.24540187e-02 1.13287430e+02] [-1.70872789e-01 9.85278484e-01 -5.36646650e-03 9.71767484e+01] [-7.23040278e-02 -7.10713406e-03 9.97357316e-01 1.09746923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.99687500000005 meters Centerline goodness : 0.993993 Centerline is valid? [True, True] Translation: X:113.32, Y:97.18, Z:10.96 [[ 9.82662976e-01 1.75855066e-01 5.87236820e-02 1.13317804e+02] [-1.74356409e-01 9.84232262e-01 -2.97774449e-02 9.71804709e+01] [-6.30342569e-02 1.90223424e-02 9.97830062e-01 1.09598013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.026875 meters Centerline goodness : 0.993385 Centerline is valid? [True, True] Translation: X:113.35, Y:97.17, Z:10.97 [[ 9.82326771e-01 1.76621617e-01 6.19590178e-02 1.13348539e+02] [-1.76244581e-01 9.84278736e-01 -1.15420094e-02 9.71695031e+01] [-6.30235120e-02 4.18083660e-04 9.98011955e-01 1.09666208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.056875 meters Centerline goodness : 0.992834 Centerline is valid? [True, True] Translation: X:113.38, Y:97.16, Z:10.97 [[ 9.82461965e-01 1.75058043e-01 6.42119143e-02 1.13384010e+02] [-1.75329922e-01 9.84508711e-01 -1.42011771e-03 9.71598469e+01] [-6.34657920e-02 -9.86305827e-03 9.97935275e-01 1.09718429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.086875 meters Centerline goodness : 0.992495 Centerline is valid? [True, True] Translation: X:113.41, Y:97.15, Z:10.98 [[ 9.81518595e-01 1.77038042e-01 7.26552124e-02 1.13412130e+02] [-1.78084576e-01 9.83981545e-01 8.13646490e-03 9.71517378e+01] [-7.00509243e-02 -2.09248643e-02 9.97323928e-01 1.09777040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.116875 meters Centerline goodness : 0.993751 Centerline is valid? [True, True] Translation: X:113.44, Y:97.15, Z:10.97 [[ 9.81086206e-01 1.80894044e-01 6.88999444e-02 1.13442901e+02] [-1.80558098e-01 9.83501406e-01 -1.11246385e-02 9.71534036e+01] [-6.97755730e-02 -1.52621356e-03 9.97561547e-01 1.09654733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.146875 meters Centerline goodness : 0.992568 Centerline is valid? [True, True] Translation: X:113.48, Y:97.15, Z:10.97 [[ 9.81035424e-01 1.81564707e-01 6.78509678e-02 1.13475474e+02] [-1.81507633e-01 9.83364215e-01 -7.05690986e-03 9.71461331e+01] [-6.80034994e-02 -5.39238998e-03 9.97670510e-01 1.09667288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.176875 meters Centerline goodness : 0.993040 Centerline is valid? [True, True] Translation: X:113.51, Y:97.15, Z:10.95 [[ 9.80996810e-01 1.86436989e-01 5.37262381e-02 1.13505386e+02] [-1.84983256e-01 9.82255404e-01 -3.09114420e-02 9.71499014e+01] [-5.85359238e-02 2.03855715e-02 9.98077138e-01 1.09513088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.206875 meters Centerline goodness : 0.993080 Centerline is valid? [True, True] Translation: X:113.54, Y:97.13, Z:10.97 [[ 9.81111232e-01 1.80662696e-01 6.91501264e-02 1.13538154e+02] [-1.82004375e-01 9.83204107e-01 1.35680329e-02 9.71284385e+01] [-6.55374509e-02 -2.58973750e-02 9.97513994e-01 1.09727274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.236875 meters Centerline goodness : 0.993624 Centerline is valid? [True, True] Translation: X:113.57, Y:97.14, Z:10.95 [[ 9.81357198e-01 1.85235963e-01 5.12414693e-02 1.13567481e+02] [-1.83882195e-01 9.82489737e-01 -3.00209252e-02 9.71381070e+01] [-5.59051726e-02 2.00388572e-02 9.98234970e-01 1.09470235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.266875 meters Centerline goodness : 0.992763 Centerline is valid? [True, True] Translation: X:113.60, Y:97.12, Z:10.96 [[ 9.81178360e-01 1.80976391e-01 6.73540799e-02 1.13599626e+02] [-1.81819805e-01 9.83309992e-01 6.55882662e-03 9.71193983e+01] [-6.50429470e-02 -1.86816844e-02 9.97707577e-01 1.09642102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.296875 meters Centerline goodness : 0.992862 Centerline is valid? [True, True] Translation: X:113.63, Y:97.13, Z:10.94 [[ 9.81451813e-01 1.84553581e-01 5.18875169e-02 1.13629014e+02] [-1.83363588e-01 9.82677882e-01 -2.68695815e-02 9.71254009e+01] [-5.59475927e-02 1.68569182e-02 9.98291396e-01 1.09447962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.32687500000003 meters Centerline goodness : 0.992614 Centerline is valid? [True, True] Translation: X:113.66, Y:97.10, Z:10.97 [[ 9.81311473e-01 1.80224205e-01 6.74316576e-02 1.13662494e+02] [-1.81713318e-01 9.83211558e-01 1.65922381e-02 9.71027452e+01] [-6.33092622e-02 -2.85353838e-02 9.97585921e-01 1.09705100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.356875 meters Centerline goodness : 0.993143 Centerline is valid? [True, True] Translation: X:113.69, Y:97.10, Z:10.96 [[ 9.81288755e-01 1.81756047e-01 6.35383312e-02 1.13694926e+02] [-1.81667217e-01 9.83333553e-01 -7.22118726e-03 9.71039962e+01] [-6.37918674e-02 -4.45676196e-03 9.97953273e-01 1.09573458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.38687500000003 meters Centerline goodness : 0.993098 Centerline is valid? [True, True] Translation: X:113.72, Y:97.11, Z:10.94 [[ 9.81366956e-01 1.85392033e-01 5.04845612e-02 1.13722991e+02] [-1.83912263e-01 9.82402925e-01 -3.25695174e-02 9.71079790e+01] [-5.56343096e-02 2.26779182e-02 9.98193636e-01 1.09410979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.416875 meters Centerline goodness : 0.993098 Centerline is valid? [True, True] Translation: X:113.76, Y:97.09, Z:10.95 [[ 9.81245566e-01 1.85060788e-01 5.39411164e-02 1.13755022e+02] [-1.84862264e-01 9.82726014e-01 -8.69047392e-03 9.70937956e+01] [-5.46176043e-02 -1.44418789e-03 9.98506300e-01 1.09527254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.44687500000003 meters Centerline goodness : 0.993764 Centerline is valid? [True, True] Translation: X:113.79, Y:97.09, Z:10.95 [[ 9.81146235e-01 1.85463599e-01 5.43628424e-02 1.13786469e+02] [-1.85435664e-01 9.82640440e-01 -5.60177738e-03 9.70861968e+01] [-5.44580532e-02 -4.58464700e-03 9.98505534e-01 1.09533952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.476875 meters Centerline goodness : 0.993461 Centerline is valid? [True, True] Translation: X:113.82, Y:97.08, Z:10.95 [[ 9.81070656e-01 1.85618807e-01 5.51908104e-02 1.13816605e+02] [-1.85333456e-01 9.82621820e-01 -1.02892990e-02 9.70815093e+01] [-5.61415820e-02 -1.34174335e-04 9.98422809e-01 1.09480887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.50687500000004 meters Centerline goodness : 0.993035 Centerline is valid? [True, True] Translation: X:113.85, Y:97.07, Z:10.96 [[ 9.80898130e-01 1.82103452e-01 6.83900002e-02 1.13849973e+02] [-1.83570160e-01 9.82880288e-01 1.57586508e-02 9.70656451e+01] [-6.43494784e-02 -2.80119944e-02 9.97534196e-01 1.09633250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.536875 meters Centerline goodness : 0.992869 Centerline is valid? [True, True] Translation: X:113.88, Y:97.07, Z:10.95 [[ 9.81051557e-01 1.82911167e-01 6.38854294e-02 1.13883060e+02] [-1.82767601e-01 9.83122496e-01 -8.13400616e-03 9.70663327e+01] [-6.42950034e-02 -3.69630725e-03 9.97924090e-01 1.09487540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.56687500000004 meters Centerline goodness : 0.992869 Centerline is valid? [True, True] Translation: X:113.92, Y:97.06, Z:10.94 [[ 9.81345172e-01 1.83410703e-01 5.76382426e-02 1.13915754e+02] [-1.82507775e-01 9.82988529e-01 -2.06025188e-02 9.70643200e+01] [-6.04364537e-02 9.69875500e-03 9.98124927e-01 1.09399525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.596875 meters Centerline goodness : 0.993501 Centerline is valid? [True, True] Translation: X:113.94, Y:97.06, Z:10.93 [[ 9.80977157e-01 1.87922841e-01 4.86705637e-02 1.13940287e+02] [-1.86779695e-01 9.82028022e-01 -2.70981439e-02 9.70635226e+01] [-5.28882177e-02 1.74919871e-02 9.98447228e-01 1.09332547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.62687500000004 meters Centerline goodness : 0.992947 Centerline is valid? [True, True] Translation: X:113.97, Y:97.04, Z:10.96 [[ 9.80450202e-01 1.85969189e-01 6.42873455e-02 1.13973186e+02] [-1.87514247e-01 9.82081074e-01 1.88460152e-02 9.70407660e+01] [-5.96306071e-02 -3.05323726e-02 9.97753459e-01 1.09594150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.656875 meters Centerline goodness : 0.992947 Centerline is valid? [True, True] Translation: X:114.01, Y:97.04, Z:10.94 [[ 9.80422185e-01 1.87919145e-01 5.88110011e-02 1.14005870e+02] [-1.87773069e-01 9.82179449e-01 -8.05017337e-03 9.70428784e+01] [-5.92757384e-02 -3.15055364e-03 9.98236676e-01 1.09434944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.68687500000004 meters Centerline goodness : 0.992757 Centerline is valid? [True, True] Translation: X:114.04, Y:97.04, Z:10.95 [[ 9.80056288e-01 1.90060207e-01 5.80240528e-02 1.14038069e+02] [-1.90116366e-01 9.81750778e-01 -4.60181676e-03 9.70362274e+01] [-5.78397812e-02 -6.52128260e-03 9.98304579e-01 1.09452038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.716875 meters Centerline goodness : 0.993511 Centerline is valid? [True, True] Translation: X:114.07, Y:97.03, Z:10.94 [[ 9.79669935e-01 1.92300369e-01 5.71610613e-02 1.14068292e+02] [-1.92255217e-01 9.81324480e-01 -6.34003674e-03 9.70302577e+01] [-5.73127402e-02 -4.77836889e-03 9.98344839e-01 1.09422541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.74687500000005 meters Centerline goodness : 0.992837 Centerline is valid? [True, True] Translation: X:114.10, Y:97.03, Z:10.94 [[ 9.79455543e-01 1.93850823e-01 5.55760489e-02 1.14098892e+02] [-1.93827502e-01 9.81018116e-01 -5.86129040e-03 9.70250856e+01] [-5.56573268e-02 -5.03129338e-03 9.98437253e-01 1.09417784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.776875 meters Centerline goodness : 0.993919 Centerline is valid? [True, True] Translation: X:114.13, Y:97.02, Z:10.94 [[ 9.78948258e-01 1.96878491e-01 5.38439203e-02 1.14128933e+02] [-1.96971237e-01 9.80402543e-01 -3.63132223e-03 9.70175101e+01] [-5.35036456e-02 -7.05082699e-03 9.98542761e-01 1.09420620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.806875 meters Centerline goodness : 0.992284 Centerline is valid? [True, True] Translation: X:114.16, Y:97.01, Z:10.93 [[ 9.79324670e-01 1.95251423e-01 5.29157042e-02 1.14162313e+02] [-1.94808972e-01 9.80749058e-01 -1.34443335e-02 9.70146991e+01] [-5.45220523e-02 2.85791356e-03 9.98508477e-01 1.09330409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.836875 meters Centerline goodness : 0.992759 Centerline is valid? [True, True] Translation: X:114.19, Y:97.00, Z:10.94 [[ 9.79379442e-01 1.94965187e-01 5.29573829e-02 1.14194350e+02] [-1.94930720e-01 9.80799476e-01 -5.86534087e-03 9.70048204e+01] [-5.30841107e-02 -4.57862651e-03 9.98579548e-01 1.09363267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.866875 meters Centerline goodness : 0.993800 Centerline is valid? [True, True] Translation: X:114.22, Y:97.01, Z:10.92 [[ 9.79453948e-01 1.98068355e-01 3.79327086e-02 1.14223016e+02] [-1.97154979e-01 9.80013899e-01 -2.65079606e-02 9.70065795e+01] [-4.24249698e-02 1.84847043e-02 9.98928645e-01 1.09247575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.896875 meters Centerline goodness : 0.993148 Centerline is valid? [True, True] Translation: X:114.26, Y:96.98, Z:10.95 [[ 9.79744375e-01 1.92367129e-01 5.56403457e-02 1.14255574e+02] [-1.93484988e-01 9.80982303e-01 1.54039181e-02 9.69845986e+01] [-5.16189869e-02 -2.58574737e-02 9.98332045e-01 1.09477373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.926875 meters Centerline goodness : 0.991884 Centerline is valid? [True, True] Translation: X:114.29, Y:96.99, Z:10.93 [[ 9.79864308e-01 1.93227765e-01 5.02888598e-02 1.14288372e+02] [-1.93044096e-01 9.81153000e-01 -8.53033923e-03 9.69859285e+01] [-5.09893641e-02 -1.34939256e-03 9.98698285e-01 1.09336981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.956875 meters Centerline goodness : 0.992880 Centerline is valid? [True, True] Translation: X:114.32, Y:96.98, Z:10.94 [[ 9.79715473e-01 1.93926558e-01 5.04983485e-02 1.14318813e+02] [-1.93967622e-01 9.80999224e-01 -4.13324123e-03 9.69775814e+01] [-5.03403859e-02 -5.74564420e-03 9.98715592e-01 1.09355859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.986875 meters Centerline goodness : 0.992661 Centerline is valid? [True, True] Translation: X:114.35, Y:96.98, Z:10.92 [[ 9.80141716e-01 1.91199347e-01 5.25835167e-02 1.14345854e+02] [-1.90345217e-01 9.81495898e-01 -2.08446924e-02 9.69786989e+01] [-5.55959975e-02 1.04217317e-02 9.98398955e-01 1.09217576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.016875 meters Centerline goodness : 0.993219 Centerline is valid? [True, True] Translation: X:114.38, Y:96.97, Z:10.93 [[ 9.80388044e-01 1.89145742e-01 5.53459226e-02 1.14379117e+02] [-1.88999065e-01 9.81945326e-01 -7.92026307e-03 9.69658214e+01] [-5.58447541e-02 -2.69539638e-03 9.98435826e-01 1.09291208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.046875 meters Centerline goodness : 0.986188 Centerline is valid? [True, True] Translation: X:114.42, Y:96.95, Z:10.93 [[ 9.79639181e-01 1.91078083e-01 6.16136384e-02 1.14424559e+02] [-1.91769944e-01 9.81424701e-01 5.46308666e-03 9.69482133e+01] [-5.94252705e-02 -1.71674978e-02 9.98085124e-01 1.09304813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.07687500000003 meters Centerline goodness : 0.992620 Centerline is valid? [True, True] Translation: X:114.44, Y:96.96, Z:10.92 [[ 9.80971854e-01 1.86973313e-01 5.22991490e-02 1.14439832e+02] [-1.85695384e-01 9.82198178e-01 -2.83542328e-02 9.69595918e+01] [-5.66696137e-02 1.81029938e-02 9.98228850e-01 1.09164461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.106875 meters Centerline goodness : 0.993260 Centerline is valid? [True, True] Translation: X:114.46, Y:96.96, Z:10.91 [[ 9.82142235e-01 1.78343249e-01 5.99192457e-02 1.14457786e+02] [-1.77378417e-01 9.83916593e-01 -2.10958474e-02 9.69598032e+01] [-6.27178421e-02 1.00907418e-02 9.97980285e-01 1.09099833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.13687500000003 meters Centerline goodness : 0.991712 Centerline is valid? [True, True] Translation: X:114.49, Y:96.95, Z:10.92 [[ 9.82319605e-01 1.77487537e-01 5.95513842e-02 1.14492755e+02] [-1.77509845e-01 9.84106537e-01 -4.95780881e-03 9.69467148e+01] [-5.94848558e-02 -5.70080417e-03 9.98212930e-01 1.09198066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.166875 meters Centerline goodness : 0.991362 Centerline is valid? [True, True] Translation: X:114.53, Y:96.93, Z:10.95 [[ 9.82807260e-01 1.76081594e-01 5.55442256e-02 1.14525488e+02] [-1.77958519e-01 9.83554556e-01 3.08415588e-02 9.69271996e+01] [-4.92001452e-02 -4.01958761e-02 9.97979778e-01 1.09492048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.19687500000003 meters Centerline goodness : 0.990978 Centerline is valid? [True, True] Translation: X:114.56, Y:96.93, Z:10.93 [[ 9.82901911e-01 1.77756719e-01 4.80248099e-02 1.14559745e+02] [-1.77817493e-01 9.84058793e-01 -3.03818658e-03 9.69305140e+01] [-4.77992946e-02 -5.55341191e-03 9.98841523e-01 1.09294864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.226875 meters Centerline goodness : 0.990966 Centerline is valid? [True, True] Translation: X:114.58, Y:96.95, Z:10.88 [[ 9.83582668e-01 1.73255710e-01 5.04737046e-02 1.14584204e+02] [-1.69906358e-01 9.83349249e-01 -6.44677021e-02 9.69529037e+01] [-6.08026770e-02 5.48335111e-02 9.96642524e-01 1.08773315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.25687500000004 meters Centerline goodness : 0.991094 Centerline is valid? [True, True] Translation: X:114.61, Y:96.92, Z:10.91 [[ 9.83284159e-01 1.70728480e-01 6.32775474e-02 1.14611780e+02] [-1.71012113e-01 9.85268472e-01 -9.46405688e-04 9.69249303e+01] [-6.25069508e-02 -9.89064138e-03 9.97995519e-01 1.09080822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.286875 meters Centerline goodness : 0.989473 Centerline is valid? [True, True] Translation: X:114.65, Y:96.93, Z:10.88 [[ 9.83577125e-01 1.70707538e-01 5.86086707e-02 1.14645561e+02] [-1.68751722e-01 9.84968555e-01 -3.68754935e-02 9.69328698e+01] [-6.40226224e-02 2.63795778e-02 9.97599730e-01 1.08832870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.31687500000004 meters Centerline goodness : 0.993957 Centerline is valid? [True, True] Translation: X:114.69, Y:96.87, Z:10.97 [[ 9.81546335e-01 1.86693852e-01 4.13787275e-02 1.14692988e+02] [-1.88895435e-01 9.80288972e-01 5.78968594e-02 9.68699338e+01] [-2.97541226e-02 -6.46447028e-02 9.97464663e-01 1.09707475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.346875 meters Centerline goodness : 0.993571 Centerline is valid? [True, True] Translation: X:114.73, Y:96.88, Z:10.93 [[ 9.81530484e-01 1.89054749e-01 2.92610839e-02 1.14727626e+02] [-1.88961891e-01 9.81966505e-01 -5.93192963e-03 9.68835684e+01] [-2.98548637e-02 2.93140023e-04 9.99554201e-01 1.09334860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.37687500000004 meters Centerline goodness : 0.988528 Centerline is valid? [True, True] Translation: X:114.75, Y:96.93, Z:10.87 [[ 9.83365490e-01 1.73428701e-01 5.39888763e-02 1.14745237e+02] [-1.69666221e-01 9.83161406e-01 -6.78750626e-02 9.69250661e+01] [-6.48512634e-02 5.75859056e-02 9.96231990e-01 1.08656911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.406875 meters Centerline goodness : 0.988469 Centerline is valid? [True, True] Translation: X:114.77, Y:96.91, Z:10.88 [[ 9.83031054e-01 1.71468502e-01 6.51805174e-02 1.14773320e+02] [-1.69658573e-01 9.84970220e-01 -3.23980639e-02 9.69091701e+01] [-6.97561160e-02 2.07898694e-02 9.97347415e-01 1.08766508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.43687500000004 meters Centerline goodness : 0.987829 Centerline is valid? [True, True] Translation: X:114.80, Y:96.90, Z:10.88 [[ 9.82542259e-01 1.73922833e-01 6.60420848e-02 1.14801635e+02] [-1.72756176e-01 9.84695408e-01 -2.30272962e-02 9.69003640e+01] [-6.90363102e-02 1.12161136e-02 9.97551095e-01 1.08784130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.466875 meters Centerline goodness : 0.988301 Centerline is valid? [True, True] Translation: X:114.83, Y:96.88, Z:10.90 [[ 9.81982937e-01 1.76171270e-01 6.83607710e-02 1.14833264e+02] [-1.77067629e-01 9.84172099e-01 7.23428285e-03 9.68824741e+01] [-6.60042906e-02 -1.92084219e-02 9.97634437e-01 1.08954052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.49687500000005 meters Centerline goodness : 0.988199 Centerline is valid? [True, True] Translation: X:114.86, Y:96.89, Z:10.88 [[ 9.81958523e-01 1.77875931e-01 6.41686180e-02 1.14863607e+02] [-1.77282666e-01 9.84047636e-01 -1.48696448e-02 9.68852704e+01] [-6.57899287e-02 3.22539079e-03 9.97828283e-01 1.08789173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.526875 meters Centerline goodness : 0.988126 Centerline is valid? [True, True] Translation: X:114.90, Y:96.86, Z:10.91 [[ 9.80320307e-01 1.89090117e-01 5.67188168e-02 1.14897394e+02] [-1.90488149e-01 9.81479616e-01 2.02984670e-02 9.68604177e+01] [-5.18301231e-02 -3.07032618e-02 9.98183825e-01 1.09129152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.556875 meters Centerline goodness : 0.986303 Centerline is valid? [True, True] Translation: X:114.93, Y:96.87, Z:10.89 [[ 9.81003454e-01 1.84920896e-01 5.86215443e-02 1.14931674e+02] [-1.84827278e-01 9.82745644e-01 -7.06236856e-03 9.68661003e+01] [-5.89160468e-02 -3.90665251e-03 9.98255297e-01 1.08876522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.586875 meters Centerline goodness : 0.985525 Centerline is valid? [True, True] Translation: X:114.97, Y:96.84, Z:10.92 [[ 9.78971600e-01 1.96620163e-01 5.43609895e-02 1.14968302e+02] [-1.98389247e-01 9.79686013e-01 2.92749418e-02 9.68428152e+01] [-4.75006573e-02 -3.94439724e-02 9.98092110e-01 1.09218491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.616875 meters Centerline goodness : 0.988835 Centerline is valid? [True, True] Translation: X:114.99, Y:96.86, Z:10.87 [[ 9.78038696e-01 2.02996016e-01 4.72538535e-02 1.14990841e+02] [-2.00985514e-01 9.78603757e-01 -4.40398659e-02 9.68617031e+01] [-5.51827159e-02 3.35753530e-02 9.97911601e-01 1.08723721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.646875 meters Centerline goodness : 0.987718 Centerline is valid? [True, True] Translation: X:115.02, Y:96.84, Z:10.89 [[ 9.77579345e-01 2.03442924e-01 5.43102276e-02 1.15022824e+02] [-2.03101183e-01 9.79086679e-01 -1.17976835e-02 9.68437368e+01] [-5.55745756e-02 5.02700210e-04 9.98454413e-01 1.08885508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.676875 meters Centerline goodness : 0.987135 Centerline is valid? [True, True] Translation: X:115.06, Y:96.82, Z:10.92 [[ 9.76590037e-01 2.07209375e-01 5.77596298e-02 1.15060982e+02] [-2.09102390e-01 9.77467866e-01 2.88576135e-02 9.68185745e+01] [-5.04786140e-02 -4.02597345e-02 9.97913355e-01 1.09169541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.706875 meters Centerline goodness : 0.988469 Centerline is valid? [True, True] Translation: X:115.08, Y:96.84, Z:10.87 [[ 9.75933984e-01 2.13161487e-01 4.59895519e-02 1.15084683e+02] [-2.11322444e-01 9.76523893e-01 -4.17601570e-02 9.68385733e+01] [-5.38115535e-02 3.10365318e-02 9.98068660e-01 1.08728251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.736875 meters Centerline goodness : 0.989134 Centerline is valid? [True, True] Translation: X:115.11, Y:96.82, Z:10.90 [[ 9.76098411e-01 2.10487031e-01 5.41027063e-02 1.15105923e+02] [-2.10950848e-01 9.77492233e-01 2.94532410e-03 9.68235197e+01] [-5.22650227e-02 -1.42879380e-02 9.98531032e-01 1.08954811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.766875 meters Centerline goodness : 0.989563 Centerline is valid? [True, True] Translation: X:115.14, Y:96.81, Z:10.90 [[ 9.75387471e-01 2.13826990e-01 5.38265647e-02 1.15136957e+02] [-2.14762561e-01 9.76590404e-01 1.21747482e-02 9.68125353e+01] [-4.99632168e-02 -2.34350278e-02 9.98476077e-01 1.09006029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.796875 meters Centerline goodness : 0.989265 Centerline is valid? [True, True] Translation: X:115.17, Y:96.81, Z:10.89 [[ 9.73952234e-01 2.21285385e-01 4.94956942e-02 1.15169132e+02] [-2.21051239e-01 9.75208599e-01 -1.02243547e-02 9.68116153e+01] [-5.05311269e-02 -9.83051401e-04 9.98722003e-01 1.08863054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.82687500000003 meters Centerline goodness : 0.990028 Centerline is valid? [True, True] Translation: X:115.20, Y:96.81, Z:10.88 [[ 9.73711611e-01 2.22891542e-01 4.69580479e-02 1.15199980e+02] [-2.21958430e-01 9.74753435e-01 -2.42939436e-02 9.68097259e+01] [-5.11874331e-02 1.32325604e-02 9.98601395e-01 1.08760413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.856875 meters Centerline goodness : 0.990248 Centerline is valid? [True, True] Translation: X:115.23, Y:96.79, Z:10.89 [[ 9.73305512e-01 2.24003057e-01 4.99901019e-02 1.15230322e+02] [-2.24473560e-01 9.74472245e-01 3.93261286e-03 9.67910067e+01] [-4.78330495e-02 -1.50490899e-02 9.98741971e-01 1.08936558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.88687500000003 meters Centerline goodness : 0.990020 Centerline is valid? [True, True] Translation: X:115.26, Y:96.79, Z:10.88 [[ 9.72988198e-01 2.25839544e-01 4.78588179e-02 1.15258317e+02] [-2.25623077e-01 9.74163872e-01 -9.94871466e-03 9.67894063e+01] [-4.88691445e-02 -1.11807180e-03 9.98804564e-01 1.08823730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.916875 meters Centerline goodness : 0.990398 Centerline is valid? [True, True] Translation: X:115.29, Y:96.78, Z:10.89 [[ 9.73189632e-01 2.25439427e-01 4.55960981e-02 1.15292715e+02] [-2.25409207e-01 9.74246492e-01 -5.87041898e-03 9.67776153e+01] [-4.57452625e-02 -4.56474939e-03 9.98942708e-01 1.08852489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.94687500000003 meters Centerline goodness : 0.990264 Centerline is valid? [True, True] Translation: X:115.32, Y:96.77, Z:10.89 [[ 9.73258453e-01 2.25438732e-01 4.41062601e-02 1.15318383e+02] [-2.25468170e-01 9.74240729e-01 -4.37109274e-03 9.67707210e+01] [-4.39555286e-02 -5.69035477e-03 9.99017283e-01 1.08851251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.976875 meters Centerline goodness : 0.989971 Centerline is valid? [True, True] Translation: X:115.35, Y:96.76, Z:10.88 [[ 9.73085222e-01 2.26457187e-01 4.26883321e-02 1.15352035e+02] [-2.26223239e-01 9.74021053e-01 -1.02973408e-02 9.67625032e+01] [-4.39112410e-02 3.63097412e-04 9.99035370e-01 1.08816543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.00687500000004 meters Centerline goodness : 0.991743 Centerline is valid? [True, True] Translation: X:115.38, Y:96.75, Z:10.89 [[ 9.73990550e-01 2.22468461e-01 4.30138680e-02 1.15376917e+02] [-2.22610047e-01 9.74906367e-01 -1.53060801e-03 9.67508168e+01] [-4.22750058e-02 -8.08452142e-03 9.99073303e-01 1.08887420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.036875 meters Centerline goodness : 0.990921 Centerline is valid? [True, True] Translation: X:115.41, Y:96.74, Z:10.88 [[ 9.73566192e-01 2.24385072e-01 4.26639216e-02 1.15413427e+02] [-2.24327035e-01 9.74494166e-01 -6.20493230e-03 9.67412970e+01] [-4.29680369e-02 -3.52975871e-03 9.99070212e-01 1.08833795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.06687500000004 meters Centerline goodness : 0.989712 Centerline is valid? [True, True] Translation: X:115.44, Y:96.74, Z:10.88 [[ 9.74451346e-01 2.20589735e-01 4.22462222e-02 1.15442934e+02] [-2.20254003e-01 9.75362441e-01 -1.25012990e-02 9.67390700e+01] [-4.39630366e-02 2.87700809e-03 9.99029016e-01 1.08777581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.096875 meters Centerline goodness : 0.992272 Centerline is valid? [True, True] Translation: X:115.46, Y:96.73, Z:10.88 [[ 9.74881010e-01 2.18008443e-01 4.55997173e-02 1.15464885e+02] [-2.18105708e-01 9.75920866e-01 -2.89203443e-03 9.67299886e+01] [-4.51322035e-02 -7.12616917e-03 9.98955606e-01 1.08811261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.12687500000004 meters Centerline goodness : 0.990271 Centerline is valid? [True, True] Translation: X:115.50, Y:96.72, Z:10.88 [[ 9.75389964e-01 2.16512737e-01 4.16731718e-02 1.15501421e+02] [-2.16272814e-01 9.76279310e-01 -1.02361474e-02 9.67219782e+01] [-4.29009117e-02 9.71461330e-04 9.99078860e-01 1.08774936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.156875 meters Centerline goodness : 0.992511 Centerline is valid? [True, True] Translation: X:115.53, Y:96.71, Z:10.89 [[ 9.75074196e-01 2.17484145e-01 4.39426810e-02 1.15526823e+02] [-2.17961558e-01 9.75936866e-01 6.32405139e-03 9.67079414e+01] [-4.15099015e-02 -1.57442345e-02 9.99014038e-01 1.08888457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.18687500000004 meters Centerline goodness : 0.991273 Centerline is valid? [True, True] Translation: X:115.56, Y:96.71, Z:10.88 [[ 9.76366932e-01 2.12291876e-01 4.04941206e-02 1.15561163e+02] [-2.11925454e-01 9.77196875e-01 -1.31859341e-02 9.67068378e+01] [-4.23699948e-02 4.29257508e-03 9.99092767e-01 1.08774698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.216875 meters Centerline goodness : 0.992901 Centerline is valid? [True, True] Translation: X:115.59, Y:96.69, Z:10.89 [[ 9.75662634e-01 2.15153155e-01 4.23266446e-02 1.15588198e+02] [-2.15332284e-01 9.76540780e-01 -3.34691864e-04 9.66943793e+01] [-4.14057046e-02 -8.78774670e-03 9.99103770e-01 1.08864667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.24687500000005 meters Centerline goodness : 0.991796 Centerline is valid? [True, True] Translation: X:115.62, Y:96.69, Z:10.88 [[ 9.75804896e-01 2.15070607e-01 3.93629226e-02 1.15621821e+02] [-2.14736541e-01 9.76591032e-01 -1.25767628e-02 9.66899467e+01] [-4.11463692e-02 3.81980890e-03 9.99145828e-01 1.08787130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.276875 meters Centerline goodness : 0.991649 Centerline is valid? [True, True] Translation: X:115.65, Y:96.68, Z:10.88 [[ 9.75907026e-01 2.14323013e-01 4.08793734e-02 1.15650565e+02] [-2.14141717e-01 9.76762829e-01 -8.81486932e-03 9.66812255e+01] [-4.18186817e-02 -1.51486298e-04 9.99125205e-01 1.08785568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.306875 meters Centerline goodness : 0.992891 Centerline is valid? [True, True] Translation: X:115.68, Y:96.67, Z:10.88 [[ 9.75770551e-01 2.15063468e-01 4.02434588e-02 1.15680456e+02] [-2.15229155e-01 9.76563547e-01 -2.20454666e-04 9.66703403e+01] [-3.93477066e-02 -8.44645247e-03 9.99189880e-01 1.08838298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.336875 meters Centerline goodness : 0.992972 Centerline is valid? [True, True] Translation: X:115.71, Y:96.67, Z:10.87 [[ 9.75246751e-01 2.17694557e-01 3.87666603e-02 1.15713203e+02] [-2.17261898e-01 9.75996620e-01 -1.50952231e-02 9.66685681e+01] [-4.11222774e-02 6.29904908e-03 9.99134265e-01 1.08711762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.366875 meters Centerline goodness : 0.992972 Centerline is valid? [True, True] Translation: X:115.74, Y:96.66, Z:10.87 [[ 9.74960194e-01 2.18686708e-01 4.03577060e-02 1.15743647e+02] [-2.18554426e-01 9.75794260e-01 -7.71522170e-03 9.66581018e+01] [-4.10680343e-02 -1.29832122e-03 9.99155509e-01 1.08743284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.396875 meters Centerline goodness : 0.992153 Centerline is valid? [True, True] Translation: X:115.77, Y:96.65, Z:10.88 [[ 9.74856141e-01 2.19270776e-01 3.96967514e-02 1.15774312e+02] [-2.19296206e-01 9.75651059e-01 -3.76634083e-03 9.66489891e+01] [-3.95560261e-02 -5.03370650e-03 9.99204675e-01 1.08769324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.426875 meters Centerline goodness : 0.991408 Centerline is valid? [True, True] Translation: X:115.81, Y:96.65, Z:10.87 [[ 9.74736086e-01 2.20137493e-01 3.78027370e-02 1.15805559e+02] [-2.19744854e-01 9.75452615e-01 -1.42966892e-02 9.66464701e+01] [-4.00220160e-02 5.62854197e-03 9.99182945e-01 1.08682284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.456875 meters Centerline goodness : 0.991709 Centerline is valid? [True, True] Translation: X:115.84, Y:96.64, Z:10.87 [[ 9.74656859e-01 2.20406771e-01 3.82735256e-02 1.15835503e+02] [-2.20036888e-01 9.75395708e-01 -1.36741154e-02 9.66395158e+01] [-4.03457002e-02 4.90598288e-03 9.99173737e-01 1.08663384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.486875 meters Centerline goodness : 0.989150 Centerline is valid? [True, True] Translation: X:115.88, Y:96.61, Z:10.88 [[ 9.72741726e-01 2.27942745e-01 4.26103297e-02 1.15884150e+02] [-2.28515926e-01 9.73498219e-01 9.03817387e-03 9.66104178e+01] [-3.94208940e-02 -1.85289478e-02 9.99050885e-01 1.08807514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.516875 meters Centerline goodness : 0.990574 Centerline is valid? [True, True] Translation: X:115.90, Y:96.63, Z:10.86 [[ 9.73980470e-01 2.23667203e-01 3.65380146e-02 1.15898124e+02] [-2.22864853e-01 9.74534387e-01 -2.47787443e-02 9.66285721e+01] [-4.11497440e-02 1.59909738e-02 9.99025018e-01 1.08597864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.546875 meters Centerline goodness : 0.991227 Centerline is valid? [True, True] Translation: X:115.93, Y:96.61, Z:10.88 [[ 9.73093866e-01 2.27103599e-01 3.88880902e-02 1.15930011e+02] [-2.27633002e-01 9.73698524e-01 9.71603923e-03 9.66067074e+01] [-3.56587285e-02 -1.83068309e-02 9.99196335e-01 1.08845530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.57687500000003 meters Centerline goodness : 0.992106 Centerline is valid? [True, True] Translation: X:115.96, Y:96.61, Z:10.88 [[ 9.71999012e-01 2.32250872e-01 3.57414701e-02 1.15957041e+02] [-2.32274301e-01 9.72643833e-01 -3.55293525e-03 9.66067854e+01] [-3.55888928e-02 -4.84837542e-03 9.99354754e-01 1.08765773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.606875 meters Centerline goodness : 0.992781 Centerline is valid? [True, True] Translation: X:115.98, Y:96.61, Z:10.86 [[ 9.72042269e-01 2.31984053e-01 3.62936149e-02 1.15984091e+02] [-2.31424291e-01 9.72667580e-01 -1.89888433e-02 9.66077003e+01] [-3.97067314e-02 1.00587342e-02 9.99160747e-01 1.08629905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.63687500000003 meters Centerline goodness : 0.991920 Centerline is valid? [True, True] Translation: X:116.02, Y:96.60, Z:10.87 [[ 9.71949603e-01 2.32030246e-01 3.84178940e-02 1.16016532e+02] [-2.31739024e-01 9.72704847e-01 -1.19291524e-02 9.65982785e+01] [-4.01371959e-02 2.69160972e-03 9.99190553e-01 1.08650693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.666875 meters Centerline goodness : 0.989783 Centerline is valid? [True, True] Translation: X:116.05, Y:96.58, Z:10.88 [[ 9.71555107e-01 2.33282049e-01 4.07450611e-02 1.16052463e+02] [-2.33678887e-01 9.72299932e-01 5.19808539e-03 9.65838350e+01] [-3.84038001e-02 -1.45714869e-02 9.99156054e-01 1.08781233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.69687500000003 meters Centerline goodness : 0.990381 Centerline is valid? [True, True] Translation: X:116.09, Y:96.57, Z:10.88 [[ 9.70708319e-01 2.37344605e-01 3.73215363e-02 1.16087683e+02] [-2.37563108e-01 9.71370996e-01 1.46885892e-03 9.65735335e+01] [-3.59044321e-02 -1.02920537e-02 9.99302229e-01 1.08799240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.726875 meters Centerline goodness : 0.991661 Centerline is valid? [True, True] Translation: X:116.11, Y:96.57, Z:10.88 [[ 9.69977299e-01 2.40495180e-01 3.61401017e-02 1.16111464e+02] [-2.40649483e-01 9.70612085e-01 -8.27991760e-05 9.65688942e+01] [-3.50979323e-02 -8.61678348e-03 9.99346730e-01 1.08803291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.75687500000004 meters Centerline goodness : 0.991304 Centerline is valid? [True, True] Translation: X:116.14, Y:96.57, Z:10.87 [[ 9.69452791e-01 2.42736667e-01 3.52164175e-02 1.16144507e+02] [-2.42411341e-01 9.70082452e-01 -1.32958016e-02 9.65653022e+01] [-3.73902072e-02 4.35279299e-03 9.99291262e-01 1.08692699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.786875 meters Centerline goodness : 0.991390 Centerline is valid? [True, True] Translation: X:116.17, Y:96.56, Z:10.86 [[ 9.69468076e-01 2.42775968e-01 3.45178134e-02 1.16172718e+02] [-2.42217897e-01 9.70024179e-01 -1.95852493e-02 9.65629188e+01] [-3.82379414e-02 1.06264418e-02 9.99212159e-01 1.08615449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.81687500000004 meters Centerline goodness : 0.990408 Centerline is valid? [True, True] Translation: X:116.20, Y:96.55, Z:10.87 [[ 9.68741578e-01 2.45256004e-01 3.72726168e-02 1.16204030e+02] [-2.45196284e-01 9.69453400e-01 -6.23599333e-03 9.65500727e+01] [-3.76634799e-02 -3.09804110e-03 9.99285677e-01 1.08673794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.846875 meters Centerline goodness : 0.990171 Centerline is valid? [True, True] Translation: X:116.24, Y:96.54, Z:10.87 [[ 9.68135323e-01 2.47729807e-01 3.66597868e-02 1.16235299e+02] [-2.47788998e-01 9.68809404e-01 -2.99197855e-03 9.65407452e+01] [-3.62575484e-02 -6.18725170e-03 9.99323325e-01 1.08686181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.87687500000004 meters Centerline goodness : 0.990164 Centerline is valid? [True, True] Translation: X:116.26, Y:96.55, Z:10.85 [[ 9.68452096e-01 2.47246060e-01 3.11436130e-02 1.16264483e+02] [-2.46188897e-01 9.68618474e-01 -3.41947281e-02 9.65463931e+01] [-3.86207907e-02 2.54487443e-02 9.98929825e-01 1.08463660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.906875 meters Centerline goodness : 0.986364 Centerline is valid? [True, True] Translation: X:116.31, Y:96.51, Z:10.87 [[ 9.67070264e-01 2.50252787e-01 4.63535020e-02 1.16314568e+02] [-2.51442237e-01 9.67626486e-01 2.18125137e-02 9.65113654e+01] [-3.93942339e-02 -3.27494616e-02 9.98686921e-01 1.08717162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.93687500000004 meters Centerline goodness : 0.993867 Centerline is valid? [True, True] Translation: X:116.34, Y:96.53, Z:10.86 [[ 9.68232903e-01 2.49504293e-01 1.65122332e-02 1.16338951e+02] [-2.49176922e-01 9.68259626e-01 -1.95999465e-02 9.65251835e+01] [-2.08783995e-02 1.48628456e-02 9.99671540e-01 1.08605252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.966875 meters Centerline goodness : 0.989355 Centerline is valid? [True, True] Translation: X:116.36, Y:96.54, Z:10.85 [[ 9.71293259e-01 2.34835176e-01 3.79716378e-02 1.16355067e+02] [-2.34451814e-01 9.72022337e-01 -1.43151749e-02 9.65352602e+01] [-4.02709867e-02 5.00171356e-03 9.99176276e-01 1.08479845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.99687500000005 meters Centerline goodness : 0.989623 Centerline is valid? [True, True] Translation: X:116.39, Y:96.53, Z:10.85 [[ 9.71197606e-01 2.35092777e-01 3.88149002e-02 1.16385134e+02] [-2.34938324e-01 9.71972600e-01 -8.55856669e-03 9.65252455e+01] [-3.97390767e-02 -8.07048104e-04 9.99209765e-01 1.08518242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.026875 meters Centerline goodness : 0.991184 Centerline is valid? [True, True] Translation: X:116.41, Y:96.52, Z:10.85 [[ 9.71380346e-01 2.34252397e-01 3.93196869e-02 1.16410951e+02] [-2.33909910e-01 9.72169198e-01 -1.31607250e-02 9.65198261e+01] [-4.13083198e-02 3.58680520e-03 9.99140009e-01 1.08477972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.056875 meters Centerline goodness : 0.990491 Centerline is valid? [True, True] Translation: X:116.44, Y:96.50, Z:10.86 [[ 9.71098639e-01 2.35158944e-01 4.08375430e-02 1.16444367e+02] [-2.35394704e-01 9.71899348e-01 9.95463658e-04 9.65019604e+01] [-3.94558892e-02 -1.05796347e-02 9.99165304e-01 1.08587749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.086875 meters Centerline goodness : 0.990107 Centerline is valid? [True, True] Translation: X:116.47, Y:96.50, Z:10.84 [[ 9.71262306e-01 2.34485667e-01 4.08167282e-02 1.16474472e+02] [-2.34035661e-01 9.72103774e-01 -1.55422913e-02 9.65016511e+01] [-4.33225400e-02 5.54307174e-03 9.99045761e-01 1.08440095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.116875 meters Centerline goodness : 0.991170 Centerline is valid? [True, True] Translation: X:116.51, Y:96.49, Z:10.85 [[ 9.71106134e-01 2.35137756e-01 4.07812730e-02 1.16505469e+02] [-2.35114215e-01 9.71952522e-01 -5.44070843e-03 9.64901396e+01] [-4.09167771e-02 -4.30475165e-03 9.99153285e-01 1.08503143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.146875 meters Centerline goodness : 0.987301 Centerline is valid? [True, True] Translation: X:116.56, Y:96.47, Z:10.86 [[ 9.69385121e-01 2.41029027e-01 4.68774486e-02 1.16557790e+02] [-2.42087277e-01 9.70081859e-01 1.83012930e-02 9.64661188e+01] [-4.10638196e-02 -2.90894350e-02 9.98732981e-01 1.08615941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.176875 meters Centerline goodness : 0.991207 Centerline is valid? [True, True] Translation: X:116.57, Y:96.48, Z:10.83 [[ 9.69859693e-01 2.41133324e-01 3.50270604e-02 1.16566247e+02] [-2.40018677e-01 9.70200147e-01 -3.32070683e-02 9.64838517e+01] [-4.19905900e-02 2.37990484e-02 9.98834519e-01 1.08340656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.206875 meters Centerline goodness : 0.990163 Centerline is valid? [True, True] Translation: X:116.60, Y:96.47, Z:10.84 [[ 9.69292398e-01 2.42218831e-01 4.24533315e-02 1.16599019e+02] [-2.41720345e-01 9.70204230e-01 -1.65839104e-02 9.64690561e+01] [-4.52053372e-02 5.81282434e-03 9.98960804e-01 1.08379483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.236875 meters Centerline goodness : 0.990789 Centerline is valid? [True, True] Translation: X:116.63, Y:96.46, Z:10.84 [[ 9.68989993e-01 2.43168035e-01 4.39055913e-02 1.16627293e+02] [-2.43079845e-01 9.69977919e-01 -7.41791645e-03 9.64596056e+01] [-4.43912543e-02 -3.48467750e-03 9.99008145e-01 1.08422648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.266875 meters Centerline goodness : 0.991653 Centerline is valid? [True, True] Translation: X:116.65, Y:96.46, Z:10.83 [[ 9.68272214e-01 2.46395308e-01 4.16926017e-02 1.16650930e+02] [-2.45593975e-01 9.69089363e-01 -2.34394024e-02 9.64612187e+01] [-4.61792156e-02 1.24562702e-02 9.98855506e-01 1.08278711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.296875 meters Centerline goodness : 0.988902 Centerline is valid? [True, True] Translation: X:116.69, Y:96.45, Z:10.84 [[ 9.68398976e-01 2.45381011e-01 4.46271646e-02 1.16687469e+02] [-2.45392135e-01 9.69409336e-01 -5.31404001e-03 9.64451746e+01] [-4.45659545e-02 -5.80504430e-03 9.98989578e-01 1.08368274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.32687500000003 meters Centerline goodness : 0.989916 Centerline is valid? [True, True] Translation: X:116.71, Y:96.44, Z:10.83 [[ 9.68191654e-01 2.46744192e-01 4.14996974e-02 1.16710902e+02] [-2.46412690e-01 9.69077768e-01 -1.30025389e-02 9.64432735e+01] [-4.34247351e-02 2.36289763e-03 9.99053907e-01 1.08294724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.356875 meters Centerline goodness : 0.989483 Centerline is valid? [True, True] Translation: X:116.74, Y:96.43, Z:10.83 [[ 9.68134411e-01 2.46456945e-01 4.44380034e-02 1.16743229e+02] [-2.46263931e-01 9.69152723e-01 -9.85268398e-03 9.64339822e+01] [-4.54954744e-02 -1.40475500e-03 9.98963557e-01 1.08279018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.38687500000003 meters Centerline goodness : 0.991082 Centerline is valid? [True, True] Translation: X:116.77, Y:96.42, Z:10.84 [[ 9.67399612e-01 2.50018403e-01 4.03582501e-02 1.16771419e+02] [-2.50062497e-01 9.68221297e-01 -4.03337556e-03 9.64212614e+01] [-4.00841354e-02 -6.19019885e-03 9.99177133e-01 1.08355904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.416875 meters Centerline goodness : 0.988480 Centerline is valid? [True, True] Translation: X:116.81, Y:96.41, Z:10.83 [[ 9.67105584e-01 2.50919707e-01 4.17862448e-02 1.16806094e+02] [-2.51046853e-01 9.67972294e-01 -2.26177409e-03 9.64120590e+01] [-4.10154509e-02 -8.30293090e-03 9.99124013e-01 1.08336721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.44687500000003 meters Centerline goodness : 0.990291 Centerline is valid? [True, True] Translation: X:116.83, Y:96.41, Z:10.83 [[ 9.67046779e-01 2.51630605e-01 3.87629563e-02 1.16834597e+02] [-2.51453990e-01 9.67823157e-01 -9.44601478e-03 9.64067346e+01] [-3.98925932e-02 -6.12361853e-04 9.99203786e-01 1.08296805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.476875 meters Centerline goodness : 0.989959 Centerline is valid? [True, True] Translation: X:116.87, Y:96.40, Z:10.83 [[ 9.66518328e-01 2.53736916e-01 3.82086410e-02 1.16866830e+02] [-2.53490308e-01 9.67272544e-01 -1.12467629e-02 9.63958847e+01] [-3.98118883e-02 1.18468226e-03 9.99206490e-01 1.08291051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.50687500000004 meters Centerline goodness : 0.991148 Centerline is valid? [True, True] Translation: X:116.89, Y:96.38, Z:10.83 [[ 9.65926138e-01 2.55826711e-01 3.92350560e-02 1.16894500e+02] [-2.55807466e-01 9.66711558e-01 -5.59499756e-03 9.63848368e+01] [-3.93603320e-02 -4.63226588e-03 9.99214345e-01 1.08332038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.536875 meters Centerline goodness : 0.990539 Centerline is valid? [True, True] Translation: X:116.94, Y:96.35, Z:10.85 [[ 9.63568323e-01 2.63856919e-01 4.37677257e-02 1.16942376e+02] [-2.64883819e-01 9.64083052e-01 1.95046301e-02 9.63524056e+01] [-3.70492910e-02 -3.03874061e-02 9.98851318e-01 1.08500875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.56687500000004 meters Centerline goodness : 0.991280 Centerline is valid? [True, True] Translation: X:116.96, Y:96.38, Z:10.82 [[ 9.65071189e-01 2.59906639e-01 3.29566150e-02 1.16959062e+02] [-2.58693713e-01 9.65252505e-01 -3.69481179e-02 9.63767845e+01] [-4.14145164e-02 2.71318949e-02 9.98773597e-01 1.08166014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.596875 meters Centerline goodness : 0.992913 Centerline is valid? [True, True] Translation: X:116.98, Y:96.37, Z:10.81 [[ 9.64255484e-01 2.62648608e-01 3.50295642e-02 1.16983615e+02] [-2.61052111e-01 9.64306384e-01 -4.43282506e-02 9.63711256e+01] [-4.54219857e-02 3.35992170e-02 9.98402692e-01 1.08097065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.62687500000004 meters Centerline goodness : 0.989497 Centerline is valid? [True, True] Translation: X:117.02, Y:96.34, Z:10.85 [[ 9.63303972e-01 2.63931360e-01 4.88435733e-02 1.17015621e+02] [-2.65406101e-01 9.63770723e-01 2.65630377e-02 9.63375892e+01] [-4.00631874e-02 -3.85516620e-02 9.98453159e-01 1.08514166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.656875 meters Centerline goodness : 0.991078 Centerline is valid? [True, True] Translation: X:117.05, Y:96.34, Z:10.83 [[ 9.62095473e-01 2.69777607e-01 3.99041935e-02 1.17048524e+02] [-2.69635365e-01 9.62920379e-01 -9.00635214e-03 9.63377942e+01] [-4.08542732e-02 -2.09461115e-03 9.99162920e-01 1.08317283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.68687500000004 meters Centerline goodness : 0.990658 Centerline is valid? [True, True] Translation: X:117.09, Y:96.31, Z:10.86 [[ 9.60113226e-01 2.76312738e-01 4.28236355e-02 1.17091491e+02] [-2.77535664e-01 9.60369854e-01 2.57623512e-02 9.63065326e+01] [-3.40080628e-02 -3.66198602e-02 9.98750438e-01 1.08556701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.716875 meters Centerline goodness : 0.992133 Centerline is valid? [True, True] Translation: X:117.11, Y:96.33, Z:10.81 [[ 9.62010567e-01 2.71722118e-01 2.65096164e-02 1.17106805e+02] [-2.70432849e-01 9.61734723e-01 -4.39590390e-02 9.63324091e+01] [-3.74398617e-02 3.51199889e-02 9.98681552e-01 1.08110809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.74687500000005 meters Centerline goodness : 0.993161 Centerline is valid? [True, True] Translation: X:117.13, Y:96.31, Z:10.83 [[ 9.61718379e-01 2.72001434e-01 3.33613503e-02 1.17134114e+02] [-2.71709821e-01 9.62290460e-01 -1.30707149e-02 9.63111815e+01] [-3.56585623e-02 3.50574021e-03 9.99357882e-01 1.08287928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.776875 meters Centerline goodness : 0.992823 Centerline is valid? [True, True] Translation: X:117.16, Y:96.30, Z:10.84 [[ 9.61708272e-01 2.71850532e-01 3.48494944e-02 1.17164791e+02] [-2.72134799e-01 9.62252405e-01 3.60003540e-03 9.62955667e+01] [-3.25553382e-02 -1.29459440e-02 9.99386088e-01 1.08409431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.806875 meters Centerline goodness : 0.993134 Centerline is valid? [True, True] Translation: X:117.19, Y:96.30, Z:10.82 [[ 9.61749406e-01 2.72419478e-01 2.87351265e-02 1.17194338e+02] [-2.71732052e-01 9.62030468e-01 -2.56723567e-02 9.62956523e+01] [-3.46377172e-02 1.68821189e-02 9.99257336e-01 1.08197812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.836875 meters Centerline goodness : 0.991945 Centerline is valid? [True, True] Translation: X:117.24, Y:96.26, Z:10.85 [[ 9.60825824e-01 2.74082275e-01 4.11417267e-02 1.17241706e+02] [-2.75537794e-01 9.60645886e-01 3.51909918e-02 9.62595422e+01] [-2.98774034e-02 -4.51485144e-02 9.98533401e-01 1.08543968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.866875 meters Centerline goodness : 0.991121 Centerline is valid? [True, True] Translation: X:117.26, Y:96.28, Z:10.81 [[ 9.62422974e-01 2.70282643e-01 2.62547613e-02 1.17260372e+02] [-2.69406109e-01 9.62473115e-01 -3.26473664e-02 9.62849112e+01] [-3.40935184e-02 2.43473823e-02 9.99122033e-01 1.08109919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.896875 meters Centerline goodness : 0.991475 Centerline is valid? [True, True] Translation: X:117.28, Y:96.29, Z:10.79 [[ 9.62705546e-01 2.69126696e-01 2.77281876e-02 1.17284548e+02] [-2.67495175e-01 9.62179707e-01 -5.15416552e-02 9.62883941e+01] [-4.05507348e-02 4.22022810e-02 9.98285834e-01 1.07897912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.926875 meters Centerline goodness : 0.992098 Centerline is valid? [True, True] Translation: X:117.31, Y:96.25, Z:10.84 [[ 9.62061596e-01 2.69709413e-01 4.11620950e-02 1.17313968e+02] [-2.70894279e-01 9.62244395e-01 2.64955288e-02 9.62471754e+01] [-3.24619017e-02 -3.66409067e-02 9.98801116e-01 1.08391973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.956875 meters Centerline goodness : 0.992311 Centerline is valid? [True, True] Translation: X:117.34, Y:96.25, Z:10.82 [[ 9.61705523e-01 2.72450792e-01 2.98839799e-02 1.17344040e+02] [-2.72291010e-01 9.62169320e-01 -9.37042171e-03 9.62499076e+01] [-3.13064275e-02 8.74447231e-04 9.99509451e-01 1.08201933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.986875 meters Centerline goodness : 0.992972 Centerline is valid? [True, True] Translation: X:117.38, Y:96.23, Z:10.84 [[ 9.61308400e-01 2.73748096e-01 3.07918948e-02 1.17376046e+02] [-2.74173833e-01 9.61622875e-01 1.04955531e-02 9.62276415e+01] [-2.67370527e-02 -1.85317951e-02 9.99470711e-01 1.08399938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.016875 meters Centerline goodness : 0.986916 Centerline is valid? [True, True] Translation: X:117.42, Y:96.21, Z:10.85 [[ 9.61173203e-01 2.73909662e-01 3.34599956e-02 1.17419532e+02] [-2.74649626e-01 9.61338337e-01 1.99044029e-02 9.62097625e+01] [-2.67143682e-02 -2.83213540e-02 9.99241834e-01 1.08458875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.046875 meters Centerline goodness : 0.992157 Centerline is valid? [True, True] Translation: X:117.44, Y:96.22, Z:10.81 [[ 9.61749265e-01 2.73226821e-01 1.96330265e-02 1.17436127e+02] [-2.72341565e-01 9.61419175e-01 -3.87716671e-02 9.62244327e+01] [-2.94690275e-02 3.19417332e-02 9.99055205e-01 1.08116127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.07687500000003 meters Centerline goodness : 0.993766 Centerline is valid? [True, True] Translation: X:117.47, Y:96.20, Z:10.84 [[ 9.60791894e-01 2.75919915e-01 2.73337984e-02 1.17465615e+02] [-2.76120977e-01 9.61115368e-01 3.80209014e-03 9.61956695e+01] [-2.52218613e-02 -1.12004525e-02 9.99619131e-01 1.08408144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.106875 meters Centerline goodness : 0.994692 Centerline is valid? [True, True] Translation: X:117.49, Y:96.20, Z:10.82 [[ 9.61828816e-01 2.73309426e-01 1.36852605e-02 1.17492345e+02] [-2.72791583e-01 9.61567731e-01 -3.11809542e-02 9.62022310e+01] [-2.16813536e-02 2.62575164e-02 9.99420063e-01 1.08184126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.13687500000003 meters Centerline goodness : 0.993770 Centerline is valid? [True, True] Translation: X:117.52, Y:96.17, Z:10.84 [[ 9.62025911e-01 2.71021125e-01 3.24606964e-02 1.17523741e+02] [-2.71552878e-01 9.62333066e-01 1.31948744e-02 9.61734705e+01] [-2.76619117e-02 -2.15086065e-02 9.99385911e-01 1.08437643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.166875 meters Centerline goodness : 0.994240 Centerline is valid? [True, True] Translation: X:117.55, Y:96.18, Z:10.82 [[ 9.63057922e-01 2.68025707e-01 2.61086116e-02 1.17552169e+02] [-2.67708173e-01 9.63382566e-01 -1.50454517e-02 9.61767065e+01] [-2.91851490e-02 7.50015273e-03 9.99545884e-01 1.08242234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.19687500000003 meters Centerline goodness : 0.993751 Centerline is valid? [True, True] Translation: X:117.59, Y:96.15, Z:10.85 [[ 9.61565049e-01 2.73249180e-01 2.69729834e-02 1.17589149e+02] [-2.73685212e-01 9.61717415e-01 1.40006349e-02 9.61492397e+01] [-2.21147259e-02 -2.08446279e-02 9.99538114e-01 1.08484624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.226875 meters Centerline goodness : 0.993751 Centerline is valid? [True, True] Translation: X:117.62, Y:96.15, Z:10.84 [[ 9.61444042e-01 2.74151270e-01 2.15971133e-02 1.17622570e+02] [-2.74100477e-01 9.61686257e-01 -5.33582519e-03 9.61461883e+01] [-2.22324703e-02 -7.89681722e-04 9.99752516e-01 1.08366611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.25687500000004 meters Centerline goodness : 0.994123 Centerline is valid? [True, True] Translation: X:117.65, Y:96.14, Z:10.83 [[ 9.61748433e-01 2.73272117e-01 1.90342438e-02 1.17654188e+02] [-2.73193034e-01 9.61935981e-01 -6.68844433e-03 9.61375184e+01] [-2.01374894e-02 1.23257802e-03 9.99796460e-01 1.08346695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.286875 meters Centerline goodness : 0.993813 Centerline is valid? [True, True] Translation: X:117.68, Y:96.13, Z:10.83 [[ 9.61852593e-01 2.73031755e-01 1.71245621e-02 1.17683921e+02] [-2.72912244e-01 9.61996732e-01 -9.01080240e-03 9.61307385e+01] [-1.89340079e-02 3.99356099e-03 9.99812760e-01 1.08325253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.31687500000004 meters Centerline goodness : 0.993872 Centerline is valid? [True, True] Translation: X:117.71, Y:96.12, Z:10.83 [[ 9.61724627e-01 2.73358471e-01 1.89970503e-02 1.17714654e+02] [-2.73357585e-01 9.61908714e-01 -2.69378137e-03 9.61190899e+01] [-1.90097962e-02 -2.60231190e-03 9.99815911e-01 1.08349546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.346875 meters Centerline goodness : 0.993773 Centerline is valid? [True, True] Translation: X:117.74, Y:96.12, Z:10.82 [[ 9.61434307e-01 2.74984710e-01 5.24230863e-03 1.17742838e+02] [-2.74776266e-01 9.61182546e-01 -2.50223289e-02 9.61229367e+01] [-1.19195734e-02 2.26168634e-02 9.99673147e-01 1.08207261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.37687500000004 meters Centerline goodness : 0.994019 Centerline is valid? [True, True] Translation: X:117.77, Y:96.11, Z:10.83 [[ 9.61054279e-01 2.76160613e-01 1.04875668e-02 1.17772418e+02] [-2.76125966e-01 9.61110216e-01 -4.64795015e-03 9.61074181e+01] [-1.13632884e-02 1.57104286e-03 9.99934202e-01 1.08312226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.406875 meters Centerline goodness : 0.994816 Centerline is valid? [True, True] Translation: X:117.80, Y:96.10, Z:10.83 [[ 9.60753161e-01 2.77210319e-01 1.03828230e-02 1.17803587e+02] [-2.77212350e-01 9.60807835e-01 -1.27183459e-03 9.60975103e+01] [-1.03284633e-02 -1.65632765e-03 9.99945288e-01 1.08336324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.43687500000004 meters Centerline goodness : 0.994153 Centerline is valid? [True, True] Translation: X:117.83, Y:96.08, Z:10.84 [[ 9.60853277e-01 2.76215040e-01 2.15923833e-02 1.17834432e+02] [-2.76562864e-01 9.60875764e-01 1.51904240e-02 9.60823338e+01] [-1.65517742e-02 -2.05674200e-02 9.99651449e-01 1.08437943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.466875 meters Centerline goodness : 0.994707 Centerline is valid? [True, True] Translation: X:117.86, Y:96.09, Z:10.82 [[ 9.60259375e-01 2.79069977e-01 4.67775751e-03 1.17864570e+02] [-2.78914033e-01 9.60079818e-01 -2.13003597e-02 9.60879517e+01] [-1.04353115e-02 1.91491778e-02 9.99762178e-01 1.08223259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.49687500000005 meters Centerline goodness : 0.993709 Centerline is valid? [True, True] Translation: X:117.90, Y:96.06, Z:10.85 [[ 9.60850021e-01 2.76058940e-01 2.36368250e-02 1.17896527e+02] [-2.76535897e-01 9.60794737e-01 2.00342259e-02 9.60641499e+01] [-1.71795099e-02 -2.57863170e-02 9.99519850e-01 1.08475547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.526875 meters Centerline goodness : 0.993501 Centerline is valid? [True, True] Translation: X:117.93, Y:96.06, Z:10.83 [[ 9.60349793e-01 2.78321557e-01 1.62906733e-02 1.17929084e+02] [-2.78226620e-01 9.60483173e-01 -7.87538695e-03 9.60633631e+01] [-1.78388076e-02 3.03062724e-03 9.99836283e-01 1.08299154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.556875 meters Centerline goodness : 0.993158 Centerline is valid? [True, True] Translation: X:117.95, Y:96.07, Z:10.82 [[ 9.61280189e-01 2.74939676e-01 1.86701022e-02 1.17952277e+02] [-2.74678067e-01 9.61412604e-01 -1.54196167e-02 9.60660610e+01] [-2.21891360e-02 9.69430449e-03 9.99706788e-01 1.08190806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.586875 meters Centerline goodness : 0.993118 Centerline is valid? [True, True] Translation: X:117.99, Y:96.04, Z:10.83 [[ 9.59474093e-01 2.81171395e-01 1.87646492e-02 1.17986234e+02] [-2.81269361e-01 9.59624921e-01 2.74919021e-03 9.60447164e+01] [-1.72340313e-02 -7.91569767e-03 9.99820149e-01 1.08331178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.616875 meters Centerline goodness : 0.993024 Centerline is valid? [True, True] Translation: X:118.02, Y:96.04, Z:10.83 [[ 9.58878447e-01 2.83337744e-01 1.64877733e-02 1.18017017e+02] [-2.83342825e-01 9.59016441e-01 -2.07588304e-03 9.60380727e+01] [-1.64002216e-02 -2.68117274e-03 9.99861913e-01 1.08312416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.646875 meters Centerline goodness : 0.993503 Centerline is valid? [True, True] Translation: X:118.05, Y:96.04, Z:10.82 [[ 9.58833805e-01 2.83896513e-01 6.36435608e-03 1.18047376e+02] [-2.83719386e-01 9.58691582e-01 -2.03411041e-02 9.60368304e+01] [-1.18762231e-02 1.76980471e-02 9.99772841e-01 1.08187006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.676875 meters Centerline goodness : 0.994103 Centerline is valid? [True, True] Translation: X:118.07, Y:96.02, Z:10.83 [[ 9.58239123e-01 2.85867156e-01 7.59955051e-03 1.18074974e+02] [-2.85849094e-01 9.58268655e-01 -3.38834889e-03 9.60231290e+01] [-8.25102870e-03 1.07452384e-03 9.99965382e-01 1.08293083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.706875 meters Centerline goodness : 0.993987 Centerline is valid? [True, True] Translation: X:118.10, Y:96.02, Z:10.82 [[ 9.57639388e-01 2.87932664e-01 4.64585893e-03 1.18104054e+02] [-2.87896280e-01 9.57634536e-01 -7.19905813e-03 9.60177222e+01] [-6.52187895e-03 5.55657611e-03 9.99963294e-01 1.08240641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.736875 meters Centerline goodness : 0.993148 Centerline is valid? [True, True] Translation: X:118.14, Y:96.00, Z:10.84 [[ 9.57830973e-01 2.86764780e-01 1.80496106e-02 1.18135361e+02] [-2.87081578e-01 9.57728707e-01 1.84361514e-02 9.59987499e+01] [-1.19997913e-02 -2.28404275e-02 9.99667105e-01 1.08382142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.766875 meters Centerline goodness : 0.992988 Centerline is valid? [True, True] Translation: X:118.16, Y:96.00, Z:10.82 [[ 9.58879143e-01 2.83459787e-01 1.41894038e-02 1.18164045e+02] [-2.83486871e-01 9.58976111e-01 -1.06820347e-04 9.60016610e+01] [-1.36375786e-02 -3.92008189e-03 9.99899320e-01 1.08244842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.796875 meters Centerline goodness : 0.993691 Centerline is valid? [True, True] Translation: X:118.20, Y:95.99, Z:10.82 [[ 9.57067333e-01 2.89656470e-01 1.10113274e-02 1.18195996e+02] [-2.89574187e-01 9.57117973e-01 -8.48386932e-03 9.59901234e+01] [-1.29965470e-02 4.93103802e-03 9.99903383e-01 1.08216687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.82687500000003 meters Centerline goodness : 0.993380 Centerline is valid? [True, True] Translation: X:118.23, Y:95.98, Z:10.83 [[ 9.56940353e-01 2.89954486e-01 1.38404019e-02 1.18225678e+02] [-2.89972369e-01 9.57034731e-01 -7.40774436e-04 9.59777022e+01] [-1.34605361e-02 -3.30445716e-03 9.99903943e-01 1.08264205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.856875 meters Centerline goodness : 0.993099 Centerline is valid? [True, True] Translation: X:118.26, Y:95.97, Z:10.83 [[ 9.57824164e-01 2.86980881e-01 1.46575789e-02 1.18255942e+02] [-2.86992314e-01 9.57931916e-01 -1.36251924e-03 9.59717143e+01] [-1.44319796e-02 -2.90155864e-03 9.99891644e-01 1.08251051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.88687500000003 meters Centerline goodness : 0.993849 Centerline is valid? [True, True] Translation: X:118.29, Y:95.97, Z:10.81 [[ 9.56199194e-01 2.92716047e-01 6.46335239e-04 1.18286529e+02] [-2.92593871e-01 9.55859402e-01 -2.68631802e-02 9.59692135e+01] [-8.48108955e-03 2.54974375e-02 9.99638911e-01 1.08110911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.916875 meters Centerline goodness : 0.993645 Centerline is valid? [True, True] Translation: X:118.32, Y:95.95, Z:10.83 [[ 9.56294874e-01 2.92298158e-01 7.86768026e-03 1.18316503e+02] [-2.92313625e-01 9.56322117e-01 8.67752050e-04 9.59502526e+01] [-7.27039432e-03 -3.12965697e-03 9.99968673e-01 1.08274638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.94687500000003 meters Centerline goodness : 0.992495 Centerline is valid? [True, True] Translation: X:118.35, Y:95.94, Z:10.83 [[ 9.56769008e-01 2.90298717e-01 1.78807523e-02 1.18349087e+02] [-2.90520182e-01 9.56801959e-01 1.13152800e-02 9.59361933e+01] [-1.38235275e-02 -1.60208286e-02 9.99776097e-01 1.08325311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.976875 meters Centerline goodness : 0.992471 Centerline is valid? [True, True] Translation: X:118.38, Y:95.93, Z:10.82 [[ 9.56548533e-01 2.91348173e-01 1.14518858e-02 1.18379610e+02] [-2.91237609e-01 9.56594239e-01 -1.03979348e-02 9.59345735e+01] [-1.39842273e-02 6.61090942e-03 9.99880361e-01 1.08171382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.00687500000004 meters Centerline goodness : 0.992451 Centerline is valid? [True, True] Translation: X:118.41, Y:95.92, Z:10.82 [[ 9.56395418e-01 2.91771679e-01 1.33075703e-02 1.18409027e+02] [-2.91778951e-01 9.56484702e-01 -1.43498562e-03 9.59219251e+01] [-1.31471756e-02 -2.51045522e-03 9.99910421e-01 1.08217684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.036875 meters Centerline goodness : 0.991929 Centerline is valid? [True, True] Translation: X:118.45, Y:95.91, Z:10.83 [[ 9.57356022e-01 2.88411300e-01 1.69814343e-02 1.18445395e+02] [-2.88567097e-01 9.57430103e-01 7.52514890e-03 9.59068268e+01] [-1.40881984e-02 -1.21045298e-02 9.99827487e-01 1.08267769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.06687500000004 meters Centerline goodness : 0.993910 Centerline is valid? [True, True] Translation: X:118.47, Y:95.91, Z:10.81 [[ 9.56307539e-01 2.92360722e-01 -1.04827069e-03 1.18467883e+02] [-2.92255699e-01 9.55854766e-01 -3.04675559e-02 9.59124431e+01] [-7.90552212e-03 2.94427165e-02 9.99535207e-01 1.08053586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.096875 meters Centerline goodness : 0.993249 Centerline is valid? [True, True] Translation: X:118.50, Y:95.89, Z:10.83 [[ 9.56233783e-01 2.92173167e-01 1.58680121e-02 1.18496250e+02] [-2.92387664e-01 9.56205274e-01 1.34509088e-02 9.58872650e+01] [-1.12430823e-02 -1.75018244e-02 9.99783616e-01 1.08331439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.12687500000004 meters Centerline goodness : 0.993249 Centerline is valid? [True, True] Translation: X:118.53, Y:95.88, Z:10.82 [[ 9.56047907e-01 2.93010659e-01 1.08237549e-02 1.18527622e+02] [-2.93005228e-01 9.56108489e-01 -2.11976690e-03 9.58828553e+01] [-1.09697983e-02 -1.14481808e-03 9.99939175e-01 1.08240875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.156875 meters Centerline goodness : 0.993301 Centerline is valid? [True, True] Translation: X:118.56, Y:95.87, Z:10.82 [[ 9.56180124e-01 2.92578149e-01 1.08441975e-02 1.18558208e+02] [-2.92522253e-01 9.56236894e-01 -6.46023978e-03 9.58745517e+01] [-1.22597467e-02 3.00498379e-03 9.99920331e-01 1.08211455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.18687500000004 meters Centerline goodness : 0.993710 Centerline is valid? [True, True] Translation: X:118.59, Y:95.87, Z:10.81 [[ 9.55506238e-01 2.94970883e-01 -9.00543920e-05 1.18587139e+02] [-2.94908910e-01 9.55299140e-01 -2.07915460e-02 9.58716646e+01] [-6.04687180e-03 1.98930098e-02 9.99783828e-01 1.08103283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.216875 meters Centerline goodness : 0.993041 Centerline is valid? [True, True] Translation: X:118.62, Y:95.85, Z:10.82 [[ 9.56336997e-01 2.92184370e-01 6.91684464e-03 1.18619413e+02] [-2.92224563e-01 9.56332446e-01 5.74947293e-03 9.58538449e+01] [-4.93489684e-03 -7.51970558e-03 9.99959550e-01 1.08227351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.24687500000005 meters Centerline goodness : 0.993707 Centerline is valid? [True, True] Translation: X:118.65, Y:95.85, Z:10.82 [[ 9.54834493e-01 2.97131558e-01 1.98209309e-03 1.18646094e+02] [-2.97128685e-01 9.54836069e-01 -1.62028553e-03 9.58477358e+01] [-2.37401193e-03 9.58167801e-04 9.99996723e-01 1.08196503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.276875 meters Centerline goodness : 0.994643 Centerline is valid? [True, True] Translation: X:118.68, Y:95.84, Z:10.82 [[ 9.54373378e-01 2.98614176e-01 1.01428009e-03 1.18675248e+02] [-2.98609609e-01 9.54369817e-01 -3.24866583e-03 9.58387923e+01] [-1.93809597e-03 2.79756640e-03 9.99994209e-01 1.08182048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.306875 meters Centerline goodness : 0.994534 Centerline is valid? [True, True] Translation: X:118.71, Y:95.82, Z:10.83 [[ 9.54460094e-01 2.98018549e-01 1.38156765e-02 1.18705830e+02] [-2.98204908e-01 9.54395102e-01 1.42766349e-02 9.58211922e+01] [-8.93091192e-03 -1.77463808e-02 9.99802633e-01 1.08317839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.336875 meters Centerline goodness : 0.993578 Centerline is valid? [True, True] Translation: X:118.74, Y:95.81, Z:10.83 [[ 9.54618868e-01 2.97683094e-01 9.35912148e-03 1.18739981e+02] [-2.97720621e-01 9.54648702e-01 2.87879285e-03 9.58138419e+01] [-8.07770522e-03 -5.53455343e-03 9.99952059e-01 1.08278716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.366875 meters Centerline goodness : 0.994041 Centerline is valid? [True, True] Translation: X:118.77, Y:95.81, Z:10.82 [[ 9.54717460e-01 2.97415252e-01 7.66421689e-03 1.18768547e+02] [-2.97409544e-01 9.54748109e-01 -1.90031841e-03 9.58065561e+01] [-7.88258026e-03 -4.65144089e-04 9.99968824e-01 1.08246550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.396875 meters Centerline goodness : 0.994411 Centerline is valid? [True, True] Translation: X:118.80, Y:95.80, Z:10.82 [[ 9.54875997e-01 2.96926712e-01 6.80872564e-03 1.18798511e+02] [-2.96875695e-01 9.54885971e-01 -7.58969714e-03 9.57998418e+01] [-8.75514041e-03 5.22587446e-03 9.99948018e-01 1.08193042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.426875 meters Centerline goodness : 0.993396 Centerline is valid? [True, True] Translation: X:118.83, Y:95.79, Z:10.82 [[ 9.55305879e-01 2.95618453e-01 6.38098480e-04 1.18832645e+02] [-2.95609750e-01 9.55290509e-01 -5.90925772e-03 9.57898094e+01] [-2.35645505e-03 5.45652051e-03 9.99982337e-01 1.08203585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.456875 meters Centerline goodness : 0.994823 Centerline is valid? [True, True] Translation: X:118.86, Y:95.78, Z:10.82 [[ 9.54652012e-01 2.97723295e-01 -6.12287617e-04 1.18859719e+02] [-2.97723920e-01 9.54649611e-01 -2.14191964e-03 9.57801959e+01] [-5.31792353e-05 2.22708056e-03 9.99997519e-01 1.08236002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.486875 meters Centerline goodness : 0.995656 Centerline is valid? [True, True] Translation: X:118.89, Y:95.77, Z:10.82 [[ 9.54649953e-01 2.97730081e-01 -5.15012566e-04 1.18888951e+02] [-2.97730527e-01 9.54648472e-01 -1.68195348e-03 9.57710163e+01] [-9.11218808e-06 1.75901178e-03 9.99998453e-01 1.08240954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.516875 meters Centerline goodness : 0.994307 Centerline is valid? [True, True] Translation: X:118.92, Y:95.75, Z:10.83 [[ 9.54985621e-01 2.96485736e-01 9.93334685e-03 1.18919336e+02] [-2.96602404e-01 9.54903059e-01 1.36806813e-02 9.57548017e+01] [-5.42925643e-03 -1.60111085e-02 9.99857074e-01 1.08347464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.546875 meters Centerline goodness : 0.995590 Centerline is valid? [True, True] Translation: X:118.95, Y:95.76, Z:10.82 [[ 9.55094469e-01 2.96273417e-01 -4.07646647e-03 1.18950969e+02] [-2.96301055e-01 9.54980019e-01 -1.47935282e-02 9.57571123e+01] [-4.89985116e-04 1.53370782e-02 9.99882260e-01 1.08168343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.57687500000003 meters Centerline goodness : 0.995169 Centerline is valid? [True, True] Translation: X:118.98, Y:95.74, Z:10.83 [[ 9.55442481e-01 2.95177346e-01 1.61043077e-05 1.18982110e+02] [-2.95177303e-01 9.55442307e-01 5.98548459e-04 9.57433955e+01] [ 1.61291209e-04 -5.76632251e-04 9.99999821e-01 1.08255583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.606875 meters Centerline goodness : 0.995791 Centerline is valid? [True, True] Translation: X:119.01, Y:95.74, Z:10.82 [[ 9.54706982e-01 2.97531708e-01 -3.07603044e-03 1.19009552e+02] [-2.97547349e-01 9.54668782e-01 -8.54935883e-03 9.57391768e+01] [ 3.92884898e-04 9.07739727e-03 9.99958722e-01 1.08186990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.63687500000003 meters Centerline goodness : 0.995999 Centerline is valid? [True, True] Translation: X:119.04, Y:95.73, Z:10.82 [[ 9.54611407e-01 2.97853720e-01 -4.73291027e-04 1.19039668e+02] [-2.97853834e-01 9.54611470e-01 -1.89942928e-04 9.57277266e+01] [ 3.95233835e-04 3.22293232e-04 9.99999870e-01 1.08226603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.666875 meters Centerline goodness : 0.994466 Centerline is valid? [True, True] Translation: X:119.07, Y:95.72, Z:10.82 [[ 9.54605995e-01 2.97867348e-01 1.56129535e-03 1.19070964e+02] [-2.97871061e-01 9.54600026e-01 3.40913529e-03 9.57175626e+01] [-4.74942498e-04 -3.71944569e-03 9.99992970e-01 1.08244664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.69687500000003 meters Centerline goodness : 0.995409 Centerline is valid? [True, True] Translation: X:119.10, Y:95.71, Z:10.82 [[ 9.54276887e-01 2.98906281e-01 -3.26455605e-03 1.19100273e+02] [-2.98923483e-01 9.54240307e-01 -8.37775726e-03 9.57142061e+01] [ 6.11006703e-04 8.97055258e-03 9.99959577e-01 1.08168032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.726875 meters Centerline goodness : 0.995569 Centerline is valid? [True, True] Translation: X:119.13, Y:95.70, Z:10.82 [[ 9.53919407e-01 3.00059013e-01 -1.53437167e-03 1.19130548e+02] [-3.00058035e-01 9.53920581e-01 8.37584549e-04 9.57009562e+01] [ 1.71499351e-03 -3.38587608e-04 9.99998472e-01 1.08228856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.75687500000004 meters Centerline goodness : 0.996243 Centerline is valid? [True, True] Translation: X:119.16, Y:95.69, Z:10.82 [[ 9.53897979e-01 3.00115880e-01 -3.01734349e-03 1.19161267e+02] [-3.00122986e-01 9.53897837e-01 -2.26041527e-03 9.56927582e+01] [ 2.19985091e-03 3.06177969e-03 9.99992893e-01 1.08225432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.786875 meters Centerline goodness : 0.993935 Centerline is valid? [True, True] Translation: X:119.19, Y:95.68, Z:10.83 [[ 9.54425103e-01 2.98432547e-01 3.27682224e-03 1.19194473e+02] [-2.98449712e-01 9.54339149e-01 1.28280009e-02 9.56759469e+01] [ 7.01093237e-04 -1.32213328e-02 9.99912349e-01 1.08317585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.81687500000004 meters Centerline goodness : 0.993660 Centerline is valid? [True, True] Translation: X:119.22, Y:95.67, Z:10.82 [[ 9.53559515e-01 3.01148051e-01 -5.83974772e-03 1.19222300e+02] [-3.01182294e-01 9.53545768e-01 -6.30033208e-03 9.56742639e+01] [ 3.67113400e-03 7.76657022e-03 9.99963101e-01 1.08208581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.846875 meters Centerline goodness : 0.993180 Centerline is valid? [True, True] Translation: X:119.25, Y:95.66, Z:10.83 [[ 9.54300994e-01 2.98803747e-01 5.09258184e-03 1.19253239e+02] [-2.98835120e-01 9.54276886e-01 7.29352864e-03 9.56583500e+01] [-2.68039946e-03 -8.48206393e-03 9.99960434e-01 1.08269571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.87687500000004 meters Centerline goodness : 0.994258 Centerline is valid? [True, True] Translation: X:119.28, Y:95.66, Z:10.82 [[ 9.52948689e-01 3.02944843e-01 -1.06403893e-02 1.19282590e+02] [-3.03072875e-01 9.52867969e-01 -1.37646953e-02 9.56562329e+01] [ 5.96894270e-03 1.63418617e-02 9.99848646e-01 1.08150914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.906875 meters Centerline goodness : 0.994125 Centerline is valid? [True, True] Translation: X:119.31, Y:95.64, Z:10.83 [[ 9.52972312e-01 3.02964370e-01 7.50755043e-03 1.19309896e+02] [-3.03051887e-01 9.52811692e-01 1.75907312e-02 9.56350747e+01] [-1.82391702e-03 -1.90386571e-02 9.99817085e-01 1.08337600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.93687500000004 meters Centerline goodness : 0.992777 Centerline is valid? [True, True] Translation: X:119.34, Y:95.63, Z:10.82 [[ 9.52783814e-01 3.03639321e-01 2.48335156e-03 1.19342348e+02] [-3.03639044e-01 9.52787009e-01 -4.97120662e-04 9.56310474e+01] [-2.51705049e-03 -2.80393974e-04 9.99996793e-01 1.08237641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.966875 meters Centerline goodness : 0.993631 Centerline is valid? [True, True] Translation: X:119.37, Y:95.63, Z:10.82 [[ 9.51910089e-01 3.06150317e-01 -1.17968490e-02 1.19372479e+02] [-3.06307984e-01 9.51808594e-01 -1.53564242e-02 9.56275568e+01] [ 6.52696808e-03 1.82314042e-02 9.99812490e-01 1.08158279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.99687500000005 meters Centerline goodness : 0.992615 Centerline is valid? [True, True] Translation: X:119.40, Y:95.60, Z:10.84 [[ 9.52373565e-01 3.04794265e-01 9.22215247e-03 1.19404132e+02] [-3.04928842e-01 9.52094194e-01 2.31310969e-02 9.56022480e+01] [-1.73013214e-03 -2.48415455e-02 9.99689904e-01 1.08394626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.026875 meters Centerline goodness : 0.992441 Centerline is valid? [True, True] Translation: X:119.43, Y:95.60, Z:10.83 [[ 9.51591915e-01 3.07345898e-01 -3.36531538e-03 1.19434622e+02] [-3.07347854e-01 9.51597232e-01 -6.73295860e-05 9.55998646e+01] [ 3.18173133e-03 1.09839275e-03 9.99994335e-01 1.08305355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.056875 meters Centerline goodness : 0.992925 Centerline is valid? [True, True] Translation: X:119.46, Y:95.59, Z:10.83 [[ 9.50804307e-01 3.09791504e-01 -6.27209718e-04 1.19462209e+02] [-3.09787546e-01 9.50799287e-01 3.52017621e-03 9.55909093e+01] [ 1.68687124e-03 -3.15269695e-03 9.99993607e-01 1.08329839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.086875 meters Centerline goodness : 0.992888 Centerline is valid? [True, True] Translation: X:119.49, Y:95.58, Z:10.83 [[ 9.50366777e-01 3.11125762e-01 -1.93622922e-03 1.19491665e+02] [-3.11129801e-01 9.50364542e-01 -2.34197178e-03 9.55834582e+01] [ 1.11147584e-03 2.82815078e-03 9.99995383e-01 1.08279311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.116875 meters Centerline goodness : 0.992631 Centerline is valid? [True, True] Translation: X:119.52, Y:95.57, Z:10.84 [[ 9.50237457e-01 3.11526278e-01 -3.91689028e-04 1.19521854e+02] [-3.11512057e-01 9.50204695e-01 8.44256993e-03 9.55704475e+01] [ 3.00226714e-03 -7.90043033e-03 9.99964284e-01 1.08366329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.146875 meters Centerline goodness : 0.992836 Centerline is valid? [True, True] Translation: X:119.55, Y:95.56, Z:10.83 [[ 9.49877012e-01 3.12605274e-01 -3.40668069e-03 1.19551249e+02] [-3.12597332e-01 9.49881980e-01 2.67061360e-03 9.55628521e+01] [ 4.07079249e-03 -1.47183517e-03 9.99990631e-01 1.08346704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.176875 meters Centerline goodness : 0.992836 Centerline is valid? [True, True] Translation: X:119.58, Y:95.55, Z:10.83 [[ 9.49680384e-01 3.13191585e-01 -4.26601300e-03 1.19582190e+02] [-3.13188519e-01 9.49689966e-01 1.38593086e-03 9.55529989e+01] [ 4.48545162e-03 1.98749390e-05 9.99989940e-01 1.08344591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.206875 meters Centerline goodness : 0.991978 Centerline is valid? [True, True] Translation: X:119.61, Y:95.54, Z:10.84 [[ 9.49750094e-01 3.12975795e-01 -4.57281462e-03 1.19613609e+02] [-3.12949331e-01 9.49752820e-01 5.68310192e-03 9.55407524e+01] [ 6.12171692e-03 -3.96646731e-03 9.99973396e-01 1.08392398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.236875 meters Centerline goodness : 0.991882 Centerline is valid? [True, True] Translation: X:119.64, Y:95.53, Z:10.83 [[ 9.49952385e-01 3.12321800e-01 -6.74974061e-03 1.19643626e+02] [-3.12340654e-01 9.49968224e-01 -1.92061310e-03 9.55332634e+01] [ 5.81218976e-03 3.93270940e-03 9.99975376e-01 1.08341640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.266875 meters Centerline goodness : 0.992644 Centerline is valid? [True, True] Translation: X:119.67, Y:95.52, Z:10.84 [[ 9.49524754e-01 3.13619910e-01 -6.72999338e-03 1.19672732e+02] [-3.13606419e-01 9.49548317e-01 3.00147749e-03 9.55221597e+01] [ 7.33177699e-03 -7.39408058e-04 9.99972849e-01 1.08386025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.296875 meters Centerline goodness : 0.991635 Centerline is valid? [True, True] Translation: X:119.70, Y:95.51, Z:10.83 [[ 9.49387683e-01 3.13988105e-01 -8.63121935e-03 1.19704881e+02] [-3.14009101e-01 9.49419263e-01 -1.16059734e-03 9.55141092e+01] [ 7.83023216e-03 3.81213825e-03 9.99962077e-01 1.08350000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.32687500000003 meters Centerline goodness : 0.992411 Centerline is valid? [True, True] Translation: X:119.73, Y:95.50, Z:10.84 [[ 9.49245963e-01 3.14415871e-01 -8.64651210e-03 1.19734444e+02] [-3.14416100e-01 9.49284280e-01 1.36824927e-03 9.55040290e+01] [ 8.63819730e-03 1.41979751e-03 9.99961682e-01 1.08373673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.356875 meters Centerline goodness : 0.992388 Centerline is valid? [True, True] Translation: X:119.76, Y:95.49, Z:10.84 [[ 9.48959114e-01 3.15274282e-01 -8.87281053e-03 1.19764379e+02] [-3.15222790e-01 9.48993774e-01 6.73870284e-03 9.54914415e+01] [ 1.05447816e-02 -3.59784139e-03 9.99937930e-01 1.08423124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.38687500000003 meters Centerline goodness : 0.991562 Centerline is valid? [True, True] Translation: X:119.80, Y:95.48, Z:10.84 [[ 9.48721726e-01 3.15896086e-01 -1.16939681e-02 1.19795381e+02] [-3.15878868e-01 9.48793648e-01 3.33974256e-03 9.54835272e+01] [ 1.21501743e-02 5.25391080e-04 9.99926046e-01 1.08416271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.416875 meters Centerline goodness : 0.992025 Centerline is valid? [True, True] Translation: X:119.82, Y:95.47, Z:10.84 [[ 9.48086491e-01 3.17793554e-01 -1.18009395e-02 1.19824215e+02] [-3.17761085e-01 9.48159746e-01 4.58131762e-03 9.54734653e+01] [ 1.26450891e-02 -5.93605992e-04 9.99919871e-01 1.08438694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.44687500000003 meters Centerline goodness : 0.992447 Centerline is valid? [True, True] Translation: X:119.85, Y:95.47, Z:10.83 [[ 9.46777510e-01 3.20603010e-01 -2.87411952e-02 1.19853926e+02] [-3.21255473e-01 9.46738702e-01 -2.19260249e-02 9.54748365e+01] [ 2.01808523e-02 2.99923336e-02 9.99346383e-01 1.08286132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.476875 meters Centerline goodness : 0.992668 Centerline is valid? [True, True] Translation: X:119.88, Y:95.46, Z:10.84 [[ 9.46417641e-01 3.22235633e-01 -2.13973103e-02 1.19881952e+02] [-3.22303113e-01 9.46636470e-01 3.10821954e-04 9.54586871e+01] [ 2.03556322e-02 6.60225232e-03 9.99771003e-01 1.08423281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.50687500000004 meters Centerline goodness : 0.993261 Centerline is valid? [True, True] Translation: X:119.91, Y:95.45, Z:10.85 [[ 9.46469582e-01 3.22349292e-01 -1.69193679e-02 1.19911812e+02] [-3.22229105e-01 9.46614252e-01 9.47953684e-03 9.54455773e+01] [ 1.90718368e-02 -3.52018047e-03 9.99811919e-01 1.08492137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.536875 meters Centerline goodness : 0.992239 Centerline is valid? [True, True] Translation: X:119.94, Y:95.44, Z:10.85 [[ 9.45886499e-01 3.23923735e-01 -1.92910433e-02 1.19943048e+02] [-3.23904821e-01 9.46080422e-01 4.18363459e-03 9.54370007e+01] [ 1.96060569e-02 2.29121843e-03 9.99805157e-01 1.08478574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.56687500000004 meters Centerline goodness : 0.992688 Centerline is valid? [True, True] Translation: X:119.97, Y:95.43, Z:10.85 [[ 9.45407356e-01 3.25337478e-01 -1.89857132e-02 1.19974310e+02] [-3.25246465e-01 9.45597229e-01 7.78571167e-03 9.54258050e+01] [ 2.04858216e-02 -1.18563298e-03 9.99789441e-01 1.08522753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.596875 meters Centerline goodness : 0.991494 Centerline is valid? [True, True] Translation: X:120.01, Y:95.41, Z:10.87 [[ 9.46130789e-01 3.23781762e-01 -1.37896846e-03 1.20005093e+02] [-3.23516583e-01 9.45512040e-01 3.66606363e-02 9.54053927e+01] [ 1.31738767e-02 -3.42396376e-02 9.99326822e-01 1.08735703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.62687500000004 meters Centerline goodness : 0.991195 Centerline is valid? [True, True] Translation: X:120.04, Y:95.41, Z:10.85 [[ 9.46189604e-01 3.23315050e-01 -1.38784439e-02 1.20037489e+02] [-3.23374482e-01 9.46268483e-01 -2.21431197e-03 9.54095554e+01] [ 1.24168136e-02 6.58309357e-03 9.99901238e-01 1.08504169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.656875 meters Centerline goodness : 0.990918 Centerline is valid? [True, True] Translation: X:120.07, Y:95.40, Z:10.86 [[ 9.45555244e-01 3.25137867e-01 -1.45137034e-02 1.20068710e+02] [-3.25080101e-01 9.45665885e-01 6.24197329e-03 9.53969120e+01] [ 1.57546160e-02 -1.18401442e-03 9.99875187e-01 1.08571290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.68687500000004 meters Centerline goodness : 0.990917 Centerline is valid? [True, True] Translation: X:120.10, Y:95.39, Z:10.86 [[ 9.45186023e-01 3.26271260e-01 -1.30554898e-02 1.20097517e+02] [-3.26183851e-01 9.45269009e-01 8.40211695e-03 9.53868180e+01] [ 1.50823192e-02 -3.68307358e-03 9.99879472e-01 1.08605005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.716875 meters Centerline goodness : 0.991415 Centerline is valid? [True, True] Translation: X:120.13, Y:95.39, Z:10.84 [[ 9.42912168e-01 3.31446313e-01 -3.25574060e-02 1.20125319e+02] [-3.32155640e-01 9.43025223e-01 -1.93922546e-02 9.53922572e+01] [ 2.42749637e-02 2.90993188e-02 9.99281720e-01 1.08439951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.74687500000005 meters Centerline goodness : 0.991001 Centerline is valid? [True, True] Translation: X:120.15, Y:95.37, Z:10.86 [[ 9.42022002e-01 3.34608224e-01 -2.51372994e-02 1.20154363e+02] [-3.34568271e-01 9.42353023e-01 5.90353978e-03 9.53747758e+01] [ 2.56635831e-02 2.84887844e-03 9.99666577e-01 1.08581707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.776875 meters Centerline goodness : 0.991845 Centerline is valid? [True, True] Translation: X:120.19, Y:95.37, Z:10.86 [[ 9.40639266e-01 3.38513145e-01 -2.46297125e-02 1.20185193e+02] [-3.38403675e-01 9.40961634e-01 8.61144853e-03 9.53663434e+01] [ 2.60907030e-02 2.34518588e-04 9.99659552e-01 1.08614321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.806875 meters Centerline goodness : 0.989313 Centerline is valid? [True, True] Translation: X:120.22, Y:95.35, Z:10.88 [[ 9.41250374e-01 3.37653663e-01 -6.14309761e-03 1.20218566e+02] [-3.37311166e-01 9.40867777e-01 3.14484140e-02 9.53469171e+01] [ 1.63985148e-02 -2.75286961e-02 9.99486498e-01 1.08760635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.836875 meters Centerline goodness : 0.989780 Centerline is valid? [True, True] Translation: X:120.25, Y:95.34, Z:10.86 [[ 9.40974861e-01 3.38091870e-01 -1.61306555e-02 1.20252272e+02] [-3.38042660e-01 9.41113111e-01 5.76831662e-03 9.53442625e+01] [ 1.71309923e-02 2.50087561e-05 9.99853253e-01 1.08648896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.866875 meters Centerline goodness : 0.990176 Centerline is valid? [True, True] Translation: X:120.28, Y:95.34, Z:10.87 [[ 9.39825116e-01 3.41429825e-01 -1.24268277e-02 1.20279505e+02] [-3.41304656e-01 9.39886545e-01 1.11541448e-02 9.53357031e+01] [ 1.54881658e-02 -6.24161129e-03 9.99860570e-01 1.08700387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.896875 meters Centerline goodness : 0.989600 Centerline is valid? [True, True] Translation: X:120.31, Y:95.33, Z:10.87 [[ 9.39906140e-01 3.41075194e-01 -1.56256137e-02 1.20313641e+02] [-3.41112251e-01 9.40022519e-01 3.11299832e-04 9.53287027e+01] [ 1.47946054e-02 5.03749565e-03 9.99877864e-01 1.08656354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.926875 meters Centerline goodness : 0.988044 Centerline is valid? [True, True] Translation: X:120.34, Y:95.33, Z:10.85 [[ 9.41697145e-01 3.36234452e-01 -1.23644709e-02 1.20338684e+02] [-3.36404410e-01 9.41579009e-01 -1.61568449e-02 9.53336734e+01] [ 6.20963840e-03 1.93743172e-02 9.99793017e-01 1.08485503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.956875 meters Centerline goodness : 0.989640 Centerline is valid? [True, True] Translation: X:120.37, Y:95.31, Z:10.87 [[ 9.40352595e-01 3.40160183e-01 -5.29585995e-03 1.20365929e+02] [-3.40107023e-01 9.40344460e-01 8.91682943e-03 9.53138833e+01] [ 8.01308290e-03 -6.58380454e-03 9.99946221e-01 1.08663002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.986875 meters Centerline goodness : 0.988320 Centerline is valid? [True, True] Translation: X:120.40, Y:95.31, Z:10.86 [[ 9.40300612e-01 3.40277363e-01 -6.78787992e-03 1.20397712e+02] [-3.40274729e-01 9.40324747e-01 1.57487489e-03 9.53069785e+01] [ 6.91870574e-03 8.28888171e-04 9.99975722e-01 1.08648329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.016875 meters Centerline goodness : 0.988327 Centerline is valid? [True, True] Translation: X:120.43, Y:95.30, Z:10.86 [[ 9.40096339e-01 3.40872351e-01 -4.99143960e-03 1.20428065e+02] [-3.40873851e-01 9.40108871e-01 5.73222286e-04 9.52994611e+01] [ 4.88789227e-03 1.16256707e-03 9.99987378e-01 1.08647865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.046875 meters Centerline goodness : 0.988153 Centerline is valid? [True, True] Translation: X:120.46, Y:95.29, Z:10.87 [[ 9.39372732e-01 3.42873458e-01 -4.08184750e-03 1.20457720e+02] [-3.42865923e-01 9.39381174e-01 2.44323329e-03 9.52888899e+01] [ 4.67213054e-03 -8.95580328e-04 9.99988685e-01 1.08657778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.07687500000003 meters Centerline goodness : 0.988580 Centerline is valid? [True, True] Translation: X:120.49, Y:95.28, Z:10.86 [[ 9.39231711e-01 3.43234112e-01 -5.84275442e-03 1.20486718e+02] [-3.43248143e-01 9.39243451e-01 -1.56583158e-03 9.52809830e+01] [ 4.95032201e-03 3.47619328e-03 9.99981705e-01 1.08641055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.106875 meters Centerline goodness : 0.988338 Centerline is valid? [True, True] Translation: X:120.52, Y:95.27, Z:10.87 [[ 9.38903721e-01 3.44132709e-01 -5.69930266e-03 1.20517885e+02] [-3.44100542e-01 9.38914105e-01 5.92621721e-03 9.52698617e+01] [ 7.39056084e-03 -3.60301425e-03 9.99966198e-01 1.08694151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.13687500000003 meters Centerline goodness : 0.988095 Centerline is valid? [True, True] Translation: X:120.55, Y:95.26, Z:10.87 [[ 9.37795170e-01 3.47168661e-01 -3.76026538e-03 1.20545658e+02] [-3.47102162e-01 9.37747809e-01 1.22120980e-02 9.52577310e+01] [ 7.76583833e-03 -1.01472503e-02 9.99918359e-01 1.08748301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.166875 meters Centerline goodness : 0.988458 Centerline is valid? [True, True] Translation: X:120.58, Y:95.25, Z:10.87 [[ 9.37831079e-01 3.47008440e-01 -7.61647107e-03 1.20576159e+02] [-3.47036486e-01 9.37847762e-01 -2.69328711e-03 9.52523752e+01] [ 6.20849698e-03 5.16904171e-03 9.99967367e-01 1.08659466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.19687500000003 meters Centerline goodness : 0.989135 Centerline is valid? [True, True] Translation: X:120.60, Y:95.24, Z:10.88 [[ 9.37275365e-01 3.48558994e-01 -4.63878882e-03 1.20603160e+02] [-3.48478912e-01 9.37229803e-01 1.27571029e-02 9.52371966e+01] [ 8.79421409e-03 -1.03403982e-02 9.99907865e-01 1.08781949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.226875 meters Centerline goodness : 0.989126 Centerline is valid? [True, True] Translation: X:120.64, Y:95.23, Z:10.87 [[ 9.38110575e-01 3.46251580e-01 -7.64154396e-03 1.20638519e+02] [-3.46276662e-01 9.38129845e-01 -2.20604844e-03 9.52310073e+01] [ 6.40491269e-03 4.71560570e-03 9.99968370e-01 1.08719921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.25687500000004 meters Centerline goodness : 0.987703 Centerline is valid? [True, True] Translation: X:120.67, Y:95.22, Z:10.87 [[ 9.38680857e-01 3.44693913e-01 -8.02220896e-03 1.20667974e+02] [-3.44742237e-01 9.38680185e-01 -5.68331466e-03 9.52236902e+01] [ 5.57128463e-03 8.10041294e-03 9.99951671e-01 1.08685785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.286875 meters Centerline goodness : 0.988296 Centerline is valid? [True, True] Translation: X:120.70, Y:95.21, Z:10.87 [[ 9.38937032e-01 3.43914046e-01 -1.09717724e-02 1.20700153e+02] [-3.43975241e-01 9.38969197e-01 -4.22867994e-03 9.52130376e+01] [ 8.84785392e-03 7.74448225e-03 9.99930867e-01 1.08699942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.31687500000004 meters Centerline goodness : 0.990594 Centerline is valid? [True, True] Translation: X:120.72, Y:95.20, Z:10.89 [[ 9.37762184e-01 3.47278101e-01 -8.20979956e-05 1.20715499e+02] [-3.47177952e-01 9.37497375e-01 2.37937172e-02 9.51998448e+01] [ 8.34000357e-03 -2.22843456e-02 9.99716886e-01 1.08873963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.346875 meters Centerline goodness : 0.985903 Centerline is valid? [True, True] Translation: X:120.76, Y:95.20, Z:10.85 [[ 9.40579413e-01 3.39192873e-01 -1.60799187e-02 1.20762473e+02] [-3.39550021e-01 9.40018912e-01 -3.27143591e-02 9.52035154e+01] [ 4.01895026e-03 3.62303894e-02 9.99335383e-01 1.08513090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.37687500000004 meters Centerline goodness : 0.987976 Centerline is valid? [True, True] Translation: X:120.78, Y:95.18, Z:10.88 [[ 9.38234732e-01 3.45998348e-01 -8.54687790e-04 1.20783062e+02] [-3.45934640e-01 9.38104046e-01 1.70300733e-02 9.51770624e+01] [ 6.69416329e-03 -1.56825401e-02 9.99854613e-01 1.08811260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.406875 meters Centerline goodness : 0.986988 Centerline is valid? [True, True] Translation: X:120.82, Y:95.17, Z:10.88 [[ 9.37871985e-01 3.46905504e-01 -7.26029683e-03 1.20815066e+02] [-3.46823410e-01 9.37871016e-01 1.05584156e-02 9.51685250e+01] [ 1.04719944e-02 -7.38440128e-03 9.99917901e-01 1.08795212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.43687500000004 meters Centerline goodness : 0.988200 Centerline is valid? [True, True] Translation: X:120.84, Y:95.17, Z:10.87 [[ 9.38030058e-01 3.46396816e-01 -1.04334059e-02 1.20843569e+02] [-3.46475453e-01 9.38033168e-01 -6.96672308e-03 9.51661772e+01] [ 7.37363008e-03 1.01499147e-02 9.99921301e-01 1.08669576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.466875 meters Centerline goodness : 0.988567 Centerline is valid? [True, True] Translation: X:120.87, Y:95.15, Z:10.88 [[ 9.36979428e-01 3.49292719e-01 -8.00924391e-03 1.20871702e+02] [-3.49220499e-01 9.36995784e-01 9.16207643e-03 9.51493959e+01] [ 1.07048744e-02 -5.78768497e-03 9.99925951e-01 1.08787562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.49687500000005 meters Centerline goodness : 0.988441 Centerline is valid? [True, True] Translation: X:120.90, Y:95.14, Z:10.89 [[ 9.36585985e-01 3.50305532e-01 -9.62947024e-03 1.20899313e+02] [-3.50146369e-01 9.36574108e-01 1.50485983e-02 9.51375237e+01] [ 1.42903197e-02 -1.07225822e-02 9.99840394e-01 1.08859529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.526875 meters Centerline goodness : 0.983774 Centerline is valid? [True, True] Translation: X:120.95, Y:95.12, Z:10.88 [[ 9.35333277e-01 3.53567972e-01 -1.18890725e-02 1.20954218e+02] [-3.53569673e-01 9.35405993e-01 2.02862742e-03 9.51178669e+01] [ 1.18383674e-02 2.30617276e-03 9.99927265e-01 1.08771791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.556875 meters Centerline goodness : 0.988259 Centerline is valid? [True, True] Translation: X:121.27, Y:96.08, Z:11.55 [[ 9.71921227e-01 -2.23366550e-01 7.40034684e-02 1.21272830e+02] [-2.30021698e-01 -9.68162352e-01 9.87505923e-02 9.60787420e+01] [ 4.95897929e-02 -1.13000200e-01 -9.92356694e-01 1.15517852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.586875 meters Centerline goodness : 0.988356 Centerline is valid? [True, True] Translation: X:121.27, Y:96.12, Z:11.49 [[ 9.87345023e-01 -1.53853479e-01 3.84566316e-02 1.21268361e+02] [-1.52419543e-01 -9.87592542e-01 -3.78054717e-02 9.61165685e+01] [ 4.37959859e-02 3.14655021e-02 -9.98544858e-01 1.14861697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.616875 meters Centerline goodness : 0.988041 Centerline is valid? [True, True] Translation: X:121.25, Y:96.14, Z:11.42 [[ 9.96981850e-01 -7.53753799e-02 1.85941614e-02 1.21254868e+02] [-7.08214551e-02 -9.81129815e-01 -1.79912777e-01 9.61411401e+01] [ 3.18042801e-02 1.78052908e-01 -9.83506812e-01 1.14166053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.646875 meters Centerline goodness : 0.988292 Centerline is valid? [True, True] Translation: X:121.24, Y:96.14, Z:11.38 [[ 9.99891584e-01 2.36147457e-04 1.47229428e-02 1.21240931e+02] [ 3.96058354e-03 -9.67336997e-01 -2.53462914e-01 9.61429173e+01] [ 1.41821926e-02 2.53493746e-01 -9.67233057e-01 1.13794217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.676875 meters Centerline goodness : 0.984206 Centerline is valid? [True, True] Translation: X:121.26, Y:95.09, Z:10.89 [[ 9.98934826e-01 4.61116298e-02 1.71189421e-03 1.21261107e+02] [-4.60528773e-02 9.98611545e-01 -2.55756824e-02 9.50900777e+01] [-2.88885372e-03 2.54696022e-02 9.99671423e-01 1.08901366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.706875 meters Centerline goodness : 0.986578 Centerline is valid? [True, True] Translation: X:121.27, Y:95.10, Z:10.90 [[ 9.99390497e-01 3.46180837e-02 -4.49688690e-03 1.21269027e+02] [-3.46777927e-02 9.99301065e-01 -1.39582316e-02 9.50966177e+01] [ 4.01053664e-03 1.41056661e-02 9.99892467e-01 1.09031096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.736875 meters Centerline goodness : 0.988704 Centerline is valid? [True, True] Translation: X:121.29, Y:95.09, Z:10.91 [[ 9.99341924e-01 3.62613365e-02 -9.13007875e-04 1.21290671e+02] [-3.62609224e-02 9.99342248e-01 4.66082947e-04 9.50928622e+01] [ 9.29308133e-04 -4.32669722e-04 9.99999475e-01 1.09073997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.766875 meters Centerline goodness : 0.984502 Centerline is valid? [True, True] Translation: X:121.35, Y:95.08, Z:10.91 [[ 9.99129582e-01 4.17136604e-02 2.21045961e-04 1.21345415e+02] [-4.17133659e-02 9.99060051e-01 1.17902081e-02 9.50822128e+01] [ 2.70974548e-04 -1.17891663e-02 9.99930469e-01 1.09115925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.796875 meters Centerline goodness : 0.986468 Centerline is valid? [True, True] Translation: X:121.37, Y:95.09, Z:10.91 [[ 9.99318591e-01 3.68775075e-02 -1.55053874e-03 1.21368126e+02] [-3.68601991e-02 9.99270324e-01 1.00072257e-02 9.50891979e+01] [ 1.91844889e-03 -9.94325354e-03 9.99948724e-01 1.09145487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.82687500000003 meters Centerline goodness : 0.986190 Centerline is valid? [True, True] Translation: X:121.38, Y:95.11, Z:10.89 [[ 9.99597600e-01 2.83591007e-02 6.32880332e-04 1.21381549e+02] [-2.83355225e-02 9.99306056e-01 -2.41765169e-02 9.51092897e+01] [-1.31806543e-03 2.41488552e-02 9.99707505e-01 1.08947657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.856875 meters Centerline goodness : 0.988249 Centerline is valid? [True, True] Translation: X:121.41, Y:95.10, Z:10.91 [[ 9.99567399e-01 2.93960605e-02 9.41776362e-04 1.21412676e+02] [-2.93932775e-02 9.99563879e-01 -2.84392386e-03 9.51010784e+01] [-1.02496579e-03 2.81501168e-03 9.99995513e-01 1.09058388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.88687500000003 meters Centerline goodness : 0.984874 Centerline is valid? [True, True] Translation: X:121.45, Y:95.10, Z:10.90 [[ 9.99669030e-01 2.57115305e-02 -8.64746880e-04 1.21449612e+02] [-2.57202348e-02 9.99593354e-01 -1.23124809e-02 9.51034817e+01] [ 5.47822507e-04 1.23306473e-02 9.99923825e-01 1.09011451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.916875 meters Centerline goodness : 0.984133 Centerline is valid? [True, True] Translation: X:121.50, Y:95.08, Z:10.91 [[ 9.99471332e-01 3.19703102e-02 5.91243250e-03 1.21499289e+02] [-3.20664984e-02 9.99341824e-01 1.69604936e-02 9.50846212e+01] [-5.36630884e-03 -1.71411181e-02 9.99838679e-01 1.09110338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.94687500000003 meters Centerline goodness : 0.987277 Centerline is valid? [True, True] Translation: X:121.51, Y:95.10, Z:10.90 [[ 9.99653400e-01 2.56697589e-02 5.84325257e-03 1.21509298e+02] [-2.56172218e-02 9.99632251e-01 -8.89503590e-03 9.50982030e+01] [-6.06943714e-03 8.74226498e-03 9.99943366e-01 1.08999478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.976875 meters Centerline goodness : 0.987855 Centerline is valid? [True, True] Translation: X:121.54, Y:95.10, Z:10.90 [[ 9.99633348e-01 2.63150887e-02 6.37851957e-03 1.21541157e+02] [-2.62979175e-02 9.99650337e-01 -2.76113326e-03 9.50959273e+01] [-6.44894870e-03 2.59237910e-03 9.99975845e-01 1.09029289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.00687500000004 meters Centerline goodness : 0.984765 Centerline is valid? [True, True] Translation: X:121.60, Y:95.08, Z:10.91 [[ 9.99412558e-01 3.28893925e-02 9.63471881e-03 1.21595327e+02] [-3.30633060e-02 9.99282309e-01 1.84847290e-02 9.50815399e+01] [-9.01985255e-03 -1.87924260e-02 9.99782720e-01 1.09134761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.036875 meters Centerline goodness : 0.984765 Centerline is valid? [True, True] Translation: X:121.63, Y:95.09, Z:10.90 [[ 9.99442361e-01 3.20449280e-02 9.38565855e-03 1.21628505e+02] [-3.20358736e-02 9.99486099e-01 -1.11349960e-03 9.50878649e+01] [-9.41651727e-03 8.12200902e-04 9.99955334e-01 1.09037247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.06687500000004 meters Centerline goodness : 0.986915 Centerline is valid? [True, True] Translation: X:121.63, Y:95.10, Z:10.90 [[ 9.99604566e-01 2.70757148e-02 7.59059893e-03 1.21633461e+02] [-2.69431299e-02 9.99491441e-01 -1.70565587e-02 9.50990260e+01] [-8.04855718e-03 1.68452995e-02 9.99825713e-01 1.08997666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.096875 meters Centerline goodness : 0.987490 Centerline is valid? [True, True] Translation: X:121.66, Y:95.09, Z:10.91 [[ 9.99524237e-01 2.93390583e-02 9.51421846e-03 1.21663653e+02] [-2.93295173e-02 9.99569146e-01 -1.14081845e-03 9.50930889e+01] [-9.54358976e-03 8.61228252e-04 9.99954088e-01 1.09066667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.12687500000004 meters Centerline goodness : 0.986984 Centerline is valid? [True, True] Translation: X:121.69, Y:95.10, Z:10.90 [[ 9.99551908e-01 2.81098722e-02 1.02868199e-02 1.21693841e+02] [-2.80391474e-02 9.99582622e-01 -6.95613683e-03 9.50953569e+01] [-1.04780626e-02 6.66458617e-03 9.99922894e-01 1.09016712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.156875 meters Centerline goodness : 0.988252 Centerline is valid? [True, True] Translation: X:121.72, Y:95.08, Z:10.92 [[ 9.99516674e-01 3.05115662e-02 5.95502568e-03 1.21724430e+02] [-3.06213945e-02 9.99344380e-01 1.93168213e-02 9.50840565e+01] [-5.36173498e-03 -1.94898361e-02 9.99795678e-01 1.09222681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.18687500000004 meters Centerline goodness : 0.984721 Centerline is valid? [True, True] Translation: X:121.78, Y:95.08, Z:10.92 [[ 9.99336240e-01 3.55464057e-02 7.97069161e-03 1.21781843e+02] [-3.56814182e-02 9.99210163e-01 1.74896403e-02 9.50785622e+01] [-7.34270221e-03 -1.77624369e-02 9.99815273e-01 1.09194293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.216875 meters Centerline goodness : 0.988894 Centerline is valid? [True, True] Translation: X:121.78, Y:95.09, Z:10.91 [[ 9.99457216e-01 3.22800090e-02 6.57835133e-03 1.21783534e+02] [-3.22298069e-02 9.99451592e-01 -7.59966887e-03 9.50902344e+01] [-6.82006109e-03 7.38352490e-03 9.99949484e-01 1.09086875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.246875 meters Centerline goodness : 0.988323 Centerline is valid? [True, True] Translation: X:121.82, Y:95.08, Z:10.91 [[ 9.99331262e-01 3.61505320e-02 5.49255439e-03 1.21817954e+02] [-3.61649200e-02 9.99342599e-01 2.54317545e-03 9.50842617e+01] [-5.39700643e-03 -2.74011252e-03 9.99981682e-01 1.09141997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.276875 meters Centerline goodness : 0.986974 Centerline is valid? [True, True] Translation: X:121.85, Y:95.10, Z:10.89 [[ 9.99293041e-01 3.57477132e-02 1.16413042e-02 1.21848935e+02] [-3.54087365e-02 9.98977012e-01 -2.81274133e-02 9.50966179e+01] [-1.26348860e-02 2.76953245e-02 9.99536557e-01 1.08888655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.306875 meters Centerline goodness : 0.987159 Centerline is valid? [True, True] Translation: X:121.88, Y:95.08, Z:10.91 [[ 9.99139155e-01 4.05987013e-02 8.52616181e-03 1.21881613e+02] [-4.06723426e-02 9.99135104e-01 8.64895419e-03 9.50845341e+01] [-8.16765125e-03 -8.98828775e-03 9.99926247e-01 1.09094850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.336875 meters Centerline goodness : 0.988667 Centerline is valid? [True, True] Translation: X:121.91, Y:95.08, Z:10.91 [[ 9.98965734e-01 4.51246978e-02 5.58788264e-03 1.21910995e+02] [-4.51432948e-02 9.98975242e-01 3.24786535e-03 9.50819397e+01] [-5.43559747e-03 -3.49676163e-03 9.99979113e-01 1.09103059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.366875 meters Centerline goodness : 0.988740 Centerline is valid? [True, True] Translation: X:121.94, Y:95.08, Z:10.91 [[ 9.98956044e-01 4.53261697e-02 5.68855788e-03 1.21941822e+02] [-4.53200888e-02 9.98971804e-01 -1.19341809e-03 9.50822617e+01] [-5.73680200e-03 9.34366263e-04 9.99983108e-01 1.09077769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.396875 meters Centerline goodness : 0.984679 Centerline is valid? [True, True] Translation: X:122.00, Y:95.07, Z:10.92 [[ 9.98703126e-01 5.05964569e-02 5.66251631e-03 1.21999852e+02] [-5.06878482e-02 9.98563552e-01 1.73658927e-02 9.50705248e+01] [-4.77572976e-03 -1.76303921e-02 9.99833167e-01 1.09161035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.426875 meters Centerline goodness : 0.987058 Centerline is valid? [True, True] Translation: X:122.00, Y:95.09, Z:10.90 [[ 9.98850590e-01 4.78644764e-02 2.54751793e-03 1.22003351e+02] [-4.77940540e-02 9.98596218e-01 -2.28324638e-02 9.50862445e+01] [-3.63680570e-03 2.26844638e-02 9.99736060e-01 1.08981317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.456875 meters Centerline goodness : 0.987151 Centerline is valid? [True, True] Translation: X:122.03, Y:95.08, Z:10.91 [[ 9.98636175e-01 5.21990730e-02 1.02266801e-03 1.22033659e+02] [-5.21941548e-02 9.98627450e-01 -4.35728247e-03 9.50783096e+01] [-1.24871046e-03 4.29796261e-03 9.99989984e-01 1.09065582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.486875 meters Centerline goodness : 0.989293 Centerline is valid? [True, True] Translation: X:122.06, Y:95.07, Z:10.92 [[ 9.98528278e-01 5.41583284e-02 -2.85539165e-03 1.22062716e+02] [-5.41271620e-02 9.98483482e-01 1.00492164e-02 9.50716183e+01] [ 3.39531016e-03 -9.87987254e-03 9.99945429e-01 1.09183072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.516875 meters Centerline goodness : 0.988595 Centerline is valid? [True, True] Translation: X:122.10, Y:95.07, Z:10.91 [[ 9.98533426e-01 5.41089342e-02 -1.79471334e-03 1.22095526e+02] [-5.41187151e-02 9.98516827e-01 -5.94231603e-03 9.50747641e+01] [ 1.47051908e-03 6.03072876e-03 9.99980734e-01 1.09078767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.546875 meters Centerline goodness : 0.984551 Centerline is valid? [True, True] Translation: X:122.15, Y:95.06, Z:10.92 [[ 9.98100843e-01 6.15979943e-02 -6.28163317e-04 1.22152296e+02] [-6.15653448e-02 9.97815932e-01 2.39389717e-02 9.50578554e+01] [ 2.10138401e-03 -2.38548348e-02 9.99713224e-01 1.09214809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.57687500000003 meters Centerline goodness : 0.988324 Centerline is valid? [True, True] Translation: X:122.16, Y:95.08, Z:10.90 [[ 9.98486953e-01 5.48179741e-02 -4.33523697e-03 1.22156981e+02] [-5.49078348e-02 9.98192885e-01 -2.44150378e-02 9.50778925e+01] [ 2.98901978e-03 2.46161352e-02 9.99692509e-01 1.09003936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.606875 meters Centerline goodness : 0.988100 Centerline is valid? [True, True] Translation: X:122.19, Y:95.06, Z:10.92 [[ 9.98316721e-01 5.76746479e-02 -6.11219598e-03 1.22189609e+02] [-5.76484152e-02 9.98327319e-01 4.38463985e-03 9.50640127e+01] [ 6.35485479e-03 -4.02490087e-03 9.99971708e-01 1.09177571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.63687500000003 meters Centerline goodness : 0.988489 Centerline is valid? [True, True] Translation: X:122.22, Y:95.07, Z:10.91 [[ 9.98371264e-01 5.66724262e-02 -6.56170034e-03 1.22220510e+02] [-5.67008063e-02 9.98382284e-01 -4.22288350e-03 9.50651460e+01] [ 6.31176432e-03 4.58805924e-03 9.99969555e-01 1.09134551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.666875 meters Centerline goodness : 0.984904 Centerline is valid? [True, True] Translation: X:122.28, Y:95.05, Z:10.92 [[ 9.98145203e-01 6.06261456e-02 -5.53388145e-03 1.22275558e+02] [-6.05337163e-02 9.98044704e-01 1.55704438e-02 9.50506631e+01] [ 6.46703706e-03 -1.52065773e-02 9.99863459e-01 1.09240510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.69687500000003 meters Centerline goodness : 0.987690 Centerline is valid? [True, True] Translation: X:122.28, Y:95.06, Z:10.91 [[ 9.98335192e-01 5.70260344e-02 -8.65311178e-03 1.22279469e+02] [-5.72081046e-02 9.98108740e-01 -2.24983487e-02 9.50634271e+01] [ 7.35375490e-03 2.29559213e-02 9.99709432e-01 1.09080181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.726875 meters Centerline goodness : 0.988873 Centerline is valid? [True, True] Translation: X:122.31, Y:95.05, Z:10.92 [[ 9.98220163e-01 5.90750267e-02 -8.16373822e-03 1.22312873e+02] [-5.90992896e-02 9.98248285e-01 -2.76325204e-03 9.50530098e+01] [ 7.98619849e-03 3.24080503e-03 9.99962858e-01 1.09184770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.75687500000004 meters Centerline goodness : 0.987414 Centerline is valid? [True, True] Translation: X:122.35, Y:95.04, Z:10.93 [[ 9.98112967e-01 6.03406980e-02 -1.13800115e-02 1.22348415e+02] [-6.01440435e-02 9.98046691e-01 1.68966633e-02 9.50417698e+01] [ 1.23773392e-02 -1.61803389e-02 9.99792478e-01 1.09346064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.786875 meters Centerline goodness : 0.989487 Centerline is valid? [True, True] Translation: X:122.37, Y:95.05, Z:10.92 [[ 9.98128796e-01 5.99846544e-02 -1.18637004e-02 1.22373891e+02] [-6.01457457e-02 9.98095276e-01 -1.37225874e-02 9.50490221e+01] [ 1.10179586e-02 1.44104608e-02 9.99835458e-01 1.09182359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.81687500000004 meters Centerline goodness : 0.989769 Centerline is valid? [True, True] Translation: X:122.41, Y:95.03, Z:10.94 [[ 9.98106321e-01 5.96366380e-02 -1.50745844e-02 1.22405890e+02] [-5.93366645e-02 9.98045201e-01 1.96198102e-02 9.50347736e+01] [ 1.62151761e-02 -1.86881810e-02 9.99693863e-01 1.09422769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.846875 meters Centerline goodness : 0.989397 Centerline is valid? [True, True] Translation: X:122.44, Y:95.04, Z:10.92 [[ 9.98165262e-01 5.89603600e-02 -1.37762944e-02 1.22441882e+02] [-5.91295688e-02 9.98175568e-01 -1.22159626e-02 9.50408230e+01] [ 1.30309029e-02 1.30081359e-02 9.99830478e-01 1.09240368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.87687500000004 meters Centerline goodness : 0.991118 Centerline is valid? [True, True] Translation: X:122.47, Y:95.03, Z:10.94 [[ 9.97951072e-01 6.17331996e-02 -1.68128114e-02 1.22468227e+02] [-6.15626726e-02 9.98048214e-01 1.04785837e-02 9.50290330e+01] [ 1.74268729e-02 -9.42207220e-03 9.99803745e-01 1.09420391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.906875 meters Centerline goodness : 0.988451 Centerline is valid? [True, True] Translation: X:122.50, Y:95.04, Z:10.91 [[ 9.98404804e-01 5.56262244e-02 -9.67316521e-03 1.22499406e+02] [-5.58708773e-02 9.98067705e-01 -2.71900866e-02 9.50406707e+01] [ 8.14199194e-03 2.76871613e-02 9.99583478e-01 1.09146090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.93687500000004 meters Centerline goodness : 0.991010 Centerline is valid? [True, True] Translation: X:122.53, Y:95.03, Z:10.92 [[ 9.97823195e-01 6.22516011e-02 -2.17625698e-02 1.22531787e+02] [-6.27595129e-02 9.97752179e-01 -2.34911167e-02 9.50335876e+01] [ 2.02512918e-02 2.48057894e-02 9.99487148e-01 1.09206332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.966875 meters Centerline goodness : 0.989455 Centerline is valid? [True, True] Translation: X:122.57, Y:95.01, Z:10.95 [[ 9.98109043e-01 6.06554463e-02 -9.96266182e-03 1.22567298e+02] [-6.03203682e-02 9.97695885e-01 3.10543655e-02 9.50121337e+01] [ 1.18233231e-02 -3.03946916e-02 9.99468044e-01 1.09516034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.996875 meters Centerline goodness : 0.990329 Centerline is valid? [True, True] Translation: X:122.59, Y:95.02, Z:10.93 [[ 9.98226603e-01 5.87193537e-02 -9.78194204e-03 1.22593294e+02] [-5.88313205e-02 9.98200758e-01 -1.15811214e-02 9.50243571e+01] [ 9.08430599e-03 1.21360680e-02 9.99885089e-01 1.09270573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.026875 meters Centerline goodness : 0.988958 Centerline is valid? [True, True] Translation: X:122.63, Y:95.01, Z:10.94 [[ 9.98160819e-01 5.96194397e-02 -1.09773134e-02 1.22628539e+02] [-5.95171770e-02 9.98182849e-01 9.41833675e-03 9.50128545e+01] [ 1.15188819e-02 -8.74767602e-03 9.99895391e-01 1.09421172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.056875 meters Centerline goodness : 0.985743 Centerline is valid? [True, True] Translation: X:122.68, Y:95.00, Z:10.96 [[ 9.98061751e-01 6.13838272e-02 -1.02355921e-02 1.22682621e+02] [-6.10118871e-02 9.97578989e-01 3.33723119e-02 9.49992514e+01] [ 1.22593319e-02 -3.26831353e-02 9.99390575e-01 1.09576811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.086875 meters Centerline goodness : 0.990149 Centerline is valid? [True, True] Translation: X:122.69, Y:95.02, Z:10.92 [[ 9.98231696e-01 5.83161494e-02 -1.15198836e-02 1.22692960e+02] [-5.86642898e-02 9.97744174e-01 -3.26353319e-02 9.50181132e+01] [ 9.59072986e-03 3.32534285e-02 9.99400934e-01 1.09232432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.116875 meters Centerline goodness : 0.990408 Centerline is valid? [True, True] Translation: X:122.73, Y:95.00, Z:10.94 [[ 9.98127014e-01 6.01912640e-02 -1.09304667e-02 1.22726771e+02] [-6.01791995e-02 9.98186566e-01 1.42961824e-03 9.50038215e+01] [ 1.09966955e-02 -7.69153851e-04 9.99939239e-01 1.09429093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.146875 meters Centerline goodness : 0.991244 Centerline is valid? [True, True] Translation: X:122.75, Y:95.00, Z:10.94 [[ 9.97974677e-01 6.26200313e-02 -1.11926747e-02 1.22753970e+02] [-6.26654735e-02 9.98027520e-01 -3.75613432e-03 9.50036559e+01] [ 1.09353881e-02 4.44992119e-03 9.99930305e-01 1.09385117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.176875 meters Centerline goodness : 0.992991 Centerline is valid? [True, True] Translation: X:122.78, Y:95.00, Z:10.94 [[ 9.97731118e-01 6.62612027e-02 -1.19192472e-02 1.22780452e+02] [-6.63314002e-02 9.97781970e-01 -5.59337086e-03 9.50012259e+01] [ 1.15221865e-02 6.37130052e-03 9.99913319e-01 1.09366146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.206875 meters Centerline goodness : 0.991910 Centerline is valid? [True, True] Translation: X:122.82, Y:94.99, Z:10.95 [[ 9.97560665e-01 6.81173800e-02 -1.52558935e-02 1.22815222e+02] [-6.79123419e-02 9.97598895e-01 1.35778402e-02 9.49911433e+01] [ 1.61441494e-02 -1.25086558e-02 9.99791428e-01 1.09516128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.236875 meters Centerline goodness : 0.991877 Centerline is valid? [True, True] Translation: X:122.85, Y:95.00, Z:10.94 [[ 9.97530588e-01 6.86366314e-02 -1.48908997e-02 1.22845822e+02] [-6.88090411e-02 9.97564805e-01 -1.13918836e-02 9.49972650e+01] [ 1.40727369e-02 1.23883809e-02 9.99824228e-01 1.09364070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.266875 meters Centerline goodness : 0.991469 Centerline is valid? [True, True] Translation: X:122.88, Y:94.99, Z:10.95 [[ 9.97374290e-01 7.04382264e-02 -1.68220639e-02 1.22876667e+02] [-7.03557708e-02 9.97507102e-01 5.44487944e-03 9.49875069e+01] [ 1.71636559e-02 -4.24705349e-03 9.99843674e-01 1.09478106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.296875 meters Centerline goodness : 0.992788 Centerline is valid? [True, True] Translation: X:122.91, Y:94.98, Z:10.95 [[ 9.97131472e-01 7.35098432e-02 -1.80313562e-02 1.22907884e+02] [-7.34076189e-02 9.97282324e-01 6.26797834e-03 9.49832639e+01] [ 1.84431109e-02 -4.92635955e-03 9.99817775e-01 1.09506520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.32687500000003 meters Centerline goodness : 0.992239 Centerline is valid? [True, True] Translation: X:122.94, Y:94.98, Z:10.95 [[ 9.97104442e-01 7.34471882e-02 -1.97038783e-02 1.22938075e+02] [-7.34057609e-02 9.97298175e-01 2.81856037e-03 9.49831115e+01] [ 1.98576572e-02 -1.36402089e-03 9.99801887e-01 1.09514655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.356875 meters Centerline goodness : 0.991966 Centerline is valid? [True, True] Translation: X:122.97, Y:94.99, Z:10.94 [[ 9.97145306e-01 7.27512472e-02 -2.02112457e-02 1.22967845e+02] [-7.30158265e-02 9.97250228e-01 -1.26756587e-02 9.49855695e+01] [ 1.92334994e-02 1.41152144e-02 9.99715376e-01 1.09414084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.38687500000003 meters Centerline goodness : 0.991342 Centerline is valid? [True, True] Translation: X:123.00, Y:94.98, Z:10.95 [[ 9.97074886e-01 7.36390565e-02 -2.04685471e-02 1.23000589e+02] [-7.35671634e-02 9.97281233e-01 4.24446099e-03 9.49767041e+01] [ 2.07254560e-02 -2.72623251e-03 9.99781488e-01 1.09509269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.416875 meters Centerline goodness : 0.992439 Centerline is valid? [True, True] Translation: X:123.03, Y:94.98, Z:10.94 [[ 9.96590765e-01 7.69248820e-02 -2.98229870e-02 1.23028286e+02] [-7.76447017e-02 9.96697480e-01 -2.37788569e-02 9.49835758e+01] [ 2.78953103e-02 2.60133861e-02 9.99272313e-01 1.09367791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.44687500000003 meters Centerline goodness : 0.993597 Centerline is valid? [True, True] Translation: X:123.06, Y:94.98, Z:10.95 [[ 9.96479812e-01 7.83843530e-02 -2.97300844e-02 1.23058314e+02] [-7.86183717e-02 9.96881702e-01 -6.78413911e-03 9.49751257e+01] [ 2.91056068e-02 9.09758848e-03 9.99534941e-01 1.09460341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.476875 meters Centerline goodness : 0.991005 Centerline is valid? [True, True] Translation: X:123.09, Y:94.96, Z:10.96 [[ 9.96730456e-01 7.82498483e-02 -2.01335295e-02 1.23091395e+02] [-7.79751202e-02 9.96855765e-01 1.40877080e-02 9.49642200e+01] [ 2.11725860e-02 -1.24717333e-02 9.99698043e-01 1.09569591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.50687500000004 meters Centerline goodness : 0.991405 Centerline is valid? [True, True] Translation: X:123.12, Y:94.96, Z:10.95 [[ 9.96804961e-01 7.72327101e-02 -2.03710402e-02 1.23124059e+02] [-7.71915046e-02 9.97012346e-01 2.80254615e-03 9.49636840e+01] [ 2.05266268e-02 -1.22112065e-03 9.99788561e-01 1.09520949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.536875 meters Centerline goodness : 0.989441 Centerline is valid? [True, True] Translation: X:123.16, Y:94.97, Z:10.95 [[ 9.97016910e-01 7.39894973e-02 -2.19735394e-02 1.23159749e+02] [-7.41855695e-02 9.97210369e-01 -8.24506575e-03 9.49653009e+01] [ 2.13021931e-02 9.85058950e-03 9.99724553e-01 1.09465455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.56687500000004 meters Centerline goodness : 0.991179 Centerline is valid? [True, True] Translation: X:123.19, Y:94.95, Z:10.96 [[ 9.96581437e-01 7.92318025e-02 -2.34042963e-02 1.23185075e+02] [-7.89331497e-02 9.96789557e-01 1.34215366e-02 9.49540674e+01] [ 2.43925707e-02 -1.15282794e-02 9.99635984e-01 1.09627970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.596875 meters Centerline goodness : 0.991588 Centerline is valid? [True, True] Translation: X:123.21, Y:94.96, Z:10.95 [[ 9.96573379e-01 7.90069229e-02 -2.44827607e-02 1.23214621e+02] [-7.92088245e-02 9.96830666e-01 -7.38815042e-03 9.49581738e+01] [ 2.38214516e-02 9.30208473e-03 9.99672951e-01 1.09509388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.62687500000004 meters Centerline goodness : 0.992457 Centerline is valid? [True, True] Translation: X:123.24, Y:94.95, Z:10.95 [[ 9.96591324e-01 7.91625363e-02 -2.32169230e-02 1.23240755e+02] [-7.91796814e-02 9.96860344e-01 1.81316506e-04 9.49535661e+01] [ 2.31583833e-02 1.65761011e-03 9.99730434e-01 1.09549863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.656875 meters Centerline goodness : 0.991855 Centerline is valid? [True, True] Translation: X:123.28, Y:94.95, Z:10.96 [[ 9.96412440e-01 8.06589948e-02 -2.56198217e-02 1.23276393e+02] [-8.05979768e-02 9.96740868e-01 3.40711923e-03 9.49461202e+01] [ 2.58111382e-02 -1.32999019e-03 9.99665952e-01 1.09613370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.68687500000004 meters Centerline goodness : 0.992007 Centerline is valid? [True, True] Translation: X:123.31, Y:94.94, Z:10.96 [[ 9.96500845e-01 7.95401978e-02 -2.56792330e-02 1.23309186e+02] [-7.96114123e-02 9.96824418e-01 -1.76127447e-03 9.49413759e+01] [ 2.54575944e-02 3.79947151e-03 9.99668683e-01 1.09622633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.716875 meters Centerline goodness : 0.991193 Centerline is valid? [True, True] Translation: X:123.34, Y:94.94, Z:10.96 [[ 9.96871371e-01 7.51840530e-02 -2.43890966e-02 1.23338212e+02] [-7.52202559e-02 9.97166781e-01 -5.69083328e-04 9.49403714e+01] [ 2.42772109e-02 2.40185696e-03 9.99702380e-01 1.09630208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.746875 meters Centerline goodness : 0.992768 Centerline is valid? [True, True] Translation: X:123.37, Y:94.94, Z:10.97 [[ 9.96546393e-01 7.88098544e-02 -2.61589920e-02 1.23366892e+02] [-7.88900131e-02 9.96881229e-01 -2.04493981e-03 9.49350986e+01] [ 2.59162467e-02 4.10156061e-03 9.99655703e-01 1.09653277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.776875 meters Centerline goodness : 0.991893 Centerline is valid? [True, True] Translation: X:123.40, Y:94.93, Z:10.97 [[ 9.96767032e-01 7.65296598e-02 -2.44682663e-02 1.23401557e+02] [-7.65514356e-02 9.97065633e-01 4.68525086e-05 9.49285244e+01] [ 2.44000530e-02 1.82637988e-03 9.99700606e-01 1.09698836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.806875 meters Centerline goodness : 0.991228 Centerline is valid? [True, True] Translation: X:123.44, Y:94.93, Z:10.97 [[ 9.97017855e-01 7.20516092e-02 -2.76398632e-02 1.23437952e+02] [-7.23621270e-02 9.97324176e-01 -1.04023995e-02 9.49255212e+01] [ 2.68163941e-02 1.23714573e-02 9.99563819e-01 1.09658378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.836875 meters Centerline goodness : 0.993099 Centerline is valid? [True, True] Translation: X:123.46, Y:94.92, Z:10.96 [[ 9.96647442e-01 7.50126708e-02 -3.26646039e-02 1.23462704e+02] [-7.55026460e-02 9.97046857e-01 -1.40326626e-02 9.49241481e+01] [ 3.15155131e-02 1.64518813e-02 9.99367854e-01 1.09646552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.866875 meters Centerline goodness : 0.993352 Centerline is valid? [True, True] Translation: X:123.49, Y:94.91, Z:10.98 [[ 9.96355208e-01 7.70029253e-02 -3.66994440e-02 1.23488874e+02] [-7.68458907e-02 9.97026846e-01 5.67257607e-03 9.49143492e+01] [ 3.70271359e-02 -2.83169925e-03 9.99310248e-01 1.09801991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.896875 meters Centerline goodness : 0.992967 Centerline is valid? [True, True] Translation: X:123.52, Y:94.91, Z:10.98 [[ 9.96646656e-01 7.41178743e-02 -3.46696289e-02 1.23523303e+02] [-7.39205243e-02 9.97239976e-01 6.94163252e-03 9.49072961e+01] [ 3.50884389e-02 -4.35555770e-03 9.99374720e-01 1.09838260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.926875 meters Centerline goodness : 0.993579 Centerline is valid? [True, True] Translation: X:123.56, Y:94.90, Z:10.99 [[ 9.95972448e-01 7.99018632e-02 -4.06764780e-02 1.23560186e+02] [-7.96613620e-02 9.96793753e-01 7.50203698e-03 9.48969286e+01] [ 4.11454859e-02 -4.23147849e-03 9.99144206e-01 1.09940690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.956875 meters Centerline goodness : 0.993355 Centerline is valid? [True, True] Translation: X:123.59, Y:94.90, Z:10.99 [[ 9.96263650e-01 7.66903418e-02 -3.97156356e-02 1.23586568e+02] [-7.67023352e-02 9.97053285e-01 1.22392060e-03 9.48995294e+01] [ 3.96924678e-02 1.82693439e-03 9.99210273e-01 1.09882337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.986875 meters Centerline goodness : 0.993355 Centerline is valid? [True, True] Translation: X:123.62, Y:94.90, Z:10.99 [[ 9.96126639e-01 7.79143028e-02 -4.07563455e-02 1.23617686e+02] [-7.79229365e-02 9.96958431e-01 1.37912813e-03 9.48962247e+01] [ 4.07398360e-02 1.80206785e-03 9.99168163e-01 1.09904570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.016875 meters Centerline goodness : 0.994109 Centerline is valid? [True, True] Translation: X:123.65, Y:94.90, Z:10.98 [[ 9.95940653e-01 7.93011654e-02 -4.25856815e-02 1.23645817e+02] [-7.98327505e-02 9.96748369e-01 -1.09279526e-02 9.48974298e+01] [ 4.15806092e-02 1.42833243e-02 9.99033052e-01 1.09824279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.046875 meters Centerline goodness : 0.993252 Centerline is valid? [True, True] Translation: X:123.68, Y:94.88, Z:11.01 [[ 9.96082519e-01 8.15203163e-02 -3.42644765e-02 1.23681076e+02] [-8.02688088e-02 9.96106946e-01 3.64399565e-02 9.48773420e+01] [ 3.71016799e-02 -3.35468349e-02 9.98748254e-01 1.10125862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.07687500000003 meters Centerline goodness : 0.992138 Centerline is valid? [True, True] Translation: X:123.72, Y:94.87, Z:11.01 [[ 9.95767525e-01 8.28328428e-02 -3.98215688e-02 1.23723855e+02] [-8.23005632e-02 9.96497240e-01 1.48279215e-02 9.48743459e+01] [ 4.09103224e-02 -1.14878252e-02 9.99096780e-01 1.10087934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.106875 meters Centerline goodness : 0.994135 Centerline is valid? [True, True] Translation: X:123.74, Y:94.88, Z:10.99 [[ 9.95921015e-01 8.08440276e-02 -4.00696339e-02 1.23742168e+02] [-8.11516980e-02 9.96683036e-01 -6.10962625e-03 9.48819275e+01] [ 3.94427976e-02 9.33642400e-03 9.99178211e-01 1.09936307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.13687500000003 meters Centerline goodness : 0.992842 Centerline is valid? [True, True] Translation: X:123.78, Y:94.87, Z:11.00 [[ 9.95928472e-01 8.07725019e-02 -4.00285158e-02 1.23776992e+02] [-8.05914767e-02 9.96728439e-01 6.11822644e-03 9.48736895e+01] [ 4.03917445e-02 -2.86735872e-03 9.99179806e-01 1.10031003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.166875 meters Centerline goodness : 0.992504 Centerline is valid? [True, True] Translation: X:123.81, Y:94.87, Z:11.01 [[ 9.95538512e-01 8.35912859e-02 -4.37672008e-02 1.23809537e+02] [-8.33641834e-02 9.96494620e-01 6.99180149e-03 9.48686337e+01] [ 4.41982338e-02 -3.31199070e-03 9.99017291e-01 1.10092627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.19687500000003 meters Centerline goodness : 0.993436 Centerline is valid? [True, True] Translation: X:123.84, Y:94.87, Z:11.00 [[ 9.94829939e-01 8.55136316e-02 -5.47796574e-02 1.23837721e+02] [-8.61685785e-02 9.96233315e-01 -9.70347511e-03 9.48706465e+01] [ 5.37435403e-02 1.43735928e-02 9.98451317e-01 1.10037507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.226875 meters Centerline goodness : 0.993283 Centerline is valid? [True, True] Translation: X:123.87, Y:94.86, Z:11.02 [[ 9.95291306e-01 8.61248312e-02 -4.44716754e-02 1.23869256e+02] [-8.53546689e-02 9.96170608e-01 1.89393715e-02 9.48580730e+01] [ 4.59325261e-02 -1.50543266e-02 9.98831102e-01 1.10210283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.25687500000004 meters Centerline goodness : 0.993507 Centerline is valid? [True, True] Translation: X:123.91, Y:94.85, Z:11.02 [[ 9.94787590e-01 9.00886970e-02 -4.77669058e-02 1.23906256e+02] [-9.01197866e-02 9.95929794e-01 1.50673602e-03 9.48537563e+01] [ 4.77082246e-02 2.80586107e-03 9.98857373e-01 1.10163853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.286875 meters Centerline goodness : 0.994169 Centerline is valid? [True, True] Translation: X:123.94, Y:94.86, Z:11.01 [[ 9.93976306e-01 9.20762427e-02 -5.94396289e-02 1.23937253e+02] [-9.30822491e-02 9.95554603e-01 -1.43779963e-02 9.48553393e+01] [ 5.78515243e-02 1.98241620e-02 9.98128350e-01 1.10098769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.31687500000004 meters Centerline goodness : 0.994933 Centerline is valid? [True, True] Translation: X:123.97, Y:94.84, Z:11.04 [[ 9.94214413e-01 9.48038989e-02 -5.04967482e-02 1.23968825e+02] [-9.35193404e-02 9.95245125e-01 2.72263484e-02 9.48381467e+01] [ 5.28378064e-02 -2.23464054e-02 9.98353046e-01 1.10358458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.346875 meters Centerline goodness : 0.994284 Centerline is valid? [True, True] Translation: X:124.00, Y:94.85, Z:11.02 [[ 9.93536165e-01 9.44523067e-02 -6.29654773e-02 1.24000797e+02] [-9.54453526e-02 9.95350461e-01 -1.29477706e-02 9.48468022e+01] [ 6.14497701e-02 1.88738405e-02 9.97931713e-01 1.10156259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.37687500000004 meters Centerline goodness : 0.994692 Centerline is valid? [True, True] Translation: X:124.03, Y:94.84, Z:11.03 [[ 9.93084247e-01 9.76837216e-02 -6.51273333e-02 1.24029735e+02] [-9.77751398e-02 9.95206923e-01 1.78980010e-03 9.48369593e+01] [ 6.49900072e-02 4.59041183e-03 9.97875357e-01 1.10279478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.406875 meters Centerline goodness : 0.994634 Centerline is valid? [True, True] Translation: X:124.06, Y:94.83, Z:11.04 [[ 9.93026667e-01 9.83823322e-02 -6.49534890e-02 1.24061459e+02] [-9.77378974e-02 9.95126844e-01 1.30333454e-02 9.48287368e+01] [ 6.59192114e-02 -6.59404208e-03 9.97803175e-01 1.10389614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.43687500000004 meters Centerline goodness : 0.995351 Centerline is valid? [True, True] Translation: X:124.09, Y:94.84, Z:11.02 [[ 9.93827528e-01 9.19530525e-02 -6.20603071e-02 1.24086753e+02] [-9.29386990e-02 9.95584586e-01 -1.31806577e-02 9.48392213e+01] [ 6.05742835e-02 1.88671046e-02 9.97985365e-01 1.10183727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.466875 meters Centerline goodness : 0.994483 Centerline is valid? [True, True] Translation: X:124.12, Y:94.83, Z:11.03 [[ 9.93737144e-01 9.40549396e-02 -6.03337076e-02 1.24118756e+02] [-9.41599280e-02 9.95556469e-01 1.10693568e-03 9.48293489e+01] [ 6.01697257e-02 4.58101447e-03 9.98177649e-01 1.10292571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.496875 meters Centerline goodness : 0.994821 Centerline is valid? [True, True] Translation: X:124.15, Y:94.82, Z:11.04 [[ 9.93192211e-01 9.84522983e-02 -6.22605622e-02 1.24154705e+02] [-9.80052441e-02 9.95133611e-01 1.02014176e-02 9.48177261e+01] [ 6.29619310e-02 -4.03010690e-03 9.98007792e-01 1.10419917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.526875 meters Centerline goodness : 0.994965 Centerline is valid? [True, True] Translation: X:124.19, Y:94.81, Z:11.04 [[ 9.93092780e-01 9.90605294e-02 -6.28787942e-02 1.24186528e+02] [-9.88819732e-02 9.95081363e-01 5.95292841e-03 9.48146364e+01] [ 6.31592165e-02 3.05769027e-04 9.98003417e-01 1.10432654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.556875 meters Centerline goodness : 0.994699 Centerline is valid? [True, True] Translation: X:124.22, Y:94.81, Z:11.04 [[ 9.93027042e-01 9.95434269e-02 -6.31537830e-02 1.24216851e+02] [-9.95696580e-02 9.95026823e-01 2.73961174e-03 9.48113939e+01] [ 6.31124184e-02 3.56769203e-03 9.98000047e-01 1.10436130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.586875 meters Centerline goodness : 0.994956 Centerline is valid? [True, True] Translation: X:124.25, Y:94.81, Z:11.05 [[ 9.92893924e-01 1.01010905e-01 -6.29162434e-02 1.24247061e+02] [-1.00852776e-01 9.94885077e-01 5.69223505e-03 9.48067292e+01] [ 6.31694094e-02 6.93492196e-04 9.98002578e-01 1.10484424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.616875 meters Centerline goodness : 0.994771 Centerline is valid? [True, True] Translation: X:124.28, Y:94.80, Z:11.05 [[ 9.92594238e-01 1.03149332e-01 -6.41630194e-02 1.24279280e+02] [-1.02774134e-01 9.94662820e-01 9.12975239e-03 9.48009710e+01] [ 6.47622976e-02 -2.46784087e-03 9.97897667e-01 1.10548984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.646875 meters Centerline goodness : 0.994892 Centerline is valid? [True, True] Translation: X:124.31, Y:94.80, Z:11.05 [[ 9.92461872e-01 1.04186891e-01 -6.45331204e-02 1.24311838e+02] [-1.04275043e-01 9.94546468e-01 2.00981848e-03 9.47991333e+01] [ 6.43905837e-02 4.73452568e-03 9.97913542e-01 1.10520236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.676875 meters Centerline goodness : 0.994871 Centerline is valid? [True, True] Translation: X:124.34, Y:94.79, Z:11.06 [[ 9.92167019e-01 1.06667497e-01 -6.50127032e-02 1.24344515e+02] [-1.06619332e-01 9.94290959e-01 4.21985214e-03 9.47942894e+01] [ 6.50916641e-02 2.74481284e-03 9.97875514e-01 1.10556998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.706875 meters Centerline goodness : 0.994861 Centerline is valid? [True, True] Translation: X:124.38, Y:94.79, Z:11.05 [[ 9.91784986e-01 1.10180607e-01 -6.49828863e-02 1.24375717e+02] [-1.10374289e-01 9.93889904e-01 6.12933168e-04 9.47925951e+01] [ 6.46533679e-02 6.56454195e-03 9.97886190e-01 1.10545444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.736875 meters Centerline goodness : 0.994759 Centerline is valid? [True, True] Translation: X:124.40, Y:94.80, Z:11.05 [[ 9.92305947e-01 1.07233864e-01 -6.18854214e-02 1.24401772e+02] [-1.07837147e-01 9.94147437e-01 -6.48248074e-03 9.47972138e+01] [ 6.08280917e-02 1.31061514e-02 9.98062209e-01 1.10453684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.766875 meters Centerline goodness : 0.994544 Centerline is valid? [True, True] Translation: X:124.44, Y:94.78, Z:11.06 [[ 9.91412240e-01 1.13481904e-01 -6.49894457e-02 1.24437219e+02] [-1.13117618e-01 9.93538362e-01 9.26970979e-03 9.47835290e+01] [ 6.56214517e-02 -1.83865244e-03 9.97842896e-01 1.10622375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.796875 meters Centerline goodness : 0.994756 Centerline is valid? [True, True] Translation: X:124.47, Y:94.78, Z:11.06 [[ 9.91491064e-01 1.12808403e-01 -6.49594902e-02 1.24468952e+02] [-1.12947060e-01 9.93599805e-01 1.54567052e-03 9.47830648e+01] [ 6.47181014e-02 5.80446495e-03 9.97886705e-01 1.10592304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.82687500000003 meters Centerline goodness : 0.994161 Centerline is valid? [True, True] Translation: X:124.50, Y:94.79, Z:11.05 [[ 9.92638670e-01 1.05716110e-01 -5.90980083e-02 1.24497078e+02] [-1.06467079e-01 9.94268939e-01 -9.69736959e-03 9.47891226e+01] [ 5.77341458e-02 1.59179764e-02 9.98205082e-01 1.10461184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.856875 meters Centerline goodness : 0.995242 Centerline is valid? [True, True] Translation: X:124.53, Y:94.76, Z:11.08 [[ 9.91436564e-01 1.18138171e-01 -5.56498999e-02 1.24526278e+02] [-1.16191815e-01 9.92536957e-01 3.70115082e-02 9.47645257e+01] [ 5.96070542e-02 -3.02284996e-02 9.97764119e-01 1.10849432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.88687500000003 meters Centerline goodness : 0.994274 Centerline is valid? [True, True] Translation: X:124.56, Y:94.78, Z:11.06 [[ 9.92268358e-01 1.10257804e-01 -5.69800251e-02 1.24555951e+02] [-1.10674279e-01 9.93847873e-01 -4.19622360e-03 9.47775589e+01] [ 5.61668103e-02 1.04700031e-02 9.98366500e-01 1.10568869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.916875 meters Centerline goodness : 0.994261 Centerline is valid? [True, True] Translation: X:124.59, Y:94.76, Z:11.08 [[ 9.91221583e-01 1.17240457e-01 -6.11101402e-02 1.24590746e+02] [-1.16380327e-01 9.93051212e-01 1.74616823e-02 9.47613034e+01] [ 6.27327144e-02 -1.01963783e-02 9.97978277e-01 1.10790914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.94687500000003 meters Centerline goodness : 0.994445 Centerline is valid? [True, True] Translation: X:124.62, Y:94.76, Z:11.07 [[ 9.91493815e-01 1.14234043e-01 -6.23746650e-02 1.24623288e+02] [-1.14316462e-01 9.93441820e-01 2.25749078e-03 9.47626899e+01] [ 6.22234830e-02 4.89216288e-03 9.98050252e-01 1.10717997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.976875 meters Centerline goodness : 0.994236 Centerline is valid? [True, True] Translation: X:124.65, Y:94.78, Z:11.05 [[ 9.91313885e-01 1.09989542e-01 -7.21046646e-02 1.24649144e+02] [-1.12234989e-01 9.93291206e-01 -2.78547583e-02 9.47750936e+01] [ 6.85571972e-02 3.57054749e-02 9.97008039e-01 1.10506855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.00687500000004 meters Centerline goodness : 0.994112 Centerline is valid? [True, True] Translation: X:124.68, Y:94.75, Z:11.09 [[ 9.91497423e-01 1.15117890e-01 -6.06690306e-02 1.24677876e+02] [-1.13533938e-01 9.93112245e-01 2.89501888e-02 9.47527906e+01] [ 6.35838419e-02 -2.18160436e-02 9.97738019e-01 1.10863415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.036875 meters Centerline goodness : 0.994378 Centerline is valid? [True, True] Translation: X:124.71, Y:94.76, Z:11.06 [[ 9.90183226e-01 1.15972989e-01 -7.80220732e-02 1.24710449e+02] [-1.18161626e-01 9.92703579e-01 -2.40298516e-02 9.47642804e+01] [ 7.46659777e-02 3.30131710e-02 9.96661990e-01 1.10595608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.06687500000004 meters Centerline goodness : 0.993524 Centerline is valid? [True, True] Translation: X:124.74, Y:94.75, Z:11.09 [[ 9.91396994e-01 1.15777996e-01 -6.10528985e-02 1.24739903e+02] [-1.14504746e-01 9.93133513e-01 2.39684990e-02 9.47469285e+01] [ 6.34087043e-02 -1.67714512e-02 9.97846709e-01 1.10850910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.096875 meters Centerline goodness : 0.994234 Centerline is valid? [True, True] Translation: X:124.77, Y:94.75, Z:11.09 [[ 9.90968226e-01 1.16991869e-01 -6.55353216e-02 1.24773100e+02] [-1.16358755e-01 9.93116732e-01 1.34088670e-02 9.47455823e+01] [ 6.66529528e-02 -5.66215277e-03 9.97760154e-01 1.10856065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.12687500000004 meters Centerline goodness : 0.993929 Centerline is valid? [True, True] Translation: X:124.80, Y:94.74, Z:11.09 [[ 9.90666292e-01 1.18044519e-01 -6.81600281e-02 1.24804566e+02] [-1.17574399e-01 9.93004449e-01 1.08823162e-02 9.47417698e+01] [ 6.89678089e-02 -2.76686951e-03 9.97615049e-01 1.10892500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.156875 meters Centerline goodness : 0.994016 Centerline is valid? [True, True] Translation: X:124.83, Y:94.74, Z:11.08 [[ 9.90722919e-01 1.17318473e-01 -6.85891683e-02 1.24834504e+02] [-1.17987128e-01 9.92998383e-01 -5.76617841e-03 9.47437272e+01] [ 6.74324539e-02 1.38053241e-02 9.97628326e-01 1.10802657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.18687500000004 meters Centerline goodness : 0.993885 Centerline is valid? [True, True] Translation: X:124.86, Y:94.75, Z:11.07 [[ 9.89910150e-01 1.17664629e-01 -7.89489052e-02 1.24864733e+02] [-1.19670761e-01 9.92588049e-01 -2.11630109e-02 9.47468255e+01] [ 7.58736020e-02 3.03973548e-02 9.96654001e-01 1.10720056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.216875 meters Centerline goodness : 0.993611 Centerline is valid? [True, True] Translation: X:124.89, Y:94.73, Z:11.10 [[ 9.90432983e-01 1.20734996e-01 -6.68249009e-02 1.24893840e+02] [-1.19109513e-01 9.92491546e-01 2.78110676e-02 9.47299050e+01] [ 6.96809183e-02 -1.95855172e-02 9.97377049e-01 1.11030353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.246875 meters Centerline goodness : 0.992424 Centerline is valid? [True, True] Translation: X:124.92, Y:94.74, Z:11.08 [[ 9.90130375e-01 1.19732903e-01 -7.28414143e-02 1.24924549e+02] [-1.19908996e-01 9.92782940e-01 1.96652343e-03 9.47414489e+01] [ 7.25511710e-02 6.78722630e-03 9.97341597e-01 1.10837777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.276875 meters Centerline goodness : 0.992428 Centerline is valid? [True, True] Translation: X:124.96, Y:94.74, Z:11.09 [[ 9.89798890e-01 1.21666332e-01 -7.41313816e-02 1.24956860e+02] [-1.21305194e-01 9.92571017e-01 9.37158010e-03 9.47363116e+01] [ 7.47208666e-02 -2.83457960e-04 9.97204448e-01 1.10915329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.306875 meters Centerline goodness : 0.993248 Centerline is valid? [True, True] Translation: X:124.99, Y:94.75, Z:11.06 [[ 9.89636759e-01 1.17324149e-01 -8.27896752e-02 1.24988536e+02] [-1.21042421e-01 9.91783436e-01 -4.14046962e-02 9.47501122e+01] [ 7.72516578e-02 5.09966720e-02 9.95706544e-01 1.10643905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.336875 meters Centerline goodness : 0.992480 Centerline is valid? [True, True] Translation: X:125.02, Y:94.72, Z:11.11 [[ 9.91365392e-01 1.16502762e-01 -6.01811026e-02 1.25018024e+02] [-1.15541554e-01 9.93116601e-01 1.92241232e-02 9.47249011e+01] [ 6.20065155e-02 -1.21047124e-02 9.98002339e-01 1.11059694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.366875 meters Centerline goodness : 0.992197 Centerline is valid? [True, True] Translation: X:125.05, Y:94.73, Z:11.10 [[ 9.91862638e-01 1.11746345e-01 -6.10021471e-02 1.25049728e+02] [-1.12213993e-01 9.93674829e-01 -4.28407139e-03 9.47308034e+01] [ 6.01375688e-02 1.10945049e-02 9.98128441e-01 1.10952983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.396875 meters Centerline goodness : 0.991452 Centerline is valid? [True, True] Translation: X:125.08, Y:94.76, Z:11.05 [[ 9.93809439e-01 9.71899141e-02 -5.38230447e-02 1.25079544e+02] [-1.00358880e-01 9.93159393e-01 -5.96868178e-02 9.47554466e+01] [ 4.76539057e-02 6.47189434e-02 9.96765049e-01 1.10536228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.426875 meters Centerline goodness : 0.991811 Centerline is valid? [True, True] Translation: X:125.11, Y:94.72, Z:11.11 [[ 9.91611423e-01 1.11012716e-01 -6.62039530e-02 1.25110876e+02] [-1.10293423e-01 9.93794256e-01 1.44339105e-02 9.47242544e+01] [ 6.73954558e-02 -7.01096994e-03 9.97701708e-01 1.11083325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.456875 meters Centerline goodness : 0.991476 Centerline is valid? [True, True] Translation: X:125.14, Y:94.73, Z:11.09 [[ 9.91995163e-01 1.07416825e-01 -6.63869212e-02 1.25141819e+02] [-1.08529332e-01 9.94003272e-01 -1.33745735e-02 9.47337931e+01] [ 6.45521627e-02 2.04724405e-02 9.97704314e-01 1.10884545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.486875 meters Centerline goodness : 0.991093 Centerline is valid? [True, True] Translation: X:125.17, Y:94.72, Z:11.11 [[ 9.92440990e-01 1.09657020e-01 -5.51019049e-02 1.25173271e+02] [-1.08638255e-01 9.93856012e-01 2.11649845e-02 9.47182724e+01] [ 5.70842486e-02 -1.50188234e-02 9.98256392e-01 1.11102371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.516875 meters Centerline goodness : 0.991076 Centerline is valid? [True, True] Translation: X:125.20, Y:94.73, Z:11.09 [[ 9.91735165e-01 1.07751511e-01 -6.96489439e-02 1.25203241e+02] [-1.09302038e-01 9.93830081e-01 -1.88370590e-02 9.47308934e+01] [ 6.71894940e-02 2.62941453e-02 9.97393699e-01 1.10897239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.546875 meters Centerline goodness : 0.994175 Centerline is valid? [True, True] Translation: X:125.24, Y:94.65, Z:11.24 [[ 9.85821935e-01 1.43531349e-01 -8.69129654e-02 1.25240268e+02] [-1.29498007e-01 9.80188181e-01 1.49871262e-01 9.46535268e+01] [ 1.06702286e-01 -1.36491322e-01 9.84878034e-01 1.12422634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.57687500000003 meters Centerline goodness : 0.990200 Centerline is valid? [True, True] Translation: X:125.27, Y:94.77, Z:11.04 [[ 9.93534285e-01 8.74988752e-02 -7.23434268e-02 1.25268213e+02] [-9.64110775e-02 9.86733385e-01 -1.30622091e-01 9.47659278e+01] [ 5.99543884e-02 1.36752234e-01 9.88789309e-01 1.10420482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.606875 meters Centerline goodness : 0.985968 Centerline is valid? [True, True] Translation: X:125.31, Y:94.70, Z:11.15 [[ 9.93822906e-01 1.01304208e-01 -4.53154424e-02 1.25311895e+02] [-9.69452473e-02 9.91230220e-01 8.98012840e-02 9.46995799e+01] [ 5.40152839e-02 -8.48534562e-02 9.94928259e-01 1.11539749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.63687500000003 meters Centerline goodness : 0.988877 Centerline is valid? [True, True] Translation: X:125.33, Y:94.74, Z:11.08 [[ 9.94206254e-01 8.77657057e-02 -6.20572835e-02 1.25327401e+02] [-9.19679165e-02 9.93406226e-01 -6.84541590e-02 9.47436702e+01] [ 5.56401643e-02 7.37648320e-02 9.95722312e-01 1.10776358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.666875 meters Centerline goodness : 0.990326 Centerline is valid? [True, True] Translation: X:125.36, Y:94.71, Z:11.12 [[ 9.93295965e-01 9.98919615e-02 -5.81783664e-02 1.25356023e+02] [-1.00009305e-01 9.94986096e-01 8.98510019e-04 9.47131229e+01] [ 5.79764196e-02 4.92589161e-03 9.98305800e-01 1.11209303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.69687500000003 meters Centerline goodness : 0.989510 Centerline is valid? [True, True] Translation: X:125.39, Y:94.71, Z:11.12 [[ 9.93261568e-01 1.00578716e-01 -5.75793319e-02 1.25385878e+02] [-1.00681744e-01 9.94918057e-01 1.11626510e-03 9.47094649e+01] [ 5.73989895e-02 4.68844435e-03 9.98340310e-01 1.11243884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.726875 meters Centerline goodness : 0.995086 Centerline is valid? [True, True] Translation: X:125.42, Y:94.65, Z:11.24 [[ 9.86992704e-01 1.34949225e-01 -8.73733856e-02 1.25423899e+02] [-1.23987830e-01 9.84924298e-01 1.20628126e-01 9.46524481e+01] [ 1.02334843e-01 -1.08225844e-01 9.88845158e-01 1.12410949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.75687500000004 meters Centerline goodness : 0.991040 Centerline is valid? [True, True] Translation: X:125.45, Y:94.71, Z:11.14 [[ 9.91484573e-01 1.05739095e-01 -7.60104235e-02 1.25448149e+02] [-1.07531408e-01 9.94002996e-01 -1.98756271e-02 9.47088753e+01] [ 7.34529578e-02 2.78798855e-02 9.96908910e-01 1.11388867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.786875 meters Centerline goodness : 0.994666 Centerline is valid? [True, True] Translation: X:125.49, Y:94.66, Z:11.20 [[ 9.85897484e-01 1.33527513e-01 -1.00878906e-01 1.25491534e+02] [-1.30266744e-01 9.90739837e-01 3.82772908e-02 9.46638854e+01] [ 1.05055822e-01 -2.45963181e-02 9.94162107e-01 1.12008062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.81687500000004 meters Centerline goodness : 0.986720 Centerline is valid? [True, True] Translation: X:125.53, Y:94.66, Z:11.18 [[ 9.86757692e-01 1.38136924e-01 -8.50143934e-02 1.25533953e+02] [-1.36571384e-01 9.90339674e-01 2.39913807e-02 9.46588871e+01] [ 8.75072222e-02 -1.20631461e-02 9.96090843e-01 1.11847421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.846875 meters Centerline goodness : 0.989685 Centerline is valid? [True, True] Translation: X:125.54, Y:94.68, Z:11.15 [[ 9.86395192e-01 1.31906711e-01 -9.81078222e-02 1.25544756e+02] [-1.37872934e-01 9.88824542e-01 -5.67192937e-02 9.46788871e+01] [ 8.95297669e-02 6.94740519e-02 9.93558140e-01 1.11494273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.87687500000004 meters Centerline goodness : 0.989685 Centerline is valid? [True, True] Translation: X:125.57, Y:94.65, Z:11.18 [[ 9.85885293e-01 1.40469701e-01 -9.10958448e-02 1.25571160e+02] [-1.41133267e-01 9.89990240e-01 -8.51624069e-04 9.46545538e+01] [ 9.00643699e-02 1.36962578e-02 9.95841765e-01 1.11806610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.906875 meters Centerline goodness : 0.986630 Centerline is valid? [True, True] Translation: X:125.62, Y:94.63, Z:11.22 [[ 9.84809924e-01 1.53940486e-01 -8.03227298e-02 1.25621104e+02] [-1.49136469e-01 9.86823020e-01 6.27585870e-02 9.46266380e+01] [ 8.89254062e-02 -4.98262310e-02 9.94791244e-01 1.12158757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.93687500000004 meters Centerline goodness : 0.985850 Centerline is valid? [True, True] Translation: X:125.66, Y:94.64, Z:11.18 [[ 9.84425108e-01 1.52200952e-01 -8.79890786e-02 1.25658142e+02] [-1.53157433e-01 9.88192946e-01 -4.18364459e-03 9.46374142e+01] [ 8.63134321e-02 1.75946662e-02 9.96112654e-01 1.11803252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.966875 meters Centerline goodness : 0.985503 Centerline is valid? [True, True] Translation: X:125.69, Y:94.63, Z:11.20 [[ 9.84051617e-01 1.56035605e-01 -8.54125623e-02 1.25685712e+02] [-1.53785742e-01 9.87574305e-01 3.23564320e-02 9.46302062e+01] [ 8.94000072e-02 -1.87051650e-02 9.95820142e-01 1.12039759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.996875 meters Centerline goodness : 0.985753 Centerline is valid? [True, True] Translation: X:125.72, Y:94.63, Z:11.20 [[ 9.84284183e-01 1.53722557e-01 -8.69138855e-02 1.25723105e+02] [-1.53059704e-01 9.88113763e-01 1.42799826e-02 9.46328334e+01] [ 8.80759619e-02 -7.52547467e-04 9.96113477e-01 1.11977507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.026875 meters Centerline goodness : 0.985941 Centerline is valid? [True, True] Translation: X:125.75, Y:94.63, Z:11.20 [[ 9.83961211e-01 1.55110374e-01 -8.80971460e-02 1.25751377e+02] [-1.54416089e-01 9.87896785e-01 1.46837664e-02 9.46290719e+01] [ 8.93084918e-02 -8.44639812e-04 9.96003655e-01 1.12024744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.056875 meters Centerline goodness : 0.985972 Centerline is valid? [True, True] Translation: X:125.78, Y:94.62, Z:11.21 [[ 9.84004070e-01 1.55683264e-01 -8.65951056e-02 1.25784961e+02] [-1.54844648e-01 9.87803365e-01 1.63599129e-02 9.46239419e+01] [ 8.80859014e-02 -2.68943225e-03 9.96109252e-01 1.12082708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.086875 meters Centerline goodness : 0.985558 Centerline is valid? [True, True] Translation: X:125.82, Y:94.62, Z:11.22 [[ 9.84158091e-01 1.55442092e-01 -8.52678627e-02 1.25818750e+02] [-1.53966843e-01 9.87792857e-01 2.36533920e-02 9.46189448e+01] [ 8.79037185e-02 -1.01502536e-02 9.96077260e-01 1.12165554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.116875 meters Centerline goodness : 0.990100 Centerline is valid? [True, True] Translation: X:125.83, Y:94.64, Z:11.20 [[ 9.84915842e-01 1.44230609e-01 -9.55945363e-02 1.25827888e+02] [-1.47022212e-01 9.88870487e-01 -2.27953699e-02 9.46366970e+01] [ 9.12428256e-02 3.65060411e-02 9.95159312e-01 1.11992460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.146875 meters Centerline goodness : 0.983765 Centerline is valid? [True, True] Translation: X:125.88, Y:94.62, Z:11.21 [[ 9.85063649e-01 1.50985184e-01 -8.27833386e-02 1.25880528e+02] [-1.50056470e-01 9.88524936e-01 1.73639433e-02 9.46157071e+01] [ 8.44550926e-02 -4.68241373e-03 9.96416285e-01 1.12135348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.176875 meters Centerline goodness : 0.990304 Centerline is valid? [True, True] Translation: X:125.89, Y:94.62, Z:11.22 [[ 9.84850786e-01 1.47035790e-01 -9.19206533e-02 1.25887147e+02] [-1.47189041e-01 9.89094987e-01 5.14704799e-03 9.46187625e+01] [ 9.16750576e-02 8.46063856e-03 9.95753032e-01 1.12191939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.206875 meters Centerline goodness : 0.985067 Centerline is valid? [True, True] Translation: X:125.94, Y:94.60, Z:11.22 [[ 9.84840064e-01 1.52158835e-01 -8.32930836e-02 1.25944124e+02] [-1.51032895e-01 9.88332562e-01 1.96929373e-02 9.46025985e+01] [ 8.53177211e-02 -6.81439810e-03 9.96330493e-01 1.12225325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.236875 meters Centerline goodness : 0.984794 Centerline is valid? [True, True] Translation: X:125.97, Y:94.60, Z:11.22 [[ 9.84907258e-01 1.50546697e-01 -8.54013191e-02 1.25970187e+02] [-1.50053372e-01 9.88602579e-01 1.22035265e-02 9.46012730e+01] [ 8.62651649e-02 7.95414105e-04 9.96271895e-01 1.12236324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.266875 meters Centerline goodness : 0.983298 Centerline is valid? [True, True] Translation: X:126.00, Y:94.60, Z:11.23 [[ 9.85226417e-01 1.48659989e-01 -8.50241990e-02 1.26001941e+02] [-1.48155253e-01 9.88888230e-01 1.22511489e-02 9.45975527e+01] [ 8.59006852e-02 5.26626151e-04 9.96303566e-01 1.12263665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.296875 meters Centerline goodness : 0.982994 Centerline is valid? [True, True] Translation: X:126.03, Y:94.59, Z:11.23 [[ 9.85512571e-01 1.47204050e-01 -8.42374078e-02 1.26030088e+02] [-1.46121227e-01 9.89085893e-01 1.89125424e-02 9.45904791e+01] [ 8.61020345e-02 -6.32967492e-03 9.96266217e-01 1.12309369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.32687500000003 meters Centerline goodness : 0.984574 Centerline is valid? [True, True] Translation: X:126.07, Y:94.59, Z:11.24 [[ 9.85897109e-01 1.43871361e-01 -8.54863841e-02 1.26067129e+02] [-1.42919098e-01 9.89585099e-01 1.71890496e-02 9.45884267e+01] [ 8.70690638e-02 -4.72899741e-03 9.96191053e-01 1.12351168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.356875 meters Centerline goodness : 0.984971 Centerline is valid? [True, True] Translation: X:126.09, Y:94.58, Z:11.25 [[ 9.85795244e-01 1.42866708e-01 -8.82997273e-02 1.26094895e+02] [-1.40800046e-01 9.89606209e-01 2.92386532e-02 9.45841496e+01] [ 9.15591885e-02 -1.63907196e-02 9.95664732e-01 1.12492520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.38687500000003 meters Centerline goodness : 0.988792 Centerline is valid? [True, True] Translation: X:126.10, Y:94.60, Z:11.22 [[ 9.86625364e-01 1.32060474e-01 -9.55532397e-02 1.26103812e+02] [-1.34850585e-01 9.90591304e-01 -2.33278351e-02 9.46012094e+01] [ 9.15735234e-02 3.59012441e-02 9.95150939e-01 1.12233336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.416875 meters Centerline goodness : 0.985894 Centerline is valid? [True, True] Translation: X:126.15, Y:94.57, Z:11.27 [[ 9.85304889e-01 1.45965157e-01 -8.87042798e-02 1.26150379e+02] [-1.42046015e-01 9.88645067e-01 4.90291922e-02 9.45659376e+01] [ 9.48536023e-02 -3.57086133e-02 9.94850586e-01 1.12703603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.44687500000003 meters Centerline goodness : 0.990435 Centerline is valid? [True, True] Translation: X:126.16, Y:94.59, Z:11.23 [[ 9.85222971e-01 1.35108011e-01 -1.05268810e-01 1.26163688e+02] [-1.40400823e-01 9.89090987e-01 -4.45716038e-02 9.45904733e+01] [ 9.80984502e-02 5.86927954e-02 9.93444437e-01 1.12289775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.476875 meters Centerline goodness : 0.989685 Centerline is valid? [True, True] Translation: X:126.19, Y:94.57, Z:11.26 [[ 9.84657619e-01 1.44461573e-01 -9.78786311e-02 1.26190936e+02] [-1.44019574e-01 9.89506806e-01 1.16035463e-02 9.45659143e+01] [ 9.85278382e-02 2.67091844e-03 9.95130711e-01 1.12597647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.50687500000004 meters Centerline goodness : 0.986097 Centerline is valid? [True, True] Translation: X:126.24, Y:94.54, Z:11.30 [[ 9.83156109e-01 1.57684506e-01 -9.24102866e-02 1.26236508e+02] [-1.50886690e-01 9.85588697e-01 7.64730424e-02 9.45367641e+01] [ 1.03137148e-01 -6.12414565e-02 9.92780042e-01 1.13026347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.536875 meters Centerline goodness : 0.989360 Centerline is valid? [True, True] Translation: X:126.26, Y:94.58, Z:11.23 [[ 9.83322529e-01 1.40680949e-01 -1.15263498e-01 1.26255068e+02] [-1.48827765e-01 9.86699451e-01 -6.53795826e-02 9.45750755e+01] [ 1.04532768e-01 8.14436253e-02 9.91181031e-01 1.12310934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.56687500000004 meters Centerline goodness : 0.989660 Centerline is valid? [True, True] Translation: X:126.28, Y:94.56, Z:11.24 [[ 9.83721374e-01 1.44518899e-01 -1.06801433e-01 1.26279064e+02] [-1.49053757e-01 9.88183292e-01 -3.57317738e-02 9.45615939e+01] [ 1.00375475e-01 5.10692644e-02 9.93638110e-01 1.12414607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.596875 meters Centerline goodness : 0.989222 Centerline is valid? [True, True] Translation: X:126.30, Y:94.53, Z:11.29 [[ 9.82275776e-01 1.56678137e-01 -1.02889556e-01 1.26303753e+02] [-1.54378126e-01 9.87556303e-01 2.99990386e-02 9.45317331e+01] [ 1.06309423e-01 -1.35834321e-02 9.94240311e-01 1.12851451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.62687500000004 meters Centerline goodness : 0.988762 Centerline is valid? [True, True] Translation: X:126.34, Y:94.54, Z:11.27 [[ 9.82388396e-01 1.53930918e-01 -1.05916529e-01 1.26336537e+02] [-1.54888300e-01 9.87931645e-01 -8.23701548e-04 9.45362528e+01] [ 1.04511498e-01 1.72144260e-02 9.94374683e-01 1.12713407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.656875 meters Centerline goodness : 0.990107 Centerline is valid? [True, True] Translation: X:126.36, Y:94.52, Z:11.29 [[ 9.81048539e-01 1.61379200e-01 -1.07240465e-01 1.26364264e+02] [-1.60189043e-01 9.86890182e-01 1.96784086e-02 9.45212931e+01] [ 1.09010248e-01 -2.12672650e-03 9.94038351e-01 1.12928558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.68687500000004 meters Centerline goodness : 0.989168 Centerline is valid? [True, True] Translation: X:126.40, Y:94.51, Z:11.30 [[ 9.80856243e-01 1.62602364e-01 -1.07151773e-01 1.26397775e+02] [-1.61522622e-01 9.86691097e-01 1.87382182e-02 9.45138740e+01] [ 1.08772579e-01 -1.07206303e-03 9.94066083e-01 1.12986221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.716875 meters Centerline goodness : 0.989689 Centerline is valid? [True, True] Translation: X:126.43, Y:94.52, Z:11.29 [[ 9.80306919e-01 1.62486416e-01 -1.12234171e-01 1.26425271e+02] [-1.63981069e-01 9.86454737e-01 -4.15453516e-03 9.45181218e+01] [ 1.10038874e-01 2.24769988e-02 9.93673101e-01 1.12889022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.746875 meters Centerline goodness : 0.990064 Centerline is valid? [True, True] Translation: X:126.45, Y:94.51, Z:11.30 [[ 9.79415027e-01 1.67201959e-01 -1.13091599e-01 1.26454940e+02] [-1.66832784e-01 9.85902267e-01 1.27883535e-02 9.45059961e+01] [ 1.13635501e-01 6.34228067e-03 9.93502264e-01 1.13047458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.776875 meters Centerline goodness : 0.989383 Centerline is valid? [True, True] Translation: X:126.49, Y:94.51, Z:11.29 [[ 9.79394376e-01 1.65175594e-01 -1.16205329e-01 1.26486294e+02] [-1.67653999e-01 9.85775052e-01 -1.18187687e-02 9.45065110e+01] [ 1.12600142e-01 3.10575237e-02 9.93154891e-01 1.12947587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.806875 meters Centerline goodness : 0.990620 Centerline is valid? [True, True] Translation: X:126.51, Y:94.50, Z:11.30 [[ 9.76643663e-01 1.70696740e-01 -1.30498196e-01 1.26514409e+02] [-1.74279491e-01 9.84558645e-01 -1.64600690e-02 9.45022794e+01] [ 1.25673447e-01 3.88187813e-02 9.91311902e-01 1.12989140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.836875 meters Centerline goodness : 0.990187 Centerline is valid? [True, True] Translation: X:126.54, Y:94.47, Z:11.34 [[ 9.77436626e-01 1.78403159e-01 -1.13092682e-01 1.26539689e+02] [-1.74306719e-01 9.83652958e-01 4.52109131e-02 9.44744158e+01] [ 1.19309721e-01 -2.44779879e-02 9.92555297e-01 1.13392368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.866875 meters Centerline goodness : 0.990926 Centerline is valid? [True, True] Translation: X:126.57, Y:94.48, Z:11.32 [[ 9.75794014e-01 1.74593501e-01 -1.31693403e-01 1.26573967e+02] [-1.76992841e-01 9.84189690e-01 -6.64749333e-03 9.44831723e+01] [ 1.28450681e-01 2.97953738e-02 9.91268207e-01 1.13188595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.896875 meters Centerline goodness : 0.990907 Centerline is valid? [True, True] Translation: X:126.60, Y:94.46, Z:11.35 [[ 9.76083161e-01 1.80495110e-01 -1.21174168e-01 1.26600977e+02] [-1.77595732e-01 9.83501908e-01 3.44056956e-02 9.44606412e+01] [ 1.25385085e-01 -1.20628050e-02 9.92034812e-01 1.13506261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.926875 meters Centerline goodness : 0.989728 Centerline is valid? [True, True] Translation: X:126.64, Y:94.43, Z:11.41 [[ 9.74480052e-01 1.91612353e-01 -1.16933033e-01 1.26640981e+02] [-1.80036614e-01 9.78283832e-01 1.02701325e-01 9.44349911e+01] [ 1.34072538e-01 -7.90281654e-02 9.87815319e-01 1.14060612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.956875 meters Centerline goodness : 0.991824 Centerline is valid? [True, True] Translation: X:126.66, Y:94.46, Z:11.34 [[ 9.73223836e-01 1.77711022e-01 -1.45788059e-01 1.26664654e+02] [-1.83424954e-01 9.82673069e-01 -2.66256503e-02 9.44634991e+01] [ 1.38530328e-01 5.26538855e-02 9.88957490e-01 1.13360807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.986875 meters Centerline goodness : 0.992208 Centerline is valid? [True, True] Translation: X:126.69, Y:94.44, Z:11.36 [[ 9.74189159e-01 1.83875515e-01 -1.30939977e-01 1.26694822e+02] [-1.83443701e-01 9.82908684e-01 1.54572790e-02 9.44379832e+01] [ 1.31544255e-01 8.96180031e-03 9.91269789e-01 1.13622984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.016875 meters Centerline goodness : 0.993237 Centerline is valid? [True, True] Translation: X:126.72, Y:94.42, Z:11.39 [[ 9.72434831e-01 1.91745396e-01 -1.32680828e-01 1.26722284e+02] [-1.86964233e-01 9.81207047e-01 4.77190345e-02 9.44193594e+01] [ 1.39337269e-01 -2.15970821e-02 9.90009440e-01 1.13936903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.046875 meters Centerline goodness : 0.991893 Centerline is valid? [True, True] Translation: X:126.75, Y:94.44, Z:11.35 [[ 9.72560503e-01 1.79655807e-01 -1.47816977e-01 1.26754764e+02] [-1.84961281e-01 9.82480102e-01 -2.28511080e-02 9.44396453e+01] [ 1.41121904e-01 4.95645025e-02 9.88750711e-01 1.13518046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.07687500000003 meters Centerline goodness : 0.993546 Centerline is valid? [True, True] Translation: X:126.78, Y:94.40, Z:11.41 [[ 9.69455128e-01 1.96958138e-01 -1.46165138e-01 1.26781260e+02] [-1.91394079e-01 9.80169535e-01 5.13418930e-02 9.44025201e+01] [ 1.53378819e-01 -2.17985195e-02 9.87927003e-01 1.14110221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.106875 meters Centerline goodness : 0.993857 Centerline is valid? [True, True] Translation: X:126.81, Y:94.40, Z:11.41 [[ 9.68502121e-01 1.96357381e-01 -1.53125507e-01 1.26813531e+02] [-1.93681620e-01 9.80530970e-01 3.23488474e-02 9.43986585e+01] [ 1.56496237e-01 -1.67233100e-03 9.87677139e-01 1.14093987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.13687500000003 meters Centerline goodness : 0.993210 Centerline is valid? [True, True] Translation: X:126.85, Y:94.42, Z:11.35 [[ 9.72389810e-01 1.76086439e-01 -1.53139227e-01 1.26846192e+02] [-1.85169345e-01 9.81576761e-01 -4.71102568e-02 9.44248678e+01] [ 1.42022429e-01 7.41662241e-02 9.87081051e-01 1.13524743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.166875 meters Centerline goodness : 0.993697 Centerline is valid? [True, True] Translation: X:126.87, Y:94.36, Z:11.47 [[ 9.69156201e-01 2.06689423e-01 -1.34222726e-01 1.26867805e+02] [-1.92260045e-01 9.74825909e-01 1.12918206e-01 9.43612299e+01] [ 1.54182789e-01 -8.36297122e-02 9.84496693e-01 1.14692654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.19687500000003 meters Centerline goodness : 0.993747 Centerline is valid? [True, True] Translation: X:126.91, Y:94.39, Z:11.40 [[ 9.68402139e-01 1.89343558e-01 -1.62315480e-01 1.26910436e+02] [-1.93664414e-01 9.81005296e-01 -1.10771929e-02 9.43883472e+01] [ 1.57134950e-01 4.21619096e-02 9.86676736e-01 1.14005372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.226875 meters Centerline goodness : 0.993266 Centerline is valid? [True, True] Translation: X:126.94, Y:94.36, Z:11.44 [[ 9.69229292e-01 1.97716919e-01 -1.46637649e-01 1.26938446e+02] [-1.93076261e-01 9.80133938e-01 4.53764443e-02 9.43628148e+01] [ 1.52696227e-01 -1.56679300e-02 9.88148966e-01 1.14392752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.25687500000004 meters Centerline goodness : 0.993170 Centerline is valid? [True, True] Translation: X:126.97, Y:94.36, Z:11.43 [[ 9.69244471e-01 1.95385268e-01 -1.49632056e-01 1.26972049e+02] [-1.93936097e-01 9.80711657e-01 2.43605592e-02 9.43615177e+01] [ 1.51505596e-01 5.40771969e-03 9.88441607e-01 1.14332304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.286875 meters Centerline goodness : 0.994014 Centerline is valid? [True, True] Translation: X:127.01, Y:94.38, Z:11.38 [[ 9.70328124e-01 1.82355257e-01 -1.58776235e-01 1.27005448e+02] [-1.91954310e-01 9.80265811e-01 -4.72491469e-02 9.43822431e+01] [ 1.47026784e-01 7.63249586e-02 9.86183363e-01 1.13847768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.31687500000004 meters Centerline goodness : 0.992902 Centerline is valid? [True, True] Translation: X:127.03, Y:94.33, Z:11.47 [[ 9.69052292e-01 2.04869822e-01 -1.37717140e-01 1.27025814e+02] [-1.95779982e-01 9.77640816e-01 7.67374303e-02 9.43347256e+01] [ 1.50359081e-01 -4.74003234e-02 9.87494484e-01 1.14697937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.346875 meters Centerline goodness : 0.992737 Centerline is valid? [True, True] Translation: X:127.07, Y:94.38, Z:11.37 [[ 9.74395627e-01 1.72607510e-01 -1.44082649e-01 1.27065652e+02] [-1.84271538e-01 9.80243844e-01 -7.18749396e-02 9.43843730e+01] [ 1.28829975e-01 9.65849581e-02 9.86951966e-01 1.13665886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.37687500000004 meters Centerline goodness : 0.991585 Centerline is valid? [True, True] Translation: X:127.09, Y:94.35, Z:11.41 [[ 9.73790170e-01 1.87187009e-01 -1.29204215e-01 1.27088234e+02] [-1.87650169e-01 9.82197489e-01 8.68949813e-03 9.43516966e+01] [ 1.28530616e-01 1.57834449e-02 9.91579933e-01 1.14119715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.406875 meters Centerline goodness : 0.992506 Centerline is valid? [True, True] Translation: X:127.12, Y:94.34, Z:11.43 [[ 9.72243308e-01 1.92630482e-01 -1.32802284e-01 1.27116230e+02] [-1.92276335e-01 9.81216684e-01 1.56086370e-02 9.43399252e+01] [ 1.33314516e-01 1.03593436e-02 9.91019638e-01 1.14252057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.43687500000004 meters Centerline goodness : 0.992319 Centerline is valid? [True, True] Translation: X:127.14, Y:94.33, Z:11.44 [[ 9.71378403e-01 1.95247097e-01 -1.35286991e-01 1.27143264e+02] [-1.93420098e-01 9.80754043e-01 2.66490779e-02 9.43299269e+01] [ 1.37886418e-01 2.80884353e-04 9.90448008e-01 1.14401734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.466875 meters Centerline goodness : 0.992503 Centerline is valid? [True, True] Translation: X:127.17, Y:94.32, Z:11.45 [[ 9.70496257e-01 1.99959354e-01 -1.34734079e-01 1.27174018e+02] [-1.96905852e-01 9.79770105e-01 3.57578815e-02 9.43179720e+01] [ 1.39158546e-01 -8.17296141e-03 9.90236387e-01 1.14502168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.496875 meters Centerline goodness : 0.992859 Centerline is valid? [True, True] Translation: X:127.21, Y:94.32, Z:11.44 [[ 9.68506360e-01 1.96524110e-01 -1.52884613e-01 1.27207783e+02] [-1.98968791e-01 9.80005573e-01 -7.05213663e-04 9.43226495e+01] [ 1.49689181e-01 3.11022705e-02 9.88243795e-01 1.14400744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.526875 meters Centerline goodness : 0.991935 Centerline is valid? [True, True] Translation: X:127.23, Y:94.29, Z:11.48 [[ 9.68791491e-01 2.05832068e-01 -1.38116639e-01 1.27232997e+02] [-1.99439536e-01 9.78145621e-01 5.87793813e-02 9.42938105e+01] [ 1.47196867e-01 -2.93990461e-02 9.88670207e-01 1.14849910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.556875 meters Centerline goodness : 0.993249 Centerline is valid? [True, True] Translation: X:127.27, Y:94.30, Z:11.46 [[ 9.66633747e-01 2.00624118e-01 -1.59277000e-01 1.27268967e+02] [-2.02274468e-01 9.79310784e-01 5.95211837e-03 9.43012464e+01] [ 1.57175822e-01 2.64641519e-02 9.87215989e-01 1.14641776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.586875 meters Centerline goodness : 0.992742 Centerline is valid? [True, True] Translation: X:127.29, Y:94.29, Z:11.49 [[ 9.68612121e-01 2.02214594e-01 -1.44567688e-01 1.27293267e+02] [-1.98621015e-01 9.79299083e-01 3.90256195e-02 9.42863125e+01] [ 1.49466554e-01 -9.08650702e-03 9.88725030e-01 1.14857661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.616875 meters Centerline goodness : 0.993908 Centerline is valid? [True, True] Translation: X:127.32, Y:94.28, Z:11.49 [[ 9.65845237e-01 2.02537865e-01 -1.61621134e-01 1.27323830e+02] [-2.01653588e-01 9.79209090e-01 2.20315336e-02 9.42837552e+01] [ 1.62723103e-01 1.13124297e-02 9.86606923e-01 1.14880933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.646875 meters Centerline goodness : 0.993221 Centerline is valid? [True, True] Translation: X:127.36, Y:94.27, Z:11.51 [[ 9.67120253e-01 2.06050207e-01 -1.49069540e-01 1.27355152e+02] [-2.01907631e-01 9.78478714e-01 4.25759839e-02 9.42667522e+01] [ 1.54634162e-01 -1.10778188e-02 9.87909691e-01 1.15062909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.676875 meters Centerline goodness : 0.993011 Centerline is valid? [True, True] Translation: X:127.39, Y:94.27, Z:11.49 [[ 9.68295583e-01 1.99199472e-01 -1.50742281e-01 1.27387130e+02] [-1.98720367e-01 9.79883666e-01 1.83906951e-02 9.42677610e+01] [ 1.51373315e-01 1.21479325e-02 9.88402017e-01 1.14942762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.706875 meters Centerline goodness : 0.993624 Centerline is valid? [True, True] Translation: X:127.41, Y:94.26, Z:11.51 [[ 9.67548804e-01 2.01956377e-01 -1.51864855e-01 1.27414770e+02] [-1.99514898e-01 9.79394518e-01 3.13078882e-02 9.42563021e+01] [ 1.55058434e-01 7.39132073e-06 9.87905300e-01 1.15099634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.736875 meters Centerline goodness : 0.993994 Centerline is valid? [True, True] Translation: X:127.45, Y:94.25, Z:11.50 [[ 9.68215725e-01 1.99106460e-01 -1.51376772e-01 1.27447726e+02] [-1.98918200e-01 9.79876485e-01 1.65415701e-02 9.42522522e+01] [ 1.51624073e-01 1.40957868e-02 9.88337720e-01 1.15020237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.766875 meters Centerline goodness : 0.993608 Centerline is valid? [True, True] Translation: X:127.48, Y:94.25, Z:11.50 [[ 9.69324396e-01 1.93742435e-01 -1.51241807e-01 1.27480539e+02] [-1.94997299e-01 9.80781344e-01 6.63392614e-03 9.42498781e+01] [ 1.49620416e-01 2.30613174e-02 9.88474535e-01 1.14979679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.796875 meters Centerline goodness : 0.993608 Centerline is valid? [True, True] Translation: X:127.51, Y:94.24, Z:11.51 [[ 9.68887508e-01 1.97415453e-01 -1.49278720e-01 1.27509145e+02] [-1.96376603e-01 9.80285812e-01 2.18164371e-02 9.42382928e+01] [ 1.50642713e-01 8.17717457e-03 9.88554453e-01 1.15121451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.82687500000003 meters Centerline goodness : 0.994285 Centerline is valid? [True, True] Translation: X:127.54, Y:94.23, Z:11.53 [[ 9.67985772e-01 2.00370825e-01 -1.51178957e-01 1.27538632e+02] [-1.98161007e-01 9.79719385e-01 2.97008667e-02 9.42269742e+01] [ 1.54064142e-01 1.20775805e-03 9.88060110e-01 1.15258065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.856875 meters Centerline goodness : 0.993884 Centerline is valid? [True, True] Translation: X:127.57, Y:94.23, Z:11.52 [[ 9.68674311e-01 1.95565559e-01 -1.53049640e-01 1.27571133e+02] [-1.96090561e-01 9.80514708e-01 1.18067404e-02 9.42263925e+01] [ 1.52376415e-01 1.85747036e-02 9.88147969e-01 1.15175270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.88687500000003 meters Centerline goodness : 0.988996 Centerline is valid? [True, True] Translation: X:127.61, Y:94.20, Z:11.56 [[ 9.68491212e-01 2.05308430e-01 -1.40972411e-01 1.27611645e+02] [-1.96256245e-01 9.77640582e-01 7.55140982e-02 9.41985893e+01] [ 1.53324031e-01 -4.54680245e-02 9.87129374e-01 1.15610409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.916875 meters Centerline goodness : 0.993865 Centerline is valid? [True, True] Translation: X:127.64, Y:94.22, Z:11.51 [[ 9.68988095e-01 1.86529913e-01 -1.62076102e-01 1.27640832e+02] [-1.93018036e-01 9.80873837e-01 -2.51108468e-02 9.42215130e+01] [ 1.54292284e-01 5.56157225e-02 9.86458708e-01 1.15095774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.94687500000003 meters Centerline goodness : 0.993707 Centerline is valid? [True, True] Translation: X:127.67, Y:94.20, Z:11.53 [[ 9.69882654e-01 1.89217496e-01 -1.53376586e-01 1.27668709e+02] [-1.90413761e-01 9.81679053e-01 6.98834637e-03 9.42040174e+01] [ 1.51888899e-01 2.24271367e-02 9.88143100e-01 1.15304622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.976875 meters Centerline goodness : 0.993782 Centerline is valid? [True, True] Translation: X:127.69, Y:94.19, Z:11.54 [[ 9.69942735e-01 1.93420694e-01 -1.47646627e-01 1.27694514e+02] [-1.91932005e-01 9.81104802e-01 2.44023033e-02 9.41913856e+01] [ 1.49576726e-01 4.66927642e-03 9.88739097e-01 1.15435639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.00687500000004 meters Centerline goodness : 0.993687 Centerline is valid? [True, True] Translation: X:127.72, Y:94.18, Z:11.56 [[ 9.67273692e-01 2.00816368e-01 -1.55094780e-01 1.27720513e+02] [-1.97912251e-01 9.79626215e-01 3.41060117e-02 9.41815423e+01] [ 1.58783957e-01 -2.29469084e-03 9.87310685e-01 1.15602687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.036875 meters Centerline goodness : 0.992847 Centerline is valid? [True, True] Translation: X:127.75, Y:94.18, Z:11.56 [[ 9.68179876e-01 1.97140974e-01 -1.54153054e-01 1.27753837e+02] [-1.96005235e-01 9.80340423e-01 2.26848678e-02 9.41788038e+01] [ 1.55594587e-01 8.25177308e-03 9.87786532e-01 1.15558843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.06687500000004 meters Centerline goodness : 0.993503 Centerline is valid? [True, True] Translation: X:127.78, Y:94.16, Z:11.59 [[ 9.65933019e-01 2.06612114e-01 -1.55835930e-01 1.27780665e+02] [-2.01127202e-01 9.78270042e-01 5.03544720e-02 9.41599677e+01] [ 1.62853466e-01 -1.72962026e-02 9.86498652e-01 1.15870263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.096875 meters Centerline goodness : 0.993994 Centerline is valid? [True, True] Translation: X:127.81, Y:94.16, Z:11.58 [[ 9.66125647e-01 2.02147508e-01 -1.60429485e-01 1.27812249e+02] [-2.00460369e-01 9.79335059e-01 2.68045350e-02 9.41616988e+01] [ 1.62532689e-01 6.26320510e-03 9.86683281e-01 1.15776659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.12687500000004 meters Centerline goodness : 0.993833 Centerline is valid? [True, True] Translation: X:127.84, Y:94.14, Z:11.61 [[ 9.64659896e-01 2.09480241e-01 -1.59841528e-01 1.27837606e+02] [-2.03727266e-01 9.77658724e-01 5.17553971e-02 9.41447147e+01] [ 1.67112197e-01 -1.73622784e-02 9.85784999e-01 1.16060068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.156875 meters Centerline goodness : 0.993603 Centerline is valid? [True, True] Translation: X:127.87, Y:94.14, Z:11.60 [[ 9.64285105e-01 2.07103769e-01 -1.65112887e-01 1.27870673e+02] [-2.04415012e-01 9.78317611e-01 3.33039661e-02 9.41405424e+01] [ 1.68430222e-01 1.63703431e-03 9.85712220e-01 1.16029710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.18687500000004 meters Centerline goodness : 0.993549 Centerline is valid? [True, True] Translation: X:127.90, Y:94.13, Z:11.61 [[ 9.63673147e-01 2.07645203e-01 -1.67980756e-01 1.27902187e+02] [-2.05775748e-01 9.78179510e-01 2.86563780e-02 9.41341530e+01] [ 1.70265693e-01 6.95098383e-03 9.85373674e-01 1.16093197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.216875 meters Centerline goodness : 0.993329 Centerline is valid? [True, True] Translation: X:127.93, Y:94.13, Z:11.62 [[ 9.63236748e-01 2.09369359e-01 -1.68343216e-01 1.27933149e+02] [-2.07001609e-01 9.77827092e-01 3.16940269e-02 9.41254027e+01] [ 1.71246315e-01 4.31846515e-03 9.85218783e-01 1.16184530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.246875 meters Centerline goodness : 0.993933 Centerline is valid? [True, True] Translation: X:127.96, Y:94.12, Z:11.62 [[ 9.62788025e-01 2.08415305e-01 -1.72053132e-01 1.27964173e+02] [-2.07784458e-01 9.77930069e-01 2.18723433e-02 9.41186597e+01] [ 1.72814463e-01 1.46915367e-02 9.84844820e-01 1.16203988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.276875 meters Centerline goodness : 0.993509 Centerline is valid? [True, True] Translation: X:127.99, Y:94.12, Z:11.61 [[ 9.63499652e-01 2.06387756e-01 -1.70506642e-01 1.27992931e+02] [-2.07681237e-01 9.78141127e-01 1.04133927e-02 9.41172579e+01] [ 1.68928756e-01 2.53777301e-02 9.85301500e-01 1.16127173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.306875 meters Centerline goodness : 0.992633 Centerline is valid? [True, True] Translation: X:128.03, Y:94.09, Z:11.66 [[ 9.62188508e-01 2.19043479e-01 -1.61905000e-01 1.28027694e+02] [-2.10466421e-01 9.75193516e-01 6.85674276e-02 9.40888259e+01] [ 1.72907955e-01 -3.18992249e-02 9.84421291e-01 1.16585616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.336875 meters Centerline goodness : 0.992757 Centerline is valid? [True, True] Translation: X:128.07, Y:94.09, Z:11.65 [[ 9.61744575e-01 2.15757566e-01 -1.68807717e-01 1.28066709e+02] [-2.12855437e-01 9.76444997e-01 3.53232305e-02 9.40859313e+01] [ 1.72452705e-01 1.95971507e-03 9.85015850e-01 1.16470569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.366875 meters Centerline goodness : 0.992114 Centerline is valid? [True, True] Translation: X:128.10, Y:94.08, Z:11.66 [[ 9.62006303e-01 2.15109770e-01 -1.68141787e-01 1.28095051e+02] [-2.10605028e-01 9.76562611e-01 4.43958272e-02 9.40795761e+01] [ 1.73750958e-01 -7.29755990e-03 9.84762586e-01 1.16592293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.396875 meters Centerline goodness : 0.994840 Centerline is valid? [True, True] Translation: X:128.12, Y:94.09, Z:11.62 [[ 9.63586212e-01 2.01628912e-01 -1.75634262e-01 1.28120248e+02] [-2.07205442e-01 9.78199859e-01 -1.38181082e-02 9.40938785e+01] [ 1.69019280e-01 4.97073133e-02 9.84358505e-01 1.16238870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.426875 meters Centerline goodness : 0.994417 Centerline is valid? [True, True] Translation: X:128.14, Y:94.07, Z:11.65 [[ 9.63492303e-01 2.09611606e-01 -1.66569978e-01 1.28144556e+02] [-2.08170518e-01 9.77739841e-01 2.62647965e-02 9.40744461e+01] [ 1.68367510e-01 9.36902948e-03 9.85679767e-01 1.16518529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.456875 meters Centerline goodness : 0.994467 Centerline is valid? [True, True] Translation: X:128.17, Y:94.06, Z:11.67 [[ 9.62111917e-01 2.15277846e-01 -1.67320375e-01 1.28171415e+02] [-2.11995212e-01 9.76552676e-01 3.74553165e-02 9.40637287e+01] [ 1.71460460e-01 -5.65088004e-04 9.85190840e-01 1.16653836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.486875 meters Centerline goodness : 0.994267 Centerline is valid? [True, True] Translation: X:128.21, Y:94.06, Z:11.66 [[ 9.62341376e-01 2.13376836e-01 -1.68432187e-01 1.28205088e+02] [-2.12125992e-01 9.76906983e-01 2.55990418e-02 9.40603229e+01] [ 1.70004823e-01 1.10938277e-02 9.85380783e-01 1.16629418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.516875 meters Centerline goodness : 0.994326 Centerline is valid? [True, True] Translation: X:128.23, Y:94.05, Z:11.68 [[ 9.60619813e-01 2.19364340e-01 -1.70554570e-01 1.28233380e+02] [-2.16259522e-01 9.75641820e-01 3.68084110e-02 9.40485534e+01] [ 1.74474624e-01 1.52516092e-03 9.84660489e-01 1.16781144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.546875 meters Centerline goodness : 0.993679 Centerline is valid? [True, True] Translation: X:128.26, Y:94.05, Z:11.67 [[ 9.60976169e-01 2.16713814e-01 -1.71930001e-01 1.28264634e+02] [-2.15631124e-01 9.76150236e-01 2.51780883e-02 9.40474708e+01] [ 1.73285950e-01 1.28779164e-02 9.84787357e-01 1.16732858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.57687500000003 meters Centerline goodness : 0.994691 Centerline is valid? [True, True] Translation: X:128.29, Y:94.04, Z:11.68 [[ 9.58909081e-01 2.23018097e-01 -1.75374750e-01 1.28291291e+02] [-2.20699661e-01 9.74787813e-01 3.28691210e-02 9.40369560e+01] [ 1.78283577e-01 7.18664907e-03 9.83952904e-01 1.16842835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.606875 meters Centerline goodness : 0.994798 Centerline is valid? [True, True] Translation: X:128.32, Y:94.03, Z:11.69 [[ 9.58793810e-01 2.23045368e-01 -1.75969299e-01 1.28323057e+02] [-2.20528064e-01 9.74788237e-01 3.39892169e-02 9.40279623e+01] [ 1.79113940e-01 6.21751804e-03 9.83808690e-01 1.16928894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.63687500000003 meters Centerline goodness : 0.994476 Centerline is valid? [True, True] Translation: X:128.35, Y:94.02, Z:11.70 [[ 9.58199652e-01 2.24819206e-01 -1.76945619e-01 1.28354482e+02] [-2.21490674e-01 9.74398012e-01 3.86056509e-02 9.40182692e+01] [ 1.81094751e-01 2.19988315e-03 9.83463193e-01 1.17045246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.666875 meters Centerline goodness : 0.994394 Centerline is valid? [True, True] Translation: X:128.38, Y:94.01, Z:11.71 [[ 9.57343457e-01 2.25958143e-01 -1.80101145e-01 1.28382994e+02] [-2.23130160e-01 9.74120663e-01 3.60813786e-02 9.40114153e+01] [ 1.83593128e-01 5.64372544e-03 9.82986120e-01 1.17114149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.69687500000003 meters Centerline goodness : 0.994284 Centerline is valid? [True, True] Translation: X:128.41, Y:94.01, Z:11.71 [[ 9.56942915e-01 2.26450331e-01 -1.81605355e-01 1.28412590e+02] [-2.24926345e-01 9.73937492e-01 2.92215811e-02 9.40059005e+01] [ 1.83489501e-01 1.28844438e-02 9.82937228e-01 1.17133115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.726875 meters Centerline goodness : 0.994265 Centerline is valid? [True, True] Translation: X:128.44, Y:94.00, Z:11.72 [[ 9.56476078e-01 2.28759045e-01 -1.81170670e-01 1.28442766e+02] [-2.26122853e-01 9.73456840e-01 3.53586883e-02 9.39970444e+01] [ 1.84450448e-01 7.14708940e-03 9.82815828e-01 1.17236877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.75687500000004 meters Centerline goodness : 0.993422 Centerline is valid? [True, True] Translation: X:128.47, Y:93.99, Z:11.72 [[ 9.56889321e-01 2.25775852e-01 -1.82724087e-01 1.28473607e+02] [-2.25146365e-01 9.74017858e-01 2.44607051e-02 9.39943328e+01] [ 1.83499161e-01 1.77334766e-02 9.82859899e-01 1.17209945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.786875 meters Centerline goodness : 0.994881 Centerline is valid? [True, True] Translation: X:128.50, Y:93.97, Z:11.76 [[ 9.54089728e-01 2.36984707e-01 -1.83169428e-01 1.28498538e+02] [-2.30234172e-01 9.71429319e-01 5.75960419e-02 9.39706604e+01] [ 1.91585534e-01 -1.27799303e-02 9.81392713e-01 1.17581964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.81687500000004 meters Centerline goodness : 0.993471 Centerline is valid? [True, True] Translation: X:128.53, Y:93.98, Z:11.74 [[ 9.56216880e-01 2.26101613e-01 -1.85815336e-01 1.28531764e+02] [-2.25773777e-01 9.73903275e-01 2.32080087e-02 9.39790974e+01] [ 1.86213533e-01 1.97603407e-02 9.82310567e-01 1.17364435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.846875 meters Centerline goodness : 0.994706 Centerline is valid? [True, True] Translation: X:128.56, Y:93.96, Z:11.76 [[ 9.53492960e-01 2.34866979e-01 -1.88914473e-01 1.28555110e+02] [-2.30105960e-01 9.72026496e-01 4.70716363e-02 9.39629588e+01] [ 1.94685446e-01 -1.41212764e-03 9.80864712e-01 1.17628118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.87687500000004 meters Centerline goodness : 0.994013 Centerline is valid? [True, True] Translation: X:128.59, Y:93.96, Z:11.76 [[ 9.54290748e-01 2.30806036e-01 -1.89888762e-01 1.28587609e+02] [-2.28376975e-01 9.72947604e-01 3.48843462e-02 9.39576780e+01] [ 1.92803334e-01 1.00764123e-02 9.81185681e-01 1.17618137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.906875 meters Centerline goodness : 0.994520 Centerline is valid? [True, True] Translation: X:128.62, Y:93.95, Z:11.77 [[ 9.54539702e-01 2.30951605e-01 -1.88455071e-01 1.28617679e+02] [-2.28117003e-01 9.72934235e-01 3.68999716e-02 9.39500067e+01] [ 1.91876498e-01 7.76731823e-03 9.81388342e-01 1.17688699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.93687500000004 meters Centerline goodness : 0.994575 Centerline is valid? [True, True] Translation: X:128.65, Y:93.93, Z:11.79 [[ 9.52779775e-01 2.37623143e-01 -1.89065972e-01 1.28646971e+02] [-2.31524090e-01 9.71326740e-01 5.40459092e-02 9.39333781e+01] [ 1.96487393e-01 -7.72052221e-03 9.80475955e-01 1.17929504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.966875 meters Centerline goodness : 0.994752 Centerline is valid? [True, True] Translation: X:128.68, Y:93.94, Z:11.77 [[ 9.54418885e-01 2.26959433e-01 -1.93840159e-01 1.28679956e+02] [-2.27898815e-01 9.73523144e-01 1.77431129e-02 9.39414432e+01] [ 1.92734847e-01 2.72415803e-02 9.80872660e-01 1.17713002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.996875 meters Centerline goodness : 0.992640 Centerline is valid? [True, True] Translation: X:128.71, Y:93.91, Z:11.82 [[ 9.52334600e-01 2.41460384e-01 -1.86428786e-01 1.28711056e+02] [-2.32531017e-01 9.70159552e-01 6.87005739e-02 9.39129483e+01] [ 1.97454135e-01 -2.20754583e-02 9.80063538e-01 1.18155693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.026875 meters Centerline goodness : 0.995086 Centerline is valid? [True, True] Translation: X:128.74, Y:93.92, Z:11.79 [[ 9.51534022e-01 2.32690482e-01 -2.01092378e-01 1.28736900e+02] [-2.32819487e-01 9.72239643e-01 2.33487144e-02 9.39221678e+01] [ 2.00943006e-01 2.46011281e-02 9.79293977e-01 1.17941154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.056875 meters Centerline goodness : 0.995267 Centerline is valid? [True, True] Translation: X:128.76, Y:93.91, Z:11.81 [[ 9.52150643e-01 2.34025043e-01 -1.96574243e-01 1.28764597e+02] [-2.31430925e-01 9.72170178e-01 3.63987840e-02 9.39111934e+01] [ 1.99621843e-01 1.08362333e-02 9.79813092e-01 1.18070813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.086875 meters Centerline goodness : 0.993228 Centerline is valid? [True, True] Translation: X:128.80, Y:93.89, Z:11.83 [[ 9.52415550e-01 2.41554403e-01 -1.85892684e-01 1.28801694e+02] [-2.34868761e-01 9.70323492e-01 5.75237869e-02 9.38866226e+01] [ 1.94271163e-01 -1.11261646e-02 9.80884766e-01 1.18259442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.116875 meters Centerline goodness : 0.995100 Centerline is valid? [True, True] Translation: X:128.82, Y:93.90, Z:11.82 [[ 9.51501289e-01 2.32094685e-01 -2.01934034e-01 1.28824587e+02] [-2.31625430e-01 9.72449782e-01 2.62884396e-02 9.38978375e+01] [ 2.02472115e-01 2.17595733e-02 9.79046252e-01 1.18167484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.146875 meters Centerline goodness : 0.993581 Centerline is valid? [True, True] Translation: X:128.86, Y:93.89, Z:11.81 [[ 9.56500073e-01 2.24066740e-01 -1.86819985e-01 1.28856146e+02] [-2.22517840e-01 9.74482275e-01 2.94975758e-02 9.38936189e+01] [ 1.88662189e-01 1.33563459e-02 9.81951214e-01 1.18125670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.176875 meters Centerline goodness : 0.995262 Centerline is valid? [True, True] Translation: X:128.88, Y:93.87, Z:11.85 [[ 9.52299588e-01 2.36775146e-01 -1.92517599e-01 1.28881180e+02] [-2.29124529e-01 9.71458235e-01 6.14072253e-02 9.38706632e+01] [ 2.01562512e-01 -1.43675712e-02 9.79370271e-01 1.18533694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.206875 meters Centerline goodness : 0.994189 Centerline is valid? [True, True] Translation: X:128.91, Y:93.88, Z:11.83 [[ 9.54615105e-01 2.24302779e-01 -1.95954754e-01 1.28914832e+02] [-2.24169589e-01 9.74275082e-01 2.31529577e-02 9.38790329e+01] [ 1.96107107e-01 2.18249337e-02 9.80339571e-01 1.18288908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.236875 meters Centerline goodness : 0.994750 Centerline is valid? [True, True] Translation: X:128.94, Y:93.87, Z:11.84 [[ 9.54599164e-01 2.28439834e-01 -1.91195393e-01 1.28939382e+02] [-2.25398941e-01 9.73532815e-01 3.78044353e-02 9.38665792e+01] [ 1.94771028e-01 7.00715681e-03 9.80823708e-01 1.18400347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.266875 meters Centerline goodness : 0.994212 Centerline is valid? [True, True] Translation: X:128.97, Y:93.86, Z:11.84 [[ 9.54620038e-01 2.24628366e-01 -1.95557356e-01 1.28973633e+02] [-2.23777567e-01 9.74273672e-01 2.67284902e-02 9.38643493e+01] [ 1.96530361e-01 1.82457972e-02 9.80327960e-01 1.18422476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.296875 meters Centerline goodness : 0.995435 Centerline is valid? [True, True] Translation: X:129.00, Y:93.84, Z:11.87 [[ 9.50804434e-01 2.38920327e-01 -1.97200419e-01 1.28996430e+02] [-2.32134798e-01 9.71001129e-01 5.71860473e-02 9.38429701e+01] [ 2.05144739e-01 -8.59566801e-03 9.78693900e-01 1.18738941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.32687500000003 meters Centerline goodness : 0.994882 Centerline is valid? [True, True] Translation: X:129.03, Y:93.84, Z:11.87 [[ 9.49085684e-01 2.35924670e-01 -2.08748446e-01 1.29030498e+02] [-2.33333810e-01 9.71680435e-01 3.73157626e-02 9.38418690e+01] [ 2.11640490e-01 1.32922141e-02 9.77257192e-01 1.18736184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.356875 meters Centerline goodness : 0.995308 Centerline is valid? [True, True] Translation: X:129.05, Y:93.83, Z:11.89 [[ 9.51257838e-01 2.37784226e-01 -1.96385303e-01 1.29052683e+02] [-2.30948223e-01 9.71274446e-01 5.73486616e-02 9.38319054e+01] [ 2.04380633e-01 -9.19852708e-03 9.78848274e-01 1.18850926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.38687500000003 meters Centerline goodness : 0.995601 Centerline is valid? [True, True] Translation: X:129.09, Y:93.83, Z:11.89 [[ 9.46460756e-01 2.40562181e-01 -2.15271628e-01 1.29087238e+02] [-2.37791731e-01 9.70529784e-01 3.90772368e-02 9.38265002e+01] [ 2.18328032e-01 1.42047420e-02 9.75772051e-01 1.18931124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.416875 meters Centerline goodness : 0.994722 Centerline is valid? [True, True] Translation: X:129.11, Y:93.81, Z:11.92 [[ 9.48194339e-01 2.45174972e-01 -2.02031503e-01 1.29114866e+02] [-2.36943160e-01 9.69389633e-01 6.43558672e-02 9.38104245e+01] [ 2.11625692e-01 -1.31518862e-02 9.77262296e-01 1.19160761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.44687500000003 meters Centerline goodness : 0.995070 Centerline is valid? [True, True] Translation: X:129.15, Y:93.82, Z:11.90 [[ 9.46196341e-01 2.38296549e-01 -2.18922907e-01 1.29148230e+02] [-2.38758338e-01 9.70763676e-01 2.47455538e-02 9.38168674e+01] [ 2.18419186e-01 2.88555168e-02 9.75428326e-01 1.18989045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.476875 meters Centerline goodness : 0.994732 Centerline is valid? [True, True] Translation: X:129.17, Y:93.81, Z:11.91 [[ 9.49698025e-01 2.39176121e-01 -2.02159451e-01 1.29173623e+02] [-2.35256876e-01 9.70956483e-01 4.35627169e-02 9.38067286e+01] [ 2.06707192e-01 6.18797472e-03 9.78383282e-01 1.19102236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.50687500000004 meters Centerline goodness : 0.994739 Centerline is valid? [True, True] Translation: X:129.20, Y:93.78, Z:11.95 [[ 9.45574120e-01 2.53164088e-01 -2.04444438e-01 1.29201002e+02] [-2.42879137e-01 9.67202939e-01 7.43518606e-02 9.37837956e+01] [ 2.16562483e-01 -2.06499065e-02 9.76050343e-01 1.19503274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.536875 meters Centerline goodness : 0.995132 Centerline is valid? [True, True] Translation: X:129.24, Y:93.81, Z:11.90 [[ 9.46557528e-01 2.33267412e-01 -2.22744611e-01 1.29239083e+02] [-2.40737319e-01 9.70567874e-01 -6.59888385e-03 9.38071478e+01] [ 2.14649459e-01 5.98691636e-02 9.74854498e-01 1.19006335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.56687500000004 meters Centerline goodness : 0.994455 Centerline is valid? [True, True] Translation: X:129.26, Y:93.79, Z:11.93 [[ 9.45977080e-01 2.44567719e-01 -2.12870839e-01 1.29262960e+02] [-2.43235273e-01 9.69411075e-01 3.28446222e-02 9.37873495e+01] [ 2.14392084e-01 2.07074369e-02 9.76528155e-01 1.19284788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.596875 meters Centerline goodness : 0.993668 Centerline is valid? [True, True] Translation: X:129.29, Y:93.75, Z:11.98 [[ 9.46409238e-01 2.62740052e-01 -1.87822308e-01 1.29290821e+02] [-2.46206956e-01 9.63299978e-01 1.06935907e-01 9.37538555e+01] [ 2.09025571e-01 -5.49619716e-02 9.76364426e-01 1.19828045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.62687500000004 meters Centerline goodness : 0.994806 Centerline is valid? [True, True] Translation: X:129.33, Y:93.78, Z:11.92 [[ 9.45186902e-01 2.36457431e-01 -2.25187928e-01 1.29326685e+02] [-2.44502924e-01 9.69614560e-01 -8.11941166e-03 9.37840963e+01] [ 2.16425599e-01 6.27334685e-02 9.74281516e-01 1.19209753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.656875 meters Centerline goodness : 0.994777 Centerline is valid? [True, True] Translation: X:129.35, Y:93.76, Z:11.96 [[ 9.46220486e-01 2.52442532e-01 -2.02335265e-01 1.29345027e+02] [-2.47446637e-01 9.67608091e-01 5.00474232e-02 9.37567096e+01] [ 2.08415337e-01 2.71128381e-03 9.78036654e-01 1.19556003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.68687500000004 meters Centerline goodness : 0.994777 Centerline is valid? [True, True] Translation: X:129.38, Y:93.75, Z:11.96 [[ 9.45722107e-01 2.51941297e-01 -2.05268799e-01 1.29375543e+02] [-2.48365602e-01 9.67691876e-01 4.34391710e-02 9.37499351e+01] [ 2.09581071e-01 9.90032451e-03 9.77741151e-01 1.19599203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.716875 meters Centerline goodness : 0.995472 Centerline is valid? [True, True] Translation: X:129.40, Y:93.74, Z:11.97 [[ 9.45237740e-01 2.53813195e-01 -2.05193756e-01 1.29401668e+02] [-2.49808016e-01 9.67219185e-01 4.56399244e-02 9.37414909e+01] [ 2.10051353e-01 8.11846603e-03 9.77656647e-01 1.19674562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.746875 meters Centerline goodness : 0.994440 Centerline is valid? [True, True] Translation: X:129.44, Y:93.73, Z:11.98 [[ 9.44345772e-01 2.55394737e-01 -2.07327258e-01 1.29435519e+02] [-2.51083231e-01 9.66808699e-01 4.73090999e-02 9.37311109e+01] [ 2.12528292e-01 7.38024941e-03 9.77127042e-01 1.19805182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.776875 meters Centerline goodness : 0.987024 Centerline is valid? [True, True] Translation: X:129.47, Y:93.71, Z:12.01 [[ 9.43126344e-01 2.65675642e-01 -1.99822803e-01 1.29474750e+02] [-2.54024293e-01 9.63687467e-01 8.23293626e-02 9.37098022e+01] [ 2.14439637e-01 -2.68871446e-02 9.76367105e-01 1.20118213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.806875 meters Centerline goodness : 0.993714 Centerline is valid? [True, True] Translation: X:129.50, Y:93.72, Z:11.99 [[ 9.43730391e-01 2.51889916e-01 -2.14299837e-01 1.29501351e+02] [-2.50863232e-01 9.67478977e-01 3.24355951e-02 9.37226449e+01] [ 2.15500786e-01 2.31494928e-02 9.76229231e-01 1.19889459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.836875 meters Centerline goodness : 0.993454 Centerline is valid? [True, True] Translation: X:129.53, Y:93.73, Z:11.97 [[ 9.46873437e-01 2.42032207e-01 -2.11780793e-01 1.29530025e+02] [-2.45406379e-01 9.69362176e-01 1.06151512e-02 9.37276748e+01] [ 2.07861498e-01 4.19211528e-02 9.77259543e-01 1.19728161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.866875 meters Centerline goodness : 0.994041 Centerline is valid? [True, True] Translation: X:129.55, Y:93.70, Z:12.02 [[ 9.44676680e-01 2.61101049e-01 -1.98525092e-01 1.29546109e+02] [-2.50481936e-01 9.65030318e-01 7.72999734e-02 9.36986067e+01] [ 2.11765837e-01 -2.32965328e-02 9.77042733e-01 1.20216797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.896875 meters Centerline goodness : 0.993706 Centerline is valid? [True, True] Translation: X:129.58, Y:93.70, Z:12.01 [[ 9.43722074e-01 2.54973588e-01 -2.10658766e-01 1.29583169e+02] [-2.51750542e-01 9.66860935e-01 4.24452231e-02 9.36996377e+01] [ 2.14500142e-01 1.29769646e-02 9.76637746e-01 1.20119470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.926875 meters Centerline goodness : 0.994731 Centerline is valid? [True, True] Translation: X:129.61, Y:93.69, Z:12.02 [[ 9.41765964e-01 2.62296734e-01 -2.10421703e-01 1.29606677e+02] [-2.56687858e-01 9.64982232e-01 5.40429053e-02 9.36882387e+01] [ 2.17228482e-01 3.11692751e-03 9.76115808e-01 1.20248821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.956875 meters Centerline goodness : 0.994633 Centerline is valid? [True, True] Translation: X:129.64, Y:93.68, Z:12.03 [[ 9.40587495e-01 2.60621821e-01 -2.17649791e-01 1.29639451e+02] [-2.57853105e-01 9.65290501e-01 4.15454671e-02 9.36830515e+01] [ 2.20922931e-01 1.70445274e-02 9.75142319e-01 1.20290082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.986875 meters Centerline goodness : 0.994133 Centerline is valid? [True, True] Translation: X:129.67, Y:93.67, Z:12.04 [[ 9.40453020e-01 2.63079069e-01 -2.15261517e-01 1.29668512e+02] [-2.59062549e-01 9.64707078e-01 4.71894980e-02 9.36725126e+01] [ 2.20078879e-01 1.13866915e-02 9.75415619e-01 1.20392239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.016875 meters Centerline goodness : 0.993641 Centerline is valid? [True, True] Translation: X:129.70, Y:93.66, Z:12.04 [[ 9.40799467e-01 2.61830613e-01 -2.15269813e-01 1.29702436e+02] [-2.58406603e-01 9.65014604e-01 4.44166841e-02 9.36638431e+01] [ 2.19368161e-01 1.38399482e-02 9.75543985e-01 1.20442147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.046875 meters Centerline goodness : 0.994479 Centerline is valid? [True, True] Translation: X:129.73, Y:93.67, Z:12.04 [[ 9.37921983e-01 2.58774993e-01 -2.30949903e-01 1.29729503e+02] [-2.60799510e-01 9.65136062e-01 2.22709940e-02 9.36656474e+01] [ 2.28661256e-01 3.93431669e-02 9.72710720e-01 1.20363009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.07687500000003 meters Centerline goodness : 0.993628 Centerline is valid? [True, True] Translation: X:129.76, Y:93.65, Z:12.06 [[ 9.37428848e-01 2.67064007e-01 -2.23391968e-01 1.29755447e+02] [-2.61786737e-01 9.63642670e-01 5.34837225e-02 9.36461276e+01] [ 2.29553610e-01 8.34387010e-03 9.73260253e-01 1.20625773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.106875 meters Centerline goodness : 0.993762 Centerline is valid? [True, True] Translation: X:129.79, Y:93.64, Z:12.07 [[ 9.36691357e-01 2.67063435e-01 -2.26465061e-01 1.29787428e+02] [-2.63218991e-01 9.63561672e-01 4.75885138e-02 9.36374872e+01] [ 2.30922205e-01 1.50341555e-02 9.72856058e-01 1.20681138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.13687500000003 meters Centerline goodness : 0.993915 Centerline is valid? [True, True] Translation: X:129.81, Y:93.63, Z:12.09 [[ 9.36358856e-01 2.69621305e-01 -2.24803126e-01 1.29812429e+02] [-2.62602119e-01 9.62964791e-01 6.11468552e-02 9.36251797e+01] [ 2.32963991e-01 1.77837786e-03 9.72483736e-01 1.20857340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.166875 meters Centerline goodness : 0.994289 Centerline is valid? [True, True] Translation: X:129.84, Y:93.62, Z:12.08 [[ 9.37177523e-01 2.63392797e-01 -2.28741174e-01 1.29844763e+02] [-2.61529369e-01 9.64407683e-01 3.89898798e-02 9.36237774e+01] [ 2.30869399e-01 2.32820958e-02 9.72706155e-01 1.20774520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.19687500000003 meters Centerline goodness : 0.993498 Centerline is valid? [True, True] Translation: X:129.87, Y:93.61, Z:12.09 [[ 9.37577578e-01 2.64482364e-01 -2.25825960e-01 1.29872541e+02] [-2.60882557e-01 9.64264382e-01 4.62005694e-02 9.36136958e+01] [ 2.29975165e-01 1.55974359e-02 9.73071500e-01 1.20884047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.226875 meters Centerline goodness : 0.993755 Centerline is valid? [True, True] Translation: X:129.90, Y:93.60, Z:12.11 [[ 9.36356565e-01 2.69462389e-01 -2.25003121e-01 1.29899589e+02] [-2.62907711e-01 9.63003682e-01 5.91898954e-02 9.35998584e+01] [ 2.32628285e-01 3.73220851e-03 9.72558560e-01 1.21075011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.25687500000004 meters Centerline goodness : 0.994253 Centerline is valid? [True, True] Translation: X:129.93, Y:93.59, Z:12.12 [[ 9.35078763e-01 2.70712771e-01 -2.28784403e-01 1.29931068e+02] [-2.65306236e-01 9.62612592e-01 5.46772240e-02 9.35892091e+01] [ 2.35032570e-01 9.57041782e-03 9.71940378e-01 1.21163168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.286875 meters Centerline goodness : 0.994155 Centerline is valid? [True, True] Translation: X:129.96, Y:93.58, Z:12.12 [[ 9.35311245e-01 2.69431161e-01 -2.29346298e-01 1.29960223e+02] [-2.65100452e-01 9.62918661e-01 5.00939346e-02 9.35829896e+01] [ 2.34338697e-01 1.39463869e-02 9.72054975e-01 1.21197621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.31687500000004 meters Centerline goodness : 0.994028 Centerline is valid? [True, True] Translation: X:129.99, Y:93.57, Z:12.13 [[ 9.36761846e-01 2.72226235e-01 -2.19932081e-01 1.29986611e+02] [-2.65114980e-01 9.62233193e-01 6.18169068e-02 9.35681299e+01] [ 2.28454132e-01 3.99569385e-04 9.73554595e-01 1.21309372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.346875 meters Centerline goodness : 0.994354 Centerline is valid? [True, True] Translation: X:130.02, Y:93.57, Z:12.12 [[ 9.34939404e-01 2.66130847e-01 -2.34654390e-01 1.30022041e+02] [-2.66750471e-01 9.63307742e-01 2.97048774e-02 9.35707155e+01] [ 2.33949775e-01 3.48219086e-02 9.71624895e-01 1.21226403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.37687500000004 meters Centerline goodness : 0.993966 Centerline is valid? [True, True] Translation: X:130.05, Y:93.55, Z:12.14 [[ 9.34481934e-01 2.72960835e-01 -2.28551738e-01 1.30047145e+02] [-2.68300908e-01 9.61939026e-01 5.18452786e-02 9.35549898e+01] [ 2.34004567e-01 1.28721625e-02 9.72150282e-01 1.21424770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.406875 meters Centerline goodness : 0.994393 Centerline is valid? [True, True] Translation: X:130.08, Y:93.54, Z:12.15 [[ 9.33262176e-01 2.76090690e-01 -2.29773022e-01 1.30075696e+02] [-2.70781498e-01 9.61069663e-01 5.49771104e-02 9.35443042e+01] [ 2.36006549e-01 1.09102254e-02 9.71690216e-01 1.21532030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.43687500000004 meters Centerline goodness : 0.994012 Centerline is valid? [True, True] Translation: X:130.10, Y:93.53, Z:12.17 [[ 9.34142412e-01 2.81755666e-01 -2.19070079e-01 1.30099471e+02] [-2.71443577e-01 9.59411515e-01 7.64717523e-02 9.35265141e+01] [ 2.31724706e-01 -1.19703413e-02 9.72707753e-01 1.21724169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.466875 meters Centerline goodness : 0.994274 Centerline is valid? [True, True] Translation: X:130.13, Y:93.52, Z:12.17 [[ 9.32572569e-01 2.80599202e-01 -2.27095777e-01 1.30134756e+02] [-2.74982028e-01 9.59777138e-01 5.66809451e-02 9.35197747e+01] [ 2.33865963e-01 9.58816275e-03 9.72221569e-01 1.21723405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.496875 meters Centerline goodness : 0.993635 Centerline is valid? [True, True] Translation: X:130.16, Y:93.51, Z:12.18 [[ 9.32254569e-01 2.81905418e-01 -2.26783494e-01 1.30160968e+02] [-2.75217741e-01 9.59427581e-01 6.12691716e-02 9.35118561e+01] [ 2.34854451e-01 5.29637567e-03 9.72016119e-01 1.21820142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.526875 meters Centerline goodness : 0.993653 Centerline is valid? [True, True] Translation: X:130.19, Y:93.51, Z:12.19 [[ 9.29018134e-01 2.82300205e-01 -2.39231896e-01 1.30190563e+02] [-2.77963885e-01 9.59160790e-01 5.24085548e-02 9.35095770e+01] [ 2.44256801e-01 1.78093296e-02 9.69547030e-01 1.21900849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.556875 meters Centerline goodness : 0.993183 Centerline is valid? [True, True] Translation: X:130.22, Y:93.50, Z:12.19 [[ 9.29293894e-01 2.80791712e-01 -2.39935142e-01 1.30221793e+02] [-2.79147920e-01 9.59349200e-01 4.15397513e-02 9.35044496e+01] [ 2.41845604e-01 2.83747586e-02 9.69899777e-01 1.21874724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.586875 meters Centerline goodness : 0.994800 Centerline is valid? [True, True] Translation: X:130.25, Y:93.49, Z:12.21 [[ 9.26934875e-01 2.89103977e-01 -2.39187433e-01 1.30247321e+02] [-2.83307323e-01 9.57209127e-01 5.90563097e-02 9.34888572e+01] [ 2.46025808e-01 1.30221983e-02 9.69175796e-01 1.22078726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.616875 meters Centerline goodness : 0.994126 Centerline is valid? [True, True] Translation: X:130.27, Y:93.48, Z:12.23 [[ 9.25725359e-01 2.93493859e-01 -2.38524453e-01 1.30270747e+02] [-2.83930023e-01 9.55960353e-01 7.43205567e-02 9.34780645e+01] [ 2.49832547e-01 -1.07617060e-03 9.68288459e-01 1.22265633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.646875 meters Centerline goodness : 0.994135 Centerline is valid? [True, True] Translation: X:130.30, Y:93.47, Z:12.24 [[ 9.24033767e-01 2.95277775e-01 -2.42842814e-01 1.30299637e+02] [-2.85874614e-01 9.55410807e-01 7.39316973e-02 9.34676248e+01] [ 2.53845036e-01 1.10721082e-03 9.67244267e-01 1.22385279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.676875 meters Centerline goodness : 0.994289 Centerline is valid? [True, True] Translation: X:130.33, Y:93.46, Z:12.24 [[ 9.22900082e-01 2.94486491e-01 -2.48058753e-01 1.30329042e+02] [-2.87333713e-01 9.55593530e-01 6.54243333e-02 9.34614678e+01] [ 2.56309922e-01 1.08955200e-02 9.66533244e-01 1.22428783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.706875 meters Centerline goodness : 0.994189 Centerline is valid? [True, True] Translation: X:130.36, Y:93.45, Z:12.25 [[ 9.22479189e-01 2.95016035e-01 -2.48993342e-01 1.30359114e+02] [-2.87517288e-01 9.55440644e-01 6.68355045e-02 9.34506965e+01] [ 2.57615905e-01 9.93552847e-03 9.66196321e-01 1.22543440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.736875 meters Centerline goodness : 0.994875 Centerline is valid? [True, True] Translation: X:130.39, Y:93.44, Z:12.26 [[ 9.21145601e-01 2.96753629e-01 -2.51849290e-01 1.30387170e+02] [-2.91068166e-01 9.54791287e-01 6.04393955e-02 9.34423552e+01] [ 2.58399118e-01 1.76318277e-02 9.65877329e-01 1.22593837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.766875 meters Centerline goodness : 0.994447 Centerline is valid? [True, True] Translation: X:130.42, Y:93.43, Z:12.27 [[ 9.22063220e-01 2.95732617e-01 -2.49683076e-01 1.30417660e+02] [-2.89063186e-01 9.55178188e-01 6.38521994e-02 9.34319328e+01] [ 2.57375006e-01 1.32984208e-02 9.66220088e-01 1.22691967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.796875 meters Centerline goodness : 0.994745 Centerline is valid? [True, True] Translation: X:130.45, Y:93.42, Z:12.28 [[ 9.21538411e-01 2.96516513e-01 -2.50688881e-01 1.30447222e+02] [-2.89525869e-01 9.54946115e-01 6.52126376e-02 9.34209908e+01] [ 2.58730997e-01 1.24849656e-02 9.65868727e-01 1.22803654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.82687500000003 meters Centerline goodness : 0.996081 Centerline is valid? [True, True] Translation: X:130.48, Y:93.39, Z:12.33 [[ 9.16171269e-01 3.12151375e-01 -2.51379644e-01 1.30476624e+02] [-2.96424356e-01 9.49891497e-01 9.91904439e-02 9.33853399e+01] [ 2.69745820e-01 -1.63603856e-02 9.62792569e-01 1.23263347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.856875 meters Centerline goodness : 0.995087 Centerline is valid? [True, True] Translation: X:130.51, Y:93.41, Z:12.27 [[ 9.24064728e-01 2.81956099e-01 -2.58079711e-01 1.30511963e+02] [-2.84908060e-01 9.58182783e-01 2.67048890e-02 9.34141950e+01] [ 2.54817142e-01 4.88519440e-02 9.65754478e-01 1.22708393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.88687500000003 meters Centerline goodness : 0.995243 Centerline is valid? [True, True] Translation: X:130.53, Y:93.40, Z:12.29 [[ 9.23418477e-01 2.89904273e-01 -2.51503139e-01 1.30534305e+02] [-2.86720410e-01 9.56705526e-01 5.00593981e-02 9.33987268e+01] [ 2.55126877e-01 2.58853099e-02 9.66561032e-01 1.22891497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.916875 meters Centerline goodness : 0.994652 Centerline is valid? [True, True] Translation: X:130.56, Y:93.38, Z:12.31 [[ 9.26336163e-01 2.93739071e-01 -2.35836110e-01 1.30559765e+02] [-2.84920617e-01 9.55885101e-01 7.14416939e-02 9.33808162e+01] [ 2.46417441e-01 1.01554536e-03 9.69163254e-01 1.23076271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.94687500000003 meters Centerline goodness : 0.993689 Centerline is valid? [True, True] Translation: X:130.59, Y:93.37, Z:12.32 [[ 9.26137057e-01 2.90843420e-01 -2.40167145e-01 1.30590563e+02] [-2.83536691e-01 9.56739854e-01 6.52364617e-02 9.33741411e+01] [ 2.48751075e-01 7.67829304e-03 9.68537013e-01 1.23159963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.976875 meters Centerline goodness : 0.993633 Centerline is valid? [True, True] Translation: X:130.62, Y:93.36, Z:12.33 [[ 9.25168053e-01 2.92749220e-01 -2.41582220e-01 1.30619696e+02] [-2.85502528e-01 9.56150927e-01 6.52971037e-02 9.33627681e+01] [ 2.50104739e-01 8.56154027e-03 9.68180933e-01 1.23256360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.00687500000004 meters Centerline goodness : 0.993977 Centerline is valid? [True, True] Translation: X:130.65, Y:93.36, Z:12.32 [[ 9.23911105e-01 2.89090902e-01 -2.50628651e-01 1.30647607e+02] [-2.85887317e-01 9.56961462e-01 4.99319811e-02 9.33608399e+01] [ 2.54276842e-01 2.55188408e-02 9.66794744e-01 1.23207628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.036875 meters Centerline goodness : 0.995687 Centerline is valid? [True, True] Translation: X:130.67, Y:93.31, Z:12.40 [[ 9.15270958e-01 3.19548513e-01 -2.45291301e-01 1.30665668e+02] [-2.95974916e-01 9.46494230e-01 1.28637170e-01 9.33128638e+01] [ 2.73272617e-01 -4.51377935e-02 9.60877025e-01 1.24031752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.06687500000004 meters Centerline goodness : 0.994395 Centerline is valid? [True, True] Translation: X:130.71, Y:93.35, Z:12.33 [[ 9.23050361e-01 2.83435139e-01 -2.60081822e-01 1.30705987e+02] [-2.85360547e-01 9.57913565e-01 3.11602252e-02 9.33466101e+01] [ 2.57967808e-01 4.54546339e-02 9.65083668e-01 1.23319703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.096875 meters Centerline goodness : 0.995789 Centerline is valid? [True, True] Translation: X:130.72, Y:93.30, Z:12.41 [[ 9.14532659e-01 3.17550762e-01 -2.50582378e-01 1.30724386e+02] [-2.97180454e-01 9.47702398e-01 1.16378446e-01 9.32952655e+01] [ 2.74433585e-01 -3.19637049e-02 9.61074674e-01 1.24143480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.12687500000004 meters Centerline goodness : 0.995635 Centerline is valid? [True, True] Translation: X:130.76, Y:93.29, Z:12.41 [[ 9.14473772e-01 3.09269022e-01 -2.60941360e-01 1.30762052e+02] [-2.97564343e-01 9.50974417e-01 8.42800125e-02 9.32922252e+01] [ 2.74213754e-01 5.74983258e-04 9.61668595e-01 1.24051950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.156875 meters Centerline goodness : 0.995435 Centerline is valid? [True, True] Translation: X:130.79, Y:93.31, Z:12.38 [[ 9.20329144e-01 2.91499241e-01 -2.60811157e-01 1.30791561e+02] [-2.89295186e-01 9.56050629e-01 4.77021089e-02 9.33068697e+01] [ 2.63253799e-01 3.15497711e-02 9.64210583e-01 1.23755375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.18687500000004 meters Centerline goodness : 0.994726 Centerline is valid? [True, True] Translation: X:130.82, Y:93.29, Z:12.39 [[ 9.20495820e-01 2.95993658e-01 -2.55098411e-01 1.30816269e+02] [-2.89634393e-01 9.55058427e-01 6.30501328e-02 9.32937991e+01] [ 2.62296326e-01 1.58478897e-02 9.64857234e-01 1.23903705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.216875 meters Centerline goodness : 0.995188 Centerline is valid? [True, True] Translation: X:130.84, Y:93.28, Z:12.40 [[ 9.20791689e-01 2.96459607e-01 -2.53484453e-01 1.30843219e+02] [-2.89426489e-01 9.54956245e-01 6.55047938e-02 9.32843965e+01] [ 2.61486087e-01 1.30488456e-02 9.65119036e-01 1.23985502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.246875 meters Centerline goodness : 0.994170 Centerline is valid? [True, True] Translation: X:130.87, Y:93.28, Z:12.41 [[ 9.19871685e-01 2.98651452e-01 -2.54250649e-01 1.30869848e+02] [-2.91023979e-01 9.54293990e-01 6.80295909e-02 9.32752533e+01] [ 2.62947003e-01 1.14145412e-02 9.64742754e-01 1.24082516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.276875 meters Centerline goodness : 0.994963 Centerline is valid? [True, True] Translation: X:130.90, Y:93.26, Z:12.42 [[ 9.18442608e-01 3.01552304e-01 -2.55987079e-01 1.30898771e+02] [-2.93708294e-01 9.53379817e-01 6.92990816e-02 9.32634706e+01] [ 2.64950212e-01 1.15382990e-02 9.64193058e-01 1.24194895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.306875 meters Centerline goodness : 0.993837 Centerline is valid? [True, True] Translation: X:130.93, Y:93.25, Z:12.43 [[ 9.17360708e-01 3.04401271e-01 -2.56494051e-01 1.30930958e+02] [-2.96770175e-01 9.52456903e-01 6.89442645e-02 9.32508203e+01] [ 2.65286252e-01 1.28730254e-02 9.64083757e-01 1.24280715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.336875 meters Centerline goodness : 0.994098 Centerline is valid? [True, True] Translation: X:130.96, Y:93.25, Z:12.42 [[ 9.18174865e-01 3.01104867e-01 -2.57469951e-01 1.30962789e+02] [-2.97097126e-01 9.53244278e-01 5.53050089e-02 9.32461370e+01] [ 2.62084365e-01 2.57139133e-02 9.64702327e-01 1.24228395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.366875 meters Centerline goodness : 0.994184 Centerline is valid? [True, True] Translation: X:130.99, Y:93.23, Z:12.44 [[ 9.16964809e-01 3.07415845e-01 -2.54305010e-01 1.30989639e+02] [-2.99120375e-01 9.51519119e-01 7.16824108e-02 9.32297254e+01] [ 2.64012388e-01 1.03375618e-02 9.64463889e-01 1.24414927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.396875 meters Centerline goodness : 0.993819 Centerline is valid? [True, True] Translation: X:131.02, Y:93.22, Z:12.44 [[ 9.16844805e-01 3.05678477e-01 -2.56819533e-01 1.31020176e+02] [-2.99578324e-01 9.51951937e-01 6.35636568e-02 9.32223729e+01] [ 2.63909893e-01 1.86595566e-02 9.64366833e-01 1.24430525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.426875 meters Centerline goodness : 0.993681 Centerline is valid? [True, True] Translation: X:131.05, Y:93.21, Z:12.45 [[ 9.16340038e-01 3.07710295e-01 -2.56193889e-01 1.31047351e+02] [-3.00968890e-01 9.51337132e-01 6.61467196e-02 9.32116167e+01] [ 2.64080787e-01 1.64935031e-02 9.64359530e-01 1.24517807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.456875 meters Centerline goodness : 0.994328 Centerline is valid? [True, True] Translation: X:131.08, Y:93.20, Z:12.46 [[ 9.15603448e-01 3.09743971e-01 -2.56376672e-01 1.31075096e+02] [-3.01951467e-01 9.50730089e-01 7.02681270e-02 9.32009723e+01] [ 2.65510145e-01 1.30755730e-02 9.64019394e-01 1.24624941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.486875 meters Centerline goodness : 0.993794 Centerline is valid? [True, True] Translation: X:131.10, Y:93.18, Z:12.49 [[ 9.16174804e-01 3.18901053e-01 -2.42746468e-01 1.31096808e+02] [-3.03174594e-01 9.47605203e-01 1.00645635e-01 9.31801959e+01] [ 2.62123815e-01 -1.86144333e-02 9.64854708e-01 1.24923917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.516875 meters Centerline goodness : 0.994418 Centerline is valid? [True, True] Translation: X:131.13, Y:93.18, Z:12.49 [[ 9.14964944e-01 3.14178279e-01 -2.53241308e-01 1.31131732e+02] [-3.05466426e-01 9.49315822e-01 7.40927324e-02 9.31752758e+01] [ 2.63684307e-01 9.56446432e-03 9.64561614e-01 1.24873740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.546875 meters Centerline goodness : 0.994450 Centerline is valid? [True, True] Translation: X:131.16, Y:93.17, Z:12.48 [[ 9.12963593e-01 3.09481149e-01 -2.65930248e-01 1.31162026e+02] [-3.06623830e-01 9.50337078e-01 5.33035133e-02 9.31735668e+01] [ 2.69219807e-01 3.28763842e-02 9.62517449e-01 1.24827846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.57687500000003 meters Centerline goodness : 0.994829 Centerline is valid? [True, True] Translation: X:131.18, Y:93.16, Z:12.50 [[ 9.11472051e-01 3.17751815e-01 -2.61251765e-01 1.31184582e+02] [-3.09133641e-01 9.48088009e-01 7.46024104e-02 9.31569904e+01] [ 2.71394717e-01 1.27636973e-02 9.62383497e-01 1.25044036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.606875 meters Centerline goodness : 0.994829 Centerline is valid? [True, True] Translation: X:131.21, Y:93.15, Z:12.51 [[ 9.10900413e-01 3.18407734e-01 -2.62444189e-01 1.31213065e+02] [-3.10029916e-01 9.47849819e-01 7.39065128e-02 9.31470518e+01] [ 2.72290083e-01 1.40440770e-02 9.62112714e-01 1.25131703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.63687500000003 meters Centerline goodness : 0.995034 Centerline is valid? [True, True] Translation: X:131.24, Y:93.13, Z:12.53 [[ 9.08685606e-01 3.24545206e-01 -2.62604034e-01 1.31239072e+02] [-3.13089545e-01 9.45859713e-01 8.55823598e-02 9.31318458e+01] [ 2.76161920e-01 4.45111881e-03 9.61100817e-01 1.25327646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.666875 meters Centerline goodness : 0.994734 Centerline is valid? [True, True] Translation: X:131.27, Y:93.12, Z:12.53 [[ 9.09239207e-01 3.21737526e-01 -2.64138278e-01 1.31270172e+02] [-3.13309369e-01 9.46712024e-01 7.46564352e-02 9.31235084e+01] [ 2.74082660e-01 1.48764393e-02 9.61591071e-01 1.25337146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.69687500000003 meters Centerline goodness : 0.994891 Centerline is valid? [True, True] Translation: X:131.30, Y:93.11, Z:12.56 [[ 9.07619347e-01 3.26651798e-01 -2.63677311e-01 1.31295518e+02] [-3.14509636e-01 9.45140586e-01 8.82777555e-02 9.31074014e+01] [ 2.78048216e-01 2.80645639e-03 9.60563019e-01 1.25557352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.726875 meters Centerline goodness : 0.995306 Centerline is valid? [True, True] Translation: X:131.32, Y:93.10, Z:12.57 [[ 9.06804588e-01 3.26634365e-01 -2.66487206e-01 1.31324695e+02] [-3.15352632e-01 9.45127518e-01 8.53621227e-02 9.30962936e+01] [ 2.79746594e-01 6.63067722e-03 9.60050976e-01 1.25662298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.75687500000004 meters Centerline goodness : 0.995290 Centerline is valid? [True, True] Translation: X:131.36, Y:93.09, Z:12.56 [[ 9.08078644e-01 3.21488013e-01 -2.68400137e-01 1.31355987e+02] [-3.14035919e-01 9.46715570e-01 7.14917531e-02 9.30896182e+01] [ 2.77082330e-01 1.93671492e-02 9.60650975e-01 1.25645686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.786875 meters Centerline goodness : 0.996413 Centerline is valid? [True, True] Translation: X:131.38, Y:93.05, Z:12.62 [[ 9.01551582e-01 3.43022421e-01 -2.63705068e-01 1.31375939e+02] [-3.21360715e-01 9.38969999e-01 1.22729918e-01 9.30529667e+01] [ 2.89710261e-01 -2.59029026e-02 9.56763818e-01 1.26223295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.81687500000004 meters Centerline goodness : 0.995370 Centerline is valid? [True, True] Translation: X:131.42, Y:93.08, Z:12.57 [[ 9.08167917e-01 3.13762285e-01 -2.77099735e-01 1.31418308e+02] [-3.13819778e-01 9.48398225e-01 4.53646785e-02 9.30765417e+01] [ 2.77034622e-01 4.57606317e-02 9.59769651e-01 1.25660924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.846875 meters Centerline goodness : 0.995528 Centerline is valid? [True, True] Translation: X:131.44, Y:93.05, Z:12.60 [[ 9.06915457e-01 3.27140522e-01 -2.65487162e-01 1.31438175e+02] [-3.15177704e-01 9.44966849e-01 8.77534584e-02 9.30528179e+01] [ 2.79584279e-01 4.09066643e-03 9.60112440e-01 1.26012217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.87687500000004 meters Centerline goodness : 0.995478 Centerline is valid? [True, True] Translation: X:131.47, Y:93.05, Z:12.60 [[ 9.07791121e-01 3.21908822e-01 -2.68867981e-01 1.31469783e+02] [-3.13373963e-01 9.46637565e-01 7.53264940e-02 9.30471596e+01] [ 2.78768794e-01 1.58755023e-02 9.60227019e-01 1.26005318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.906875 meters Centerline goodness : 0.995544 Centerline is valid? [True, True] Translation: X:131.49, Y:93.04, Z:12.61 [[ 9.07023999e-01 3.21203904e-01 -2.72278380e-01 1.31494753e+02] [-3.13147418e-01 9.46832747e-01 7.38000262e-02 9.30377449e+01] [ 2.81506943e-01 1.83248769e-02 9.59384198e-01 1.26079814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.93687500000004 meters Centerline goodness : 0.996026 Centerline is valid? [True, True] Translation: X:131.52, Y:93.03, Z:12.61 [[ 9.07145443e-01 3.20469716e-01 -2.72738531e-01 1.31522026e+02] [-3.13179025e-01 9.47028004e-01 7.11115865e-02 9.30294122e+01] [ 2.81080137e-01 2.09074358e-02 9.59456531e-01 1.26130504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.966875 meters Centerline goodness : 0.996792 Centerline is valid? [True, True] Translation: X:131.54, Y:92.99, Z:12.69 [[ 8.98085452e-01 3.50174795e-01 -2.66120527e-01 1.31538513e+02] [-3.23267447e-01 9.35824732e-01 1.40464333e-01 9.29876593e+01] [ 2.98229240e-01 -4.01208710e-02 9.53650689e-01 1.26861539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.996875 meters Centerline goodness : 0.995973 Centerline is valid? [True, True] Translation: X:131.58, Y:93.02, Z:12.62 [[ 9.06112674e-01 3.13934838e-01 -2.83557295e-01 1.31584895e+02] [-3.14291388e-01 9.48235733e-01 4.54963489e-02 9.30161204e+01] [ 2.83162048e-01 4.78947973e-02 9.57875432e-01 1.26182640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.026875 meters Centerline goodness : 0.995979 Centerline is valid? [True, True] Translation: X:131.61, Y:93.00, Z:12.64 [[ 9.05893006e-01 3.23808484e-01 -2.72957740e-01 1.31607526e+02] [-3.15631285e-01 9.45941146e-01 7.46474334e-02 9.29979358e+01] [ 2.82373430e-01 1.85314144e-02 9.59125556e-01 1.26419401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.056875 meters Centerline goodness : 0.995688 Centerline is valid? [True, True] Translation: X:131.63, Y:92.99, Z:12.65 [[ 9.05397006e-01 3.25642386e-01 -2.72421178e-01 1.31634407e+02] [-3.16524041e-01 9.45365415e-01 7.80817807e-02 9.29881184e+01] [ 2.82964298e-01 1.55328416e-02 9.59004660e-01 1.26518886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.086875 meters Centerline goodness : 0.995687 Centerline is valid? [True, True] Translation: X:131.66, Y:92.97, Z:12.67 [[ 9.03626238e-01 3.31234507e-01 -2.71557219e-01 1.31660689e+02] [-3.18845093e-01 9.43533321e-01 8.99037157e-02 9.29722063e+01] [ 2.86002498e-01 5.34533042e-03 9.58213963e-01 1.26718203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.116875 meters Centerline goodness : 0.996107 Centerline is valid? [True, True] Translation: X:131.69, Y:92.97, Z:12.67 [[ 9.04055315e-01 3.27103351e-01 -2.75113405e-01 1.31690572e+02] [-3.18329345e-01 9.44822991e-01 7.73042298e-02 9.29681545e+01] [ 2.85219943e-01 1.76893703e-02 9.58298842e-01 1.26711327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.146875 meters Centerline goodness : 0.995715 Centerline is valid? [True, True] Translation: X:131.72, Y:92.96, Z:12.68 [[ 9.05824456e-01 3.25043260e-01 -2.71714803e-01 1.31722675e+02] [-3.17309238e-01 9.45490160e-01 7.32339073e-02 9.29581746e+01] [ 2.80707861e-01 1.98805528e-02 9.59587339e-01 1.26763251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.176875 meters Centerline goodness : 0.994899 Centerline is valid? [True, True] Translation: X:131.75, Y:92.95, Z:12.68 [[ 9.05989801e-01 3.25439027e-01 -2.70687864e-01 1.31752909e+02] [-3.17980682e-01 9.45338674e-01 7.22708561e-02 9.29486151e+01] [ 2.79411463e-01 2.05968530e-02 9.59950522e-01 1.26821476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.206875 meters Centerline goodness : 0.995335 Centerline is valid? [True, True] Translation: X:131.78, Y:92.94, Z:12.69 [[ 9.03855667e-01 3.29236388e-01 -2.73218473e-01 1.31777608e+02] [-3.20785037e-01 9.44064729e-01 7.64117002e-02 9.29376527e+01] [ 2.83093436e-01 1.85792499e-02 9.58912362e-01 1.26944052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.236875 meters Centerline goodness : 0.995504 Centerline is valid? [True, True] Translation: X:131.80, Y:92.92, Z:12.71 [[ 9.01057357e-01 3.36003175e-01 -2.74221637e-01 1.31803970e+02] [-3.24586983e-01 9.41805406e-01 8.74406486e-02 9.29223784e+01] [ 2.87643756e-01 1.02197341e-02 9.57682947e-01 1.27133625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.266875 meters Centerline goodness : 0.994998 Centerline is valid? [True, True] Translation: X:131.83, Y:92.91, Z:12.72 [[ 9.00988521e-01 3.35817575e-01 -2.74674791e-01 1.31833683e+02] [-3.25362365e-01 9.41830586e-01 8.42287270e-02 9.29145750e+01] [ 2.86982606e-01 1.34797234e-02 9.57840948e-01 1.27197048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.296875 meters Centerline goodness : 0.995243 Centerline is valid? [True, True] Translation: X:131.86, Y:92.91, Z:12.73 [[ 9.00365574e-01 3.37699041e-01 -2.74410626e-01 1.31859605e+02] [-3.25945692e-01 9.41206512e-01 8.88240259e-02 9.29052868e+01] [ 2.88272856e-01 9.46886639e-03 9.57501489e-01 1.27311214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.32687500000003 meters Centerline goodness : 0.994381 Centerline is valid? [True, True] Translation: X:131.89, Y:92.90, Z:12.73 [[ 9.00243851e-01 3.34129240e-01 -2.79139142e-01 1.31890624e+02] [-3.26514137e-01 9.42226907e-01 7.48129277e-02 9.28986828e+01] [ 2.88009597e-01 2.37929978e-02 9.57331899e-01 1.27312237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.356875 meters Centerline goodness : 0.995398 Centerline is valid? [True, True] Translation: X:131.91, Y:92.88, Z:12.77 [[ 8.97259201e-01 3.46092595e-01 -2.74127418e-01 1.31909385e+02] [-3.28646098e-01 9.38170448e-01 1.08756392e-01 9.28788819e+01] [ 2.94818025e-01 -7.49176729e-03 9.55524048e-01 1.27671646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.38687500000003 meters Centerline goodness : 0.994876 Centerline is valid? [True, True] Translation: X:131.95, Y:92.88, Z:12.75 [[ 8.98417449e-01 3.35513308e-01 -2.83331797e-01 1.31946613e+02] [-3.28177970e-01 9.41674782e-01 7.44837201e-02 9.28784062e+01] [ 2.91796688e-01 2.60657803e-02 9.56125132e-01 1.27523627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.416875 meters Centerline goodness : 0.996043 Centerline is valid? [True, True] Translation: X:131.97, Y:92.86, Z:12.77 [[ 8.96031064e-01 3.41365681e-01 -2.83897524e-01 1.31969195e+02] [-3.30785129e-01 9.39779488e-01 8.59983326e-02 9.28647606e+01] [ 2.96157949e-01 1.68519015e-02 9.54990305e-01 1.27695776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.44687500000003 meters Centerline goodness : 0.995305 Centerline is valid? [True, True] Translation: X:131.99, Y:92.85, Z:12.79 [[ 8.96073965e-01 3.44561274e-01 -2.79873146e-01 1.31993840e+02] [-3.29771272e-01 9.38759738e-01 9.99052629e-02 9.28505414e+01] [ 2.97157126e-01 2.77161842e-03 9.54824571e-01 1.27890830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.476875 meters Centerline goodness : 0.995168 Centerline is valid? [True, True] Translation: X:132.03, Y:92.85, Z:12.78 [[ 8.98451232e-01 3.35583746e-01 -2.83141189e-01 1.32026406e+02] [-3.26685304e-01 9.41776407e-01 7.95858793e-02 9.28466168e+01] [ 2.93363419e-01 2.09940341e-02 9.55770451e-01 1.27833146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.50687500000004 meters Centerline goodness : 0.994456 Centerline is valid? [True, True] Translation: X:132.05, Y:92.84, Z:12.79 [[ 8.99017553e-01 3.33865868e-01 -2.83374348e-01 1.32053772e+02] [-3.25470921e-01 9.42354801e-01 7.76923983e-02 9.28379697e+01] [ 2.92978017e-01 2.23832801e-02 9.55857139e-01 1.27892507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.536875 meters Centerline goodness : 0.995115 Centerline is valid? [True, True] Translation: X:132.08, Y:92.82, Z:12.81 [[ 8.97050817e-01 3.41362809e-01 -2.80662190e-01 1.32078607e+02] [-3.27884017e-01 9.39908306e-01 9.52073895e-02 9.28184076e+01] [ 2.96296986e-01 6.61877993e-03 9.55072923e-01 1.28137766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.56687500000004 meters Centerline goodness : 0.996627 Centerline is valid? [True, True] Translation: X:132.10, Y:92.78, Z:12.88 [[ 8.88189557e-01 3.66207798e-01 -2.77508844e-01 1.32095290e+02] [-3.36325297e-01 9.29663278e-01 1.50371157e-01 9.27779739e+01] [ 3.13056872e-01 -4.02248467e-02 9.48882162e-01 1.28818579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.596875 meters Centerline goodness : 0.996391 Centerline is valid? [True, True] Translation: X:132.14, Y:92.78, Z:12.87 [[ 8.88313377e-01 3.53645942e-01 -2.92974217e-01 1.32135822e+02] [-3.36043856e-01 9.35379184e-01 1.10183075e-01 9.27750686e+01] [ 3.13007781e-01 5.75086070e-04 9.49750387e-01 1.28692592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.62687500000004 meters Centerline goodness : 0.996102 Centerline is valid? [True, True] Translation: X:132.16, Y:92.76, Z:12.88 [[ 8.88706438e-01 3.52656534e-01 -2.92974803e-01 1.32164348e+02] [-3.34969982e-01 9.35752826e-01 1.10280368e-01 9.27647602e+01] [ 3.13043092e-01 1.30890916e-04 9.49738914e-01 1.28779493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.656875 meters Centerline goodness : 0.996053 Centerline is valid? [True, True] Translation: X:132.19, Y:92.75, Z:12.89 [[ 8.88801996e-01 3.52203533e-01 -2.93229746e-01 1.32192898e+02] [-3.34431616e-01 9.35923425e-01 1.10466450e-01 9.27542967e+01] [ 3.13347262e-01 -1.17503482e-04 9.49638605e-01 1.28871534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.68687500000004 meters Centerline goodness : 0.993834 Centerline is valid? [True, True] Translation: X:132.23, Y:92.77, Z:12.85 [[ 8.98684732e-01 3.28740360e-01 -2.90336921e-01 1.32230157e+02] [-3.24070995e-01 9.43762962e-01 6.54939802e-02 9.27694654e+01] [ 2.95539747e-01 3.52313348e-02 9.54680581e-01 1.28477866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.716875 meters Centerline goodness : 0.994122 Centerline is valid? [True, True] Translation: X:132.26, Y:92.76, Z:12.85 [[ 8.97704840e-01 3.30250842e-01 -2.91651166e-01 1.32255748e+02] [-3.24572981e-01 9.43330263e-01 6.91403965e-02 9.27601412e+01] [ 2.97957045e-01 3.25944200e-02 9.54022643e-01 1.28547132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.746875 meters Centerline goodness : 0.995960 Centerline is valid? [True, True] Translation: X:132.26, Y:92.71, Z:12.94 [[ 8.89088981e-01 3.64632768e-01 -2.76701516e-01 1.32263428e+02] [-3.32647271e-01 9.29953832e-01 1.56625873e-01 9.27116529e+01] [ 3.14430561e-01 -4.72103336e-02 9.48105800e-01 1.29409620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.776875 meters Centerline goodness : 0.995802 Centerline is valid? [True, True] Translation: X:132.30, Y:92.70, Z:12.94 [[ 8.90331048e-01 3.54846678e-01 -2.85297143e-01 1.32301806e+02] [-3.33023675e-01 9.34806175e-01 1.23420612e-01 9.27030243e+01] [ 3.10492925e-01 -1.48744998e-02 9.50459306e-01 1.29353196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.806875 meters Centerline goodness : 0.993896 Centerline is valid? [True, True] Translation: X:132.35, Y:92.74, Z:12.85 [[ 9.03517216e-01 3.09370177e-01 -2.96558147e-01 1.32349820e+02] [-3.16804800e-01 9.48188331e-01 2.39501114e-02 9.27411875e+01] [ 2.88602424e-01 7.23117063e-02 9.54714438e-01 1.28538541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.836875 meters Centerline goodness : 0.996167 Centerline is valid? [True, True] Translation: X:132.35, Y:92.68, Z:12.97 [[ 8.90157511e-01 3.63349817e-01 -2.74948207e-01 1.32345581e+02] [-3.31027184e-01 9.30341779e-01 1.57750369e-01 9.26783991e+01] [ 3.13114371e-01 -4.94073452e-02 9.48429388e-01 1.29712535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.866875 meters Centerline goodness : 0.995424 Centerline is valid? [True, True] Translation: X:132.39, Y:92.68, Z:12.95 [[ 8.89905957e-01 3.49850295e-01 -2.92698067e-01 1.32387972e+02] [-3.31849052e-01 9.36804487e-01 1.10786103e-01 9.26764598e+01] [ 3.12959413e-01 -1.45763709e-03 9.49765382e-01 1.29544550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.896875 meters Centerline goodness : 0.993946 Centerline is valid? [True, True] Translation: X:132.43, Y:92.70, Z:12.90 [[ 8.99376105e-01 3.19034632e-01 -2.98897182e-01 1.32431418e+02] [-3.22453104e-01 9.45771944e-01 3.92355245e-02 9.27017596e+01] [ 2.95206060e-01 6.10928310e-02 9.53478394e-01 1.28964551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.926875 meters Centerline goodness : 0.993673 Centerline is valid? [True, True] Translation: X:132.45, Y:92.68, Z:12.93 [[ 9.01726410e-01 3.34716125e-01 -2.73595683e-01 1.32447709e+02] [-3.22524401e-01 9.42291054e-01 8.98085814e-02 9.26753245e+01] [ 2.87867145e-01 7.25851400e-03 9.57642846e-01 1.29316369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.956875 meters Centerline goodness : 0.994430 Centerline is valid? [True, True] Translation: X:132.48, Y:92.67, Z:12.93 [[ 8.99254252e-01 3.31000091e-01 -2.85973301e-01 1.32476977e+02] [-3.23819996e-01 9.43258581e-01 7.35109474e-02 9.26722320e+01] [ 2.94078900e-01 2.64988411e-02 9.55413739e-01 1.29304096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.986875 meters Centerline goodness : 0.994242 Centerline is valid? [True, True] Translation: X:132.50, Y:92.65, Z:12.96 [[ 8.98667317e-01 3.42242893e-01 -2.74348055e-01 1.32497249e+02] [-3.25419349e-01 9.39591557e-01 1.06160036e-01 9.26510415e+01] [ 2.94107634e-01 -6.12438957e-03 9.55752683e-01 1.29622257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.016875 meters Centerline goodness : 0.994495 Centerline is valid? [True, True] Translation: X:132.53, Y:92.65, Z:12.96 [[ 8.96658726e-01 3.38820907e-01 -2.84962317e-01 1.32528581e+02] [-3.28233052e-01 9.40702578e-01 8.56838577e-02 9.26458410e+01] [ 2.97096269e-01 1.67048723e-02 9.54701395e-01 1.29604007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.046875 meters Centerline goodness : 0.994000 Centerline is valid? [True, True] Translation: X:132.55, Y:92.63, Z:12.97 [[ 8.98784081e-01 3.41943711e-01 -2.74338614e-01 1.32553656e+02] [-3.28964891e-01 9.39700025e-01 9.35198523e-02 9.26317710e+01] [ 2.89774528e-01 6.19361775e-03 9.57074899e-01 1.29676720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.07687500000003 meters Centerline goodness : 0.994157 Centerline is valid? [True, True] Translation: X:132.59, Y:92.63, Z:12.96 [[ 8.96378619e-01 3.34296462e-01 -2.91120674e-01 1.32589230e+02] [-3.30229863e-01 9.41690552e-01 6.45534079e-02 9.26321286e+01] [ 2.95725564e-01 3.82724456e-02 9.54505951e-01 1.29615949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.106875 meters Centerline goodness : 0.993989 Centerline is valid? [True, True] Translation: X:132.61, Y:92.61, Z:12.99 [[ 8.95357788e-01 3.45368057e-01 -2.81167808e-01 1.32609565e+02] [-3.32553388e-01 9.38418128e-01 9.36998435e-02 9.26117564e+01] [ 2.96213901e-01 9.60842269e-03 9.55073297e-01 1.29891575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.13687500000003 meters Centerline goodness : 0.992313 Centerline is valid? [True, True] Translation: X:132.64, Y:92.60, Z:13.00 [[ 8.96198046e-01 3.49355557e-01 -2.73458877e-01 1.32636633e+02] [-3.34723980e-01 9.36988392e-01 1.00063032e-01 9.25968917e+01] [ 2.91185370e-01 1.85694977e-03 9.56664848e-01 1.30043318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.166875 meters Centerline goodness : 0.993060 Centerline is valid? [True, True] Translation: X:132.67, Y:92.60, Z:12.99 [[ 8.93422341e-01 3.42406194e-01 -2.90782597e-01 1.32671013e+02] [-3.37426435e-01 9.38836093e-01 6.87763948e-02 9.25978474e+01] [ 2.96546661e-01 3.66713672e-02 9.54314041e-01 1.29918981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.19687500000003 meters Centerline goodness : 0.992627 Centerline is valid? [True, True] Translation: X:132.69, Y:92.58, Z:13.01 [[ 8.92542971e-01 3.51312389e-01 -2.82748386e-01 1.32691831e+02] [-3.39298989e-01 9.36157751e-01 9.21133044e-02 9.25807946e+01] [ 2.97057638e-01 1.37211591e-02 9.54760959e-01 1.30146878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.226875 meters Centerline goodness : 0.993243 Centerline is valid? [True, True] Translation: X:132.71, Y:92.56, Z:13.03 [[ 8.92708275e-01 3.58972554e-01 -2.72416300e-01 1.32714874e+02] [-3.42172005e-01 9.33340650e-01 1.08598116e-01 9.25609155e+01] [ 2.93240950e-01 -3.73320562e-03 9.56031280e-01 1.30340022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.25687500000004 meters Centerline goodness : 0.993269 Centerline is valid? [True, True] Translation: X:132.75, Y:92.56, Z:13.03 [[ 8.88162191e-01 3.54490124e-01 -2.92411823e-01 1.32749178e+02] [-3.45991463e-01 9.34634179e-01 8.21514338e-02 9.25604526e+01] [ 3.02419956e-01 2.82081969e-02 9.52757297e-01 1.30320318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.286875 meters Centerline goodness : 0.993785 Centerline is valid? [True, True] Translation: X:132.78, Y:92.55, Z:13.04 [[ 8.85406818e-01 3.57890344e-01 -2.96596137e-01 1.32776644e+02] [-3.50467809e-01 9.33169676e-01 7.97914273e-02 9.25493752e+01] [ 3.05331102e-01 3.32995242e-02 9.51663838e-01 1.30395555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.31687500000004 meters Centerline goodness : 0.993465 Centerline is valid? [True, True] Translation: X:132.80, Y:92.53, Z:13.07 [[ 8.84173258e-01 3.69366092e-01 -2.86018076e-01 1.32796380e+02] [-3.52365613e-01 9.29279711e-01 1.10804756e-01 9.25269315e+01] [ 3.06718314e-01 2.81233263e-03 9.51796179e-01 1.30711245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.346875 meters Centerline goodness : 0.994052 Centerline is valid? [True, True] Translation: X:132.83, Y:92.51, Z:13.08 [[ 8.81996020e-01 3.69908490e-01 -2.91977278e-01 1.32825711e+02] [-3.54594148e-01 9.29012256e-01 1.05826364e-01 9.25138679e+01] [ 3.10396540e-01 1.01950025e-02 9.50552497e-01 1.30832002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.37687500000004 meters Centerline goodness : 0.993508 Centerline is valid? [True, True] Translation: X:132.86, Y:92.51, Z:13.08 [[ 8.83458615e-01 3.64056385e-01 -2.94896295e-01 1.32855470e+02] [-3.52748739e-01 9.31114179e-01 9.27076740e-02 9.25081768e+01] [ 3.08332943e-01 2.21209030e-02 9.51021273e-01 1.30820409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.406875 meters Centerline goodness : 0.994475 Centerline is valid? [True, True] Translation: X:132.88, Y:92.49, Z:13.10 [[ 8.81366257e-01 3.69765981e-01 -2.94052104e-01 1.32880012e+02] [-3.55213931e-01 9.29031416e-01 1.03555255e-01 9.24922763e+01] [ 3.11474853e-01 1.31812966e-02 9.50162970e-01 1.31013376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.43687500000004 meters Centerline goodness : 0.995571 Centerline is valid? [True, True] Translation: X:132.89, Y:92.45, Z:13.18 [[ 8.71515706e-01 3.99444185e-01 -2.84437546e-01 1.32887328e+02] [-3.62621584e-01 9.15449463e-01 1.74521824e-01 9.24502100e+01] [ 3.30099927e-01 -4.89553168e-02 9.42675668e-01 1.31796247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.466875 meters Centerline goodness : 0.993347 Centerline is valid? [True, True] Translation: X:132.94, Y:92.47, Z:13.11 [[ 8.83161420e-01 3.60052398e-01 -3.00646265e-01 1.32943815e+02] [-3.54293025e-01 9.32081279e-01 7.55045744e-02 9.24739336e+01] [ 3.07412358e-01 3.98341475e-02 9.50742280e-01 1.31120712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.496875 meters Centerline goodness : 0.993347 Centerline is valid? [True, True] Translation: X:132.96, Y:92.45, Z:13.14 [[ 8.82435766e-01 3.69811710e-01 -2.90768666e-01 1.32964635e+02] [-3.55485822e-01 9.29019690e-01 1.02724125e-01 9.24547546e+01] [ 3.08118401e-01 1.27166959e-02 9.51263022e-01 1.31377683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.526875 meters Centerline goodness : 0.993705 Centerline is valid? [True, True] Translation: X:132.99, Y:92.44, Z:13.15 [[ 8.82536637e-01 3.70380077e-01 -2.89737265e-01 1.32988014e+02] [-3.54084203e-01 9.28857361e-01 1.08850266e-01 9.24447392e+01] [ 3.09440561e-01 6.52704096e-03 9.50896386e-01 1.31496205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.556875 meters Centerline goodness : 0.994292 Centerline is valid? [True, True] Translation: X:133.02, Y:92.44, Z:13.15 [[ 8.78887130e-01 3.67258642e-01 -3.04431441e-01 1.33017668e+02] [-3.55299122e-01 9.29813716e-01 9.59634696e-02 9.24374444e+01] [ 3.18307943e-01 2.38231653e-02 9.47687981e-01 1.31538078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.586875 meters Centerline goodness : 0.993388 Centerline is valid? [True, True] Translation: X:133.04, Y:92.42, Z:13.18 [[ 8.81511145e-01 3.73867636e-01 -2.88376651e-01 1.33041231e+02] [-3.55383559e-01 9.27482060e-01 1.16101484e-01 9.24193258e+01] [ 3.10870757e-01 1.39568817e-04 9.50452183e-01 1.31751296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.616875 meters Centerline goodness : 0.994034 Centerline is valid? [True, True] Translation: X:133.07, Y:92.41, Z:13.18 [[ 8.77041122e-01 3.70882390e-01 -3.05360645e-01 1.33071634e+02] [-3.57065209e-01 9.28476397e-01 1.02156826e-01 9.24125585e+01] [ 3.21408319e-01 1.94379254e-02 9.46741179e-01 1.31811047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.646875 meters Centerline goodness : 0.993887 Centerline is valid? [True, True] Translation: X:133.09, Y:92.40, Z:13.20 [[ 8.79530734e-01 3.75692740e-01 -2.92028515e-01 1.33094542e+02] [-3.57000922e-01 9.26743344e-01 1.17034678e-01 9.23967180e+01] [ 3.14604561e-01 1.31885260e-03 9.49221908e-01 1.31995195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.676875 meters Centerline goodness : 0.993325 Centerline is valid? [True, True] Translation: X:133.12, Y:92.38, Z:13.22 [[ 8.77243842e-01 3.81881322e-01 -2.90877805e-01 1.33124312e+02] [-3.59395086e-01 9.24167622e-01 1.29419388e-01 9.23772742e+01] [ 3.18242697e-01 -8.99230768e-03 9.47966626e-01 1.32249704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.706875 meters Centerline goodness : 0.994923 Centerline is valid? [True, True] Translation: X:133.15, Y:92.38, Z:13.21 [[ 8.79561678e-01 3.69662016e-01 -2.99535055e-01 1.33150758e+02] [-3.57715369e-01 9.28887733e-01 9.59546503e-02 9.23804303e+01] [ 3.13705228e-01 2.27502595e-02 9.49247837e-01 1.32064992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.736875 meters Centerline goodness : 0.994919 Centerline is valid? [True, True] Translation: X:133.17, Y:92.36, Z:13.23 [[ 8.77666056e-01 3.77130053e-01 -2.95762096e-01 1.33172553e+02] [-3.59324148e-01 9.26143089e-01 1.14652232e-01 9.23628619e+01] [ 3.17156824e-01 5.64809063e-03 9.48356288e-01 1.32313903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.766875 meters Centerline goodness : 0.994006 Centerline is valid? [True, True] Translation: X:133.21, Y:92.35, Z:13.24 [[ 8.78229463e-01 3.73012975e-01 -2.99289710e-01 1.33205097e+02] [-3.59183701e-01 9.27656122e-01 1.02182133e-01 9.23524977e+01] [ 3.15753193e-01 1.77606265e-02 9.48675119e-01 1.32353011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.796875 meters Centerline goodness : 0.994400 Centerline is valid? [True, True] Translation: X:133.23, Y:92.34, Z:13.24 [[ 8.78830325e-01 3.72827522e-01 -2.97753085e-01 1.33231596e+02] [-3.59431922e-01 9.27716624e-01 1.00749981e-01 9.23439857e+01] [ 3.13792852e-01 1.84798252e-02 9.49311615e-01 1.32405215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.82687500000003 meters Centerline goodness : 0.993904 Centerline is valid? [True, True] Translation: X:133.26, Y:92.33, Z:13.26 [[ 8.77281650e-01 3.78850031e-01 -2.94702497e-01 1.33255910e+02] [-3.61344622e-01 9.25435485e-01 1.14014155e-01 9.23271624e+01] [ 3.15922414e-01 6.46663664e-03 9.48762990e-01 1.32612961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.856875 meters Centerline goodness : 0.994162 Centerline is valid? [True, True] Translation: X:133.29, Y:92.32, Z:13.27 [[ 8.77778633e-01 3.75995530e-01 -2.96870397e-01 1.33285861e+02] [-3.60549367e-01 9.26533827e-01 1.07420770e-01 9.23177707e+01] [ 3.15450195e-01 1.27447773e-02 9.48856546e-01 1.32669966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.88687500000003 meters Centerline goodness : 0.994732 Centerline is valid? [True, True] Translation: X:133.31, Y:92.30, Z:13.28 [[ 8.76726718e-01 3.78793271e-01 -2.96421862e-01 1.33311722e+02] [-3.61473995e-01 9.25449684e-01 1.13487595e-01 9.23045015e+01] [ 3.17311856e-01 7.65118775e-03 9.48290380e-01 1.32824380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.916875 meters Centerline goodness : 0.994417 Centerline is valid? [True, True] Translation: X:133.34, Y:92.29, Z:13.29 [[ 8.76201824e-01 3.78709837e-01 -2.98075870e-01 1.33340169e+02] [-3.62291967e-01 9.25451525e-01 1.10833238e-01 9.22932807e+01] [ 3.17828406e-01 1.08782082e-02 9.48085845e-01 1.32926430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.94687500000003 meters Centerline goodness : 0.993755 Centerline is valid? [True, True] Translation: X:133.37, Y:92.28, Z:13.30 [[ 8.77381393e-01 3.74896532e-01 -2.99423584e-01 1.33372213e+02] [-3.60402727e-01 9.26924660e-01 1.04501434e-01 9.22832081e+01] [ 3.16720329e-01 1.62254621e-02 9.48380181e-01 1.32977772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.976875 meters Centerline goodness : 0.994516 Centerline is valid? [True, True] Translation: X:133.39, Y:92.27, Z:13.31 [[ 8.75200911e-01 3.80244739e-01 -2.99060702e-01 1.33394291e+02] [-3.63248243e-01 9.24833235e-01 1.12845917e-01 9.22694337e+01] [ 3.19490343e-01 9.87042565e-03 9.47538123e-01 1.33135788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.00687500000004 meters Centerline goodness : 0.994975 Centerline is valid? [True, True] Translation: X:133.43, Y:92.27, Z:13.31 [[ 8.71948353e-01 3.73515368e-01 -3.16531735e-01 1.33428356e+02] [-3.64675435e-01 9.26857541e-01 8.91455334e-02 9.22656767e+01] [ 3.26677052e-01 3.77010471e-02 9.44383786e-01 1.33077906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.036875 meters Centerline goodness : 0.994388 Centerline is valid? [True, True] Translation: X:133.45, Y:92.25, Z:13.33 [[ 8.75774716e-01 3.82167591e-01 -2.94900966e-01 1.33448134e+02] [-3.62818506e-01 9.24091208e-01 1.20075688e-01 9.22452953e+01] [ 3.18404426e-01 1.83627674e-03 9.47953190e-01 1.33337825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.06687500000004 meters Centerline goodness : 0.993794 Centerline is valid? [True, True] Translation: X:133.48, Y:92.23, Z:13.34 [[ 8.76062085e-01 3.79995236e-01 -2.96848183e-01 1.33477831e+02] [-3.63095183e-01 9.24941953e-01 1.12446747e-01 9.22346258e+01] [ 3.17296567e-01 9.27381410e-03 9.48281016e-01 1.33375964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.096875 meters Centerline goodness : 0.994682 Centerline is valid? [True, True] Translation: X:133.50, Y:92.22, Z:13.35 [[ 8.73942705e-01 3.84091035e-01 -2.97822474e-01 1.33502800e+02] [-3.65441570e-01 9.23279422e-01 1.18353574e-01 9.22190247e+01] [ 3.20431908e-01 5.40246972e-03 9.47256146e-01 1.33548957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.12687500000004 meters Centerline goodness : 0.995077 Centerline is valid? [True, True] Translation: X:133.54, Y:92.22, Z:13.35 [[ 8.70690387e-01 3.75007868e-01 -3.18225310e-01 1.33538753e+02] [-3.66388753e-01 9.26196296e-01 8.89927124e-02 9.22188312e+01] [ 3.28112071e-01 3.91090753e-02 9.43828877e-01 1.33485709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.156875 meters Centerline goodness : 0.994100 Centerline is valid? [True, True] Translation: X:133.55, Y:92.19, Z:13.39 [[ 8.72786559e-01 3.91783349e-01 -2.91117553e-01 1.33551592e+02] [-3.65654378e-01 9.19895665e-01 1.41735108e-01 9.21901915e+01] [ 3.23327231e-01 -1.72560897e-02 9.46129869e-01 1.33931336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.18687500000004 meters Centerline goodness : 0.994649 Centerline is valid? [True, True] Translation: X:133.59, Y:92.19, Z:13.38 [[ 8.70029769e-01 3.79253862e-01 -3.14983666e-01 1.33589389e+02] [-3.65447645e-01 9.24971489e-01 1.04286930e-01 9.21888967e+01] [ 3.30902131e-01 2.43773050e-02 9.43350161e-01 1.33849319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.216875 meters Centerline goodness : 0.993993 Centerline is valid? [True, True] Translation: X:133.61, Y:92.17, Z:13.41 [[ 8.72432082e-01 3.86790077e-01 -2.98756921e-01 1.33609579e+02] [-3.65669002e-01 9.22167495e-01 1.26068601e-01 9.21706058e+01] [ 3.24266006e-01 -7.40147086e-04 9.45965649e-01 1.34058140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.246875 meters Centerline goodness : 0.994524 Centerline is valid? [True, True] Translation: X:133.64, Y:92.17, Z:13.40 [[ 8.68235203e-01 3.78204051e-01 -3.21137554e-01 1.33642601e+02] [-3.68123682e-01 9.25001985e-01 9.41078281e-02 9.21690980e+01] [ 3.32644837e-01 3.65106096e-02 9.42345153e-01 1.33981704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.276875 meters Centerline goodness : 0.995014 Centerline is valid? [True, True] Translation: X:133.67, Y:92.15, Z:13.41 [[ 8.69246262e-01 3.81870395e-01 -3.13983977e-01 1.33666840e+02] [-3.67638092e-01 9.23920046e-01 1.05896090e-01 9.21545511e+01] [ 3.30534672e-01 2.33826897e-02 9.43504150e-01 1.34128996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.306875 meters Centerline goodness : 0.995081 Centerline is valid? [True, True] Translation: X:133.70, Y:92.14, Z:13.42 [[ 8.69286677e-01 3.81667604e-01 -3.14118630e-01 1.33696020e+02] [-3.68392115e-01 9.23932060e-01 1.03134852e-01 9.21428481e+01] [ 3.29587505e-01 2.60650743e-02 9.43765166e-01 1.34206026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.336875 meters Centerline goodness : 0.993926 Centerline is valid? [True, True] Translation: X:133.72, Y:92.13, Z:13.44 [[ 8.68062724e-01 3.86478632e-01 -3.11610936e-01 1.33721230e+02] [-3.70223697e-01 9.22125554e-01 1.12333772e-01 9.21273077e+01] [ 3.30759009e-01 1.78529927e-02 9.43546368e-01 1.34368316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.366875 meters Centerline goodness : 0.995086 Centerline is valid? [True, True] Translation: X:133.75, Y:92.12, Z:13.45 [[ 8.66294480e-01 3.88049336e-01 -3.14565711e-01 1.33748039e+02] [-3.72577464e-01 9.21389886e-01 1.10574459e-01 9.21157620e+01] [ 3.32746010e-01 2.14100514e-02 9.42773410e-01 1.34464118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.396875 meters Centerline goodness : 0.994340 Centerline is valid? [True, True] Translation: X:133.78, Y:92.11, Z:13.45 [[ 8.66796486e-01 3.86250994e-01 -3.15395024e-01 1.33777928e+02] [-3.72912869e-01 9.21991110e-01 1.04251544e-01 9.21061579e+01] [ 3.31058671e-01 2.72499913e-02 9.43216621e-01 1.34505314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.426875 meters Centerline goodness : 0.994471 Centerline is valid? [True, True] Translation: X:133.80, Y:92.09, Z:13.47 [[ 8.67147249e-01 3.90511604e-01 -3.09121880e-01 1.33802113e+02] [-3.73092317e-01 9.20483322e-01 1.16243605e-01 9.20901309e+01] [ 3.29936012e-01 1.45306761e-02 9.43891459e-01 1.34684427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.456875 meters Centerline goodness : 0.994409 Centerline is valid? [True, True] Translation: X:133.83, Y:92.08, Z:13.48 [[ 8.65219886e-01 3.92530622e-01 -3.11952335e-01 1.33827864e+02] [-3.72917167e-01 9.19684913e-01 1.22932699e-01 9.20822462e+01] [ 3.35152705e-01 9.96856457e-03 9.42111083e-01 1.34797688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.486875 meters Centerline goodness : 0.993539 Centerline is valid? [True, True] Translation: X:133.86, Y:92.07, Z:13.49 [[ 8.67738900e-01 3.91420459e-01 -3.06299244e-01 1.33860558e+02] [-3.72359181e-01 9.20167362e-01 1.20998619e-01 9.20693676e+01] [ 3.29207902e-01 9.05812729e-03 9.44214016e-01 1.34856067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.516875 meters Centerline goodness : 0.994071 Centerline is valid? [True, True] Translation: X:133.89, Y:92.05, Z:13.50 [[ 8.66808895e-01 3.93010507e-01 -3.06895879e-01 1.33887031e+02] [-3.73276912e-01 9.19501287e-01 1.23214163e-01 9.20548261e+01] [ 3.30615617e-01 7.75401331e-03 9.43733643e-01 1.35015250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.546875 meters Centerline goodness : 0.995698 Centerline is valid? [True, True] Translation: X:133.90, Y:92.02, Z:13.57 [[ 8.54409634e-01 4.16676189e-01 -3.10427337e-01 1.33895150e+02] [-3.80479521e-01 9.08587672e-01 1.72347837e-01 9.20158426e+01] [ 3.53863691e-01 -2.91444074e-02 9.34842817e-01 1.35713424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.57687500000003 meters Centerline goodness : 0.993906 Centerline is valid? [True, True] Translation: X:133.94, Y:92.04, Z:13.52 [[ 8.69071150e-01 3.80100588e-01 -3.16605244e-01 1.33943668e+02] [-3.68687901e-01 9.24399191e-01 9.77515645e-02 9.20371759e+01] [ 3.29825058e-01 3.17754580e-02 9.43507155e-01 1.35168351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.606875 meters Centerline goodness : 0.993239 Centerline is valid? [True, True] Translation: X:133.97, Y:92.02, Z:13.53 [[ 8.71112550e-01 3.81758180e-01 -3.08907133e-01 1.33968677e+02] [-3.66430802e-01 9.24076625e-01 1.08677776e-01 9.20239733e+01] [ 3.26942491e-01 1.85225134e-02 9.44862701e-01 1.35322096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.63687500000003 meters Centerline goodness : 0.993657 Centerline is valid? [True, True] Translation: X:134.00, Y:92.02, Z:13.54 [[ 8.67490255e-01 3.80689186e-01 -3.20213055e-01 1.33997032e+02] [-3.67146899e-01 9.24304541e-01 1.04231811e-01 9.20179225e+01] [ 3.35654304e-01 2.71451498e-02 9.41594036e-01 1.35382409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.666875 meters Centerline goodness : 0.993365 Centerline is valid? [True, True] Translation: X:134.02, Y:92.01, Z:13.55 [[ 8.66635858e-01 3.83423075e-01 -3.19263269e-01 1.34024447e+02] [-3.68761212e-01 9.23252724e-01 1.07794140e-01 9.20066291e+01] [ 3.36091443e-01 2.43136431e-02 9.41515475e-01 1.35471416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.69687500000003 meters Centerline goodness : 0.992622 Centerline is valid? [True, True] Translation: X:134.05, Y:91.99, Z:13.57 [[ 8.68281283e-01 3.92701317e-01 -3.03106068e-01 1.34047019e+02] [-3.70098834e-01 9.19664222e-01 1.31318588e-01 9.19864653e+01] [ 3.30324788e-01 -1.84226967e-03 9.43865531e-01 1.35720481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.726875 meters Centerline goodness : 0.992356 Centerline is valid? [True, True] Translation: X:134.08, Y:91.98, Z:13.57 [[ 8.67699687e-01 3.89144644e-01 -3.09295489e-01 1.34079529e+02] [-3.71988273e-01 9.21053809e-01 1.15258868e-01 9.19799203e+01] [ 3.29730159e-01 1.50442106e-02 9.43955345e-01 1.35732076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.75687500000004 meters Centerline goodness : 0.991783 Centerline is valid? [True, True] Translation: X:134.11, Y:91.97, Z:13.58 [[ 8.66348370e-01 3.90130592e-01 -3.11831081e-01 1.34107913e+02] [-3.74979937e-01 9.20502207e-01 1.09844132e-01 9.19719934e+01] [ 3.29894755e-01 2.17671146e-02 9.43766732e-01 1.35786391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.786875 meters Centerline goodness : 0.991500 Centerline is valid? [True, True] Translation: X:134.14, Y:91.97, Z:13.58 [[ 8.62533504e-01 3.88932604e-01 -3.23677901e-01 1.34136965e+02] [-3.77030261e-01 9.20620895e-01 1.01515273e-01 9.19658330e+01] [ 3.37467238e-01 3.44760398e-02 9.40705727e-01 1.35822756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.81687500000004 meters Centerline goodness : 0.991286 Centerline is valid? [True, True] Translation: X:134.16, Y:91.94, Z:13.61 [[ 8.63961267e-01 4.00917948e-01 -3.04689561e-01 1.34155007e+02] [-3.78212514e-01 9.16113908e-01 1.33006019e-01 9.19428862e+01] [ 3.32454845e-01 3.25355776e-04 9.43119118e-01 1.36140424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.846875 meters Centerline goodness : 0.991008 Centerline is valid? [True, True] Translation: X:134.18, Y:91.93, Z:13.62 [[ 8.62972184e-01 4.00322690e-01 -3.08254364e-01 1.34182444e+02] [-3.79875467e-01 9.16340284e-01 1.26550833e-01 9.19327801e+01] [ 3.33127061e-01 7.88842109e-03 9.42848945e-01 1.36236672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.87687500000004 meters Centerline goodness : 0.993455 Centerline is valid? [True, True] Translation: X:134.21, Y:91.93, Z:13.62 [[ 8.57366136e-01 3.95808070e-01 -3.29027780e-01 1.34212621e+02] [-3.86605774e-01 9.17235065e-01 9.59990146e-02 9.19336317e+01] [ 3.39793002e-01 4.48977355e-02 9.39427969e-01 1.36157824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.906875 meters Centerline goodness : 0.991540 Centerline is valid? [True, True] Translation: X:134.23, Y:91.91, Z:13.65 [[ 8.61281484e-01 4.07678151e-01 -3.03303033e-01 1.34231111e+02] [-3.86162779e-01 9.13114615e-01 1.30766996e-01 9.19107595e+01] [ 3.30261280e-01 4.49714993e-03 9.43878839e-01 1.36459519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.93687500000004 meters Centerline goodness : 0.992611 Centerline is valid? [True, True] Translation: X:134.25, Y:91.90, Z:13.66 [[ 8.58476563e-01 4.10678960e-01 -3.07182004e-01 1.34254489e+02] [-3.88404691e-01 9.11767859e-01 1.33495946e-01 9.19006237e+01] [ 3.34902654e-01 4.70779062e-03 9.42240972e-01 1.36587229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.966875 meters Centerline goodness : 0.992343 Centerline is valid? [True, True] Translation: X:134.29, Y:91.90, Z:13.65 [[ 8.54670317e-01 4.01712036e-01 -3.28886136e-01 1.34293078e+02] [-3.92534615e-01 9.14602354e-01 9.70520996e-02 9.19002964e+01] [ 3.39787031e-01 4.61516441e-02 9.39369363e-01 1.36499084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.996875 meters Centerline goodness : 0.992661 Centerline is valid? [True, True] Translation: X:134.31, Y:91.88, Z:13.69 [[ 8.54163977e-01 4.19251412e-01 -3.07623398e-01 1.34308722e+02] [-3.96635558e-01 9.07851147e-01 1.35965177e-01 9.18764306e+01] [ 3.36279847e-01 5.87782132e-03 9.41743763e-01 1.36856759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.026875 meters Centerline goodness : 0.992739 Centerline is valid? [True, True] Translation: X:134.34, Y:91.87, Z:13.69 [[ 8.53115908e-01 4.16383904e-01 -3.14352814e-01 1.34337908e+02] [-3.98159691e-01 9.08972169e-01 1.23444143e-01 9.18681847e+01] [ 3.37138113e-01 1.98504569e-02 9.41245904e-01 1.36909343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.056875 meters Centerline goodness : 0.993250 Centerline is valid? [True, True] Translation: X:134.37, Y:91.86, Z:13.70 [[ 8.48623704e-01 4.14982545e-01 -3.28065995e-01 1.34365853e+02] [-4.00979172e-01 9.09122193e-01 1.12749910e-01 9.18599656e+01] [ 3.45041322e-01 3.58653845e-02 9.37901999e-01 1.36953676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.086875 meters Centerline goodness : 0.994014 Centerline is valid? [True, True] Translation: X:134.38, Y:91.83, Z:13.73 [[ 8.47758358e-01 4.30388177e-01 -3.09954487e-01 1.34379446e+02] [-4.03425275e-01 9.02641503e-01 1.49954539e-01 9.18343120e+01] [ 3.44316445e-01 -2.08173979e-03 9.38851347e-01 1.37340545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.116875 meters Centerline goodness : 0.993484 Centerline is valid? [True, True] Translation: X:134.41, Y:91.83, Z:13.73 [[ 8.48757456e-01 4.22195817e-01 -3.18373168e-01 1.34411878e+02] [-4.02006963e-01 9.06335726e-01 1.30176626e-01 9.18266127e+01] [ 3.43513003e-01 1.74998481e-02 9.38984862e-01 1.37347886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.146875 meters Centerline goodness : 0.993491 Centerline is valid? [True, True] Translation: X:134.44, Y:91.82, Z:13.74 [[ 8.48820166e-01 4.20098026e-01 -3.20970364e-01 1.34441471e+02] [-4.01009839e-01 9.07236515e-01 1.26937050e-01 9.18158792e+01] [ 3.44522038e-01 2.09655463e-02 9.38544091e-01 1.37431793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.176875 meters Centerline goodness : 0.994675 Centerline is valid? [True, True] Translation: X:134.47, Y:91.81, Z:13.75 [[ 8.45389103e-01 4.16504829e-01 -3.34426362e-01 1.34470130e+02] [-4.01548264e-01 9.08422049e-01 1.16311535e-01 9.18092195e+01] [ 3.52244596e-01 3.59598209e-02 9.35216892e-01 1.37462776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.206875 meters Centerline goodness : 0.993816 Centerline is valid? [True, True] Translation: X:134.49, Y:91.79, Z:13.78 [[ 8.47556119e-01 4.26456304e-01 -3.15885496e-01 1.34488335e+02] [-4.00635815e-01 9.04504209e-01 1.46161143e-01 9.17863825e+01] [ 3.48051101e-01 2.67527218e-03 9.37471746e-01 1.37773929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.236875 meters Centerline goodness : 0.993541 Centerline is valid? [True, True] Translation: X:134.52, Y:91.78, Z:13.78 [[ 8.48376086e-01 4.19222263e-01 -3.23281163e-01 1.34519484e+02] [-3.99461786e-01 9.07665129e-01 1.28741195e-01 9.17784295e+01] [ 3.47402214e-01 1.99175195e-02 9.37504664e-01 1.37773780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.266875 meters Centerline goodness : 0.995437 Centerline is valid? [True, True] Translation: X:134.53, Y:91.74, Z:13.84 [[ 8.35230560e-01 4.43771293e-01 -3.24741360e-01 1.34527227e+02] [-4.04944295e-01 8.95890651e-01 1.82756833e-01 9.17391204e+01] [ 3.72034985e-01 -2.11419310e-02 9.27977903e-01 1.38423145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.296875 meters Centerline goodness : 0.993703 Centerline is valid? [True, True] Translation: X:134.57, Y:91.77, Z:13.78 [[ 8.47695614e-01 4.01845175e-01 -3.46312868e-01 1.34574752e+02] [-3.93171243e-01 9.14186433e-01 9.83846482e-02 9.17660193e+01] [ 3.56129921e-01 5.27600258e-02 9.32945796e-01 1.37830195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.32687500000003 meters Centerline goodness : 0.995406 Centerline is valid? [True, True] Translation: X:134.57, Y:91.71, Z:13.87 [[ 8.35070885e-01 4.44789268e-01 -3.23757816e-01 1.34574304e+02] [-4.03086883e-01 8.95188348e-01 1.90154636e-01 9.17117019e+01] [ 3.74402966e-01 -2.82900715e-02 9.26834446e-01 1.38708183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.356875 meters Centerline goodness : 0.993687 Centerline is valid? [True, True] Translation: X:134.63, Y:91.74, Z:13.80 [[ 8.49675703e-01 3.96252722e-01 -3.47900819e-01 1.34626358e+02] [-3.89394515e-01 9.16390632e-01 9.27368446e-02 9.17442335e+01] [ 3.55560279e-01 5.66744271e-02 9.32933490e-01 1.38011727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.38687500000003 meters Centerline goodness : 0.992684 Centerline is valid? [True, True] Translation: X:134.64, Y:91.72, Z:13.83 [[ 8.51625665e-01 4.04867047e-01 -3.32890975e-01 1.34644397e+02] [-3.86541002e-01 9.14058333e-01 1.22814565e-01 9.17216492e+01] [ 3.54005340e-01 2.40839748e-02 9.34933250e-01 1.38292227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.416875 meters Centerline goodness : 0.992684 Centerline is valid? [True, True] Translation: X:134.67, Y:91.71, Z:13.84 [[ 8.50708330e-01 4.07551356e-01 -3.31959680e-01 1.34668978e+02] [-3.87687930e-01 9.12954829e-01 1.27324580e-01 9.17075891e+01] [ 3.54955498e-01 2.03806805e-02 9.34661020e-01 1.38432556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.44687500000003 meters Centerline goodness : 0.994725 Centerline is valid? [True, True] Translation: X:134.67, Y:91.66, Z:13.92 [[ 8.38833441e-01 4.41782544e-01 -3.18098479e-01 1.34673777e+02] [-3.96534030e-01 8.96194854e-01 1.98986296e-01 9.16589057e+01] [ 3.72986892e-01 -4.07794873e-02 9.26940026e-01 1.39237757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.476875 meters Centerline goodness : 0.994989 Centerline is valid? [True, True] Translation: X:134.71, Y:91.65, Z:13.91 [[ 8.39218577e-01 4.26531420e-01 -3.37317548e-01 1.34712667e+02] [-3.95520879e-01 9.04472562e-01 1.59664082e-01 9.16544786e+01] [ 3.73196214e-01 -5.76930121e-04 9.27752258e-01 1.39139881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.50687500000004 meters Centerline goodness : 0.995573 Centerline is valid? [True, True] Translation: X:134.74, Y:91.64, Z:13.92 [[ 8.39967484e-01 4.25172080e-01 -3.37169584e-01 1.34737654e+02] [-3.94078424e-01 9.05111747e-01 1.59608649e-01 9.16435649e+01] [ 3.73037293e-01 -1.19481693e-03 9.27815580e-01 1.39245189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.536875 meters Centerline goodness : 0.995230 Centerline is valid? [True, True] Translation: X:134.76, Y:91.63, Z:13.93 [[ 8.40722770e-01 4.23903465e-01 -3.36884366e-01 1.34763672e+02] [-3.92769344e-01 9.05705688e-01 1.59466137e-01 9.16328556e+01] [ 3.72716334e-01 -1.74896113e-03 9.27943681e-01 1.39347769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.56687500000004 meters Centerline goodness : 0.993781 Centerline is valid? [True, True] Translation: X:134.81, Y:91.66, Z:13.88 [[ 8.51984558e-01 3.90753771e-01 -3.48473535e-01 1.34805668e+02] [-3.83041672e-01 9.18942278e-01 9.39370370e-02 9.16582655e+01] [ 3.56933315e-01 5.34469802e-02 9.32599608e-01 1.38828982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.596875 meters Centerline goodness : 0.995066 Centerline is valid? [True, True] Translation: X:134.80, Y:91.60, Z:13.98 [[ 8.38758049e-01 4.39145378e-01 -3.21925879e-01 1.34800970e+02] [-3.94347081e-01 8.97600376e-01 1.96987171e-01 9.16003139e+01] [ 3.75466796e-01 -3.82740442e-02 9.26045238e-01 1.39792728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.62687500000004 meters Centerline goodness : 0.994785 Centerline is valid? [True, True] Translation: X:134.84, Y:91.60, Z:13.97 [[ 8.38312443e-01 4.26851893e-01 -3.39160300e-01 1.34837283e+02] [-3.94963204e-01 9.04319831e-01 1.61894134e-01 9.15960454e+01] [ 3.75814203e-01 -1.76202846e-03 9.26693358e-01 1.39709483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.656875 meters Centerline goodness : 0.994762 Centerline is valid? [True, True] Translation: X:134.86, Y:91.59, Z:13.98 [[ 8.38142246e-01 4.26932029e-01 -3.39479924e-01 1.34862033e+02] [-3.94996420e-01 9.04282110e-01 1.62023747e-01 9.15852907e+01] [ 3.76158749e-01 -1.70559251e-03 9.26553661e-01 1.39812256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.68687500000004 meters Centerline goodness : 0.994801 Centerline is valid? [True, True] Translation: X:134.89, Y:91.58, Z:13.99 [[ 8.38009131e-01 4.26949219e-01 -3.39786787e-01 1.34886779e+02] [-3.94966973e-01 9.04274059e-01 1.62140423e-01 9.15753459e+01] [ 3.76486104e-01 -1.67059676e-03 9.26420759e-01 1.39910498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.716875 meters Centerline goodness : 0.995015 Centerline is valid? [True, True] Translation: X:134.91, Y:91.56, Z:14.00 [[ 8.37847402e-01 4.27205496e-01 -3.39863495e-01 1.34912595e+02] [-3.95240332e-01 9.04153267e-01 1.62147924e-01 9.15637370e+01] [ 3.76559173e-01 -1.52745629e-03 9.26391308e-01 1.40012496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.746875 meters Centerline goodness : 0.992833 Centerline is valid? [True, True] Translation: X:134.96, Y:91.59, Z:13.95 [[ 8.49206060e-01 3.94778042e-01 -3.50712654e-01 1.34956192e+02] [-3.85582712e-01 9.17349828e-01 9.89710329e-02 9.15878063e+01] [ 3.60797783e-01 5.11819353e-02 9.31238621e-01 1.39527425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.776875 meters Centerline goodness : 0.992781 Centerline is valid? [True, True] Translation: X:134.98, Y:91.57, Z:13.97 [[ 8.51551657e-01 4.00377943e-01 -3.38463111e-01 1.34977384e+02] [-3.85381615e-01 9.15731739e-01 1.13650310e-01 9.15736389e+01] [ 3.55444490e-01 3.36583508e-02 9.34091178e-01 1.39658299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.806875 meters Centerline goodness : 0.992643 Centerline is valid? [True, True] Translation: X:134.99, Y:91.55, Z:14.00 [[ 8.47983888e-01 4.16744332e-01 -3.27486621e-01 1.34990259e+02] [-3.88558217e-01 9.09023598e-01 1.50660580e-01 9.15492994e+01] [ 3.60480009e-01 -5.10127276e-04 9.32766800e-01 1.40032333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.836875 meters Centerline goodness : 0.994838 Centerline is valid? [True, True] Translation: X:135.00, Y:91.51, Z:14.07 [[ 8.37160069e-01 4.41630500e-01 -3.22684863e-01 1.35002595e+02] [-3.97233618e-01 8.96466657e-01 1.96349140e-01 9.15091389e+01] [ 3.75989990e-01 -3.61943843e-02 9.25916570e-01 1.40650475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.866875 meters Centerline goodness : 0.994827 Centerline is valid? [True, True] Translation: X:135.04, Y:91.51, Z:14.06 [[ 8.36470784e-01 4.30059609e-01 -3.39654767e-01 1.35037196e+02] [-3.98157689e-01 9.02800198e-01 1.62549246e-01 9.15051116e+01] [ 3.76546256e-01 -7.31538754e-04 9.26397529e-01 1.40578597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.896875 meters Centerline goodness : 0.990890 Centerline is valid? [True, True] Translation: X:135.08, Y:91.52, Z:14.02 [[ 8.50237902e-01 4.02930676e-01 -3.38736448e-01 1.35080614e+02] [-3.89571667e-01 9.14418599e-01 1.09875119e-01 9.15224452e+01] [ 3.54018964e-01 3.85421317e-02 9.34443726e-01 1.40175092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.926875 meters Centerline goodness : 0.993954 Centerline is valid? [True, True] Translation: X:135.08, Y:91.48, Z:14.09 [[ 8.34727071e-01 4.42076340e-01 -3.28327926e-01 1.35079298e+02] [-3.99980305e-01 8.96555754e-01 1.90272266e-01 9.14757215e+01] [ 3.78479158e-01 -2.75007073e-02 9.25201188e-01 1.40949462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.956875 meters Centerline goodness : 0.992120 Centerline is valid? [True, True] Translation: X:135.14, Y:91.51, Z:14.02 [[ 8.46843613e-01 3.95896632e-01 -3.55136246e-01 1.35135426e+02] [-3.91063338e-01 9.16078894e-01 8.87069659e-02 9.15088894e+01] [ 3.60451608e-01 6.37598381e-02 9.30596218e-01 1.40223322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.986875 meters Centerline goodness : 0.992475 Centerline is valid? [True, True] Translation: X:135.14, Y:91.48, Z:14.06 [[ 8.41407081e-01 4.19187692e-01 -3.41051027e-01 1.35144998e+02] [-3.97227761e-01 9.07647704e-01 1.35594066e-01 9.14821303e+01] [ 3.66393545e-01 2.13851288e-02 9.30214194e-01 1.40601593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.016875 meters Centerline goodness : 0.991662 Centerline is valid? [True, True] Translation: X:135.16, Y:91.45, Z:14.10 [[ 8.40721346e-01 4.36190428e-01 -3.20820090e-01 1.35160300e+02] [-4.00120276e-01 8.99664677e-01 1.74663200e-01 9.14545652e+01] [ 3.64816919e-01 -1.84764581e-02 9.30895932e-01 1.41025277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.046875 meters Centerline goodness : 0.991345 Centerline is valid? [True, True] Translation: X:135.20, Y:91.45, Z:14.10 [[ 8.40986281e-01 4.24656766e-01 -3.35274076e-01 1.35195188e+02] [-3.99831993e-01 9.05257836e-01 1.43675424e-01 9.14511364e+01] [ 3.64522226e-01 1.32242415e-02 9.31100782e-01 1.40955060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.07687500000003 meters Centerline goodness : 0.990923 Centerline is valid? [True, True] Translation: X:135.22, Y:91.44, Z:14.11 [[ 8.41082405e-01 4.25545594e-01 -3.33903181e-01 1.35217001e+02] [-3.99775420e-01 9.04875989e-01 1.46215793e-01 9.14401198e+01] [ 3.64362458e-01 1.05067536e-02 9.31197942e-01 1.41057810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.106875 meters Centerline goodness : 0.993543 Centerline is valid? [True, True] Translation: X:135.23, Y:91.41, Z:14.16 [[ 8.27230312e-01 4.49373778e-01 -3.37273211e-01 1.35226691e+02] [-4.07217930e-01 8.93101874e-01 1.91161188e-01 9.14058291e+01] [ 3.87122162e-01 -2.07906300e-02 9.21794002e-01 1.41608930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.13687500000003 meters Centerline goodness : 0.991230 Centerline is valid? [True, True] Translation: X:135.27, Y:91.42, Z:14.12 [[ 8.40800275e-01 4.17408081e-01 -3.44710591e-01 1.35272860e+02] [-4.00115336e-01 9.08084515e-01 1.23653672e-01 9.14223792e+01] [ 3.64640392e-01 3.39559526e-02 9.30529085e-01 1.41162780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.166875 meters Centerline goodness : 0.991922 Centerline is valid? [True, True] Translation: X:135.29, Y:91.41, Z:14.13 [[ 8.39956772e-01 4.25029475e-01 -3.37376001e-01 1.35291640e+02] [-4.02126824e-01 9.04980793e-01 1.38938047e-01 9.14082565e+01] [ 3.64371567e-01 1.89659862e-02 9.31060499e-01 1.41349640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.19687500000003 meters Centerline goodness : 0.991164 Centerline is valid? [True, True] Translation: X:135.32, Y:91.40, Z:14.14 [[ 8.39790539e-01 4.24184442e-01 -3.38850130e-01 1.35319054e+02] [-4.03401165e-01 9.05240814e-01 1.33441258e-01 9.13979219e+01] [ 3.63344673e-01 2.46298310e-02 9.31329169e-01 1.41411959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.226875 meters Centerline goodness : 0.992089 Centerline is valid? [True, True] Translation: X:135.35, Y:91.39, Z:14.14 [[ 8.36283904e-01 4.20962858e-01 -3.51311122e-01 1.35348483e+02] [-4.04607210e-01 9.06217262e-01 1.22732554e-01 9.13908307e+01] [ 3.70030050e-01 3.95037535e-02 9.28179517e-01 1.41440901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.25687500000004 meters Centerline goodness : 0.991068 Centerline is valid? [True, True] Translation: X:135.37, Y:91.37, Z:14.16 [[ 8.35764828e-01 4.29536813e-01 -3.42045727e-01 1.35367806e+02] [-4.06274118e-01 9.02802822e-01 1.41026258e-01 9.13739990e+01] [ 3.69375817e-01 2.10995403e-02 9.29040535e-01 1.41649963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.286875 meters Centerline goodness : 0.990662 Centerline is valid? [True, True] Translation: X:135.38, Y:91.36, Z:14.19 [[ 8.39201510e-01 4.37038168e-01 -3.23633228e-01 1.35384424e+02] [-4.05605467e-01 8.99426842e-01 1.62835996e-01 9.13552489e+01] [ 3.62249958e-01 -5.38480748e-03 9.32065433e-01 1.41912063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.31687500000004 meters Centerline goodness : 0.990237 Centerline is valid? [True, True] Translation: X:135.41, Y:91.35, Z:14.20 [[ 8.37802359e-01 4.33884769e-01 -3.31407927e-01 1.35410786e+02] [-4.06408606e-01 9.00939277e-01 1.52119901e-01 9.13459749e+01] [ 3.64580926e-01 7.24062140e-03 9.31143556e-01 1.41985854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.346875 meters Centerline goodness : 0.990473 Centerline is valid? [True, True] Translation: X:135.44, Y:91.34, Z:14.21 [[ 8.36737049e-01 4.32593583e-01 -3.35758698e-01 1.35435470e+02] [-4.07388890e-01 9.01473431e-01 1.46218830e-01 9.13364694e+01] [ 3.65930873e-01 1.44376514e-02 9.30530037e-01 1.42068196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.37687500000004 meters Centerline goodness : 0.989257 Centerline is valid? [True, True] Translation: X:135.47, Y:91.33, Z:14.20 [[ 8.38058314e-01 4.27121547e-01 -3.39448739e-01 1.35465386e+02] [-4.08078798e-01 9.03699663e-01 1.29609463e-01 9.13314075e+01] [ 3.62118706e-01 2.99015453e-02 9.31652264e-01 1.42046815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.406875 meters Centerline goodness : 0.990353 Centerline is valid? [True, True] Translation: X:135.48, Y:91.32, Z:14.22 [[ 8.36551292e-01 4.34530100e-01 -3.33714741e-01 1.35483689e+02] [-4.10199734e-01 9.00511656e-01 1.44273826e-01 9.13162740e+01] [ 3.63205334e-01 1.61972429e-02 9.31568320e-01 1.42239268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.43687500000004 meters Centerline goodness : 0.991680 Centerline is valid? [True, True] Translation: X:135.50, Y:91.30, Z:14.25 [[ 8.31218859e-01 4.43683078e-01 -3.34993336e-01 1.35502334e+02] [-4.14690185e-01 8.96151227e-01 1.57939954e-01 9.12999508e+01] [ 3.70279974e-01 7.63578024e-03 9.28888818e-01 1.42481601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.466875 meters Centerline goodness : 0.990496 Centerline is valid? [True, True] Translation: X:135.53, Y:91.29, Z:14.26 [[ 8.31850905e-01 4.43526597e-01 -3.33628880e-01 1.35528264e+02] [-4.14522714e-01 8.96234335e-01 1.57908000e-01 9.12881297e+01] [ 3.69046055e-01 6.94083612e-03 9.29385192e-01 1.42605971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.496875 meters Centerline goodness : 0.991092 Centerline is valid? [True, True] Translation: X:135.56, Y:91.28, Z:14.26 [[ 8.30854734e-01 4.39467106e-01 -3.41392845e-01 1.35557084e+02] [-4.16910053e-01 8.97910745e-01 1.41217214e-01 9.12835084e+01] [ 3.68600624e-01 2.49991183e-02 9.29251647e-01 1.42604647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.526875 meters Centerline goodness : 0.991111 Centerline is valid? [True, True] Translation: X:135.57, Y:91.26, Z:14.29 [[ 8.26813261e-01 4.52564501e-01 -3.34013777e-01 1.35571021e+02] [-4.19653521e-01 8.91731666e-01 1.69427145e-01 9.12627613e+01] [ 3.74527374e-01 8.54471095e-05 9.27215854e-01 1.42933869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.556875 meters Centerline goodness : 0.992007 Centerline is valid? [True, True] Translation: X:135.60, Y:91.26, Z:14.29 [[ 8.26507904e-01 4.45797761e-01 -3.43728151e-01 1.35601211e+02] [-4.20892891e-01 8.94865717e-01 1.48541316e-01 9.12568774e+01] [ 3.73809925e-01 2.19021637e-02 9.27246696e-01 1.42922795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.586875 meters Centerline goodness : 0.991424 Centerline is valid? [True, True] Translation: X:135.62, Y:91.24, Z:14.31 [[ 8.25348287e-01 4.50626587e-01 -3.40199771e-01 1.35621544e+02] [-4.21692231e-01 8.92632361e-01 1.59320841e-01 9.12413447e+01] [ 3.75467532e-01 1.19644170e-02 9.26758321e-01 1.43111140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.616875 meters Centerline goodness : 0.991321 Centerline is valid? [True, True] Translation: X:135.65, Y:91.24, Z:14.31 [[ 8.26425612e-01 4.43638263e-01 -3.46707080e-01 1.35652653e+02] [-4.21330079e-01 8.95742017e-01 1.41870378e-01 9.12354943e+01] [ 3.73499227e-01 2.88328074e-02 9.27182289e-01 1.43092505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.646875 meters Centerline goodness : 0.991128 Centerline is valid? [True, True] Translation: X:135.67, Y:91.22, Z:14.34 [[ 8.24191124e-01 4.53168533e-01 -3.39628137e-01 1.35668417e+02] [-4.22375878e-01 8.91389295e-01 1.64388998e-01 9.12171330e+01] [ 3.77236807e-01 7.96277914e-03 9.26082602e-01 1.43351685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.676875 meters Centerline goodness : 0.990746 Centerline is valid? [True, True] Translation: X:135.70, Y:91.21, Z:14.34 [[ 8.24155353e-01 4.49099348e-01 -3.45076412e-01 1.35695635e+02] [-4.22243354e-01 8.93286228e-01 1.54111208e-01 9.12084383e+01] [ 3.77463249e-01 1.86946447e-02 9.25835842e-01 1.43396669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.706875 meters Centerline goodness : 0.991739 Centerline is valid? [True, True] Translation: X:135.72, Y:91.20, Z:14.34 [[ 8.24004784e-01 4.44371818e-01 -3.51496520e-01 1.35723156e+02] [-4.22682023e-01 8.95254529e-01 1.40922799e-01 9.12007784e+01] [ 3.77300972e-01 3.24501999e-02 9.25521994e-01 1.43401987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.736875 meters Centerline goodness : 0.991422 Centerline is valid? [True, True] Translation: X:135.75, Y:91.19, Z:14.35 [[ 8.23794840e-01 4.46490448e-01 -3.49296925e-01 1.35745704e+02] [-4.22583843e-01 8.94386191e-01 1.46615952e-01 9.11873971e+01] [ 3.77868968e-01 2.68257728e-02 9.25470378e-01 1.43526774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.766875 meters Centerline goodness : 0.991288 Centerline is valid? [True, True] Translation: X:135.77, Y:91.18, Z:14.36 [[ 8.25296020e-01 4.43327614e-01 -3.49781511e-01 1.35770086e+02] [-4.20839574e-01 8.95871138e-01 1.42509499e-01 9.11770955e+01] [ 3.76537557e-01 2.95893799e-02 9.25928689e-01 1.43587471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.796875 meters Centerline goodness : 0.990459 Centerline is valid? [True, True] Translation: X:135.79, Y:91.16, Z:14.38 [[ 8.25559013e-01 4.46374147e-01 -3.45257058e-01 1.35791149e+02] [-4.20074257e-01 8.94636376e-01 1.52195180e-01 9.11610795e+01] [ 3.76815518e-01 1.93874995e-02 9.26085412e-01 1.43754300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.82687500000003 meters Centerline goodness : 0.990179 Centerline is valid? [True, True] Translation: X:135.81, Y:91.15, Z:14.39 [[ 8.23198815e-01 4.48649506e-01 -3.47932940e-01 1.35812901e+02] [-4.21013056e-01 8.93526393e-01 1.56072391e-01 9.11487066e+01] [ 3.80909067e-01 1.80057031e-02 9.24437168e-01 1.43906396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.856875 meters Centerline goodness : 0.990838 Centerline is valid? [True, True] Translation: X:135.84, Y:91.14, Z:14.40 [[ 8.24937148e-01 4.44442751e-01 -3.49212462e-01 1.35839834e+02] [-4.19702627e-01 8.95477799e-01 1.48220163e-01 9.11374171e+01] [ 3.78587383e-01 2.42930688e-02 9.25246691e-01 1.43970832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.88687500000003 meters Centerline goodness : 0.990971 Centerline is valid? [True, True] Translation: X:135.86, Y:91.12, Z:14.41 [[ 8.23088037e-01 4.46392871e-01 -3.51083305e-01 1.35860298e+02] [-4.20777667e-01 8.94527525e-01 1.50886259e-01 9.11249707e+01] [ 3.81408230e-01 2.35353394e-02 9.24107056e-01 1.44095899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.916875 meters Centerline goodness : 0.990417 Centerline is valid? [True, True] Translation: X:135.88, Y:91.11, Z:14.43 [[ 8.24107847e-01 4.49373374e-01 -3.44833043e-01 1.35881003e+02] [-4.20170782e-01 8.93247670e-01 1.59890942e-01 9.11092292e+01] [ 3.79872045e-01 1.31213895e-02 9.24945976e-01 1.44266880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.94687500000003 meters Centerline goodness : 0.990791 Centerline is valid? [True, True] Translation: X:135.91, Y:91.10, Z:14.43 [[ 8.23319787e-01 4.45571211e-01 -3.51583310e-01 1.35907126e+02] [-4.20161211e-01 8.94924267e-01 1.50250167e-01 9.10995213e+01] [ 3.81587585e-01 2.40177341e-02 9.24020597e-01 1.44321272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.976875 meters Centerline goodness : 0.991193 Centerline is valid? [True, True] Translation: X:135.93, Y:91.09, Z:14.45 [[ 8.20897841e-01 4.48541069e-01 -3.53465195e-01 1.35927139e+02] [-4.21808277e-01 8.93478421e-01 1.54188483e-01 9.10872871e+01] [ 3.84973392e-01 2.25215520e-02 9.22652842e-01 1.44450166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.00687500000004 meters Centerline goodness : 0.990980 Centerline is valid? [True, True] Translation: X:135.94, Y:91.07, Z:14.47 [[ 8.19872928e-01 4.54074874e-01 -3.48746887e-01 1.35944765e+02] [-4.22803241e-01 8.90891030e-01 1.65983709e-01 9.10697231e+01] [ 3.86064505e-01 1.13657645e-02 9.22401766e-01 1.44670247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.036875 meters Centerline goodness : 0.992157 Centerline is valid? [True, True] Translation: X:135.97, Y:91.06, Z:14.48 [[ 8.15737700e-01 4.56829350e-01 -3.54794236e-01 1.35965656e+02] [-4.25571527e-01 8.89428460e-01 1.66750981e-01 9.10566183e+01] [ 3.91740833e-01 1.49652631e-02 9.19953890e-01 1.44815367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.06687500000004 meters Centerline goodness : 0.991068 Centerline is valid? [True, True] Translation: X:135.99, Y:91.04, Z:14.50 [[ 8.15008928e-01 4.62513937e-01 -3.49057739e-01 1.35986715e+02] [-4.26805091e-01 8.86604247e-01 1.78242317e-01 9.10381341e+01] [ 3.91915630e-01 3.71054050e-03 9.19993680e-01 1.45043089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.096875 meters Centerline goodness : 0.991390 Centerline is valid? [True, True] Translation: X:136.01, Y:91.03, Z:14.51 [[ 8.13420613e-01 4.59835060e-01 -3.56228331e-01 1.36011683e+02] [-4.27689712e-01 8.87886611e-01 1.69525444e-01 9.10277285e+01] [ 3.94244108e-01 1.44597015e-02 9.18891996e-01 1.45136106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.12687500000004 meters Centerline goodness : 0.992080 Centerline is valid? [True, True] Translation: X:136.04, Y:91.02, Z:14.52 [[ 8.11687842e-01 4.56484747e-01 -3.64396108e-01 1.36038262e+02] [-4.28424177e-01 8.89338729e-01 1.59779066e-01 9.10180658e+01] [ 3.97008278e-01 2.64253769e-02 9.17434535e-01 1.45185414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.156875 meters Centerline goodness : 0.991137 Centerline is valid? [True, True] Translation: X:136.06, Y:91.00, Z:14.53 [[ 8.11891250e-01 4.60036153e-01 -3.59443091e-01 1.36058443e+02] [-4.30194986e-01 8.87647354e-01 1.64360729e-01 9.10038593e+01] [ 3.94670586e-01 2.11875780e-02 9.18578366e-01 1.45310640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.18687500000004 meters Centerline goodness : 0.991126 Centerline is valid? [True, True] Translation: X:136.08, Y:90.99, Z:14.55 [[ 8.08327705e-01 4.67348051e-01 -3.58039272e-01 1.36075779e+02] [-4.31994969e-01 8.84013435e-01 1.78607371e-01 9.09867263e+01] [ 3.99983334e-01 1.02978778e-02 9.16464558e-01 1.45535550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.216875 meters Centerline goodness : 0.991747 Centerline is valid? [True, True] Translation: X:136.11, Y:90.98, Z:14.56 [[ 8.06349402e-01 4.62244616e-01 -3.68958747e-01 1.36106142e+02] [-4.35085553e-01 8.86173908e-01 1.59362375e-01 9.09775875e+01] [ 4.00626015e-01 3.20268649e-02 9.15681755e-01 1.45551165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.246875 meters Centerline goodness : 0.991367 Centerline is valid? [True, True] Translation: X:136.12, Y:90.96, Z:14.58 [[ 8.05839070e-01 4.71140602e-01 -3.58678025e-01 1.36122921e+02] [-4.37018706e-01 8.81940269e-01 1.76623929e-01 9.09599034e+01] [ 3.99547298e-01 1.44185437e-02 9.16599183e-01 1.45769725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.276875 meters Centerline goodness : 0.990279 Centerline is valid? [True, True] Translation: X:136.15, Y:90.95, Z:14.58 [[ 8.05940225e-01 4.69282807e-01 -3.60879483e-01 1.36146856e+02] [-4.37270375e-01 8.82830387e-01 1.71479234e-01 9.09498521e+01] [ 3.99067630e-01 1.95998944e-02 9.16711989e-01 1.45849962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.306875 meters Centerline goodness : 0.990279 Centerline is valid? [True, True] Translation: X:136.17, Y:90.94, Z:14.60 [[ 8.05383423e-01 4.69556429e-01 -3.61765533e-01 1.36170443e+02] [-4.37571680e-01 8.82672367e-01 1.71524100e-01 9.09373661e+01] [ 3.99860684e-01 2.01556850e-02 9.16354288e-01 1.45972471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.336875 meters Centerline goodness : 0.990927 Centerline is valid? [True, True] Translation: X:136.19, Y:90.93, Z:14.61 [[ 8.04984792e-01 4.68895061e-01 -3.63506405e-01 1.36194431e+02] [-4.37863723e-01 8.82957376e-01 1.69297469e-01 9.09252005e+01] [ 4.00343409e-01 2.28843797e-02 9.16079396e-01 1.46072991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.366875 meters Centerline goodness : 0.991097 Centerline is valid? [True, True] Translation: X:136.21, Y:90.91, Z:14.62 [[ 8.05220497e-01 4.71960995e-01 -3.58988538e-01 1.36213653e+02] [-4.38527457e-01 8.81468299e-01 1.75235007e-01 9.09104019e+01] [ 3.99141104e-01 1.63235106e-02 9.16744197e-01 1.46224772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.396875 meters Centerline goodness : 0.991670 Centerline is valid? [True, True] Translation: X:136.24, Y:90.90, Z:14.63 [[ 8.05275802e-01 4.69531658e-01 -3.62037160e-01 1.36237809e+02] [-4.38390260e-01 8.82638028e-01 1.69599797e-01 9.08986184e+01] [ 3.99180239e-01 2.21389524e-02 9.16605151e-01 1.46324291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.426875 meters Centerline goodness : 0.990560 Centerline is valid? [True, True] Translation: X:136.26, Y:90.89, Z:14.64 [[ 8.05897247e-01 4.66624037e-01 -3.64405866e-01 1.36261911e+02] [-4.36413675e-01 8.84117230e-01 1.66972537e-01 9.08869639e+01] [ 4.00090904e-01 2.44689949e-02 9.16148752e-01 1.46424284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.456875 meters Centerline goodness : 0.991232 Centerline is valid? [True, True] Translation: X:136.29, Y:90.87, Z:14.65 [[ 8.05500777e-01 4.65631053e-01 -3.66546341e-01 1.36285449e+02] [-4.36193587e-01 8.84570951e-01 1.65134455e-01 9.08749057e+01] [ 4.01127975e-01 2.68692309e-02 9.15627868e-01 1.46530263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.486875 meters Centerline goodness : 0.991150 Centerline is valid? [True, True] Translation: X:136.31, Y:90.86, Z:14.67 [[ 8.05249104e-01 4.68345126e-01 -3.63629926e-01 1.36305143e+02] [-4.34982161e-01 8.83369134e-01 1.74497830e-01 9.08589916e+01] [ 4.02944661e-01 1.76583095e-02 9.15053979e-01 1.46715240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.516875 meters Centerline goodness : 0.990772 Centerline is valid? [True, True] Translation: X:136.33, Y:90.84, Z:14.69 [[ 8.06244091e-01 4.68594214e-01 -3.61095457e-01 1.36325657e+02] [-4.30831403e-01 8.83386733e-01 1.84423917e-01 9.08411729e+01] [ 4.05406917e-01 6.88056897e-03 9.14110436e-01 1.46921400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.546875 meters Centerline goodness : 0.992358 Centerline is valid? [True, True] Translation: X:136.36, Y:90.84, Z:14.68 [[ 8.02114945e-01 4.54226939e-01 -3.87671900e-01 1.36357616e+02] [-4.30983476e-01 8.89687138e-01 1.50698510e-01 9.08409242e+01] [ 4.13358026e-01 4.62026564e-02 9.09395655e-01 1.46802363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.57687500000003 meters Centerline goodness : 0.991837 Centerline is valid? [True, True] Translation: X:136.37, Y:90.82, Z:14.72 [[ 8.00301514e-01 4.67909091e-01 -3.74938086e-01 1.36368079e+02] [-4.29816516e-01 8.83683822e-01 1.85366299e-01 9.08189916e+01] [ 4.18061298e-01 1.28056523e-02 9.08328557e-01 1.47151845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.606875 meters Centerline goodness : 0.992287 Centerline is valid? [True, True] Translation: X:136.40, Y:90.81, Z:14.71 [[ 8.03487932e-01 4.57655583e-01 -3.80734173e-01 1.36396594e+02] [-4.26205664e-01 8.88731175e-01 1.68836109e-01 9.08124779e+01] [ 4.15639117e-01 2.66132849e-02 9.09140175e-01 1.47139864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.63687500000003 meters Centerline goodness : 0.992265 Centerline is valid? [True, True] Translation: X:136.41, Y:90.79, Z:14.74 [[ 8.02878185e-01 4.61046841e-01 -3.77918550e-01 1.36414840e+02] [-4.23179826e-01 8.87285450e-01 1.83421277e-01 9.07936720e+01] [ 4.19887431e-01 1.26625639e-02 9.07487854e-01 1.47417733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.666875 meters Centerline goodness : 0.994238 Centerline is valid? [True, True] Translation: X:136.40, Y:90.76, Z:14.83 [[ 7.91175258e-01 4.95776761e-01 -3.58116063e-01 1.36404464e+02] [-4.25490475e-01 8.66811346e-01 2.59992206e-01 9.07550733e+01] [ 4.39317160e-01 -5.33244269e-02 8.96747979e-01 1.48271352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.69687500000003 meters Centerline goodness : 0.992679 Centerline is valid? [True, True] Translation: X:136.48, Y:90.78, Z:14.74 [[ 8.05432848e-01 4.30841321e-01 -4.07005754e-01 1.36480486e+02] [-4.18448981e-01 8.99693736e-01 1.24304591e-01 9.07831830e+01] [ 4.19736082e-01 7.01921428e-02 9.04928000e-01 1.47373180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.726875 meters Centerline goodness : 0.994439 Centerline is valid? [True, True] Translation: X:136.45, Y:90.73, Z:14.85 [[ 7.94646684e-01 4.89998822e-01 -3.58382201e-01 1.36451092e+02] [-4.20190321e-01 8.70029355e-01 2.57854639e-01 9.07314936e+01] [ 4.38151505e-01 -5.43146020e-02 8.97258704e-01 1.48525088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.75687500000004 meters Centerline goodness : 0.994096 Centerline is valid? [True, True] Translation: X:136.49, Y:90.73, Z:14.84 [[ 7.94778930e-01 4.67799279e-01 -3.86639737e-01 1.36491364e+02] [-4.19986948e-01 8.83833677e-01 2.06031537e-01 9.07282125e+01] [ 4.38106625e-01 -1.36588109e-03 8.98921976e-01 1.48360351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.786875 meters Centerline goodness : 0.995213 Centerline is valid? [True, True] Translation: X:136.51, Y:90.72, Z:14.85 [[ 7.95825854e-01 4.66609233e-01 -3.85923612e-01 1.36514803e+02] [-4.18882218e-01 8.84461421e-01 2.05586192e-01 9.07169986e+01] [ 4.37262962e-01 -1.95426841e-03 8.99331576e-01 1.48477173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.81687500000004 meters Centerline goodness : 0.994423 Centerline is valid? [True, True] Translation: X:136.54, Y:90.71, Z:14.86 [[ 7.96291558e-01 4.65923830e-01 -3.85791057e-01 1.36537826e+02] [-4.18182624e-01 8.84821910e-01 2.05459195e-01 9.07060097e+01] [ 4.37084715e-01 -2.27430637e-03 8.99417467e-01 1.48596424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.846875 meters Centerline goodness : 0.992628 Centerline is valid? [True, True] Translation: X:136.58, Y:90.73, Z:14.81 [[ 8.08484632e-01 4.31473184e-01 -4.00229299e-01 1.36584809e+02] [-4.10859533e-01 9.00717804e-01 1.41074032e-01 9.07251751e+01] [ 4.21363317e-01 5.03818357e-02 9.05491373e-01 1.48091536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.87687500000004 meters Centerline goodness : 0.994644 Centerline is valid? [True, True] Translation: X:136.57, Y:90.68, Z:14.90 [[ 7.95692341e-01 4.81628065e-01 -3.67298387e-01 1.36572550e+02] [-4.18996151e-01 8.75576752e-01 2.40432064e-01 9.06790204e+01] [ 4.37396759e-01 -3.74133411e-02 8.98490021e-01 1.49012362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.906875 meters Centerline goodness : 0.994676 Centerline is valid? [True, True] Translation: X:136.61, Y:90.67, Z:14.89 [[ 7.95083572e-01 4.67805294e-01 -3.86005596e-01 1.36608454e+02] [-4.20112208e-01 8.83830352e-01 2.05790287e-01 9.06740077e+01] [ 4.37433247e-01 -1.45481287e-03 8.99249708e-01 1.48945457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.93687500000004 meters Centerline goodness : 0.994018 Centerline is valid? [True, True] Translation: X:136.63, Y:90.66, Z:14.91 [[ 7.94603866e-01 4.68703806e-01 -3.85903407e-01 1.36631049e+02] [-4.21208078e-01 8.83355010e-01 2.05591054e-01 9.06636023e+01] [ 4.37251017e-01 -8.17813605e-04 8.99339135e-01 1.49057237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.966875 meters Centerline goodness : 0.994630 Centerline is valid? [True, True] Translation: X:136.65, Y:90.65, Z:14.92 [[ 7.94414173e-01 4.69282718e-01 -3.85590265e-01 1.36654528e+02] [-4.21965833e-01 8.83047872e-01 2.05356500e-01 9.06529460e+01] [ 4.36864920e-01 -4.32197066e-04 8.99527017e-01 1.49174922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.996875 meters Centerline goodness : 0.994253 Centerline is valid? [True, True] Translation: X:136.68, Y:90.64, Z:14.93 [[ 7.93007388e-01 4.71800111e-01 -3.85413982e-01 1.36678594e+02] [-4.24880890e-01 8.81704857e-01 2.05116493e-01 9.06441083e+01] [ 4.36595364e-01 1.09614129e-03 8.99657316e-01 1.49288794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.026875 meters Centerline goodness : 0.994065 Centerline is valid? [True, True] Translation: X:136.70, Y:90.63, Z:14.94 [[ 7.92079851e-01 4.73308777e-01 -3.85471544e-01 1.36701755e+02] [-4.26611043e-01 8.80894173e-01 2.05008472e-01 9.06344356e+01] [ 4.36591947e-01 2.06333785e-03 8.99657276e-01 1.49400110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.056875 meters Centerline goodness : 0.994398 Centerline is valid? [True, True] Translation: X:136.73, Y:90.62, Z:14.95 [[ 7.91534022e-01 4.74837870e-01 -3.84711437e-01 1.36725607e+02] [-4.28538278e-01 8.80068290e-01 2.04535446e-01 9.06245421e+01] [ 4.35693512e-01 2.96681200e-03 9.00090197e-01 1.49510075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.086875 meters Centerline goodness : 0.994690 Centerline is valid? [True, True] Translation: X:136.75, Y:90.61, Z:14.96 [[ 7.90617573e-01 4.76432043e-01 -3.84624961e-01 1.36749696e+02] [-4.30403923e-01 8.79202257e-01 2.04342492e-01 9.06141572e+01] [ 4.35518445e-01 3.98732645e-03 9.00170976e-01 1.49626437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.116875 meters Centerline goodness : 0.993240 Centerline is valid? [True, True] Translation: X:136.80, Y:90.63, Z:14.91 [[ 8.02690579e-01 4.43726878e-01 -3.98490015e-01 1.36802145e+02] [-4.27051587e-01 8.94045212e-01 1.35314822e-01 9.06338564e+01] [ 4.16310914e-01 6.15598606e-02 9.07135936e-01 1.49140746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.146875 meters Centerline goodness : 0.994397 Centerline is valid? [True, True] Translation: X:136.79, Y:90.59, Z:15.01 [[ 7.86737774e-01 4.98489280e-01 -3.64077070e-01 1.36785465e+02] [-4.36330123e-01 8.66286213e-01 2.43236964e-01 9.05851343e+01] [ 4.36645965e-01 -3.25059152e-02 8.99045976e-01 1.50078576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.176875 meters Centerline goodness : 0.995277 Centerline is valid? [True, True] Translation: X:136.82, Y:90.58, Z:15.00 [[ 7.85940359e-01 4.84082980e-01 -3.84657537e-01 1.36822509e+02] [-4.38789020e-01 8.74985758e-01 2.04607231e-01 9.05808755e+01] [ 4.35616745e-01 7.97442300e-03 9.00096917e-01 1.49992885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.206875 meters Centerline goodness : 0.993186 Centerline is valid? [True, True] Translation: X:136.87, Y:90.60, Z:14.95 [[ 7.97470137e-01 4.52774317e-01 -3.98794181e-01 1.36873789e+02] [-4.35501028e-01 8.89404380e-01 1.38919770e-01 9.05995097e+01] [ 4.17588596e-01 6.28909077e-02 9.06457113e-01 1.49510758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.236875 meters Centerline goodness : 0.992238 Centerline is valid? [True, True] Translation: X:136.88, Y:90.57, Z:15.00 [[ 7.96526883e-01 4.82758001e-01 -3.63991260e-01 1.36875377e+02] [-4.37224371e-01 8.75745069e-01 2.04708141e-01 9.05696090e+01] [ 4.17588044e-01 -3.90968813e-03 9.08628054e-01 1.50010136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.266875 meters Centerline goodness : 0.995057 Centerline is valid? [True, True] Translation: X:136.89, Y:90.54, Z:15.05 [[ 7.82195306e-01 4.99174445e-01 -3.72820837e-01 1.36885940e+02] [-4.45381305e-01 8.66438395e-01 2.25654606e-01 9.05422494e+01] [ 4.35667300e-01 -1.04585425e-02 9.00047011e-01 1.50477302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.296875 meters Centerline goodness : 0.992773 Centerline is valid? [True, True] Translation: X:136.94, Y:90.56, Z:14.99 [[ 7.95482651e-01 4.55919646e-01 -3.99179944e-01 1.36941138e+02] [-4.39946376e-01 8.87519932e-01 1.36950927e-01 9.05645638e+01] [ 4.16718775e-01 6.66756830e-02 9.06586905e-01 1.49890576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.32687500000003 meters Centerline goodness : 0.994920 Centerline is valid? [True, True] Translation: X:136.93, Y:90.51, Z:15.08 [[ 7.80138941e-01 5.08183442e-01 -3.64873708e-01 1.36925735e+02] [-4.47951685e-01 8.60892723e-01 2.41252993e-01 9.05147407e+01] [ 4.36717897e-01 -2.47650620e-02 8.99257566e-01 1.50807191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.356875 meters Centerline goodness : 0.994063 Centerline is valid? [True, True] Translation: X:136.96, Y:90.51, Z:15.07 [[ 7.79829788e-01 4.93780115e-01 -3.84768372e-01 1.36961001e+02] [-4.49582207e-01 8.69483444e-01 2.04632303e-01 9.05094871e+01] [ 4.35593091e-01 1.34066484e-02 9.00043844e-01 1.50747079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.38687500000003 meters Centerline goodness : 0.993446 Centerline is valid? [True, True] Translation: X:137.00, Y:90.52, Z:15.05 [[ 7.89277248e-01 4.71141087e-01 -3.93786113e-01 1.36998728e+02] [-4.44036614e-01 8.80885119e-01 1.63929537e-01 9.05198603e+01] [ 4.24114267e-01 4.54695989e-02 9.04466475e-01 1.50478277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.416875 meters Centerline goodness : 0.994196 Centerline is valid? [True, True] Translation: X:137.00, Y:90.48, Z:15.11 [[ 7.79118307e-01 5.02357292e-01 -3.74982418e-01 1.37000752e+02] [-4.49601289e-01 8.64638807e-01 2.24183884e-01 9.04813357e+01] [ 4.36844760e-01 -6.07319012e-03 8.99516410e-01 1.51086479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.44687500000003 meters Centerline goodness : 0.993060 Centerline is valid? [True, True] Translation: X:137.05, Y:90.50, Z:15.06 [[ 7.92378633e-01 4.61381375e-01 -3.99078099e-01 1.37053217e+02] [-4.42290084e-01 8.85063233e-01 1.45060526e-01 9.04996700e+01] [ 4.20137578e-01 6.15654245e-02 9.05369601e-01 1.50586127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.476875 meters Centerline goodness : 0.993607 Centerline is valid? [True, True] Translation: X:137.06, Y:90.48, Z:15.09 [[ 7.91920179e-01 4.76774261e-01 -3.81508498e-01 1.37063137e+02] [-4.41798198e-01 8.78664280e-01 1.81006728e-01 9.04783248e+01] [ 4.21517238e-01 2.52068867e-02 9.06469983e-01 1.50887821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.50687500000004 meters Centerline goodness : 0.994580 Centerline is valid? [True, True] Translation: X:137.07, Y:90.44, Z:15.15 [[ 7.80767782e-01 5.03865929e-01 -3.69487207e-01 1.37065512e+02] [-4.46601081e-01 8.63601327e-01 2.33966285e-01 9.04390300e+01] [ 4.36977282e-01 -1.76599510e-02 8.99299161e-01 1.51528973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.536875 meters Centerline goodness : 0.993803 Centerline is valid? [True, True] Translation: X:137.12, Y:90.46, Z:15.10 [[ 7.93750538e-01 4.59505986e-01 -3.98515161e-01 1.37119311e+02] [-4.38702490e-01 8.86330347e-01 1.48184482e-01 9.04580762e+01] [ 4.21307737e-01 5.72080815e-02 9.05111610e-01 1.51005512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.56687500000004 meters Centerline goodness : 0.992667 Centerline is valid? [True, True] Translation: X:137.13, Y:90.44, Z:15.13 [[ 7.95721117e-01 4.70935696e-01 -3.80850987e-01 1.37133538e+02] [-4.36188393e-01 8.81851601e-01 1.79101758e-01 9.04363286e+01] [ 4.20199464e-01 2.36077288e-02 9.07124625e-01 1.51278897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.596875 meters Centerline goodness : 0.993333 Centerline is valid? [True, True] Translation: X:137.16, Y:90.43, Z:15.13 [[ 7.95442852e-01 4.67174339e-01 -3.86029540e-01 1.37158749e+02] [-4.35668563e-01 8.83597525e-01 1.71605120e-01 9.04255579e+01] [ 4.21264254e-01 3.16788689e-02 9.06384509e-01 1.51345893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.62687500000004 meters Centerline goodness : 0.992660 Centerline is valid? [True, True] Translation: X:137.17, Y:90.40, Z:15.17 [[ 7.96847964e-01 4.75498832e-01 -3.72738760e-01 1.37172024e+02] [-4.32970062e-01 8.79703739e-01 1.96617031e-01 9.04023286e+01] [ 4.21390849e-01 4.71084261e-03 9.06866892e-01 1.51662143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.656875 meters Centerline goodness : 0.992490 Centerline is valid? [True, True] Translation: X:137.20, Y:90.39, Z:15.17 [[ 8.00907220e-01 4.65351207e-01 -3.76823406e-01 1.37198712e+02] [-4.28099906e-01 8.85003552e-01 1.83027819e-01 9.03924982e+01] [ 4.18662270e-01 1.47297625e-02 9.08022543e-01 1.51695900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.68687500000004 meters Centerline goodness : 0.993136 Centerline is valid? [True, True] Translation: X:137.22, Y:90.38, Z:15.17 [[ 8.03359115e-01 4.57334594e-01 -3.81391140e-01 1.37222995e+02] [-4.25092613e-01 8.88939706e-01 1.70535828e-01 9.03817218e+01] [ 4.17025662e-01 2.51250443e-02 9.08547373e-01 1.51712538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.716875 meters Centerline goodness : 0.995094 Centerline is valid? [True, True] Translation: X:137.22, Y:90.34, Z:15.24 [[ 7.86827492e-01 4.92761602e-01 -3.71602613e-01 1.37219501e+02] [-4.32448269e-01 8.69766212e-01 2.37687255e-01 9.03407968e+01] [ 4.40330550e-01 -2.63199598e-02 8.97449869e-01 1.52441181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.746875 meters Centerline goodness : 0.994597 Centerline is valid? [True, True] Translation: X:137.25, Y:90.33, Z:15.25 [[ 7.89392919e-01 4.84217155e-01 -3.77349397e-01 1.37248032e+02] [-4.31227799e-01 8.74873980e-01 2.20540484e-01 9.03279201e+01] [ 4.36922654e-01 -1.13695470e-02 8.99427222e-01 1.52530059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.776875 meters Centerline goodness : 0.994697 Centerline is valid? [True, True] Translation: X:137.28, Y:90.32, Z:15.25 [[ 7.88979774e-01 4.73335492e-01 -3.91745362e-01 1.37277955e+02] [-4.29954701e-01 8.80800949e-01 1.98314507e-01 9.03217099e+01] [ 4.38918981e-01 1.19666256e-02 8.98446953e-01 1.52483017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.806875 meters Centerline goodness : 0.994101 Centerline is valid? [True, True] Translation: X:137.31, Y:90.33, Z:15.23 [[ 7.99652975e-01 4.52409718e-01 -3.94817132e-01 1.37311961e+02] [-4.21124057e-01 8.91247749e-01 1.68321058e-01 9.03282844e+01] [ 4.28029962e-01 3.16685579e-02 9.03209529e-01 1.52273164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.836875 meters Centerline goodness : 0.994280 Centerline is valid? [True, True] Translation: X:137.32, Y:90.29, Z:15.29 [[ 7.89682154e-01 4.82389354e-01 -3.79081266e-01 1.37315085e+02] [-4.27802486e-01 8.75841717e-01 2.23352456e-01 9.02892822e+01] [ 4.39758034e-01 -1.42055405e-02 8.98003939e-01 1.52870187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.866875 meters Centerline goodness : 0.994865 Centerline is valid? [True, True] Translation: X:137.34, Y:90.28, Z:15.29 [[ 7.89857140e-01 4.75688229e-01 -3.87099997e-01 1.37342304e+02] [-4.27715865e-01 8.79613222e-01 2.08181935e-01 9.02798513e+01] [ 4.39527971e-01 1.13482215e-03 8.98228186e-01 1.52910539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.896875 meters Centerline goodness : 0.995380 Centerline is valid? [True, True] Translation: X:137.37, Y:90.27, Z:15.30 [[ 7.89934348e-01 4.75464568e-01 -3.87217214e-01 1.37365072e+02] [-4.27469986e-01 8.79734211e-01 2.08175719e-01 9.02676002e+01] [ 4.39628408e-01 1.07858641e-03 8.98179102e-01 1.53033091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.926875 meters Centerline goodness : 0.995544 Centerline is valid? [True, True] Translation: X:137.39, Y:90.26, Z:15.32 [[ 7.89880377e-01 4.75612331e-01 -3.87145839e-01 1.37387923e+02] [-4.27727633e-01 8.79654020e-01 2.07985280e-01 9.02556233e+01] [ 4.39474757e-01 1.30948158e-03 8.98253986e-01 1.53150333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.956875 meters Centerline goodness : 0.994804 Centerline is valid? [True, True] Translation: X:137.41, Y:90.24, Z:15.33 [[ 7.89640249e-01 4.75782736e-01 -3.87426206e-01 1.37410624e+02] [-4.27918443e-01 8.79561466e-01 2.07984214e-01 9.02441320e+01] [ 4.39720460e-01 1.55411178e-03 8.98133343e-01 1.53270920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.986875 meters Centerline goodness : 0.994962 Centerline is valid? [True, True] Translation: X:137.43, Y:90.23, Z:15.34 [[ 7.88709545e-01 4.77406347e-01 -3.87324713e-01 1.37432618e+02] [-4.29825738e-01 8.78678785e-01 2.07782163e-01 9.02333451e+01] [ 4.39530532e-01 2.60235595e-03 8.98223880e-01 1.53389717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.016875 meters Centerline goodness : 0.995322 Centerline is valid? [True, True] Translation: X:137.45, Y:90.22, Z:15.35 [[ 7.88248843e-01 4.78061898e-01 -3.87453975e-01 1.37454945e+02] [-4.30555576e-01 8.78320905e-01 2.07784226e-01 9.02224038e+01] [ 4.39642647e-01 3.03479312e-03 8.98167653e-01 1.53511319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.046875 meters Centerline goodness : 0.993232 Centerline is valid? [True, True] Translation: X:137.49, Y:90.23, Z:15.32 [[ 8.01788848e-01 4.55795464e-01 -3.86503737e-01 1.37490422e+02] [-4.22514953e-01 8.89739296e-01 1.72757342e-01 9.02330370e+01] [ 4.22629576e-01 2.47886984e-02 9.05963444e-01 1.53249349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.07687500000003 meters Centerline goodness : 0.995802 Centerline is valid? [True, True] Translation: X:137.50, Y:90.20, Z:15.38 [[ 7.86650475e-01 4.84300905e-01 -3.82927754e-01 1.37497284e+02] [-4.32902355e-01 8.74886767e-01 2.17183553e-01 9.01974702e+01] [ 4.40200616e-01 -5.07721867e-03 8.97885093e-01 1.53809050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.106875 meters Centerline goodness : 0.995152 Centerline is valid? [True, True] Translation: X:137.52, Y:90.19, Z:15.39 [[ 7.86074034e-01 4.81444912e-01 -3.87683389e-01 1.37524663e+02] [-4.34192206e-01 8.76463328e-01 2.08060477e-01 9.01891656e+01] [ 4.39959932e-01 4.77816766e-03 8.98004692e-01 1.53879362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.13687500000003 meters Centerline goodness : 0.995102 Centerline is valid? [True, True] Translation: X:137.56, Y:90.20, Z:15.37 [[ 7.94339308e-01 4.62316551e-01 -3.94066581e-01 1.37557326e+02] [-4.28319977e-01 8.86250421e-01 1.76358125e-01 9.01978961e+01] [ 4.30774954e-01 2.86983978e-02 9.02002961e-01 1.53683634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.166875 meters Centerline goodness : 0.995406 Centerline is valid? [True, True] Translation: X:137.57, Y:90.16, Z:15.42 [[ 7.85406971e-01 4.85602880e-01 -3.83830344e-01 1.37569242e+02] [-4.34815009e-01 8.74174609e-01 2.16228262e-01 9.01631796e+01] [ 4.40535807e-01 -2.93198975e-03 8.97730252e-01 1.54182879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.19687500000003 meters Centerline goodness : 0.995603 Centerline is valid? [True, True] Translation: X:137.59, Y:90.15, Z:15.43 [[ 7.86210353e-01 4.80891120e-01 -3.88094075e-01 1.37594912e+02] [-4.33369674e-01 8.76769892e-01 2.08483292e-01 9.01536380e+01] [ 4.40526964e-01 4.27648050e-03 8.97729194e-01 1.54270232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.226875 meters Centerline goodness : 0.995603 Centerline is valid? [True, True] Translation: X:137.62, Y:90.14, Z:15.44 [[ 7.86292193e-01 4.80706456e-01 -3.88157044e-01 1.37617745e+02] [-4.33221632e-01 8.76870930e-01 2.08365999e-01 9.01415248e+01] [ 4.40526509e-01 4.32146980e-03 8.97729202e-01 1.54392028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.25687500000004 meters Centerline goodness : 0.995519 Centerline is valid? [True, True] Translation: X:137.64, Y:90.13, Z:15.45 [[ 7.86928154e-01 4.79543500e-01 -3.88306725e-01 1.37639840e+02] [-4.31932643e-01 8.77510033e-01 2.08351465e-01 9.01303635e+01] [ 4.40656638e-01 3.76471659e-03 8.97667842e-01 1.54510547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.286875 meters Centerline goodness : 0.993614 Centerline is valid? [True, True] Translation: X:137.67, Y:90.13, Z:15.45 [[ 7.92362602e-01 4.67515222e-01 -3.91906907e-01 1.37667930e+02] [-4.26140372e-01 8.83870502e-01 1.92814209e-01 9.01319472e+01] [ 4.36538533e-01 1.42285872e-02 8.99573041e-01 1.54481879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.31687500000004 meters Centerline goodness : 0.994028 Centerline is valid? [True, True] Translation: X:137.69, Y:90.12, Z:15.45 [[ 7.94394123e-01 4.62382734e-01 -3.93878387e-01 1.37693576e+02] [-4.24299922e-01 8.86448929e-01 1.84872585e-01 9.01223641e+01] [ 4.34634966e-01 2.02608742e-02 9.00378778e-01 1.54539323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.346875 meters Centerline goodness : 0.994101 Centerline is valid? [True, True] Translation: X:137.71, Y:90.11, Z:15.48 [[ 7.94453505e-01 4.66820223e-01 -3.88487462e-01 1.37711999e+02] [-4.21768345e-01 8.84338940e-01 2.00140207e-01 9.01066453e+01] [ 4.36984086e-01 4.84962487e-03 8.99456163e-01 1.54785776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.37687500000004 meters Centerline goodness : 0.995426 Centerline is valid? [True, True] Translation: X:137.73, Y:90.08, Z:15.51 [[ 7.91014547e-01 4.74197120e-01 -3.86565749e-01 1.37732095e+02] [-4.24504210e-01 8.80413309e-01 2.11349429e-01 9.00823402e+01] [ 4.40558921e-01 -3.08168490e-03 8.97718408e-01 1.55054111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.406875 meters Centerline goodness : 0.995020 Centerline is valid? [True, True] Translation: X:137.75, Y:90.07, Z:15.52 [[ 7.91723492e-01 4.71826085e-01 -3.88012961e-01 1.37754900e+02] [-4.23541752e-01 8.81691594e-01 2.07923825e-01 9.00725318e+01] [ 4.40211650e-01 -2.78487285e-04 8.97893994e-01 1.55157103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.43687500000004 meters Centerline goodness : 0.994120 Centerline is valid? [True, True] Translation: X:137.78, Y:90.08, Z:15.51 [[ 7.98292914e-01 4.56959281e-01 -3.92322111e-01 1.37784406e+02] [-4.17493580e-01 8.89360976e-01 1.86376406e-01 9.00775627e+01] [ 4.34082405e-01 1.50089983e-02 9.00748131e-01 1.55071284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.466875 meters Centerline goodness : 0.993146 Centerline is valid? [True, True] Translation: X:137.81, Y:90.06, Z:15.52 [[ 8.02607746e-01 4.59806285e-01 -3.79998666e-01 1.37805768e+02] [-4.17064120e-01 8.88013895e-01 1.93620357e-01 9.00636004e+01] [ 4.26471952e-01 3.08261088e-03 9.04495534e-01 1.55220293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.496875 meters Centerline goodness : 0.993997 Centerline is valid? [True, True] Translation: X:137.84, Y:90.06, Z:15.52 [[ 7.99512522e-01 4.52335518e-01 -3.95186418e-01 1.37835612e+02] [-4.17303717e-01 8.91523624e-01 1.76190907e-01 9.00578157e+01] [ 4.32015433e-01 2.40459243e-02 9.01545594e-01 1.55220554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.526875 meters Centerline goodness : 0.994815 Centerline is valid? [True, True] Translation: X:137.85, Y:90.02, Z:15.57 [[ 7.91100223e-01 4.76766931e-01 -3.83214994e-01 1.37845668e+02] [-4.23478098e-01 8.78958180e-01 2.19314426e-01 9.00247597e+01] [ 4.41391820e-01 -1.12165348e-02 8.97244365e-01 1.55714260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.556875 meters Centerline goodness : 0.994516 Centerline is valid? [True, True] Translation: X:137.87, Y:90.02, Z:15.58 [[ 7.89988775e-01 4.73349910e-01 -3.89689104e-01 1.37872548e+02] [-4.24856517e-01 8.80874219e-01 2.08704457e-01 9.00175243e+01] [ 4.42057321e-01 6.87777200e-04 8.96986539e-01 1.55780753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.586875 meters Centerline goodness : 0.994066 Centerline is valid? [True, True] Translation: X:137.91, Y:90.03, Z:15.55 [[ 7.97531927e-01 4.52534784e-01 -3.98942470e-01 1.37906201e+02] [-4.19936921e-01 8.91214475e-01 1.71434365e-01 9.00281017e+01] [ 4.33123318e-01 3.08062935e-02 9.00808062e-01 1.55549963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.616875 meters Centerline goodness : 0.994436 Centerline is valid? [True, True] Translation: X:137.92, Y:90.01, Z:15.58 [[ 7.98457255e-01 4.65796437e-01 -3.81444217e-01 1.37922046e+02] [-4.22988663e-01 8.84874562e-01 1.95134827e-01 9.00083114e+01] [ 4.28423392e-01 5.53976044e-03 9.03561126e-01 1.55823661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.646875 meters Centerline goodness : 0.994316 Centerline is valid? [True, True] Translation: X:137.93, Y:89.98, Z:15.64 [[ 7.85911034e-01 4.95915771e-01 -3.69339132e-01 1.37925351e+02] [-4.30992970e-01 8.67639215e-01 2.47885564e-01 8.99756997e+01] [ 4.43383475e-01 -3.56334308e-02 8.95623443e-01 1.56436875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.676875 meters Centerline goodness : 0.993327 Centerline is valid? [True, True] Translation: X:137.98, Y:89.99, Z:15.59 [[ 7.96456433e-01 4.53384237e-01 -4.00124836e-01 1.37981985e+02] [-4.26415902e-01 8.90267492e-01 1.59978972e-01 8.99915114e+01] [ 4.28750078e-01 4.32033116e-02 9.02389519e-01 1.55940750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.706875 meters Centerline goodness : 0.992815 Centerline is valid? [True, True] Translation: X:138.00, Y:89.98, Z:15.61 [[ 7.98396406e-01 4.63834628e-01 -3.83953926e-01 1.38000014e+02] [-4.27794999e-01 8.85690903e-01 1.80396960e-01 8.99786244e+01] [ 4.23738857e-01 2.02252847e-02 9.05558568e-01 1.56112164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.736875 meters Centerline goodness : 0.994255 Centerline is valid? [True, True] Translation: X:138.02, Y:89.97, Z:15.63 [[ 7.91393822e-01 4.70798610e-01 -3.89928825e-01 1.38018500e+02] [-4.30629756e-01 8.82081862e-01 1.91022518e-01 8.99661056e+01] [ 4.33882279e-01 1.67409145e-02 9.00814026e-01 1.56312673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.766875 meters Centerline goodness : 0.992804 Centerline is valid? [True, True] Translation: X:138.04, Y:89.95, Z:15.64 [[ 7.95497148e-01 4.73258041e-01 -3.78432443e-01 1.38039476e+02] [-4.30936168e-01 8.80893143e-01 1.95758244e-01 8.99539617e+01] [ 4.26002707e-01 7.35510227e-03 9.04691990e-01 1.56436635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.796875 meters Centerline goodness : 0.992428 Centerline is valid? [True, True] Translation: X:138.07, Y:89.94, Z:15.65 [[ 7.94648700e-01 4.68972789e-01 -3.85484068e-01 1.38068394e+02] [-4.32491305e-01 8.82948612e-01 1.82628093e-01 8.99444130e+01] [ 4.26010229e-01 2.15933306e-02 9.04460620e-01 1.56492438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.82687500000003 meters Centerline goodness : 0.993888 Centerline is valid? [True, True] Translation: X:138.10, Y:89.94, Z:15.64 [[ 7.92204510e-01 4.61263693e-01 -3.99559533e-01 1.38099283e+02] [-4.34829635e-01 8.86049265e-01 1.60747905e-01 8.99414191e+01] [ 4.28176603e-01 4.63951111e-02 9.02503347e-01 1.56442673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.856875 meters Centerline goodness : 0.994571 Centerline is valid? [True, True] Translation: X:138.09, Y:89.90, Z:15.72 [[ 7.79036460e-01 5.05856731e-01 -3.70420250e-01 1.38090389e+02] [-4.41225191e-01 8.62067872e-01 2.49317699e-01 8.99001006e+01] [ 4.45446433e-01 -3.07888320e-02 8.94779036e-01 1.57227322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.88687500000003 meters Centerline goodness : 0.994972 Centerline is valid? [True, True] Translation: X:138.13, Y:89.90, Z:15.72 [[ 7.78949058e-01 4.90371892e-01 -3.90862855e-01 1.38126252e+02] [-4.42374637e-01 8.71476797e-01 2.11737744e-01 8.98953033e+01] [ 4.44458148e-01 7.97489745e-03 8.95764119e-01 1.57169375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.916875 meters Centerline goodness : 0.994489 Centerline is valid? [True, True] Translation: X:138.15, Y:89.88, Z:15.73 [[ 7.78425833e-01 4.91233873e-01 -3.90822855e-01 1.38148014e+02] [-4.43427183e-01 8.70985079e-01 2.11559274e-01 8.98847815e+01] [ 4.44325956e-01 8.61827312e-03 8.95823738e-01 1.57286681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.94687500000003 meters Centerline goodness : 0.993283 Centerline is valid? [True, True] Translation: X:138.19, Y:89.90, Z:15.70 [[ 7.88112720e-01 4.65436660e-01 -4.02799027e-01 1.38188282e+02] [-4.39072012e-01 8.83715993e-01 1.62054967e-01 8.98977816e+01] [ 4.31386265e-01 4.91401983e-02 9.00828026e-01 1.56989199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.976875 meters Centerline goodness : 0.994932 Centerline is valid? [True, True] Translation: X:138.19, Y:89.86, Z:15.77 [[ 7.76007625e-01 5.04667834e-01 -3.78315402e-01 1.38185605e+02] [-4.45789647e-01 8.63177871e-01 2.37056014e-01 8.98581052e+01] [ 4.46188028e-01 -1.53081850e-02 8.94808305e-01 1.57662327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.00687500000004 meters Centerline goodness : 0.993469 Centerline is valid? [True, True] Translation: X:138.22, Y:89.87, Z:15.75 [[ 7.81533855e-01 4.84919637e-01 -3.92501949e-01 1.38216835e+02] [-4.40885920e-01 8.74433034e-01 2.02451165e-01 8.98661271e+01] [ 4.41389215e-01 1.48261434e-02 8.97193260e-01 1.57516627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.036875 meters Centerline goodness : 0.995010 Centerline is valid? [True, True] Translation: X:138.24, Y:89.84, Z:15.78 [[ 7.75041707e-01 4.92192058e-01 -3.96304594e-01 1.38242468e+02] [-4.48115338e-01 8.70276805e-01 2.04477204e-01 8.98401393e+01] [ 4.45536752e-01 1.91118054e-02 8.95059630e-01 1.57757077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.06687500000004 meters Centerline goodness : 0.993334 Centerline is valid? [True, True] Translation: X:138.26, Y:89.84, Z:15.78 [[ 7.79027910e-01 4.91405312e-01 -3.89405103e-01 1.38258552e+02] [-4.42547545e-01 8.70911315e-01 2.13694061e-01 8.98411886e+01] [ 4.44147707e-01 5.85663447e-03 8.95934436e-01 1.57845665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.096875 meters Centerline goodness : 0.993979 Centerline is valid? [True, True] Translation: X:138.29, Y:89.82, Z:15.80 [[ 7.73952252e-01 4.89691008e-01 -4.01497981e-01 1.38291554e+02] [-4.49271211e-01 8.71444741e-01 1.96823377e-01 8.98186907e+01] [ 4.46265942e-01 2.80495884e-02 8.94460692e-01 1.57962264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.12687500000004 meters Centerline goodness : 0.994173 Centerline is valid? [True, True] Translation: X:138.31, Y:89.81, Z:15.81 [[ 7.74137334e-01 4.96586359e-01 -3.92572765e-01 1.38308202e+02] [-4.48655167e-01 8.67915996e-01 2.13144001e-01 8.98050721e+01] [ 4.46564586e-01 1.11270709e-02 8.94682211e-01 1.58148418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.156875 meters Centerline goodness : 0.993904 Centerline is valid? [True, True] Translation: X:138.33, Y:89.79, Z:15.83 [[ 7.73884585e-01 4.96492559e-01 -3.93189252e-01 1.38331203e+02] [-4.48427498e-01 8.67969172e-01 2.13406411e-01 8.97936223e+01] [ 4.47230844e-01 1.11649412e-02 8.94348878e-01 1.58273441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.18687500000004 meters Centerline goodness : 0.993844 Centerline is valid? [True, True] Translation: X:138.35, Y:89.78, Z:15.84 [[ 7.73044303e-01 4.96960968e-01 -3.94249035e-01 1.38352449e+02] [-4.48758308e-01 8.67695012e-01 2.13825508e-01 8.97829410e+01] [ 4.48350852e-01 1.16259391e-02 8.93782049e-01 1.58393074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.216875 meters Centerline goodness : 0.993615 Centerline is valid? [True, True] Translation: X:138.37, Y:89.77, Z:15.85 [[ 7.72984113e-01 4.97015511e-01 -3.94298292e-01 1.38374867e+02] [-4.48842896e-01 8.67662382e-01 2.13780369e-01 8.97715807e+01] [ 4.48369954e-01 1.17291578e-02 8.93771118e-01 1.58517393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.246875 meters Centerline goodness : 0.993224 Centerline is valid? [True, True] Translation: X:138.40, Y:89.76, Z:15.86 [[ 7.72529221e-01 4.97229996e-01 -3.94918895e-01 1.38397804e+02] [-4.49003876e-01 8.67535345e-01 2.13957811e-01 8.97601289e+01] [ 4.48992341e-01 1.20314536e-02 8.93454600e-01 1.58644045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.276875 meters Centerline goodness : 0.993438 Centerline is valid? [True, True] Translation: X:138.42, Y:89.75, Z:15.88 [[ 7.72383839e-01 4.97464986e-01 -3.94907322e-01 1.38420020e+02] [-4.49349844e-01 8.67396561e-01 2.13794115e-01 8.97491030e+01] [ 4.48896339e-01 1.23204243e-02 8.93498900e-01 1.58762645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.306875 meters Centerline goodness : 0.993325 Centerline is valid? [True, True] Translation: X:138.44, Y:89.74, Z:15.89 [[ 7.71480561e-01 4.98489585e-01 -3.95380673e-01 1.38442547e+02] [-4.50416095e-01 8.66798113e-01 2.13977504e-01 8.97376703e+01] [ 4.49380779e-01 1.30063338e-02 8.93245627e-01 1.58892629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.336875 meters Centerline goodness : 0.992020 Centerline is valid? [True, True] Translation: X:138.48, Y:89.75, Z:15.86 [[ 7.81745173e-01 4.70981928e-01 -4.08718128e-01 1.38480547e+02] [-4.45609933e-01 8.80406944e-01 1.62220222e-01 8.97512755e+01] [ 4.36241071e-01 5.53139817e-02 8.98128104e-01 1.58568415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.366875 meters Centerline goodness : 0.993485 Centerline is valid? [True, True] Translation: X:138.48, Y:89.71, Z:15.93 [[ 7.69967490e-01 5.10476661e-01 -3.82836314e-01 1.38477613e+02] [-4.50996664e-01 8.59812104e-01 2.39426720e-01 8.97081433e+01] [ 4.51389049e-01 -1.16928897e-02 8.92250639e-01 1.59270082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.396875 meters Centerline goodness : 0.992378 Centerline is valid? [True, True] Translation: X:138.52, Y:89.72, Z:15.89 [[ 7.80098207e-01 4.77379914e-01 -4.04419591e-01 1.38519146e+02] [-4.46661001e-01 8.77560985e-01 1.74300511e-01 8.97242319e+01] [ 4.38110418e-01 4.46669434e-02 8.97810741e-01 1.58906604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.426875 meters Centerline goodness : 0.993365 Centerline is valid? [True, True] Translation: X:138.53, Y:89.69, Z:15.95 [[ 7.67989574e-01 5.08457187e-01 -3.89439731e-01 1.38525683e+02] [-4.54279559e-01 8.61085939e-01 2.28388020e-01 8.96853394e+01] [ 4.51466607e-01 1.51489076e-03 8.92286730e-01 1.59477986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.456875 meters Centerline goodness : 0.993493 Centerline is valid? [True, True] Translation: X:138.55, Y:89.68, Z:15.95 [[ 7.67720037e-01 5.03346886e-01 -3.96544899e-01 1.38552350e+02] [-4.55385044e-01 8.63944984e-01 2.14996573e-01 8.96756595e+01] [ 4.50810832e-01 1.55234393e-02 8.92484519e-01 1.59540185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.486875 meters Centerline goodness : 0.991971 Centerline is valid? [True, True] Translation: X:138.60, Y:89.69, Z:15.91 [[ 7.80989124e-01 4.68048931e-01 -4.13504761e-01 1.38599404e+02] [-4.50657158e-01 8.80720956e-01 1.45735114e-01 8.96929333e+01] [ 4.32393472e-01 7.25313417e-02 8.98763089e-01 1.59105293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.516875 meters Centerline goodness : 0.991606 Centerline is valid? [True, True] Translation: X:138.61, Y:89.67, Z:15.93 [[ 7.80943720e-01 4.81866309e-01 -3.97406299e-01 1.38612243e+02] [-4.50790320e-01 8.75229126e-01 1.75391177e-01 8.96736248e+01] [ 4.32336667e-01 4.21762745e-02 9.00725357e-01 1.59333838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.546875 meters Centerline goodness : 0.993680 Centerline is valid? [True, True] Translation: X:138.60, Y:89.63, Z:16.02 [[ 7.64781254e-01 5.24970368e-01 -3.73518066e-01 1.38601388e+02] [-4.55592577e-01 8.50567501e-01 2.62622028e-01 8.96278766e+01] [ 4.55571111e-01 -3.06763461e-02 8.89670683e-01 1.60173048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.57687500000003 meters Centerline goodness : 0.993353 Centerline is valid? [True, True] Translation: X:138.64, Y:89.62, Z:16.01 [[ 7.64396042e-01 5.05568411e-01 -4.00124073e-01 1.38637463e+02] [-4.56900418e-01 8.62621434e-01 2.17085855e-01 8.96228658e+01] [ 4.54907352e-01 1.68772879e-02 8.90378828e-01 1.60084828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.606875 meters Centerline goodness : 0.990381 Centerline is valid? [True, True] Translation: X:138.69, Y:89.64, Z:15.95 [[ 7.87808232e-01 4.59787142e-01 -4.09821880e-01 1.38693998e+02] [-4.47834562e-01 8.84414235e-01 1.31360822e-01 8.96429701e+01] [ 4.22850322e-01 8.00452648e-02 9.02657389e-01 1.59526121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.63687500000003 meters Centerline goodness : 0.994113 Centerline is valid? [True, True] Translation: X:138.66, Y:89.59, Z:16.06 [[ 7.63397793e-01 5.26253260e-01 -3.74541473e-01 1.38662798e+02] [-4.54371175e-01 8.49640978e-01 2.67688333e-01 8.95875445e+01] [ 4.59097642e-01 -3.41718339e-02 8.87728360e-01 1.60588565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.666875 meters Centerline goodness : 0.990987 Centerline is valid? [True, True] Translation: X:138.74, Y:89.62, Z:15.98 [[ 7.81921111e-01 4.57859946e-01 -4.23040952e-01 1.38736426e+02] [-4.47901675e-01 8.84642588e-01 1.29582330e-01 8.96179519e+01] [ 4.33570601e-01 8.81575915e-02 8.96796952e-01 1.59762338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.69687500000003 meters Centerline goodness : 0.989462 Centerline is valid? [True, True] Translation: X:138.73, Y:89.58, Z:16.03 [[ 7.84535647e-01 4.92364859e-01 -3.76935888e-01 1.38731861e+02] [-4.46497660e-01 8.70371897e-01 2.07587571e-01 8.95822717e+01] [ 4.30283230e-01 5.44114255e-03 9.02677537e-01 1.60310914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.726875 meters Centerline goodness : 0.994105 Centerline is valid? [True, True] Translation: X:138.73, Y:89.55, Z:16.09 [[ 7.64058642e-01 5.17380242e-01 -3.85398596e-01 1.38732740e+02] [-4.52112012e-01 8.55556221e-01 2.52226646e-01 8.95483128e+01] [ 4.60227249e-01 -1.84726141e-02 8.87608946e-01 1.60922371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.75687500000004 meters Centerline goodness : 0.989766 Centerline is valid? [True, True] Translation: X:138.79, Y:89.56, Z:16.04 [[ 7.85793496e-01 4.71740646e-01 -3.99986679e-01 1.38787059e+02] [-4.43787098e-01 8.80506113e-01 1.66619316e-01 8.95624612e+01] [ 4.30791820e-01 4.65805529e-02 9.01248390e-01 1.60413611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.786875 meters Centerline goodness : 0.991711 Centerline is valid? [True, True] Translation: X:138.80, Y:89.55, Z:16.06 [[ 7.77188107e-01 4.81563205e-01 -4.05062373e-01 1.38800125e+02] [-4.44706415e-01 8.75747412e-01 1.87890060e-01 8.95467167e+01] [ 4.45213264e-01 3.41079158e-02 8.94774720e-01 1.60648203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.81687500000004 meters Centerline goodness : 0.990434 Centerline is valid? [True, True] Translation: X:138.82, Y:89.53, Z:16.08 [[ 7.78968326e-01 4.81807820e-01 -4.01334738e-01 1.38820134e+02] [-4.42795371e-01 8.75824689e-01 1.91998369e-01 8.95329735e+01] [ 4.44005188e-01 2.81485164e-02 8.95581964e-01 1.60775229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.846875 meters Centerline goodness : 0.992625 Centerline is valid? [True, True] Translation: X:138.82, Y:89.49, Z:16.14 [[ 7.66513376e-01 5.10454377e-01 -3.89735262e-01 1.38820038e+02] [-4.47199035e-01 8.59779113e-01 2.46562164e-01 8.94914928e+01] [ 4.60944973e-01 -1.47039642e-02 8.87306895e-01 1.61448737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.87687500000004 meters Centerline goodness : 0.992869 Centerline is valid? [True, True] Translation: X:138.85, Y:89.48, Z:16.14 [[ 7.67405936e-01 4.97620646e-01 -4.04304121e-01 1.38851018e+02] [-4.46782889e-01 8.67308626e-01 2.19455686e-01 8.94823126e+01] [ 4.59862132e-01 1.22245675e-02 8.87906177e-01 1.61441343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.906875 meters Centerline goodness : 0.990760 Centerline is valid? [True, True] Translation: X:138.89, Y:89.50, Z:16.10 [[ 7.81757717e-01 4.64383509e-01 -4.16176438e-01 1.38891638e+02] [-4.38269993e-01 8.83929406e-01 1.63058942e-01 8.95009055e+01] [ 4.43592475e-01 5.49250580e-02 8.94543992e-01 1.61006655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.93687500000004 meters Centerline goodness : 0.993430 Centerline is valid? [True, True] Translation: X:138.88, Y:89.45, Z:16.18 [[ 7.68636393e-01 5.05415129e-01 -3.92114325e-01 1.38883624e+02] [-4.43766584e-01 8.62790625e-01 2.42205608e-01 8.94503212e+01] [ 4.60726942e-01 -1.21608107e-02 8.87458618e-01 1.61814277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.966875 meters Centerline goodness : 0.994192 Centerline is valid? [True, True] Translation: X:138.91, Y:89.44, Z:16.18 [[ 7.68892788e-01 4.95016309e-01 -4.04676086e-01 1.38913359e+02] [-4.43626548e-01 8.68820685e-01 2.19877473e-01 8.94404207e+01] [ 4.60433889e-01 1.04628521e-02 8.87632335e-01 1.61833254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.996875 meters Centerline goodness : 0.994352 Centerline is valid? [True, True] Translation: X:138.94, Y:89.43, Z:16.20 [[ 7.69313880e-01 4.94297352e-01 -4.04754593e-01 1.38935195e+02] [-4.42875288e-01 8.69233162e-01 2.19761667e-01 8.94270362e+01] [ 4.60453725e-01 1.01901063e-02 8.87625219e-01 1.61952755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.026875 meters Centerline goodness : 0.994174 Centerline is valid? [True, True] Translation: X:138.96, Y:89.41, Z:16.21 [[ 7.70145609e-01 4.92593516e-01 -4.05249761e-01 1.38955825e+02] [-4.40900456e-01 8.70209358e-01 2.19869192e-01 8.94131273e+01] [ 4.60958272e-01 9.34351113e-03 8.87372622e-01 1.62071568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.056875 meters Centerline goodness : 0.994087 Centerline is valid? [True, True] Translation: X:138.97, Y:89.39, Z:16.24 [[ 7.75263173e-01 5.02602967e-01 -3.82566687e-01 1.38969697e+02] [-4.40644128e-01 8.64298562e-01 2.42529891e-01 8.93943071e+01] [ 4.52548080e-01 -1.94487288e-02 8.91527892e-01 1.62365756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.086875 meters Centerline goodness : 0.995024 Centerline is valid? [True, True] Translation: X:139.01, Y:89.39, Z:16.22 [[ 7.71189176e-01 4.80444518e-01 -4.17660532e-01 1.39008963e+02] [-4.39832469e-01 8.76422116e-01 1.96039981e-01 8.93901801e+01] [ 4.60233261e-01 3.25167515e-02 8.87202348e-01 1.62204556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.116875 meters Centerline goodness : 0.995024 Centerline is valid? [True, True] Translation: X:139.02, Y:89.37, Z:16.24 [[ 7.71412905e-01 4.90697343e-01 -4.05139788e-01 1.39023252e+02] [-4.38960304e-01 8.71288310e-01 2.19477864e-01 8.93740999e+01] [ 4.60690766e-01 8.53222771e-03 8.87519701e-01 1.62441992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.146875 meters Centerline goodness : 0.993980 Centerline is valid? [True, True] Translation: X:139.04, Y:89.36, Z:16.27 [[ 7.77059731e-01 4.99390582e-01 -3.83128205e-01 1.39038085e+02] [-4.38549620e-01 8.66187034e-01 2.39570976e-01 8.93566399e+01] [ 4.51500173e-01 -1.81402297e-02 8.92086614e-01 1.62712421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.176875 meters Centerline goodness : 0.993867 Centerline is valid? [True, True] Translation: X:139.07, Y:89.35, Z:16.27 [[ 7.78993960e-01 4.87108424e-01 -3.94833881e-01 1.39067854e+02] [-4.37396084e-01 8.73323297e-01 2.14455323e-01 8.93467008e+01] [ 4.49280621e-01 5.63939218e-03 8.93372890e-01 1.62705382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.206875 meters Centerline goodness : 0.994185 Centerline is valid? [True, True] Translation: X:139.10, Y:89.34, Z:16.27 [[ 7.74213591e-01 4.77886140e-01 -4.14991750e-01 1.39095366e+02] [-4.35797427e-01 8.77990024e-01 1.98025555e-01 8.93367429e+01] [ 4.58992285e-01 2.75382610e-02 8.88013360e-01 1.62721976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.236875 meters Centerline goodness : 0.994274 Centerline is valid? [True, True] Translation: X:139.11, Y:89.32, Z:16.29 [[ 7.74755332e-01 4.86072363e-01 -4.04336289e-01 1.39109430e+02] [-4.34236272e-01 8.73895936e-01 2.18505729e-01 8.93206621e+01] [ 4.59557435e-01 6.28900442e-03 8.88125786e-01 1.62948566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.266875 meters Centerline goodness : 0.993414 Centerline is valid? [True, True] Translation: X:139.12, Y:89.30, Z:16.33 [[ 7.79269384e-01 4.96701566e-01 -3.82134507e-01 1.39121540e+02] [-4.34653168e-01 8.67642029e-01 2.41399944e-01 8.93010070e+01] [ 4.51459689e-01 -2.20196111e-02 8.92019779e-01 1.63265430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.296875 meters Centerline goodness : 0.993212 Centerline is valid? [True, True] Translation: X:139.15, Y:89.29, Z:16.33 [[ 7.80483618e-01 4.86677080e-01 -3.92416540e-01 1.39151477e+02] [-4.35399745e-01 8.73581198e-01 2.17446436e-01 8.92922133e+01] [ 4.48633908e-01 1.14468070e-03 8.93714891e-01 1.63268870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.32687500000003 meters Centerline goodness : 0.991812 Centerline is valid? [True, True] Translation: X:139.17, Y:89.30, Z:16.33 [[ 7.87203207e-01 4.75130693e-01 -3.93143656e-01 1.39173614e+02] [-4.25688992e-01 8.79914388e-01 2.11043959e-01 8.92973320e+01] [ 4.46206222e-01 1.22244510e-03 8.94929334e-01 1.63270225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.356875 meters Centerline goodness : 0.993385 Centerline is valid? [True, True] Translation: X:139.20, Y:89.27, Z:16.35 [[ 7.80584004e-01 4.82795200e-01 -3.96985399e-01 1.39199920e+02] [-4.36175700e-01 8.75659797e-01 2.07293702e-01 8.92673770e+01] [ 4.47704558e-01 1.13452367e-02 8.94109565e-01 1.63470191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.38687500000003 meters Centerline goodness : 0.985132 Centerline is valid? [True, True] Translation: X:139.54, Y:90.29, Z:16.73 [[ 0.83564801 -0.48523803 0.25736445 139.53603924] [ -0.3523935 -0.83304849 -0.4264376 90.28633896] [ 0.42132081 0.26565818 -0.86713004 16.72556694] [ 0. 0. 0. 1. ]] SLAMing on 296.416875 meters Centerline goodness : 0.994074 Centerline is valid? [True, True] Translation: X:139.39, Y:90.24, Z:16.95 [[ 8.55335073e-01 -2.31676760e-01 4.63387303e-01 1.39386986e+02] [-2.77965156e-01 -9.60020653e-01 3.31016227e-02 9.02424950e+01] [ 4.37192505e-01 -1.57118503e-01 -8.85537402e-01 1.69463832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.44687500000003 meters Centerline goodness : 0.994762 Centerline is valid? [True, True] Translation: X:139.28, Y:90.11, Z:17.06 [[ 8.63238554e-01 1.38012360e-02 5.04607495e-01 1.39281027e+02] [-2.02953075e-01 -9.05786826e-01 3.71968111e-01 9.01079700e+01] [ 4.62200441e-01 -4.23508858e-01 -7.79109107e-01 1.70595821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.476875 meters Centerline goodness : 0.994491 Centerline is valid? [True, True] Translation: X:139.40, Y:90.25, Z:16.90 [[ 8.74595150e-01 -1.49585501e-01 4.61202236e-01 1.39397846e+02] [-1.34611979e-01 -9.88736794e-01 -6.54153468e-02 9.02536024e+01] [ 4.65792807e-01 -4.87140063e-03 -8.84880405e-01 1.68976437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.50687500000004 meters Centerline goodness : 0.994823 Centerline is valid? [True, True] Translation: X:139.29, Y:90.12, Z:17.04 [[ 8.73799688e-01 1.10507847e-01 4.73563218e-01 1.39292009e+02] [-5.47041008e-02 -9.45317435e-01 3.21531350e-01 9.01177043e+01] [ 4.83199304e-01 -3.06859844e-01 -8.19972846e-01 1.70420829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.536875 meters Centerline goodness : 0.995299 Centerline is valid? [True, True] Translation: X:139.37, Y:90.24, Z:16.90 [[ 8.79151188e-01 -8.14484117e-03 4.76473346e-01 1.39372045e+02] [ 1.40017781e-02 -9.98980754e-01 -4.29115702e-02 9.02361844e+01] [ 4.76337211e-01 4.43972320e-02 -8.78141075e-01 1.69015543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.56687500000004 meters Centerline goodness : 0.994648 Centerline is valid? [True, True] Translation: X:139.34, Y:90.20, Z:16.94 [[ 8.68061463e-01 1.11827083e-01 4.83698253e-01 1.39341185e+02] [ 9.42925587e-02 -9.93703572e-01 6.05154872e-02 9.01968344e+01] [ 4.87419952e-01 -6.92201645e-03 -8.73140238e-01 1.69370466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.596875 meters Centerline goodness : 0.993035 Centerline is valid? [True, True] Translation: X:139.74, Y:89.28, Z:16.44 [[ 8.64558054e-01 -1.10655884e-01 -4.90198578e-01 1.39738599e+02] [ 8.52936076e-02 9.93614173e-01 -7.38639015e-02 8.92827211e+01] [ 4.95241730e-01 2.20488258e-02 8.68475376e-01 1.64413720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.62687500000004 meters Centerline goodness : 0.995539 Centerline is valid? [True, True] Translation: X:139.74, Y:89.24, Z:16.53 [[ 8.53977701e-01 -5.28385224e-02 -5.17619722e-01 1.39743259e+02] [ 6.99724686e-02 9.97455916e-01 1.36216430e-02 8.92406240e+01] [ 5.15583107e-01 -4.78517091e-02 8.55502352e-01 1.65286567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.656875 meters Centerline goodness : 0.986881 Centerline is valid? [True, True] Translation: X:139.79, Y:89.26, Z:16.51 [[ 8.57219648e-01 -8.96658607e-02 -5.07084321e-01 1.39794647e+02] [ 6.67763399e-02 9.95764822e-01 -6.31928812e-02 8.92619633e+01] [ 5.10602973e-01 2.03089444e-02 8.59576728e-01 1.65075599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.68687500000004 meters Centerline goodness : 0.995759 Centerline is valid? [True, True] Translation: X:139.80, Y:89.26, Z:16.54 [[ 8.53761954e-01 -7.41041042e-02 -5.15363083e-01 1.39800936e+02] [ 7.04035136e-02 9.97159867e-01 -2.67496797e-02 8.92567022e+01] [ 5.15881644e-01 -1.34455130e-02 8.56554346e-01 1.65407983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.716875 meters Centerline goodness : 0.995689 Centerline is valid? [True, True] Translation: X:139.83, Y:89.26, Z:16.55 [[ 8.54724079e-01 -8.19761046e-02 -5.12568694e-01 1.39828352e+02] [ 7.04526049e-02 9.96634253e-01 -4.19117596e-02 8.92635690e+01] [ 5.14279281e-01 -2.88809557e-04 8.57622725e-01 1.65477309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.746875 meters Centerline goodness : 0.993911 Centerline is valid? [True, True] Translation: X:139.87, Y:89.31, Z:16.50 [[ 8.63458009e-01 -1.32981957e-01 -4.86575858e-01 1.39866698e+02] [ 8.65976936e-02 9.89381477e-01 -1.16726739e-01 8.93065917e+01] [ 4.96931691e-01 5.86522907e-02 8.65805292e-01 1.64976742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.776875 meters Centerline goodness : 0.986202 Centerline is valid? [True, True] Translation: X:139.89, Y:89.29, Z:16.55 [[ 8.62879761e-01 -1.00864185e-01 -4.95242299e-01 1.39890963e+02] [ 8.53404464e-02 9.94891023e-01 -5.39338588e-02 8.92875562e+01] [ 4.98152112e-01 4.27423632e-03 8.67079122e-01 1.65464215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.806875 meters Centerline goodness : 0.986929 Centerline is valid? [True, True] Translation: X:139.91, Y:89.29, Z:16.57 [[ 8.62529673e-01 -9.63582365e-02 -4.96747072e-01 1.39911740e+02] [ 8.62872911e-02 9.95331185e-01 -4.32473786e-02 8.92873433e+01] [ 4.98595092e-01 -5.56081181e-03 8.66817173e-01 1.65653947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.836875 meters Centerline goodness : 0.996603 Centerline is valid? [True, True] Translation: X:139.93, Y:89.29, Z:16.58 [[ 8.61302710e-01 -9.51342372e-02 -4.99106320e-01 1.39929047e+02] [ 9.00433234e-02 9.95345817e-01 -3.43351826e-02 8.92904778e+01] [ 5.00049840e-01 -1.53682060e-02 8.65860252e-01 1.65844651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.866875 meters Centerline goodness : 0.996724 Centerline is valid? [True, True] Translation: X:139.96, Y:89.30, Z:16.59 [[ 8.60744449e-01 -1.09131850e-01 -4.97201401e-01 1.39959875e+02] [ 9.05550300e-02 9.93996427e-01 -6.14075700e-02 8.93007216e+01] [ 5.00917938e-01 7.83213723e-03 8.65459345e-01 1.65859522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.896875 meters Centerline goodness : 0.996576 Centerline is valid? [True, True] Translation: X:139.98, Y:89.30, Z:16.60 [[ 8.61327914e-01 -1.05362953e-01 -4.97003896e-01 1.39982210e+02] [ 9.09902694e-02 9.94433688e-01 -5.31263670e-02 8.93013011e+01] [ 4.99834968e-01 5.36704535e-04 8.66120498e-01 1.66027740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.926875 meters Centerline goodness : 0.996801 Centerline is valid? [True, True] Translation: X:140.01, Y:89.30, Z:16.61 [[ 8.61392172e-01 -1.07971944e-01 -4.96332132e-01 1.40007855e+02] [ 9.12890155e-02 9.94143727e-01 -5.78322175e-02 8.93049708e+01] [ 4.99669733e-01 4.50654775e-03 8.66204277e-01 1.66146176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.956875 meters Centerline goodness : 0.988053 Centerline is valid? [True, True] Translation: X:140.04, Y:89.31, Z:16.62 [[ 8.62826471e-01 -1.10358491e-01 -4.93306684e-01 1.40039414e+02] [ 9.00718561e-02 9.93825679e-01 -6.47887445e-02 8.93083004e+01] [ 4.97410838e-01 1.14683952e-02 8.67439297e-01 1.66236200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.986875 meters Centerline goodness : 0.997076 Centerline is valid? [True, True] Translation: X:140.05, Y:89.31, Z:16.65 [[ 8.57582088e-01 -1.02053099e-01 -5.04121144e-01 1.40052508e+02] [ 9.11159234e-02 9.94759865e-01 -4.63756457e-02 8.93052450e+01] [ 5.06212259e-01 -6.16254045e-03 8.62386904e-01 1.66495237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.016875 meters Centerline goodness : 0.996635 Centerline is valid? [True, True] Translation: X:140.08, Y:89.31, Z:16.66 [[ 8.59873126e-01 -1.04109968e-01 -4.99779272e-01 1.40079440e+02] [ 9.17553353e-02 9.94559793e-01 -4.93130521e-02 8.93094634e+01] [ 5.02194350e-01 -3.45444645e-03 8.64747883e-01 1.66627120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.046875 meters Centerline goodness : 0.996961 Centerline is valid? [True, True] Translation: X:140.11, Y:89.31, Z:16.68 [[ 8.60132022e-01 -1.05920518e-01 -4.98952653e-01 1.40105481e+02] [ 9.19368116e-02 9.94374402e-01 -5.26039020e-02 8.93134173e+01] [ 5.01717578e-01 -6.25815445e-04 8.65031260e-01 1.66752986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.07687500000003 meters Centerline goodness : 0.997108 Centerline is valid? [True, True] Translation: X:140.13, Y:89.32, Z:16.68 [[ 8.58108030e-01 -1.11689041e-01 -5.01174787e-01 1.40130629e+02] [ 9.12604343e-02 9.93690803e-01 -6.51929474e-02 8.93198877e+01] [ 5.05294115e-01 1.02051629e-02 8.62886848e-01 1.66823973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.106875 meters Centerline goodness : 0.987538 Centerline is valid? [True, True] Translation: X:140.16, Y:89.32, Z:16.70 [[ 8.60695367e-01 -1.10441043e-01 -4.96997245e-01 1.40160881e+02] [ 9.29490648e-02 9.93868289e-01 -5.98856857e-02 8.93215520e+01] [ 5.00563639e-01 5.34790311e-03 8.65683223e-01 1.66967839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.13687500000003 meters Centerline goodness : 0.997012 Centerline is valid? [True, True] Translation: X:140.18, Y:89.32, Z:16.72 [[ 8.60086170e-01 -1.04942168e-01 -4.99238342e-01 1.40178509e+02] [ 9.70425956e-02 9.94400279e-01 -4.18427931e-02 8.93209819e+01] [ 5.00833820e-01 -1.24589769e-02 8.65453788e-01 1.67192106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.166875 meters Centerline goodness : 0.996385 Centerline is valid? [True, True] Translation: X:140.21, Y:89.33, Z:16.72 [[ 8.58597838e-01 -1.15217768e-01 -4.99534402e-01 1.40205406e+02] [ 9.71640381e-02 9.93328719e-01 -6.21064038e-02 8.93299087e+01] [ 5.03357629e-01 4.78764445e-03 8.64064914e-01 1.67226370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.19687500000003 meters Centerline goodness : 0.996171 Centerline is valid? [True, True] Translation: X:140.23, Y:89.33, Z:16.74 [[ 8.58491587e-01 -1.15150649e-01 -4.99732452e-01 1.40228866e+02] [ 9.88144704e-02 9.93347069e-01 -5.91379804e-02 8.93315678e+01] [ 5.03217544e-01 1.38866106e-03 8.64158652e-01 1.67379964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.226875 meters Centerline goodness : 0.996055 Centerline is valid? [True, True] Translation: X:140.25, Y:89.33, Z:16.76 [[ 8.59480059e-01 -1.12396375e-01 -4.98659286e-01 1.40253111e+02] [ 1.00824206e-01 9.93637767e-01 -5.01843423e-02 8.93301200e+01] [ 5.01127237e-01 -7.14448528e-03 8.65344121e-01 1.67584938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.25687500000004 meters Centerline goodness : 0.996116 Centerline is valid? [True, True] Translation: X:140.28, Y:89.33, Z:16.77 [[ 8.59585331e-01 -1.14705248e-01 -4.97951569e-01 1.40278373e+02] [ 1.02808316e-01 9.93374562e-01 -5.13559096e-02 8.93326399e+01] [ 5.00543214e-01 -7.04877556e-03 8.65682855e-01 1.67726650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.286875 meters Centerline goodness : 0.995919 Centerline is valid? [True, True] Translation: X:140.30, Y:89.34, Z:16.78 [[ 8.58417268e-01 -1.21291873e-01 -4.98405534e-01 1.40302317e+02] [ 1.02812821e-01 9.92608371e-01 -6.44836884e-02 8.93404099e+01] [ 5.02542852e-01 4.11143268e-03 8.64542525e-01 1.67776778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.31687500000004 meters Centerline goodness : 0.996154 Centerline is valid? [True, True] Translation: X:140.33, Y:89.34, Z:16.79 [[ 8.58230164e-01 -1.19579381e-01 -4.99141019e-01 1.40325469e+02] [ 1.03619314e-01 9.92824519e-01 -5.96867821e-02 8.93414647e+01] [ 5.02696751e-01 -4.95653059e-04 8.64462683e-01 1.67933697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.346875 meters Centerline goodness : 0.996279 Centerline is valid? [True, True] Translation: X:140.35, Y:89.34, Z:16.81 [[ 8.58066523e-01 -1.19921187e-01 -4.99340317e-01 1.40350061e+02] [ 1.03907131e-01 9.92783284e-01 -5.98720319e-02 8.93441339e+01] [ 5.02916644e-01 -5.10833392e-04 8.64334766e-01 1.68069057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.37687500000004 meters Centerline goodness : 0.994201 Centerline is valid? [True, True] Translation: X:140.39, Y:89.38, Z:16.76 [[ 8.64579605e-01 -1.62090583e-01 -4.75635101e-01 1.40386451e+02] [ 1.15374489e-01 9.85291304e-01 -1.26054642e-01 8.93836032e+01] [ 4.89071400e-01 5.41081159e-02 8.70563885e-01 1.67635830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.406875 meters Centerline goodness : 0.994587 Centerline is valid? [True, True] Translation: X:140.40, Y:89.37, Z:16.81 [[ 8.64398590e-01 -1.33321608e-01 -4.84809681e-01 1.40401504e+02] [ 1.15460213e-01 9.91071432e-01 -6.66809954e-02 8.93659348e+01] [ 4.89371042e-01 1.66272940e-03 8.72074090e-01 1.68062056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.43687500000004 meters Centerline goodness : 0.994279 Centerline is valid? [True, True] Translation: X:140.43, Y:89.38, Z:16.81 [[ 8.64171135e-01 -1.41355681e-01 -4.82935629e-01 1.40428474e+02] [ 1.14845121e-01 9.89807508e-01 -8.42122070e-02 8.93751764e+01] [ 4.89917185e-01 1.73109575e-02 8.71597087e-01 1.68110060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.466875 meters Centerline goodness : 0.994790 Centerline is valid? [True, True] Translation: X:140.45, Y:89.38, Z:16.83 [[ 8.63125301e-01 -1.39362681e-01 -4.85378984e-01 1.40452349e+02] [ 1.13472956e-01 9.90110042e-01 -8.24984442e-02 8.93760754e+01] [ 4.92075810e-01 1.61291066e-02 8.70402923e-01 1.68276427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.496875 meters Centerline goodness : 0.995967 Centerline is valid? [True, True] Translation: X:140.47, Y:89.34, Z:16.90 [[ 8.55822819e-01 -9.97075702e-02 -5.07568422e-01 1.40465003e+02] [ 1.03232943e-01 9.94429462e-01 -2.12839038e-02 8.93445573e+01] [ 5.06863159e-01 -3.41825312e-02 8.61348532e-01 1.68966368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.526875 meters Centerline goodness : 0.996417 Centerline is valid? [True, True] Translation: X:140.50, Y:89.36, Z:16.89 [[ 8.56184136e-01 -1.19210508e-01 -5.02730127e-01 1.40497380e+02] [ 1.03500002e-01 9.92868051e-01 -5.91674205e-02 8.93578600e+01] [ 5.06198060e-01 -1.37436249e-03 8.62416162e-01 1.68943134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.556875 meters Centerline goodness : 0.995960 Centerline is valid? [True, True] Translation: X:140.52, Y:89.36, Z:16.91 [[ 8.56269157e-01 -1.19680417e-01 -5.02473609e-01 1.40521110e+02] [ 1.03967483e-01 9.92811387e-01 -5.92985019e-02 8.93601059e+01] [ 5.05958390e-01 -1.46543810e-03 8.62556642e-01 1.69081090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.586875 meters Centerline goodness : 0.996197 Centerline is valid? [True, True] Translation: X:140.55, Y:89.36, Z:16.92 [[ 8.56117054e-01 -1.20855615e-01 -5.02451500e-01 1.40545201e+02] [ 1.05288581e-01 9.92667927e-01 -5.93691976e-02 8.93626402e+01] [ 5.05942589e-01 -2.07542293e-03 8.62564658e-01 1.69219055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.616875 meters Centerline goodness : 0.996521 Centerline is valid? [True, True] Translation: X:140.57, Y:89.37, Z:16.94 [[ 8.55888448e-01 -1.21072160e-01 -5.02788720e-01 1.40570018e+02] [ 1.05422997e-01 9.92641652e-01 -5.95696413e-02 8.93655277e+01] [ 5.06301250e-01 -2.02052573e-03 8.62354313e-01 1.69355234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.646875 meters Centerline goodness : 0.996338 Centerline is valid? [True, True] Translation: X:140.59, Y:89.37, Z:16.95 [[ 8.55935027e-01 -1.21500516e-01 -5.02606062e-01 1.40594665e+02] [ 1.05837903e-01 9.92589171e-01 -5.97082497e-02 8.93684535e+01] [ 5.06135918e-01 -2.08838919e-03 8.62451199e-01 1.69491037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.676875 meters Centerline goodness : 0.993952 Centerline is valid? [True, True] Translation: X:140.63, Y:89.42, Z:16.89 [[ 8.64285094e-01 -1.74873673e-01 -4.71625354e-01 1.40633098e+02] [ 1.20676980e-01 9.82325370e-01 -1.43087157e-01 8.94203989e+01] [ 4.88311727e-01 6.67537737e-02 8.70112401e-01 1.68877871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.706875 meters Centerline goodness : 0.995573 Centerline is valid? [True, True] Translation: X:140.63, Y:89.36, Z:17.00 [[ 8.54811319e-01 -9.40961821e-02 -5.10336670e-01 1.40631554e+02] [ 1.05779731e-01 9.94370493e-01 -6.16212015e-03 8.93570180e+01] [ 5.08043558e-01 -4.87158255e-02 8.59952621e-01 1.70034389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.736875 meters Centerline goodness : 0.995684 Centerline is valid? [True, True] Translation: X:140.67, Y:89.38, Z:16.99 [[ 8.54972112e-01 -1.21115060e-01 -5.04335037e-01 1.40667212e+02] [ 1.05503953e-01 9.92635769e-01 -5.95243256e-02 8.93755068e+01] [ 5.07830290e-01 -2.31770170e-03 8.61454018e-01 1.69930441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.766875 meters Centerline goodness : 0.995597 Centerline is valid? [True, True] Translation: X:140.69, Y:89.38, Z:17.01 [[ 8.54929854e-01 -1.21738077e-01 -5.04256667e-01 1.40691796e+02] [ 1.06189954e-01 9.92558844e-01 -5.95872002e-02 8.93787329e+01] [ 5.07758445e-01 -2.60411583e-03 8.61495548e-01 1.70070778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.796875 meters Centerline goodness : 0.993803 Centerline is valid? [True, True] Translation: X:140.73, Y:89.44, Z:16.93 [[ 8.66059408e-01 -1.88217046e-01 -4.63158122e-01 1.40733644e+02] [ 1.26994962e-01 9.78861562e-01 -1.60319440e-01 8.94401234e+01] [ 4.83542534e-01 8.00274110e-02 8.71654881e-01 1.69329359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.82687500000003 meters Centerline goodness : 0.995392 Centerline is valid? [True, True] Translation: X:140.73, Y:89.36, Z:17.07 [[ 8.53827116e-01 -8.98687665e-02 -5.12740540e-01 1.40725337e+02] [ 1.07530210e-01 9.94190189e-01 4.80859766e-03 8.93643369e+01] [ 5.09329471e-01 -5.92408089e-02 8.58530149e-01 1.70661466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.856875 meters Centerline goodness : 0.995747 Centerline is valid? [True, True] Translation: X:140.76, Y:89.39, Z:17.05 [[ 8.53550233e-01 -1.22767304e-01 -5.06339993e-01 1.40763199e+02] [ 1.07336170e-01 9.92429645e-01 -5.96853876e-02 8.93864630e+01] [ 5.09834234e-01 -3.40411923e-03 8.60265927e-01 1.70507677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.88687500000003 meters Centerline goodness : 0.995947 Centerline is valid? [True, True] Translation: X:140.79, Y:89.39, Z:17.06 [[ 8.53809157e-01 -1.23496497e-01 -5.05725755e-01 1.40787325e+02] [ 1.08180129e-01 9.92337928e-01 -5.96866443e-02 8.93903261e+01] [ 5.09221940e-01 -3.74847402e-03 8.60627077e-01 1.70640291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.916875 meters Centerline goodness : 0.995785 Centerline is valid? [True, True] Translation: X:140.81, Y:89.39, Z:17.08 [[ 8.53683404e-01 -1.23790884e-01 -5.05866052e-01 1.40811433e+02] [ 1.08417802e-01 9.92301281e-01 -5.98644142e-02 8.93939028e+01] [ 5.09382200e-01 -3.73962833e-03 8.60532271e-01 1.70783445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.94687500000003 meters Centerline goodness : 0.996107 Centerline is valid? [True, True] Translation: X:140.83, Y:89.40, Z:17.09 [[ 8.53960252e-01 -1.24204541e-01 -5.05297061e-01 1.40834884e+02] [ 1.08838499e-01 9.92249393e-01 -5.99610223e-02 8.93977105e+01] [ 5.08828133e-01 -3.79144385e-03 8.60859777e-01 1.70920593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.976875 meters Centerline goodness : 0.995471 Centerline is valid? [True, True] Translation: X:140.86, Y:89.40, Z:17.11 [[ 8.54010355e-01 -1.24840050e-01 -5.05055715e-01 1.40859075e+02] [ 1.09525381e-01 9.92168669e-01 -6.00460026e-02 8.94012248e+01] [ 5.08596603e-01 -4.03651156e-03 8.60995472e-01 1.71057214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.00687500000004 meters Centerline goodness : 0.995914 Centerline is valid? [True, True] Translation: X:140.88, Y:89.40, Z:17.12 [[ 8.53970295e-01 -1.25342930e-01 -5.04998897e-01 1.40882374e+02] [ 1.10017862e-01 9.92104800e-01 -6.02007985e-02 8.94044706e+01] [ 5.08557574e-01 -4.14920520e-03 8.61017989e-01 1.71189645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.036875 meters Centerline goodness : 0.995914 Centerline is valid? [True, True] Translation: X:140.91, Y:89.41, Z:17.13 [[ 8.53948934e-01 -1.25522260e-01 -5.04990475e-01 1.40907011e+02] [ 1.10184470e-01 9.92082025e-01 -6.02713689e-02 8.94075207e+01] [ 5.08557372e-01 -4.17343665e-03 8.61017992e-01 1.71331149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.06687500000004 meters Centerline goodness : 0.995310 Centerline is valid? [True, True] Translation: X:140.93, Y:89.41, Z:17.15 [[ 8.53781209e-01 -1.26283616e-01 -5.05084246e-01 1.40930863e+02] [ 1.11003098e-01 9.91983920e-01 -6.03839028e-02 8.94108318e+01] [ 5.08660948e-01 -4.51127434e-03 8.60955102e-01 1.71468503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.096875 meters Centerline goodness : 0.995565 Centerline is valid? [True, True] Translation: X:140.95, Y:89.41, Z:17.16 [[ 8.53526934e-01 -1.27056501e-01 -5.05320115e-01 1.40954332e+02] [ 1.11789373e-01 9.91883932e-01 -6.05755851e-02 8.94140178e+01] [ 5.08915425e-01 -4.78652523e-03 8.60803218e-01 1.71601345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.12687500000004 meters Centerline goodness : 0.995745 Centerline is valid? [True, True] Translation: X:140.98, Y:89.42, Z:17.17 [[ 8.53443488e-01 -1.28581333e-01 -5.05075296e-01 1.40978755e+02] [ 1.13533190e-01 9.91683117e-01 -6.06202199e-02 8.94177530e+01] [ 5.08669272e-01 -5.60687747e-03 8.60943747e-01 1.71742202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.156875 meters Centerline goodness : 0.995829 Centerline is valid? [True, True] Translation: X:141.00, Y:89.42, Z:17.19 [[ 8.53627522e-01 -1.29361709e-01 -5.04564764e-01 1.41001679e+02] [ 1.14377245e-01 9.91580046e-01 -6.07195094e-02 8.94207717e+01] [ 5.08171132e-01 -5.87888328e-03 8.61236053e-01 1.71873419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.18687500000004 meters Centerline goodness : 0.996326 Centerline is valid? [True, True] Translation: X:141.03, Y:89.42, Z:17.20 [[ 8.53796508e-01 -1.30113618e-01 -5.04085280e-01 1.41025804e+02] [ 1.15237907e-01 9.91479486e-01 -6.07342879e-02 8.94239771e+01] [ 5.07692573e-01 -6.23500994e-03 8.61515744e-01 1.72011559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.216875 meters Centerline goodness : 0.993994 Centerline is valid? [True, True] Translation: X:141.06, Y:89.47, Z:17.15 [[ 8.60907755e-01 -1.75638469e-01 -4.77481900e-01 1.41060638e+02] [ 1.29557909e-01 9.83263570e-01 -1.28091765e-01 8.94687320e+01] [ 4.91988400e-01 4.84136378e-02 8.69254586e-01 1.71530207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.246875 meters Centerline goodness : 0.995438 Centerline is valid? [True, True] Translation: X:141.06, Y:89.42, Z:17.25 [[ 8.53367791e-01 -1.09433224e-01 -5.09693813e-01 1.41064662e+02] [ 1.16053403e-01 9.93062966e-01 -1.89090886e-02 8.94175457e+01] [ 5.08227332e-01 -4.30152945e-02 8.60148047e-01 1.72503955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.276875 meters Centerline goodness : 0.995782 Centerline is valid? [True, True] Translation: X:141.10, Y:89.43, Z:17.25 [[ 8.53142338e-01 -1.29702529e-01 -5.05297343e-01 1.41096503e+02] [ 1.14751358e-01 9.91533934e-01 -6.07666313e-02 8.94330695e+01] [ 5.08901049e-01 -6.14097031e-03 8.60803120e-01 1.72458321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.306875 meters Centerline goodness : 0.987077 Centerline is valid? [True, True] Translation: X:141.13, Y:89.44, Z:17.26 [[ 8.59118465e-01 -1.28475825e-01 -4.95388157e-01 1.41129567e+02] [ 1.15603547e-01 9.91675737e-01 -5.67014295e-02 8.94365423e+01] [ 4.98549179e-01 -8.55538282e-03 8.66819198e-01 1.72573586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.336875 meters Centerline goodness : 0.986414 Centerline is valid? [True, True] Translation: X:141.15, Y:89.44, Z:17.27 [[ 8.59951917e-01 -1.23610696e-01 -4.95179862e-01 1.41152134e+02] [ 1.12846780e-01 9.92265296e-01 -5.17222150e-02 8.94398719e+01] [ 4.97743211e-01 -1.14008349e-02 8.67249512e-01 1.72728438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.366875 meters Centerline goodness : 0.995425 Centerline is valid? [True, True] Translation: X:141.17, Y:89.44, Z:17.29 [[ 8.54875771e-01 -1.20767475e-01 -5.04581642e-01 1.41167126e+02] [ 1.11753204e-01 9.92565049e-01 -4.82270179e-02 8.94436661e+01] [ 5.06654357e-01 -1.51605061e-02 8.62015964e-01 1.72922316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.396875 meters Centerline goodness : 0.986755 Centerline is valid? [True, True] Translation: X:141.20, Y:89.45, Z:17.30 [[ 8.60104052e-01 -1.26574936e-01 -4.94165767e-01 1.41202775e+02] [ 1.11677944e-01 9.91949616e-01 -5.96992120e-02 8.94511019e+01] [ 4.97743966e-01 -3.83988248e-03 8.67315513e-01 1.72977765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.426875 meters Centerline goodness : 0.996360 Centerline is valid? [True, True] Translation: X:141.22, Y:89.45, Z:17.32 [[ 8.55177942e-01 -1.21044494e-01 -5.04002895e-01 1.41216161e+02] [ 1.10766607e-01 9.92565893e-01 -5.04351808e-02 8.94526142e+01] [ 5.06360985e-01 -1.26956365e-02 8.62228145e-01 1.73189777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.456875 meters Centerline goodness : 0.995711 Centerline is valid? [True, True] Translation: X:141.24, Y:89.46, Z:17.33 [[ 8.55082762e-01 -1.26612328e-01 -5.02794977e-01 1.41242842e+02] [ 1.10865129e-01 9.91946543e-01 -6.12452431e-02 8.94600375e+01] [ 5.06500142e-01 -3.37267842e-03 8.62233281e-01 1.73284510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.486875 meters Centerline goodness : 0.995943 Centerline is valid? [True, True] Translation: X:141.27, Y:89.46, Z:17.34 [[ 8.55000163e-01 -1.26581679e-01 -5.02943138e-01 1.41265915e+02] [ 1.10729004e-01 9.91951096e-01 -6.14175167e-02 8.94644510e+01] [ 5.06669330e-01 -3.17840624e-03 8.62134611e-01 1.73417044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.516875 meters Centerline goodness : 0.995625 Centerline is valid? [True, True] Translation: X:141.29, Y:89.47, Z:17.36 [[ 8.54673412e-01 -1.26424130e-01 -5.03537782e-01 1.41289006e+02] [ 1.10466194e-01 9.91971706e-01 -6.15577280e-02 8.94683818e+01] [ 5.07277615e-01 -3.01214867e-03 8.61777436e-01 1.73552594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.546875 meters Centerline goodness : 0.995556 Centerline is valid? [True, True] Translation: X:141.31, Y:89.47, Z:17.37 [[ 8.54594852e-01 -1.25986209e-01 -5.03780819e-01 1.41313738e+02] [ 1.09900686e-01 9.92028388e-01 -6.16564463e-02 8.94723023e+01] [ 5.07532736e-01 -2.67457624e-03 8.61628324e-01 1.73689931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.57687500000003 meters Centerline goodness : 0.995996 Centerline is valid? [True, True] Translation: X:141.34, Y:89.47, Z:17.40 [[ 8.56955860e-01 -1.13802816e-01 -5.02668452e-01 1.41335916e+02] [ 1.08325634e-01 9.93302086e-01 -4.02060010e-02 8.94686921e+01] [ 5.03877178e-01 -1.99971104e-02 8.63543806e-01 1.73957962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.606875 meters Centerline goodness : 0.996029 Centerline is valid? [True, True] Translation: X:141.37, Y:89.49, Z:17.39 [[ 8.54104226e-01 -1.33491522e-01 -5.02678808e-01 1.41365720e+02] [ 1.08810473e-01 9.90975287e-01 -7.82832181e-02 8.94865141e+01] [ 5.08592422e-01 1.21653085e-02 8.60921456e-01 1.73900038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.63687500000003 meters Centerline goodness : 0.996090 Centerline is valid? [True, True] Translation: X:141.39, Y:89.49, Z:17.41 [[ 8.54330601e-01 -1.25058282e-01 -5.04459761e-01 1.41387082e+02] [ 1.08540524e-01 9.92147997e-01 -6.21394117e-02 8.94852844e+01] [ 5.08269790e-01 -1.66672606e-03 8.61196286e-01 1.74102652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.666875 meters Centerline goodness : 0.996004 Centerline is valid? [True, True] Translation: X:141.41, Y:89.49, Z:17.42 [[ 8.54472240e-01 -1.25268236e-01 -5.04167691e-01 1.41411913e+02] [ 1.08709147e-01 9.92121615e-01 -6.22657441e-02 8.94896007e+01] [ 5.07995583e-01 -1.60328994e-03 8.61358181e-01 1.74238751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.69687500000003 meters Centerline goodness : 0.995197 Centerline is valid? [True, True] Translation: X:141.44, Y:89.52, Z:17.40 [[ 8.59574350e-01 -1.54264974e-01 -4.87169636e-01 1.41435872e+02] [ 1.20195950e-01 9.87633494e-01 -1.00662881e-01 8.95209067e+01] [ 4.96673807e-01 2.79714135e-02 8.67486444e-01 1.73986752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.726875 meters Centerline goodness : 0.996344 Centerline is valid? [True, True] Translation: X:141.46, Y:89.49, Z:17.46 [[ 8.54969468e-01 -1.17642741e-01 -5.05160761e-01 1.41457350e+02] [ 1.07173058e-01 9.92989287e-01 -4.98619276e-02 8.94929812e+01] [ 5.07485118e-01 -1.15091977e-02 8.61583654e-01 1.74581496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.75687500000004 meters Centerline goodness : 0.996030 Centerline is valid? [True, True] Translation: X:141.48, Y:89.50, Z:17.47 [[ 8.55196430e-01 -1.22877265e-01 -5.03527798e-01 1.41484419e+02] [ 1.06046402e-01 9.92421826e-01 -6.20731875e-02 8.95007251e+01] [ 5.07339360e-01 -3.12543040e-04 8.61746295e-01 1.74671050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.786875 meters Centerline goodness : 0.996167 Centerline is valid? [True, True] Translation: X:141.51, Y:89.50, Z:17.48 [[ 8.55195599e-01 -1.21775933e-01 -5.03796695e-01 1.41507186e+02] [ 1.04653972e-01 9.92557477e-01 -6.22671746e-02 8.95045900e+01] [ 5.07629819e-01 5.26288777e-04 8.61575121e-01 1.74806123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.81687500000004 meters Centerline goodness : 0.996122 Centerline is valid? [True, True] Translation: X:141.53, Y:89.51, Z:17.49 [[ 8.55384192e-01 -1.18451322e-01 -5.04268945e-01 1.41531445e+02] [ 1.00717035e-01 9.92956494e-01 -6.23977548e-02 8.95101457e+01] [ 5.08108220e-01 2.58558000e-03 8.61289354e-01 1.74945431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.846875 meters Centerline goodness : 0.996507 Centerline is valid? [True, True] Translation: X:141.56, Y:89.51, Z:17.51 [[ 8.55361266e-01 -1.16116594e-01 -5.04850515e-01 1.41555302e+02] [ 9.78663069e-02 9.93226862e-01 -6.26305628e-02 8.95143193e+01] [ 5.08703540e-01 4.16390206e-03 8.60931688e-01 1.75081876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.87687500000004 meters Centerline goodness : 0.996152 Centerline is valid? [True, True] Translation: X:141.58, Y:89.52, Z:17.52 [[ 8.55611047e-01 -1.13723110e-01 -5.04972070e-01 1.41578284e+02] [ 9.49823381e-02 9.93495702e-01 -6.28064110e-02 8.95186027e+01] [ 5.08830121e-01 5.77443121e-03 8.60847585e-01 1.75211871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.906875 meters Centerline goodness : 0.994763 Centerline is valid? [True, True] Translation: X:141.61, Y:89.56, Z:17.48 [[ 8.62914725e-01 -1.48465135e-01 -4.83048942e-01 1.41606968e+02] [ 1.02603881e-01 9.87433598e-01 -1.20197060e-01 8.95590498e+01] [ 4.94823828e-01 5.41571168e-02 8.67304091e-01 1.74818893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.93687500000004 meters Centerline goodness : 0.997082 Centerline is valid? [True, True] Translation: X:141.62, Y:89.52, Z:17.56 [[ 8.54842669e-01 -9.17286094e-02 -5.10715060e-01 1.41620290e+02] [ 8.67276773e-02 9.95663147e-01 -3.36631482e-02 8.95162086e+01] [ 5.11588038e-01 -1.55164355e-02 8.59090752e-01 1.75623991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.966875 meters Centerline goodness : 0.996381 Centerline is valid? [True, True] Translation: X:141.65, Y:89.53, Z:17.57 [[ 8.55057202e-01 -1.06516468e-01 -5.07475540e-01 1.41653533e+02] [ 8.60587644e-02 9.94252473e-01 -6.36860166e-02 8.95285654e+01] [ 5.11342420e-01 1.07824692e-02 8.59309413e-01 1.75656910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.996875 meters Centerline goodness : 0.996410 Centerline is valid? [True, True] Translation: X:141.67, Y:89.52, Z:17.59 [[ 8.57876792e-01 -9.04221645e-02 -5.05837169e-01 1.41671338e+02] [ 8.53147346e-02 9.95796880e-01 -3.33162121e-02 8.95226654e+01] [ 5.06723599e-01 -1.45741587e-02 8.61985376e-01 1.75912534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.026875 meters Centerline goodness : 0.994756 Centerline is valid? [True, True] Translation: X:141.71, Y:89.59, Z:17.51 [[ 8.68071476e-01 -1.71766167e-01 -4.65777089e-01 1.41712130e+02] [ 1.00809168e-01 9.79678384e-01 -1.73400623e-01 8.95944125e+01] [ 4.86096106e-01 1.03569534e-01 8.67746465e-01 1.75063264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.056875 meters Centerline goodness : 0.996237 Centerline is valid? [True, True] Translation: X:141.71, Y:89.52, Z:17.63 [[ 8.55124741e-01 -7.62767253e-02 -5.12780205e-01 1.41713378e+02] [ 7.98168049e-02 9.96694336e-01 -1.51551394e-02 8.95189909e+01] [ 5.12241110e-01 -2.79689429e-02 8.58386150e-01 1.76289079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.086875 meters Centerline goodness : 0.994906 Centerline is valid? [True, True] Translation: X:141.76, Y:89.58, Z:17.56 [[ 8.65697827e-01 -1.47313076e-01 -4.78399550e-01 1.41755685e+02] [ 9.34457680e-02 9.86474819e-01 -1.34667439e-01 8.95799906e+01] [ 4.91767385e-01 7.18768958e-02 8.67754891e-01 1.75575558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.116875 meters Centerline goodness : 0.995041 Centerline is valid? [True, True] Translation: X:141.77, Y:89.56, Z:17.60 [[ 8.63485132e-01 -1.18366494e-01 -4.90288486e-01 1.41767549e+02] [ 9.14569704e-02 9.92703110e-01 -7.85885333e-02 8.95610321e+01] [ 4.96013154e-01 2.30197306e-02 8.68009817e-01 1.75971816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.146875 meters Centerline goodness : 0.995441 Centerline is valid? [True, True] Translation: X:141.80, Y:89.57, Z:17.60 [[ 8.63822290e-01 -1.30149401e-01 -4.86695167e-01 1.41798543e+02] [ 8.96776990e-02 9.90349591e-01 -1.05667397e-01 8.95678526e+01] [ 4.95750908e-01 4.76321498e-02 8.67157550e-01 1.76039106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.176875 meters Centerline goodness : 0.995094 Centerline is valid? [True, True] Translation: X:141.82, Y:89.57, Z:17.62 [[ 8.64796126e-01 -1.25461562e-01 -4.86196521e-01 1.41820567e+02] [ 9.21564381e-02 9.91491552e-01 -9.19330884e-02 8.95654497e+01] [ 4.93593812e-01 3.46972392e-02 8.69000144e-01 1.76207930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.206875 meters Centerline goodness : 0.994809 Centerline is valid? [True, True] Translation: X:141.84, Y:89.57, Z:17.63 [[ 8.63974336e-01 -1.29294691e-01 -4.86653090e-01 1.41844278e+02] [ 9.21478180e-02 9.90748541e-01 -9.96298547e-02 8.95697569e+01] [ 4.95032450e-01 4.12336172e-02 8.67895536e-01 1.76303582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.236875 meters Centerline goodness : 0.994266 Centerline is valid? [True, True] Translation: X:141.87, Y:89.57, Z:17.65 [[ 8.64361317e-01 -1.27225473e-01 -4.86511247e-01 1.41869647e+02] [ 9.43608017e-02 9.91316088e-01 -9.15884923e-02 8.95675487e+01] [ 4.93938816e-01 3.32579584e-02 8.68860377e-01 1.76487152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.266875 meters Centerline goodness : 0.996462 Centerline is valid? [True, True] Translation: X:141.88, Y:89.52, Z:17.74 [[ 8.53517067e-01 -7.74465056e-02 -5.15277260e-01 1.41881808e+02] [ 8.06603554e-02 9.96610255e-01 -1.61835043e-02 8.95232837e+01] [ 5.14783958e-01 -2.77495498e-02 8.56870725e-01 1.77351766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.296875 meters Centerline goodness : 0.996514 Centerline is valid? [True, True] Translation: X:141.91, Y:89.54, Z:17.73 [[ 8.52762212e-01 -1.02351876e-01 -5.12172532e-01 1.41914953e+02] [ 8.30377917e-02 9.94706790e-01 -6.05237744e-02 8.95354883e+01] [ 5.15656217e-01 9.08271174e-03 8.56747437e-01 1.77292723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.32687500000003 meters Centerline goodness : 0.996042 Centerline is valid? [True, True] Translation: X:141.94, Y:89.54, Z:17.74 [[ 8.51863751e-01 -1.03747138e-01 -5.13385509e-01 1.41939383e+02] [ 8.45211545e-02 9.94568651e-01 -6.07402096e-02 8.95367339e+01] [ 5.16898756e-01 8.35044695e-03 8.56005810e-01 1.77431649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.356875 meters Centerline goodness : 0.996250 Centerline is valid? [True, True] Translation: X:141.96, Y:89.54, Z:17.76 [[ 8.51415224e-01 -1.05567947e-01 -5.13758236e-01 1.41963726e+02] [ 8.65191593e-02 9.94384258e-01 -6.09457390e-02 8.95381587e+01] [ 5.17307019e-01 7.44019935e-03 8.55767545e-01 1.77567482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.38687500000003 meters Centerline goodness : 0.995828 Centerline is valid? [True, True] Translation: X:141.99, Y:89.54, Z:17.77 [[ 8.50530375e-01 -1.08194337e-01 -5.14676662e-01 1.41987343e+02] [ 8.94160251e-02 9.94111382e-01 -6.12154751e-02 8.95369567e+01] [ 5.18269096e-01 6.04527971e-03 8.55196234e-01 1.77705949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.416875 meters Centerline goodness : 0.994479 Centerline is valid? [True, True] Translation: X:142.02, Y:89.57, Z:17.74 [[ 8.56775815e-01 -1.44006844e-01 -4.95173940e-01 1.42015303e+02] [ 1.03687257e-01 9.88714365e-01 -1.08133521e-01 8.95711250e+01] [ 5.05157555e-01 4.13029580e-02 8.62038230e-01 1.77360314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.44687500000003 meters Centerline goodness : 0.994456 Centerline is valid? [True, True] Translation: X:142.04, Y:89.57, Z:17.75 [[ 8.57365913e-01 -1.40849658e-01 -4.95060668e-01 1.42037529e+02] [ 1.05982686e-01 9.89528423e-01 -9.79855618e-02 8.95699300e+01] [ 5.03677835e-01 3.15416213e-02 8.63315565e-01 1.77509894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.476875 meters Centerline goodness : 0.996238 Centerline is valid? [True, True] Translation: X:142.05, Y:89.53, Z:17.83 [[ 8.49072319e-01 -9.72178502e-02 -5.19254164e-01 1.42053069e+02] [ 9.21817454e-02 9.95106453e-01 -3.55762998e-02 8.95297866e+01] [ 5.20171821e-01 -1.76589038e-02 8.53879054e-01 1.78273277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.50687500000004 meters Centerline goodness : 0.995922 Centerline is valid? [True, True] Translation: X:142.08, Y:89.54, Z:17.83 [[ 8.49086246e-01 -1.10799324e-01 -5.16503684e-01 1.42082991e+02] [ 9.26676553e-02 9.93835494e-01 -6.08581703e-02 8.95384221e+01] [ 5.20062738e-01 3.81065000e-03 8.54119563e-01 1.78307950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.536875 meters Centerline goodness : 0.996154 Centerline is valid? [True, True] Translation: X:142.11, Y:89.54, Z:17.84 [[ 8.49311492e-01 -1.11672382e-01 -5.15945025e-01 1.42106063e+02] [ 9.36341643e-02 9.93739060e-01 -6.09534633e-02 8.95386558e+01] [ 5.19521543e-01 3.45839553e-03 8.54450353e-01 1.78442206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.56687500000004 meters Centerline goodness : 0.995913 Centerline is valid? [True, True] Translation: X:142.13, Y:89.54, Z:17.86 [[ 8.49435169e-01 -1.11649972e-01 -5.15746233e-01 1.42129283e+02] [ 9.35800691e-02 9.93741245e-01 -6.10008917e-02 8.95403622e+01] [ 5.19329052e-01 3.55273468e-03 8.54566975e-01 1.78576300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.596875 meters Centerline goodness : 0.995816 Centerline is valid? [True, True] Translation: X:142.15, Y:89.54, Z:17.87 [[ 8.49695593e-01 -1.11871598e-01 -5.15269002e-01 1.42153264e+02] [ 9.38320574e-02 9.93716518e-01 -6.10166129e-02 8.95425655e+01] [ 5.18857344e-01 3.49679652e-03 8.54853688e-01 1.78714603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.62687500000004 meters Centerline goodness : 0.993233 Centerline is valid? [True, True] Translation: X:142.19, Y:89.59, Z:17.81 [[ 8.60204028e-01 -1.65538907e-01 -4.82333807e-01 1.42190640e+02] [ 1.11457348e-01 9.84008552e-01 -1.38940378e-01 8.95937611e+01] [ 4.97620629e-01 6.57574257e-02 8.64898647e-01 1.78096797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.656875 meters Centerline goodness : 0.993730 Centerline is valid? [True, True] Translation: X:142.21, Y:89.58, Z:17.84 [[ 8.61037051e-01 -1.49103576e-01 -4.86192679e-01 1.42210510e+02] [ 1.10662080e-01 9.88077177e-01 -1.07039229e-01 8.95836268e+01] [ 4.96355821e-01 3.83616485e-02 8.67271170e-01 1.78374187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.68687500000004 meters Centerline goodness : 0.994378 Centerline is valid? [True, True] Translation: X:142.23, Y:89.58, Z:17.86 [[ 8.60062669e-01 -1.37990798e-01 -4.91172826e-01 1.42231002e+02] [ 1.08453927e-01 9.90174453e-01 -8.82739985e-02 8.95772859e+01] [ 4.98527784e-01 2.26515490e-02 8.66577727e-01 1.78630005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.716875 meters Centerline goodness : 0.993728 Centerline is valid? [True, True] Translation: X:142.26, Y:89.58, Z:17.87 [[ 8.59838277e-01 -1.42060652e-01 -4.90404842e-01 1.42257074e+02] [ 1.09494745e-01 9.89470656e-01 -9.46505195e-02 8.95822995e+01] [ 4.98687315e-01 2.76873863e-02 8.66339639e-01 1.78734591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.746875 meters Centerline goodness : 0.996224 Centerline is valid? [True, True] Translation: X:142.26, Y:89.53, Z:17.97 [[ 8.48333822e-01 -8.71600202e-02 -5.22238314e-01 1.42263234e+02] [ 9.70530356e-02 9.95243354e-01 -8.44836181e-03 8.95339284e+01] [ 5.20490571e-01 -4.35177826e-02 8.52757743e-01 1.79697050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.776875 meters Centerline goodness : 0.996856 Centerline is valid? [True, True] Translation: X:142.30, Y:89.55, Z:17.96 [[ 8.48342205e-01 -1.15704493e-01 -5.16650726e-01 1.42299626e+02] [ 9.84052516e-02 9.93283364e-01 -6.08651413e-02 8.95521178e+01] [ 5.20222942e-01 7.93323465e-04 8.54030129e-01 1.79605761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.806875 meters Centerline goodness : 0.996239 Centerline is valid? [True, True] Translation: X:142.32, Y:89.55, Z:17.98 [[ 8.47907175e-01 -1.17791875e-01 -5.16893119e-01 1.42323835e+02] [ 1.00735751e-01 9.93038258e-01 -6.10518324e-02 8.95549837e+01] [ 5.20486053e-01 -3.03329682e-04 8.53870117e-01 1.79752162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.836875 meters Centerline goodness : 0.995008 Centerline is valid? [True, True] Translation: X:142.36, Y:89.60, Z:17.93 [[ 8.55443268e-01 -1.61336533e-01 -4.92125328e-01 1.42358270e+02] [ 1.16692931e-01 9.85848713e-01 -1.20353959e-01 8.95957667e+01] [ 5.04578612e-01 4.55284372e-02 8.62164477e-01 1.79324174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.866875 meters Centerline goodness : 0.996556 Centerline is valid? [True, True] Translation: X:142.36, Y:89.55, Z:18.02 [[ 8.47410258e-01 -1.03322797e-01 -5.20788109e-01 1.42364141e+02] [ 1.03864340e-01 9.94190487e-01 -2.82395750e-02 8.95488564e+01] [ 5.20680376e-01 -3.01608079e-02 8.53218771e-01 1.80209256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.896875 meters Centerline goodness : 0.996819 Centerline is valid? [True, True] Translation: X:142.40, Y:89.56, Z:18.02 [[ 8.48545171e-01 -1.21876747e-01 -5.14895283e-01 1.42395387e+02] [ 1.05742262e-01 9.92540823e-01 -6.06736212e-02 8.95621740e+01] [ 5.18449291e-01 -2.96188337e-03 8.55103245e-01 1.80217879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.926875 meters Centerline goodness : 0.996819 Centerline is valid? [True, True] Translation: X:142.42, Y:89.57, Z:18.04 [[ 8.48524931e-01 -1.22095408e-01 -5.14876832e-01 1.42419848e+02] [ 1.05903234e-01 9.92514098e-01 -6.08298477e-02 8.95652043e+01] [ 5.18449560e-01 -2.91147927e-03 8.55103255e-01 1.80362430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.956875 meters Centerline goodness : 0.996547 Centerline is valid? [True, True] Translation: X:142.44, Y:89.57, Z:18.05 [[ 8.48878303e-01 -1.22776803e-01 -5.14131776e-01 1.42444064e+02] [ 1.06689384e-01 9.92429134e-01 -6.08423259e-02 8.95687784e+01] [ 5.17709379e-01 -3.20467192e-03 8.55550541e-01 1.80506562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.986875 meters Centerline goodness : 0.996506 Centerline is valid? [True, True] Translation: X:142.47, Y:89.57, Z:18.06 [[ 8.49319726e-01 -1.23231645e-01 -5.13293254e-01 1.42467505e+02] [ 1.07174904e-01 9.92372519e-01 -6.09124263e-02 8.95723889e+01] [ 5.16884458e-01 -3.27803021e-03 8.56048896e-01 1.80647645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.016875 meters Centerline goodness : 0.996096 Centerline is valid? [True, True] Translation: X:142.49, Y:89.58, Z:18.08 [[ 8.49929314e-01 -1.23544682e-01 -5.12207842e-01 1.42491617e+02] [ 1.07543297e-01 9.92333443e-01 -6.08997294e-02 8.95759484e+01] [ 5.15804809e-01 -3.32405480e-03 8.56699685e-01 1.80789052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.046875 meters Centerline goodness : 0.994228 Centerline is valid? [True, True] Translation: X:142.52, Y:89.62, Z:18.04 [[ 8.56811104e-01 -1.61570870e-01 -4.89662726e-01 1.42524433e+02] [ 1.19737854e-01 9.86024876e-01 -1.15835189e-01 8.96170306e+01] [ 5.01535221e-01 4.06177120e-02 8.64183212e-01 1.80384014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.07687500000003 meters Centerline goodness : 0.996283 Centerline is valid? [True, True] Translation: X:142.53, Y:89.57, Z:18.12 [[ 8.49974521e-01 -1.06439290e-01 -5.15959292e-01 1.42531774e+02] [ 1.06276897e-01 9.93885251e-01 -2.99554361e-02 8.95740314e+01] [ 5.15992766e-01 -2.93731950e-02 8.56089178e-01 1.81219997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.106875 meters Centerline goodness : 0.996330 Centerline is valid? [True, True] Translation: X:142.56, Y:89.59, Z:18.12 [[ 8.49904592e-01 -1.21656717e-01 -5.12700524e-01 1.42562771e+02] [ 1.05353391e-01 9.92569631e-01 -6.08784853e-02 8.95870895e+01] [ 5.16297247e-01 -2.27383468e-03 8.56406435e-01 1.81226132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.13687500000003 meters Centerline goodness : 0.996523 Centerline is valid? [True, True] Translation: X:142.59, Y:89.59, Z:18.14 [[ 8.49802751e-01 -1.21186529e-01 -5.12980614e-01 1.42586707e+02] [ 1.04686940e-01 9.92628118e-01 -6.10742519e-02 8.95915602e+01] [ 5.16600358e-01 -1.80130332e-03 8.56224752e-01 1.81364888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.166875 meters Centerline goodness : 0.996327 Centerline is valid? [True, True] Translation: X:142.61, Y:89.60, Z:18.15 [[ 8.49773273e-01 -1.18765179e-01 -5.13595383e-01 1.42609525e+02] [ 1.01712872e-01 9.92922361e-01 -6.13162093e-02 8.95975465e+01] [ 5.17242571e-01 -1.34385642e-04 8.55838831e-01 1.81499265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.19687500000003 meters Centerline goodness : 0.996861 Centerline is valid? [True, True] Translation: X:142.63, Y:89.60, Z:18.16 [[ 8.49805264e-01 -1.17335852e-01 -5.13870909e-01 1.42633678e+02] [ 9.99772766e-02 9.93091950e-01 -6.14241306e-02 8.96020715e+01] [ 5.17528316e-01 8.23135496e-04 8.55665685e-01 1.81640474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.226875 meters Centerline goodness : 0.996406 Centerline is valid? [True, True] Translation: X:142.66, Y:89.61, Z:18.18 [[ 8.50034044e-01 -1.15875289e-01 -5.13823940e-01 1.42657567e+02] [ 9.81737241e-02 9.93261944e-01 -6.15843386e-02 8.96066461e+01] [ 5.17497868e-01 1.90477470e-03 8.55682376e-01 1.81778719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.25687500000004 meters Centerline goodness : 0.995005 Centerline is valid? [True, True] Translation: X:142.69, Y:89.65, Z:18.13 [[ 8.59046605e-01 -1.59738964e-01 -4.86335680e-01 1.42691218e+02] [ 1.09895988e-01 9.85462514e-01 -1.29562744e-01 8.96549310e+01] [ 4.99961800e-01 5.78540953e-02 8.64112899e-01 1.81302103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.286875 meters Centerline goodness : 0.995118 Centerline is valid? [True, True] Translation: X:142.69, Y:89.63, Z:18.19 [[ 8.55003566e-01 -1.15963950e-01 -5.05491112e-01 1.42693108e+02] [ 1.05050345e-01 9.93200922e-01 -5.01632616e-02 8.96302543e+01] [ 5.07871368e-01 -1.02122479e-02 8.61372384e-01 1.81867955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.31687500000004 meters Centerline goodness : 0.996537 Centerline is valid? [True, True] Translation: X:142.73, Y:89.62, Z:18.22 [[ 8.50532139e-01 -1.07021559e-01 -5.14918894e-01 1.42728393e+02] [ 8.80499950e-02 9.94234008e-01 -6.12040515e-02 8.96205339e+01] [ 5.18500028e-01 6.71740680e-03 8.55051225e-01 1.82229989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.346875 meters Centerline goodness : 0.996306 Centerline is valid? [True, True] Translation: X:142.75, Y:89.62, Z:18.24 [[ 8.51077847e-01 -1.05237178e-01 -5.14384715e-01 1.42752382e+02] [ 8.60606457e-02 9.94417389e-01 -6.10542448e-02 8.96249071e+01] [ 5.17938282e-01 7.69363444e-03 8.55383390e-01 1.82380581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.37687500000004 meters Centerline goodness : 0.994096 Centerline is valid? [True, True] Translation: X:142.79, Y:89.67, Z:18.19 [[ 8.61629755e-01 -1.54081189e-01 -4.83583657e-01 1.42786638e+02] [ 1.02350412e-01 9.85979275e-01 -1.31792501e-01 8.96745209e+01] [ 4.97110208e-01 6.40613537e-02 8.65319354e-01 1.81867587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.406875 meters Centerline goodness : 0.993661 Centerline is valid? [True, True] Translation: X:142.81, Y:89.67, Z:18.21 [[ 8.65645562e-01 -1.39618783e-01 -4.80795546e-01 1.42809368e+02] [ 1.00075260e-01 9.89201588e-01 -1.07075486e-01 8.96740883e+01] [ 4.90553467e-01 4.45736798e-02 8.70270351e-01 1.82068178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.43687500000004 meters Centerline goodness : 0.995424 Centerline is valid? [True, True] Translation: X:142.82, Y:89.62, Z:18.31 [[ 8.53277441e-01 -7.25798885e-02 -5.16381418e-01 1.42815423e+02] [ 7.88499773e-02 9.96838152e-01 -9.81734600e-03 8.96239785e+01] [ 5.15461241e-01 -3.23397433e-02 8.56302429e-01 1.83062204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.466875 meters Centerline goodness : 0.993711 Centerline is valid? [True, True] Translation: X:142.87, Y:89.70, Z:18.21 [[ 8.67246373e-01 -1.63783291e-01 -4.70168865e-01 1.42866037e+02] [ 9.86326159e-02 9.82144698e-01 -1.60198000e-01 8.97020681e+01] [ 4.88011614e-01 9.25571497e-02 8.67915802e-01 1.82136359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.496875 meters Centerline goodness : 0.994056 Centerline is valid? [True, True] Translation: X:142.88, Y:89.68, Z:18.26 [[ 8.66497812e-01 -1.29791406e-01 -4.82012170e-01 1.42880271e+02] [ 9.36282066e-02 9.90726645e-01 -9.84605181e-02 8.96826619e+01] [ 4.90321629e-01 4.01858885e-02 8.70614607e-01 1.82550715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.526875 meters Centerline goodness : 0.993911 Centerline is valid? [True, True] Translation: X:142.91, Y:89.69, Z:18.27 [[ 8.66011309e-01 -1.26849324e-01 -4.83666891e-01 1.42905684e+02] [ 8.87285733e-02 9.90920381e-01 -1.01015044e-01 8.96889140e+01] [ 4.92089070e-01 4.45650970e-02 8.69403416e-01 1.82687337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.556875 meters Centerline goodness : 0.994685 Centerline is valid? [True, True] Translation: X:142.92, Y:89.68, Z:18.31 [[ 8.60634993e-01 -1.01015493e-01 -4.99102473e-01 1.42919459e+02] [ 8.04530226e-02 9.94790113e-01 -6.26094421e-02 8.96758525e+01] [ 5.02826729e-01 1.37295743e-02 8.64278184e-01 1.83081218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.586875 meters Centerline goodness : 0.994419 Centerline is valid? [True, True] Translation: X:142.96, Y:89.71, Z:18.28 [[ 8.64924744e-01 -1.37721346e-01 -4.82636527e-01 1.42959138e+02] [ 8.27545442e-02 9.87586747e-01 -1.33506935e-01 8.97082180e+01] [ 4.95032193e-01 7.55330862e-02 8.65585282e-01 1.82843574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.616875 meters Centerline goodness : 0.995193 Centerline is valid? [True, True] Translation: X:142.98, Y:89.70, Z:18.32 [[ 8.62808750e-01 -1.14854278e-01 -4.92310425e-01 1.42976713e+02] [ 7.78808896e-02 9.92422567e-01 -9.50369164e-02 8.96954819e+01] [ 4.99495373e-01 4.36571092e-02 8.65215828e-01 1.83185951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.646875 meters Centerline goodness : 0.994417 Centerline is valid? [True, True] Translation: X:143.00, Y:89.69, Z:18.34 [[ 8.60290653e-01 -1.04432019e-01 -4.98992931e-01 1.42998912e+02] [ 7.28899561e-02 9.93934377e-01 -8.23499162e-02 8.96917166e+01] [ 5.04566196e-01 3.44732903e-02 8.62684500e-01 1.83442758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.676875 meters Centerline goodness : 0.994611 Centerline is valid? [True, True] Translation: X:143.02, Y:89.70, Z:18.35 [[ 8.61467300e-01 -1.10518444e-01 -4.95640761e-01 1.43024479e+02] [ 7.48519488e-02 9.93004292e-01 -9.13217532e-02 8.96980482e+01] [ 5.02266141e-01 4.15710274e-02 8.63713247e-01 1.83526975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.706875 meters Centerline goodness : 0.995132 Centerline is valid? [True, True] Translation: X:143.05, Y:89.70, Z:18.37 [[ 8.59887747e-01 -1.07219777e-01 -4.99096165e-01 1.43049294e+02] [ 7.25249796e-02 9.93435481e-01 -8.84650949e-02 8.96970993e+01] [ 5.05305047e-01 3.98731119e-02 8.62019109e-01 1.83739751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.736875 meters Centerline goodness : 0.994941 Centerline is valid? [True, True] Translation: X:143.07, Y:89.70, Z:18.39 [[ 8.60337224e-01 -1.06429434e-01 -4.98490357e-01 1.43074331e+02] [ 7.40188632e-02 9.93678458e-01 -8.44057505e-02 8.96967706e+01] [ 5.04322386e-01 3.57197195e-02 8.62776352e-01 1.83921948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.766875 meters Centerline goodness : 0.995256 Centerline is valid? [True, True] Translation: X:143.10, Y:89.70, Z:18.40 [[ 8.58392383e-01 -1.10470057e-01 -5.00957965e-01 1.43098292e+02] [ 7.26137638e-02 9.92871030e-01 -9.45217372e-02 8.96996809e+01] [ 5.07828472e-01 4.47602959e-02 8.60294577e-01 1.84034002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.796875 meters Centerline goodness : 0.995079 Centerline is valid? [True, True] Translation: X:143.12, Y:89.70, Z:18.42 [[ 8.59208915e-01 -1.10870507e-01 -4.99467488e-01 1.43122938e+02] [ 7.53003379e-02 9.93009967e-01 -9.08903940e-02 8.97002623e+01] [ 5.06053258e-01 4.04837662e-02 8.61551603e-01 1.84183691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.82687500000003 meters Centerline goodness : 0.995383 Centerline is valid? [True, True] Translation: X:143.15, Y:89.70, Z:18.43 [[ 8.58538827e-01 -1.14221446e-01 -4.99864525e-01 1.43147748e+02] [ 7.57588870e-02 9.92430457e-01 -9.66559802e-02 8.97034098e+01] [ 5.07120965e-01 4.51137318e-02 8.60693370e-01 1.84288940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.856875 meters Centerline goodness : 0.995556 Centerline is valid? [True, True] Translation: X:143.17, Y:89.70, Z:18.45 [[ 8.57824829e-01 -1.11030561e-01 -5.01805518e-01 1.43172088e+02] [ 7.60531345e-02 9.93059449e-01 -8.97153957e-02 8.97005031e+01] [ 5.08283862e-01 3.87962114e-02 8.60315274e-01 1.84488617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.88687500000003 meters Centerline goodness : 0.995496 Centerline is valid? [True, True] Translation: X:143.19, Y:89.69, Z:18.47 [[ 8.56262713e-01 -1.03299152e-01 -5.06106167e-01 1.43192552e+02] [ 7.74877370e-02 9.94399928e-01 -7.18639910e-02 8.96937533e+01] [ 5.10695425e-01 2.23174343e-02 8.59471998e-01 1.84745297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.916875 meters Centerline goodness : 0.995266 Centerline is valid? [True, True] Translation: X:143.22, Y:89.71, Z:18.47 [[ 8.56240204e-01 -1.20412056e-01 -5.02348137e-01 1.43222684e+02] [ 7.94817840e-02 9.91582858e-01 -1.02206075e-01 8.97056533e+01] [ 5.10426645e-01 4.75854247e-02 8.58603673e-01 1.84734575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.94687500000003 meters Centerline goodness : 0.996362 Centerline is valid? [True, True] Translation: X:143.23, Y:89.65, Z:18.57 [[ 8.41927497e-01 -6.02915933e-02 -5.36211725e-01 1.43226315e+02] [ 6.72476920e-02 9.97714518e-01 -6.59462809e-03 8.96514749e+01] [ 5.35383823e-01 -3.05068022e-02 8.44057757e-01 1.85695641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.976875 meters Centerline goodness : 0.994681 Centerline is valid? [True, True] Translation: X:143.28, Y:89.71, Z:18.49 [[ 8.52758537e-01 -1.43315619e-01 -5.02258410e-01 1.43277015e+02] [ 8.53747241e-02 9.86932179e-01 -1.36660272e-01 8.97141284e+01] [ 5.15280539e-01 7.36580405e-02 8.53850373e-01 1.84911666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.00687500000004 meters Centerline goodness : 0.994873 Centerline is valid? [True, True] Translation: X:143.29, Y:89.69, Z:18.53 [[ 8.47621332e-01 -1.16447714e-01 -5.17665922e-01 1.43292023e+02] [ 8.38299213e-02 9.92757222e-01 -8.60560409e-02 8.96904928e+01] [ 5.23937612e-01 2.95470425e-02 8.51244002e-01 1.85337696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.036875 meters Centerline goodness : 0.995366 Centerline is valid? [True, True] Translation: X:143.31, Y:89.69, Z:18.55 [[ 8.46535309e-01 -1.16308445e-01 -5.19471190e-01 1.43314534e+02] [ 8.59600281e-02 9.92899612e-01 -8.22267178e-02 8.96887569e+01] [ 5.25346405e-01 2.49540619e-02 8.50522457e-01 1.85502694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.06687500000004 meters Centerline goodness : 0.996162 Centerline is valid? [True, True] Translation: X:143.32, Y:89.65, Z:18.63 [[ 8.35754298e-01 -7.11127183e-02 -5.44479324e-01 1.43322411e+02] [ 7.45784481e-02 9.97090735e-01 -1.57518819e-02 8.96489785e+01] [ 5.44015448e-01 -2.74417201e-02 8.38626343e-01 1.86277498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.096875 meters Centerline goodness : 0.996076 Centerline is valid? [True, True] Translation: X:143.36, Y:89.66, Z:18.63 [[ 8.35925204e-01 -9.48153914e-02 -5.40591431e-01 1.43355916e+02] [ 7.69236029e-02 9.95482634e-01 -5.56514503e-02 8.96603971e+01] [ 5.43425996e-01 4.93620934e-03 8.39442566e-01 1.86255447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.12687500000004 meters Centerline goodness : 0.996287 Centerline is valid? [True, True] Translation: X:143.38, Y:89.66, Z:18.64 [[ 8.35859214e-01 -9.96108736e-02 -5.39830574e-01 1.43379658e+02] [ 8.25740964e-02 9.95024414e-01 -5.57488466e-02 8.96575213e+01] [ 5.42697792e-01 2.02216524e-03 8.39925602e-01 1.86406011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.156875 meters Centerline goodness : 0.996229 Centerline is valid? [True, True] Translation: X:143.40, Y:89.66, Z:18.66 [[ 8.35580098e-01 -1.01606892e-01 -5.39890674e-01 1.43403416e+02] [ 8.48326158e-02 9.94824189e-01 -5.59308585e-02 8.96570237e+01] [ 5.42779262e-01 9.34374112e-04 8.39874871e-01 1.86553314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.18687500000004 meters Centerline goodness : 0.996071 Centerline is valid? [True, True] Translation: X:143.43, Y:89.66, Z:18.67 [[ 8.35398498e-01 -1.03470726e-01 -5.39817709e-01 1.43426173e+02] [ 8.69453721e-02 9.94632497e-01 -5.60954420e-02 8.96565911e+01] [ 5.42724472e-01 -7.26035684e-05 8.39910794e-01 1.86697748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.216875 meters Centerline goodness : 0.994779 Centerline is valid? [True, True] Translation: X:143.46, Y:89.69, Z:18.64 [[ 8.43290095e-01 -1.38643263e-01 -5.19268583e-01 1.43459003e+02] [ 1.00755704e-01 9.89807098e-01 -1.00648876e-01 8.96853485e+01] [ 5.27930018e-01 3.25569284e-02 8.48663621e-01 1.86362776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.246875 meters Centerline goodness : 0.995366 Centerline is valid? [True, True] Translation: X:143.47, Y:89.65, Z:18.71 [[ 8.34388976e-01 -9.27647263e-02 -5.43313668e-01 1.43467916e+02] [ 8.85498510e-02 9.95491998e-01 -3.39794933e-02 8.96474665e+01] [ 5.44016508e-01 -1.97582298e-02 8.38841852e-01 1.87110508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.276875 meters Centerline goodness : 0.996441 Centerline is valid? [True, True] Translation: X:143.50, Y:89.65, Z:18.72 [[ 8.35078362e-01 -1.04923070e-01 -5.40032664e-01 1.43496481e+02] [ 8.89441542e-02 9.94479155e-01 -5.56789782e-02 8.96507024e+01] [ 5.42893236e-01 -1.53643862e-03 8.39800317e-01 1.87167535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.306875 meters Centerline goodness : 0.996612 Centerline is valid? [True, True] Translation: X:143.52, Y:89.65, Z:18.73 [[ 8.35386027e-01 -1.04464585e-01 -5.39645566e-01 1.43519470e+02] [ 8.83751008e-02 9.94527944e-01 -5.57136516e-02 8.96509152e+01] [ 5.42512698e-01 -1.14882518e-03 8.40046816e-01 1.87313022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.336875 meters Centerline goodness : 0.995136 Centerline is valid? [True, True] Translation: X:143.56, Y:89.70, Z:18.67 [[ 8.46174229e-01 -1.58001717e-01 -5.08944626e-01 1.43560652e+02] [ 1.04377015e-01 9.85676624e-01 -1.32465213e-01 8.96977266e+01] [ 5.22584551e-01 5.89665283e-02 8.50545904e-01 1.86732890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.366875 meters Centerline goodness : 0.995381 Centerline is valid? [True, True] Translation: X:143.57, Y:89.67, Z:18.73 [[ 8.42918493e-01 -1.18600760e-01 -5.24806892e-01 1.43569761e+02] [ 9.68890971e-02 9.92916498e-01 -6.87701319e-02 8.96719002e+01] [ 5.29245611e-01 7.11955009e-03 8.48438799e-01 1.87274346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.396875 meters Centerline goodness : 0.995304 Centerline is valid? [True, True] Translation: X:143.60, Y:89.68, Z:18.73 [[ 8.44216888e-01 -1.25481684e-01 -5.21106700e-01 1.43597859e+02] [ 9.68688575e-02 9.91920061e-01 -8.19207925e-02 8.96789869e+01] [ 5.27175749e-01 1.86799058e-02 8.49550935e-01 1.87341260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.426875 meters Centerline goodness : 0.995115 Centerline is valid? [True, True] Translation: X:143.62, Y:89.67, Z:18.76 [[ 8.46440283e-01 -1.10014496e-01 -5.20994873e-01 1.43616536e+02] [ 9.05901013e-02 9.93912627e-01 -6.26986701e-02 8.96713527e+01] [ 5.24721146e-01 5.87370176e-03 8.51253910e-01 1.87598314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.456875 meters Centerline goodness : 0.995700 Centerline is valid? [True, True] Translation: X:143.65, Y:89.68, Z:18.77 [[ 8.43227735e-01 -1.20006043e-01 -5.23990016e-01 1.43645206e+02] [ 8.41139241e-02 9.92211135e-01 -9.18798767e-02 8.96807316e+01] [ 5.30934869e-01 3.34008038e-02 8.46754127e-01 1.87654337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.486875 meters Centerline goodness : 0.995951 Centerline is valid? [True, True] Translation: X:143.67, Y:89.68, Z:18.78 [[ 8.44266533e-01 -1.14638644e-01 -5.23518866e-01 1.43667759e+02] [ 8.20388440e-02 9.92985885e-01 -8.51390619e-02 8.96802948e+01] [ 5.29607071e-01 2.89311781e-02 8.47749572e-01 1.87829498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.516875 meters Centerline goodness : 0.995788 Centerline is valid? [True, True] Translation: X:143.69, Y:89.68, Z:18.81 [[ 8.43768989e-01 -1.02525273e-01 -5.26822988e-01 1.43688699e+02] [ 7.39295727e-02 9.94430218e-01 -7.51196315e-02 8.96758713e+01] [ 5.31590360e-01 2.44358172e-02 8.46649030e-01 1.88074700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.546875 meters Centerline goodness : 0.996292 Centerline is valid? [True, True] Translation: X:143.71, Y:89.68, Z:18.82 [[ 8.43172496e-01 -1.00991244e-01 -5.28072828e-01 1.43713314e+02] [ 6.83252774e-02 9.94363594e-01 -8.10721915e-02 8.96784455e+01] [ 5.33283976e-01 3.22771196e-02 8.45320287e-01 1.88220278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.57687500000003 meters Centerline goodness : 0.996368 Centerline is valid? [True, True] Translation: X:143.74, Y:89.68, Z:18.84 [[ 8.43127419e-01 -9.54400580e-02 -5.29176106e-01 1.43737132e+02] [ 6.48312309e-02 9.94985932e-01 -7.61571173e-02 8.96776608e+01] [ 5.33791220e-01 2.99030155e-02 8.45087417e-01 1.88407189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.606875 meters Centerline goodness : 0.996552 Centerline is valid? [True, True] Translation: X:143.76, Y:89.68, Z:18.85 [[ 8.43761409e-01 -9.72333604e-02 -5.27837436e-01 1.43762486e+02] [ 6.28511172e-02 9.94586886e-01 -8.27445630e-02 8.96829389e+01] [ 5.33025724e-01 3.66414965e-02 8.45305257e-01 1.88503519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.63687500000003 meters Centerline goodness : 0.996692 Centerline is valid? [True, True] Translation: X:143.79, Y:89.69, Z:18.86 [[ 8.44555684e-01 -9.83361201e-02 -5.26360812e-01 1.43788562e+02] [ 6.18335323e-02 9.94326788e-01 -8.65497130e-02 8.96854935e+01] [ 5.31885619e-01 4.05493037e-02 8.45844810e-01 1.88617272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.666875 meters Centerline goodness : 0.996021 Centerline is valid? [True, True] Translation: X:143.81, Y:89.69, Z:18.87 [[ 8.44318300e-01 -1.00199076e-01 -5.26390305e-01 1.43812026e+02] [ 6.33262218e-02 9.94135462e-01 -8.76611261e-02 8.96872431e+01] [ 5.32086833e-01 4.06795837e-02 8.45711992e-01 1.88744739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.69687500000003 meters Centerline goodness : 0.995752 Centerline is valid? [True, True] Translation: X:143.83, Y:89.69, Z:18.89 [[ 8.44451623e-01 -9.84808257e-02 -5.26500696e-01 1.43834280e+02] [ 6.56469184e-02 9.94570899e-01 -8.07416151e-02 8.96858503e+01] [ 5.31593772e-01 3.36192397e-02 8.46331973e-01 1.88933576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.726875 meters Centerline goodness : 0.995958 Centerline is valid? [True, True] Translation: X:143.86, Y:89.69, Z:18.91 [[ 8.43940682e-01 -9.77897313e-02 -5.27447907e-01 1.43858030e+02] [ 6.60871852e-02 9.94707131e-01 -7.86778722e-02 8.96854749e+01] [ 5.32350082e-01 3.15419096e-02 8.45936462e-01 1.89119511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.75687500000004 meters Centerline goodness : 0.995654 Centerline is valid? [True, True] Translation: X:143.88, Y:89.69, Z:18.92 [[ 8.45277143e-01 -1.04293101e-01 -5.24051048e-01 1.43883599e+02] [ 6.98827335e-02 9.93920016e-01 -8.50846949e-02 8.96906178e+01] [ 5.29738573e-01 3.52980280e-02 8.47426158e-01 1.89200571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.786875 meters Centerline goodness : 0.996111 Centerline is valid? [True, True] Translation: X:143.91, Y:89.69, Z:18.94 [[ 8.44268430e-01 -9.96792236e-02 -5.26568960e-01 1.43905605e+02] [ 6.98070484e-02 9.94633719e-01 -7.63592859e-02 8.96890043e+01] [ 5.31354678e-01 2.77095096e-02 8.46696161e-01 1.89416963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.81687500000004 meters Centerline goodness : 0.995583 Centerline is valid? [True, True] Translation: X:143.93, Y:89.69, Z:18.95 [[ 8.43986058e-01 -1.03094319e-01 -5.26364033e-01 1.43930710e+02] [ 7.01959643e-02 9.94143967e-01 -8.21602118e-02 8.96930868e+01] [ 5.31751879e-01 3.23934424e-02 8.46280453e-01 1.89531011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.846875 meters Centerline goodness : 0.995583 Centerline is valid? [True, True] Translation: X:143.95, Y:89.69, Z:18.97 [[ 8.43553296e-01 -1.01792192e-01 -5.27310332e-01 1.43953791e+02] [ 6.94657857e-02 9.94305528e-01 -8.08147392e-02 8.96944424e+01] [ 5.32533888e-01 3.15415131e-02 8.45820780e-01 1.89694662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.87687500000004 meters Centerline goodness : 0.995654 Centerline is valid? [True, True] Translation: X:143.98, Y:89.70, Z:18.98 [[ 8.43435138e-01 -1.02805870e-01 -5.27302685e-01 1.43978191e+02] [ 6.97435349e-02 9.94166601e-01 -8.22715593e-02 8.96966970e+01] [ 5.32684717e-01 3.26147707e-02 8.45685089e-01 1.89834425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.906875 meters Centerline goodness : 0.996381 Centerline is valid? [True, True] Translation: X:144.00, Y:89.69, Z:19.01 [[ 8.41190059e-01 -9.51117040e-02 -5.32309166e-01 1.43998853e+02] [ 6.66161673e-02 9.95138470e-01 -7.25376537e-02 8.96929757e+01] [ 5.36620509e-01 2.55575568e-02 8.43436566e-01 1.90084868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.93687500000004 meters Centerline goodness : 0.995756 Centerline is valid? [True, True] Translation: X:144.02, Y:89.70, Z:19.02 [[ 8.41622627e-01 -9.64605287e-02 -5.31381896e-01 1.44024538e+02] [ 6.65574950e-02 9.94945217e-01 -7.51938449e-02 8.96957130e+01] [ 5.35949114e-01 2.79173935e-02 8.43788579e-01 1.90223229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.966875 meters Centerline goodness : 0.996172 Centerline is valid? [True, True] Translation: X:144.04, Y:89.69, Z:19.05 [[ 8.39389423e-01 -8.77056690e-02 -5.36407599e-01 1.44041859e+02] [ 6.43265688e-02 9.95989243e-01 -6.21893900e-02 8.96913748e+01] [ 5.39710561e-01 1.76958558e-02 8.41664640e-01 1.90485509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.996875 meters Centerline goodness : 0.996354 Centerline is valid? [True, True] Translation: X:144.07, Y:89.70, Z:19.05 [[ 8.40205892e-01 -9.86911168e-02 -5.33211142e-01 1.44073043e+02] [ 6.39610005e-02 9.94471547e-01 -8.32786389e-02 8.97004241e+01] [ 5.38482172e-01 3.58664850e-02 8.41873236e-01 1.90526961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.026875 meters Centerline goodness : 0.996254 Centerline is valid? [True, True] Translation: X:144.09, Y:89.70, Z:19.08 [[ 8.38424384e-01 -8.95450641e-02 -5.37611601e-01 1.44090043e+02] [ 6.24455669e-02 9.95697757e-01 -6.84582206e-02 8.96966909e+01] [ 5.41428761e-01 2.38255803e-02 8.40408971e-01 1.90766831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.056875 meters Centerline goodness : 0.996229 Centerline is valid? [True, True] Translation: X:144.12, Y:89.70, Z:19.09 [[ 8.38655833e-01 -9.43626475e-02 -5.36425283e-01 1.44116519e+02] [ 6.17078558e-02 9.94998100e-01 -7.85552120e-02 8.97020675e+01] [ 5.41154815e-01 3.27791328e-02 8.40283877e-01 1.90872196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.086875 meters Centerline goodness : 0.995582 Centerline is valid? [True, True] Translation: X:144.14, Y:89.70, Z:19.10 [[ 8.38690291e-01 -9.19723383e-02 -5.36786443e-01 1.44139468e+02] [ 6.16831333e-02 9.95336551e-01 -7.41642892e-02 8.97026792e+01] [ 5.41104230e-01 2.90901996e-02 8.40452243e-01 1.91047746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.116875 meters Centerline goodness : 0.995970 Centerline is valid? [True, True] Translation: X:144.16, Y:89.70, Z:19.12 [[ 8.38069044e-01 -9.00538150e-02 -5.38080466e-01 1.44163942e+02] [ 6.00294965e-02 9.95515362e-01 -7.31137738e-02 8.97025471e+01] [ 5.42251544e-01 2.89736911e-02 8.39716493e-01 1.91245017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.146875 meters Centerline goodness : 0.996257 Centerline is valid? [True, True] Translation: X:144.19, Y:89.71, Z:19.13 [[ 8.39057664e-01 -9.81682755e-02 -5.35112350e-01 1.44190230e+02] [ 6.16095401e-02 9.94403681e-01 -8.58229822e-02 8.97092974e+01] [ 5.40542784e-01 3.90424052e-02 8.40410132e-01 1.91280149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.176875 meters Centerline goodness : 0.996429 Centerline is valid? [True, True] Translation: X:144.21, Y:89.70, Z:19.16 [[ 8.36615268e-01 -8.83999777e-02 -5.40611078e-01 1.44210503e+02] [ 5.84825595e-02 9.95666418e-01 -7.23061154e-02 8.97034253e+01] [ 5.44660155e-01 2.88760806e-02 8.38159584e-01 1.91555265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.206875 meters Centerline goodness : 0.996143 Centerline is valid? [True, True] Translation: X:144.24, Y:89.71, Z:19.17 [[ 8.37243157e-01 -9.29438577e-02 -5.38874137e-01 1.44235030e+02] [ 6.09236134e-02 9.95168894e-01 -7.69882146e-02 8.97080805e+01] [ 5.43426361e-01 3.16276963e-02 8.38860823e-01 1.91657059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.236875 meters Centerline goodness : 0.996154 Centerline is valid? [True, True] Translation: X:144.26, Y:89.71, Z:19.17 [[ 8.37707982e-01 -1.00087400e-01 -5.36868559e-01 1.44261857e+02] [ 6.32039533e-02 9.94224857e-01 -8.67305859e-02 8.97138965e+01] [ 5.42448705e-01 3.87226887e-02 8.39196017e-01 1.91749751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.266875 meters Centerline goodness : 0.996150 Centerline is valid? [True, True] Translation: X:144.28, Y:89.71, Z:19.20 [[ 8.37326353e-01 -9.19092717e-02 -5.38922318e-01 1.44282002e+02] [ 6.45771140e-02 9.95493760e-01 -6.94404108e-02 8.97087230e+01] [ 5.42876022e-01 2.33422379e-02 8.39488395e-01 1.92013846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.296875 meters Centerline goodness : 0.996054 Centerline is valid? [True, True] Translation: X:144.31, Y:89.71, Z:19.21 [[ 8.36238214e-01 -9.76420843e-02 -5.39603255e-01 1.44307968e+02] [ 6.36448603e-02 9.94651324e-01 -8.13515554e-02 8.97137508e+01] [ 5.44660427e-01 3.36863056e-02 8.37979864e-01 1.92115563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.32687500000003 meters Centerline goodness : 0.995847 Centerline is valid? [True, True] Translation: X:144.33, Y:89.71, Z:19.23 [[ 8.36312190e-01 -9.30260240e-02 -5.40303692e-01 1.44330259e+02] [ 6.57723931e-02 9.95406003e-01 -6.95764422e-02 8.97107630e+01] [ 5.44293959e-01 2.26505599e-02 8.38588718e-01 1.92344851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.356875 meters Centerline goodness : 0.995995 Centerline is valid? [True, True] Translation: X:144.36, Y:89.72, Z:19.24 [[ 8.35956066e-01 -1.02372134e-01 -5.39163613e-01 1.44357841e+02] [ 6.52796589e-02 9.94021283e-01 -8.75228826e-02 8.97195385e+01] [ 5.44900011e-01 3.79688679e-02 8.37640940e-01 1.92383564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.38687500000003 meters Centerline goodness : 0.995942 Centerline is valid? [True, True] Translation: X:144.38, Y:89.72, Z:19.25 [[ 8.35780869e-01 -1.01990892e-01 -5.39507365e-01 1.44382494e+02] [ 6.57379462e-02 9.94115877e-01 -8.60938154e-02 8.97213115e+01] [ 5.45113623e-01 3.64894577e-02 8.37567703e-01 1.92538671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.416875 meters Centerline goodness : 0.995758 Centerline is valid? [True, True] Translation: X:144.40, Y:89.71, Z:19.29 [[ 8.34020515e-01 -8.69554319e-02 -5.44838080e-01 1.44399589e+02] [ 6.54937680e-02 9.96123501e-01 -5.87242418e-02 8.97119522e+01] [ 5.47832408e-01 1.32937235e-02 8.36482474e-01 1.92886246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.44687500000003 meters Centerline goodness : 0.996322 Centerline is valid? [True, True] Translation: X:144.43, Y:89.73, Z:19.29 [[ 8.34333842e-01 -1.05657775e-01 -5.41039254e-01 1.44430867e+02] [ 6.68617785e-02 9.93610055e-01 -9.09316339e-02 8.97256981e+01] [ 5.47189677e-01 3.96924927e-02 8.36066961e-01 1.92850712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.476875 meters Centerline goodness : 0.996444 Centerline is valid? [True, True] Translation: X:144.45, Y:89.71, Z:19.32 [[ 8.31943584e-01 -8.99237135e-02 -5.47524976e-01 1.44448484e+02] [ 6.34562208e-02 9.95725284e-01 -6.71153298e-02 8.97149771e+01] [ 5.51219722e-01 2.10923022e-02 8.34093480e-01 1.93189584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.50687500000004 meters Centerline goodness : 0.995446 Centerline is valid? [True, True] Translation: X:144.48, Y:89.73, Z:19.31 [[ 8.35134860e-01 -1.11526834e-01 -5.38620025e-01 1.44481372e+02] [ 7.02341453e-02 9.92834592e-01 -9.66780160e-02 8.97329231e+01] [ 5.45542785e-01 4.29096643e-02 8.36983769e-01 1.93112132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.536875 meters Centerline goodness : 0.995823 Centerline is valid? [True, True] Translation: X:144.49, Y:89.71, Z:19.36 [[ 8.31457410e-01 -8.42182622e-02 -5.49168334e-01 1.44493049e+02] [ 6.53746328e-02 9.96408009e-01 -5.38259877e-02 8.97125674e+01] [ 5.51728857e-01 8.85233820e-03 8.33976561e-01 1.93606243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.56687500000004 meters Centerline goodness : 0.995063 Centerline is valid? [True, True] Translation: X:144.53, Y:89.74, Z:19.34 [[ 8.34620016e-01 -1.14802547e-01 -5.38729806e-01 1.44528363e+02] [ 7.43778725e-02 9.92570826e-01 -9.62864830e-02 8.97366397e+01] [ 5.45781422e-01 4.02930492e-02 8.36958248e-01 1.93438597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.596875 meters Centerline goodness : 0.997213 Centerline is valid? [True, True] Translation: X:144.52, Y:89.68, Z:19.46 [[ 8.20372305e-01 -4.04547740e-02 -5.70396960e-01 1.44516613e+02] [ 5.79769354e-02 9.98238579e-01 1.25862452e-02 8.96810178e+01] [ 5.68883078e-01 -4.33952747e-02 8.21272728e-01 1.94557106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.62687500000004 meters Centerline goodness : 0.995335 Centerline is valid? [True, True] Translation: X:144.58, Y:89.74, Z:19.37 [[ 8.31448861e-01 -1.26678438e-01 -5.40967065e-01 1.44580851e+02] [ 7.27133770e-02 9.90096170e-01 -1.20093045e-01 8.97429975e+01] [ 5.50822619e-01 6.05156830e-02 8.32425549e-01 1.93737106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.656875 meters Centerline goodness : 0.994923 Centerline is valid? [True, True] Translation: X:144.60, Y:89.75, Z:19.38 [[ 8.33694155e-01 -1.23601748e-01 -5.38216188e-01 1.44603429e+02] [ 7.76323886e-02 9.91183174e-01 -1.07373775e-01 8.97458858e+01] [ 5.46742416e-01 4.77338804e-02 8.35939117e-01 1.93842304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.68687500000004 meters Centerline goodness : 0.995926 Centerline is valid? [True, True] Translation: X:144.62, Y:89.74, Z:19.41 [[ 8.30934178e-01 -1.08375538e-01 -5.45713418e-01 1.44620726e+02] [ 7.42981412e-02 9.93674439e-01 -8.42074536e-02 8.97369627e+01] [ 5.51387503e-01 2.94253587e-02 8.33730154e-01 1.94143689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.716875 meters Centerline goodness : 0.995797 Centerline is valid? [True, True] Translation: X:144.64, Y:89.73, Z:19.45 [[ 8.26952082e-01 -9.34124016e-02 -5.54458634e-01 1.44637491e+02] [ 7.08211776e-02 9.95554148e-01 -6.20991026e-02 8.97258925e+01] [ 5.57794420e-01 1.20855688e-02 8.29891152e-01 1.94507355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.746875 meters Centerline goodness : 0.995087 Centerline is valid? [True, True] Translation: X:144.66, Y:89.73, Z:19.47 [[ 8.26948681e-01 -9.72951616e-02 -5.53795567e-01 1.44660407e+02] [ 7.77286923e-02 9.95240009e-01 -5.87841432e-02 8.97283740e+01] [ 5.56878918e-01 5.56566444e-03 8.30575038e-01 1.94674889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.776875 meters Centerline goodness : 0.995288 Centerline is valid? [True, True] Translation: X:144.69, Y:89.73, Z:19.48 [[ 8.24884580e-01 -1.05601094e-01 -5.55350194e-01 1.44685866e+02] [ 7.76000593e-02 9.94249639e-01 -7.37962426e-02 8.97345466e+01] [ 5.59949694e-01 1.77781745e-02 8.28335848e-01 1.94774477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.806875 meters Centerline goodness : 0.996169 Centerline is valid? [True, True] Translation: X:144.71, Y:89.74, Z:19.49 [[ 8.24376918e-01 -1.09212474e-01 -5.55405557e-01 1.44708700e+02] [ 8.17745685e-02 9.93895468e-01 -7.40588855e-02 8.97362439e+01] [ 5.60103220e-01 1.56343860e-02 8.28275286e-01 1.94949379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.836875 meters Centerline goodness : 0.996787 Centerline is valid? [True, True] Translation: X:144.70, Y:89.69, Z:19.59 [[ 8.12289197e-01 -5.13226717e-02 -5.80992465e-01 1.44702995e+02] [ 6.93580608e-02 9.97552574e-01 8.84992587e-03 8.96939859e+01] [ 5.79116327e-01 -4.74852099e-02 8.13860820e-01 1.95881882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.866875 meters Centerline goodness : 0.996979 Centerline is valid? [True, True] Translation: X:144.74, Y:89.71, Z:19.58 [[ 8.11747945e-01 -7.94173896e-02 -5.78582883e-01 1.44739840e+02] [ 7.07601175e-02 9.96786532e-01 -3.75448446e-02 8.97096733e+01] [ 5.79705339e-01 -1.04636423e-02 8.14759003e-01 1.95829896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.896875 meters Centerline goodness : 0.996525 Centerline is valid? [True, True] Translation: X:144.76, Y:89.71, Z:19.60 [[ 8.11500954e-01 -8.04724759e-02 -5.78783537e-01 1.44762646e+02] [ 7.19109791e-02 9.96696305e-01 -3.77529593e-02 8.97124358e+01] [ 5.79909487e-01 -1.09843283e-02 8.14606857e-01 1.95982719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.926875 meters Centerline goodness : 0.995846 Centerline is valid? [True, True] Translation: X:144.81, Y:89.76, Z:19.55 [[ 8.21788340e-01 -1.35663369e-01 -5.53407060e-01 1.44808591e+02] [ 8.82804553e-02 9.89829220e-01 -1.11555710e-01 8.97585214e+01] [ 5.62912502e-01 4.28201549e-02 8.25406536e-01 1.95450036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.956875 meters Centerline goodness : 0.996641 Centerline is valid? [True, True] Translation: X:144.80, Y:89.71, Z:19.65 [[ 8.10855026e-01 -5.91791056e-02 -5.82247336e-01 1.44797674e+02] [ 7.28539928e-02 9.97342613e-01 8.96224075e-05 8.97060007e+01] [ 5.80694776e-01 -4.24917140e-02 8.13011705e-01 1.96487270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.986875 meters Centerline goodness : 0.996356 Centerline is valid? [True, True] Translation: X:144.83, Y:89.72, Z:19.65 [[ 8.10370755e-01 -8.00732115e-02 -5.80420123e-01 1.44831855e+02] [ 7.16335914e-02 9.96726118e-01 -3.74923143e-02 8.97217120e+01] [ 5.81522027e-01 -1.11949029e-02 8.13453629e-01 1.96478148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.016875 meters Centerline goodness : 0.996982 Centerline is valid? [True, True] Translation: X:144.85, Y:89.73, Z:19.66 [[ 8.10557207e-01 -7.93612705e-02 -5.80257532e-01 1.44854531e+02] [ 7.06248284e-02 9.96791219e-01 -3.76749162e-02 8.97250374e+01] [ 5.81385542e-01 -1.04429137e-02 8.13561182e-01 1.96637828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.046875 meters Centerline goodness : 0.995834 Centerline is valid? [True, True] Translation: X:144.90, Y:89.76, Z:19.62 [[ 8.19921714e-01 -1.24070824e-01 -5.58869228e-01 1.44895113e+02] [ 8.26820583e-02 9.91661549e-01 -9.88486176e-02 8.97646979e+01] [ 5.66473354e-01 3.48396698e-02 8.23343268e-01 1.96219524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.07687500000003 meters Centerline goodness : 0.996623 Centerline is valid? [True, True] Translation: X:144.89, Y:89.72, Z:19.71 [[ 8.10658144e-01 -5.93851988e-02 -5.82500447e-01 1.44891646e+02] [ 6.65967533e-02 9.97739052e-01 -9.03644209e-03 8.97225659e+01] [ 5.81720075e-01 -3.14671732e-02 8.12780150e-01 1.97095274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.106875 meters Centerline goodness : 0.996968 Centerline is valid? [True, True] Translation: X:144.92, Y:89.74, Z:19.71 [[ 8.10910832e-01 -7.11800658e-02 -5.80824432e-01 1.44922891e+02] [ 6.05606831e-02 9.97452808e-01 -3.76868488e-02 8.97369941e+01] [ 5.82027513e-01 -4.61445040e-03 8.13156000e-01 1.97132921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.13687500000003 meters Centerline goodness : 0.996451 Centerline is valid? [True, True] Translation: X:144.95, Y:89.74, Z:19.73 [[ 8.11411222e-01 -6.88310311e-02 -5.80408579e-01 1.44946051e+02] [ 5.76020435e-02 9.97624468e-01 -3.77812752e-02 8.97408615e+01] [ 5.81630324e-01 -2.77656956e-03 8.13448496e-01 1.97292117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.166875 meters Centerline goodness : 0.996707 Centerline is valid? [True, True] Translation: X:144.97, Y:89.74, Z:19.74 [[ 8.11933521e-01 -6.66247581e-02 -5.79935426e-01 1.44968358e+02] [ 5.47724122e-02 9.97777644e-01 -3.79441152e-02 8.97445949e+01] [ 5.81174621e-01 -9.56363193e-04 8.13778315e-01 1.97445823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.19687500000003 meters Centerline goodness : 0.995297 Centerline is valid? [True, True] Translation: X:145.01, Y:89.79, Z:19.70 [[ 8.21303152e-01 -1.09631828e-01 -5.59858906e-01 1.45007480e+02] [ 6.50782826e-02 9.92959784e-01 -9.89731465e-02 8.97850136e+01] [ 5.66767986e-01 4.48523011e-02 8.22655652e-01 1.97014037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.226875 meters Centerline goodness : 0.996148 Centerline is valid? [True, True] Translation: X:145.01, Y:89.74, Z:19.79 [[ 8.12573037e-01 -4.54834130e-02 -5.81082024e-01 1.45006051e+02] [ 4.75166203e-02 9.98801529e-01 -1.17335897e-02 8.97444267e+01] [ 5.80919298e-01 -1.80766553e-02 8.13760410e-01 1.97884664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.25687500000004 meters Centerline goodness : 0.995103 Centerline is valid? [True, True] Translation: X:145.05, Y:89.79, Z:19.74 [[ 8.22299555e-01 -1.04457605e-01 -5.59385422e-01 1.45053581e+02] [ 5.78879591e-02 9.93263448e-01 -1.00382806e-01 8.97914942e+01] [ 5.66102841e-01 5.01630559e-02 8.22806929e-01 1.97361739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.286875 meters Centerline goodness : 0.995387 Centerline is valid? [True, True] Translation: X:145.07, Y:89.79, Z:19.76 [[ 8.22490022e-01 -8.94065780e-02 -5.61708668e-01 1.45071943e+02] [ 5.43051989e-02 9.95400735e-01 -7.89197171e-02 8.97869925e+01] [ 5.66181163e-01 3.44069789e-02 8.23562415e-01 1.97599072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.31687500000004 meters Centerline goodness : 0.994989 Centerline is valid? [True, True] Translation: X:145.09, Y:89.78, Z:19.78 [[ 8.21731832e-01 -8.06967832e-02 -5.64131922e-01 1.45092380e+02] [ 5.14120880e-02 9.96384256e-01 -6.76403047e-02 8.97845756e+01] [ 5.67550520e-01 2.65789915e-02 8.22909451e-01 1.97834500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.346875 meters Centerline goodness : 0.996510 Centerline is valid? [True, True] Translation: X:145.10, Y:89.75, Z:19.86 [[ 8.11152805e-01 -3.18064388e-02 -5.83968730e-01 1.45095146e+02] [ 3.69206445e-02 9.99313253e-01 -3.14453724e-03 8.97504853e+01] [ 5.83667708e-01 -1.90098017e-02 8.11770062e-01 1.98593111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.37687500000004 meters Centerline goodness : 0.995035 Centerline is valid? [True, True] Translation: X:145.15, Y:89.81, Z:19.79 [[ 8.23457751e-01 -1.05883565e-01 -5.57410085e-01 1.45149795e+02] [ 5.01374569e-02 9.92168657e-01 -1.14401011e-01 8.98071815e+01] [ 5.65158002e-01 6.62572750e-02 8.22317704e-01 1.97916448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.406875 meters Centerline goodness : 0.994494 Centerline is valid? [True, True] Translation: X:145.16, Y:89.79, Z:19.83 [[ 8.23777534e-01 -7.65820388e-02 -5.61716802e-01 1.45160857e+02] [ 5.16093869e-02 9.96850096e-01 -6.02192408e-02 8.97903190e+01] [ 5.64559160e-01 2.06173979e-02 8.25135066e-01 1.98333674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.43687500000004 meters Centerline goodness : 0.995135 Centerline is valid? [True, True] Translation: X:145.19, Y:89.80, Z:19.83 [[ 8.22990381e-01 -9.18845888e-02 -5.60574754e-01 1.45190037e+02] [ 4.93145637e-02 9.94662273e-01 -9.06368365e-02 8.98024615e+01] [ 5.65910688e-01 4.69487452e-02 8.23128732e-01 1.98330471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.466875 meters Centerline goodness : 0.993984 Centerline is valid? [True, True] Translation: X:145.21, Y:89.80, Z:19.85 [[ 8.24679572e-01 -8.93856564e-02 -5.58492443e-01 1.45212358e+02] [ 5.16313590e-02 9.95207686e-01 -8.30413479e-02 8.98021147e+01] [ 5.63238677e-01 3.96467794e-02 8.25342551e-01 1.98511193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.496875 meters Centerline goodness : 0.995050 Centerline is valid? [True, True] Translation: X:145.23, Y:89.79, Z:19.88 [[ 8.21173455e-01 -7.67189240e-02 -5.65498332e-01 1.45230888e+02] [ 4.64597918e-02 9.96620530e-01 -6.77422102e-02 8.97937488e+01] [ 5.68784357e-01 2.93551700e-02 8.21962669e-01 1.98820352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.526875 meters Centerline goodness : 0.994467 Centerline is valid? [True, True] Translation: X:145.25, Y:89.79, Z:19.90 [[ 8.21502808e-01 -7.39458376e-02 -5.65389379e-01 1.45252473e+02] [ 4.78466856e-02 9.96998003e-01 -6.08742702e-02 8.97927942e+01] [ 5.68193481e-01 2.29563760e-02 8.22574722e-01 1.99022139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.556875 meters Centerline goodness : 0.996067 Centerline is valid? [True, True] Translation: X:145.25, Y:89.76, Z:19.98 [[ 8.09265596e-01 -2.27766404e-02 -5.87001209e-01 1.45251181e+02] [ 3.56976343e-02 9.99308109e-01 1.04394774e-02 8.97561368e+01] [ 5.86357292e-01 -2.94028644e-02 8.09518745e-01 1.99846181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.586875 meters Centerline goodness : 0.996030 Centerline is valid? [True, True] Translation: X:145.29, Y:89.77, Z:19.98 [[ 8.09349475e-01 -5.01605066e-02 -5.85181469e-01 1.45286155e+02] [ 3.62672210e-02 9.98713261e-01 -3.54473065e-02 8.97713186e+01] [ 5.86206548e-01 7.46635319e-03 8.10127235e-01 1.99806170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.616875 meters Centerline goodness : 0.994764 Centerline is valid? [True, True] Translation: X:145.34, Y:89.83, Z:19.90 [[ 8.26124567e-01 -1.29029476e-01 -5.48515810e-01 1.45341122e+02] [ 5.77804499e-02 9.87696651e-01 -1.45316016e-01 8.98332808e+01] [ 5.60517279e-01 8.83556405e-02 8.23415850e-01 1.99048594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.646875 meters Centerline goodness : 0.996103 Centerline is valid? [True, True] Translation: X:145.31, Y:89.76, Z:20.04 [[ 8.07751641e-01 -1.52385301e-02 -5.89325949e-01 1.45313411e+02] [ 3.67082854e-02 9.99026109e-01 2.44813389e-02 8.97561339e+01] [ 5.88378950e-01 -4.14079868e-02 8.07524359e-01 2.00404266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.676875 meters Centerline goodness : 0.995414 Centerline is valid? [True, True] Translation: X:145.38, Y:89.82, Z:19.95 [[ 8.22387276e-01 -1.16071240e-01 -5.56961970e-01 1.45382163e+02] [ 5.24480010e-02 9.90265822e-01 -1.28929474e-01 8.98236881e+01] [ 5.66505407e-01 7.68184166e-02 8.20469716e-01 1.99547273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.706875 meters Centerline goodness : 0.996543 Centerline is valid? [True, True] Translation: X:145.36, Y:89.76, Z:20.07 [[ 8.06420951e-01 -1.79974805e-02 -5.91067966e-01 1.45360299e+02] [ 3.57795717e-02 9.99190464e-01 1.83912612e-02 8.97584747e+01] [ 5.90258479e-01 -3.59792570e-02 8.06412067e-01 2.00731280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.736875 meters Centerline goodness : 0.996543 Centerline is valid? [True, True] Translation: X:145.40, Y:89.77, Z:20.07 [[ 8.06841356e-01 -4.92344319e-02 -5.88713001e-01 1.45398774e+02] [ 3.53365729e-02 9.98758978e-01 -3.50974455e-02 8.97748790e+01] [ 5.89710398e-01 7.51497067e-03 8.07579824e-01 2.00671078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.766875 meters Centerline goodness : 0.995810 Centerline is valid? [True, True] Translation: X:145.42, Y:89.78, Z:20.08 [[ 8.06662100e-01 -5.01547262e-02 -5.88880939e-01 1.45421320e+02] [ 3.63750486e-02 9.98716925e-01 -3.52329298e-02 8.97765888e+01] [ 5.89892459e-01 7.00049633e-03 8.07451472e-01 2.00833547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.796875 meters Centerline goodness : 0.996291 Centerline is valid? [True, True] Translation: X:145.44, Y:89.78, Z:20.10 [[ 8.06650733e-01 -5.05950696e-02 -5.88858841e-01 1.45444064e+02] [ 3.67762701e-02 9.98695248e-01 -3.54303086e-02 8.97781090e+01] [ 5.89883125e-01 6.92385262e-03 8.07458952e-01 2.00992733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.82687500000003 meters Centerline goodness : 0.996413 Centerline is valid? [True, True] Translation: X:145.47, Y:89.78, Z:20.12 [[ 8.06858237e-01 -5.13065418e-02 -5.88512892e-01 1.45466776e+02] [ 3.75277841e-02 9.98660822e-01 -3.56121876e-02 8.97799916e+01] [ 5.89551907e-01 6.64840211e-03 8.07703131e-01 2.01152697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.856875 meters Centerline goodness : 0.995331 Centerline is valid? [True, True] Translation: X:145.52, Y:89.83, Z:20.06 [[ 8.19541377e-01 -1.12418255e-01 -5.61884390e-01 1.45518739e+02] [ 5.08496027e-02 9.90966065e-01 -1.24099056e-01 8.98271722e+01] [ 5.70759362e-01 7.31327136e-02 8.17854117e-01 2.00609401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.88687500000003 meters Centerline goodness : 0.996089 Centerline is valid? [True, True] Translation: X:145.50, Y:89.77, Z:20.18 [[ 8.05472712e-01 -1.85545584e-02 -5.92342332e-01 1.45495630e+02] [ 3.75792834e-02 9.99097374e-01 1.98048934e-02 8.97657292e+01] [ 5.91440198e-01 -3.82121015e-02 8.05442939e-01 2.01752150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.916875 meters Centerline goodness : 0.995103 Centerline is valid? [True, True] Translation: X:145.57, Y:89.83, Z:20.09 [[ 8.19551384e-01 -1.16744220e-01 -5.60986913e-01 1.45566834e+02] [ 5.13620191e-02 9.90051065e-01 -1.30999357e-01 8.98330837e+01] [ 5.70699108e-01 7.85472841e-02 8.17393940e-01 2.00919881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.94687500000003 meters Centerline goodness : 0.994749 Centerline is valid? [True, True] Translation: X:145.58, Y:89.83, Z:20.12 [[ 8.21238315e-01 -9.87571679e-02 -5.61973889e-01 1.45584543e+02] [ 5.17478239e-02 9.93739890e-01 -9.90110797e-02 8.98256551e+01] [ 5.68233924e-01 5.22307665e-02 8.21207741e-01 2.01151504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.976875 meters Centerline goodness : 0.995149 Centerline is valid? [True, True] Translation: X:145.60, Y:89.82, Z:20.15 [[ 8.19275033e-01 -8.15015319e-02 -5.67578999e-01 1.45601854e+02] [ 4.81399720e-02 9.96128885e-01 -7.35512643e-02 8.98158270e+01] [ 5.71376376e-01 3.29354774e-02 8.20027006e-01 2.01472173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.00687500000004 meters Centerline goodness : 0.994984 Centerline is valid? [True, True] Translation: X:145.62, Y:89.82, Z:20.16 [[ 8.18922768e-01 -8.05135308e-02 -5.68228010e-01 1.45623601e+02] [ 4.78612233e-02 9.96242406e-01 -7.21829046e-02 8.98170255e+01] [ 5.71904540e-01 3.19161364e-02 8.19699065e-01 2.01627969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.036875 meters Centerline goodness : 0.994517 Centerline is valid? [True, True] Translation: X:145.65, Y:89.82, Z:20.18 [[ 8.17726886e-01 -7.82034617e-02 -5.70269199e-01 1.45647548e+02] [ 4.57457873e-02 9.96423392e-01 -7.10474957e-02 8.98171597e+01] [ 5.73785730e-01 3.20100339e-02 8.18379676e-01 2.01822717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.06687500000004 meters Centerline goodness : 0.994776 Centerline is valid? [True, True] Translation: X:145.67, Y:89.82, Z:20.20 [[ 8.16201628e-01 -7.44045247e-02 -5.72956254e-01 1.45669248e+02] [ 4.41562436e-02 9.96805998e-01 -6.65434372e-02 8.98161133e+01] [ 5.76077363e-01 2.90132659e-02 8.16880103e-01 2.02030243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.096875 meters Centerline goodness : 0.994737 Centerline is valid? [True, True] Translation: X:145.69, Y:89.82, Z:20.22 [[ 8.15508094e-01 -7.66048401e-02 -5.73653421e-01 1.45694015e+02] [ 4.31685306e-02 9.96491535e-01 -7.17014613e-02 8.98187674e+01] [ 5.77133457e-01 3.37093468e-02 8.15953830e-01 2.02183936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.12687500000004 meters Centerline goodness : 0.994603 Centerline is valid? [True, True] Translation: X:145.71, Y:89.81, Z:20.24 [[ 8.15707947e-01 -6.95644229e-02 -5.74265911e-01 1.45714070e+02] [ 4.22760425e-02 9.97257108e-01 -6.07535824e-02 8.98148944e+01] [ 5.76917049e-01 2.52794899e-02 8.16411456e-01 2.02409877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.156875 meters Centerline goodness : 0.994822 Centerline is valid? [True, True] Translation: X:145.74, Y:89.82, Z:20.26 [[ 8.14870087e-01 -7.25647571e-02 -5.75083556e-01 1.45737997e+02] [ 4.13294113e-02 9.96881434e-01 -6.72256364e-02 8.98179437e+01] [ 5.78168332e-01 3.10122954e-02 8.15327920e-01 2.02558469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.18687500000004 meters Centerline goodness : 0.996420 Centerline is valid? [True, True] Translation: X:145.72, Y:89.77, Z:20.36 [[ 7.97715612e-01 3.91737186e-03 -6.03021108e-01 1.45719249e+02] [ 2.58990356e-02 9.98833675e-01 4.07495984e-02 8.97678246e+01] [ 6.02477421e-01 -4.81242560e-02 7.96683760e-01 2.03613233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.216875 meters Centerline goodness : 0.996133 Centerline is valid? [True, True] Translation: X:145.76, Y:89.79, Z:20.35 [[ 7.98249613e-01 -3.81280241e-02 -6.01118798e-01 1.45762463e+02] [ 2.40189338e-02 9.99215649e-01 -3.14829843e-02 8.97883402e+01] [ 6.01847694e-01 1.06930474e-02 7.98539299e-01 2.03465169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.246875 meters Centerline goodness : 0.995015 Centerline is valid? [True, True] Translation: X:145.82, Y:89.84, Z:20.29 [[ 8.12167167e-01 -1.00889775e-01 -5.74635315e-01 1.45818715e+02] [ 3.69450042e-02 9.91851535e-01 -1.21924562e-01 8.98350102e+01] [ 5.82253861e-01 7.77932220e-02 8.09276625e-01 2.02929882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.276875 meters Centerline goodness : 0.995432 Centerline is valid? [True, True] Translation: X:145.83, Y:89.82, Z:20.33 [[ 8.11776053e-01 -7.03700433e-02 -5.79713461e-01 1.45830334e+02] [ 3.51475411e-02 9.96800881e-01 -7.17819952e-02 8.98180359e+01] [ 5.82910191e-01 3.78954020e-02 8.11652418e-01 2.03296961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.306875 meters Centerline goodness : 0.995468 Centerline is valid? [True, True] Translation: X:145.85, Y:89.81, Z:20.36 [[ 8.09997781e-01 -5.45519825e-02 -5.83890123e-01 1.45846419e+02] [ 3.18359533e-02 9.98286158e-01 -4.91041659e-02 8.98079823e+01] [ 5.85568157e-01 2.11855668e-02 8.10346287e-01 2.03606839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.336875 meters Centerline goodness : 0.996424 Centerline is valid? [True, True] Translation: X:145.84, Y:89.77, Z:20.44 [[ 7.97504073e-01 -2.57250253e-03 -6.03308077e-01 1.45838948e+02] [ 2.18130472e-02 9.99460042e-01 2.45726538e-02 8.97737676e+01] [ 6.02919103e-01 -3.27567790e-02 7.97129568e-01 2.04397366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.366875 meters Centerline goodness : 0.996220 Centerline is valid? [True, True] Translation: X:145.88, Y:89.79, Z:20.43 [[ 7.98361908e-01 -3.63047580e-02 -6.01082547e-01 1.45877447e+02] [ 2.13840447e-02 9.99260627e-01 -3.19518652e-02 8.97899013e+01] [ 6.01798128e-01 1.26555760e-02 7.98547963e-01 2.04323097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.396875 meters Centerline goodness : 0.996298 Centerline is valid? [True, True] Translation: X:145.90, Y:89.79, Z:20.45 [[ 7.98512368e-01 -3.66317677e-02 -6.00862806e-01 1.45899963e+02] [ 2.17378599e-02 9.99250453e-01 -3.20312063e-02 8.97901819e+01] [ 6.01585791e-01 1.25158429e-02 7.98710141e-01 2.04489300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.426875 meters Centerline goodness : 0.995519 Centerline is valid? [True, True] Translation: X:145.95, Y:89.82, Z:20.42 [[ 8.07890559e-01 -8.04736586e-02 -5.83812329e-01 1.45946076e+02] [ 3.08020786e-02 9.95044987e-01 -9.45341497e-02 8.98224365e+01] [ 5.88527040e-01 5.83906138e-02 8.06366207e-01 2.04151344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.456875 meters Centerline goodness : 0.995205 Centerline is valid? [True, True] Translation: X:145.96, Y:89.81, Z:20.45 [[ 8.07821861e-01 -6.16216606e-02 -5.86196735e-01 1.45961313e+02] [ 3.16107179e-02 9.97618156e-01 -6.13088685e-02 8.98095173e+01] [ 5.88578460e-01 3.09965447e-02 8.07845660e-01 2.04452141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.486875 meters Centerline goodness : 0.995912 Centerline is valid? [True, True] Translation: X:145.98, Y:89.81, Z:20.46 [[ 8.06065724e-01 -6.05207861e-02 -5.88723436e-01 1.45982475e+02] [ 3.14432179e-02 9.97732037e-01 -5.95155974e-02 8.98083035e+01] [ 5.90990163e-01 2.94621239e-02 8.06140565e-01 2.04633647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.516875 meters Centerline goodness : 0.995578 Centerline is valid? [True, True] Translation: X:146.00, Y:89.80, Z:20.49 [[ 8.04795115e-01 -5.63064914e-02 -5.90875962e-01 1.46003381e+02] [ 3.17970965e-02 9.98150718e-01 -5.18081947e-02 8.98042372e+01] [ 5.92700403e-01 2.29068420e-02 8.05097204e-01 2.04855432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.546875 meters Centerline goodness : 0.995314 Centerline is valid? [True, True] Translation: X:146.02, Y:89.80, Z:20.50 [[ 8.04462390e-01 -5.61635736e-02 -5.91342469e-01 1.46024342e+02] [ 3.42076253e-02 9.98248198e-01 -4.82739521e-02 8.98024719e+01] [ 5.93017792e-01 1.86061573e-02 8.04974353e-01 2.05040876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.57687500000003 meters Centerline goodness : 0.996725 Centerline is valid? [True, True] Translation: X:146.02, Y:89.77, Z:20.58 [[ 7.93034832e-01 -1.42567678e-02 -6.09009441e-01 1.46020910e+02] [ 2.89414275e-02 9.99478971e-01 1.42891388e-02 8.97685980e+01] [ 6.08488413e-01 -2.89573874e-02 7.93034250e-01 2.05761163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.606875 meters Centerline goodness : 0.995448 Centerline is valid? [True, True] Translation: X:146.08, Y:89.82, Z:20.52 [[ 8.03998872e-01 -9.21387467e-02 -5.87448947e-01 1.46083510e+02] [ 4.26746810e-02 9.94315454e-01 -9.75481949e-02 8.98153598e+01] [ 5.93097534e-01 5.33594423e-02 8.03360495e-01 2.05172772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.63687500000003 meters Centerline goodness : 0.995801 Centerline is valid? [True, True] Translation: X:146.10, Y:89.80, Z:20.55 [[ 8.03163174e-01 -7.14178089e-02 -5.91462942e-01 1.46097032e+02] [ 4.40147484e-02 9.97188825e-01 -6.06394981e-02 8.98012622e+01] [ 5.94130977e-01 2.26703192e-02 8.04048779e-01 2.05505677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.666875 meters Centerline goodness : 0.995676 Centerline is valid? [True, True] Translation: X:146.12, Y:89.80, Z:20.57 [[ 8.02672123e-01 -6.96253086e-02 -5.92342620e-01 1.46117816e+02] [ 4.67053556e-02 9.97450587e-01 -5.39530955e-02 8.97984252e+01] [ 5.94588995e-01 1.56410730e-02 8.03877655e-01 2.05703265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.69687500000003 meters Centerline goodness : 0.995839 Centerline is valid? [True, True] Translation: X:146.14, Y:89.80, Z:20.59 [[ 8.02257017e-01 -7.19992792e-02 -5.92621112e-01 1.46140144e+02] [ 5.04371391e-02 9.97325844e-01 -5.28890930e-02 8.97956953e+01] [ 5.94844327e-01 1.25405326e-02 8.03743095e-01 2.05888092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.726875 meters Centerline goodness : 0.995606 Centerline is valid? [True, True] Translation: X:146.16, Y:89.80, Z:20.60 [[ 8.02812261e-01 -7.67041231e-02 -5.91277389e-01 1.46164322e+02] [ 5.28398115e-02 9.96941249e-01 -5.75855874e-02 8.97974649e+01] [ 5.93885871e-01 1.49874298e-02 8.04409690e-01 2.06017042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.75687500000004 meters Centerline goodness : 0.996017 Centerline is valid? [True, True] Translation: X:146.18, Y:89.79, Z:20.63 [[ 8.01791913e-01 -7.16522923e-02 -5.93292235e-01 1.46184433e+02] [ 5.24204872e-02 9.97391913e-01 -4.96131458e-02 8.97925025e+01] [ 5.95299773e-01 8.67875104e-03 8.03456818e-01 2.06261435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.786875 meters Centerline goodness : 0.995610 Centerline is valid? [True, True] Translation: X:146.21, Y:89.79, Z:20.64 [[ 8.01139907e-01 -7.57523232e-02 -5.93663570e-01 1.46208555e+02] [ 5.29334785e-02 9.97038342e-01 -5.57906032e-02 8.97948481e+01] [ 5.96131610e-01 1.32714009e-02 8.02777039e-01 2.06390278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.81687500000004 meters Centerline goodness : 0.996069 Centerline is valid? [True, True] Translation: X:146.23, Y:89.79, Z:20.66 [[ 8.01188991e-01 -7.53753478e-02 -5.93645313e-01 1.46230356e+02] [ 5.29190017e-02 9.97073158e-01 -5.51787638e-02 8.97936979e+01] [ 5.96066926e-01 1.27935008e-02 8.02832826e-01 2.06559714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.846875 meters Centerline goodness : 0.995939 Centerline is valid? [True, True] Translation: X:146.26, Y:89.80, Z:20.67 [[ 8.01651286e-01 -8.01895586e-02 -5.92389103e-01 1.46256410e+02] [ 5.23687186e-02 9.96572684e-01 -6.40343869e-02 8.97974232e+01] [ 5.95493688e-01 2.03105904e-02 8.03103199e-01 2.06680552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.87687500000004 meters Centerline goodness : 0.996694 Centerline is valid? [True, True] Translation: X:146.28, Y:89.80, Z:20.69 [[ 8.01873000e-01 -7.65947624e-02 -5.92564709e-01 1.46277105e+02] [ 5.10560230e-02 9.96905656e-01 -5.97695155e-02 8.97964999e+01] [ 5.95309142e-01 1.76735633e-02 8.03302353e-01 2.06867086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.906875 meters Centerline goodness : 0.995993 Centerline is valid? [True, True] Translation: X:146.30, Y:89.79, Z:20.71 [[ 8.02416767e-01 -7.07966477e-02 -5.92549716e-01 1.46298599e+02] [ 4.95645975e-02 9.97413741e-01 -5.20497847e-02 8.97937986e+01] [ 5.94702180e-01 1.23961318e-02 8.03850517e-01 2.07094279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.93687500000004 meters Centerline goodness : 0.996613 Centerline is valid? [True, True] Translation: X:146.32, Y:89.80, Z:20.72 [[ 8.01547716e-01 -7.45530977e-02 -5.93264777e-01 1.46323262e+02] [ 4.61376207e-02 9.96949850e-01 -6.29469278e-02 8.97985080e+01] [ 5.96148119e-01 2.30831409e-02 8.02542578e-01 2.07207651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.966875 meters Centerline goodness : 0.996314 Centerline is valid? [True, True] Translation: X:146.34, Y:89.80, Z:20.74 [[ 8.01764755e-01 -6.90168871e-02 -5.93641261e-01 1.46343839e+02] [ 4.19665606e-02 9.97359231e-01 -5.92737105e-02 8.97990497e+01] [ 5.96164479e-01 2.26104900e-02 8.02543880e-01 2.07389112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.996875 meters Centerline goodness : 0.996039 Centerline is valid? [True, True] Translation: X:146.37, Y:89.80, Z:20.76 [[ 8.01955936e-01 -6.38154478e-02 -5.93964869e-01 1.46365141e+02] [ 3.97873159e-02 9.97775902e-01 -5.34810114e-02 8.97978006e+01] [ 5.96056748e-01 1.92571467e-02 8.02711353e-01 2.07597173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.026875 meters Centerline goodness : 0.996205 Centerline is valid? [True, True] Translation: X:146.39, Y:89.80, Z:20.78 [[ 7.99392180e-01 -5.98722765e-02 -5.97818913e-01 1.46386624e+02] [ 3.42035575e-02 9.97943642e-01 -5.42088927e-02 8.97976117e+01] [ 5.99835194e-01 2.28866313e-02 7.99796188e-01 2.07791701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.056875 meters Centerline goodness : 0.997255 Centerline is valid? [True, True] Translation: X:146.38, Y:89.76, Z:20.85 [[ 7.87192684e-01 -1.04371703e-02 -6.16618799e-01 1.46382992e+02] [ 2.03248669e-02 9.99752694e-01 9.02502060e-03 8.97646508e+01] [ 6.16372110e-01 -1.96371252e-02 7.87210141e-01 2.08540183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.086875 meters Centerline goodness : 0.996278 Centerline is valid? [True, True] Translation: X:146.44, Y:89.81, Z:20.81 [[ 7.97535006e-01 -7.22636949e-02 -5.98928938e-01 1.46438927e+02] [ 2.86171002e-02 9.96213859e-01 -8.20914670e-02 8.98085384e+01] [ 6.02593541e-01 4.83312092e-02 7.96583403e-01 2.08051272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.116875 meters Centerline goodness : 0.995626 Centerline is valid? [True, True] Translation: X:146.45, Y:89.80, Z:20.84 [[ 7.96974958e-01 -4.87664899e-02 -6.02040485e-01 1.46450050e+02] [ 2.72827995e-02 9.98624527e-01 -4.47739073e-02 8.97962541e+01] [ 6.03395861e-01 1.92583330e-02 7.97209227e-01 2.08406959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.146875 meters Centerline goodness : 0.996060 Centerline is valid? [True, True] Translation: X:146.48, Y:89.80, Z:20.85 [[ 7.97859600e-01 -5.74851131e-02 -6.00096260e-01 1.46478592e+02] [ 2.70123210e-02 9.97852420e-01 -5.96731259e-02 8.98025727e+01] [ 6.02237821e-01 3.14007835e-02 7.97698939e-01 2.08492650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.176875 meters Centerline goodness : 0.996022 Centerline is valid? [True, True] Translation: X:146.50, Y:89.80, Z:20.87 [[ 7.96949230e-01 -5.56744819e-02 -6.01475084e-01 1.46500433e+02] [ 2.57123411e-02 9.97967549e-01 -5.83064815e-02 8.98026951e+01] [ 6.03498799e-01 3.10019731e-02 7.96760992e-01 2.08672068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.206875 meters Centerline goodness : 0.996201 Centerline is valid? [True, True] Translation: X:146.52, Y:89.80, Z:20.88 [[ 7.97026541e-01 -5.37795971e-02 -6.01545050e-01 1.46521597e+02] [ 2.57488894e-02 9.98147650e-01 -5.51204441e-02 8.98024793e+01] [ 6.03395134e-01 2.84433399e-02 7.96934934e-01 2.08845875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.236875 meters Centerline goodness : 0.996227 Centerline is valid? [True, True] Translation: X:146.55, Y:89.81, Z:20.90 [[ 7.97286949e-01 -5.80675860e-02 -6.00800863e-01 1.46547052e+02] [ 2.60090864e-02 9.97742358e-01 -6.19169967e-02 8.98065719e+01] [ 6.03039840e-01 3.37393318e-02 7.96997245e-01 2.08976915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.266875 meters Centerline goodness : 0.995775 Centerline is valid? [True, True] Translation: X:146.56, Y:89.80, Z:20.93 [[ 8.00478932e-01 -3.79241797e-02 -5.98159876e-01 1.46561549e+02] [ 2.89979237e-02 9.99277959e-01 -2.45495736e-02 8.97951760e+01] [ 5.98659002e-01 2.30602198e-03 8.01000675e-01 2.09333928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.296875 meters Centerline goodness : 0.996267 Centerline is valid? [True, True] Translation: X:146.60, Y:89.81, Z:20.93 [[ 7.97152812e-01 -6.66259866e-02 -6.00090303e-01 1.46595371e+02] [ 2.75132192e-02 9.96868927e-01 -7.41307358e-02 8.98131094e+01] [ 6.03150410e-01 4.25831085e-02 7.96489964e-01 2.09276407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.32687500000003 meters Centerline goodness : 0.995882 Centerline is valid? [True, True] Translation: X:146.62, Y:89.82, Z:20.94 [[ 7.98067057e-01 -6.72931039e-02 -5.98799308e-01 1.46618732e+02] [ 2.92574354e-02 9.96899922e-01 -7.30379847e-02 8.98154155e+01] [ 6.01857936e-01 4.07698774e-02 7.97561810e-01 2.09418965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.356875 meters Centerline goodness : 0.995958 Centerline is valid? [True, True] Translation: X:146.63, Y:89.81, Z:20.97 [[ 7.95507662e-01 -5.33741878e-02 -6.03588234e-01 1.46633692e+02] [ 2.71634054e-02 9.98252827e-01 -5.24732508e-02 8.98075865e+01] [ 6.05334378e-01 2.53473612e-02 7.95567597e-01 2.09721286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.38687500000003 meters Centerline goodness : 0.996512 Centerline is valid? [True, True] Translation: X:146.66, Y:89.81, Z:20.99 [[ 7.92633145e-01 -5.40964126e-02 -6.07294225e-01 1.46655761e+02] [ 2.46978657e-02 9.98087319e-01 -5.66720298e-02 8.98088189e+01] [ 6.09198419e-01 2.99212580e-02 7.92453156e-01 2.09903514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.416875 meters Centerline goodness : 0.996538 Centerline is valid? [True, True] Translation: X:146.68, Y:89.81, Z:21.01 [[ 7.91648949e-01 -5.36914803e-02 -6.08612492e-01 1.46676555e+02] [ 2.56048834e-02 9.98171590e-01 -5.47527887e-02 8.98095260e+01] [ 6.10439457e-01 2.77615358e-02 7.91576254e-01 2.10087878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.44687500000003 meters Centerline goodness : 0.996057 Centerline is valid? [True, True] Translation: X:146.70, Y:89.81, Z:21.03 [[ 7.91952890e-01 -5.15841829e-02 -6.08399287e-01 1.46698321e+02] [ 2.74906649e-02 9.98426816e-01 -4.88687621e-02 8.98084101e+01] [ 6.09963019e-01 2.19764565e-02 7.92125086e-01 2.10305072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.476875 meters Centerline goodness : 0.996189 Centerline is valid? [True, True] Translation: X:146.72, Y:89.81, Z:21.04 [[ 7.89480808e-01 -5.77425553e-02 -6.11053068e-01 1.46722820e+02] [ 2.70141756e-02 9.97869076e-01 -5.93931019e-02 8.98134058e+01] [ 6.13180470e-01 3.03826191e-02 7.89358352e-01 2.10437788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.50687500000004 meters Centerline goodness : 0.996086 Centerline is valid? [True, True] Translation: X:146.74, Y:89.81, Z:21.07 [[ 7.88270064e-01 -5.41749644e-02 -6.12939947e-01 1.46742436e+02] [ 2.76998013e-02 9.98231110e-01 -5.26058235e-02 8.98119529e+01] [ 6.14705642e-01 2.44892811e-02 7.88376337e-01 2.10652536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.536875 meters Centerline goodness : 0.995318 Centerline is valid? [True, True] Translation: X:146.77, Y:89.81, Z:21.09 [[ 7.88707737e-01 -5.45917454e-02 -6.12339650e-01 1.46766024e+02] [ 3.02698311e-02 9.98289806e-01 -5.00120039e-02 8.98113770e+01] [ 6.14022673e-01 2.09094366e-02 7.89011377e-01 2.10853676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.56687500000004 meters Centerline goodness : 0.996877 Centerline is valid? [True, True] Translation: X:146.76, Y:89.78, Z:21.16 [[ 7.77243222e-01 -9.95180409e-03 -6.29121559e-01 1.46762730e+02] [ 2.18301369e-02 9.99699449e-01 1.11560521e-02 8.97769731e+01] [ 6.28821452e-01 -2.24047756e-02 7.77226870e-01 2.11597491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.596875 meters Centerline goodness : 0.996840 Centerline is valid? [True, True] Translation: X:146.79, Y:89.79, Z:21.16 [[ 7.76910667e-01 -3.05769578e-02 -6.28867923e-01 1.46794534e+02] [ 2.41419399e-02 9.99532238e-01 -1.87742513e-02 8.97866262e+01] [ 6.29147822e-01 -5.96175455e-04 7.77285445e-01 2.11648641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.62687500000004 meters Centerline goodness : 0.995386 Centerline is valid? [True, True] Translation: X:146.84, Y:89.83, Z:21.12 [[ 7.94347807e-01 -8.86238043e-02 -6.00963712e-01 1.46843769e+02] [ 4.57538064e-02 9.95219098e-01 -8.62875176e-02 8.98268608e+01] [ 6.05737692e-01 4.10459230e-02 7.94604984e-01 2.11185174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.656875 meters Centerline goodness : 0.995386 Centerline is valid? [True, True] Translation: X:146.86, Y:89.82, Z:21.15 [[ 7.94080483e-01 -7.28479902e-02 -6.03431320e-01 1.46859010e+02] [ 4.44384172e-02 9.97092979e-01 -6.18936051e-02 8.98183448e+01] [ 6.06185957e-01 2.23329711e-02 7.95009323e-01 2.11469175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.68687500000004 meters Centerline goodness : 0.995556 Centerline is valid? [True, True] Translation: X:146.89, Y:89.83, Z:21.16 [[ 7.90640187e-01 -8.64339068e-02 -6.06149548e-01 1.46889021e+02] [ 4.51297081e-02 9.95519600e-01 -8.30905305e-02 8.98279131e+01] [ 6.10615594e-01 3.83393604e-02 7.90998539e-01 2.11556986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.716875 meters Centerline goodness : 0.996911 Centerline is valid? [True, True] Translation: X:146.87, Y:89.77, Z:21.26 [[ 7.75739153e-01 -4.97522976e-03 -6.31034083e-01 1.46866300e+02] [ 3.17615987e-02 9.99009371e-01 3.11685455e-02 8.97738249e+01] [ 6.30253891e-01 -4.42213124e-02 7.75128704e-01 2.12591424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.746875 meters Centerline goodness : 0.995278 Centerline is valid? [True, True] Translation: X:146.94, Y:89.84, Z:21.17 [[ 7.90769837e-01 -1.12107357e-01 -6.01759923e-01 1.46943299e+02] [ 5.12036509e-02 9.91754727e-01 -1.17476581e-01 8.98430100e+01] [ 6.09968238e-01 6.20846317e-02 7.89990030e-01 2.11745938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.776875 meters Centerline goodness : 0.994757 Centerline is valid? [True, True] Translation: X:146.95, Y:89.82, Z:21.21 [[ 7.95389826e-01 -8.03451594e-02 -6.00749266e-01 1.46951363e+02] [ 5.39596392e-02 9.96625901e-01 -6.18479638e-02 8.98230196e+01] [ 6.03691463e-01 1.67770275e-02 7.97041497e-01 2.12142188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.806875 meters Centerline goodness : 0.995491 Centerline is valid? [True, True] Translation: X:146.97, Y:89.82, Z:21.24 [[ 7.94274980e-01 -7.63055159e-02 -6.02747646e-01 1.46972748e+02] [ 5.24394727e-02 9.96989599e-01 -5.71125325e-02 8.98213865e+01] [ 6.05291135e-01 1.37552869e-02 7.95885314e-01 2.12359349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.836875 meters Centerline goodness : 0.993956 Centerline is valid? [True, True] Translation: X:147.00, Y:89.82, Z:21.25 [[ 7.96104486e-01 -7.64796600e-02 -6.00307012e-01 1.46995829e+02] [ 5.38526999e-02 9.96999693e-01 -5.56012521e-02 8.98223254e+01] [ 6.02758271e-01 1.19362529e-02 7.97834565e-01 2.12536494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.866875 meters Centerline goodness : 0.996387 Centerline is valid? [True, True] Translation: X:146.97, Y:89.77, Z:21.36 [[ 7.79714263e-01 5.18155242e-03 -6.26114063e-01 1.46969182e+02] [ 3.57864310e-02 9.97962374e-01 5.28245362e-02 8.97696710e+01] [ 6.25111990e-01 -6.35944320e-02 7.77940067e-01 2.13647285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.896875 meters Centerline goodness : 0.996647 Centerline is valid? [True, True] Translation: X:147.02, Y:89.80, Z:21.34 [[ 7.75899947e-01 -4.84022990e-02 -6.28996414e-01 1.47020672e+02] [ 3.39605083e-02 9.98811252e-01 -3.49680916e-02 8.97984878e+01] [ 6.29941232e-01 5.77070246e-03 7.76621364e-01 2.13406071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.926875 meters Centerline goodness : 0.996509 Centerline is valid? [True, True] Translation: X:147.04, Y:89.80, Z:21.36 [[ 7.75798974e-01 -3.72091565e-02 -6.29882077e-01 1.47037644e+02] [ 3.24167468e-02 9.99291825e-01 -1.91050476e-02 8.97951369e+01] [ 6.30146893e-01 -5.59705151e-03 7.76455772e-01 2.13646266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.956875 meters Centerline goodness : 0.996441 Centerline is valid? [True, True] Translation: X:147.05, Y:89.79, Z:21.39 [[ 7.79828047e-01 -2.19760913e-02 -6.25607919e-01 1.47052025e+02] [ 2.96629029e-02 9.99558223e-01 1.86311723e-03 8.97895433e+01] [ 6.25290596e-01 -2.00102580e-02 7.80135412e-01 2.13923185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.986875 meters Centerline goodness : 0.996671 Centerline is valid? [True, True] Translation: X:147.09, Y:89.80, Z:21.39 [[ 7.75432890e-01 -4.63055499e-02 -6.29729807e-01 1.47087702e+02] [ 2.82199847e-02 9.98852364e-01 -3.86986664e-02 8.98045253e+01] [ 6.30799069e-01 1.22372532e-02 7.75849717e-01 2.13912475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.016875 meters Centerline goodness : 0.996793 Centerline is valid? [True, True] Translation: X:147.10, Y:89.80, Z:21.42 [[ 7.75402205e-01 -3.25971758e-02 -6.30625757e-01 1.47104006e+02] [ 2.60306438e-02 9.99467881e-01 -1.96560503e-02 8.98004133e+01] [ 6.30930921e-01 -1.17424973e-03 7.75838124e-01 2.14164987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.046875 meters Centerline goodness : 0.995855 Centerline is valid? [True, True] Translation: X:147.16, Y:89.85, Z:21.37 [[ 7.88813239e-01 -8.90986780e-02 -6.08140691e-01 1.47158587e+02] [ 3.53371136e-02 9.94374771e-01 -9.98504053e-02 8.98484165e+01] [ 6.13616300e-01 5.72733849e-02 7.87524474e-01 2.13659123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.07687500000003 meters Centerline goodness : 0.996893 Centerline is valid? [True, True] Translation: X:147.13, Y:89.79, Z:21.47 [[ 7.74476274e-01 -4.26022747e-04 -6.32602813e-01 1.47134731e+02] [ 1.86683100e-02 9.99579641e-01 2.21818797e-02 8.97917390e+01] [ 6.32327443e-01 -2.89889649e-02 7.74158669e-01 2.14695190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.106875 meters Centerline goodness : 0.996530 Centerline is valid? [True, True] Translation: X:147.17, Y:89.81, Z:21.47 [[ 7.74381902e-01 -2.48338522e-02 -6.32230931e-01 1.47169438e+02] [ 1.57990237e-02 9.99676825e-01 -1.99157426e-02 8.98054076e+01] [ 6.32521194e-01 5.43375914e-03 7.74523991e-01 2.14685707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.13687500000003 meters Centerline goodness : 0.994755 Centerline is valid? [True, True] Translation: X:147.22, Y:89.85, Z:21.42 [[ 7.94812836e-01 -8.23925709e-02 -6.01235412e-01 1.47221613e+02] [ 3.35336226e-02 9.95189644e-01 -9.20492682e-02 8.98524122e+01] [ 6.05927432e-01 5.30003384e-02 7.93752425e-01 2.14160038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.166875 meters Centerline goodness : 0.994830 Centerline is valid? [True, True] Translation: X:147.24, Y:89.84, Z:21.45 [[ 7.94017147e-01 -6.40864279e-02 -6.04507817e-01 1.47239354e+02] [ 2.57447429e-02 9.97080317e-01 -7.18891425e-02 8.98417366e+01] [ 6.07349964e-01 4.15183135e-02 7.93348757e-01 2.14470759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.19687500000003 meters Centerline goodness : 0.995706 Centerline is valid? [True, True] Translation: X:147.26, Y:89.84, Z:21.46 [[ 7.88947087e-01 -6.17170088e-02 -6.11353830e-01 1.47260987e+02] [ 2.07521077e-02 9.97051696e-01 -7.38733138e-02 8.98435561e+01] [ 6.14110613e-01 4.55952551e-02 7.87901788e-01 2.14645569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.226875 meters Centerline goodness : 0.995258 Centerline is valid? [True, True] Translation: X:147.27, Y:89.83, Z:21.50 [[ 7.92096409e-01 -3.54426530e-02 -6.09366143e-01 1.47271989e+02] [ 1.89002244e-02 9.99258241e-01 -3.35521811e-02 8.98271703e+01] [ 6.10103319e-01 1.50594053e-02 7.92178739e-01 2.15023509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.25687500000004 meters Centerline goodness : 0.995677 Centerline is valid? [True, True] Translation: X:147.30, Y:89.84, Z:21.51 [[ 7.87021910e-01 -5.21083921e-02 -6.14720447e-01 1.47301373e+02] [ 1.57811275e-02 9.97800877e-01 -6.43767527e-02 8.98391084e+01] [ 6.16723170e-01 4.09649331e-02 7.86113481e-01 2.15101776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.286875 meters Centerline goodness : 0.995645 Centerline is valid? [True, True] Translation: X:147.32, Y:89.83, Z:21.54 [[ 7.90168518e-01 -4.02437962e-02 -6.11566963e-01 1.47319508e+02] [ 1.54346037e-02 9.98832052e-01 -4.57854288e-02 8.98328876e+01] [ 6.12695264e-01 2.67389107e-02 7.89866789e-01 2.15357157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.31687500000004 meters Centerline goodness : 0.995443 Centerline is valid? [True, True] Translation: X:147.34, Y:89.83, Z:21.55 [[ 7.89125944e-01 -3.94422028e-02 -6.12963749e-01 1.47342551e+02] [ 1.27771605e-02 9.98774312e-01 -4.78186029e-02 8.98331972e+01] [ 6.14098517e-01 2.99029640e-02 7.88662681e-01 2.15543304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.346875 meters Centerline goodness : 0.996602 Centerline is valid? [True, True] Translation: X:147.33, Y:89.80, Z:21.64 [[ 7.70416717e-01 1.90055680e-02 -6.37257304e-01 1.47327911e+02] [-1.55559234e-03 9.99608624e-01 2.79316929e-02 8.97974772e+01] [ 6.37538754e-01 -2.05277305e-02 7.70144759e-01 2.16357046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.37687500000004 meters Centerline goodness : 0.995343 Centerline is valid? [True, True] Translation: X:147.40, Y:89.86, Z:21.56 [[ 7.89857562e-01 -7.00997983e-02 -6.09270917e-01 1.47400863e+02] [ 1.48850785e-02 9.95344708e-01 -9.52226176e-02 8.98570970e+01] [ 6.13109669e-01 6.61432592e-02 7.87223986e-01 2.15638550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.406875 meters Centerline goodness : 0.995710 Centerline is valid? [True, True] Translation: X:147.41, Y:89.84, Z:21.60 [[ 7.87258767e-01 -4.48958564e-02 -6.14986175e-01 1.47412674e+02] [ 8.54820927e-03 9.98044663e-01 -6.19175174e-02 8.98415658e+01] [ 6.16563510e-01 4.34880779e-02 7.86103190e-01 2.15998476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.43687500000004 meters Centerline goodness : 0.997284 Centerline is valid? [True, True] Translation: X:147.39, Y:89.80, Z:21.69 [[ 7.65714729e-01 2.72242214e-02 -6.42603918e-01 1.47389918e+02] [-6.87100347e-03 9.99393017e-01 3.41524033e-02 8.97955614e+01] [ 6.43143641e-01 -2.17356645e-02 7.65437011e-01 2.16935519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.466875 meters Centerline goodness : 0.995463 Centerline is valid? [True, True] Translation: X:147.46, Y:89.85, Z:21.63 [[ 7.84267970e-01 -5.76731454e-02 -6.17735833e-01 1.47457057e+02] [ 9.80077484e-03 9.96697460e-01 -8.06109037e-02 8.98509902e+01] [ 6.20344820e-01 5.71662600e-02 7.82243135e-01 2.16274185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.496875 meters Centerline goodness : 0.997080 Centerline is valid? [True, True] Translation: X:147.44, Y:89.80, Z:21.72 [[ 7.65460736e-01 1.23843057e-02 -6.43363421e-01 1.47441193e+02] [-8.16231751e-03 9.99921213e-01 9.53643954e-03 8.98017303e+01] [ 6.43430835e-01 -2.04843351e-03 7.65501512e-01 2.17199410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.526875 meters Centerline goodness : 0.996978 Centerline is valid? [True, True] Translation: X:147.47, Y:89.81, Z:21.73 [[ 7.65591431e-01 -3.36219258e-03 -6.43318317e-01 1.47470927e+02] [-8.38112335e-03 9.99849353e-01 -1.51996330e-02 8.98092404e+01] [ 6.43272507e-01 1.70284389e-02 7.65447917e-01 2.17273218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.556875 meters Centerline goodness : 0.995728 Centerline is valid? [True, True] Translation: X:147.53, Y:89.85, Z:21.68 [[ 7.83758614e-01 -6.24403898e-02 -6.17918791e-01 1.47527981e+02] [ 8.11408457e-03 9.95877820e-01 -9.03411846e-02 8.98500088e+01] [ 6.21012557e-01 6.57918363e-02 7.81034466e-01 2.16802632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.586875 meters Centerline goodness : 0.996970 Centerline is valid? [True, True] Translation: X:147.50, Y:89.79, Z:21.78 [[ 7.63234642e-01 2.34520702e-02 -6.45695657e-01 1.47499019e+02] [-7.83265402e-03 9.99603456e-01 2.70477544e-02 8.97945469e+01] [ 6.46073936e-01 -1.55862725e-02 7.63115678e-01 2.17828337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.616875 meters Centerline goodness : 0.994775 Centerline is valid? [True, True] Translation: X:147.57, Y:89.85, Z:21.72 [[ 7.80526061e-01 -6.00053531e-02 -6.22236632e-01 1.47569950e+02] [ 7.11148282e-03 9.96170249e-01 -8.71450621e-02 8.98474602e+01] [ 6.25082791e-01 6.35939669e-02 7.77963567e-01 2.17199599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.646875 meters Centerline goodness : 0.994751 Centerline is valid? [True, True] Translation: X:147.58, Y:89.84, Z:21.75 [[ 7.77479246e-01 -4.26308692e-02 -6.27462055e-01 1.47583820e+02] [ 3.89928224e-03 9.98007498e-01 -6.29748297e-02 8.98395571e+01] [ 6.28896508e-01 4.65149715e-02 7.76096347e-01 2.17471481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.676875 meters Centerline goodness : 0.995729 Centerline is valid? [True, True] Translation: X:147.60, Y:89.83, Z:21.77 [[ 7.74570172e-01 -3.22627578e-02 -6.31664597e-01 1.47600126e+02] [ 2.06787651e-03 9.98822018e-01 -4.84799014e-02 8.98338042e+01] [ 6.32484602e-01 3.62448812e-02 7.73724458e-01 2.17738917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.706875 meters Centerline goodness : 0.995139 Centerline is valid? [True, True] Translation: X:147.62, Y:89.84, Z:21.79 [[ 7.73274695e-01 -3.49065946e-02 -6.33109608e-01 1.47623545e+02] [ 1.07358352e-03 9.98554161e-01 -5.37441698e-02 8.98357278e+01] [ 6.34070259e-01 4.08793105e-02 7.72194139e-01 2.17899029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.736875 meters Centerline goodness : 0.995195 Centerline is valid? [True, True] Translation: X:147.64, Y:89.83, Z:21.82 [[ 7.73424772e-01 -2.49892868e-02 -6.33395341e-01 1.47639335e+02] [ 2.58277743e-03 9.99338579e-01 -3.62730396e-02 8.98283151e+01] [ 6.33882838e-01 2.64185482e-02 7.72977754e-01 2.18174324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.766875 meters Centerline goodness : 0.995107 Centerline is valid? [True, True] Translation: X:147.66, Y:89.83, Z:21.84 [[ 7.72366621e-01 -2.90343589e-02 -6.34513049e-01 1.47661830e+02] [ 2.67550624e-03 9.99094573e-01 -4.24602753e-02 8.98296330e+01] [ 6.35171351e-01 3.10972557e-02 7.71744981e-01 2.18355762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.796875 meters Centerline goodness : 0.995498 Centerline is valid? [True, True] Translation: X:147.68, Y:89.83, Z:21.86 [[ 7.69263608e-01 -2.81312120e-02 -6.38311943e-01 1.47680455e+02] [ 2.07242625e-03 9.99134878e-01 -4.15355427e-02 8.98269848e+01] [ 6.38928170e-01 3.06289270e-02 7.68656401e-01 2.18584522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.82687500000003 meters Centerline goodness : 0.995967 Centerline is valid? [True, True] Translation: X:147.70, Y:89.82, Z:21.88 [[ 7.67746321e-01 -2.56734032e-02 -6.40239379e-01 1.47698655e+02] [ 2.92357368e-03 9.99326931e-01 -3.65668859e-02 8.98247440e+01] [ 6.40747250e-01 2.62023052e-02 7.67304633e-01 2.18811852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.856875 meters Centerline goodness : 0.995447 Centerline is valid? [True, True] Translation: X:147.72, Y:89.83, Z:21.90 [[ 7.68695672e-01 -3.22713468e-02 -6.38800066e-01 1.47723435e+02] [ 5.82686853e-03 9.99038246e-01 -4.34583879e-02 8.98273621e+01] [ 6.39588158e-01 2.96840707e-02 7.68144416e-01 2.18965108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.88687500000003 meters Centerline goodness : 0.995015 Centerline is valid? [True, True] Translation: X:147.75, Y:89.83, Z:21.91 [[ 7.68486756e-01 -3.56724156e-02 -6.38870555e-01 1.47746615e+02] [ 7.70174410e-03 9.98888119e-01 -4.65103042e-02 8.98280162e+01] [ 6.39819342e-01 3.08221352e-02 7.67907030e-01 2.19137771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.916875 meters Centerline goodness : 0.995315 Centerline is valid? [True, True] Translation: X:147.77, Y:89.83, Z:21.93 [[ 7.67198871e-01 -4.03117980e-02 -6.40141275e-01 1.47768432e+02] [ 1.21698877e-02 9.98758264e-01 -4.83096755e-02 8.98286099e+01] [ 6.41293838e-01 2.92726811e-02 7.66736802e-01 2.19314229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.94687500000003 meters Centerline goodness : 0.995782 Centerline is valid? [True, True] Translation: X:147.79, Y:89.83, Z:21.95 [[ 7.65177382e-01 -3.75368246e-02 -6.42724328e-01 1.47788111e+02] [ 1.18085408e-02 9.98949236e-01 -4.42829882e-02 8.98269009e+01] [ 6.43711219e-01 2.62947045e-02 7.64816615e-01 2.19532959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.976875 meters Centerline goodness : 0.995430 Centerline is valid? [True, True] Translation: X:147.81, Y:89.83, Z:21.97 [[ 7.65313392e-01 -4.41599519e-02 -6.42141193e-01 1.47812477e+02] [ 1.49577982e-02 9.98594473e-01 -5.08462641e-02 8.98301446e+01] [ 6.43484015e-01 2.93083085e-02 7.64898259e-01 2.19676746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.00687500000004 meters Centerline goodness : 0.995461 Centerline is valid? [True, True] Translation: X:147.84, Y:89.83, Z:21.99 [[ 7.64559697e-01 -4.66041808e-02 -6.42865865e-01 1.47835251e+02] [ 1.75679366e-02 9.98518797e-01 -5.14935013e-02 8.98300392e+01] [ 6.44313462e-01 2.80760290e-02 7.64245968e-01 2.19874017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.036875 meters Centerline goodness : 0.996635 Centerline is valid? [True, True] Translation: X:147.82, Y:89.79, Z:22.07 [[ 7.50367692e-01 1.47104646e-02 -6.60856965e-01 1.47819434e+02] [ 8.81465339e-03 9.99440776e-01 3.22557987e-02 8.97882144e+01] [ 6.60961896e-01 -3.00289344e-02 7.49818401e-01 2.20720722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.06687500000004 meters Centerline goodness : 0.995759 Centerline is valid? [True, True] Translation: X:147.89, Y:89.84, Z:22.01 [[ 7.64096755e-01 -7.73304732e-02 -6.40449956e-01 1.47891302e+02] [ 2.53906260e-02 9.95625004e-01 -8.99231192e-02 8.98446075e+01] [ 6.44601788e-01 5.24485383e-02 7.62717304e-01 2.20070067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.096875 meters Centerline goodness : 0.997638 Centerline is valid? [True, True] Translation: X:147.86, Y:89.79, Z:22.11 [[ 7.49893783e-01 1.03868259e-02 -6.61476703e-01 1.47859775e+02] [ 1.79816829e-02 9.99187298e-01 3.60749466e-02 8.97865931e+01] [ 6.61313824e-01 -3.89468425e-02 7.49097570e-01 2.21121561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.12687500000004 meters Centerline goodness : 0.997629 Centerline is valid? [True, True] Translation: X:147.90, Y:89.80, Z:22.11 [[ 7.49744837e-01 -1.93858660e-02 -6.61443020e-01 1.47895509e+02] [ 2.08590941e-02 9.99766416e-01 -5.65784145e-03 8.97994473e+01] [ 6.61398200e-01 -9.55516477e-03 7.49974080e-01 2.21130045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.156875 meters Centerline goodness : 0.997112 Centerline is valid? [True, True] Translation: X:147.92, Y:89.80, Z:22.13 [[ 7.49840599e-01 -2.14612537e-02 -6.61270362e-01 1.47916546e+02] [ 2.34125386e-02 9.99708498e-01 -5.89671943e-03 8.98006119e+01] [ 6.61204151e-01 -1.10604182e-02 7.50124481e-01 2.21307245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.18687500000004 meters Centerline goodness : 0.997215 Centerline is valid? [True, True] Translation: X:147.94, Y:89.80, Z:22.15 [[ 7.49891326e-01 -2.35536827e-02 -6.61141606e-01 1.47938078e+02] [ 2.60549623e-02 9.99642140e-01 -6.06052243e-03 8.98023844e+01] [ 6.61047758e-01 -1.26812864e-02 7.50236661e-01 2.21482228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.216875 meters Centerline goodness : 0.997153 Centerline is valid? [True, True] Translation: X:147.96, Y:89.80, Z:22.17 [[ 7.49922988e-01 -2.51847657e-02 -6.61045566e-01 1.47959803e+02] [ 2.80184151e-02 9.99587572e-01 -6.29718360e-03 8.98049711e+01] [ 6.60931525e-01 -1.37990463e-02 7.50319336e-01 2.21662203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.246875 meters Centerline goodness : 0.997058 Centerline is valid? [True, True] Translation: X:147.98, Y:89.81, Z:22.18 [[ 7.49861776e-01 -2.55974913e-02 -6.61099149e-01 1.47979983e+02] [ 2.83603724e-02 9.99576402e-01 -6.53500920e-03 8.98065140e+01] [ 6.60986389e-01 -1.38486645e-02 7.50270090e-01 2.21838711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.276875 meters Centerline goodness : 0.997463 Centerline is valid? [True, True] Translation: X:148.00, Y:89.81, Z:22.20 [[ 7.50266445e-01 -2.57636601e-02 -6.60633405e-01 1.48001873e+02] [ 2.84824928e-02 9.99572272e-01 -6.63481685e-03 8.98085336e+01] [ 6.60521771e-01 -1.38386057e-02 7.50679348e-01 2.22019989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.306875 meters Centerline goodness : 0.997036 Centerline is valid? [True, True] Translation: X:148.02, Y:89.81, Z:22.22 [[ 7.50305915e-01 -2.39830056e-02 -6.60655621e-01 1.48022800e+02] [ 2.59010048e-02 9.99640885e-01 -6.87304511e-03 8.98130836e+01] [ 6.60583206e-01 -1.19547580e-02 7.50657653e-01 2.22183878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.336875 meters Centerline goodness : 0.997154 Centerline is valid? [True, True] Translation: X:148.04, Y:89.82, Z:22.24 [[ 7.50400060e-01 -2.22913639e-02 -6.60607936e-01 1.48042927e+02] [ 2.35551104e-02 9.99698196e-01 -6.97672516e-03 8.98153780e+01] [ 6.60564083e-01 -1.03253579e-02 7.50698661e-01 2.22357436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.366875 meters Centerline goodness : 0.996104 Centerline is valid? [True, True] Translation: X:148.10, Y:89.87, Z:22.18 [[ 7.66801798e-01 -9.71221473e-02 -6.34493728e-01 1.48103887e+02] [ 3.87868530e-02 9.93691243e-01 -1.05229722e-01 8.98707462e+01] [ 6.40710997e-01 5.60803252e-02 7.65731294e-01 2.21762657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.396875 meters Centerline goodness : 0.996094 Centerline is valid? [True, True] Translation: X:148.11, Y:89.85, Z:22.22 [[ 7.66982080e-01 -5.93128084e-02 -6.38921341e-01 1.48109475e+02] [ 3.43249958e-02 9.98085506e-01 -5.14501483e-02 8.98515355e+01] [ 6.40749782e-01 1.75303694e-02 7.67549609e-01 2.22201741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.426875 meters Centerline goodness : 0.996407 Centerline is valid? [True, True] Translation: X:148.14, Y:89.86, Z:22.23 [[ 7.67966081e-01 -6.71977040e-02 -6.36955703e-01 1.48136390e+02] [ 3.24697420e-02 9.97286963e-01 -6.60638305e-02 8.98616876e+01] [ 6.39666956e-01 3.00529937e-02 7.68064452e-01 2.22294797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.456875 meters Centerline goodness : 0.997132 Centerline is valid? [True, True] Translation: X:148.11, Y:89.81, Z:22.33 [[ 7.50573835e-01 2.17038252e-02 -6.60430058e-01 1.48111429e+02] [ 9.19576958e-03 9.99020578e-01 4.32819064e-02 8.98093515e+01] [ 6.60722601e-01 -3.85594291e-02 7.49639123e-01 2.23327278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.486875 meters Centerline goodness : 0.996260 Centerline is valid? [True, True] Translation: X:148.18, Y:89.87, Z:22.27 [[ 7.63626691e-01 -7.13947720e-02 -6.41698577e-01 1.48181940e+02] [ 2.03104617e-02 9.96031937e-01 -8.66479440e-02 8.98704621e+01] [ 6.45338486e-01 5.31334884e-02 7.62046633e-01 2.22667060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.516875 meters Centerline goodness : 0.996292 Centerline is valid? [True, True] Translation: X:148.20, Y:89.87, Z:22.29 [[ 7.62917609e-01 -5.73415863e-02 -6.43947719e-01 1.48197977e+02] [ 1.68048820e-02 9.97481121e-01 -6.89130623e-02 8.98667059e+01] [ 6.46277276e-01 4.17535233e-02 7.61959530e-01 2.22880103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.546875 meters Centerline goodness : 0.996292 Centerline is valid? [True, True] Translation: X:148.22, Y:89.86, Z:22.31 [[ 7.62095888e-01 -4.91158990e-02 -6.45598549e-01 1.48216138e+02] [ 1.56258711e-02 9.98223363e-01 -5.74973811e-02 8.98622109e+01] [ 6.47275590e-01 3.37304780e-02 7.61509399e-01 2.23120198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.57687500000003 meters Centerline goodness : 0.997562 Centerline is valid? [True, True] Translation: X:148.19, Y:89.81, Z:22.41 [[ 7.43823593e-01 3.12118502e-02 -6.67646826e-01 1.48193476e+02] [-2.54520338e-03 9.99034081e-01 4.38682829e-02 8.98117716e+01] [ 6.68371143e-01 -3.09309668e-02 7.43184560e-01 2.24080633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.606875 meters Centerline goodness : 0.997755 Centerline is valid? [True, True] Translation: X:148.23, Y:89.83, Z:22.41 [[ 7.43663535e-01 2.08755687e-03 -6.68550813e-01 1.48229321e+02] [-4.53171558e-03 9.99987892e-01 -1.91838827e-03 8.98259503e+01] [ 6.68538713e-01 4.45631754e-03 7.43663990e-01 2.24082959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.63687500000003 meters Centerline goodness : 0.997296 Centerline is valid? [True, True] Translation: X:148.25, Y:89.83, Z:22.43 [[ 7.43146372e-01 3.88136390e-03 -6.69117631e-01 1.48249224e+02] [-7.04739300e-03 9.99973113e-01 -2.02652709e-03 8.98273838e+01] [ 6.69091775e-01 6.22154117e-03 7.43153745e-01 2.24264610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.666875 meters Centerline goodness : 0.997835 Centerline is valid? [True, True] Translation: X:148.27, Y:89.83, Z:22.45 [[ 7.43070676e-01 4.49059671e-03 -6.69197882e-01 1.48270432e+02] [-7.96537124e-03 9.99965998e-01 -2.13448041e-03 8.98282604e+01] [ 6.69165543e-01 6.91647937e-03 7.43081179e-01 2.24456557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.69687500000003 meters Centerline goodness : 0.996615 Centerline is valid? [True, True] Translation: X:148.32, Y:89.87, Z:22.40 [[ 7.57987692e-01 -5.58232218e-02 -6.49875701e-01 1.48320119e+02] [ 6.30197256e-03 9.96911287e-01 -7.82826349e-02 8.98737808e+01] [ 6.52238410e-01 5.52417749e-02 7.55998282e-01 2.23982095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.726875 meters Centerline goodness : 0.997207 Centerline is valid? [True, True] Translation: X:148.30, Y:89.82, Z:22.49 [[ 7.42064484e-01 2.37501350e-02 -6.69907630e-01 1.48302719e+02] [-1.12502088e-02 9.99672640e-01 2.29792573e-02 8.98210458e+01] [ 6.70234089e-01 -9.51548998e-03 7.42088756e-01 2.24914598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.75687500000004 meters Centerline goodness : 0.995813 Centerline is valid? [True, True] Translation: X:148.36, Y:89.88, Z:22.43 [[ 7.57816114e-01 -5.72561039e-02 -6.49951134e-01 1.48363363e+02] [ 4.08433130e-03 9.96539021e-01 -8.30258875e-02 8.98759980e+01] [ 6.52455405e-01 6.02637396e-02 7.55427181e-01 2.24334351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.786875 meters Centerline goodness : 0.997150 Centerline is valid? [True, True] Translation: X:148.34, Y:89.82, Z:22.53 [[ 7.41358923e-01 2.76764176e-02 -6.70537817e-01 1.48341783e+02] [-1.32361896e-02 9.99557924e-01 2.66225332e-02 8.98190434e+01] [ 6.70978205e-01 -1.08614869e-02 7.41397516e-01 2.25310413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.81687500000004 meters Centerline goodness : 0.997088 Centerline is valid? [True, True] Translation: X:148.37, Y:89.83, Z:22.54 [[ 7.41390077e-01 1.00331339e-02 -6.70999321e-01 1.48372157e+02] [-1.48021264e-02 9.99889457e-01 -1.40406232e-03 8.98272403e+01] [ 6.70911060e-01 1.09731746e-02 7.41456633e-01 2.25399195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.846875 meters Centerline goodness : 0.996879 Centerline is valid? [True, True] Translation: X:148.39, Y:89.83, Z:22.56 [[ 7.41244084e-01 9.61666528e-03 -6.71166691e-01 1.48392256e+02] [-1.44743225e-02 9.99893866e-01 -1.65884466e-03 8.98276684e+01] [ 6.71079505e-01 1.09442919e-02 7.41304607e-01 2.25577959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.87687500000004 meters Centerline goodness : 0.997382 Centerline is valid? [True, True] Translation: X:148.41, Y:89.83, Z:22.58 [[ 7.41173275e-01 9.47391749e-03 -6.71246916e-01 1.48412704e+02] [-1.43853508e-02 9.99894956e-01 -1.77150201e-03 8.98276674e+01] [ 6.71159622e-01 1.09691123e-02 7.41231705e-01 2.25756792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.906875 meters Centerline goodness : 0.995450 Centerline is valid? [True, True] Translation: X:148.47, Y:89.88, Z:22.52 [[ 7.56856397e-01 -6.45605224e-02 -6.50384758e-01 1.48471888e+02] [ 2.55903354e-03 9.95394427e-01 -9.58299875e-02 8.98812888e+01] [ 6.53576198e-01 7.08651826e-02 7.53535852e-01 2.25199945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.93687500000004 meters Centerline goodness : 0.997162 Centerline is valid? [True, True] Translation: X:148.44, Y:89.81, Z:22.63 [[ 7.36431547e-01 3.86501995e-02 -6.75407091e-01 1.48437951e+02] [-1.55520302e-02 9.99070026e-01 4.02146358e-02 8.98128800e+01] [ 6.76333284e-01 -1.91113750e-02 7.36347774e-01 2.26316035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.966875 meters Centerline goodness : 0.996139 Centerline is valid? [True, True] Translation: X:148.51, Y:89.87, Z:22.57 [[ 7.52427314e-01 -5.31661702e-02 -6.56526082e-01 1.48506758e+02] [-1.73816722e-04 9.96721013e-01 -8.09147192e-02 8.98700737e+01] [ 6.58675267e-01 6.09965600e-02 7.49950873e-01 2.25703677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.996875 meters Centerline goodness : 0.997391 Centerline is valid? [True, True] Translation: X:148.48, Y:89.81, Z:22.67 [[ 7.37387677e-01 3.25803554e-02 -6.74683581e-01 1.48480391e+02] [-1.15236623e-02 9.99297493e-01 3.56612515e-02 8.98134613e+01] [ 6.75371467e-01 -1.85213416e-02 7.37245102e-01 2.26671331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.026875 meters Centerline goodness : 0.996089 Centerline is valid? [True, True] Translation: X:148.53, Y:89.85, Z:22.63 [[ 7.47049880e-01 -2.74578382e-02 -6.64200680e-01 1.48528347e+02] [ 4.76598860e-04 9.99168475e-01 -4.07692494e-02 8.98531784e+01] [ 6.64767816e-01 3.01401056e-02 7.46441776e-01 2.26303628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.056875 meters Centerline goodness : 0.997401 Centerline is valid? [True, True] Translation: X:148.53, Y:89.82, Z:22.69 [[ 7.37473140e-01 9.40786606e-03 -6.75310936e-01 1.48533273e+02] [-1.06452745e-02 9.99940680e-01 2.30516621e-03 8.98216001e+01] [ 6.75292564e-01 5.48887215e-03 7.37529542e-01 2.26931654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.086875 meters Centerline goodness : 0.997285 Centerline is valid? [True, True] Translation: X:148.55, Y:89.82, Z:22.71 [[ 7.37352551e-01 7.94641372e-03 -6.75461375e-01 1.48554567e+02] [-9.98332647e-03 9.99949791e-01 8.65754149e-04 8.98217409e+01] [ 6.75434341e-01 6.10498540e-03 7.37394861e-01 2.27112518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.116875 meters Centerline goodness : 0.996738 Centerline is valid? [True, True] Translation: X:148.58, Y:89.84, Z:22.70 [[ 7.43434531e-01 -1.58953081e-02 -6.68619801e-01 1.48577582e+02] [ 3.48002336e-03 9.99795938e-01 -1.98990441e-02 8.98431929e+01] [ 6.68799662e-01 1.24668240e-02 7.43338140e-01 2.27007004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.146875 meters Centerline goodness : 0.996478 Centerline is valid? [True, True] Translation: X:148.62, Y:89.86, Z:22.70 [[ 7.47417723e-01 -5.03741190e-02 -6.62441843e-01 1.48619408e+02] [ 6.78665438e-03 9.97648107e-01 -6.82070120e-02 8.98598479e+01] [ 6.64319719e-01 4.64833658e-02 7.46001748e-01 2.26982573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.176875 meters Centerline goodness : 0.996748 Centerline is valid? [True, True] Translation: X:148.62, Y:89.82, Z:22.77 [[ 7.39298846e-01 -8.50801655e-04 -6.73376932e-01 1.48620398e+02] [-2.18230947e-03 9.99990923e-01 -3.65942563e-03 8.98211260e+01] [ 6.73373933e-01 4.17492600e-03 7.39290278e-01 2.27661343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.206875 meters Centerline goodness : 0.996995 Centerline is valid? [True, True] Translation: X:148.64, Y:89.82, Z:22.79 [[ 7.39663145e-01 -2.66367445e-05 -6.72977289e-01 1.48640477e+02] [-2.40251761e-05 9.99999998e-01 -6.59863049e-05 8.98196512e+01] [ 6.72977289e-01 6.49760384e-05 7.39663142e-01 2.27868151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.236875 meters Centerline goodness : 0.996006 Centerline is valid? [True, True] Translation: X:148.69, Y:89.86, Z:22.74 [[ 7.51845704e-01 -5.88962460e-02 -6.56703335e-01 1.48687515e+02] [ 1.48571261e-02 9.97262862e-01 -7.24296191e-02 8.98613411e+01] [ 6.59171680e-01 4.46991737e-02 7.50662827e-01 2.27444411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.266875 meters Centerline goodness : 0.994596 Centerline is valid? [True, True] Translation: X:148.73, Y:89.90, Z:22.71 [[ 7.62291794e-01 -1.09295636e-01 -6.37938622e-01 1.48734536e+02] [ 2.84890283e-02 9.90349803e-01 -1.35630539e-01 8.98997212e+01] [ 6.46606215e-01 8.52157951e-02 7.58049254e-01 2.27143153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.296875 meters Centerline goodness : 0.996627 Centerline is valid? [True, True] Translation: X:148.68, Y:89.80, Z:22.87 [[ 7.35482501e-01 4.38916354e-02 -6.76120563e-01 1.48677067e+02] [-2.43082246e-03 9.98064049e-01 6.21469576e-02 8.97981075e+01] [ 6.77539358e-01 -4.40644708e-02 7.34165336e-01 2.28668237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.32687500000003 meters Centerline goodness : 0.996277 Centerline is valid? [True, True] Translation: X:148.72, Y:89.82, Z:22.86 [[ 7.35867434e-01 2.34134980e-03 -6.77121583e-01 1.48718061e+02] [-2.87233073e-03 9.99995818e-01 3.36254780e-04 8.98156804e+01] [ 6.77119538e-01 1.69747819e-03 7.35871082e-01 2.28611953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.356875 meters Centerline goodness : 0.996267 Centerline is valid? [True, True] Translation: X:148.74, Y:89.82, Z:22.88 [[ 7.36148130e-01 2.07796970e-03 -6.76817267e-01 1.48739288e+02] [-2.66987568e-03 9.99996422e-01 1.66275719e-04 8.98157879e+01] [ 6.76815191e-01 1.68461441e-03 7.36151044e-01 2.28803368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.38687500000003 meters Centerline goodness : 0.996560 Centerline is valid? [True, True] Translation: X:148.76, Y:89.82, Z:22.90 [[ 7.36338364e-01 1.80657299e-03 -6.76611078e-01 1.48759496e+02] [-2.52401155e-03 9.99996812e-01 -7.67934591e-05 8.98164025e+01] [ 6.76608782e-01 1.76432015e-03 7.36340576e-01 2.28980058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.416875 meters Centerline goodness : 0.996582 Centerline is valid? [True, True] Translation: X:148.78, Y:89.82, Z:22.92 [[ 7.36569211e-01 1.59765718e-03 -6.76360292e-01 1.48781364e+02] [-2.33772465e-03 9.99997251e-01 -1.83693836e-04 8.98170011e+01] [ 6.76358139e-01 1.71644735e-03 7.36570921e-01 2.29164818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.44687500000003 meters Centerline goodness : 0.995791 Centerline is valid? [True, True] Translation: X:148.80, Y:89.82, Z:22.94 [[ 7.36472737e-01 9.53454251e-04 -6.76466554e-01 1.48803064e+02] [-1.69099799e-03 9.99998477e-01 -4.31538151e-04 8.98173500e+01] [ 6.76465112e-01 1.46171967e-03 7.36473228e-01 2.29351277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.476875 meters Centerline goodness : 0.995726 Centerline is valid? [True, True] Translation: X:148.82, Y:89.82, Z:22.95 [[ 7.36208756e-01 5.01886579e-04 -6.76754325e-01 1.48824146e+02] [-1.30549469e-03 9.99998918e-01 -6.78577993e-04 8.98174584e+01] [ 6.76753252e-01 1.38307424e-03 7.36208614e-01 2.29536676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.50687500000004 meters Centerline goodness : 0.995906 Centerline is valid? [True, True] Translation: X:148.84, Y:89.82, Z:22.97 [[ 7.35724362e-01 -1.65077889e-04 -6.77281061e-01 1.48844426e+02] [-6.35698217e-04 9.99999362e-01 -9.34289305e-04 8.98172884e+01] [ 6.77280783e-01 1.11792577e-03 7.35723787e-01 2.29712131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.536875 meters Centerline goodness : 0.995940 Centerline is valid? [True, True] Translation: X:148.87, Y:89.82, Z:22.99 [[ 7.35419605e-01 -5.30626932e-04 -6.77611779e-01 1.48865602e+02] [-2.43136358e-04 9.99999422e-01 -1.04696213e-03 8.98173210e+01] [ 6.77611943e-01 9.34708539e-04 7.35419051e-01 2.29900298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.56687500000004 meters Centerline goodness : 0.995746 Centerline is valid? [True, True] Translation: X:148.89, Y:89.82, Z:23.01 [[ 7.34977829e-01 -6.10897253e-04 -6.78090863e-01 1.48886687e+02] [-3.69847102e-04 9.99999084e-01 -1.30178146e-03 8.98172171e+01] [ 6.78091037e-01 1.20757046e-03 7.34976930e-01 2.30083874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.596875 meters Centerline goodness : 0.995267 Centerline is valid? [True, True] Translation: X:148.91, Y:89.82, Z:23.03 [[ 7.34798662e-01 -6.03794955e-04 -6.78285016e-01 1.48907308e+02] [-6.11658014e-04 9.99998607e-01 -1.55279799e-03 8.98172410e+01] [ 6.78285009e-01 1.55587235e-03 7.34797269e-01 2.30263753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.62687500000004 meters Centerline goodness : 0.996026 Centerline is valid? [True, True] Translation: X:148.93, Y:89.82, Z:23.04 [[ 7.34711627e-01 -3.26884735e-04 -6.78379480e-01 1.48927491e+02] [-1.08976756e-03 9.99998025e-01 -1.66212131e-03 8.98169752e+01] [ 6.78378683e-01 1.96045580e-03 7.34709820e-01 2.30441615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.656875 meters Centerline goodness : 0.994542 Centerline is valid? [True, True] Translation: X:148.99, Y:89.87, Z:22.99 [[ 7.51524139e-01 -7.83732744e-02 -6.55033662e-01 1.48992974e+02] [ 1.37851729e-02 9.94566979e-01 -1.03181843e-01 8.98708732e+01] [ 6.59561549e-01 6.85138936e-02 7.48521482e-01 2.29874022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.68687500000004 meters Centerline goodness : 0.994629 Centerline is valid? [True, True] Translation: X:149.00, Y:89.85, Z:23.03 [[ 7.50943567e-01 -4.37421802e-02 -6.58916066e-01 1.48999403e+02] [ 1.08136858e-02 9.98484518e-01 -5.39604720e-02 8.98508255e+01] [ 6.60277838e-01 3.33959580e-02 7.50278539e-01 2.30259246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.716875 meters Centerline goodness : 0.994652 Centerline is valid? [True, True] Translation: X:149.02, Y:89.85, Z:23.05 [[ 7.49882310e-01 -3.92819801e-02 -6.60404003e-01 1.49018628e+02] [ 9.31048816e-03 9.98763405e-01 -4.88362180e-02 8.98485535e+01] [ 6.61505734e-01 3.04727323e-02 7.49320743e-01 2.30469059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.746875 meters Centerline goodness : 0.994739 Centerline is valid? [True, True] Translation: X:149.04, Y:89.85, Z:23.07 [[ 7.49730117e-01 -3.56716219e-02 -6.60781573e-01 1.49037567e+02] [ 8.58918130e-03 9.98986491e-01 -4.41838902e-02 8.98465929e+01] [ 6.61687976e-01 2.74504204e-02 7.49276649e-01 2.30677101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.776875 meters Centerline goodness : 0.995731 Centerline is valid? [True, True] Translation: X:149.01, Y:89.80, Z:23.16 [[ 7.32625795e-01 4.06576249e-02 -6.79416222e-01 1.49012396e+02] [-7.03809891e-03 9.98613431e-01 5.21697251e-02 8.97967097e+01] [ 6.80595261e-01 -3.34390878e-02 7.31896111e-01 2.31620818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.806875 meters Centerline goodness : 0.994635 Centerline is valid? [True, True] Translation: X:149.10, Y:89.87, Z:23.08 [[ 7.51261669e-01 -7.63526022e-02 -6.55573173e-01 1.49097256e+02] [ 8.35516296e-03 9.94306572e-01 -1.06229149e-01 8.98669862e+01] [ 6.59951586e-01 7.43284674e-02 7.47622353e-01 2.30831117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.836875 meters Centerline goodness : 0.995319 Centerline is valid? [True, True] Translation: X:149.10, Y:89.84, Z:23.13 [[ 7.51078207e-01 -3.69224502e-02 -6.59179990e-01 1.49100314e+02] [ 6.46563269e-03 9.98798447e-01 -4.85783710e-02 8.98438611e+01] [ 6.60181583e-01 3.22241401e-02 7.50414474e-01 2.31256354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.866875 meters Centerline goodness : 0.994281 Centerline is valid? [True, True] Translation: X:149.13, Y:89.85, Z:23.14 [[ 7.51061536e-01 -4.43730316e-02 -6.58739404e-01 1.49125977e+02] [ 5.94900426e-03 9.98153294e-01 -6.04533737e-02 8.98483849e+01] [ 6.60205406e-01 4.14853602e-02 7.49938522e-01 2.31393394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.896875 meters Centerline goodness : 0.995885 Centerline is valid? [True, True] Translation: X:149.10, Y:89.79, Z:23.24 [[ 7.33079042e-01 4.26253873e-02 -6.78806448e-01 1.49095424e+02] [-9.58232335e-03 9.98582450e-01 5.23571385e-02 8.97924910e+01] [ 6.80075949e-01 -3.18773781e-02 7.32448316e-01 2.32403044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.926875 meters Centerline goodness : 0.995679 Centerline is valid? [True, True] Translation: X:149.14, Y:89.81, Z:23.24 [[ 7.33636050e-01 6.35442160e-03 -6.79512889e-01 1.49135607e+02] [-1.02287533e-02 9.99946253e-01 -1.69253902e-03 8.98075467e+01] [ 6.79465612e-01 8.19227733e-03 7.33661617e-01 2.32386629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.956875 meters Centerline goodness : 0.995656 Centerline is valid? [True, True] Translation: X:149.16, Y:89.81, Z:23.26 [[ 7.33787133e-01 6.22146321e-03 -6.79350968e-01 1.49155850e+02] [-1.02885994e-02 9.99945159e-01 -1.95557221e-03 8.98074694e+01] [ 6.79301545e-01 8.42454372e-03 7.33810901e-01 2.32561502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.986875 meters Centerline goodness : 0.995512 Centerline is valid? [True, True] Translation: X:149.18, Y:89.81, Z:23.27 [[ 7.33866215e-01 5.99207131e-03 -6.79267601e-01 1.49176591e+02] [-1.00798458e-02 9.99947056e-01 -2.06914659e-03 8.98072820e+01] [ 6.79219240e-01 8.36538948e-03 7.33887760e-01 2.32748177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.016875 meters Centerline goodness : 0.996117 Centerline is valid? [True, True] Translation: X:149.20, Y:89.81, Z:23.29 [[ 7.33961331e-01 5.51854031e-03 -6.79168837e-01 1.49197477e+02] [-9.65504928e-03 9.99950723e-01 -2.30894641e-03 8.98069721e+01] [ 6.79122628e-01 8.25208598e-03 7.33978446e-01 2.32931364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.046875 meters Centerline goodness : 0.995873 Centerline is valid? [True, True] Translation: X:149.22, Y:89.81, Z:23.31 [[ 7.33894913e-01 5.35691624e-03 -6.79241901e-01 1.49218340e+02] [-9.66561508e-03 9.99950017e-01 -2.55711147e-03 8.98064481e+01] [ 6.79194252e-01 8.44194186e-03 7.33910009e-01 2.33115329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.07687500000003 meters Centerline goodness : 0.993131 Centerline is valid? [True, True] Translation: X:149.29, Y:89.86, Z:23.25 [[ 7.51801840e-01 -7.58340083e-02 -6.55013891e-01 1.49285694e+02] [ 7.31249996e-03 9.94262506e-01 -1.06717371e-01 8.98617214e+01] [ 6.59348558e-01 7.54405266e-02 7.48042917e-01 2.32499415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.106875 meters Centerline goodness : 0.992126 Centerline is valid? [True, True] Translation: X:149.30, Y:89.85, Z:23.27 [[ 7.54099478e-01 -5.66976628e-02 -6.54308300e-01 1.49299307e+02] [ 1.00474960e-02 9.97146013e-01 -7.48256394e-02 8.98533392e+01] [ 6.56683352e-01 4.98518156e-02 7.52516958e-01 2.32721283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.13687500000003 meters Centerline goodness : 0.994639 Centerline is valid? [True, True] Translation: X:149.26, Y:89.78, Z:23.39 [[ 7.30687633e-01 4.53273373e-02 -6.81205560e-01 1.49258800e+02] [-1.05001826e-02 9.98421655e-01 5.51719535e-02 8.97840083e+01] [ 6.82631181e-01 -3.31606814e-02 7.30010301e-01 2.33918288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.166875 meters Centerline goodness : 0.998457 Centerline is valid? [True, True] Translation: X:149.30, Y:89.80, Z:23.39 [[ 7.31783344e-01 5.22824257e-03 -6.81517280e-01 1.49299559e+02] [-8.29946469e-03 9.99964790e-01 -1.24039634e-03 8.98015306e+01] [ 6.81486798e-01 6.56392998e-03 7.31800969e-01 2.33892215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.19687500000003 meters Centerline goodness : 0.993217 Centerline is valid? [True, True] Translation: X:149.37, Y:89.85, Z:23.33 [[ 7.49862683e-01 -7.72592877e-02 -6.57066937e-01 1.49366702e+02] [ 9.96110836e-03 9.94363948e-01 -1.05551479e-01 8.98546871e+01] [ 6.61518506e-01 7.26040002e-02 7.46406006e-01 2.33278345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.226875 meters Centerline goodness : 0.990591 Centerline is valid? [True, True] Translation: X:149.37, Y:89.83, Z:23.37 [[ 7.51001205e-01 -4.30745953e-02 -6.58894354e-01 1.49373461e+02] [ 1.10236051e-02 9.98548773e-01 -5.27145867e-02 8.98323580e+01] [ 6.60208808e-01 3.23253270e-02 7.50386169e-01 2.33651712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.25687500000004 meters Centerline goodness : 0.993187 Centerline is valid? [True, True] Translation: X:149.39, Y:89.82, Z:23.40 [[ 7.51199658e-01 -3.44982693e-02 -6.59172924e-01 1.49387423e+02] [ 1.23800565e-02 9.99193992e-01 -3.81850775e-02 8.98247799e+01] [ 6.59958944e-01 2.05240192e-02 7.51021276e-01 2.34014117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.286875 meters Centerline goodness : 0.994248 Centerline is valid? [True, True] Translation: X:149.37, Y:89.78, Z:23.48 [[ 7.34467603e-01 2.57223362e-02 -6.78156104e-01 1.49368958e+02] [ 1.26636738e-03 9.99227753e-01 3.92720465e-02 8.97805277e+01] [ 6.78642569e-01 -2.97028406e-02 7.33867839e-01 2.34835053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.31687500000004 meters Centerline goodness : 0.994792 Centerline is valid? [True, True] Translation: X:149.40, Y:89.79, Z:23.48 [[ 7.34631859e-01 -4.04237457e-03 -6.78453897e-01 1.49404492e+02] [ 1.23902912e-03 9.99988576e-01 -4.61652315e-03 8.97926163e+01] [ 6.78464809e-01 2.55082085e-03 7.34628475e-01 2.34847270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.346875 meters Centerline goodness : 0.990233 Centerline is valid? [True, True] Translation: X:149.46, Y:89.83, Z:23.44 [[ 7.50648703e-01 -5.82703707e-02 -6.58126954e-01 1.49459496e+02] [ 1.63262967e-02 9.97435011e-01 -6.96911046e-02 8.98305151e+01] [ 6.60499793e-01 4.15687614e-02 7.49674637e-01 2.34449105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.37687500000004 meters Centerline goodness : 0.990583 Centerline is valid? [True, True] Translation: X:149.48, Y:89.83, Z:23.46 [[ 7.47541180e-01 -5.86522346e-02 -6.61620812e-01 1.49477553e+02] [ 1.51401187e-02 9.97339491e-01 -7.13072001e-02 8.98344533e+01] [ 6.64042891e-01 4.32880510e-02 7.46440342e-01 2.34560793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.406875 meters Centerline goodness : 0.991119 Centerline is valid? [True, True] Translation: X:149.49, Y:89.83, Z:23.48 [[ 7.45587698e-01 -4.81315012e-02 -6.64667092e-01 1.49493073e+02] [ 1.29390508e-02 9.98245887e-01 -5.77730964e-02 8.98276729e+01] [ 6.66281896e-01 3.44747487e-02 7.44902629e-01 2.34839195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.43687500000004 meters Centerline goodness : 0.992985 Centerline is valid? [True, True] Translation: X:149.47, Y:89.78, Z:23.58 [[ 7.28821448e-01 2.52847802e-02 -6.84236784e-01 1.49472239e+02] [-2.24121203e-03 9.99400670e-01 3.45438646e-02 8.97761445e+01] [ 6.84700134e-01 -2.36427897e-02 7.28441312e-01 2.35793865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.466875 meters Centerline goodness : 0.992985 Centerline is valid? [True, True] Translation: X:149.51, Y:89.79, Z:23.59 [[ 7.28878236e-01 1.59634106e-03 -6.84641490e-01 1.49505695e+02] [-2.22649209e-03 9.99997521e-01 -3.87130094e-05 8.97867503e+01] [ 6.84639730e-01 1.55256593e-03 7.28879983e-01 2.35853830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.496875 meters Centerline goodness : 0.989055 Centerline is valid? [True, True] Translation: X:149.57, Y:89.84, Z:23.53 [[ 7.43197650e-01 -7.00789652e-02 -6.65391758e-01 1.49565813e+02] [ 1.25132893e-02 9.95781491e-01 -9.08990659e-02 8.98425968e+01] [ 6.68954909e-01 5.92297326e-02 7.40939382e-01 2.35268936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.526875 meters Centerline goodness : 0.989402 Centerline is valid? [True, True] Translation: X:149.58, Y:89.84, Z:23.55 [[ 7.44282404e-01 -6.01756333e-02 -6.65148552e-01 1.49584678e+02] [ 1.23180632e-02 9.97000045e-01 -7.64144962e-02 8.98396117e+01] [ 6.67751427e-01 4.86806230e-02 7.42790838e-01 2.35475708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.556875 meters Centerline goodness : 0.989118 Centerline is valid? [True, True] Translation: X:149.61, Y:89.84, Z:23.57 [[ 7.43872046e-01 -5.90373411e-02 -6.65709375e-01 1.49607338e+02] [ 1.03309693e-02 9.96987428e-01 -7.68722351e-02 8.98407163e+01] [ 6.68242210e-01 5.03056836e-02 7.42240990e-01 2.35662777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.586875 meters Centerline goodness : 0.988801 Centerline is valid? [True, True] Translation: X:149.63, Y:89.85, Z:23.58 [[ 7.45366890e-01 -6.39122467e-02 -6.63583774e-01 1.49633452e+02] [ 9.32159372e-03 9.96295718e-01 -8.54865545e-02 8.98487717e+01] [ 6.66589310e-01 5.75331889e-02 7.43201604e-01 2.35775174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.616875 meters Centerline goodness : 0.989455 Centerline is valid? [True, True] Translation: X:149.64, Y:89.84, Z:23.61 [[ 7.42940585e-01 -4.51137370e-02 -6.67835338e-01 1.49644820e+02] [ 4.13505768e-03 9.98016426e-01 -6.28181021e-02 8.98363945e+01] [ 6.69344597e-01 4.39085799e-02 7.41653455e-01 2.36113703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.646875 meters Centerline goodness : 0.992815 Centerline is valid? [True, True] Translation: X:149.61, Y:89.77, Z:23.72 [[ 7.22186168e-01 4.89638935e-02 -6.89963533e-01 1.49608302e+02] [-1.36626082e-02 9.98306561e-01 5.65450602e-02 8.97722906e+01] [ 6.91563788e-01 -3.14093589e-02 7.21632164e-01 2.37249776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.676875 meters Centerline goodness : 0.990419 Centerline is valid? [True, True] Translation: X:149.70, Y:89.85, Z:23.64 [[ 7.40851875e-01 -7.33085354e-02 -6.67655868e-01 1.49695450e+02] [ 1.77927161e-03 9.94236668e-01 -1.07192733e-01 8.98509940e+01] [ 6.71666087e-01 7.82259962e-02 7.36712536e-01 2.36389929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.706875 meters Centerline goodness : 0.989990 Centerline is valid? [True, True] Translation: X:149.70, Y:89.83, Z:23.68 [[ 7.41319770e-01 -3.69409706e-02 -6.70134586e-01 1.49700824e+02] [-7.91522024e-04 9.98435272e-01 -5.59140503e-02 8.98292894e+01] [ 6.71151527e-01 4.19806172e-02 7.40130566e-01 2.36803038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.736875 meters Centerline goodness : 0.989675 Centerline is valid? [True, True] Translation: X:149.71, Y:89.82, Z:23.72 [[ 7.40929092e-01 -1.88163494e-02 -6.71319615e-01 1.49713033e+02] [-2.32407471e-03 9.99529597e-01 -3.05807730e-02 8.98152241e+01] [ 6.71579242e-01 2.42183813e-02 7.40536826e-01 2.37176335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.766875 meters Centerline goodness : 0.990281 Centerline is valid? [True, True] Translation: X:149.73, Y:89.82, Z:23.74 [[ 7.36151174e-01 -1.52931124e-02 -6.76644345e-01 1.49728772e+02] [-8.33478235e-03 9.99464037e-01 -3.16570674e-02 8.98152353e+01] [ 6.76765824e-01 2.89440707e-02 7.35629160e-01 2.37370358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.796875 meters Centerline goodness : 0.991508 Centerline is valid? [True, True] Translation: X:149.74, Y:89.81, Z:23.77 [[ 7.30970618e-01 -8.65107616e-04 -6.82408388e-01 1.49741174e+02] [-1.50325797e-02 9.99736122e-01 -1.73697358e-02 8.98061094e+01] [ 6.82243342e-01 2.29551249e-02 7.30764726e-01 2.37716799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.82687500000003 meters Centerline goodness : 0.993202 Centerline is valid? [True, True] Translation: X:149.74, Y:89.78, Z:23.83 [[ 7.17780526e-01 3.62763921e-02 -6.95323766e-01 1.49739779e+02] [-2.65334081e-02 9.99341559e-01 2.47472379e-02 8.97769946e+01] [ 6.95763677e-01 6.86223844e-04 7.18270447e-01 2.38347798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.856875 meters Centerline goodness : 0.990551 Centerline is valid? [True, True] Translation: X:149.79, Y:89.81, Z:23.81 [[ 7.32961859e-01 -1.50743942e-02 -6.80102695e-01 1.49791202e+02] [-1.15230706e-02 9.99335887e-01 -3.45688299e-02 8.98124237e+01] [ 6.80172134e-01 3.31745052e-02 7.32301387e-01 2.38054913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.88687500000003 meters Centerline goodness : 0.991409 Centerline is valid? [True, True] Translation: X:149.80, Y:89.80, Z:23.84 [[ 7.30033076e-01 8.12821626e-03 -6.83363476e-01 1.49799925e+02] [-1.85378927e-02 9.99796854e-01 -7.91190924e-03 8.97984776e+01] [ 6.83160344e-01 1.84440743e-02 7.30035452e-01 2.38407560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.916875 meters Centerline goodness : 0.990530 Centerline is valid? [True, True] Translation: X:149.82, Y:89.80, Z:23.86 [[ 7.27599467e-01 9.01710340e-03 -6.85942933e-01 1.49817957e+02] [-1.95306340e-02 9.99780570e-01 -7.57403258e-03 8.97977096e+01] [ 6.85724121e-01 1.89077624e-02 7.27615920e-01 2.38623599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.94687500000003 meters Centerline goodness : 0.991625 Centerline is valid? [True, True] Translation: X:149.83, Y:89.79, Z:23.89 [[ 7.24701357e-01 2.09233753e-02 -6.88745349e-01 1.49829040e+02] [-2.10466761e-02 9.99744654e-01 8.22579467e-03 8.97905599e+01] [ 6.88741592e-01 8.53455573e-03 7.24956675e-01 2.38948937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.976875 meters Centerline goodness : 0.991836 Centerline is valid? [True, True] Translation: X:149.85, Y:89.79, Z:23.91 [[ 7.24410988e-01 1.53156149e-02 -6.89198195e-01 1.49850827e+02] [-2.19831426e-02 9.99757946e-01 -8.89326739e-04 8.97924242e+01] [ 6.89017752e-01 1.57949803e-02 7.24572327e-01 2.39122768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.00687500000004 meters Centerline goodness : 0.990683 Centerline is valid? [True, True] Translation: X:149.88, Y:89.80, Z:23.93 [[ 7.23750040e-01 2.10467745e-03 -6.90059019e-01 1.49882228e+02] [-2.04745406e-02 9.99620578e-01 -1.84253380e-02 8.97980293e+01] [ 6.89758416e-01 2.74639805e-02 7.23518526e-01 2.39310031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.036875 meters Centerline goodness : 0.991716 Centerline is valid? [True, True] Translation: X:149.88, Y:89.78, Z:23.97 [[ 7.20210819e-01 3.14017885e-02 -6.93044229e-01 1.49879270e+02] [-2.07509691e-02 9.99503184e-01 2.37230389e-02 8.97817157e+01] [ 6.93444859e-01 -2.70424988e-03 7.20504625e-01 2.39655908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.06687500000004 meters Centerline goodness : 0.991817 Centerline is valid? [True, True] Translation: X:149.91, Y:89.79, Z:23.98 [[ 7.19792497e-01 1.85438850e-02 -6.93941558e-01 1.49905953e+02] [-2.14003353e-02 9.99760775e-01 4.51860540e-03 8.97855113e+01] [ 6.93859343e-01 1.15981238e-02 7.20017150e-01 2.39812968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.096875 meters Centerline goodness : 0.992264 Centerline is valid? [True, True] Translation: X:149.93, Y:89.79, Z:23.99 [[ 7.20558840e-01 7.51484654e-03 -6.93353074e-01 1.49931226e+02] [-1.87858731e-02 9.99785791e-01 -8.68690188e-03 8.97888118e+01] [ 6.93139272e-01 1.92846668e-02 7.20545663e-01 2.39937984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.12687500000004 meters Centerline goodness : 0.993026 Centerline is valid? [True, True] Translation: X:149.95, Y:89.79, Z:24.01 [[ 7.21572480e-01 5.51020651e-03 -6.92316975e-01 1.49951084e+02] [-1.65617512e-02 9.99819556e-01 -9.30396320e-03 8.97891152e+01] [ 6.92140784e-01 1.81794653e-02 7.21533535e-01 2.40105934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.156875 meters Centerline goodness : 0.992910 Centerline is valid? [True, True] Translation: X:149.97, Y:89.79, Z:24.03 [[ 7.20425084e-01 4.97340824e-03 -6.93514934e-01 1.49970738e+02] [-1.58047688e-02 9.99832329e-01 -9.24793003e-03 8.97874888e+01] [ 6.93352657e-01 1.76232840e-02 7.20382893e-01 2.40323114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.18687500000004 meters Centerline goodness : 0.992650 Centerline is valid? [True, True] Translation: X:149.99, Y:89.79, Z:24.05 [[ 7.20319564e-01 5.48976579e-03 -6.93620637e-01 1.49989211e+02] [-1.40169400e-02 9.99879692e-01 -6.64278216e-03 8.97854336e+01] [ 6.93500722e-01 1.45073648e-02 7.20309854e-01 2.40531695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.216875 meters Centerline goodness : 0.992105 Centerline is valid? [True, True] Translation: X:150.01, Y:89.79, Z:24.07 [[ 7.22741508e-01 -2.86892831e-03 -6.91112496e-01 1.50012490e+02] [-1.12381896e-02 9.99810383e-01 -1.59028963e-02 8.97878183e+01] [ 6.91027074e-01 1.92605365e-02 7.22572222e-01 2.40671011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.246875 meters Centerline goodness : 0.992626 Centerline is valid? [True, True] Translation: X:150.03, Y:89.78, Z:24.09 [[ 7.21055844e-01 3.21037370e-03 -6.92869514e-01 1.50028869e+02] [-1.11954890e-02 9.99912701e-01 -7.01788612e-03 8.97834674e+01] [ 6.92786498e-01 1.28173008e-02 7.21028838e-01 2.40939859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.276875 meters Centerline goodness : 0.992035 Centerline is valid? [True, True] Translation: X:150.05, Y:89.78, Z:24.11 [[ 7.21922257e-01 4.28984694e-03 -6.91960874e-01 1.50048015e+02] [-1.11953898e-02 9.99922308e-01 -5.48107212e-03 8.97827847e+01] [ 6.91883601e-01 1.17036797e-02 7.21914196e-01 2.41115945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.306875 meters Centerline goodness : 0.991720 Centerline is valid? [True, True] Translation: X:150.08, Y:89.79, Z:24.12 [[ 7.23993713e-01 -1.06528106e-02 -6.89724308e-01 1.50079888e+02] [-9.36939726e-03 9.99636645e-01 -2.52743369e-02 8.97902058e+01] [ 6.89742936e-01 2.47607621e-02 7.23630836e-01 2.41213723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.336875 meters Centerline goodness : 0.990967 Centerline is valid? [True, True] Translation: X:150.12, Y:89.81, Z:24.12 [[ 7.31321842e-01 -3.63292389e-02 -6.81064277e-01 1.50118011e+02] [-4.17810266e-03 9.98322980e-01 -5.77388259e-02 8.98078617e+01] [ 6.82019726e-01 4.50712210e-02 7.29943613e-01 2.41151059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.366875 meters Centerline goodness : 0.990183 Centerline is valid? [True, True] Translation: X:150.13, Y:89.80, Z:24.14 [[ 7.33710712e-01 -2.41532423e-02 -6.79032556e-01 1.50134475e+02] [-3.43224082e-03 9.99223485e-01 -3.92510765e-02 8.98028644e+01] [ 6.79453318e-01 3.11295386e-02 7.33058074e-01 2.41369048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.396875 meters Centerline goodness : 0.989462 Centerline is valid? [True, True] Translation: X:150.16, Y:89.80, Z:24.15 [[ 7.36007380e-01 -2.51517666e-02 -6.76506117e-01 1.50155699e+02] [-8.00731924e-04 9.99276537e-01 -3.80231815e-02 8.98044224e+01] [ 6.76973039e-01 2.85270422e-02 7.35454765e-01 2.41533951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.426875 meters Centerline goodness : 0.989006 Centerline is valid? [True, True] Translation: X:150.17, Y:89.80, Z:24.18 [[ 7.36881316e-01 -1.48332074e-02 -6.75859380e-01 1.50173180e+02] [-6.22026239e-04 9.99743947e-01 -2.26197479e-02 8.97976768e+01] [ 6.76021848e-01 1.70884719e-02 7.36683409e-01 2.41842802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.456875 meters Centerline goodness : 0.992314 Centerline is valid? [True, True] Translation: X:150.14, Y:89.75, Z:24.28 [[ 7.18295273e-01 6.28958780e-02 -6.92889608e-01 1.50143819e+02] [-1.87767208e-02 9.97295114e-01 7.10625783e-02 8.97508953e+01] [ 6.95484964e-01 -3.80337194e-02 7.17533345e-01 2.42760052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.486875 meters Centerline goodness : 0.991691 Centerline is valid? [True, True] Translation: X:150.19, Y:89.77, Z:24.27 [[ 7.18668773e-01 2.62233794e-02 -6.94857920e-01 1.50186409e+02] [-2.13917437e-02 9.99649437e-01 1.56011868e-02 8.97697181e+01] [ 6.95023444e-01 3.65213681e-03 7.18977798e-01 2.42727849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.516875 meters Centerline goodness : 0.992036 Centerline is valid? [True, True] Translation: X:150.21, Y:89.77, Z:24.29 [[ 7.18657842e-01 2.73983232e-02 -6.94823890e-01 1.50207039e+02] [-2.23889394e-02 9.99617100e-01 1.62600130e-02 8.97714115e+01] [ 6.95003339e-01 3.87098414e-03 7.18996088e-01 2.42911310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.546875 meters Centerline goodness : 0.991881 Centerline is valid? [True, True] Translation: X:150.23, Y:89.77, Z:24.31 [[ 7.19580846e-01 3.13140786e-02 -6.93702266e-01 1.50226478e+02] [-2.33439377e-02 9.99508930e-01 2.09035655e-02 8.97718040e+01] [ 6.94016186e-01 1.15193714e-03 7.19958476e-01 2.43112401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.57687500000003 meters Centerline goodness : 0.992000 Centerline is valid? [True, True] Translation: X:150.25, Y:89.78, Z:24.33 [[ 7.21342516e-01 2.90044755e-02 -6.91970891e-01 1.50251182e+02] [-2.63586851e-02 9.99548550e-01 1.44193076e-02 8.97766593e+01] [ 6.92076725e-01 7.83818324e-03 7.21781386e-01 2.43263452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.606875 meters Centerline goodness : 0.992357 Centerline is valid? [True, True] Translation: X:150.27, Y:89.78, Z:24.35 [[ 7.21196668e-01 3.03180254e-02 -6.92066604e-01 1.50271381e+02] [-2.83528140e-02 9.99496548e-01 1.42396796e-02 8.97775491e+01] [ 6.92149900e-01 9.35242624e-03 7.21693181e-01 2.43454968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.63687500000003 meters Centerline goodness : 0.990198 Centerline is valid? [True, True] Translation: X:150.33, Y:89.82, Z:24.30 [[ 7.36921190e-01 -3.19605989e-02 -6.75222689e-01 1.50330144e+02] [-1.55972265e-02 9.97811792e-01 -6.42522680e-02 8.98218842e+01] [ 6.75798703e-01 5.78804590e-02 7.34810156e-01 2.43021775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.666875 meters Centerline goodness : 0.990259 Centerline is valid? [True, True] Translation: X:150.35, Y:89.82, Z:24.33 [[ 7.33404989e-01 -1.81817898e-02 -6.79548780e-01 1.50345270e+02] [-1.56892987e-02 9.98923263e-01 -4.36595924e-02 8.98151591e+01] [ 6.79610895e-01 4.26818067e-02 7.32330045e-01 2.43317254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.69687500000003 meters Centerline goodness : 0.990560 Centerline is valid? [True, True] Translation: X:150.35, Y:89.81, Z:24.36 [[ 7.26981899e-01 1.29391820e-03 -6.86655405e-01 1.50353638e+02] [-2.32777307e-02 9.99469892e-01 -2.27614266e-02 8.98070715e+01] [ 6.86261952e-01 3.25309248e-02 7.26626639e-01 2.43579586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.726875 meters Centerline goodness : 0.990555 Centerline is valid? [True, True] Translation: X:150.37, Y:89.81, Z:24.38 [[ 7.33775491e-01 8.42976470e-03 -6.79339730e-01 1.50368189e+02] [-1.89498978e-02 9.99787928e-01 -8.06223059e-03 8.98051787e+01] [ 6.79127699e-01 1.87892856e-02 7.33779621e-01 2.43823572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.75687500000004 meters Centerline goodness : 0.991352 Centerline is valid? [True, True] Translation: X:150.41, Y:89.83, Z:24.38 [[ 7.28881932e-01 -2.92724450e-02 -6.84013343e-01 1.50410453e+02] [-2.41656807e-02 9.97362986e-01 -6.84331404e-02 8.98255560e+01] [ 6.84212796e-01 6.64093276e-02 7.26252471e-01 2.43776752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.786875 meters Centerline goodness : 0.989976 Centerline is valid? [True, True] Translation: X:150.41, Y:89.80, Z:24.42 [[ 7.31584440e-01 8.23621842e-03 -6.81701087e-01 1.50414403e+02] [-2.43135273e-02 9.99606131e-01 -1.40155619e-02 8.98035332e+01] [ 6.81317151e-01 2.68281250e-02 7.31496542e-01 2.44225505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.81687500000004 meters Centerline goodness : 0.990201 Centerline is valid? [True, True] Translation: X:150.44, Y:89.81, Z:24.43 [[ 7.35476897e-01 1.21643546e-03 -6.77548710e-01 1.50437939e+02] [-1.84261837e-02 9.99664438e-01 -1.82068166e-02 8.98086480e+01] [ 6.77299203e-01 2.58753300e-02 7.35252513e-01 2.44340591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.846875 meters Centerline goodness : 0.990469 Centerline is valid? [True, True] Translation: X:150.46, Y:89.82, Z:24.44 [[ 7.33691096e-01 -1.40436062e-02 -6.79338026e-01 1.50463848e+02] [-1.62731942e-02 9.99136459e-01 -3.82298291e-02 8.98183231e+01] [ 6.79288274e-01 3.91038848e-02 7.32828989e-01 2.44447144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.87687500000004 meters Centerline goodness : 0.989984 Centerline is valid? [True, True] Translation: X:150.48, Y:89.82, Z:24.46 [[ 7.33234943e-01 -1.65064255e-02 -6.79775004e-01 1.50484437e+02] [-1.62715501e-02 9.98993118e-01 -4.18089432e-02 8.98201770e+01] [ 6.79780667e-01 4.17167711e-02 7.32228077e-01 2.44596989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.906875 meters Centerline goodness : 0.990189 Centerline is valid? [True, True] Translation: X:150.50, Y:89.81, Z:24.49 [[ 7.30090952e-01 -1.13644344e-02 -6.83255480e-01 1.50501269e+02] [-1.75752892e-02 9.99218676e-01 -3.53998107e-02 8.98140571e+01] [ 6.83123935e-01 3.78534942e-02 7.29320781e-01 2.44871558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.93687500000004 meters Centerline goodness : 0.989396 Centerline is valid? [True, True] Translation: X:150.52, Y:89.81, Z:24.51 [[ 7.32774963e-01 -1.17155688e-02 -6.80370193e-01 1.50522424e+02] [-1.22511505e-02 9.99462580e-01 -3.04049314e-02 8.98132132e+01] [ 6.80360760e-01 3.06152901e-02 7.32237626e-01 2.45080764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.966875 meters Centerline goodness : 0.992701 Centerline is valid? [True, True] Translation: X:150.51, Y:89.77, Z:24.59 [[ 7.08528891e-01 4.43709470e-02 -7.04285475e-01 1.50505202e+02] [-2.86160852e-02 9.99006945e-01 3.41503013e-02 8.97711998e+01] [ 7.05101362e-01 -4.04258195e-03 7.09095006e-01 2.45903955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.996875 meters Centerline goodness : 0.992674 Centerline is valid? [True, True] Translation: X:150.53, Y:89.78, Z:24.60 [[ 7.08511237e-01 2.82342404e-02 -7.05134495e-01 1.50531849e+02] [-2.53693517e-02 9.99572503e-01 1.45329715e-02 8.97780048e+01] [ 7.05243379e-01 7.59203137e-03 7.08924634e-01 2.46022293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.026875 meters Centerline goodness : 0.992188 Centerline is valid? [True, True] Translation: X:150.55, Y:89.78, Z:24.62 [[ 7.08354228e-01 2.67427192e-02 -7.05350349e-01 1.50552543e+02] [-2.33809062e-02 9.99622637e-01 1.44193076e-02 8.97790899e+01] [ 7.05469787e-01 6.27775285e-03 7.08712191e-01 2.46218563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.056875 meters Centerline goodness : 0.992966 Centerline is valid? [True, True] Translation: X:150.57, Y:89.78, Z:24.64 [[ 7.08585360e-01 2.54770410e-02 -7.05165022e-01 1.50572251e+02] [-2.18538086e-02 9.99660936e-01 1.41571313e-02 8.97799053e+01] [ 7.05286608e-01 5.37900542e-03 7.08901874e-01 2.46398141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.086875 meters Centerline goodness : 0.993126 Centerline is valid? [True, True] Translation: X:150.59, Y:89.78, Z:24.66 [[ 7.08763293e-01 2.44495635e-02 -7.05022562e-01 1.50592068e+02] [-2.05203821e-02 9.99690860e-01 1.40391416e-02 8.97808112e+01] [ 7.05147862e-01 4.51690415e-03 7.09045901e-01 2.46593231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.116875 meters Centerline goodness : 0.993587 Centerline is valid? [True, True] Translation: X:150.61, Y:89.78, Z:24.68 [[ 7.09208144e-01 2.28973303e-02 -7.04627221e-01 1.50611786e+02] [-1.85909560e-02 9.99732275e-01 1.37751459e-02 8.97824126e+01] [ 7.04753989e-01 3.33024804e-03 7.09443954e-01 2.46782630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.146875 meters Centerline goodness : 0.993575 Centerline is valid? [True, True] Translation: X:150.63, Y:89.78, Z:24.70 [[ 7.08958602e-01 2.23392254e-02 -7.04896205e-01 1.50631745e+02] [-1.79141020e-02 9.99746129e-01 1.36661218e-02 8.97828162e+01] [ 7.05022543e-01 2.93886788e-03 7.09178805e-01 2.46982136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.176875 meters Centerline goodness : 0.991317 Centerline is valid? [True, True] Translation: X:150.68, Y:89.83, Z:24.65 [[ 7.23379827e-01 -4.05302990e-02 -6.89259691e-01 1.50684288e+02] [-2.65589186e-03 9.98104869e-01 -6.14785805e-02 8.98292893e+01] [ 6.90445199e-01 4.63029641e-02 7.21901283e-01 2.46527153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.206875 meters Centerline goodness : 0.990891 Centerline is valid? [True, True] Translation: X:150.70, Y:89.82, Z:24.68 [[ 7.22999131e-01 -2.94953718e-02 -6.90219009e-01 1.50699389e+02] [-2.32665541e-03 9.98978555e-01 -4.51268559e-02 8.98231719e+01] [ 6.90845022e-01 3.42325794e-02 7.22192001e-01 2.46794721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.236875 meters Centerline goodness : 0.991709 Centerline is valid? [True, True] Translation: X:150.71, Y:89.81, Z:24.72 [[ 7.18240788e-01 -1.17179022e-02 -6.95695954e-01 1.50708416e+02] [-5.95918216e-03 9.99717912e-01 -2.29909695e-02 8.98115062e+01] [ 6.95769113e-01 2.06588310e-02 7.17968352e-01 2.47173227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.266875 meters Centerline goodness : 0.993367 Centerline is valid? [True, True] Translation: X:150.71, Y:89.78, Z:24.78 [[ 7.07357008e-01 2.85663765e-02 -7.06279000e-01 1.50706376e+02] [-1.69373112e-02 9.99581145e-01 2.34662019e-02 8.97795234e+01] [ 7.06653516e-01 -4.63651513e-03 7.07544565e-01 2.47824050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.296875 meters Centerline goodness : 0.991347 Centerline is valid? [True, True] Translation: X:150.75, Y:89.81, Z:24.75 [[ 7.24405692e-01 -1.88987597e-02 -6.89114817e-01 1.50752843e+02] [-1.50729882e-03 9.99578344e-01 -2.89976159e-02 8.98133421e+01] [ 6.89372267e-01 2.20447400e-02 7.24071756e-01 2.47536023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.32687500000003 meters Centerline goodness : 0.991346 Centerline is valid? [True, True] Translation: X:150.78, Y:89.82, Z:24.76 [[ 7.21078592e-01 -3.01356084e-02 -6.92197594e-01 1.50778931e+02] [-4.35041509e-03 9.98837024e-01 -4.80174345e-02 8.98212579e+01] [ 6.92839620e-01 3.76356909e-02 7.20108892e-01 2.47628860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.356875 meters Centerline goodness : 0.991346 Centerline is valid? [True, True] Translation: X:150.80, Y:89.82, Z:24.79 [[ 7.20529287e-01 -2.27443033e-02 -6.93051400e-01 1.50795664e+02] [-5.16586045e-03 9.99258138e-01 -3.81639571e-02 8.98168549e+01] [ 6.93405264e-01 3.10784556e-02 7.19877260e-01 2.47862535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.38687500000003 meters Centerline goodness : 0.993260 Centerline is valid? [True, True] Translation: X:150.78, Y:89.77, Z:24.87 [[ 7.06258104e-01 3.79252511e-02 -7.06937880e-01 1.50783099e+02] [-2.04628643e-02 9.99240445e-01 3.31632831e-02 8.97747867e+01] [ 7.07658648e-01 -8.95586358e-03 7.06497722e-01 2.48662263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.416875 meters Centerline goodness : 0.993365 Centerline is valid? [True, True] Translation: X:150.81, Y:89.78, Z:24.88 [[ 7.06214710e-01 2.69501968e-02 -7.07484608e-01 1.50808883e+02] [-2.16640533e-02 9.99629904e-01 1.64537142e-02 8.97794459e+01] [ 7.07666201e-01 3.70712924e-03 7.06537193e-01 2.48800879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.44687500000003 meters Centerline goodness : 0.992863 Centerline is valid? [True, True] Translation: X:150.83, Y:89.80, Z:24.88 [[ 7.10868003e-01 9.59149052e-03 -7.03260041e-01 1.50831152e+02] [-1.45870169e-02 9.99892990e-01 -1.10766913e-03 8.97976132e+01] [ 7.03174161e-01 1.10458726e-02 7.10931845e-01 2.48751926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.476875 meters Centerline goodness : 0.992832 Centerline is valid? [True, True] Translation: X:150.85, Y:89.78, Z:24.91 [[ 7.05694662e-01 1.70655051e-02 -7.08310534e-01 1.50854077e+02] [-2.65416614e-02 9.99644925e-01 -2.35894164e-03 8.97840911e+01] [ 7.08018774e-01 2.04644309e-02 7.05897034e-01 2.49121249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.50687500000004 meters Centerline goodness : 0.993188 Centerline is valid? [True, True] Translation: X:150.87, Y:89.78, Z:24.94 [[ 7.06312823e-01 3.36801746e-02 -7.07098184e-01 1.50866932e+02] [-3.00909782e-02 9.99393168e-01 1.75450778e-02 8.97776868e+01] [ 7.07260015e-01 8.88496261e-03 7.06897679e-01 2.49377283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.536875 meters Centerline goodness : 0.993556 Centerline is valid? [True, True] Translation: X:150.89, Y:89.78, Z:24.96 [[ 7.06255891e-01 3.50933336e-02 -7.07086328e-01 1.50887242e+02] [-3.22113923e-02 9.99329189e-01 1.74240493e-02 8.97775682e+01] [ 7.07223475e-01 1.04703977e-02 7.06912532e-01 2.49577837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.56687500000004 meters Centerline goodness : 0.990790 Centerline is valid? [True, True] Translation: X:150.94, Y:89.82, Z:24.92 [[ 7.20881121e-01 -1.86457720e-02 -6.92807870e-01 1.50937372e+02] [-2.08252593e-02 9.98603877e-01 -4.85448824e-02 8.98178831e+01] [ 6.92745781e-01 4.94229928e-02 7.19486379e-01 2.49192723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.596875 meters Centerline goodness : 0.991055 Centerline is valid? [True, True] Translation: X:150.95, Y:89.81, Z:24.94 [[ 7.20090720e-01 -7.31009103e-03 -6.93841421e-01 1.50952211e+02] [-2.45616270e-02 9.99049317e-01 -3.60165023e-02 8.98130697e+01] [ 6.93445082e-01 4.29770232e-02 7.19226595e-01 2.49440534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.62687500000004 meters Centerline goodness : 0.992044 Centerline is valid? [True, True] Translation: X:150.97, Y:89.81, Z:24.97 [[ 7.20152997e-01 2.52947488e-03 -6.93810682e-01 1.50967528e+02] [-2.59756603e-02 9.99390574e-01 -2.33183442e-02 8.98073043e+01] [ 6.93328873e-01 3.48149660e-02 7.19779822e-01 2.49729585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.656875 meters Centerline goodness : 0.991049 Centerline is valid? [True, True] Translation: X:150.99, Y:89.81, Z:24.99 [[ 7.20508853e-01 1.89797259e-04 -6.93445713e-01 1.50993010e+02] [-2.99598720e-02 9.99074739e-01 -3.08556689e-02 8.98076325e+01] [ 6.92798239e-01 4.30073274e-02 7.19847880e-01 2.49925799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.68687500000004 meters Centerline goodness : 0.991981 Centerline is valid? [True, True] Translation: X:151.01, Y:89.81, Z:25.01 [[ 7.17822833e-01 7.60380705e-03 -6.96184288e-01 1.51008826e+02] [-3.83836172e-02 9.98851789e-01 -2.86670654e-02 8.98089734e+01] [ 6.95166943e-01 4.72999453e-02 7.17290483e-01 2.50095682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.716875 meters Centerline goodness : 0.992297 Centerline is valid? [True, True] Translation: X:151.03, Y:89.81, Z:25.03 [[ 7.17780922e-01 1.03629467e-02 -6.96191897e-01 1.51026653e+02] [-3.97800448e-02 9.98866343e-01 -2.61453180e-02 8.98059582e+01] [ 6.95131711e-01 4.64611553e-02 7.17379443e-01 2.50322602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.746875 meters Centerline goodness : 0.991340 Centerline is valid? [True, True] Translation: X:151.05, Y:89.80, Z:25.06 [[ 7.16534753e-01 1.81958875e-02 -6.97314030e-01 1.51046652e+02] [-4.26694205e-02 9.98931039e-01 -1.77792004e-02 8.97993945e+01] [ 6.96245121e-01 4.24934006e-02 7.16545214e-01 2.50624999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.776875 meters Centerline goodness : 0.992687 Centerline is valid? [True, True] Translation: X:151.06, Y:89.79, Z:25.09 [[ 7.14686593e-01 2.88852566e-02 -6.98848135e-01 1.51059399e+02] [-4.46900395e-02 9.98991159e-01 -4.41191145e-03 8.97934260e+01] [ 6.98015669e-01 3.43846847e-02 7.15256471e-01 2.50885666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.806875 meters Centerline goodness : 0.992166 Centerline is valid? [True, True] Translation: X:151.08, Y:89.79, Z:25.11 [[ 7.12900071e-01 2.99290029e-02 -7.00626679e-01 1.51077207e+02] [-4.63938456e-02 9.98912929e-01 -4.53552219e-03 8.97920646e+01] [ 6.99729305e-01 3.57381400e-02 7.13513619e-01 2.51088082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.836875 meters Centerline goodness : 0.992372 Centerline is valid? [True, True] Translation: X:151.10, Y:89.79, Z:25.13 [[ 7.11775051e-01 2.82236031e-02 -7.01840228e-01 1.51097679e+02] [-4.66254415e-02 9.98887093e-01 -7.11648161e-03 8.97906177e+01] [ 7.00858292e-01 3.77889445e-02 7.12298849e-01 2.51311201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.866875 meters Centerline goodness : 0.992643 Centerline is valid? [True, True] Translation: X:151.12, Y:89.79, Z:25.14 [[ 7.13808752e-01 1.97080296e-02 -7.00063325e-01 1.51123630e+02] [-4.48093174e-02 9.98841039e-01 -1.75699737e-02 8.97925881e+01] [ 6.98905709e-01 4.39109607e-02 7.13864579e-01 2.51429274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.896875 meters Centerline goodness : 0.992753 Centerline is valid? [True, True] Translation: X:151.12, Y:89.78, Z:25.19 [[ 7.06331285e-01 4.38007377e-02 -7.06525025e-01 1.51122203e+02] [-4.37772399e-02 9.98876258e-01 1.81597005e-02 8.97777680e+01] [ 7.06526481e-01 1.81029509e-02 7.07455027e-01 2.51856186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.926875 meters Centerline goodness : 0.993304 Centerline is valid? [True, True] Translation: X:151.16, Y:89.80, Z:25.18 [[ 7.08341093e-01 9.99329786e-03 -7.05799568e-01 1.51161257e+02] [-4.47003164e-02 9.98527897e-01 -3.07232892e-02 8.97959745e+01] [ 7.04453531e-01 5.33120323e-02 7.07745045e-01 2.51779434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.956875 meters Centerline goodness : 0.992285 Centerline is valid? [True, True] Translation: X:151.18, Y:89.79, Z:25.20 [[ 7.06579956e-01 1.53906097e-02 -7.07465826e-01 1.51177902e+02] [-4.43267876e-02 9.98762695e-01 -2.25436371e-02 8.97900721e+01] [ 7.06243515e-01 4.72885695e-02 7.06387917e-01 2.52037578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.986875 meters Centerline goodness : 0.992710 Centerline is valid? [True, True] Translation: X:151.20, Y:89.79, Z:25.22 [[ 7.10040535e-01 8.06267342e-03 -7.04114644e-01 1.51202606e+02] [-3.91470303e-02 9.98839990e-01 -2.80389818e-02 8.97895716e+01] [ 7.03071795e-01 4.74728110e-02 7.09532511e-01 2.52199339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.016875 meters Centerline goodness : 0.992611 Centerline is valid? [True, True] Translation: X:151.22, Y:89.78, Z:25.25 [[ 7.08747743e-01 2.10432593e-02 -7.05148082e-01 1.51216195e+02] [-3.62099543e-02 9.99322590e-01 -6.57268885e-03 8.97789553e+01] [ 7.04532097e-01 3.01917582e-02 7.09029606e-01 2.52502363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.046875 meters Centerline goodness : 0.991777 Centerline is valid? [True, True] Translation: X:151.23, Y:89.77, Z:25.28 [[ 7.07787700e-01 3.01314067e-02 -7.05782310e-01 1.51230658e+02] [-3.73580864e-02 9.99288426e-01 5.19759680e-03 8.97716262e+01] [ 7.05436705e-01 2.26878815e-02 7.08409709e-01 2.52780066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.07687500000003 meters Centerline goodness : 0.991679 Centerline is valid? [True, True] Translation: X:151.26, Y:89.78, Z:25.28 [[ 7.09935342e-01 1.30158315e-02 -7.04146575e-01 1.51259521e+02] [-3.50091884e-02 9.99245330e-01 -1.68263992e-02 8.97792236e+01] [ 7.03396167e-01 3.65972556e-02 7.09855248e-01 2.52843119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.106875 meters Centerline goodness : 0.992623 Centerline is valid? [True, True] Translation: X:151.26, Y:89.75, Z:25.35 [[ 6.99084892e-01 5.48402445e-02 -7.12932579e-01 1.51260193e+02] [-4.79993564e-02 9.98404753e-01 2.97323149e-02 8.97450700e+01] [ 7.13425803e-01 1.34348927e-02 7.00601975e-01 2.53476943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.13687500000003 meters Centerline goodness : 0.991774 Centerline is valid? [True, True] Translation: X:151.29, Y:89.77, Z:25.33 [[ 7.06927371e-01 2.72067795e-02 -7.06762679e-01 1.51291099e+02] [-3.59945336e-02 9.99348942e-01 2.46694588e-03 8.97681544e+01] [ 7.06369653e-01 2.36956415e-02 7.07446415e-01 2.53339765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.166875 meters Centerline goodness : 0.992242 Centerline is valid? [True, True] Translation: X:151.31, Y:89.77, Z:25.35 [[ 7.09659255e-01 2.70401667e-02 -7.04025973e-01 1.51310598e+02] [-3.81740822e-02 9.99271099e-01 -9.96178889e-05 8.97669034e+01] [ 7.03510115e-01 2.69462401e-02 7.10174217e-01 2.53490011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.19687500000003 meters Centerline goodness : 0.992837 Centerline is valid? [True, True] Translation: X:151.34, Y:89.78, Z:25.34 [[ 7.08404111e-01 4.13483532e-04 -7.05806946e-01 1.51341765e+02] [-3.96239632e-02 9.98446037e-01 -3.91848474e-02 8.97833577e+01] [ 7.04693946e-01 5.57255754e-02 7.07319661e-01 2.53449736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.226875 meters Centerline goodness : 0.992037 Centerline is valid? [True, True] Translation: X:151.36, Y:89.77, Z:25.38 [[ 7.12623231e-01 1.11347150e-02 -7.01458586e-01 1.51360665e+02] [-3.80966621e-02 9.99012887e-01 -2.28450303e-02 8.97725486e+01] [ 7.00511795e-01 4.30031301e-02 7.12343987e-01 2.53765764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.25687500000004 meters Centerline goodness : 0.991434 Centerline is valid? [True, True] Translation: X:151.39, Y:89.78, Z:25.39 [[ 7.14308712e-01 4.44883338e-03 -6.99816599e-01 1.51386264e+02] [-3.40951438e-02 9.99013563e-01 -2.84503302e-02 8.97755457e+01] [ 6.98999704e-01 4.41826663e-02 7.13755775e-01 2.53917480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.286875 meters Centerline goodness : 0.990982 Centerline is valid? [True, True] Translation: X:151.40, Y:89.77, Z:25.42 [[ 7.13118726e-01 1.61758546e-02 -7.00856637e-01 1.51401368e+02] [-3.85813987e-02 9.99124191e-01 -1.61965081e-02 8.97675296e+01] [ 6.99980828e-01 3.85900625e-02 7.13118257e-01 2.54154915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.31687500000004 meters Centerline goodness : 0.993371 Centerline is valid? [True, True] Translation: X:151.38, Y:89.72, Z:25.49 [[ 6.91075930e-01 7.47240476e-02 -7.18909156e-01 1.51384300e+02] [-5.67438845e-02 9.97180645e-01 4.91008369e-02 8.97249126e+01] [ 7.20551310e-01 6.86129159e-03 6.93367675e-01 2.54939446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.346875 meters Centerline goodness : 0.990490 Centerline is valid? [True, True] Translation: X:151.44, Y:89.77, Z:25.45 [[ 7.13831748e-01 7.78512792e-03 -7.00273966e-01 1.51443343e+02] [-3.68758933e-02 9.98968850e-01 -2.64840390e-02 8.97690221e+01] [ 6.99345698e-01 4.47283759e-02 7.13382764e-01 2.54482352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.37687500000004 meters Centerline goodness : 0.991013 Centerline is valid? [True, True] Translation: X:151.45, Y:89.74, Z:25.50 [[ 7.00684091e-01 3.81746219e-02 -7.12449650e-01 1.51451470e+02] [-4.99045461e-02 9.98744147e-01 4.43450093e-03 8.97444880e+01] [ 7.11724203e-01 3.24472922e-02 7.01709222e-01 2.54961501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.406875 meters Centerline goodness : 0.991894 Centerline is valid? [True, True] Translation: X:151.47, Y:89.75, Z:25.50 [[ 7.10281003e-01 2.63061155e-02 -7.03426531e-01 1.51473198e+02] [-3.79700808e-02 9.99278406e-01 -9.69957605e-04 8.97542423e+01] [ 7.02893427e-01 2.73981047e-02 7.10767314e-01 2.55002465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.43687500000004 meters Centerline goodness : 0.993125 Centerline is valid? [True, True] Translation: X:151.47, Y:89.72, Z:25.57 [[ 6.88643561e-01 6.70034097e-02 -7.21997637e-01 1.51465386e+02] [-5.38693919e-02 9.97697330e-01 4.12083247e-02 8.97183969e+01] [ 7.23096214e-01 1.05157263e-02 6.90667276e-01 2.55697213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.466875 meters Centerline goodness : 0.994399 Centerline is valid? [True, True] Translation: X:151.49, Y:89.72, Z:25.59 [[ 6.89003779e-01 6.16041214e-02 -7.22134839e-01 1.51487004e+02] [-5.22360665e-02 9.98010704e-01 3.52991215e-02 8.97178816e+01] [ 7.22872870e-01 1.34002554e-02 6.90851103e-01 2.55879752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.496875 meters Centerline goodness : 0.990316 Centerline is valid? [True, True] Translation: X:151.53, Y:89.74, Z:25.57 [[ 7.07184112e-01 2.61360915e-02 -7.06546202e-01 1.51525454e+02] [-3.31001735e-02 9.99444659e-01 3.84073995e-03 8.97439516e+01] [ 7.06254211e-01 2.06706916e-02 7.07656493e-01 2.55698371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.526875 meters Centerline goodness : 0.991418 Centerline is valid? [True, True] Translation: X:151.55, Y:89.75, Z:25.57 [[ 7.09636505e-01 1.01577458e-02 -7.04494749e-01 1.51552280e+02] [-3.20508549e-02 9.99326369e-01 -1.78760074e-02 8.97518327e+01] [ 7.03838599e-01 3.52651264e-02 7.09484036e-01 2.55738510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.556875 meters Centerline goodness : 0.990777 Centerline is valid? [True, True] Translation: X:151.57, Y:89.75, Z:25.60 [[ 7.07536061e-01 1.51541743e-02 -7.06514737e-01 1.51569386e+02] [-3.26521036e-02 9.99403316e-01 -1.12629054e-02 8.97460875e+01] [ 7.05922491e-01 3.10381041e-02 7.07608700e-01 2.56005895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.586875 meters Centerline goodness : 0.991472 Centerline is valid? [True, True] Translation: X:151.59, Y:89.75, Z:25.62 [[ 7.08521944e-01 9.51342391e-03 -7.05624652e-01 1.51592274e+02] [-3.05369696e-02 9.99385838e-01 -1.71883620e-02 8.97476762e+01] [ 7.05027764e-01 3.37259702e-02 7.08377308e-01 2.56172271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.616875 meters Centerline goodness : 0.991889 Centerline is valid? [True, True] Translation: X:151.61, Y:89.75, Z:25.64 [[ 7.07361005e-01 9.89312316e-03 -7.06783230e-01 1.51611922e+02] [-3.32610450e-02 9.99260310e-01 -1.93011950e-02 8.97458010e+01] [ 7.06069481e-01 3.71612615e-02 7.07166833e-01 2.56356843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.646875 meters Centerline goodness : 0.990648 Centerline is valid? [True, True] Translation: X:151.63, Y:89.74, Z:25.66 [[ 7.06346556e-01 1.89020535e-02 -7.07613776e-01 1.51627833e+02] [-3.30050932e-02 9.99435650e-01 -6.24867399e-03 8.97383629e+01] [ 7.07096321e-01 2.77685879e-02 7.06571793e-01 2.56646579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.676875 meters Centerline goodness : 0.992083 Centerline is valid? [True, True] Translation: X:151.64, Y:89.74, Z:25.68 [[ 7.05188455e-01 2.09795636e-02 -7.08709462e-01 1.51643935e+02] [-3.43363416e-02 9.99399835e-01 -4.58102991e-03 8.97364230e+01] [ 7.08188011e-01 2.75649796e-02 7.05485587e-01 2.56818171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.706875 meters Centerline goodness : 0.991421 Centerline is valid? [True, True] Translation: X:151.67, Y:89.74, Z:25.70 [[ 7.03498083e-01 1.50997441e-02 -7.10536730e-01 1.51666829e+02] [-3.48609472e-02 9.99303946e-01 -1.32792230e-02 8.97369922e+01] [ 7.09841645e-01 3.41118913e-02 7.03534802e-01 2.57021743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.736875 meters Centerline goodness : 0.992579 Centerline is valid? [True, True] Translation: X:151.68, Y:89.74, Z:25.72 [[ 7.03847781e-01 1.77310865e-02 -7.10129502e-01 1.51683881e+02] [-3.62714615e-02 9.99281435e-01 -1.09997431e-02 8.97352642e+01] [ 7.09424191e-01 3.34995797e-02 7.03985153e-01 2.57178252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.766875 meters Centerline goodness : 0.991002 Centerline is valid? [True, True] Translation: X:151.71, Y:89.73, Z:25.74 [[ 7.01919487e-01 1.49741905e-02 -7.12098874e-01 1.51705816e+02] [-3.56854820e-02 9.99262712e-01 -1.41626189e-02 8.97333474e+01] [ 7.11361778e-01 3.53526098e-02 7.01936331e-01 2.57429893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.796875 meters Centerline goodness : 0.991926 Centerline is valid? [True, True] Translation: X:151.72, Y:89.73, Z:25.76 [[ 7.02440790e-01 1.96552560e-02 -7.11470736e-01 1.51722678e+02] [-3.82228432e-02 9.99217861e-01 -1.01330960e-02 8.97298573e+01] [ 7.10715098e-01 3.43123343e-02 7.02642664e-01 2.57627054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.82687500000003 meters Centerline goodness : 0.993681 Centerline is valid? [True, True] Translation: X:151.72, Y:89.70, Z:25.83 [[ 6.83962434e-01 5.34352864e-02 -7.27557598e-01 1.51724519e+02] [-5.60962729e-02 9.98213270e-01 2.05785339e-02 8.96975070e+01] [ 7.27357269e-01 2.67383255e-02 6.85737898e-01 2.58253124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.856875 meters Centerline goodness : 0.992615 Centerline is valid? [True, True] Translation: X:151.75, Y:89.72, Z:25.81 [[ 7.01856051e-01 3.79880420e-02 -7.11305133e-01 1.51752150e+02] [-4.44594152e-02 9.98966191e-01 9.48209109e-03 8.97179939e+01] [ 7.10929985e-01 2.49691472e-02 7.02819392e-01 2.58092817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.88687500000003 meters Centerline goodness : 0.991356 Centerline is valid? [True, True] Translation: X:151.78, Y:89.73, Z:25.82 [[ 7.01553536e-01 2.51273936e-02 -7.12173610e-01 1.51780094e+02] [-4.60676682e-02 9.98886883e-01 -1.01372918e-02 8.97260231e+01] [ 7.11126154e-01 3.99200304e-02 7.01930185e-01 2.58245181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.916875 meters Centerline goodness : 0.991342 Centerline is valid? [True, True] Translation: X:151.80, Y:89.73, Z:25.84 [[ 7.02345050e-01 2.39611018e-02 -7.11433269e-01 1.51802559e+02] [-4.76726148e-02 9.98772794e-01 -1.34249112e-02 8.97266674e+01] [ 7.10238518e-01 4.33448042e-02 7.02625416e-01 2.58428511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.94687500000003 meters Centerline goodness : 0.993682 Centerline is valid? [True, True] Translation: X:151.80, Y:89.69, Z:25.91 [[ 6.83411676e-01 6.86887661e-02 -7.26794562e-01 1.51798091e+02] [-6.65459149e-02 9.97280361e-01 3.16784185e-02 8.96890124e+01] [ 7.26993895e-01 2.67158080e-02 6.86124000e-01 2.59108473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.976875 meters Centerline goodness : 0.992300 Centerline is valid? [True, True] Translation: X:151.83, Y:89.72, Z:25.89 [[ 7.02387845e-01 4.22015716e-02 -7.10542288e-01 1.51832039e+02] [-5.16187913e-02 9.98632487e-01 8.28585289e-03 8.97161514e+01] [ 7.09920289e-01 3.08574517e-02 7.03605715e-01 2.58897174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.00687500000004 meters Centerline goodness : 0.991544 Centerline is valid? [True, True] Translation: X:151.86, Y:89.72, Z:25.91 [[ 7.01326251e-01 3.20034897e-02 -7.12121666e-01 1.51859240e+02] [-5.61681546e-02 9.98366644e-01 -1.04490356e-02 8.97188899e+01] [ 7.10624112e-01 4.73267428e-02 7.01978312e-01 2.59077320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.036875 meters Centerline goodness : 0.992328 Centerline is valid? [True, True] Translation: X:151.87, Y:89.71, Z:25.93 [[ 7.00112560e-01 4.07399900e-02 -7.12869313e-01 1.51873621e+02] [-5.98949451e-02 9.98203105e-01 -1.77650902e-03 8.97140175e+01] [ 7.11515987e-01 4.39410246e-02 7.01294651e-01 2.59309842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.06687500000004 meters Centerline goodness : 0.991752 Centerline is valid? [True, True] Translation: X:151.89, Y:89.72, Z:25.95 [[ 7.00193526e-01 3.73702816e-02 -7.12974395e-01 1.51893562e+02] [-5.94546292e-02 9.98212566e-01 -6.06790617e-03 8.97154516e+01] [ 7.11473242e-01 4.66383369e-02 7.01163813e-01 2.59494859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.096875 meters Centerline goodness : 0.992134 Centerline is valid? [True, True] Translation: X:151.90, Y:89.71, Z:25.98 [[ 6.96338822e-01 5.00558301e-02 -7.15965543e-01 1.51902912e+02] [-6.31773481e-02 9.97967583e-01 8.32617665e-03 8.97083463e+01] [ 7.14927176e-01 3.94349643e-02 6.98085966e-01 2.59785538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.12687500000004 meters Centerline goodness : 0.992878 Centerline is valid? [True, True] Translation: X:151.94, Y:89.72, Z:25.99 [[ 6.98692046e-01 3.22350081e-02 -7.14695970e-01 1.51937239e+02] [-6.54691420e-02 9.97673596e-01 -1.90049376e-02 8.97152913e+01] [ 7.12420674e-01 6.00691307e-02 6.99177004e-01 2.59887931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.156875 meters Centerline goodness : 0.991770 Centerline is valid? [True, True] Translation: X:151.95, Y:89.71, Z:26.01 [[ 6.98661561e-01 4.53280776e-02 -7.14014978e-01 1.51950173e+02] [-6.70038324e-02 9.97750243e-01 -2.22250478e-03 8.97091693e+01] [ 7.12307876e-01 4.93945186e-02 7.00126897e-01 2.60130342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.18687500000004 meters Centerline goodness : 0.992157 Centerline is valid? [True, True] Translation: X:151.97, Y:89.71, Z:26.03 [[ 6.99643320e-01 3.92577179e-02 -7.13412963e-01 1.51973436e+02] [-6.71796979e-02 9.97680445e-01 -1.09826564e-02 8.97124851e+01] [ 7.11327008e-01 5.56108095e-02 7.00657781e-01 2.60269027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.216875 meters Centerline goodness : 0.992966 Centerline is valid? [True, True] Translation: X:151.99, Y:89.70, Z:26.06 [[ 6.96610139e-01 5.15994116e-02 -7.15591933e-01 1.51985022e+02] [-7.10712926e-02 9.97467479e-01 2.73864463e-03 8.97049599e+01] [ 7.13920994e-01 4.89502761e-02 6.98513196e-01 2.60551525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.246875 meters Centerline goodness : 0.992966 Centerline is valid? [True, True] Translation: X:152.01, Y:89.71, Z:26.07 [[ 6.96418090e-01 4.76954079e-02 -7.16049574e-01 1.52005942e+02] [-7.16873984e-02 9.97421740e-01 -3.28463897e-03 8.97053006e+01] [ 7.14046750e-01 5.36192131e-02 6.98041703e-01 2.60729490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.276875 meters Centerline goodness : 0.992580 Centerline is valid? [True, True] Translation: X:152.03, Y:89.71, Z:26.09 [[ 6.98006331e-01 3.94278943e-02 -7.15005316e-01 1.52033459e+02] [-7.19003027e-02 9.97296051e-01 -1.51965070e-02 8.97079639e+01] [ 7.12472812e-01 6.20163568e-02 6.98953835e-01 2.60874713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.306875 meters Centerline goodness : 0.992787 Centerline is valid? [True, True] Translation: X:152.04, Y:89.70, Z:26.11 [[ 6.95625312e-01 5.98566329e-02 -7.15906844e-01 1.52039645e+02] [-7.59062820e-02 9.97068660e-01 9.60857080e-03 8.96990949e+01] [ 7.14383414e-01 4.76578617e-02 6.98129692e-01 2.61139353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.336875 meters Centerline goodness : 0.992981 Centerline is valid? [True, True] Translation: X:152.07, Y:89.71, Z:26.13 [[ 6.95810412e-01 4.62113843e-02 -7.16737315e-01 1.52065569e+02] [-7.46433163e-02 9.97176817e-01 -8.17129989e-03 8.97050636e+01] [ 7.14336228e-01 5.91853257e-02 6.97295383e-01 2.61277754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.366875 meters Centerline goodness : 0.993163 Centerline is valid? [True, True] Translation: X:152.09, Y:89.71, Z:26.14 [[ 6.98026012e-01 3.39583044e-02 -7.15266747e-01 1.52094698e+02] [-7.58332488e-02 9.96763441e-01 -2.66826103e-02 8.97106021e+01] [ 7.12045648e-01 7.28661573e-02 6.98341978e-01 2.61396413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.396875 meters Centerline goodness : 0.993079 Centerline is valid? [True, True] Translation: X:152.10, Y:89.70, Z:26.17 [[ 6.95849988e-01 5.40494396e-02 -7.16150440e-01 1.52103932e+02] [-8.02174330e-02 9.96773692e-01 -2.71484906e-03 8.96991522e+01] [ 7.13693182e-01 5.93368776e-02 6.97940669e-01 2.61705672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.426875 meters Centerline goodness : 0.992770 Centerline is valid? [True, True] Translation: X:152.12, Y:89.70, Z:26.19 [[ 6.96155541e-01 4.96207728e-02 -7.16174030e-01 1.52124715e+02] [-7.76403136e-02 9.96960926e-01 -6.39476262e-03 8.97000036e+01] [ 7.13680211e-01 6.00557257e-02 6.97892446e-01 2.61892757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.456875 meters Centerline goodness : 0.992593 Centerline is valid? [True, True] Translation: X:152.15, Y:89.70, Z:26.21 [[ 6.96047740e-01 4.77987378e-02 -7.16402697e-01 1.52146939e+02] [-7.90417072e-02 9.96818224e-01 -1.02877178e-02 8.96970565e+01] [ 7.13631524e-01 6.37864349e-02 6.97611166e-01 2.62109156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.486875 meters Centerline goodness : 0.992848 Centerline is valid? [True, True] Translation: X:152.16, Y:89.69, Z:26.23 [[ 6.95561483e-01 5.30559146e-02 -7.16504915e-01 1.52162821e+02] [-8.00349796e-02 9.96784483e-01 -3.88543983e-03 8.96932775e+01] [ 7.13994836e-01 6.00480186e-02 6.97571222e-01 2.62307745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.516875 meters Centerline goodness : 0.993269 Centerline is valid? [True, True] Translation: X:152.18, Y:89.69, Z:26.25 [[ 6.95595692e-01 5.38878981e-02 -7.16409609e-01 1.52181353e+02] [-7.91883180e-02 9.96857855e-01 -1.90460639e-03 8.96904219e+01] [ 7.14055911e-01 5.80561079e-02 6.97677321e-01 2.62531127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.546875 meters Centerline goodness : 0.992377 Centerline is valid? [True, True] Translation: X:152.20, Y:89.69, Z:26.27 [[ 6.96446741e-01 5.02020442e-02 -7.15850328e-01 1.52203319e+02] [-7.53574612e-02 9.97150837e-01 -3.38541145e-03 8.96893434e+01] [ 7.13640799e-01 5.63024221e-02 6.98245549e-01 2.62739779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.57687500000003 meters Centerline goodness : 0.992093 Centerline is valid? [True, True] Translation: X:152.22, Y:89.69, Z:26.30 [[ 6.94834387e-01 5.24528057e-02 -7.17254403e-01 1.52222264e+02] [-7.60158426e-02 9.97106349e-01 -7.21356045e-04 8.96853645e+01] [ 7.15141082e-01 5.50239208e-02 6.96811023e-01 2.62980513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.606875 meters Centerline goodness : 0.992233 Centerline is valid? [True, True] Translation: X:152.24, Y:89.68, Z:26.32 [[ 6.93927871e-01 5.75875968e-02 -7.17737959e-01 1.52237365e+02] [-7.66930310e-02 9.97037600e-01 5.84832878e-03 8.96807193e+01] [ 7.15948524e-01 5.09871812e-02 6.96288747e-01 2.63207183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.63687500000003 meters Centerline goodness : 0.993054 Centerline is valid? [True, True] Translation: X:152.25, Y:89.67, Z:26.35 [[ 6.91425844e-01 6.65048768e-02 -7.19379875e-01 1.52251539e+02] [-7.97673836e-02 9.96693392e-01 1.54740785e-02 8.96732954e+01] [ 7.18030269e-01 4.66838726e-02 6.94444489e-01 2.63460113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.666875 meters Centerline goodness : 0.991749 Centerline is valid? [True, True] Translation: X:152.27, Y:89.67, Z:26.36 [[ 6.92219615e-01 5.84282871e-02 -7.19317829e-01 1.52272833e+02] [-7.40555443e-02 9.97206604e-01 9.73474175e-03 8.96746904e+01] [ 7.17877274e-01 4.65308942e-02 6.94612911e-01 2.63632504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.69687500000003 meters Centerline goodness : 0.992595 Centerline is valid? [True, True] Translation: X:152.29, Y:89.67, Z:26.38 [[ 6.91636369e-01 5.87329918e-02 -7.19853852e-01 1.52289674e+02] [-7.47093744e-02 9.97159355e-01 9.57754381e-03 8.96721101e+01] [ 7.18371521e-01 4.71556533e-02 6.94059581e-01 2.63825270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.726875 meters Centerline goodness : 0.992078 Centerline is valid? [True, True] Translation: X:152.32, Y:89.68, Z:26.39 [[ 6.94116992e-01 4.22765359e-02 -7.18619716e-01 1.52319628e+02] [-7.23176697e-02 9.97318994e-01 -1.11793915e-02 8.96770796e+01] [ 7.16220467e-01 5.97287089e-02 6.95313400e-01 2.63939031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.75687500000004 meters Centerline goodness : 0.991460 Centerline is valid? [True, True] Translation: X:152.33, Y:89.67, Z:26.42 [[ 6.93336760e-01 5.32015325e-02 -7.18647156e-01 1.52332397e+02] [-6.95637280e-02 9.97554772e-01 6.73536772e-03 8.96684421e+01] [ 7.17248232e-01 4.53218972e-02 6.95342290e-01 2.64221513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.786875 meters Centerline goodness : 0.991681 Centerline is valid? [True, True] Translation: X:152.35, Y:89.66, Z:26.45 [[ 6.92073296e-01 5.59481282e-02 -7.19655723e-01 1.52347109e+02] [-6.60779909e-02 9.97715962e-01 1.40199366e-02 8.96601853e+01] [ 7.18796391e-01 3.78505806e-02 6.94189514e-01 2.64507069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.81687500000004 meters Centerline goodness : 0.991179 Centerline is valid? [True, True] Translation: X:152.37, Y:89.66, Z:26.47 [[ 6.92902964e-01 5.03829360e-02 -7.19268408e-01 1.52367360e+02] [-6.24544728e-02 9.98000264e-01 9.74225210e-03 8.96600795e+01] [ 7.18320904e-01 3.81710939e-02 6.94663981e-01 2.64684071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.846875 meters Centerline goodness : 0.991616 Centerline is valid? [True, True] Translation: X:152.39, Y:89.66, Z:26.49 [[ 6.92370241e-01 4.72053683e-02 -7.19996599e-01 1.52387277e+02] [-6.14172484e-02 9.98091804e-01 6.37755247e-03 8.96585917e+01] [ 7.18923759e-01 3.98045825e-02 6.93948286e-01 2.64870375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.87687500000004 meters Centerline goodness : 0.992230 Centerline is valid? [True, True] Translation: X:152.40, Y:89.66, Z:26.51 [[ 6.91594217e-01 4.86296604e-02 -7.20647344e-01 1.52402887e+02] [-5.93953301e-02 9.98180809e-01 1.03569756e-02 8.96559781e+01] [ 7.19840005e-01 3.56402624e-02 6.93224450e-01 2.65062318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.906875 meters Centerline goodness : 0.992300 Centerline is valid? [True, True] Translation: X:152.43, Y:89.66, Z:26.52 [[ 6.94151375e-01 3.61856790e-02 -7.18918956e-01 1.52428231e+02] [-5.26586617e-02 9.98612401e-01 -5.80892566e-04 8.96572761e+01] [ 7.17900365e-01 3.82605375e-02 6.95093660e-01 2.65231958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.93687500000004 meters Centerline goodness : 0.991153 Centerline is valid? [True, True] Translation: X:152.45, Y:89.66, Z:26.54 [[ 6.94045211e-01 3.19583479e-02 -7.19221738e-01 1.52451665e+02] [-5.16788476e-02 9.98648636e-01 -5.49524014e-03 8.96555000e+01] [ 7.18074189e-01 4.09824957e-02 6.94758874e-01 2.65441832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.966875 meters Centerline goodness : 0.992382 Centerline is valid? [True, True] Translation: X:152.47, Y:89.65, Z:26.57 [[ 6.94183732e-01 3.77517800e-02 -7.18807172e-01 1.52467763e+02] [-4.90749199e-02 9.98782271e-01 5.06227213e-03 8.96499160e+01] [ 7.18122969e-01 3.17612574e-02 6.95191070e-01 2.65682162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.996875 meters Centerline goodness : 0.992343 Centerline is valid? [True, True] Translation: X:152.48, Y:89.64, Z:26.59 [[ 6.90624548e-01 4.49351527e-02 -7.21816158e-01 1.52479475e+02] [-4.69378509e-02 9.98748588e-01 1.72654603e-02 8.96423421e+01] [ 7.21688695e-01 2.19565485e-02 6.91869451e-01 2.65947614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.026875 meters Centerline goodness : 0.992121 Centerline is valid? [True, True] Translation: X:152.50, Y:89.64, Z:26.62 [[ 6.89444944e-01 3.95719566e-02 -7.23256337e-01 1.52501852e+02] [-4.70411688e-02 9.98844795e-01 9.80834394e-03 8.96402228e+01] [ 7.22808963e-01 2.72605103e-02 6.90510005e-01 2.66153801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.056875 meters Centerline goodness : 0.991803 Centerline is valid? [True, True] Translation: X:152.50, Y:89.63, Z:26.65 [[ 6.85529504e-01 6.22566098e-02 -7.25378118e-01 1.52502893e+02] [-4.43989298e-02 9.98057643e-01 4.36998416e-02 8.96277092e+01] [ 7.26689779e-01 2.24848140e-03 6.86962088e-01 2.66545417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.086875 meters Centerline goodness : 0.994064 Centerline is valid? [True, True] Translation: X:152.52, Y:89.60, Z:26.70 [[ 6.75091442e-01 7.56862962e-02 -7.33841352e-01 1.52515574e+02] [-5.88583228e-02 9.97078244e-01 4.86895556e-02 8.96025869e+01] [ 7.35382379e-01 1.03227689e-02 6.77573758e-01 2.67043592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.116875 meters Centerline goodness : 0.992745 Centerline is valid? [True, True] Translation: X:152.55, Y:89.63, Z:26.69 [[ 6.87852986e-01 5.00354508e-02 -7.24123417e-01 1.52547693e+02] [-4.17165937e-02 9.98697396e-01 2.93808906e-02 8.96272383e+01] [ 7.24650257e-01 9.99822904e-03 6.89044295e-01 2.66877262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.146875 meters Centerline goodness : 0.994409 Centerline is valid? [True, True] Translation: X:152.55, Y:89.60, Z:26.75 [[ 6.69321449e-01 7.72083368e-02 -7.38950385e-01 1.52550286e+02] [-5.87840499e-02 9.96971090e-01 5.09223014e-02 8.95961806e+01] [ 7.40643797e-01 9.35510778e-03 6.71832753e-01 2.67478835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.176875 meters Centerline goodness : 0.993067 Centerline is valid? [True, True] Translation: X:152.57, Y:89.61, Z:26.74 [[ 6.85407351e-01 7.26787320e-02 -7.24523681e-01 1.52565809e+02] [-4.16431529e-02 9.97290300e-01 6.06457353e-02 8.96120172e+01] [ 7.26968095e-01 -1.13955823e-02 6.86576675e-01 2.67440794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.206875 meters Centerline goodness : 0.994583 Centerline is valid? [True, True] Translation: X:152.60, Y:89.60, Z:26.78 [[ 6.69434522e-01 6.07870308e-02 -7.40379874e-01 1.52596612e+02] [-5.97250101e-02 9.97824279e-01 2.79218714e-02 8.95983703e+01] [ 7.40466302e-01 2.55273308e-02 6.71608525e-01 2.67799573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.236875 meters Centerline goodness : 0.992998 Centerline is valid? [True, True] Translation: X:152.61, Y:89.61, Z:26.77 [[ 6.87310618e-01 6.07337046e-02 -7.23820096e-01 1.52614310e+02] [-4.43610282e-02 9.98147876e-01 4.16283172e-02 8.96129661e+01] [ 7.25007733e-01 3.49781927e-03 6.88731843e-01 2.67738043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.266875 meters Centerline goodness : 0.993925 Centerline is valid? [True, True] Translation: X:152.63, Y:89.59, Z:26.83 [[ 6.69421560e-01 7.89381422e-02 -7.38676888e-01 1.52626156e+02] [-6.44013367e-02 9.96761546e-01 4.81548320e-02 8.95900368e+01] [ 7.40085970e-01 1.53358963e-02 6.72337391e-01 2.68269715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.296875 meters Centerline goodness : 0.993602 Centerline is valid? [True, True] Translation: X:152.66, Y:89.62, Z:26.80 [[ 6.83544772e-01 5.09270041e-02 -7.28129786e-01 1.52663314e+02] [-5.35919725e-02 9.98372150e-01 1.95179352e-02 8.96183641e+01] [ 7.27938490e-01 2.56805289e-02 6.85161342e-01 2.68036529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.32687500000003 meters Centerline goodness : 0.994077 Centerline is valid? [True, True] Translation: X:152.65, Y:89.58, Z:26.87 [[ 6.69030250e-01 9.83916536e-02 -7.36693700e-01 1.52653369e+02] [-6.92857716e-02 9.95138826e-01 6.99871298e-02 8.95808774e+01] [ 7.39998653e-01 4.21888448e-03 6.72595119e-01 2.68749088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.356875 meters Centerline goodness : 0.993310 Centerline is valid? [True, True] Translation: X:152.67, Y:89.58, Z:26.90 [[ 6.69190113e-01 1.03423496e-01 -7.35858800e-01 1.52669967e+02] [-7.15051243e-02 9.94634054e-01 7.47670731e-02 8.95791983e+01] [ 7.39642894e-01 2.58428884e-03 6.72994585e-01 2.68958418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.38687500000003 meters Centerline goodness : 0.993093 Centerline is valid? [True, True] Translation: X:152.71, Y:89.61, Z:26.87 [[ 6.81889043e-01 5.98029662e-02 -7.29006816e-01 1.52713216e+02] [-6.13649301e-02 9.97815750e-01 2.44555574e-02 8.96122777e+01] [ 7.28876998e-01 2.80594757e-02 6.84069432e-01 2.68674337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.416875 meters Centerline goodness : 0.993302 Centerline is valid? [True, True] Translation: X:152.73, Y:89.61, Z:26.89 [[ 6.78893519e-01 6.40923650e-02 -7.31434043e-01 1.52728933e+02] [-6.77156727e-02 9.97402655e-01 2.45465246e-02 8.96114135e+01] [ 7.31107501e-01 3.28650717e-02 6.81470256e-01 2.68921417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.44687500000003 meters Centerline goodness : 0.992384 Centerline is valid? [True, True] Translation: X:152.76, Y:89.62, Z:26.90 [[ 6.86524300e-01 5.43324624e-02 -7.25074044e-01 1.52758137e+02] [-6.73049525e-02 9.97671451e-01 1.10326129e-02 8.96156424e+01] [ 7.23985103e-01 4.12269172e-02 6.88582539e-01 2.69049593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.476875 meters Centerline goodness : 0.993377 Centerline is valid? [True, True] Translation: X:152.77, Y:89.61, Z:26.93 [[ 6.84075272e-01 7.10649119e-02 -7.25941321e-01 1.52767792e+02] [-7.20485818e-02 9.96958763e-01 2.97023090e-02 8.96075056e+01] [ 7.25844353e-01 3.19844275e-02 6.87114963e-01 2.69344748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.50687500000004 meters Centerline goodness : 0.992844 Centerline is valid? [True, True] Translation: X:152.80, Y:89.62, Z:26.94 [[ 6.81042636e-01 5.19187345e-02 -7.30400830e-01 1.52799287e+02] [-7.66066642e-02 9.97061237e-01 -5.56197271e-04 8.96200190e+01] [ 7.28225478e-01 5.63323652e-02 6.83018534e-01 2.69413253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.536875 meters Centerline goodness : 0.992907 Centerline is valid? [True, True] Translation: X:152.82, Y:89.62, Z:26.96 [[ 6.80830857e-01 5.77442575e-02 -7.30160903e-01 1.52818005e+02] [-7.87163612e-02 9.96882213e-01 5.43947988e-03 8.96164563e+01] [ 7.28198516e-01 5.37722436e-02 6.83253589e-01 2.69647045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.56687500000004 meters Centerline goodness : 0.993296 Centerline is valid? [True, True] Translation: X:152.83, Y:89.61, Z:26.99 [[ 6.79915433e-01 6.39677911e-02 -7.30495124e-01 1.52834273e+02] [-8.04279134e-02 9.96683069e-01 1.24182003e-02 8.96137409e+01] [ 7.28866486e-01 5.03088725e-02 6.82804996e-01 2.69869919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.596875 meters Centerline goodness : 0.993631 Centerline is valid? [True, True] Translation: X:152.82, Y:89.57, Z:27.06 [[ 6.63159496e-01 1.21691574e-01 -7.38519224e-01 1.52818592e+02] [-9.46283769e-02 9.92408511e-01 7.85545526e-02 8.95731902e+01] [ 7.42472190e-01 1.77906779e-02 6.69640604e-01 2.70622428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.62687500000004 meters Centerline goodness : 0.993085 Centerline is valid? [True, True] Translation: X:152.87, Y:89.61, Z:27.03 [[ 6.79109503e-01 7.09688840e-02 -7.30598180e-01 1.52866566e+02] [-8.14870647e-02 9.96452103e-01 2.10491268e-02 8.96082711e+01] [ 7.29499926e-01 4.52396392e-02 6.82483138e-01 2.70305047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.656875 meters Centerline goodness : 0.991976 Centerline is valid? [True, True] Translation: X:152.89, Y:89.61, Z:27.05 [[ 6.78872355e-01 6.19304977e-02 -7.31639897e-01 1.52891294e+02] [-8.25985392e-02 9.96553055e-01 7.71303185e-03 8.96118942e+01] [ 7.29595646e-01 5.51962226e-02 6.81647688e-01 2.70470627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.68687500000004 meters Centerline goodness : 0.992212 Centerline is valid? [True, True] Translation: X:152.90, Y:89.60, Z:27.08 [[ 6.76699898e-01 7.67905061e-02 -7.32243447e-01 1.52898925e+02] [-8.15092718e-02 9.96246211e-01 2.91500524e-02 8.96046894e+01] [ 7.31733207e-01 3.99587927e-02 6.80418848e-01 2.70759476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.716875 meters Centerline goodness : 0.993087 Centerline is valid? [True, True] Translation: X:152.92, Y:89.60, Z:27.10 [[ 6.74755714e-01 7.38699790e-02 -7.34335042e-01 1.52917398e+02] [-8.16350878e-02 9.96343277e-01 2.52148052e-02 8.96034678e+01] [ 7.33512399e-01 4.29336717e-02 6.78318701e-01 2.70988876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.746875 meters Centerline goodness : 0.992720 Centerline is valid? [True, True] Translation: X:152.95, Y:89.61, Z:27.11 [[ 6.81205203e-01 5.97090922e-02 -7.29653545e-01 1.52947852e+02] [-8.10170757e-02 9.96695108e-01 5.92405354e-03 8.96085362e+01] [ 7.27595839e-01 5.50789004e-02 6.83791350e-01 2.71081098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.776875 meters Centerline goodness : 0.992539 Centerline is valid? [True, True] Translation: X:152.96, Y:89.60, Z:27.13 [[ 6.81688621e-01 6.68221128e-02 -7.28584538e-01 1.52963151e+02] [-7.94190281e-02 9.96694561e-01 1.71046571e-02 8.96042682e+01] [ 7.27319216e-01 4.62034258e-02 6.84742288e-01 2.71329760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.806875 meters Centerline goodness : 0.992374 Centerline is valid? [True, True] Translation: X:152.99, Y:89.61, Z:27.15 [[ 6.79966944e-01 5.84457997e-02 -7.30909737e-01 1.52987065e+02] [-7.95510105e-02 9.96814489e-01 5.70188395e-03 8.96080971e+01] [ 7.28914667e-01 5.42675155e-02 6.82450324e-01 2.71474462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.836875 meters Centerline goodness : 0.992724 Centerline is valid? [True, True] Translation: X:153.00, Y:89.60, Z:27.17 [[ 6.78277309e-01 6.51267416e-02 -7.31914203e-01 1.53001468e+02] [-7.99230607e-02 9.96693798e-01 1.46211413e-02 8.96040555e+01] [ 7.30446574e-01 4.85796349e-02 6.81239915e-01 2.71722947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.866875 meters Centerline goodness : 0.992850 Centerline is valid? [True, True] Translation: X:153.00, Y:89.59, Z:27.21 [[ 6.69439518e-01 8.73205335e-02 -7.37716650e-01 1.53002273e+02] [-8.47064923e-02 9.95563126e-01 4.09740377e-02 8.95926674e+01] [ 7.38021369e-01 3.50597497e-02 6.73865916e-01 2.72080806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.896875 meters Centerline goodness : 0.993034 Centerline is valid? [True, True] Translation: X:153.04, Y:89.60, Z:27.21 [[ 6.74626936e-01 5.81421310e-02 -7.35865470e-01 1.53039577e+02] [-8.14767102e-02 9.96667008e-01 4.05231731e-03 8.96038463e+01] [ 7.33648446e-01 5.72220952e-02 6.77115639e-01 2.72132933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.926875 meters Centerline goodness : 0.993212 Centerline is valid? [True, True] Translation: X:153.05, Y:89.59, Z:27.25 [[ 6.71560171e-01 7.43018681e-02 -7.37215144e-01 1.53047469e+02] [-8.30386279e-02 9.96238572e-01 2.47647542e-02 8.95933038e+01] [ 7.36282230e-01 4.45863115e-02 6.75204071e-01 2.72455038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.956875 meters Centerline goodness : 0.994581 Centerline is valid? [True, True] Translation: X:153.04, Y:89.55, Z:27.32 [[ 6.55666371e-01 1.25272607e-01 -7.44586049e-01 1.53035481e+02] [-9.64772627e-02 9.91956998e-01 8.19356514e-02 8.95547472e+01] [ 7.48861634e-01 1.81131726e-02 6.62478804e-01 2.73187986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.986875 meters Centerline goodness : 0.993555 Centerline is valid? [True, True] Translation: X:153.06, Y:89.57, Z:27.31 [[ 6.71091374e-01 1.07176467e-01 -7.33586786e-01 1.53060077e+02] [-8.16011736e-02 9.94161626e-01 7.05968106e-02 8.95736651e+01] [ 7.36870149e-01 1.24846320e-02 6.75919017e-01 2.73092032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.016875 meters Centerline goodness : 0.993428 Centerline is valid? [True, True] Translation: X:153.11, Y:89.59, Z:27.31 [[ 6.75538675e-01 5.86041969e-02 -7.34991868e-01 1.53110250e+02] [-8.10359119e-02 9.96698690e-01 4.99030508e-03 8.95917445e+01] [ 7.32857885e-01 5.61895922e-02 6.78057557e-01 2.73052399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.046875 meters Centerline goodness : 0.994275 Centerline is valid? [True, True] Translation: X:153.10, Y:89.57, Z:27.35 [[ 6.62926583e-01 9.91542464e-02 -7.42089469e-01 1.53102296e+02] [-8.69157924e-02 9.94681827e-01 5.52603687e-02 8.95704828e+01] [ 7.43622209e-01 2.78657269e-02 6.68019095e-01 2.73536412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.07687500000003 meters Centerline goodness : 0.994805 Centerline is valid? [True, True] Translation: X:153.12, Y:89.55, Z:27.40 [[ 6.54908186e-01 1.14096036e-01 -7.47045757e-01 1.53116472e+02] [-9.67850932e-02 9.93059673e-01 6.68216391e-02 8.95503496e+01] [ 7.49485099e-01 2.85408547e-02 6.61405705e-01 2.73981801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.106875 meters Centerline goodness : 0.994466 Centerline is valid? [True, True] Translation: X:153.16, Y:89.58, Z:27.37 [[ 6.71017334e-01 7.78038449e-02 -7.37348153e-01 1.53157231e+02] [-8.33206475e-02 9.96092515e-01 2.92809152e-02 8.95771675e+01] [ 7.36745144e-01 4.17883239e-02 6.74878011e-01 2.73747655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.13687500000003 meters Centerline goodness : 0.994906 Centerline is valid? [True, True] Translation: X:153.17, Y:89.57, Z:27.41 [[ 6.67484523e-01 8.90243153e-02 -7.39282817e-01 1.53166495e+02] [-8.45363115e-02 9.95468329e-01 4.35478901e-02 8.95683489e+01] [ 7.39809451e-01 3.34286999e-02 6.71985489e-01 2.74052316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.166875 meters Centerline goodness : 0.994906 Centerline is valid? [True, True] Translation: X:153.19, Y:89.57, Z:27.42 [[ 6.66909617e-01 7.99289961e-02 -7.40839334e-01 1.53189147e+02] [-8.50615345e-02 9.95897248e-01 3.08740517e-02 8.95696426e+01] [ 7.40267586e-01 4.24267286e-02 6.70972335e-01 2.74220223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.19687500000003 meters Centerline goodness : 0.993996 Centerline is valid? [True, True] Translation: X:153.20, Y:89.56, Z:27.45 [[ 6.67420691e-01 9.53534809e-02 -7.38550834e-01 1.53198815e+02] [-8.61459362e-02 9.94996048e-01 5.06136540e-02 8.95596726e+01] [ 7.39681349e-01 2.98425531e-02 6.72295265e-01 2.74525988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.226875 meters Centerline goodness : 0.994853 Centerline is valid? [True, True] Translation: X:153.20, Y:89.53, Z:27.51 [[ 6.50883804e-01 1.24522062e-01 -7.48895540e-01 1.53200969e+02] [-9.92872690e-02 9.91946298e-01 7.86421071e-02 8.95347131e+01] [ 7.52656835e-01 2.31689191e-02 6.58005235e-01 2.75074548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.25687500000004 meters Centerline goodness : 0.994990 Centerline is valid? [True, True] Translation: X:153.21, Y:89.53, Z:27.53 [[ 6.50245918e-01 1.38733184e-01 -7.46949362e-01 1.53211653e+02] [-9.97228500e-02 9.90264858e-01 9.71126345e-02 8.95279559e+01] [ 7.53150449e-01 1.13408250e-02 6.57750551e-01 2.75343199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.286875 meters Centerline goodness : 0.994713 Centerline is valid? [True, True] Translation: X:153.26, Y:89.56, Z:27.51 [[ 6.64525999e-01 9.14361506e-02 -7.41649936e-01 1.53259774e+02] [-8.97929770e-02 9.95065016e-01 4.22236226e-02 8.95554325e+01] [ 7.41850671e-01 3.85362607e-02 6.69456898e-01 2.75106530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.31687500000004 meters Centerline goodness : 0.994794 Centerline is valid? [True, True] Translation: X:153.28, Y:89.55, Z:27.53 [[ 6.64395485e-01 9.44753235e-02 -7.41385900e-01 1.53275358e+02] [-8.85479506e-02 9.94941865e-01 4.74335915e-02 8.95525709e+01] [ 7.42117174e-01 3.41335380e-02 6.69400479e-01 2.75325939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.346875 meters Centerline goodness : 0.995278 Centerline is valid? [True, True] Translation: X:153.27, Y:89.52, Z:27.60 [[ 6.50103380e-01 1.32524049e-01 -7.48199821e-01 1.53270923e+02] [-1.00164134e-01 9.91026933e-01 8.85029070e-02 8.95219589e+01] [ 7.53214938e-01 1.74067486e-02 6.57544115e-01 2.75958695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.37687500000004 meters Centerline goodness : 0.994287 Centerline is valid? [True, True] Translation: X:153.32, Y:89.55, Z:27.57 [[ 6.63218027e-01 9.09738654e-02 -7.42876575e-01 1.53315214e+02] [-9.08875175e-02 9.95028673e-01 4.07111566e-02 8.95475579e+01] [ 7.42887144e-01 4.05178347e-02 6.68189342e-01 2.75747511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.406875 meters Centerline goodness : 0.995340 Centerline is valid? [True, True] Translation: X:153.30, Y:89.51, Z:27.64 [[ 6.48741283e-01 1.39397004e-01 -7.48133159e-01 1.53303018e+02] [-1.01520669e-01 9.90146241e-01 9.64571201e-02 8.95140866e+01] [ 7.54207068e-01 1.33752632e-02 6.56500419e-01 2.76416235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.43687500000004 meters Centerline goodness : 0.995583 Centerline is valid? [True, True] Translation: X:153.32, Y:89.51, Z:27.66 [[ 6.49385686e-01 1.38162517e-01 -7.47803015e-01 1.53322070e+02] [-1.01321577e-01 9.90309348e-01 9.49806961e-02 8.95119128e+01] [ 7.53679089e-01 1.40894761e-02 6.57091560e-01 2.76625022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.466875 meters Centerline goodness : 0.994579 Centerline is valid? [True, True] Translation: X:153.37, Y:89.54, Z:27.64 [[ 6.70354627e-01 9.04243025e-02 -7.36510773e-01 1.53370885e+02] [-8.77998088e-02 9.95240629e-01 4.22762745e-02 8.95386847e+01] [ 7.36828248e-01 3.63254088e-02 6.75103397e-01 2.76367458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.496875 meters Centerline goodness : 0.993510 Centerline is valid? [True, True] Translation: X:153.39, Y:89.54, Z:27.66 [[ 6.72429025e-01 8.60740797e-02 -7.35139755e-01 1.53392744e+02] [-8.60259776e-02 9.95572541e-01 3.78793635e-02 8.95371245e+01] [ 7.35145386e-01 3.77699327e-02 6.76856480e-01 2.76571313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.526875 meters Centerline goodness : 0.993980 Centerline is valid? [True, True] Translation: X:153.41, Y:89.54, Z:27.68 [[ 6.64903330e-01 8.14075017e-02 -7.42479886e-01 1.53413319e+02] [-9.12607458e-02 9.95449505e-01 2.74182290e-02 8.95377485e+01] [ 7.41333284e-01 4.95287964e-02 6.69307000e-01 2.76765751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.556875 meters Centerline goodness : 0.995439 Centerline is valid? [True, True] Translation: X:153.39, Y:89.50, Z:27.75 [[ 6.48179770e-01 1.46935706e-01 -7.47176608e-01 1.53390055e+02] [-1.02347940e-01 9.89114159e-01 1.05726441e-01 8.94977077e+01] [ 7.54577952e-01 7.94224667e-03 6.56162355e-01 2.77529401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.586875 meters Centerline goodness : 0.994481 Centerline is valid? [True, True] Translation: X:153.43, Y:89.52, Z:27.74 [[ 6.64130384e-01 1.07828298e-01 -7.39799899e-01 1.53430963e+02] [-9.16221171e-02 9.93824086e-01 6.26025069e-02 8.95193054e+01] [ 7.41981280e-01 2.62058060e-02 6.69908229e-01 2.77371282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.616875 meters Centerline goodness : 0.994771 Centerline is valid? [True, True] Translation: X:153.47, Y:89.53, Z:27.74 [[ 6.62036644e-01 7.84087115e-02 -7.45358676e-01 1.53467387e+02] [-9.34555416e-02 9.95386895e-01 2.17023177e-02 8.95305352e+01] [ 7.43621909e-01 5.52901692e-02 6.66310328e-01 2.77399773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.646875 meters Centerline goodness : 0.994484 Centerline is valid? [True, True] Translation: X:153.49, Y:89.53, Z:27.75 [[ 6.67014818e-01 6.87673867e-02 -7.41864057e-01 1.53494295e+02] [-9.00133078e-02 9.95875527e-01 1.13815292e-02 8.95325019e+01] [ 7.39586937e-01 5.91859892e-02 6.70453713e-01 2.77532171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.676875 meters Centerline goodness : 0.994074 Centerline is valid? [True, True] Translation: X:153.50, Y:89.52, Z:27.79 [[ 6.68832651e-01 9.40188607e-02 -7.37443787e-01 1.53500038e+02] [-8.87852033e-02 9.94972849e-01 4.63272880e-02 8.95168047e+01] [ 7.38092184e-01 3.44888936e-02 6.73817812e-01 2.77891512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.706875 meters Centerline goodness : 0.994273 Centerline is valid? [True, True] Translation: X:153.51, Y:89.51, Z:27.82 [[ 6.64114416e-01 1.06039518e-01 -7.40072742e-01 1.53509920e+02] [-9.03655537e-02 9.94018169e-01 6.13347011e-02 8.95075291e+01] [ 7.42149654e-01 2.61438239e-02 6.69724116e-01 2.78214989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.736875 meters Centerline goodness : 0.995262 Centerline is valid? [True, True] Translation: X:153.50, Y:89.47, Z:27.89 [[ 6.48078955e-01 1.52128457e-01 -7.46224230e-01 1.53498883e+02] [-1.01137116e-01 9.88359067e-01 1.13655789e-01 8.94737576e+01] [ 7.54827763e-01 1.81304098e-03 6.55920545e-01 2.78894896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.766875 meters Centerline goodness : 0.994199 Centerline is valid? [True, True] Translation: X:153.54, Y:89.50, Z:27.87 [[ 6.62955339e-01 1.03246945e-01 -7.41505419e-01 1.53543935e+02] [-8.60081682e-02 9.94390653e-01 6.15615502e-02 8.95003471e+01] [ 7.43702100e-01 2.29629645e-02 6.68116673e-01 2.78650224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.796875 meters Centerline goodness : 0.993585 Centerline is valid? [True, True] Translation: X:153.57, Y:89.50, Z:27.88 [[ 6.62398421e-01 9.20715728e-02 -7.43472365e-01 1.53569247e+02] [-8.63885351e-02 9.95186202e-01 4.62757343e-02 8.95003198e+01] [ 7.44154119e-01 3.35745151e-02 6.67163698e-01 2.78831091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.82687500000003 meters Centerline goodness : 0.994374 Centerline is valid? [True, True] Translation: X:153.59, Y:89.51, Z:27.89 [[ 6.59828666e-01 7.91585533e-02 -7.47234940e-01 1.53592938e+02] [-8.57443873e-02 9.95871905e-01 2.97833699e-02 8.95055109e+01] [ 7.46507891e-01 4.44192809e-02 6.63892232e-01 2.78930125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.856875 meters Centerline goodness : 0.995413 Centerline is valid? [True, True] Translation: X:153.57, Y:89.47, Z:27.97 [[ 6.44323482e-01 1.42883830e-01 -7.51286538e-01 1.53570706e+02] [-9.53099511e-02 9.89734952e-01 1.06492899e-01 8.94655691e+01] [ 7.58790659e-01 2.98920745e-03 6.51327722e-01 2.79703145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.88687500000003 meters Centerline goodness : 0.994685 Centerline is valid? [True, True] Translation: X:153.62, Y:89.50, Z:27.94 [[ 6.58989039e-01 8.31029531e-02 -7.47547554e-01 1.53624726e+02] [-8.30426081e-02 9.95840183e-01 3.75000778e-02 8.94962614e+01] [ 7.47554260e-01 3.73661583e-02 6.63148851e-01 2.79395796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.916875 meters Centerline goodness : 0.995752 Centerline is valid? [True, True] Translation: X:153.60, Y:89.46, Z:28.01 [[ 6.43045145e-01 1.41522265e-01 -7.52638286e-01 1.53604950e+02] [-9.43499272e-02 9.89930058e-01 1.05529951e-01 8.94579376e+01] [ 7.59994100e-01 3.15084459e-03 6.49922334e-01 2.80136842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.94687500000003 meters Centerline goodness : 0.995735 Centerline is valid? [True, True] Translation: X:153.62, Y:89.46, Z:28.03 [[ 6.42840370e-01 1.38519797e-01 -7.53371438e-01 1.53624617e+02] [-9.38836444e-02 9.90346165e-01 1.01982035e-01 8.94560108e+01] [ 7.60225045e-01 5.17108683e-03 6.49639239e-01 2.80334582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.976875 meters Centerline goodness : 0.995536 Centerline is valid? [True, True] Translation: X:153.64, Y:89.45, Z:28.05 [[ 6.43112583e-01 1.38160899e-01 -7.53205000e-01 1.53643491e+02] [-9.37220659e-02 9.90396029e-01 1.01645854e-01 8.94534156e+01] [ 7.60014724e-01 5.22220079e-03 6.49884873e-01 2.80541597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.00687500000004 meters Centerline goodness : 0.995089 Centerline is valid? [True, True] Translation: X:153.68, Y:89.48, Z:28.04 [[ 6.53948294e-01 9.87067217e-02 -7.50072405e-01 1.53684354e+02] [-8.55275634e-02 9.94741745e-01 5.63373510e-02 8.94764452e+01] [ 7.51689208e-01 2.73101506e-02 6.58951812e-01 2.80351509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.036875 meters Centerline goodness : 0.994522 Centerline is valid? [True, True] Translation: X:153.71, Y:89.48, Z:28.05 [[ 6.52122142e-01 9.32594401e-02 -7.52355892e-01 1.53705065e+02] [-8.82521554e-02 9.94996189e-01 4.68416653e-02 8.94754434e+01] [ 7.52959673e-01 3.58505420e-02 6.57089393e-01 2.80538523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.06687500000004 meters Centerline goodness : 0.994263 Centerline is valid? [True, True] Translation: X:153.72, Y:89.47, Z:28.08 [[ 6.56779584e-01 1.01154745e-01 -7.47267219e-01 1.53721482e+02] [-8.75727129e-02 9.94488460e-01 5.76517410e-02 8.94691181e+01] [ 7.48980373e-01 2.75757311e-02 6.62018112e-01 2.80778297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.096875 meters Centerline goodness : 0.995361 Centerline is valid? [True, True] Translation: X:153.74, Y:89.47, Z:28.10 [[ 6.51250087e-01 1.00233493e-01 -7.52214445e-01 1.53738692e+02] [-9.17352406e-02 9.94367801e-01 5.30784470e-02 8.94683757e+01] [ 7.53298062e-01 3.44372298e-02 6.56777061e-01 2.80984945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.12687500000004 meters Centerline goodness : 0.995098 Centerline is valid? [True, True] Translation: X:153.77, Y:89.47, Z:28.11 [[ 6.53062403e-01 9.00832488e-02 -7.51927195e-01 1.53765052e+02] [-9.29296644e-02 9.94928651e-01 3.84844909e-02 8.94707955e+01] [ 7.51580718e-01 4.47435677e-02 6.58121902e-01 2.81112063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.156875 meters Centerline goodness : 0.994916 Centerline is valid? [True, True] Translation: X:153.79, Y:89.47, Z:28.13 [[ 6.53375802e-01 8.98932421e-02 -7.51677635e-01 1.53785891e+02] [-9.45613830e-02 9.94839445e-01 3.67780314e-02 8.94684892e+01] [ 7.51104657e-01 4.70498009e-02 6.58504449e-01 2.81305869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.18687500000004 meters Centerline goodness : 0.996400 Centerline is valid? [True, True] Translation: X:153.76, Y:89.43, Z:28.21 [[ 6.37003781e-01 1.52849185e-01 -7.55554968e-01 1.53764160e+02] [-1.06543354e-01 9.88195076e-01 1.10086355e-01 8.94299144e+01] [ 7.63462309e-01 1.03739366e-02 6.45769065e-01 2.82054372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.216875 meters Centerline goodness : 0.995217 Centerline is valid? [True, True] Translation: X:153.82, Y:89.46, Z:28.18 [[ 6.52432424e-01 9.74315080e-02 -7.51557738e-01 1.53817388e+02] [-9.67039545e-02 9.94297627e-01 4.49508002e-02 8.94591660e+01] [ 7.51651699e-01 4.33512457e-02 6.58134023e-01 2.81751511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.246875 meters Centerline goodness : 0.994968 Centerline is valid? [True, True] Translation: X:153.82, Y:89.45, Z:28.21 [[ 6.47348990e-01 1.13322480e-01 -7.53722297e-01 1.53820447e+02] [-9.86520773e-02 9.93024755e-01 6.45724636e-02 8.94497157e+01] [ 7.55782411e-01 3.25553512e-02 6.54013071e-01 2.82065173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.276875 meters Centerline goodness : 0.994819 Centerline is valid? [True, True] Translation: X:153.85, Y:89.46, Z:28.22 [[ 6.49671578e-01 9.26700575e-02 -7.54545626e-01 1.53852943e+02] [-9.95710579e-02 9.94364739e-01 3.63919030e-02 8.94550183e+01] [ 7.53666004e-01 5.14881212e-02 6.55237764e-01 2.82170911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.306875 meters Centerline goodness : 0.995153 Centerline is valid? [True, True] Translation: X:153.87, Y:89.45, Z:28.24 [[ 6.50181649e-01 9.63811920e-02 -7.53640823e-01 1.53871321e+02] [-1.01018236e-01 9.94080943e-01 3.99799243e-02 8.94507808e+01] [ 7.53033293e-01 5.01372533e-02 6.56069445e-01 2.82378003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.336875 meters Centerline goodness : 0.995243 Centerline is valid? [True, True] Translation: X:153.88, Y:89.44, Z:28.26 [[ 6.49063819e-01 1.03804724e-01 -7.53618430e-01 1.53884022e+02] [-1.01237661e-01 9.93621526e-01 4.96708992e-02 8.94443579e+01] [ 7.53967569e-01 4.40549838e-02 6.55432730e-01 2.82644947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.366875 meters Centerline goodness : 0.995478 Centerline is valid? [True, True] Translation: X:153.90, Y:89.44, Z:28.28 [[ 6.48565303e-01 1.02837518e-01 -7.54180014e-01 1.53903615e+02] [-1.02236661e-01 9.93622159e-01 4.75675377e-02 8.94419323e+01] [ 7.54261701e-01 4.62541915e-02 6.54942621e-01 2.82843168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.396875 meters Centerline goodness : 0.995078 Centerline is valid? [True, True] Translation: X:153.92, Y:89.44, Z:28.31 [[ 6.45324025e-01 1.09102114e-01 -7.56077794e-01 1.53916114e+02] [-1.03548479e-01 9.93106709e-01 5.49251952e-02 8.94355180e+01] [ 7.56858385e-01 4.28461577e-02 6.52172977e-01 2.83116582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.426875 meters Centerline goodness : 0.995834 Centerline is valid? [True, True] Translation: X:153.91, Y:89.40, Z:28.38 [[ 6.30522866e-01 1.53343662e-01 -7.60872287e-01 1.53907201e+02] [-1.15387016e-01 9.87915659e-01 1.03481825e-01 8.94036436e+01] [ 7.67545928e-01 2.25471262e-02 6.40597280e-01 2.83761515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.456875 meters Centerline goodness : 0.995177 Centerline is valid? [True, True] Translation: X:153.95, Y:89.43, Z:28.35 [[ 6.46951137e-01 1.09054248e-01 -7.54692916e-01 1.53953683e+02] [-1.03454063e-01 9.93122200e-01 5.48229219e-02 8.94281748e+01] [ 7.55480961e-01 4.26082968e-02 6.53783642e-01 2.83516273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.486875 meters Centerline goodness : 0.994905 Centerline is valid? [True, True] Translation: X:153.97, Y:89.42, Z:28.38 [[ 6.44879639e-01 1.09865402e-01 -7.56346379e-01 1.53969262e+02] [-1.03634586e-01 9.93044108e-01 5.58862403e-02 8.94233034e+01] [ 7.57225280e-01 4.23437455e-02 6.51779781e-01 2.83771316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.516875 meters Centerline goodness : 0.995396 Centerline is valid? [True, True] Translation: X:153.99, Y:89.42, Z:28.40 [[ 6.46946275e-01 1.06011640e-01 -7.55130485e-01 1.53990978e+02] [-1.01545438e-01 9.93446185e-01 5.24709525e-02 8.94217597e+01] [ 7.55744031e-01 4.27341688e-02 6.53471308e-01 2.83974952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.546875 meters Centerline goodness : 0.995795 Centerline is valid? [True, True] Translation: X:153.97, Y:89.39, Z:28.47 [[ 6.32081175e-01 1.60509312e-01 -7.58096398e-01 1.53971933e+02] [-1.11653190e-01 9.86968467e-01 1.15874116e-01 8.93851440e+01] [ 7.66816114e-01 1.14020341e-02 6.41765565e-01 2.84687445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.57687500000003 meters Centerline goodness : 0.994748 Centerline is valid? [True, True] Translation: X:154.03, Y:89.42, Z:28.43 [[ 6.48267816e-01 9.77548986e-02 -7.55111130e-01 1.54030449e+02] [-1.00793130e-01 9.94014097e-01 4.21511531e-02 8.94185292e+01] [ 7.54711590e-01 4.87847785e-02 6.54240370e-01 2.84329855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.606875 meters Centerline goodness : 0.995361 Centerline is valid? [True, True] Translation: X:154.06, Y:89.42, Z:28.44 [[ 6.49201737e-01 8.42062227e-02 -7.55940750e-01 1.54059500e+02] [-1.02881444e-01 9.94440951e-01 2.24188259e-02 8.94212194e+01] [ 7.53626242e-01 6.32179352e-02 6.54256050e-01 2.84442919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.63687500000003 meters Centerline goodness : 0.995056 Centerline is valid? [True, True] Translation: X:154.06, Y:89.40, Z:28.49 [[ 6.46990542e-01 1.19677678e-01 -7.53047470e-01 1.54057353e+02] [-1.03850261e-01 9.92233613e-01 6.84659076e-02 8.94018506e+01] [ 7.55392853e-01 3.39073816e-02 6.54394321e-01 2.84866990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.666875 meters Centerline goodness : 0.995313 Centerline is valid? [True, True] Translation: X:154.08, Y:89.40, Z:28.50 [[ 6.44639582e-01 1.09581197e-01 -7.56592209e-01 1.54080583e+02] [-1.06908221e-01 9.92870542e-01 5.27135632e-02 8.94030904e+01] [ 7.56974532e-01 4.69046780e-02 6.51758782e-01 2.85018116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.69687500000003 meters Centerline goodness : 0.994575 Centerline is valid? [True, True] Translation: X:154.10, Y:89.40, Z:28.53 [[ 6.43150344e-01 1.13541719e-01 -7.57275322e-01 1.54097157e+02] [-1.08799621e-01 9.92462356e-01 5.64013727e-02 8.93976193e+01] [ 7.57971159e-01 4.61167061e-02 6.50655801e-01 2.85280838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.726875 meters Centerline goodness : 0.995343 Centerline is valid? [True, True] Translation: X:154.12, Y:89.39, Z:28.55 [[ 6.44063355e-01 1.13602341e-01 -7.56489856e-01 1.54115200e+02] [-1.09518579e-01 9.92417869e-01 5.57893665e-02 8.93938566e+01] [ 7.57091854e-01 4.69178078e-02 6.51621550e-01 2.85485472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.75687500000004 meters Centerline goodness : 0.996082 Centerline is valid? [True, True] Translation: X:154.08, Y:89.35, Z:28.63 [[ 6.25021314e-01 1.84233082e-01 -7.58555554e-01 1.54082577e+02] [-1.19186980e-01 9.82879175e-01 1.40509757e-01 8.93546671e+01] [ 7.71455002e-01 2.58835203e-03 6.36278618e-01 2.86294863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.786875 meters Centerline goodness : 0.996172 Centerline is valid? [True, True] Translation: X:154.15, Y:89.39, Z:28.59 [[ 6.42320544e-01 1.02082044e-01 -7.59607514e-01 1.54152562e+02] [-1.09428455e-01 9.93151405e-01 4.09353248e-02 8.93906989e+01] [ 7.58584031e-01 5.68290769e-02 6.49092231e-01 2.85874619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.81687500000004 meters Centerline goodness : 0.995544 Centerline is valid? [True, True] Translation: X:154.16, Y:89.38, Z:28.62 [[ 6.37363558e-01 1.25809630e-01 -7.60223409e-01 1.54156771e+02] [-1.14279286e-01 9.91104417e-01 6.82076176e-02 8.93763644e+01] [ 7.62041954e-01 4.34047388e-02 6.46071273e-01 2.86234443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.846875 meters Centerline goodness : 0.995435 Centerline is valid? [True, True] Translation: X:154.17, Y:89.37, Z:28.65 [[ 6.34906521e-01 1.31765168e-01 -7.61269762e-01 1.54168607e+02] [-1.14638977e-01 9.90508575e-01 7.58331640e-02 8.93710953e+01] [ 7.64036396e-01 3.91242162e-02 6.43985777e-01 2.86490121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.87687500000004 meters Centerline goodness : 0.996175 Centerline is valid? [True, True] Translation: X:154.19, Y:89.37, Z:28.67 [[ 6.33635718e-01 1.28773439e-01 -7.62838894e-01 1.54190490e+02] [-1.18116808e-01 9.90591939e-01 6.91088280e-02 8.93659900e+01] [ 7.64561441e-01 4.63142732e-02 6.42884742e-01 2.86737861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.906875 meters Centerline goodness : 0.996041 Centerline is valid? [True, True] Translation: X:154.20, Y:89.36, Z:28.70 [[ 6.34989675e-01 1.38445221e-01 -7.60013838e-01 1.54204475e+02] [-1.17821063e-01 9.89656869e-01 8.18381220e-02 8.93588156e+01] [ 7.63483012e-01 3.75792761e-02 6.44733657e-01 2.86981012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.93687500000004 meters Centerline goodness : 0.995695 Centerline is valid? [True, True] Translation: X:154.23, Y:89.36, Z:28.71 [[ 6.35208649e-01 1.30326950e-01 -7.61265301e-01 1.54225969e+02] [-1.16348814e-01 9.90558879e-01 7.24987004e-02 8.93613702e+01] [ 7.63526637e-01 4.25205130e-02 6.44374953e-01 2.87119815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.966875 meters Centerline goodness : 0.995962 Centerline is valid? [True, True] Translation: X:154.25, Y:89.36, Z:28.73 [[ 6.34882033e-01 1.24596554e-01 -7.62496232e-01 1.54247452e+02] [-1.16518956e-01 9.91063917e-01 6.49280026e-02 8.93589654e+01] [ 7.63772307e-01 4.76236427e-02 6.43726535e-01 2.87315979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.996875 meters Centerline goodness : 0.995456 Centerline is valid? [True, True] Translation: X:154.26, Y:89.35, Z:28.75 [[ 6.34195379e-01 1.26907322e-01 -7.62686537e-01 1.54264440e+02] [-1.16971527e-01 9.90831622e-01 6.76044262e-02 8.93545188e+01] [ 7.64273435e-01 4.63381943e-02 6.43225379e-01 2.87535731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.026875 meters Centerline goodness : 0.995924 Centerline is valid? [True, True] Translation: X:154.27, Y:89.34, Z:28.79 [[ 6.29106131e-01 1.40352722e-01 -7.64543386e-01 1.54271975e+02] [-1.19926543e-01 9.89312726e-01 8.29334372e-02 8.93430654e+01] [ 7.68012435e-01 3.95151112e-02 6.39214718e-01 2.87883367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.056875 meters Centerline goodness : 0.995924 Centerline is valid? [True, True] Translation: X:154.29, Y:89.34, Z:28.81 [[ 6.28471129e-01 1.38177015e-01 -7.65461399e-01 1.54291423e+02] [-1.20387881e-01 9.89516045e-01 7.97794193e-02 8.93405558e+01] [ 7.68460018e-01 4.20132138e-02 6.38517103e-01 2.88101556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.086875 meters Centerline goodness : 0.995915 Centerline is valid? [True, True] Translation: X:154.31, Y:89.34, Z:28.83 [[ 6.28081325e-01 1.36999069e-01 -7.65992888e-01 1.54311113e+02] [-1.21450378e-01 9.89574951e-01 7.74029815e-02 8.93359418e+01] [ 7.68611511e-01 4.44147582e-02 6.38172135e-01 2.88329823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.116875 meters Centerline goodness : 0.995772 Centerline is valid? [True, True] Translation: X:154.33, Y:89.33, Z:28.85 [[ 6.29006398e-01 1.35044417e-01 -7.65580797e-01 1.54330093e+02] [-1.20707032e-01 9.89818606e-01 7.54250650e-02 8.93330139e+01] [ 7.67971851e-01 4.49681374e-02 6.38903047e-01 2.88508444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.146875 meters Centerline goodness : 0.995963 Centerline is valid? [True, True] Translation: X:154.35, Y:89.33, Z:28.87 [[ 6.26668367e-01 1.36273236e-01 -7.67278544e-01 1.54347336e+02] [-1.22703938e-01 9.89564644e-01 7.55351501e-02 8.93281531e+01] [ 7.69565138e-01 4.68126100e-02 6.36850122e-01 2.88736329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.176875 meters Centerline goodness : 0.995602 Centerline is valid? [True, True] Translation: X:154.36, Y:89.32, Z:28.90 [[ 6.27728127e-01 1.38902410e-01 -7.65939631e-01 1.54363920e+02] [-1.21863519e-01 9.89354286e-01 7.95448286e-02 8.93232395e+01] [ 7.68834625e-01 4.34075724e-02 6.37972649e-01 2.88963934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.206875 meters Centerline goodness : 0.996457 Centerline is valid? [True, True] Translation: X:154.38, Y:89.32, Z:28.92 [[ 6.25315834e-01 1.44866256e-01 -7.66807587e-01 1.54377010e+02] [-1.23460355e-01 9.88608164e-01 8.60897168e-02 8.93156729e+01] [ 7.70543736e-01 4.08370742e-02 6.36077577e-01 2.89243577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.236875 meters Centerline goodness : 0.996195 Centerline is valid? [True, True] Translation: X:154.39, Y:89.31, Z:28.95 [[ 6.22714246e-01 1.50772911e-01 -7.67785450e-01 1.54388015e+02] [-1.23561153e-01 9.87895513e-01 9.37821777e-02 8.93095174e+01] [ 7.72631613e-01 3.64689576e-02 6.33806285e-01 2.89490968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.266875 meters Centerline goodness : 0.995792 Centerline is valid? [True, True] Translation: X:154.40, Y:89.30, Z:28.98 [[ 6.26636769e-01 1.56123468e-01 -7.63512817e-01 1.54404842e+02] [-1.23739011e-01 9.87231420e-01 1.00313415e-01 8.93007726e+01] [ 7.69425121e-01 3.16162463e-02 6.37954071e-01 2.89786216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.296875 meters Centerline goodness : 0.995810 Centerline is valid? [True, True] Translation: X:154.42, Y:89.30, Z:29.00 [[ 6.22456904e-01 1.52309184e-01 -7.67690898e-01 1.54424284e+02] [-1.25529282e-01 9.87611415e-01 9.41599292e-02 8.92993002e+01] [ 7.72521716e-01 3.77571895e-02 6.33864807e-01 2.89959726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.32687500000003 meters Centerline goodness : 0.996624 Centerline is valid? [True, True] Translation: X:154.47, Y:89.31, Z:28.99 [[ 6.27289148e-01 1.11653131e-01 -7.70741139e-01 1.54465127e+02] [-1.21884854e-01 9.91548830e-01 4.44409718e-02 8.93135197e+01] [ 7.69189448e-01 6.60643321e-02 6.35596647e-01 2.89884199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.356875 meters Centerline goodness : 0.996717 Centerline is valid? [True, True] Translation: X:154.42, Y:89.27, Z:29.08 [[ 6.07395480e-01 2.08275122e-01 -7.66610856e-01 1.54418992e+02] [-1.32438351e-01 9.78062643e-01 1.60790393e-01 8.92664158e+01] [ 7.83282079e-01 3.86531996e-03 6.21654442e-01 2.90812061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.38687500000003 meters Centerline goodness : 0.996143 Centerline is valid? [True, True] Translation: X:154.47, Y:89.29, Z:29.05 [[ 6.25100319e-01 1.49358334e-01 -7.66121191e-01 1.54474678e+02] [-1.23516050e-01 9.88082643e-01 9.18502917e-02 8.92902367e+01] [ 7.70709658e-01 3.72126171e-02 6.36098927e-01 2.90534548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.416875 meters Centerline goodness : 0.997129 Centerline is valid? [True, True] Translation: X:154.47, Y:89.26, Z:29.11 [[ 6.04894842e-01 1.85640287e-01 -7.74364200e-01 1.54465457e+02] [-1.35956221e-01 9.82244478e-01 1.29273705e-01 8.92647925e+01] [ 7.84613367e-01 2.70826333e-02 6.19393570e-01 2.91128206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.44687500000003 meters Centerline goodness : 0.996918 Centerline is valid? [True, True] Translation: X:154.51, Y:89.28, Z:29.09 [[ 6.18928450e-01 1.44774332e-01 -7.71989616e-01 1.54509504e+02] [-1.27188120e-01 9.88367669e-01 8.33818509e-02 8.92835056e+01] [ 7.75081129e-01 4.65805086e-02 6.30142444e-01 2.90930252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.476875 meters Centerline goodness : 0.996518 Centerline is valid? [True, True] Translation: X:154.53, Y:89.28, Z:29.12 [[ 6.21906718e-01 1.44645991e-01 -7.69616509e-01 1.54526924e+02] [-1.27315622e-01 9.88393153e-01 8.28837035e-02 8.92774071e+01] [ 7.72672483e-01 4.64382724e-02 6.33104036e-01 2.91165119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.50687500000004 meters Centerline goodness : 0.997007 Centerline is valid? [True, True] Translation: X:154.55, Y:89.28, Z:29.13 [[ 6.17035960e-01 1.33021286e-01 -7.75610702e-01 1.54549243e+02] [-1.28349136e-01 9.89423565e-01 6.75833410e-02 8.92791698e+01] [ 7.76397529e-01 5.78476119e-02 6.27583086e-01 2.91326823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.536875 meters Centerline goodness : 0.996320 Centerline is valid? [True, True] Translation: X:154.56, Y:89.27, Z:29.16 [[ 6.14752212e-01 1.43183347e-01 -7.75614754e-01 1.54562506e+02] [-1.30922876e-01 9.88266222e-01 7.86706771e-02 8.92697932e+01] [ 7.77778194e-01 5.31827413e-02 6.26284821e-01 2.91630578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.56687500000004 meters Centerline goodness : 0.996560 Centerline is valid? [True, True] Translation: X:154.58, Y:89.27, Z:29.18 [[ 6.16527421e-01 1.35888077e-01 -7.75518130e-01 1.54584319e+02] [-1.30295504e-01 9.89021166e-01 6.97152414e-02 8.92697458e+01] [ 7.76477315e-01 5.80651674e-02 6.27464274e-01 2.91790123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.596875 meters Centerline goodness : 0.996459 Centerline is valid? [True, True] Translation: X:154.60, Y:89.26, Z:29.21 [[ 6.18328816e-01 1.42935504e-01 -7.72812343e-01 1.54599199e+02] [-1.29596272e-01 9.88405179e-01 7.91202196e-02 8.92622458e+01] [ 7.75160810e-01 5.12312871e-02 6.29683313e-01 2.92068873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.62687500000004 meters Centerline goodness : 0.996995 Centerline is valid? [True, True] Translation: X:154.63, Y:89.26, Z:29.22 [[ 6.19738175e-01 1.24163215e-01 -7.74924571e-01 1.54627772e+02] [-1.30311420e-01 9.89979288e-01 5.44053583e-02 8.92640558e+01] [ 7.73914419e-01 6.72644441e-02 6.29707842e-01 2.92189156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.656875 meters Centerline goodness : 0.996268 Centerline is valid? [True, True] Translation: X:154.63, Y:89.25, Z:29.26 [[ 6.15021309e-01 1.52196317e-01 -7.73682797e-01 1.54627193e+02] [-1.32134770e-01 9.87213356e-01 8.91638515e-02 8.92503782e+01] [ 7.77360401e-01 4.73927297e-02 6.27267675e-01 2.92558404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.68687500000004 meters Centerline goodness : 0.996896 Centerline is valid? [True, True] Translation: X:154.64, Y:89.25, Z:29.28 [[ 6.11499957e-01 1.52800087e-01 -7.76350395e-01 1.54641301e+02] [-1.34528174e-01 9.86968508e-01 8.82911912e-02 8.92457993e+01] [ 7.79724293e-01 5.04509418e-02 6.24087117e-01 2.92784323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.716875 meters Centerline goodness : 0.996583 Centerline is valid? [True, True] Translation: X:154.63, Y:89.22, Z:29.34 [[ 5.95927027e-01 1.95009878e-01 -7.79000722e-01 1.54630006e+02] [-1.45212160e-01 9.80243054e-01 1.34301837e-01 8.92157597e+01] [ 7.89800232e-01 3.30862827e-02 6.12471135e-01 2.93426240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.746875 meters Centerline goodness : 0.996567 Centerline is valid? [True, True] Translation: X:154.67, Y:89.23, Z:29.32 [[ 6.10448177e-01 1.60134478e-01 -7.75699666e-01 1.54671899e+02] [-1.33787599e-01 9.86123892e-01 9.82880907e-02 8.92335539e+01] [ 7.80675286e-01 4.37792098e-02 6.23401539e-01 2.93240974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.776875 meters Centerline goodness : 0.996681 Centerline is valid? [True, True] Translation: X:154.69, Y:89.23, Z:29.34 [[ 6.09974542e-01 1.51351461e-01 -7.77832754e-01 1.54694055e+02] [-1.33777807e-01 9.87169595e-01 8.71761996e-02 8.92314192e+01] [ 7.81047090e-01 5.08814979e-02 6.22395788e-01 2.93432211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.806875 meters Centerline goodness : 0.997344 Centerline is valid? [True, True] Translation: X:154.67, Y:89.20, Z:29.41 [[ 5.93851819e-01 2.00203748e-01 -7.79267911e-01 1.54674343e+02] [-1.41584691e-01 9.79435878e-01 1.43732862e-01 8.91979447e+01] [ 7.92018808e-01 2.49763854e-02 6.09985564e-01 2.94113265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.836875 meters Centerline goodness : 0.997001 Centerline is valid? [True, True] Translation: X:154.69, Y:89.19, Z:29.44 [[ 5.93528481e-01 2.07626664e-01 -7.77570004e-01 1.54686203e+02] [-1.39875312e-01 9.78058205e-01 1.54392504e-01 8.91912718e+01] [ 7.92564723e-01 1.71264987e-02 6.09547245e-01 2.94371693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.866875 meters Centerline goodness : 0.996986 Centerline is valid? [True, True] Translation: X:154.70, Y:89.19, Z:29.46 [[ 5.93822127e-01 2.06440400e-01 -7.77661651e-01 1.54702639e+02] [-1.38369881e-01 9.78326273e-01 1.54050248e-01 8.91867544e+01] [ 7.92609020e-01 1.61265046e-02 6.09516922e-01 2.94589938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.896875 meters Centerline goodness : 0.996446 Centerline is valid? [True, True] Translation: X:154.75, Y:89.21, Z:29.44 [[ 6.07754677e-01 1.62800730e-01 -7.77258113e-01 1.54748291e+02] [-1.28645212e-01 9.86016239e-01 1.05935767e-01 8.92062535e+01] [ 7.83635542e-01 3.56075773e-02 6.20199515e-01 2.94376525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.926875 meters Centerline goodness : 0.996886 Centerline is valid? [True, True] Translation: X:154.77, Y:89.21, Z:29.45 [[ 6.08358208e-01 1.48129055e-01 -7.79716662e-01 1.54773203e+02] [-1.27514857e-01 9.87908139e-01 8.81899696e-02 8.92062880e+01] [ 7.83351933e-01 4.57743666e-02 6.19890681e-01 2.94532181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.956875 meters Centerline goodness : 0.997119 Centerline is valid? [True, True] Translation: X:154.79, Y:89.20, Z:29.47 [[ 6.07584848e-01 1.48871617e-01 -7.80178117e-01 1.54787334e+02] [-1.26378342e-01 9.87883212e-01 9.00848204e-02 8.92003969e+01] [ 7.84135937e-01 4.38634451e-02 6.19037019e-01 2.94745767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.986875 meters Centerline goodness : 0.997071 Centerline is valid? [True, True] Translation: X:154.82, Y:89.20, Z:29.48 [[ 6.13375609e-01 1.28122344e-01 -7.79329858e-01 1.54819274e+02] [-1.21875513e-01 9.90289466e-01 6.68814880e-02 8.92042232e+01] [ 7.80331162e-01 5.39577531e-02 6.23034380e-01 2.94842597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.016875 meters Centerline goodness : 0.997614 Centerline is valid? [True, True] Translation: X:154.78, Y:89.16, Z:29.57 [[ 5.94071916e-01 2.01782695e-01 -7.78692688e-01 1.54781645e+02] [-1.32863571e-01 9.79345169e-01 1.52414930e-01 8.91613809e+01] [ 7.93363618e-01 1.29144623e-02 6.08611031e-01 2.95698678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.046875 meters Centerline goodness : 0.997506 Centerline is valid? [True, True] Translation: X:154.80, Y:89.16, Z:29.59 [[ 5.94428581e-01 2.06382422e-01 -7.77213586e-01 1.54795173e+02] [-1.31429907e-01 9.78442981e-01 1.59296932e-01 8.91559364e+01] [ 7.93335265e-01 7.45845970e-03 6.08739295e-01 2.95949525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.07687500000003 meters Centerline goodness : 0.997255 Centerline is valid? [True, True] Translation: X:154.81, Y:89.15, Z:29.62 [[ 5.94618196e-01 2.05395173e-01 -7.77330061e-01 1.54811117e+02] [-1.30266046e-01 9.78655856e-01 1.58944873e-01 8.91521384e+01] [ 7.93385126e-01 6.74819981e-03 6.08682597e-01 2.96159574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.106875 meters Centerline goodness : 0.997596 Centerline is valid? [True, True] Translation: X:154.83, Y:89.15, Z:29.64 [[ 5.95253928e-01 2.04156160e-01 -7.77169881e-01 1.54827941e+02] [-1.28481249e-01 9.78923681e-01 1.58748215e-01 8.91477239e+01] [ 7.93199426e-01 5.35625885e-03 6.08938405e-01 2.96377085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.13687500000003 meters Centerline goodness : 0.997021 Centerline is valid? [True, True] Translation: X:154.88, Y:89.17, Z:29.61 [[ 6.09846237e-01 1.54377549e-01 -7.77338497e-01 1.54884445e+02] [-1.20727011e-01 9.87493337e-01 1.01399697e-01 8.91680588e+01] [ 7.83270423e-01 3.20075295e-02 6.20856636e-01 2.96142456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.166875 meters Centerline goodness : 0.996588 Centerline is valid? [True, True] Translation: X:154.91, Y:89.17, Z:29.62 [[ 6.14271717e-01 1.41289488e-01 -7.76342411e-01 1.54912044e+02] [-1.17449452e-01 9.89251223e-01 8.71070818e-02 8.91708622e+01] [ 7.80304994e-01 3.76735741e-02 6.24263420e-01 2.96240920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.19687500000003 meters Centerline goodness : 0.996518 Centerline is valid? [True, True] Translation: X:154.92, Y:89.16, Z:29.65 [[ 6.12035960e-01 1.46940788e-01 -7.77058806e-01 1.54924654e+02] [-1.17413287e-01 9.88580431e-01 9.44608471e-02 8.91649539e+01] [ 7.82065281e-01 3.34235936e-02 6.22299574e-01 2.96502696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.226875 meters Centerline goodness : 0.997519 Centerline is valid? [True, True] Translation: X:154.94, Y:89.16, Z:29.68 [[ 6.09245959e-01 1.50662645e-01 -7.78537172e-01 1.54938982e+02] [-1.19323041e-01 9.88024322e-01 9.78261279e-02 8.91568756e+01] [ 7.83952405e-01 3.32972499e-02 6.19927351e-01 2.96783760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.25687500000004 meters Centerline goodness : 0.997668 Centerline is valid? [True, True] Translation: X:154.90, Y:89.13, Z:29.75 [[ 5.92987709e-01 2.12504648e-01 -7.76664246e-01 1.54904770e+02] [-1.25845191e-01 9.77152566e-01 1.71277115e-01 8.91252739e+01] [ 7.95316644e-01 -3.82576368e-03 6.06182150e-01 2.97530610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.286875 meters Centerline goodness : 0.997472 Centerline is valid? [True, True] Translation: X:154.93, Y:89.12, Z:29.77 [[ 5.93367568e-01 2.04172951e-01 -7.78606663e-01 1.54927193e+02] [-1.26093209e-01 9.78930606e-01 1.60609375e-01 8.91239773e+01] [ 7.94993982e-01 2.87661869e-03 6.06610496e-01 2.97714975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.31687500000004 meters Centerline goodness : 0.997618 Centerline is valid? [True, True] Translation: X:154.94, Y:89.12, Z:29.79 [[ 5.93806032e-01 2.04152003e-01 -7.78277814e-01 1.54944095e+02] [-1.26617741e-01 9.78933200e-01 1.60180327e-01 8.91212187e+01] [ 7.94583126e-01 3.42773392e-03 6.07145704e-01 2.97922826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.346875 meters Centerline goodness : 0.997492 Centerline is valid? [True, True] Translation: X:154.96, Y:89.12, Z:29.81 [[ 5.93485014e-01 2.04264654e-01 -7.78493089e-01 1.54961074e+02] [-1.26954897e-01 9.78908184e-01 1.60066306e-01 8.91176862e+01] [ 7.94769144e-01 3.83655615e-03 6.06899735e-01 2.98141409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.37687500000004 meters Centerline goodness : 0.997593 Centerline is valid? [True, True] Translation: X:154.98, Y:89.11, Z:29.84 [[ 5.93460906e-01 2.04020533e-01 -7.78575478e-01 1.54978640e+02] [-1.27001038e-01 9.78958066e-01 1.59724264e-01 8.91146209e+01] [ 7.94779774e-01 4.08978725e-03 6.06884161e-01 2.98362110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.406875 meters Centerline goodness : 0.997696 Centerline is valid? [True, True] Translation: X:155.00, Y:89.11, Z:29.86 [[ 5.93190234e-01 2.04013302e-01 -7.78783614e-01 1.54995334e+02] [-1.27412410e-01 9.78956976e-01 1.59403005e-01 8.91118624e+01] [ 7.94915985e-01 4.67039132e-03 6.06701544e-01 2.98578359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.43687500000004 meters Centerline goodness : 0.997297 Centerline is valid? [True, True] Translation: X:155.01, Y:89.11, Z:29.88 [[ 5.92968675e-01 2.04290973e-01 -7.78879547e-01 1.55012526e+02] [-1.28057598e-01 9.78895838e-01 1.59261389e-01 8.91088184e+01] [ 7.94977611e-01 5.30442968e-03 6.06615579e-01 2.98789466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.466875 meters Centerline goodness : 0.997619 Centerline is valid? [True, True] Translation: X:155.03, Y:89.11, Z:29.90 [[ 5.92772543e-01 2.04688866e-01 -7.78924374e-01 1.55029326e+02] [-1.29157867e-01 9.78806174e-01 1.58923629e-01 8.91059203e+01] [ 7.94945884e-01 6.39864714e-03 6.06646602e-01 2.99006999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.496875 meters Centerline goodness : 0.997895 Centerline is valid? [True, True] Translation: X:155.05, Y:89.10, Z:29.92 [[ 5.92569535e-01 2.04710964e-01 -7.79073018e-01 1.55045712e+02] [-1.29617698e-01 9.78797447e-01 1.58602682e-01 8.91027387e+01] [ 7.95022389e-01 6.99853417e-03 6.06539712e-01 2.99223202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.526875 meters Centerline goodness : 0.997920 Centerline is valid? [True, True] Translation: X:155.06, Y:89.10, Z:29.94 [[ 5.93058500e-01 2.04626525e-01 -7.78723058e-01 1.55063191e+02] [-1.29768572e-01 9.78814172e-01 1.58375929e-01 8.90997436e+01] [ 7.94633081e-01 7.12758844e-03 6.07048157e-01 2.99446023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.556875 meters Centerline goodness : 0.997822 Centerline is valid? [True, True] Translation: X:155.08, Y:89.10, Z:29.97 [[ 5.93070606e-01 2.04720658e-01 -7.78689096e-01 1.55079985e+02] [-1.30396266e-01 9.78789166e-01 1.58014502e-01 8.90965107e+01] [ 7.94521283e-01 7.82439428e-03 6.07185894e-01 2.99656476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.586875 meters Centerline goodness : 0.997374 Centerline is valid? [True, True] Translation: X:155.10, Y:89.09, Z:29.99 [[ 5.92702325e-01 2.05413705e-01 -7.78786982e-01 1.55095821e+02] [-1.31718884e-01 9.78633800e-01 1.57879766e-01 8.90938447e+01] [ 7.94577932e-01 9.00524775e-03 6.07095393e-01 2.99872270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.616875 meters Centerline goodness : 0.997851 Centerline is valid? [True, True] Translation: X:155.11, Y:89.09, Z:30.01 [[ 5.92370198e-01 2.05893291e-01 -7.78913025e-01 1.55112760e+02] [-1.32684619e-01 9.78524333e-01 1.57749553e-01 8.90908512e+01] [ 7.94664923e-01 9.90364411e-03 6.06967526e-01 3.00088682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.646875 meters Centerline goodness : 0.997874 Centerline is valid? [True, True] Translation: X:155.13, Y:89.09, Z:30.03 [[ 5.92321555e-01 2.06022631e-01 -7.78915817e-01 1.55131038e+02] [-1.33367741e-01 9.78489204e-01 1.57390991e-01 8.90883413e+01] [ 7.94586824e-01 1.06561666e-02 6.07057020e-01 3.00301955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.676875 meters Centerline goodness : 0.997901 Centerline is valid? [True, True] Translation: X:155.15, Y:89.09, Z:30.05 [[ 5.91754250e-01 2.06570713e-01 -7.79201802e-01 1.55147591e+02] [-1.34682630e-01 9.78358218e-01 1.57085284e-01 8.90856955e+01] [ 7.94787705e-01 1.19890635e-02 6.06769121e-01 3.00510375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.706875 meters Centerline goodness : 0.996929 Centerline is valid? [True, True] Translation: X:155.21, Y:89.11, Z:30.03 [[ 6.07651970e-01 1.54360710e-01 -7.79058313e-01 1.55209799e+02] [-1.30820736e-01 9.86985193e-01 9.35209294e-02 8.91066173e+01] [ 7.83354976e-01 4.50888051e-02 6.19937079e-01 3.00263383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.736875 meters Centerline goodness : 0.997044 Centerline is valid? [True, True] Translation: X:155.22, Y:89.10, Z:30.05 [[ 6.07713742e-01 1.65543099e-01 -7.76710687e-01 1.55220401e+02] [-1.30949918e-01 9.85533353e-01 1.07592418e-01 8.91000213e+01] [ 7.83285470e-01 3.63248095e-02 6.20600017e-01 3.00533225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.766875 meters Centerline goodness : 0.997285 Centerline is valid? [True, True] Translation: X:155.23, Y:89.10, Z:30.08 [[ 6.04564787e-01 1.69868652e-01 -7.78232651e-01 1.55234723e+02] [-1.33523484e-01 9.84784272e-01 1.11226867e-01 8.90951508e+01] [ 7.85285233e-01 3.66684874e-02 6.18047348e-01 3.00784774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.796875 meters Centerline goodness : 0.997612 Centerline is valid? [True, True] Translation: X:155.25, Y:89.09, Z:30.10 [[ 6.01368716e-01 1.74627891e-01 -7.79654261e-01 1.55248485e+02] [-1.36178205e-01 9.83946366e-01 1.15347496e-01 8.90898930e+01] [ 7.87280867e-01 3.68055420e-02 6.15495076e-01 3.01044914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.82687500000003 meters Centerline goodness : 0.996943 Centerline is valid? [True, True] Translation: X:155.26, Y:89.09, Z:30.13 [[ 6.01636531e-01 1.77767205e-01 -7.78737636e-01 1.55264254e+02] [-1.36204760e-01 9.83474352e-01 1.19274737e-01 8.90864339e+01] [ 7.87071628e-01 3.43077340e-02 6.15906837e-01 3.01269632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.856875 meters Centerline goodness : 0.996869 Centerline is valid? [True, True] Translation: X:155.28, Y:89.08, Z:30.15 [[ 6.08727433e-01 1.75862060e-01 -7.73642972e-01 1.55283793e+02] [-1.34251679e-01 9.83893938e-01 1.18022057e-01 8.90835719e+01] [ 7.81938232e-01 3.20196040e-02 6.22533008e-01 3.01475370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.88687500000003 meters Centerline goodness : 0.997294 Centerline is valid? [True, True] Translation: X:155.30, Y:89.08, Z:30.17 [[ 6.01527285e-01 1.70873278e-01 -7.80363536e-01 1.55302596e+02] [-1.35637169e-01 9.84518368e-01 1.11023157e-01 8.90813380e+01] [ 7.87253126e-01 3.90628425e-02 6.15391428e-01 3.01692685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.916875 meters Centerline goodness : 0.997312 Centerline is valid? [True, True] Translation: X:155.32, Y:89.08, Z:30.19 [[ 6.01383746e-01 1.66918505e-01 -7.81329510e-01 1.55322811e+02] [-1.35106939e-01 9.85095229e-01 1.06458933e-01 8.90805336e+01] [ 7.87453938e-01 4.15403664e-02 6.14972108e-01 3.01863729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.94687500000003 meters Centerline goodness : 0.996922 Centerline is valid? [True, True] Translation: X:155.33, Y:89.07, Z:30.22 [[ 5.99161861e-01 1.84650947e-01 -7.79043704e-01 1.55327349e+02] [-1.35909837e-01 9.82376306e-01 1.28317222e-01 8.90704896e+01] [ 7.89007972e-01 2.89969176e-02 6.13698296e-01 3.02218332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.976875 meters Centerline goodness : 0.996922 Centerline is valid? [True, True] Translation: X:155.35, Y:89.07, Z:30.24 [[ 5.98573876e-01 1.80618412e-01 -7.80439815e-01 1.55346550e+02] [-1.36012327e-01 9.83018965e-01 1.23184257e-01 8.90681201e+01] [ 7.89436484e-01 3.24145569e-02 6.12975803e-01 3.02430834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.00687500000004 meters Centerline goodness : 0.996853 Centerline is valid? [True, True] Translation: X:155.36, Y:89.06, Z:30.27 [[ 6.03619887e-01 1.92184789e-01 -7.73762262e-01 1.55357189e+02] [-1.35344261e-01 9.81126251e-01 1.38105797e-01 8.90605894e+01] [ 7.85700301e-01 2.13608762e-02 6.18238425e-01 3.02740752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.036875 meters Centerline goodness : 0.996905 Centerline is valid? [True, True] Translation: X:155.39, Y:89.07, Z:30.28 [[ 6.00017091e-01 1.71503391e-01 -7.81387277e-01 1.55387118e+02] [-1.34912719e-01 9.84453031e-01 1.12475719e-01 8.90661927e+01] [ 7.88529041e-01 3.79317286e-02 6.13826633e-01 3.02833406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.06687500000004 meters Centerline goodness : 0.996835 Centerline is valid? [True, True] Translation: X:155.40, Y:89.06, Z:30.31 [[ 5.97744366e-01 1.74746993e-01 -7.82409842e-01 1.55401981e+02] [-1.36015024e-01 9.83911234e-01 1.15838669e-01 8.90621538e+01] [ 7.90064292e-01 3.71775815e-02 6.11895613e-01 3.03081194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.096875 meters Centerline goodness : 0.996525 Centerline is valid? [True, True] Translation: X:155.41, Y:89.05, Z:30.34 [[ 6.02484198e-01 1.91278963e-01 -7.74871054e-01 1.55409495e+02] [-1.35453514e-01 9.81278445e-01 1.36912227e-01 8.90528326e+01] [ 7.86552692e-01 2.24715540e-02 6.17114165e-01 3.03414378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.12687500000004 meters Centerline goodness : 0.997074 Centerline is valid? [True, True] Translation: X:155.43, Y:89.05, Z:30.36 [[ 5.96354201e-01 1.82072132e-01 -7.81800106e-01 1.55429292e+02] [-1.34779138e-01 9.82821825e-01 1.26078724e-01 8.90540369e+01] [ 7.91325629e-01 3.01827674e-02 6.10649449e-01 3.03585592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.156875 meters Centerline goodness : 0.997369 Centerline is valid? [True, True] Translation: X:155.44, Y:89.05, Z:30.38 [[ 5.96186706e-01 1.82069851e-01 -7.81928373e-01 1.55444525e+02] [-1.34387536e-01 9.82835993e-01 1.26385925e-01 8.90503427e+01] [ 7.91518415e-01 2.97318196e-02 6.10421672e-01 3.03825719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.18687500000004 meters Centerline goodness : 0.997173 Centerline is valid? [True, True] Translation: X:155.46, Y:89.05, Z:30.40 [[ 5.95082157e-01 1.80207512e-01 -7.83200153e-01 1.55462057e+02] [-1.33654819e-01 9.83155838e-01 1.24663496e-01 8.90480690e+01] [ 7.92473101e-01 3.04934525e-02 6.09144099e-01 3.04046990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.216875 meters Centerline goodness : 0.997379 Centerline is valid? [True, True] Translation: X:155.48, Y:89.05, Z:30.43 [[ 5.95560510e-01 1.80589530e-01 -7.82748428e-01 1.55477626e+02] [-1.31405905e-01 9.83179302e-01 1.26850105e-01 8.90460119e+01] [ 7.92489853e-01 2.73108529e-02 6.09273297e-01 3.04263719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.246875 meters Centerline goodness : 0.997037 Centerline is valid? [True, True] Translation: X:155.50, Y:89.05, Z:30.45 [[ 5.99445927e-01 1.72892121e-01 -7.81519606e-01 1.55499079e+02] [-1.25775384e-01 9.84609202e-01 1.21347732e-01 8.90457222e+01] [ 7.90471463e-01 2.55545251e-02 6.11965549e-01 3.04452526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.276875 meters Centerline goodness : 0.996840 Centerline is valid? [True, True] Translation: X:155.51, Y:89.04, Z:30.47 [[ 6.04229538e-01 1.75907562e-01 -7.77150690e-01 1.55513527e+02] [-1.23129660e-01 9.84224753e-01 1.27046144e-01 8.90409968e+01] [ 7.87239323e-01 1.89252672e-02 6.16357106e-01 3.04723928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.306875 meters Centerline goodness : 0.997578 Centerline is valid? [True, True] Translation: X:155.49, Y:89.02, Z:30.54 [[ 5.83345086e-01 2.21004672e-01 -7.81578816e-01 1.55488223e+02] [-1.28376675e-01 9.75261712e-01 1.79955610e-01 8.90186594e+01] [ 8.02014925e-01 -4.63973137e-03 5.97285973e-01 3.05364881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.336875 meters Centerline goodness : 0.997829 Centerline is valid? [True, True] Translation: X:155.51, Y:89.02, Z:30.55 [[ 5.83814391e-01 2.09051334e-01 -7.84511502e-01 1.55510327e+02] [-1.26690972e-01 9.77901964e-01 1.66304379e-01 8.90191821e+01] [ 8.01941491e-01 2.29963468e-03 5.97398157e-01 3.05534935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.366875 meters Centerline goodness : 0.997439 Centerline is valid? [True, True] Translation: X:155.53, Y:89.02, Z:30.58 [[ 5.83905177e-01 2.07649649e-01 -7.84816136e-01 1.55527454e+02] [-1.24481972e-01 9.78203047e-01 1.66201796e-01 8.90183331e+01] [ 8.02221281e-01 6.49370631e-04 5.97026461e-01 3.05755311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.396875 meters Centerline goodness : 0.997391 Centerline is valid? [True, True] Translation: X:155.54, Y:89.02, Z:30.60 [[ 5.84535788e-01 2.06746934e-01 -7.84584997e-01 1.55544590e+02] [-1.23543060e-01 9.78394452e-01 1.65775172e-01 8.90166127e+01] [ 8.01907117e-01 2.85106007e-05 5.97448721e-01 3.05967790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.426875 meters Centerline goodness : 0.997682 Centerline is valid? [True, True] Translation: X:155.56, Y:89.01, Z:30.62 [[ 5.84557871e-01 2.06164202e-01 -7.84721873e-01 1.55561205e+02] [-1.22749102e-01 9.78517281e-01 1.65639936e-01 8.90148124e+01] [ 8.02012939e-01 -5.02223279e-04 5.97306449e-01 3.06185933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.456875 meters Centerline goodness : 0.996823 Centerline is valid? [True, True] Translation: X:155.58, Y:89.01, Z:30.64 [[ 5.85218562e-01 2.05584702e-01 -7.84381390e-01 1.55578469e+02] [-1.22214300e-01 9.78638927e-01 1.65316409e-01 8.90128430e+01] [ 8.01612686e-01 -8.83608678e-04 5.97843056e-01 3.06405795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.486875 meters Centerline goodness : 0.996718 Centerline is valid? [True, True] Translation: X:155.64, Y:89.03, Z:30.62 [[ 6.00923299e-01 1.53563820e-01 -7.84416562e-01 1.55635524e+02] [-1.14851140e-01 9.87776330e-01 1.05390407e-01 8.90331748e+01] [ 7.91012266e-01 2.67595854e-02 6.11214790e-01 3.06192074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.516875 meters Centerline goodness : 0.997038 Centerline is valid? [True, True] Translation: X:155.61, Y:89.01, Z:30.69 [[ 5.84405555e-01 2.10259577e-01 -7.83748083e-01 1.55609219e+02] [-1.23375300e-01 9.77641534e-01 1.70280843e-01 8.90093101e+01] [ 8.02027857e-01 -2.81791580e-03 5.97279982e-01 3.06873949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.546875 meters Centerline goodness : 0.997364 Centerline is valid? [True, True] Translation: X:155.63, Y:89.01, Z:30.71 [[ 5.84410796e-01 2.06310255e-01 -7.84793030e-01 1.55628283e+02] [-1.24075946e-01 9.78486071e-01 1.64833762e-01 8.90093715e+01] [ 8.01915944e-01 1.04330760e-03 5.97435964e-01 3.07068599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.57687500000003 meters Centerline goodness : 0.996487 Centerline is valid? [True, True] Translation: X:155.70, Y:89.04, Z:30.68 [[ 6.02026525e-01 1.42376323e-01 -7.85679989e-01 1.55695822e+02] [-1.16658769e-01 9.89099521e-01 8.98491497e-02 8.90363032e+01] [ 7.89908092e-01 3.75648893e-02 6.12073594e-01 3.06752126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.606875 meters Centerline goodness : 0.996558 Centerline is valid? [True, True] Translation: X:155.71, Y:89.03, Z:30.70 [[ 6.01769535e-01 1.50542550e-01 -7.84353471e-01 1.55710258e+02] [-1.19494254e-01 9.87991442e-01 9.79491422e-02 8.90342654e+01] [ 7.89680030e-01 3.47829233e-02 6.12532120e-01 3.07004757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.63687500000003 meters Centerline goodness : 0.996847 Centerline is valid? [True, True] Translation: X:155.73, Y:89.03, Z:30.72 [[ 6.01485575e-01 1.49490950e-01 -7.84772298e-01 1.55729536e+02] [-1.20653512e-01 9.88066895e-01 9.57420537e-02 8.90336869e+01] [ 7.89720098e-01 3.70980699e-02 6.12344592e-01 3.07215592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.666875 meters Centerline goodness : 0.996326 Centerline is valid? [True, True] Translation: X:155.74, Y:89.03, Z:30.75 [[ 5.97495253e-01 1.60796274e-01 -7.85585120e-01 1.55738755e+02] [-1.23908587e-01 9.86435411e-01 1.07665413e-01 8.90276542e+01] [ 7.92241179e-01 3.30111687e-02 6.09314514e-01 3.07522724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.69687500000003 meters Centerline goodness : 0.996912 Centerline is valid? [True, True] Translation: X:155.75, Y:89.02, Z:30.78 [[ 5.91438057e-01 1.70893029e-01 -7.88033373e-01 1.55749091e+02] [-1.29099443e-01 9.84745562e-01 1.16659817e-01 8.90225957e+01] [ 7.95948716e-01 3.27376140e-02 6.04478196e-01 3.07807812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.726875 meters Centerline goodness : 0.997364 Centerline is valid? [True, True] Translation: X:155.72, Y:89.00, Z:30.85 [[ 5.73141820e-01 2.27908408e-01 -7.87125284e-01 1.55722117e+02] [-1.37928425e-01 9.73671957e-01 1.81490139e-01 8.89971271e+01] [ 8.07764944e-01 4.54736263e-03 5.89487165e-01 3.08479052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.75687500000004 meters Centerline goodness : 0.997568 Centerline is valid? [True, True] Translation: X:155.74, Y:89.00, Z:30.87 [[ 5.72851920e-01 2.22627087e-01 -7.88845902e-01 1.55742132e+02] [-1.39706426e-01 9.74844716e-01 1.73666041e-01 8.89971295e+01] [ 8.07665025e-01 1.07219168e-02 5.89544102e-01 3.08666510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.786875 meters Centerline goodness : 0.996535 Centerline is valid? [True, True] Translation: X:155.81, Y:89.03, Z:30.84 [[ 5.90940658e-01 1.62071215e-01 -7.90267081e-01 1.55808094e+02] [-1.35574298e-01 9.85630446e-01 1.00758289e-01 8.90253080e+01] [ 7.95241315e-01 4.75977351e-02 6.04421796e-01 3.08382719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.81687500000004 meters Centerline goodness : 0.996369 Centerline is valid? [True, True] Translation: X:155.82, Y:89.02, Z:30.87 [[ 5.89698758e-01 1.71226065e-01 -7.89263587e-01 1.55820555e+02] [-1.38206847e-01 9.84246151e-01 1.10265051e-01 8.90202641e+01] [ 7.95709898e-01 4.40584679e-02 6.04073348e-01 3.08652024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.846875 meters Centerline goodness : 0.997340 Centerline is valid? [True, True] Translation: X:155.84, Y:89.02, Z:30.89 [[ 5.88095928e-01 1.73621124e-01 -7.89936001e-01 1.55836188e+02] [-1.39813348e-01 9.83806950e-01 1.12143271e-01 8.90182118e+01] [ 7.96614968e-01 4.44925958e-02 6.02847412e-01 3.08871176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.87687500000004 meters Centerline goodness : 0.997212 Centerline is valid? [True, True] Translation: X:155.85, Y:89.01, Z:30.92 [[ 5.86955192e-01 1.84797176e-01 -7.88247173e-01 1.55846025e+02] [-1.41380944e-01 9.82037818e-01 1.24952603e-01 8.90108321e+01] [ 7.97179422e-01 3.81015499e-02 6.02538995e-01 3.09187343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.906875 meters Centerline goodness : 0.996834 Centerline is valid? [True, True] Translation: X:155.87, Y:89.01, Z:30.94 [[ 5.84753036e-01 1.79890659e-01 -7.91014057e-01 1.55866168e+02] [-1.44056014e-01 9.82631500e-01 1.16975212e-01 8.90124425e+01] [ 7.98318077e-01 4.55487214e-02 6.00511084e-01 3.09375689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.93687500000004 meters Centerline goodness : 0.996861 Centerline is valid? [True, True] Translation: X:155.88, Y:89.01, Z:30.96 [[ 5.83892580e-01 1.82526727e-01 -7.91045795e-01 1.55881775e+02] [-1.45261285e-01 9.82161857e-01 1.19403710e-01 8.90088790e+01] [ 7.98729375e-01 4.51893883e-02 5.99991087e-01 3.09617289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.966875 meters Centerline goodness : 0.997055 Centerline is valid? [True, True] Translation: X:155.85, Y:88.98, Z:31.03 [[ 5.63994983e-01 2.45580959e-01 -7.88415913e-01 1.55850383e+02] [-1.52633935e-01 9.69306253e-01 1.92738862e-01 8.89798947e+01] [ 8.11549469e-01 1.16352719e-02 5.84167852e-01 3.10311083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.996875 meters Centerline goodness : 0.997491 Centerline is valid? [True, True] Translation: X:155.87, Y:88.98, Z:31.05 [[ 5.63963387e-01 2.35886088e-01 -7.91393108e-01 1.55872435e+02] [-1.52400775e-01 9.71603964e-01 1.80996523e-01 8.89793998e+01] [ 8.11615243e-01 1.85335109e-02 5.83898285e-01 3.10501806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.026875 meters Centerline goodness : 0.997742 Centerline is valid? [True, True] Translation: X:155.89, Y:88.98, Z:31.07 [[ 5.63565582e-01 2.35555368e-01 -7.91774907e-01 1.55889504e+02] [-1.52257965e-01 9.71680714e-01 1.80704463e-01 8.89773182e+01] [ 8.11918313e-01 1.87152205e-02 5.83470988e-01 3.10714040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.056875 meters Centerline goodness : 0.997750 Centerline is valid? [True, True] Translation: X:155.91, Y:88.97, Z:31.09 [[ 5.63247812e-01 2.35329046e-01 -7.92068269e-01 1.55906139e+02] [-1.52150441e-01 9.71733140e-01 1.80513013e-01 8.89739338e+01] [ 8.12158941e-01 1.88399770e-02 5.83131983e-01 3.10938793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.086875 meters Centerline goodness : 0.997344 Centerline is valid? [True, True] Translation: X:155.92, Y:88.97, Z:31.12 [[ 5.62713607e-01 2.35060689e-01 -7.92527519e-01 1.55923127e+02] [-1.52097446e-01 9.71792631e-01 1.80237202e-01 8.89704159e+01] [ 8.12539084e-01 1.91194857e-02 5.82593067e-01 3.11162600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.116875 meters Centerline goodness : 0.996729 Centerline is valid? [True, True] Translation: X:155.96, Y:88.98, Z:31.11 [[ 5.73154007e-01 2.00245829e-01 -7.94604362e-01 1.55964925e+02] [-1.47791318e-01 9.79042096e-01 1.40122450e-01 8.89831058e+01] [ 8.06010056e-01 3.71238829e-02 5.90736495e-01 3.11099651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.146875 meters Centerline goodness : 0.997050 Centerline is valid? [True, True] Translation: X:155.98, Y:88.98, Z:31.13 [[ 5.72925883e-01 1.97897773e-01 -7.95356778e-01 1.55982234e+02] [-1.48061407e-01 9.79436739e-01 1.37045589e-01 8.89805078e+01] [ 8.06122666e-01 3.92446784e-02 5.90445682e-01 3.11311787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.176875 meters Centerline goodness : 0.996524 Centerline is valid? [True, True] Translation: X:156.00, Y:88.98, Z:31.15 [[ 5.72876247e-01 1.92377257e-01 -7.96745754e-01 1.56001588e+02] [-1.48728902e-01 9.80326924e-01 1.29764544e-01 8.89791339e+01] [ 8.06035061e-01 4.41600960e-02 5.90218067e-01 3.11497287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.206875 meters Centerline goodness : 0.996559 Centerline is valid? [True, True] Translation: X:156.02, Y:88.97, Z:31.17 [[ 5.75119820e-01 1.92222943e-01 -7.95165098e-01 1.56019133e+02] [-1.47561153e-01 9.80434590e-01 1.30283232e-01 8.89749048e+01] [ 8.04650793e-01 4.24070095e-02 5.92232004e-01 3.11731822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.236875 meters Centerline goodness : 0.996672 Centerline is valid? [True, True] Translation: X:156.03, Y:88.97, Z:31.20 [[ 5.71768866e-01 1.98042642e-01 -7.96152922e-01 1.56031387e+02] [-1.49837196e-01 9.79312996e-01 1.35995845e-01 8.89683404e+01] [ 8.06615880e-01 4.15351317e-02 5.89614836e-01 3.12004962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.266875 meters Centerline goodness : 0.995866 Centerline is valid? [True, True] Translation: X:156.05, Y:88.97, Z:31.22 [[ 5.72331122e-01 1.95374574e-01 -7.96408101e-01 1.56048525e+02] [-1.49986159e-01 9.79760073e-01 1.32568290e-01 8.89657725e+01] [ 8.06189332e-01 4.35772335e-02 5.90050663e-01 3.12211404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.296875 meters Centerline goodness : 0.996698 Centerline is valid? [True, True] Translation: X:156.07, Y:88.96, Z:31.24 [[ 5.72991036e-01 1.89929235e-01 -7.97250374e-01 1.56067586e+02] [-1.50696192e-01 9.80606786e-01 1.25303585e-01 8.89641092e+01] [ 8.05587941e-01 4.83447645e-02 5.90500511e-01 3.12397028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.32687500000003 meters Centerline goodness : 0.996794 Centerline is valid? [True, True] Translation: X:156.08, Y:88.96, Z:31.27 [[ 5.72285155e-01 1.95709539e-01 -7.96358888e-01 1.56080330e+02] [-1.51776312e-01 9.79605148e-01 1.31672721e-01 8.89576864e+01] [ 8.05886874e-01 4.55140712e-02 5.90317556e-01 3.12663665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.356875 meters Centerline goodness : 0.996586 Centerline is valid? [True, True] Translation: X:156.10, Y:88.95, Z:31.29 [[ 5.73140139e-01 1.96872183e-01 -7.95456928e-01 1.56095926e+02] [-1.51075044e-01 9.79458102e-01 1.33559567e-01 8.89534228e+01] [ 8.05410896e-01 4.36253412e-02 5.91109226e-01 3.12898103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.38687500000003 meters Centerline goodness : 0.997624 Centerline is valid? [True, True] Translation: X:156.08, Y:88.93, Z:31.35 [[ 5.59047900e-01 2.38764065e-01 -7.94013329e-01 1.56080340e+02] [-1.57250718e-01 9.70791844e-01 1.81205426e-01 8.89293413e+01] [ 8.14087008e-01 2.35566535e-02 5.80264963e-01 3.13478884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.416875 meters Centerline goodness : 0.996579 Centerline is valid? [True, True] Translation: X:156.13, Y:88.94, Z:31.33 [[ 5.72648707e-01 1.96022566e-01 -7.96020485e-01 1.56128512e+02] [-1.51248026e-01 9.79586132e-01 1.32419960e-01 8.89448056e+01] [ 8.05727928e-01 4.45664082e-02 5.90606757e-01 3.13349404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.44687500000003 meters Centerline goodness : 0.997026 Centerline is valid? [True, True] Translation: X:156.14, Y:88.94, Z:31.36 [[ 5.67546714e-01 2.04783760e-01 -7.97467453e-01 1.56137460e+02] [-1.53310655e-01 9.77920232e-01 1.42013600e-01 8.89373523e+01] [ 8.08941636e-01 4.16609058e-02 5.86410947e-01 3.13626829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.476875 meters Centerline goodness : 0.996669 Centerline is valid? [True, True] Translation: X:156.15, Y:88.93, Z:31.39 [[ 5.66491259e-01 2.04046030e-01 -7.98406457e-01 1.56153830e+02] [-1.53356152e-01 9.78039028e-01 1.41143725e-01 8.89334320e+01] [ 8.09672492e-01 4.24838558e-02 5.85342274e-01 3.13862885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.50687500000004 meters Centerline goodness : 0.996267 Centerline is valid? [True, True] Translation: X:156.17, Y:88.93, Z:31.41 [[ 5.66208750e-01 2.01980014e-01 -7.99131857e-01 1.56172142e+02] [-1.53413651e-01 9.78395073e-01 1.38590520e-01 8.89299016e+01] [ 8.09859187e-01 4.41265707e-02 5.84962343e-01 3.14091358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.536875 meters Centerline goodness : 0.997263 Centerline is valid? [True, True] Translation: X:156.19, Y:88.93, Z:31.43 [[ 5.64865248e-01 1.97840065e-01 -8.01115822e-01 1.56191761e+02] [-1.55102948e-01 9.78985432e-01 1.32403172e-01 8.89281772e+01] [ 8.10475371e-01 4.94654753e-02 5.83680426e-01 3.14280371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.56687500000004 meters Centerline goodness : 0.996561 Centerline is valid? [True, True] Translation: X:156.21, Y:88.92, Z:31.45 [[ 5.65992208e-01 2.01084105e-01 -7.99511103e-01 1.56207462e+02] [-1.54531049e-01 9.78484973e-01 1.36701548e-01 8.89225108e+01] [ 8.09798108e-01 4.61772779e-02 5.84888608e-01 3.14528868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.596875 meters Centerline goodness : 0.997027 Centerline is valid? [True, True] Translation: X:156.22, Y:88.92, Z:31.47 [[ 5.63501652e-01 2.00358545e-01 -8.01450149e-01 1.56222984e+02] [-1.56034074e-01 9.78494974e-01 1.34910913e-01 8.89189419e+01] [ 8.11245497e-01 4.90310095e-02 5.82646294e-01 3.14745694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.62687500000004 meters Centerline goodness : 0.996886 Centerline is valid? [True, True] Translation: X:156.24, Y:88.92, Z:31.50 [[ 5.64303618e-01 1.95356057e-01 -8.02120588e-01 1.56242153e+02] [-1.54909749e-01 9.79397590e-01 1.29550495e-01 8.89159368e+01] [ 8.10903445e-01 5.11504859e-02 5.82940161e-01 3.14953250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.656875 meters Centerline goodness : 0.996770 Centerline is valid? [True, True] Translation: X:156.26, Y:88.91, Z:31.52 [[ 5.64492437e-01 1.92532649e-01 -8.02670211e-01 1.56259458e+02] [-1.54192251e-01 9.79895948e-01 1.26604428e-01 8.89117661e+01] [ 8.10908773e-01 5.22982848e-02 5.82830895e-01 3.15177979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.68687500000004 meters Centerline goodness : 0.996883 Centerline is valid? [True, True] Translation: X:156.27, Y:88.90, Z:31.54 [[ 5.66731106e-01 1.94071297e-01 -8.00719792e-01 1.56272950e+02] [-1.50336565e-01 9.79904501e-01 1.31095711e-01 8.89048345e+01] [ 8.10070843e-01 4.60814458e-02 5.84518374e-01 3.15426705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.716875 meters Centerline goodness : 0.996972 Centerline is valid? [True, True] Translation: X:156.29, Y:88.90, Z:31.57 [[ 5.65334447e-01 1.95561842e-01 -8.01344202e-01 1.56285786e+02] [-1.48838733e-01 9.79727726e-01 1.34091811e-01 8.88997198e+01] [ 8.11322374e-01 4.34643359e-02 5.82981009e-01 3.15669267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.746875 meters Centerline goodness : 0.996758 Centerline is valid? [True, True] Translation: X:156.30, Y:88.90, Z:31.59 [[ 5.65348804e-01 1.91975882e-01 -8.02200717e-01 1.56302447e+02] [-1.47244931e-01 9.80406377e-01 1.30852081e-01 8.88959986e+01] [ 8.11603142e-01 4.41429214e-02 5.82539048e-01 3.15888677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.776875 meters Centerline goodness : 0.996997 Centerline is valid? [True, True] Translation: X:156.32, Y:88.90, Z:31.60 [[ 5.68432755e-01 1.86534694e-01 -8.01304568e-01 1.56319821e+02] [-1.42174767e-01 9.81577024e-01 1.27643570e-01 8.88958765e+01] [ 8.10352108e-01 4.13685036e-02 5.84481059e-01 3.16046880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.806875 meters Centerline goodness : 0.996625 Centerline is valid? [True, True] Translation: X:156.35, Y:88.89, Z:31.63 [[ 5.68968521e-01 1.70507231e-01 -8.04488724e-01 1.56345361e+02] [-1.42235172e-01 9.83929490e-01 1.07944033e-01 8.88919330e+01] [ 8.09965418e-01 5.30098356e-02 5.84077032e-01 3.16280247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.836875 meters Centerline goodness : 0.996859 Centerline is valid? [True, True] Translation: X:156.35, Y:88.88, Z:31.66 [[ 5.66296707e-01 1.85839694e-01 -8.02976742e-01 1.56350836e+02] [-1.39110663e-01 9.81822380e-01 1.29124114e-01 8.88808895e+01] [ 8.12376922e-01 3.85800664e-02 5.81855064e-01 3.16583407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.866875 meters Centerline goodness : 0.996859 Centerline is valid? [True, True] Translation: X:156.37, Y:88.88, Z:31.68 [[ 5.65341533e-01 1.88397778e-01 -8.03053690e-01 1.56365542e+02] [-1.39640798e-01 9.81374474e-01 1.31926456e-01 8.88759418e+01] [ 8.12951043e-01 3.75555532e-02 5.81119765e-01 3.16833646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.896875 meters Centerline goodness : 0.996632 Centerline is valid? [True, True] Translation: X:156.38, Y:88.87, Z:31.71 [[ 5.64652153e-01 1.89209942e-01 -8.03347711e-01 1.56379940e+02] [-1.37851977e-01 9.81314547e-01 1.34233348e-01 8.88706559e+01] [ 8.13735079e-01 3.49479212e-02 5.80184336e-01 3.17076291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.926875 meters Centerline goodness : 0.997176 Centerline is valid? [True, True] Translation: X:156.39, Y:88.86, Z:31.74 [[ 5.61274631e-01 1.97843460e-01 -8.03634714e-01 1.56388524e+02] [-1.37768974e-01 9.79794546e-01 1.44990890e-01 8.88627211e+01] [ 8.16082409e-01 2.93362220e-02 5.77190513e-01 3.17366312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.956875 meters Centerline goodness : 0.997700 Centerline is valid? [True, True] Translation: X:156.36, Y:88.84, Z:31.80 [[ 5.45453718e-01 2.47109854e-01 -8.00885111e-01 1.56363304e+02] [-1.42858374e-01 9.68977450e-01 2.01678421e-01 8.88368032e+01] [ 8.25876338e-01 4.40689989e-03 5.63834065e-01 3.18000790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.986875 meters Centerline goodness : 0.997481 Centerline is valid? [True, True] Translation: X:156.41, Y:88.85, Z:31.79 [[ 5.59086501e-01 1.99158825e-01 -8.04834174e-01 1.56414813e+02] [-1.35840049e-01 9.79607255e-01 1.48044276e-01 8.88525761e+01] [ 8.17905719e-01 2.65591577e-02 5.74738937e-01 3.17876179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.016875 meters Centerline goodness : 0.996882 Centerline is valid? [True, True] Translation: X:156.44, Y:88.85, Z:31.81 [[ 5.60466510e-01 1.91264650e-01 -8.05788511e-01 1.56435610e+02] [-1.34869638e-01 9.81057061e-01 1.39058349e-01 8.88496836e+01] [ 8.17121455e-01 3.07388570e-02 5.75645421e-01 3.18070515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.046875 meters Centerline goodness : 0.997311 Centerline is valid? [True, True] Translation: X:156.45, Y:88.85, Z:31.83 [[ 5.62101571e-01 1.91288680e-01 -8.04643067e-01 1.56451375e+02] [-1.34097522e-01 9.81091785e-01 1.39559177e-01 8.88451524e+01] [ 8.16124794e-01 2.94542083e-02 5.77124571e-01 3.18293310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.07687500000003 meters Centerline goodness : 0.997470 Centerline is valid? [True, True] Translation: X:156.42, Y:88.82, Z:31.90 [[ 5.46095484e-01 2.51166683e-01 -7.99183971e-01 1.56419227e+02] [-1.40826636e-01 9.67943305e-01 2.07975041e-01 8.88174480e+01] [ 8.25801175e-01 -1.02784043e-03 5.63960427e-01 3.18973465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.106875 meters Centerline goodness : 0.997117 Centerline is valid? [True, True] Translation: X:156.48, Y:88.83, Z:31.88 [[ 5.58921533e-01 1.97822970e-01 -8.05278084e-01 1.56477904e+02] [-1.37006973e-01 9.79810267e-01 1.45605390e-01 8.88340801e+01] [ 8.17823825e-01 2.89467251e-02 5.74740183e-01 3.18822104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.13687500000003 meters Centerline goodness : 0.996880 Centerline is valid? [True, True] Translation: X:156.45, Y:88.81, Z:31.95 [[ 5.44978938e-01 2.53295128e-01 -7.99274380e-01 1.56449029e+02] [-1.42089285e-01 9.67388793e-01 2.09689194e-01 8.88093591e+01] [ 8.26322329e-01 -7.07869392e-04 5.63197041e-01 3.19451152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.166875 meters Centerline goodness : 0.997453 Centerline is valid? [True, True] Translation: X:156.51, Y:88.83, Z:31.93 [[ 5.58462443e-01 1.96531382e-01 -8.05912598e-01 1.56507621e+02] [-1.37534004e-01 9.80019988e-01 1.43684449e-01 8.88278586e+01] [ 8.18048958e-01 3.05980179e-02 5.74334105e-01 3.19259402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.19687500000003 meters Centerline goodness : 0.997106 Centerline is valid? [True, True] Translation: X:156.52, Y:88.82, Z:31.95 [[ 5.56387298e-01 1.98916070e-01 -8.06762401e-01 1.56520971e+02] [-1.39064488e-01 9.79520420e-01 1.45604998e-01 8.88245409e+01] [ 8.19203420e-01 3.11792285e-02 5.72654881e-01 3.19478947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.226875 meters Centerline goodness : 0.997016 Centerline is valid? [True, True] Translation: X:156.55, Y:88.82, Z:31.96 [[ 5.59762359e-01 1.85325561e-01 -8.07663629e-01 1.56548206e+02] [-1.40092084e-01 9.81805095e-01 1.28191119e-01 8.88248505e+01] [ 8.16725358e-01 4.13907180e-02 5.75540180e-01 3.19629112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.25687500000004 meters Centerline goodness : 0.997438 Centerline is valid? [True, True] Translation: X:156.56, Y:88.82, Z:31.99 [[ 5.57301110e-01 1.91430710e-01 -8.07941679e-01 1.56560154e+02] [-1.42144781e-01 9.80691044e-01 1.34312836e-01 8.88180363e+01] [ 8.18052770e-01 3.99920004e-02 5.73751084e-01 3.19913479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.286875 meters Centerline goodness : 0.997174 Centerline is valid? [True, True] Translation: X:156.58, Y:88.81, Z:32.01 [[ 5.56799347e-01 1.91753471e-01 -8.08211046e-01 1.56576522e+02] [-1.42795090e-01 9.80601249e-01 1.34278640e-01 8.88140413e+01] [ 8.18281156e-01 4.06423098e-02 5.73379589e-01 3.20135205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.31687500000004 meters Centerline goodness : 0.997822 Centerline is valid? [True, True] Translation: X:156.59, Y:88.81, Z:32.04 [[ 5.53578788e-01 1.96988257e-01 -8.09163860e-01 1.56588376e+02] [-1.45210905e-01 9.79569776e-01 1.39128886e-01 8.88080265e+01] [ 8.20039218e-01 4.04806157e-02 5.70873892e-01 3.20401897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.346875 meters Centerline goodness : 0.998115 Centerline is valid? [True, True] Translation: X:156.56, Y:88.78, Z:32.11 [[ 5.34634894e-01 2.57541362e-01 -8.04883828e-01 1.56556038e+02] [-1.52809805e-01 9.66193067e-01 2.07653849e-01 8.87793591e+01] [ 8.31152630e-01 1.19751475e-02 5.55915373e-01 3.21096971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.37687500000004 meters Centerline goodness : 0.998090 Centerline is valid? [True, True] Translation: X:156.57, Y:88.77, Z:32.13 [[ 5.34306803e-01 2.58942795e-01 -8.04652017e-01 1.56570251e+02] [-1.53310764e-01 9.65821938e-01 2.09006682e-01 8.87745228e+01] [ 8.31271345e-01 1.16881235e-02 5.55743950e-01 3.21320631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.406875 meters Centerline goodness : 0.997264 Centerline is valid? [True, True] Translation: X:156.63, Y:88.79, Z:32.12 [[ 5.48505249e-01 2.09809005e-01 -8.09396178e-01 1.56625889e+02] [-1.48995741e-01 9.77039703e-01 1.52294741e-01 8.87900006e+01] [ 8.22765010e-01 3.70621179e-02 5.67172054e-01 3.21163951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.43687500000004 meters Centerline goodness : 0.997343 Centerline is valid? [True, True] Translation: X:156.64, Y:88.79, Z:32.14 [[ 5.48572012e-01 2.09920138e-01 -8.09322113e-01 1.56641593e+02] [-1.49128914e-01 9.77013351e-01 1.52333450e-01 8.87862739e+01] [ 8.22696368e-01 3.71274608e-02 5.67267342e-01 3.21377476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.466875 meters Centerline goodness : 0.997141 Centerline is valid? [True, True] Translation: X:156.66, Y:88.78, Z:32.16 [[ 5.48500207e-01 2.06832180e-01 -8.10165398e-01 1.56658942e+02] [-1.50039421e-01 9.77542454e-01 1.47982849e-01 8.87826235e+01] [ 8.22578686e-01 4.03881237e-02 5.67215218e-01 3.21607566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.496875 meters Centerline goodness : 0.997510 Centerline is valid? [True, True] Translation: X:156.67, Y:88.78, Z:32.18 [[ 5.48572588e-01 2.05505098e-01 -8.10454052e-01 1.56674820e+02] [-1.50244624e-01 9.77773816e-01 1.46235831e-01 8.87788864e+01] [ 8.22492960e-01 4.15453959e-02 5.67255949e-01 3.21810155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.526875 meters Centerline goodness : 0.997720 Centerline is valid? [True, True] Translation: X:156.64, Y:88.75, Z:32.25 [[ 5.28213983e-01 2.66951466e-01 -8.06056390e-01 1.56639105e+02] [-1.57416730e-01 9.63624919e-01 2.15979141e-01 8.87500890e+01] [ 8.34391971e-01 1.28035588e-02 5.51022783e-01 3.22533283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.556875 meters Centerline goodness : 0.997581 Centerline is valid? [True, True] Translation: X:156.71, Y:88.77, Z:32.23 [[ 5.47459193e-01 2.03302064e-01 -8.11761482e-01 1.56705110e+02] [-1.51661929e-01 9.78081186e-01 1.42673937e-01 8.87700253e+01] [ 8.22974539e-01 4.50051539e-02 5.66292720e-01 3.22281726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.586875 meters Centerline goodness : 0.997864 Centerline is valid? [True, True] Translation: X:156.72, Y:88.76, Z:32.25 [[ 5.46880778e-01 2.04332513e-01 -8.11892628e-01 1.56720392e+02] [-1.52797818e-01 9.77831531e-01 1.43172361e-01 8.87648641e+01] [ 8.23148979e-01 4.57572098e-02 5.65978830e-01 3.22532227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.616875 meters Centerline goodness : 0.997600 Centerline is valid? [True, True] Translation: X:156.74, Y:88.76, Z:32.27 [[ 5.46162679e-01 2.04232272e-01 -8.12401075e-01 1.56736662e+02] [-1.53530995e-01 9.77800828e-01 1.42596544e-01 8.87610416e+01] [ 8.23489260e-01 4.68478352e-02 5.65394304e-01 3.22736987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.646875 meters Centerline goodness : 0.997270 Centerline is valid? [True, True] Translation: X:156.75, Y:88.76, Z:32.30 [[ 5.48698637e-01 2.05980910e-01 -8.10247907e-01 1.56752114e+02] [-1.52623750e-01 9.77565663e-01 1.45159796e-01 8.87550196e+01] [ 8.21970679e-01 4.40140915e-02 5.67826526e-01 3.22983032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.676875 meters Centerline goodness : 0.997891 Centerline is valid? [True, True] Translation: X:156.77, Y:88.75, Z:32.32 [[ 5.46604228e-01 2.06667441e-01 -8.11487761e-01 1.56766494e+02] [-1.54110000e-01 9.77341239e-01 1.45100691e-01 8.87493281e+01] [ 8.23088043e-01 4.57457277e-02 5.66068373e-01 3.23241640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.706875 meters Centerline goodness : 0.997749 Centerline is valid? [True, True] Translation: X:156.78, Y:88.74, Z:32.35 [[ 5.44791611e-01 2.08261111e-01 -8.12298843e-01 1.56780834e+02] [-1.54582236e-01 9.77010489e-01 1.46815653e-01 8.87434674e+01] [ 8.24200481e-01 4.55830350e-02 5.64460587e-01 3.23500206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.736875 meters Centerline goodness : 0.997477 Centerline is valid? [True, True] Translation: X:156.80, Y:88.74, Z:32.37 [[ 5.44296171e-01 2.09526268e-01 -8.12305621e-01 1.56795208e+02] [-1.54126595e-01 9.76800291e-01 1.48681483e-01 8.87382743e+01] [ 8.24613043e-01 4.42711377e-02 5.63962229e-01 3.23739486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.766875 meters Centerline goodness : 0.997383 Centerline is valid? [True, True] Translation: X:156.81, Y:88.73, Z:32.40 [[ 5.43744526e-01 2.08534474e-01 -8.12930048e-01 1.56809747e+02] [-1.53287114e-01 9.77020965e-01 1.48098258e-01 8.87328265e+01] [ 8.25133293e-01 4.40840837e-02 5.63215449e-01 3.23969167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.796875 meters Centerline goodness : 0.997717 Centerline is valid? [True, True] Translation: X:156.82, Y:88.73, Z:32.42 [[ 5.42872760e-01 2.09631555e-01 -8.13230458e-01 1.56823795e+02] [-1.53242493e-01 9.76814097e-01 1.49502372e-01 8.87268731e+01] [ 8.25715389e-01 4.34606973e-02 5.62410227e-01 3.24222917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.82687500000003 meters Centerline goodness : 0.998288 Centerline is valid? [True, True] Translation: X:156.77, Y:88.70, Z:32.50 [[ 5.21859983e-01 2.84899089e-01 -8.04048921e-01 1.56774111e+02] [-1.57541979e-01 9.58553468e-01 2.37393709e-01 8.86963508e+01] [ 8.38357134e-01 2.78518113e-03 5.45114263e-01 3.24991719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.856875 meters Centerline goodness : 0.997853 Centerline is valid? [True, True] Translation: X:156.80, Y:88.69, Z:32.52 [[ 5.22504522e-01 2.69464900e-01 -8.08936149e-01 1.56796784e+02] [-1.55663840e-01 9.62949033e-01 2.20222455e-01 8.86939404e+01] [ 8.38306504e-01 1.08548787e-02 5.45091165e-01 3.25162462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.88687500000003 meters Centerline goodness : 0.997681 Centerline is valid? [True, True] Translation: X:156.87, Y:88.71, Z:32.49 [[ 5.42494956e-01 1.99635820e-01 -8.15993114e-01 1.56871000e+02] [-1.48880775e-01 9.78823916e-01 1.40492907e-01 8.87140851e+01] [ 8.26760992e-01 4.52689941e-02 5.60728973e-01 3.24892793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.916875 meters Centerline goodness : 0.997845 Centerline is valid? [True, True] Translation: X:156.88, Y:88.71, Z:32.52 [[ 5.42452465e-01 2.10724657e-01 -8.13228407e-01 1.56879148e+02] [-1.47460348e-01 9.76883686e-01 1.54769864e-01 8.87063631e+01] [ 8.27043390e-01 3.59636494e-02 5.60986495e-01 3.25163683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.94687500000003 meters Centerline goodness : 0.998108 Centerline is valid? [True, True] Translation: X:156.83, Y:88.68, Z:32.59 [[ 5.21730587e-01 2.82656123e-01 -8.04924040e-01 1.56830177e+02] [-1.52470782e-01 9.59220211e-01 2.38011025e-01 8.86757362e+01] [ 8.39374681e-01 -1.45023434e-03 5.43551324e-01 3.25938497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.976875 meters Centerline goodness : 0.997528 Centerline is valid? [True, True] Translation: X:156.91, Y:88.70, Z:32.56 [[ 5.42218081e-01 1.98389114e-01 -8.16481055e-01 1.56912324e+02] [-1.45209922e-01 9.79230034e-01 1.41501303e-01 8.86991606e+01] [ 8.27595089e-01 4.18365856e-02 5.59764298e-01 3.25599927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.00687500000004 meters Centerline goodness : 0.997427 Centerline is valid? [True, True] Translation: X:156.93, Y:88.69, Z:32.58 [[ 5.42893918e-01 2.01480198e-01 -8.15274140e-01 1.56926221e+02] [-1.43935031e-01 9.78752649e-01 1.46034099e-01 8.86940032e+01] [ 8.27374704e-01 3.80654848e-02 5.60358919e-01 3.25835976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.036875 meters Centerline goodness : 0.997458 Centerline is valid? [True, True] Translation: X:156.93, Y:88.68, Z:32.62 [[ 5.39091591e-01 2.12456666e-01 -8.15010688e-01 1.56931370e+02] [-1.43588524e-01 9.76679445e-01 1.59623297e-01 8.86847441e+01] [ 8.29917220e-01 3.09746045e-02 5.57026015e-01 3.26156243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.06687500000004 meters Centerline goodness : 0.998015 Centerline is valid? [True, True] Translation: X:156.89, Y:88.66, Z:32.69 [[ 5.19415022e-01 2.77280713e-01 -8.08284258e-01 1.56888578e+02] [-1.48984090e-01 9.60788379e-01 2.33857718e-01 8.86564936e+01] [ 8.41434356e-01 -1.04771704e-03 5.40358331e-01 3.26887761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.096875 meters Centerline goodness : 0.997932 Centerline is valid? [True, True] Translation: X:156.97, Y:88.68, Z:32.66 [[ 5.38733222e-01 2.00492454e-01 -8.18272137e-01 1.56966208e+02] [-1.42417710e-01 9.78964693e-01 1.46100394e-01 8.86780590e+01] [ 8.30351559e-01 3.78273080e-02 5.55954480e-01 3.26585322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.12687500000004 meters Centerline goodness : 0.997609 Centerline is valid? [True, True] Translation: X:156.97, Y:88.67, Z:32.69 [[ 5.37488259e-01 2.11700941e-01 -8.16265327e-01 1.56973341e+02] [-1.42639846e-01 9.76850850e-01 1.59424879e-01 8.86688572e+01] [ 8.31119875e-01 3.07429598e-02 5.55242852e-01 3.26886029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.156875 meters Centerline goodness : 0.998174 Centerline is valid? [True, True] Translation: X:156.93, Y:88.64, Z:32.76 [[ 5.18365732e-01 2.79106428e-01 -8.08329493e-01 1.56928446e+02] [-1.47846212e-01 9.60254787e-01 2.36753546e-01 8.86405125e+01] [ 8.42281702e-01 -3.21647185e-03 5.39028004e-01 3.27620485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.18687500000004 meters Centerline goodness : 0.997537 Centerline is valid? [True, True] Translation: X:157.01, Y:88.66, Z:32.73 [[ 5.38318218e-01 2.01239807e-01 -8.18361801e-01 1.57005871e+02] [-1.41590908e-01 9.78864225e-01 1.47569794e-01 8.86616294e+01] [ 8.30762006e-01 3.64330824e-02 5.55434172e-01 3.27332619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.216875 meters Centerline goodness : 0.997468 Centerline is valid? [True, True] Translation: X:157.02, Y:88.65, Z:32.76 [[ 5.39395680e-01 2.10562778e-01 -8.15300937e-01 1.57015566e+02] [-1.42075959e-01 9.77106970e-01 1.58355269e-01 8.86541463e+01] [ 8.29979953e-01 3.04185145e-02 5.56963187e-01 3.27605135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.246875 meters Centerline goodness : 0.998272 Centerline is valid? [True, True] Translation: X:156.97, Y:88.63, Z:32.83 [[ 5.19417778e-01 2.81374158e-01 -8.06866628e-01 1.56968454e+02] [-1.48462324e-01 9.59588128e-01 2.39059747e-01 8.86258478e+01] [ 8.41524872e-01 -4.38258767e-03 5.40200595e-01 3.28346129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.276875 meters Centerline goodness : 0.997464 Centerline is valid? [True, True] Translation: X:157.05, Y:88.65, Z:32.81 [[ 5.36846835e-01 2.05328031e-01 -8.18312822e-01 1.57047814e+02] [-1.45668004e-01 9.77924780e-01 1.49813077e-01 8.86472543e+01] [ 8.31009211e-01 3.87753193e-02 5.54905547e-01 3.28057758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.306875 meters Centerline goodness : 0.997538 Centerline is valid? [True, True] Translation: X:157.05, Y:88.64, Z:32.84 [[ 5.34767852e-01 2.19229121e-01 -8.16064910e-01 1.57054982e+02] [-1.47997532e-01 9.75130269e-01 1.64977844e-01 8.86385158e+01] [ 8.31937543e-01 3.25507460e-02 5.53913688e-01 3.28363171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.336875 meters Centerline goodness : 0.997415 Centerline is valid? [True, True] Translation: X:157.07, Y:88.63, Z:32.86 [[ 5.34944305e-01 2.21947115e-01 -8.15214125e-01 1.57069296e+02] [-1.49247725e-01 9.74529285e-01 1.67385155e-01 8.86343973e+01] [ 8.31600690e-01 3.21271176e-02 5.54443993e-01 3.28582256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.366875 meters Centerline goodness : 0.998053 Centerline is valid? [True, True] Translation: X:157.09, Y:88.63, Z:32.88 [[ 5.31952472e-01 2.20342001e-01 -8.17603798e-01 1.57085668e+02] [-1.52410261e-01 9.74696627e-01 1.63516352e-01 8.86301623e+01] [ 8.32945184e-01 3.76282802e-02 5.52074662e-01 3.28829177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.396875 meters Centerline goodness : 0.997810 Centerline is valid? [True, True] Translation: X:157.10, Y:88.62, Z:32.91 [[ 5.29089797e-01 2.26455780e-01 -8.17790784e-01 1.57097568e+02] [-1.55019655e-01 9.73309383e-01 1.69226923e-01 8.86248168e+01] [ 8.34285859e-01 3.72374065e-02 5.50073160e-01 3.29092299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.426875 meters Centerline goodness : 0.997904 Centerline is valid? [True, True] Translation: X:157.11, Y:88.62, Z:32.93 [[ 5.28715719e-01 2.25990728e-01 -8.18161279e-01 1.57113712e+02] [-1.56626772e-01 9.73327671e-01 1.67634421e-01 8.86212067e+01] [ 8.34222837e-01 3.95150066e-02 5.50009838e-01 3.29321692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.456875 meters Centerline goodness : 0.997688 Centerline is valid? [True, True] Translation: X:157.13, Y:88.62, Z:32.96 [[ 5.27799217e-01 2.26411527e-01 -8.18636554e-01 1.57129491e+02] [-1.60236744e-01 9.73052660e-01 1.65809247e-01 8.86172759e+01] [ 8.34117601e-01 4.36616651e-02 5.49855878e-01 3.29561261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.486875 meters Centerline goodness : 0.998153 Centerline is valid? [True, True] Translation: X:157.14, Y:88.61, Z:32.98 [[ 5.26458810e-01 2.30543296e-01 -8.18346449e-01 1.57141761e+02] [-1.62083003e-01 9.72095519e-01 1.69585974e-01 8.86119799e+01] [ 8.34607825e-01 4.33600200e-02 5.49135399e-01 3.29819146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.516875 meters Centerline goodness : 0.997706 Centerline is valid? [True, True] Translation: X:157.15, Y:88.60, Z:33.01 [[ 5.27633119e-01 2.40613061e-01 -8.14683157e-01 1.57150542e+02] [-1.62892696e-01 9.69907008e-01 1.80959569e-01 8.86048048e+01] [ 8.33708139e-01 3.72256745e-02 5.50949170e-01 3.30097719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.546875 meters Centerline goodness : 0.998126 Centerline is valid? [True, True] Translation: X:157.11, Y:88.58, Z:33.08 [[ 5.07185746e-01 3.04816234e-01 -8.06132546e-01 1.57106173e+02] [-1.69246739e-01 9.52379271e-01 2.53632148e-01 8.85802485e+01] [ 8.45055123e-01 7.79669445e-03 5.34622344e-01 3.30797770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.57687500000003 meters Centerline goodness : 0.997638 Centerline is valid? [True, True] Translation: X:157.19, Y:88.60, Z:33.05 [[ 5.27730323e-01 2.16207972e-01 -8.21434610e-01 1.57192220e+02] [-1.64392903e-01 9.74775740e-01 1.50954397e-01 8.86014849e+01] [ 8.33352074e-01 5.53748070e-02 5.49961772e-01 3.30507012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.606875 meters Centerline goodness : 0.997470 Centerline is valid? [True, True] Translation: X:157.20, Y:88.59, Z:33.08 [[ 5.25929352e-01 2.34238563e-01 -8.17637213e-01 1.57196267e+02] [-1.64550861e-01 9.71188317e-01 1.72384067e-01 8.85925350e+01] [ 8.34458706e-01 4.38810669e-02 5.49320599e-01 3.30801782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.63687500000003 meters Centerline goodness : 0.998272 Centerline is valid? [True, True] Translation: X:157.15, Y:88.57, Z:33.15 [[ 5.02545839e-01 3.05381190e-01 -8.08820134e-01 1.57148392e+02] [-1.69885435e-01 9.52179926e-01 2.53953396e-01 8.85659346e+01] [ 8.47694885e-01 9.78353774e-03 5.30393876e-01 3.31513984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.666875 meters Centerline goodness : 0.998520 Centerline is valid? [True, True] Translation: X:157.17, Y:88.56, Z:33.17 [[ 5.02955256e-01 2.86559019e-01 -8.15426232e-01 1.57174687e+02] [-1.69664756e-01 9.57817055e-01 2.31949044e-01 8.85648689e+01] [ 8.47496243e-01 2.16891014e-02 5.30358088e-01 3.31679993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.69687500000003 meters Centerline goodness : 0.998587 Centerline is valid? [True, True] Translation: X:157.19, Y:88.56, Z:33.19 [[ 5.02558105e-01 2.85956483e-01 -8.15882492e-01 1.57188803e+02] [-1.69080169e-01 9.58000308e-01 2.31618881e-01 8.85602189e+01] [ 8.47848600e-01 2.15476039e-02 5.29800390e-01 3.31910966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.726875 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:157.20, Y:88.56, Z:33.21 [[ 5.02854708e-01 2.85329027e-01 -8.15919413e-01 1.57202822e+02] [-1.68194111e-01 9.58202621e-01 2.31427047e-01 8.85553677e+01] [ 8.47848974e-01 2.08586602e-02 5.29827361e-01 3.32147921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.75687500000004 meters Centerline goodness : 0.998318 Centerline is valid? [True, True] Translation: X:157.22, Y:88.55, Z:33.24 [[ 5.03283673e-01 2.84515440e-01 -8.15939035e-01 1.57216542e+02] [-1.67366340e-01 9.58456210e-01 2.30976625e-01 8.85508265e+01] [ 8.47758251e-01 2.03139652e-02 5.29993670e-01 3.32373099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.786875 meters Centerline goodness : 0.998318 Centerline is valid? [True, True] Translation: X:157.23, Y:88.55, Z:33.26 [[ 5.03360213e-01 2.84146455e-01 -8.16020397e-01 1.57231543e+02] [-1.67129725e-01 9.58566773e-01 2.30688960e-01 8.85467807e+01] [ 8.47759489e-01 2.02616203e-02 5.29993694e-01 3.32613408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.81687500000004 meters Centerline goodness : 0.998127 Centerline is valid? [True, True] Translation: X:157.25, Y:88.54, Z:33.29 [[ 5.04265675e-01 2.79238257e-01 -8.17154897e-01 1.57248300e+02] [-1.64332591e-01 9.60013640e-01 2.26646443e-01 8.85419646e+01] [ 8.47768205e-01 1.99951602e-02 5.29989873e-01 3.32852828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.846875 meters Centerline goodness : 0.997962 Centerline is valid? [True, True] Translation: X:157.29, Y:88.55, Z:33.28 [[ 5.17804825e-01 2.46324000e-01 -8.19269584e-01 1.57292416e+02] [-1.60163465e-01 9.68631256e-01 1.90003039e-01 8.85495675e+01] [ 8.40372434e-01 3.28325652e-02 5.41014043e-01 3.32790717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.87687500000004 meters Centerline goodness : 0.998246 Centerline is valid? [True, True] Translation: X:157.27, Y:88.53, Z:33.33 [[ 5.04587941e-01 2.84778105e-01 -8.15041373e-01 1.57269273e+02] [-1.63491368e-01 9.58470684e-01 2.33676103e-01 8.85305962e+01] [ 8.47739100e-01 1.53420854e-02 5.30191511e-01 3.33344934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.906875 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:157.28, Y:88.53, Z:33.36 [[ 5.05225884e-01 2.81723922e-01 -8.15707324e-01 1.57284960e+02] [-1.62645355e-01 9.59359312e-01 2.30599652e-01 8.85260729e+01] [ 8.47521855e-01 1.61660943e-02 5.30514243e-01 3.33574204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.93687500000004 meters Centerline goodness : 0.997928 Centerline is valid? [True, True] Translation: X:157.34, Y:88.54, Z:33.35 [[ 5.19933654e-01 2.36742759e-01 -8.20744700e-01 1.57337685e+02] [-1.56487992e-01 9.70964603e-01 1.80939902e-01 8.85365876e+01] [ 8.39750263e-01 3.43599460e-02 5.41884573e-01 3.33483608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.966875 meters Centerline goodness : 0.997730 Centerline is valid? [True, True] Translation: X:157.35, Y:88.53, Z:33.37 [[ 5.22343837e-01 2.33528477e-01 -8.20134968e-01 1.57353228e+02] [-1.53191976e-01 9.71821317e-01 1.79152301e-01 8.85316651e+01] [ 8.38861809e-01 3.20589962e-02 5.43399565e-01 3.33697628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.996875 meters Centerline goodness : 0.997783 Centerline is valid? [True, True] Translation: X:157.36, Y:88.52, Z:33.40 [[ 5.19625561e-01 2.36294825e-01 -8.21068835e-01 1.57363349e+02] [-1.53591333e-01 9.71174380e-01 1.82291047e-01 8.85246316e+01] [ 8.40475448e-01 3.13859688e-02 5.40939869e-01 3.33987590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.026875 meters Centerline goodness : 0.998288 Centerline is valid? [True, True] Translation: X:157.34, Y:88.51, Z:33.45 [[ 5.07508504e-01 2.76697789e-01 -8.16010694e-01 1.57340847e+02] [-1.56976632e-01 9.60878447e-01 2.28190596e-01 8.85057497e+01] [ 8.47226921e-01 1.22859426e-02 5.31089070e-01 3.34531618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.056875 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:157.35, Y:88.50, Z:33.48 [[ 5.07810700e-01 2.75370239e-01 -8.16271722e-01 1.57354963e+02] [-1.55770743e-01 9.61267218e-01 2.27378124e-01 8.85021419e+01] [ 8.47268416e-01 1.16862082e-02 5.31036406e-01 3.34758932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.086875 meters Centerline goodness : 0.998483 Centerline is valid? [True, True] Translation: X:157.37, Y:88.50, Z:33.50 [[ 5.07968946e-01 2.75231636e-01 -8.16220005e-01 1.57369517e+02] [-1.55922560e-01 9.61304306e-01 2.27117122e-01 8.84979835e+01] [ 8.47145622e-01 1.18986679e-02 5.31227557e-01 3.34987977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.116875 meters Centerline goodness : 0.997582 Centerline is valid? [True, True] Translation: X:157.42, Y:88.51, Z:33.49 [[ 5.19669688e-01 2.35347498e-01 -8.21312956e-01 1.57418908e+02] [-1.51281659e-01 9.71468641e-01 1.82654153e-01 8.85081321e+01] [ 8.40866979e-01 2.93297597e-02 5.40446565e-01 3.34912667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.146875 meters Centerline goodness : 0.997947 Centerline is valid? [True, True] Translation: X:157.43, Y:88.51, Z:33.51 [[ 5.19242852e-01 2.32750552e-01 -8.22322346e-01 1.57432749e+02] [-1.49884689e-01 9.72088002e-01 1.80497911e-01 8.85066932e+01] [ 8.41380675e-01 2.95312793e-02 5.39635491e-01 3.35113202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.176875 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:157.42, Y:88.49, Z:33.57 [[ 5.05612142e-01 2.65872712e-01 -8.20772845e-01 1.57417164e+02] [-1.55299480e-01 9.63840533e-01 2.16549068e-01 8.84882914e+01] [ 8.48668624e-01 1.79757577e-02 5.28619370e-01 3.35668316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.206875 meters Centerline goodness : 0.998266 Centerline is valid? [True, True] Translation: X:157.46, Y:88.50, Z:33.56 [[ 5.19174698e-01 2.30884484e-01 -8.22891237e-01 1.57464955e+02] [-1.50582639e-01 9.72468566e-01 1.77847570e-01 8.84988232e+01] [ 8.41298105e-01 3.15791754e-02 5.39648269e-01 3.35579777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.236875 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:157.44, Y:88.48, Z:33.62 [[ 5.04522743e-01 2.75396991e-01 -8.18299028e-01 1.57440710e+02] [-1.55588757e-01 9.61249320e-01 2.27578303e-01 8.84791999e+01] [ 8.49263764e-01 1.24996990e-02 5.27820819e-01 3.36177064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.266875 meters Centerline goodness : 0.998041 Centerline is valid? [True, True] Translation: X:157.50, Y:88.49, Z:33.60 [[ 5.20650224e-01 2.24593760e-01 -8.23699573e-01 1.57497036e+02] [-1.49698647e-01 9.73847864e-01 1.70911245e-01 8.84927382e+01] [ 8.40543669e-01 3.43217333e-02 5.40655491e-01 3.36033102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.296875 meters Centerline goodness : 0.997971 Centerline is valid? [True, True] Translation: X:157.51, Y:88.49, Z:33.63 [[ 5.21161033e-01 2.27070073e-01 -8.22697004e-01 1.57509185e+02] [-1.48690485e-01 9.73371999e-01 1.74465160e-01 8.84877759e+01] [ 8.40406043e-01 3.14027730e-02 5.41046715e-01 3.36307106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.32687500000003 meters Centerline goodness : 0.998068 Centerline is valid? [True, True] Translation: X:157.53, Y:88.49, Z:33.65 [[ 5.21141491e-01 2.20773966e-01 -8.24421253e-01 1.57527945e+02] [-1.48635011e-01 9.74679506e-01 1.67055360e-01 8.84854177e+01] [ 8.40427974e-01 3.54783827e-02 5.40760672e-01 3.36527617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.356875 meters Centerline goodness : 0.998067 Centerline is valid? [True, True] Translation: X:157.54, Y:88.48, Z:33.68 [[ 5.17894808e-01 2.26457490e-01 -8.24925435e-01 1.57537571e+02] [-1.49616468e-01 9.73438821e-01 1.73296779e-01 8.84807081e+01] [ 8.42258797e-01 3.36729279e-02 5.38020681e-01 3.36782413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.38687500000003 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:157.51, Y:88.46, Z:33.74 [[ 5.01200772e-01 2.76459151e-01 -8.19980563e-01 1.57508687e+02] [-1.54547822e-01 9.60954585e-01 2.29523978e-01 8.84595290e+01] [ 8.51418086e-01 1.16886154e-02 5.24357339e-01 3.37402351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.416875 meters Centerline goodness : 0.998149 Centerline is valid? [True, True] Translation: X:157.57, Y:88.47, Z:33.72 [[ 5.18903352e-01 2.22940836e-01 -8.25249474e-01 1.57569155e+02] [-1.48737382e-01 9.74213895e-01 1.69659889e-01 8.84740368e+01] [ 8.41793622e-01 3.47083609e-02 5.38682492e-01 3.37240222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.44687500000003 meters Centerline goodness : 0.998489 Centerline is valid? [True, True] Translation: X:157.58, Y:88.47, Z:33.75 [[ 5.17649922e-01 2.21874857e-01 -8.26323246e-01 1.57583907e+02] [-1.49380408e-01 9.74393874e-01 1.68053780e-01 8.84703654e+01] [ 8.42451216e-01 3.64434778e-02 5.37538669e-01 3.37490083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.476875 meters Centerline goodness : 0.998156 Centerline is valid? [True, True] Translation: X:157.59, Y:88.47, Z:33.78 [[ 5.18620165e-01 2.28923872e-01 -8.23788192e-01 1.57594643e+02] [-1.49126396e-01 9.72940413e-01 1.76488729e-01 8.84650704e+01] [ 8.41899307e-01 3.13179503e-02 5.38725110e-01 3.37754366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.50687500000004 meters Centerline goodness : 0.997836 Centerline is valid? [True, True] Translation: X:157.61, Y:88.46, Z:33.80 [[ 5.16936523e-01 2.29574337e-01 -8.24664935e-01 1.57608414e+02] [-1.49908167e-01 9.72757906e-01 1.76832115e-01 8.84614512e+01] [ 8.42795451e-01 3.22130300e-02 5.37269158e-01 3.38007487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.536875 meters Centerline goodness : 0.998373 Centerline is valid? [True, True] Translation: X:157.58, Y:88.44, Z:33.86 [[ 4.99892022e-01 2.81808229e-01 -8.18957928e-01 1.57578428e+02] [-1.56189478e-01 9.59412888e-01 2.34801528e-01 8.84415684e+01] [ 8.51887794e-01 1.05372003e-02 5.23618329e-01 3.38628396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.56687500000004 meters Centerline goodness : 0.998306 Centerline is valid? [True, True] Translation: X:157.59, Y:88.44, Z:33.89 [[ 4.99264787e-01 2.80336713e-01 -8.19845107e-01 1.57593906e+02] [-1.56983554e-01 9.59819382e-01 2.32600339e-01 8.84389683e+01] [ 8.52109639e-01 1.25730401e-02 5.23212273e-01 3.38856925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.596875 meters Centerline goodness : 0.998206 Centerline is valid? [True, True] Translation: X:157.66, Y:88.45, Z:33.87 [[ 5.16298350e-01 2.22956698e-01 -8.26877454e-01 1.57657616e+02] [-1.52917932e-01 9.74001280e-01 1.67145485e-01 8.84547522e+01] [ 8.42645904e-01 4.01474523e-02 5.36969331e-01 3.38695176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.62687500000004 meters Centerline goodness : 0.997600 Centerline is valid? [True, True] Translation: X:157.68, Y:88.45, Z:33.89 [[ 5.16473621e-01 2.21030347e-01 -8.27285068e-01 1.57675074e+02] [-1.53101603e-01 9.74380586e-01 1.64749425e-01 8.84526481e+01] [ 8.42505132e-01 4.15699376e-02 5.37081970e-01 3.38902036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.656875 meters Centerline goodness : 0.997917 Centerline is valid? [True, True] Translation: X:157.68, Y:88.45, Z:33.92 [[ 5.14689505e-01 2.35107197e-01 -8.24511564e-01 1.57680417e+02] [-1.53678936e-01 9.71391224e-01 1.81057657e-01 8.84461451e+01] [ 8.43491255e-01 3.35215835e-02 5.36095892e-01 3.39223452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.68687500000004 meters Centerline goodness : 0.998169 Centerline is valid? [True, True] Translation: X:157.70, Y:88.44, Z:33.94 [[ 5.14222171e-01 2.27582396e-01 -8.26911006e-01 1.57700197e+02] [-1.54391238e-01 9.72963825e-01 1.71769440e-01 8.84439230e+01] [ 8.43646196e-01 3.93401598e-02 5.35456298e-01 3.39446265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.716875 meters Centerline goodness : 0.998136 Centerline is valid? [True, True] Translation: X:157.71, Y:88.44, Z:33.97 [[ 5.09258550e-01 2.35517690e-01 -8.27760319e-01 1.57708241e+02] [-1.55989864e-01 9.71154847e-01 1.80348068e-01 8.84386774e+01] [ 8.46358607e-01 3.72784242e-02 5.31307282e-01 3.39725045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.746875 meters Centerline goodness : 0.998213 Centerline is valid? [True, True] Translation: X:157.72, Y:88.43, Z:34.00 [[ 5.10264350e-01 2.37807714e-01 -8.26485199e-01 1.57721286e+02] [-1.55302441e-01 9.70689956e-01 1.83417997e-01 8.84339618e+01] [ 8.45879096e-01 3.47635038e-02 5.32240597e-01 3.39989196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.776875 meters Centerline goodness : 0.998139 Centerline is valid? [True, True] Translation: X:157.74, Y:88.43, Z:34.02 [[ 5.11297537e-01 2.36111090e-01 -8.26333094e-01 1.57735465e+02] [-1.53960865e-01 9.71129169e-01 1.82220168e-01 8.84309631e+01] [ 8.45500373e-01 3.40542344e-02 5.32887820e-01 3.40220982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.806875 meters Centerline goodness : 0.997884 Centerline is valid? [True, True] Translation: X:157.75, Y:88.43, Z:34.04 [[ 5.12775726e-01 2.33311465e-01 -8.26212331e-01 1.57749821e+02] [-1.51406980e-01 9.71857016e-01 1.80471236e-01 8.84294415e+01] [ 8.45066259e-01 3.25530447e-02 5.33669671e-01 3.40425657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.836875 meters Centerline goodness : 0.998358 Centerline is valid? [True, True] Translation: X:157.72, Y:88.41, Z:34.10 [[ 4.96900391e-01 2.75652868e-01 -8.22864204e-01 1.57722929e+02] [-1.56327387e-01 9.61131361e-01 2.27570328e-01 8.84072062e+01] [ 8.53611006e-01 1.55564257e-02 5.20678642e-01 3.41047072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.866875 meters Centerline goodness : 0.998067 Centerline is valid? [True, True] Translation: X:157.77, Y:88.42, Z:34.09 [[ 5.11061858e-01 2.31386744e-01 -8.27813960e-01 1.57774613e+02] [-1.50361858e-01 9.72301335e-01 1.78945314e-01 8.84192007e+01] [ 8.46290192e-01 3.30195206e-02 5.31697868e-01 3.40938493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.896875 meters Centerline goodness : 0.998191 Centerline is valid? [True, True] Translation: X:157.75, Y:88.40, Z:34.16 [[ 4.96325515e-01 2.80702967e-01 -8.21502786e-01 1.57745369e+02] [-1.54764594e-01 9.59734093e-01 2.34432060e-01 8.83967774e+01] [ 8.54230006e-01 1.07849324e-02 5.19783399e-01 3.41565161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.926875 meters Centerline goodness : 0.997926 Centerline is valid? [True, True] Translation: X:157.80, Y:88.41, Z:34.15 [[ 5.11292486e-01 2.32012319e-01 -8.27496391e-01 1.57801609e+02] [-1.50070871e-01 9.72178883e-01 1.79852589e-01 8.84081087e+01] [ 8.46202533e-01 3.22258268e-02 5.31886049e-01 3.41467429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.956875 meters Centerline goodness : 0.998337 Centerline is valid? [True, True] Translation: X:157.77, Y:88.39, Z:34.21 [[ 4.96237383e-01 2.86726456e-01 -8.19473245e-01 1.57770142e+02] [-1.53952580e-01 9.57993155e-01 2.41966358e-01 8.83880095e+01] [ 8.54427916e-01 6.08726802e-03 5.19534293e-01 3.42057508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.986875 meters Centerline goodness : 0.998436 Centerline is valid? [True, True] Translation: X:157.79, Y:88.39, Z:34.23 [[ 4.95928411e-01 2.80608199e-01 -8.21774939e-01 1.57787669e+02] [-1.54236617e-01 9.59766280e-01 2.34648148e-01 8.83857306e+01] [ 8.54556070e-01 1.03791029e-02 5.19255426e-01 3.42270204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.016875 meters Centerline goodness : 0.998241 Centerline is valid? [True, True] Translation: X:157.80, Y:88.38, Z:34.25 [[ 4.95227441e-01 2.80706658e-01 -8.22163946e-01 1.57801520e+02] [-1.54690123e-01 9.59729989e-01 2.34498004e-01 8.83823762e+01] [ 8.54880546e-01 1.10507953e-02 5.18707174e-01 3.42494906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.046875 meters Centerline goodness : 0.997933 Centerline is valid? [True, True] Translation: X:157.86, Y:88.39, Z:34.24 [[ 5.08277461e-01 2.29484369e-01 -8.30054786e-01 1.57860205e+02] [-1.51683660e-01 9.72630007e-01 1.76019705e-01 8.83942011e+01] [ 8.47729963e-01 3.64388995e-02 5.29174939e-01 3.42396717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.07687500000003 meters Centerline goodness : 0.997843 Centerline is valid? [True, True] Translation: X:157.87, Y:88.39, Z:34.27 [[ 5.07802858e-01 2.41747073e-01 -8.26858277e-01 1.57867488e+02] [-1.52858240e-01 9.69873271e-01 1.89684469e-01 8.83885883e+01] [ 8.47803407e-01 3.00697851e-02 5.29457450e-01 3.42655482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.106875 meters Centerline goodness : 0.998029 Centerline is valid? [True, True] Translation: X:157.88, Y:88.39, Z:34.29 [[ 5.05892938e-01 2.37040936e-01 -8.29387684e-01 1.57884238e+02] [-1.54026640e-01 9.70872500e-01 1.83527607e-01 8.83860054e+01] [ 8.48733250e-01 3.49024783e-02 5.27668161e-01 3.42873377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.13687500000003 meters Centerline goodness : 0.998365 Centerline is valid? [True, True] Translation: X:157.89, Y:88.38, Z:34.32 [[ 5.05636567e-01 2.43545072e-01 -8.27657816e-01 1.57893520e+02] [-1.54807237e-01 9.69370815e-01 1.90669721e-01 8.83798058e+01] [ 8.48744003e-01 3.17178364e-02 5.27851870e-01 3.43150047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.166875 meters Centerline goodness : 0.997983 Centerline is valid? [True, True] Translation: X:157.91, Y:88.38, Z:34.34 [[ 5.04290331e-01 2.44377532e-01 -8.28233593e-01 1.57906431e+02] [-1.56182463e-01 9.69114668e-01 1.90850198e-01 8.83755728e+01] [ 8.49292824e-01 3.31116530e-02 5.26882642e-01 3.43401070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.19687500000003 meters Centerline goodness : 0.998247 Centerline is valid? [True, True] Translation: X:157.92, Y:88.37, Z:34.36 [[ 5.06212400e-01 2.46026828e-01 -8.26571114e-01 1.57917347e+02] [-1.52545259e-01 9.68875719e-01 1.94960985e-01 8.83747707e+01] [ 8.48810315e-01 2.73978367e-02 5.27987129e-01 3.43593735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.226875 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:157.91, Y:88.36, Z:34.41 [[ 4.91830576e-01 2.66682643e-01 -8.28844407e-01 1.57907749e+02] [-1.60593720e-01 9.63391360e-01 2.14678233e-01 8.83563846e+01] [ 8.55752500e-01 2.75218875e-02 5.16652886e-01 3.44138548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.25687500000004 meters Centerline goodness : 0.998155 Centerline is valid? [True, True] Translation: X:157.96, Y:88.37, Z:34.40 [[ 5.09200213e-01 2.26469726e-01 -8.30317172e-01 1.57956765e+02] [-1.52028936e-01 9.73255579e-01 1.72223052e-01 8.83710640e+01] [ 8.47114128e-01 3.85362213e-02 5.30011900e-01 3.43984194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.286875 meters Centerline goodness : 0.997978 Centerline is valid? [True, True] Translation: X:157.97, Y:88.36, Z:34.43 [[ 5.03021610e-01 2.25656348e-01 -8.34295195e-01 1.57969581e+02] [-1.56830353e-01 9.73119896e-01 1.68647292e-01 8.83633129e+01] [ 8.49925585e-01 4.60095771e-02 5.24890101e-01 3.44280822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.31687500000004 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:157.94, Y:88.34, Z:34.49 [[ 4.88906225e-01 2.80252015e-01 -8.26092919e-01 1.57939550e+02] [-1.61491221e-01 9.59697661e-01 2.30002140e-01 8.83399861e+01] [ 8.57258006e-01 2.09572762e-02 5.14460401e-01 3.44884206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.346875 meters Centerline goodness : 0.997789 Centerline is valid? [True, True] Translation: X:157.98, Y:88.35, Z:34.48 [[ 5.02581477e-01 2.41777758e-01 -8.30033358e-01 1.57983899e+02] [-1.52746715e-01 9.69827048e-01 1.90010363e-01 8.83531356e+01] [ 8.50929080e-01 3.12891800e-02 5.24347869e-01 3.44779650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.37687500000004 meters Centerline goodness : 0.998603 Centerline is valid? [True, True] Translation: X:157.97, Y:88.33, Z:34.53 [[ 4.88521226e-01 2.68133537e-01 -8.30332113e-01 1.57972717e+02] [-1.60576529e-01 9.62987215e-01 2.16496655e-01 8.83319418e+01] [ 8.57649223e-01 2.75686370e-02 5.13495648e-01 3.45328445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.406875 meters Centerline goodness : 0.997813 Centerline is valid? [True, True] Translation: X:158.03, Y:88.35, Z:34.51 [[ 5.08402671e-01 2.19955021e-01 -8.32554210e-01 1.58028127e+02] [-1.49144885e-01 9.74707739e-01 1.66435053e-01 8.83512063e+01] [ 8.48105257e-01 3.95551765e-02 5.28349185e-01 3.45117372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.43687500000004 meters Centerline goodness : 0.998093 Centerline is valid? [True, True] Translation: X:157.99, Y:88.32, Z:34.58 [[ 4.88521192e-01 2.71446333e-01 -8.29255047e-01 1.57994671e+02] [-1.58069720e-01 9.62185681e-01 2.21839309e-01 8.83216206e+01] [ 8.58114799e-01 2.27069094e-02 5.12955542e-01 3.45816816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.466875 meters Centerline goodness : 0.997996 Centerline is valid? [True, True] Translation: X:158.04, Y:88.34, Z:34.57 [[ 5.04479962e-01 2.40194496e-01 -8.29341047e-01 1.58035410e+02] [-1.48063778e-01 9.70364262e-01 1.90972032e-01 8.83357284e+01] [ 8.50633344e-01 2.64538050e-02 5.25093431e-01 3.45711050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.496875 meters Centerline goodness : 0.998169 Centerline is valid? [True, True] Translation: X:158.08, Y:88.34, Z:34.58 [[ 5.08823987e-01 1.95192275e-01 -8.38449835e-01 1.58079701e+02] [-1.47101156e-01 9.79345320e-01 1.38722722e-01 8.83430209e+01] [ 8.48209526e-01 5.27514917e-02 5.27027400e-01 3.45777775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.526875 meters Centerline goodness : 0.998140 Centerline is valid? [True, True] Translation: X:158.08, Y:88.34, Z:34.61 [[ 5.06144594e-01 2.07382017e-01 -8.37144162e-01 1.58084164e+02] [-1.47198153e-01 9.77189819e-01 1.53077633e-01 8.83351188e+01] [ 8.49794301e-01 4.57466577e-02 5.25125594e-01 3.46083395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.556875 meters Centerline goodness : 0.997873 Centerline is valid? [True, True] Translation: X:158.11, Y:88.33, Z:34.63 [[ 5.08978623e-01 1.95367359e-01 -8.38315189e-01 1.58108320e+02] [-1.46538478e-01 9.79352607e-01 1.39265734e-01 8.83333508e+01] [ 8.48214145e-01 5.19621506e-02 5.27098377e-01 3.46279800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.586875 meters Centerline goodness : 0.997778 Centerline is valid? [True, True] Translation: X:158.11, Y:88.33, Z:34.66 [[ 5.07285460e-01 2.06031514e-01 -8.36786996e-01 1.58114582e+02] [-1.46799267e-01 9.77468409e-01 1.51675591e-01 8.83265643e+01] [ 8.49182805e-01 4.58968958e-02 5.26100787e-01 3.46556847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.616875 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:158.08, Y:88.29, Z:34.73 [[ 4.86332515e-01 2.65441403e-01 -8.32479157e-01 1.58076458e+02] [-1.56516219e-01 9.63794746e-01 2.15875799e-01 8.82944608e+01] [ 8.59641413e-01 2.53090697e-02 5.10270607e-01 3.47286116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.646875 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:158.08, Y:88.29, Z:34.76 [[ 4.85679787e-01 2.89426048e-01 -8.24831927e-01 1.58075131e+02] [-1.55664205e-01 9.57150256e-01 2.44196728e-01 8.82858182e+01] [ 8.60164984e-01 9.79539083e-03 5.09921808e-01 3.47600673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.676875 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:158.09, Y:88.28, Z:34.78 [[ 4.85755036e-01 2.89137697e-01 -8.24888742e-01 1.58089440e+02] [-1.55421990e-01 9.57238582e-01 2.44004717e-01 8.82817348e+01] [ 8.60166292e-01 9.67932961e-03 5.09921818e-01 3.47845106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.706875 meters Centerline goodness : 0.997314 Centerline is valid? [True, True] Translation: X:158.16, Y:88.31, Z:34.75 [[ 5.07783149e-01 2.16160615e-01 -8.33924974e-01 1.58164716e+02] [-1.44619352e-01 9.75660324e-01 1.64839848e-01 8.83080936e+01] [ 8.49259393e-01 3.68987917e-02 5.26684880e-01 3.47514317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.736875 meters Centerline goodness : 0.997676 Centerline is valid? [True, True] Translation: X:158.20, Y:88.31, Z:34.76 [[ 5.08522418e-01 1.85317635e-01 -8.40869981e-01 1.58199026e+02] [-1.42878128e-01 9.81187362e-01 1.29835281e-01 8.83124935e+01] [ 8.49111766e-01 5.41177779e-02 5.25433607e-01 3.47628926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.766875 meters Centerline goodness : 0.998521 Centerline is valid? [True, True] Translation: X:158.13, Y:88.27, Z:34.85 [[ 4.81110652e-01 2.76988383e-01 -8.31751151e-01 1.58134556e+02] [-1.53304791e-01 9.60735906e-01 2.31266428e-01 8.82697772e+01] [ 8.63151309e-01 1.62466942e-02 5.04683924e-01 3.48518005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.796875 meters Centerline goodness : 0.997599 Centerline is valid? [True, True] Translation: X:158.20, Y:88.29, Z:34.82 [[ 5.05357870e-01 2.15181848e-01 -8.35649565e-01 1.58204487e+02] [-1.41713714e-01 9.75956224e-01 1.65609999e-01 8.82939219e+01] [ 8.51193660e-01 3.47306874e-02 5.23701377e-01 3.48212315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.82687500000003 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:158.16, Y:88.26, Z:34.90 [[ 4.80745809e-01 2.78148965e-01 -8.31574784e-01 1.58155472e+02] [-1.50478210e-01 9.60456451e-01 2.34264197e-01 8.82600376e+01] [ 8.63851709e-01 1.25123537e-02 5.03590772e-01 3.48997426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.856875 meters Centerline goodness : 0.998643 Centerline is valid? [True, True] Translation: X:158.16, Y:88.25, Z:34.93 [[ 4.81913714e-01 2.90054640e-01 -8.26817681e-01 1.58160573e+02] [-1.48180505e-01 9.57007204e-01 2.49358676e-01 8.82540278e+01] [ 8.63598119e-01 2.34889614e-03 5.04175339e-01 3.49282563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.88687500000003 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:158.23, Y:88.28, Z:34.90 [[ 5.03052772e-01 2.23057177e-01 -8.34975092e-01 1.58231593e+02] [-1.38747646e-01 9.74432718e-01 1.76720031e-01 8.82773130e+01] [ 8.53045720e-01 2.69513271e-02 5.21139738e-01 3.48993852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.916875 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:158.19, Y:88.25, Z:34.97 [[ 4.80168302e-01 2.75090150e-01 -8.32924853e-01 1.58194972e+02] [-1.47515126e-01 9.61352657e-01 2.32465820e-01 8.82488217e+01] [ 8.64683578e-01 1.12462968e-02 5.02191031e-01 3.49711866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.94687500000003 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:158.20, Y:88.24, Z:35.00 [[ 4.80427370e-01 2.90567223e-01 -8.27502406e-01 1.58199556e+02] [-1.46375883e-01 9.56854431e-01 2.51005378e-01 8.82425620e+01] [ 8.64733279e-01 5.36541403e-04 5.02231091e-01 3.50000514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.976875 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:158.21, Y:88.24, Z:35.02 [[ 4.80199169e-01 2.89970500e-01 -8.27844108e-01 1.58213497e+02] [-1.45850713e-01 9.57035503e-01 2.50620461e-01 8.82392372e+01] [ 8.64948743e-01 3.93916378e-04 5.01860057e-01 3.50231440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.00687500000004 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:158.23, Y:88.24, Z:35.05 [[ 4.80514433e-01 2.89119034e-01 -8.27958975e-01 1.58227629e+02] [-1.44463088e-01 9.57292876e-01 2.50441144e-01 8.82364678e+01] [ 8.65006530e-01 -7.31074578e-04 5.01760071e-01 3.50467942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.036875 meters Centerline goodness : 0.998381 Centerline is valid? [True, True] Translation: X:158.24, Y:88.23, Z:35.07 [[ 4.80208866e-01 2.88427024e-01 -8.28377508e-01 1.58241344e+02] [-1.43698492e-01 9.57501299e-01 2.50083999e-01 8.82329986e+01] [ 8.65303524e-01 -1.05595537e-03 5.01247141e-01 3.50706093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.06687500000004 meters Centerline goodness : 0.998166 Centerline is valid? [True, True] Translation: X:158.25, Y:88.23, Z:35.09 [[ 4.80381051e-01 2.87893221e-01 -8.28463360e-01 1.58254642e+02] [-1.43435102e-01 9.57661904e-01 2.49619809e-01 8.82298103e+01] [ 8.65251650e-01 -1.08189997e-03 5.01336626e-01 3.50934764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.096875 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:158.27, Y:88.23, Z:35.12 [[ 4.80534024e-01 2.87736401e-01 -8.28429125e-01 1.58268623e+02] [-1.43509152e-01 9.57709168e-01 2.49395817e-01 8.82266163e+01] [ 8.65154423e-01 -9.56014284e-04 5.01504647e-01 3.51178511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.12687500000004 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:158.28, Y:88.22, Z:35.14 [[ 4.80518230e-01 2.87401454e-01 -8.28554545e-01 1.58282935e+02] [-1.43606032e-01 9.57809999e-01 2.48952433e-01 8.82237590e+01] [ 8.65147119e-01 -6.40751851e-04 5.01517748e-01 3.51423941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.156875 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:158.30, Y:88.22, Z:35.17 [[ 4.79646326e-01 2.87859057e-01 -8.28900818e-01 1.58296904e+02] [-1.45172022e-01 9.57672147e-01 2.48574220e-01 8.82211844e+01] [ 8.65369566e-01 1.10549643e-03 5.01133008e-01 3.51654041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.18687500000004 meters Centerline goodness : 0.998316 Centerline is valid? [True, True] Translation: X:158.31, Y:88.22, Z:35.19 [[ 4.79142535e-01 2.87846475e-01 -8.29196502e-01 1.58311389e+02] [-1.45360651e-01 9.57675409e-01 2.48451386e-01 8.82180261e+01] [ 8.65616955e-01 1.48891690e-03 5.00704574e-01 3.51889961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.216875 meters Centerline goodness : 0.998321 Centerline is valid? [True, True] Translation: X:158.33, Y:88.22, Z:35.21 [[ 4.78276269e-01 2.88096681e-01 -8.29609615e-01 1.58325230e+02] [-1.46485138e-01 9.57597031e-01 2.48092787e-01 8.82156558e+01] [ 8.65906412e-01 2.86858639e-03 5.00197817e-01 3.52117611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.246875 meters Centerline goodness : 0.998341 Centerline is valid? [True, True] Translation: X:158.34, Y:88.21, Z:35.24 [[ 4.78231179e-01 2.88075852e-01 -8.29642840e-01 1.58339083e+02] [-1.46889209e-01 9.57601759e-01 2.47835494e-01 8.82121777e+01] [ 8.65862864e-01 3.34291974e-03 5.00270252e-01 3.52352356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.276875 meters Centerline goodness : 0.998246 Centerline is valid? [True, True] Translation: X:158.35, Y:88.21, Z:35.26 [[ 4.78197685e-01 2.88121727e-01 -8.29646216e-01 1.58352246e+02] [-1.47433831e-01 9.57585733e-01 2.47573886e-01 8.82088497e+01] [ 8.65788796e-01 3.92866070e-03 5.00394171e-01 3.52582595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.306875 meters Centerline goodness : 0.998151 Centerline is valid? [True, True] Translation: X:158.37, Y:88.21, Z:35.28 [[ 4.77969434e-01 2.88094491e-01 -8.29787192e-01 1.58365727e+02] [-1.47754867e-01 9.57591990e-01 2.47358200e-01 8.82055820e+01] [ 8.65860104e-01 4.37543745e-03 5.00267065e-01 3.52820363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.336875 meters Centerline goodness : 0.997802 Centerline is valid? [True, True] Translation: X:158.44, Y:88.23, Z:35.26 [[ 4.96247182e-01 2.25810924e-01 -8.38300758e-01 1.58437302e+02] [-1.43053079e-01 9.73652171e-01 1.77587349e-01 8.82258642e+01] [ 8.56314516e-01 3.17942831e-02 5.15475094e-01 3.52587305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.366875 meters Centerline goodness : 0.997792 Centerline is valid? [True, True] Translation: X:158.45, Y:88.22, Z:35.28 [[ 4.92550164e-01 2.26209483e-01 -8.40371112e-01 1.58449759e+02] [-1.45266883e-01 9.73451428e-01 1.76889371e-01 8.82217642e+01] [ 8.58074512e-01 3.49512032e-02 5.12334407e-01 3.52829644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.396875 meters Centerline goodness : 0.998279 Centerline is valid? [True, True] Translation: X:158.40, Y:88.19, Z:35.35 [[ 4.70532120e-01 2.92991997e-01 -8.32319178e-01 1.58403718e+02] [-1.53039465e-01 9.56065405e-01 2.50035725e-01 8.81939574e+01] [ 8.69010038e-01 9.72784183e-03 4.94698820e-01 3.53542173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.426875 meters Centerline goodness : 0.998305 Centerline is valid? [True, True] Translation: X:158.41, Y:88.19, Z:35.38 [[ 4.70218086e-01 2.96731595e-01 -8.31171048e-01 1.58414914e+02] [-1.53839026e-01 9.54923203e-01 2.53880346e-01 8.81897686e+01] [ 8.69038840e-01 8.48741398e-03 4.94671061e-01 3.53781525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.456875 meters Centerline goodness : 0.998065 Centerline is valid? [True, True] Translation: X:158.49, Y:88.21, Z:35.35 [[ 4.91084462e-01 2.30255445e-01 -8.40130038e-01 1.58487495e+02] [-1.48581640e-01 9.72441853e-01 1.79667302e-01 8.82093388e+01] [ 8.58346985e-01 3.65960783e-02 5.11762816e-01 3.53545857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.486875 meters Centerline goodness : 0.997843 Centerline is valid? [True, True] Translation: X:158.51, Y:88.21, Z:35.38 [[ 4.90484168e-01 2.23486301e-01 -8.42305855e-01 1.58505439e+02] [-1.49368086e-01 9.73812741e-01 1.71399885e-01 8.82075601e+01] [ 8.58553700e-01 4.17446834e-02 5.11021453e-01 3.53765556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.516875 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:158.45, Y:88.18, Z:35.45 [[ 4.66498537e-01 2.97291280e-01 -8.33064829e-01 1.58452753e+02] [-1.58129326e-01 9.54682603e-01 2.52143298e-01 8.81775443e+01] [ 8.70272504e-01 1.41075005e-02 4.92368507e-01 3.54517273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.546875 meters Centerline goodness : 0.998280 Centerline is valid? [True, True] Translation: X:158.46, Y:88.17, Z:35.48 [[ 4.67214228e-01 3.01824507e-01 -8.31031186e-01 1.58464290e+02] [-1.58833389e-01 9.53288551e-01 2.56929742e-01 8.81728481e+01] [ 8.69760208e-01 1.19542685e-02 4.93329784e-01 3.54774555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.57687500000003 meters Centerline goodness : 0.998499 Centerline is valid? [True, True] Translation: X:158.48, Y:88.17, Z:35.50 [[ 4.67235885e-01 3.01758906e-01 -8.31042833e-01 1.58478166e+02] [-1.59530574e-01 9.53299008e-01 2.56458570e-01 8.81687337e+01] [ 8.69620966e-01 1.27500933e-02 4.93555277e-01 3.55017266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.606875 meters Centerline goodness : 0.997549 Centerline is valid? [True, True] Translation: X:158.56, Y:88.19, Z:35.47 [[ 4.89488636e-01 2.27385882e-01 -8.41841159e-01 1.58558414e+02] [-1.53837789e-01 9.72779347e-01 1.73304000e-01 8.81901057e+01] [ 8.58332575e-01 4.46766440e-02 5.11144977e-01 3.54737932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.63687500000003 meters Centerline goodness : 0.998372 Centerline is valid? [True, True] Translation: X:158.50, Y:88.16, Z:35.55 [[ 4.65887671e-01 3.04559536e-01 -8.30778049e-01 1.58502582e+02] [-1.59977253e-01 9.52417252e-01 2.59439121e-01 8.81601981e+01] [ 8.70262005e-01 1.20361020e-02 4.92442053e-01 3.55500387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.666875 meters Centerline goodness : 0.998471 Centerline is valid? [True, True] Translation: X:158.52, Y:88.16, Z:35.57 [[ 4.64961684e-01 3.01430535e-01 -8.32436343e-01 1.58518629e+02] [-1.60387190e-01 9.53375586e-01 2.55638303e-01 8.81561503e+01] [ 8.70681677e-01 1.46501100e-02 4.91628714e-01 3.55720115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.69687500000003 meters Centerline goodness : 0.998277 Centerline is valid? [True, True] Translation: X:158.53, Y:88.15, Z:35.60 [[ 4.64535065e-01 3.01219563e-01 -8.32750832e-01 1.58532673e+02] [-1.60288203e-01 9.53439799e-01 2.55460842e-01 8.81513979e+01] [ 8.70927589e-01 1.48096159e-02 4.91188161e-01 3.55958004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.726875 meters Centerline goodness : 0.998089 Centerline is valid? [True, True] Translation: X:158.55, Y:88.15, Z:35.62 [[ 4.64453320e-01 3.00687666e-01 -8.32988620e-01 1.58546031e+02] [-1.59941950e-01 9.53608267e-01 2.55048711e-01 8.81468480e+01] [ 8.71034836e-01 1.47716037e-02 4.90999098e-01 3.56192318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.75687500000004 meters Centerline goodness : 0.997727 Centerline is valid? [True, True] Translation: X:158.62, Y:88.16, Z:35.60 [[ 4.85014651e-01 2.31917167e-01 -8.43193463e-01 1.58620397e+02] [-1.56301605e-01 9.71657764e-01 1.77344292e-01 8.81638832e+01] [ 8.60424661e-01 4.57779120e-02 5.07517277e-01 3.55980562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.786875 meters Centerline goodness : 0.997466 Centerline is valid? [True, True] Translation: X:158.63, Y:88.16, Z:35.62 [[ 4.85330539e-01 2.42103099e-01 -8.40143057e-01 1.58626802e+02] [-1.54461774e-01 9.69526337e-01 1.90158466e-01 8.81596078e+01] [ 8.60578775e-01 3.74802759e-02 5.07936414e-01 3.56215635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.81687500000004 meters Centerline goodness : 0.998176 Centerline is valid? [True, True] Translation: X:158.59, Y:88.13, Z:35.69 [[ 4.62075838e-01 2.91678258e-01 -8.37502068e-01 1.58588926e+02] [-1.63383547e-01 9.56199895e-01 2.42873585e-01 8.81336943e+01] [ 8.71660333e-01 2.46080432e-02 4.89492296e-01 3.56897409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.846875 meters Centerline goodness : 0.998327 Centerline is valid? [True, True] Translation: X:158.60, Y:88.13, Z:35.72 [[ 4.61101156e-01 2.99296619e-01 -8.35348585e-01 1.58597871e+02] [-1.63533544e-01 9.53937016e-01 2.51517296e-01 8.81278306e+01] [ 8.72148212e-01 2.06325984e-02 4.88806498e-01 3.57166220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.87687500000004 meters Centerline goodness : 0.998174 Centerline is valid? [True, True] Translation: X:158.66, Y:88.14, Z:35.70 [[ 4.81389097e-01 2.47088078e-01 -8.40958988e-01 1.58660074e+02] [-1.58909452e-01 9.68146680e-01 1.93493650e-01 8.81438685e+01] [ 8.61981626e-01 4.04905981e-02 5.05319887e-01 3.56970738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.906875 meters Centerline goodness : 0.998003 Centerline is valid? [True, True] Translation: X:158.68, Y:88.14, Z:35.72 [[ 4.77968994e-01 2.37787370e-01 -8.45578386e-01 1.58678106e+02] [-1.62224993e-01 9.69997054e-01 1.81076686e-01 8.81407217e+01] [ 8.63266293e-01 5.06249060e-02 5.02203571e-01 3.57198725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.93687500000004 meters Centerline goodness : 0.998386 Centerline is valid? [True, True] Translation: X:158.64, Y:88.12, Z:35.79 [[ 4.57553899e-01 2.99219350e-01 -8.37324435e-01 1.58637018e+02] [-1.68877615e-01 9.53782816e-01 2.48553194e-01 8.81150333e+01] [ 8.72997583e-01 2.76788706e-02 4.86938497e-01 3.57863911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.966875 meters Centerline goodness : 0.998488 Centerline is valid? [True, True] Translation: X:158.64, Y:88.11, Z:35.81 [[ 4.57119349e-01 3.08037064e-01 -8.34359076e-01 1.58644695e+02] [-1.69686428e-01 9.51082404e-01 2.58164246e-01 8.81091308e+01] [ 8.73068392e-01 2.35675395e-02 4.87027878e-01 3.58122857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.996875 meters Centerline goodness : 0.998437 Centerline is valid? [True, True] Translation: X:158.66, Y:88.10, Z:35.84 [[ 4.57047276e-01 3.08358275e-01 -8.34279906e-01 1.58657871e+02] [-1.70887209e-01 9.50949248e-01 2.57862541e-01 8.81035311e+01] [ 8.72871898e-01 2.47123929e-02 4.87323248e-01 3.58360366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.026875 meters Centerline goodness : 0.998553 Centerline is valid? [True, True] Translation: X:158.67, Y:88.10, Z:35.86 [[ 4.57518940e-01 3.08194278e-01 -8.34081954e-01 1.58670829e+02] [-1.71192150e-01 9.50995372e-01 2.57489902e-01 8.80990038e+01] [ 8.72564993e-01 2.49817758e-02 4.87858836e-01 3.58602846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.056875 meters Centerline goodness : 0.998308 Centerline is valid? [True, True] Translation: X:158.68, Y:88.09, Z:35.88 [[ 4.57821105e-01 3.07862744e-01 -8.34038588e-01 1.58683906e+02] [-1.71415037e-01 9.51093882e-01 2.56977260e-01 8.80944044e+01] [ 8.72362723e-01 2.53171425e-02 4.88203156e-01 3.58849599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.086875 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:158.70, Y:88.09, Z:35.91 [[ 4.58900070e-01 3.07528989e-01 -8.33568621e-01 1.58697161e+02] [-1.71853303e-01 9.51193512e-01 2.56314934e-01 8.80895664e+01] [ 8.71709337e-01 2.56285794e-02 4.89352642e-01 3.59092105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.116875 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:158.71, Y:88.09, Z:35.93 [[ 4.59077777e-01 3.07085430e-01 -8.33634292e-01 1.58710149e+02] [-1.71840548e-01 9.51331750e-01 2.55809945e-01 8.80850821e+01] [ 8.71618277e-01 2.58155127e-02 4.89504994e-01 3.59325486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.146875 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:158.72, Y:88.08, Z:35.96 [[ 4.58916165e-01 3.06406726e-01 -8.33972945e-01 1.58723176e+02] [-1.71213998e-01 9.51556817e-01 2.55392622e-01 8.80808323e+01] [ 8.71826658e-01 2.55840397e-02 4.89145925e-01 3.59569200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.176875 meters Centerline goodness : 0.998363 Centerline is valid? [True, True] Translation: X:158.74, Y:88.08, Z:35.98 [[ 4.59109201e-01 3.05764429e-01 -8.34102425e-01 1.58736773e+02] [-1.70747691e-01 9.51768670e-01 2.54914938e-01 8.80760741e+01] [ 8.71816476e-01 2.53872693e-02 4.89174324e-01 3.59813512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.206875 meters Centerline goodness : 0.998598 Centerline is valid? [True, True] Translation: X:158.75, Y:88.07, Z:36.00 [[ 4.59141586e-01 3.05199130e-01 -8.34291613e-01 1.58750197e+02] [-1.70394489e-01 9.51951822e-01 2.54466985e-01 8.80716704e+01] [ 8.71868523e-01 2.53223181e-02 4.89084919e-01 3.60041058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.236875 meters Centerline goodness : 0.998455 Centerline is valid? [True, True] Translation: X:158.81, Y:88.08, Z:35.99 [[ 4.75327046e-01 2.57909153e-01 -8.41158171e-01 1.58805988e+02] [-1.66171623e-01 9.65178374e-01 2.02033905e-01 8.80814233e+01] [ 8.63974069e-01 4.37444393e-02 5.01632567e-01 3.59949414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.266875 meters Centerline goodness : 0.998087 Centerline is valid? [True, True] Translation: X:158.82, Y:88.08, Z:36.02 [[ 4.74535411e-01 2.56822981e-01 -8.41937112e-01 1.58819083e+02] [-1.64428629e-01 9.65516634e-01 2.01843642e-01 8.80753264e+01] [ 8.64742372e-01 4.26566095e-02 5.00400883e-01 3.60200814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.296875 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:158.79, Y:88.06, Z:36.08 [[ 4.60101879e-01 3.02939355e-01 -8.34586130e-01 1.58789607e+02] [-1.65900045e-01 9.52769129e-01 2.54377991e-01 8.80568521e+01] [ 8.72229004e-01 2.14180843e-02 4.88628519e-01 3.60768483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.32687500000003 meters Centerline goodness : 0.998499 Centerline is valid? [True, True] Translation: X:158.85, Y:88.07, Z:36.06 [[ 4.76639373e-01 2.50325247e-01 -8.42705274e-01 1.58848754e+02] [-1.59979928e-01 9.67293687e-01 1.96848535e-01 8.80680301e+01] [ 8.64419650e-01 4.09901667e-02 5.01097271e-01 3.60636675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.356875 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:158.86, Y:88.06, Z:36.09 [[ 4.76303409e-01 2.44642748e-01 -8.44562010e-01 1.58863677e+02] [-1.57626376e-01 9.68711284e-01 1.91709085e-01 8.80620260e+01] [ 8.65036987e-01 4.18135589e-02 4.99962636e-01 3.60888994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.38687500000003 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:158.88, Y:88.06, Z:36.11 [[ 4.75832531e-01 2.44654957e-01 -8.44823860e-01 1.58876873e+02] [-1.56446012e-01 9.68759624e-01 1.92430339e-01 8.80568766e+01] [ 8.65510282e-01 4.06047088e-02 4.99242636e-01 3.61135111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.416875 meters Centerline goodness : 0.998525 Centerline is valid? [True, True] Translation: X:158.89, Y:88.05, Z:36.14 [[ 4.77289009e-01 2.50929167e-01 -8.42157797e-01 1.58885674e+02] [-1.54708751e-01 9.67388212e-01 2.00562332e-01 8.80486552e+01] [ 8.65020465e-01 3.45629843e-02 5.00544699e-01 3.61423284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.44687500000003 meters Centerline goodness : 0.998423 Centerline is valid? [True, True] Translation: X:158.90, Y:88.04, Z:36.16 [[ 4.80222750e-01 2.46952659e-01 -8.41665311e-01 1.58902012e+02] [-1.51610372e-01 9.68476134e-01 1.97656960e-01 8.80447849e+01] [ 8.63944677e-01 3.26858223e-02 5.02524857e-01 3.61639650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.476875 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:158.86, Y:88.02, Z:36.23 [[ 4.64546780e-01 3.01777446e-01 -8.32542289e-01 1.58861270e+02] [-1.52735933e-01 9.53358134e-01 2.60345930e-01 8.80235073e+01] [ 8.72277493e-01 6.21625981e-03 4.88971711e-01 3.62269584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.50687500000004 meters Centerline goodness : 0.998598 Centerline is valid? [True, True] Translation: X:158.93, Y:88.04, Z:36.21 [[ 4.82035207e-01 2.41261072e-01 -8.42279737e-01 1.58927650e+02] [-1.46148795e-01 9.70012288e-01 1.94207854e-01 8.80350734e+01] [ 8.63876490e-01 2.94831455e-02 5.02840089e-01 3.62123465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.536875 meters Centerline goodness : 0.998443 Centerline is valid? [True, True] Translation: X:158.95, Y:88.03, Z:36.23 [[ 4.83020092e-01 2.34207789e-01 -8.43705104e-01 1.58945206e+02] [-1.42997622e-01 9.71726720e-01 1.87879914e-01 8.80301615e+01] [ 8.63853732e-01 2.98980498e-02 5.02854687e-01 3.62347637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.56687500000004 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:158.95, Y:88.02, Z:36.27 [[ 4.81058013e-01 2.51015960e-01 -8.39984629e-01 1.58945191e+02] [-1.42805696e-01 9.67772696e-01 2.07418758e-01 8.80201124e+01] [ 8.64979608e-01 2.01741338e-02 5.01401319e-01 3.62681815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.596875 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:158.96, Y:88.01, Z:36.30 [[ 4.80250062e-01 2.55052187e-01 -8.39230755e-01 1.58956192e+02] [-1.42974853e-01 9.66756364e-01 2.11991329e-01 8.80149450e+01] [ 8.65400526e-01 1.81800446e-02 5.00750852e-01 3.62952172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.62687500000004 meters Centerline goodness : 0.998226 Centerline is valid? [True, True] Translation: X:158.97, Y:88.01, Z:36.32 [[ 4.81045087e-01 2.53348043e-01 -8.39291602e-01 1.58969789e+02] [-1.40531421e-01 9.67238828e-01 2.11423675e-01 8.80118522e+01] [ 8.65359200e-01 1.62425213e-02 5.00888846e-01 3.63173355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.656875 meters Centerline goodness : 0.998465 Centerline is valid? [True, True] Translation: X:158.99, Y:88.01, Z:36.34 [[ 4.80507395e-01 2.45035288e-01 -8.42063151e-01 1.58988551e+02] [-1.39631203e-01 9.69300946e-01 2.02382815e-01 8.80088390e+01] [ 8.65803540e-01 2.03318511e-02 4.99970844e-01 3.63390646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.68687500000004 meters Centerline goodness : 0.998293 Centerline is valid? [True, True] Translation: X:159.01, Y:88.00, Z:36.36 [[ 4.80459685e-01 2.40009936e-01 -8.43536438e-01 1.59006161e+02] [-1.38812028e-01 9.70511801e-01 1.97073754e-01 8.80047517e+01] [ 8.65961727e-01 2.24070096e-02 4.99608061e-01 3.63617055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.716875 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:158.96, Y:87.98, Z:36.43 [[ 4.62538141e-01 3.03152987e-01 -8.33160690e-01 1.58960535e+02] [-1.42235301e-01 9.52926895e-01 2.67767533e-01 8.79844891e+01] [ 8.75115756e-01 -5.34783560e-03 4.83884091e-01 3.64273674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.746875 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:158.98, Y:87.98, Z:36.45 [[ 4.62380040e-01 2.94642518e-01 -8.36295693e-01 1.58978934e+02] [-1.41909013e-01 9.55607279e-01 2.58218047e-01 8.79817383e+01] [ 8.75252267e-01 -7.16974678e-04 4.83666161e-01 3.64486008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.776875 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:158.99, Y:87.98, Z:36.47 [[ 4.62290356e-01 2.94397136e-01 -8.36431679e-01 1.58992619e+02] [-1.41840687e-01 9.55682972e-01 2.57975342e-01 8.79773489e+01] [ 8.75310714e-01 -6.19468888e-04 4.83560513e-01 3.64731641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.806875 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:159.01, Y:87.97, Z:36.50 [[ 4.62353955e-01 2.93982141e-01 -8.36542480e-01 1.59006169e+02] [-1.41494507e-01 9.55810595e-01 2.57692473e-01 8.79728595e+01] [ 8.75333151e-01 -7.78968490e-04 4.83519667e-01 3.64975846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.836875 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:159.02, Y:87.97, Z:36.52 [[ 4.62836451e-01 2.93810262e-01 -8.36336027e-01 1.59019234e+02] [-1.42173814e-01 9.55863756e-01 2.57120762e-01 8.79672252e+01] [ 8.74968014e-01 -9.97781806e-05 4.84180714e-01 3.65220424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.866875 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:159.03, Y:87.96, Z:36.55 [[ 4.63183482e-01 2.93492189e-01 -8.36255581e-01 1.59032518e+02] [-1.42129290e-01 9.55961468e-01 2.56781885e-01 8.79627626e+01] [ 8.74791591e-01 -8.07155288e-05 4.84499398e-01 3.65468553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.896875 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:159.05, Y:87.96, Z:36.57 [[ 4.63380059e-01 2.92951211e-01 -8.36336361e-01 1.59045353e+02] [-1.41888042e-01 9.56127386e-01 2.56297103e-01 8.79588468e+01] [ 8.74726646e-01 -9.68376653e-05 4.84616638e-01 3.65705655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.926875 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:159.06, Y:87.95, Z:36.60 [[ 4.63842228e-01 2.92304377e-01 -8.36306486e-01 1.59058911e+02] [-1.41466105e-01 9.56325278e-01 2.55791525e-01 8.79547217e+01] [ 8.74550015e-01 -3.37889940e-04 4.84935209e-01 3.65952132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.956875 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:159.07, Y:87.95, Z:36.62 [[ 4.64343446e-01 2.91591700e-01 -8.36277133e-01 1.59072515e+02] [-1.40855129e-01 9.56542577e-01 2.55315746e-01 8.79507852e+01] [ 8.74382637e-01 -7.60269730e-04 4.85236464e-01 3.66192582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.986875 meters Centerline goodness : 0.998406 Centerline is valid? [True, True] Translation: X:159.14, Y:87.96, Z:36.61 [[ 4.80003566e-01 2.33571232e-01 -8.45601003e-01 1.59136614e+02] [-1.36504412e-01 9.72049800e-01 1.91012386e-01 8.79608509e+01] [ 8.66581284e-01 2.37416415e-02 4.98470874e-01 3.66058152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.016875 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:159.15, Y:87.96, Z:36.63 [[ 4.78017031e-01 2.35169879e-01 -8.46282959e-01 1.59149866e+02] [-1.37631754e-01 9.71643701e-01 1.92265491e-01 8.79562141e+01] [ 8.67500558e-01 2.45692289e-02 4.96829080e-01 3.66304042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.046875 meters Centerline goodness : 0.998190 Centerline is valid? [True, True] Translation: X:159.17, Y:87.95, Z:36.65 [[ 4.82039235e-01 2.29541017e-01 -8.45546626e-01 1.59169309e+02] [-1.35697782e-01 9.72985395e-01 1.86776693e-01 8.79546622e+01] [ 8.65577431e-01 2.47051076e-02 5.00165342e-01 3.66500578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.07687500000003 meters Centerline goodness : 0.998536 Centerline is valid? [True, True] Translation: X:159.18, Y:87.95, Z:36.68 [[ 4.79468861e-01 2.34568162e-01 -8.45628399e-01 1.59177292e+02] [-1.37181122e-01 9.71802157e-01 1.91786097e-01 8.79483963e+01] [ 8.66770415e-01 2.40487910e-02 4.98127197e-01 3.66797346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.106875 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:159.13, Y:87.93, Z:36.75 [[ 4.61186548e-01 3.03580777e-01 -8.33753968e-01 1.59127371e+02] [-1.40845843e-01 9.52782609e-01 2.69012545e-01 8.79292721e+01] [ 8.76053318e-01 -6.63418694e-03 4.82168613e-01 3.67481013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.13687500000003 meters Centerline goodness : 0.998386 Centerline is valid? [True, True] Translation: X:159.23, Y:87.95, Z:36.71 [[ 4.86163545e-01 2.01921231e-01 -8.50219280e-01 1.59227057e+02] [-1.34935166e-01 9.78615203e-01 1.55257156e-01 8.79532752e+01] [ 8.63387230e-01 3.92441102e-02 5.03013312e-01 3.67096360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.166875 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:159.16, Y:87.92, Z:36.79 [[ 4.60626197e-01 2.95580254e-01 -8.36932387e-01 1.59158984e+02] [-1.42353277e-01 9.55317895e-01 2.59042978e-01 8.79244615e+01] [ 8.76104475e-01 -1.81914391e-04 4.82121266e-01 3.67917590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.19687500000003 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:159.17, Y:87.92, Z:36.81 [[ 4.60609003e-01 2.91819619e-01 -8.38260495e-01 1.59174267e+02] [-1.43342247e-01 9.56468450e-01 2.54206814e-01 8.79219857e+01] [ 8.75952252e-01 3.06819635e-03 4.82388059e-01 3.68137225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.226875 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:159.24, Y:87.94, Z:36.80 [[ 4.75892709e-01 2.31886022e-01 -8.48383759e-01 1.59241981e+02] [-1.41506667e-01 9.72237206e-01 1.86361686e-01 8.79355219e+01] [ 8.68044926e-01 3.13637910e-02 4.95494016e-01 3.67987294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.25687500000004 meters Centerline goodness : 0.998443 Centerline is valid? [True, True] Translation: X:159.19, Y:87.91, Z:36.87 [[ 4.57685521e-01 3.01105379e-01 -8.36576066e-01 1.59193499e+02] [-1.47197548e-01 9.53586423e-01 2.62689579e-01 8.79139132e+01] [ 8.76844824e-01 2.91272866e-03 4.80764673e-01 3.68665485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.286875 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:159.21, Y:87.91, Z:36.89 [[ 4.57304526e-01 2.94712173e-01 -8.39057391e-01 1.59211009e+02] [-1.48354256e-01 9.55552845e-01 2.54773970e-01 8.79120197e+01] [ 8.76848667e-01 7.96844517e-03 4.80700446e-01 3.68894267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.31687500000004 meters Centerline goodness : 0.998444 Centerline is valid? [True, True] Translation: X:159.27, Y:87.92, Z:36.88 [[ 4.70308028e-01 2.47295164e-01 -8.47145478e-01 1.59269576e+02] [-1.48051697e-01 9.68440314e-01 2.00509486e-01 8.79194192e+01] [ 8.69994859e-01 3.11201049e-02 4.92077723e-01 3.68846458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.346875 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:159.23, Y:87.90, Z:36.94 [[ 4.55268742e-01 3.09465985e-01 -8.34842007e-01 1.59228362e+02] [-1.51175029e-01 9.50904915e-01 2.70048056e-01 8.79029957e+01] [ 8.77426056e-01 3.26282639e-03 4.79700814e-01 3.69444977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.37687500000004 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:159.25, Y:87.90, Z:36.96 [[ 4.55127011e-01 2.96925361e-01 -8.39460978e-01 1.59249323e+02] [-1.52667061e-01 9.54823783e-01 2.54959431e-01 8.79016671e+01] [ 8.77241228e-01 1.21191170e-02 4.79896817e-01 3.69637121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.406875 meters Centerline goodness : 0.998326 Centerline is valid? [True, True] Translation: X:159.31, Y:87.92, Z:36.95 [[ 4.72785127e-01 2.39471104e-01 -8.48014041e-01 1.59313853e+02] [-1.50722397e-01 9.70158892e-01 1.89932838e-01 8.79150048e+01] [ 8.68191789e-01 3.80172874e-02 4.94770354e-01 3.69473503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.43687500000004 meters Centerline goodness : 0.998135 Centerline is valid? [True, True] Translation: X:159.34, Y:87.91, Z:36.97 [[ 4.72125559e-01 2.28468965e-01 -8.51410235e-01 1.59335440e+02] [-1.53861949e-01 9.72362650e-01 1.75605746e-01 8.79119364e+01] [ 8.67999975e-01 4.80916775e-02 4.94229940e-01 3.69701619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.466875 meters Centerline goodness : 0.998137 Centerline is valid? [True, True] Translation: X:159.33, Y:87.91, Z:37.00 [[ 4.68569097e-01 2.52074668e-01 -8.46700279e-01 1.59330485e+02] [-1.53655676e-01 9.67073258e-01 2.02877420e-01 8.79052169e+01] [ 8.69961456e-01 3.50382142e-02 4.91873347e-01 3.70018148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.496875 meters Centerline goodness : 0.998690 Centerline is valid? [True, True] Translation: X:159.30, Y:87.89, Z:37.06 [[ 4.50488846e-01 2.90570620e-01 -8.44173273e-01 1.59304673e+02] [-1.60057244e-01 9.56519687e-01 2.43827331e-01 8.78879907e+01] [ 8.78317413e-01 2.52745546e-02 4.77409382e-01 3.70597042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.526875 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:159.36, Y:87.90, Z:37.05 [[ 4.66505399e-01 2.49221631e-01 -8.48682091e-01 1.59358058e+02] [-1.55521006e-01 9.67648444e-01 1.98669839e-01 8.78977028e+01] [ 8.70738726e-01 3.93073397e-02 4.90172422e-01 3.70506346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.556875 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:159.37, Y:87.89, Z:37.08 [[ 4.60647204e-01 2.54986573e-01 -8.50168220e-01 1.59365324e+02] [-1.58967501e-01 9.66059801e-01 2.03611872e-01 8.78909458e+01] [ 8.73231634e-01 4.13558779e-02 4.85547324e-01 3.70805983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.586875 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:159.33, Y:87.87, Z:37.14 [[ 4.44447127e-01 3.08198981e-01 -8.41118386e-01 1.59331204e+02] [-1.61902842e-01 9.51125948e-01 2.62957983e-01 8.78738784e+01] [ 8.81052905e-01 1.93085367e-02 4.72623486e-01 3.71379394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.616875 meters Centerline goodness : 0.998549 Centerline is valid? [True, True] Translation: X:159.40, Y:87.89, Z:37.12 [[ 4.64636554e-01 2.50002445e-01 -8.49477280e-01 1.59395346e+02] [-1.55618622e-01 9.67441096e-01 1.99601028e-01 8.78864182e+01] [ 8.71719976e-01 3.94525500e-02 4.88413533e-01 3.71225920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.646875 meters Centerline goodness : 0.998306 Centerline is valid? [True, True] Translation: X:159.42, Y:87.88, Z:37.15 [[ 4.66260333e-01 2.39523007e-01 -8.51604386e-01 1.59415698e+02] [-1.54680689e-01 9.69892182e-01 1.88103801e-01 8.78827526e+01] [ 8.71019625e-01 4.40214125e-02 4.89271836e-01 3.71467468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.676875 meters Centerline goodness : 0.998522 Centerline is valid? [True, True] Translation: X:159.42, Y:87.88, Z:37.18 [[ 4.64236729e-01 2.46064491e-01 -8.50844595e-01 1.59422160e+02] [-1.52668304e-01 9.68486899e-01 1.96787995e-01 8.78755900e+01] [ 8.72454382e-01 3.85407861e-02 4.87173439e-01 3.71757153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.706875 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:159.38, Y:87.86, Z:37.24 [[ 4.47878387e-01 3.01725599e-01 -8.41645183e-01 1.59383742e+02] [-1.53878016e-01 9.53304519e-01 2.59869294e-01 8.78566755e+01] [ 8.80753375e-01 1.31208513e-02 4.73393427e-01 3.72368848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.736875 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:159.40, Y:87.85, Z:37.26 [[ 4.48383481e-01 3.01100767e-01 -8.41600013e-01 1.59396352e+02] [-1.51596723e-01 9.53530783e-01 2.60379491e-01 8.78521087e+01] [ 8.80891984e-01 1.08339415e-02 4.73193341e-01 3.72619012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.766875 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:159.45, Y:87.86, Z:37.26 [[ 4.60728209e-01 2.60976170e-01 -8.48304755e-01 1.59446121e+02] [-1.47293702e-01 9.65020832e-01 2.16885590e-01 8.78568092e+01] [ 8.75233731e-01 2.50246388e-02 4.83052466e-01 3.72614175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.796875 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:159.42, Y:87.84, Z:37.31 [[ 4.48463262e-01 3.04640394e-01 -8.40282651e-01 1.59418219e+02] [-1.47664220e-01 9.52456506e-01 2.66499311e-01 8.78423315e+01] [ 8.81519132e-01 4.56453167e-03 4.72126238e-01 3.73137470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.82687500000003 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:159.43, Y:87.84, Z:37.34 [[ 4.48949069e-01 2.97641654e-01 -8.42528444e-01 1.59434862e+02] [-1.44439146e-01 9.54665413e-01 2.60290764e-01 8.78387967e+01] [ 8.81806139e-01 4.83679295e-03 4.71587255e-01 3.73358863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.856875 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:159.45, Y:87.83, Z:37.36 [[ 4.49390580e-01 2.96525817e-01 -8.42686506e-01 1.59448161e+02] [-1.42548267e-01 9.55019252e-01 2.60035035e-01 8.78346948e+01] [ 8.81888938e-01 3.26620557e-03 4.71445896e-01 3.73603906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.88687500000003 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:159.49, Y:87.84, Z:37.36 [[ 4.60455469e-01 2.60040103e-01 -8.48740188e-01 1.59494451e+02] [-1.38108581e-01 9.65473190e-01 2.20879014e-01 8.78393311e+01] [ 8.76873298e-01 1.55133533e-02 4.80471180e-01 3.73605840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.916875 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:159.48, Y:87.83, Z:37.41 [[ 4.49832406e-01 2.92055072e-01 -8.44011043e-01 1.59475547e+02] [-1.39191799e-01 9.56399452e-01 2.56760064e-01 8.78262223e+01] [ 8.82199779e-01 1.98041775e-03 4.70871138e-01 3.74084064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.94687500000003 meters Centerline goodness : 0.998511 Centerline is valid? [True, True] Translation: X:159.52, Y:87.83, Z:37.41 [[ 4.61525228e-01 2.57033898e-01 -8.49074814e-01 1.59520909e+02] [-1.34422253e-01 9.66316969e-01 2.19458819e-01 8.78324111e+01] [ 8.76883756e-01 1.28487676e-02 4.80530735e-01 3.74069649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.976875 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:159.50, Y:87.82, Z:37.46 [[ 4.49630615e-01 2.86713421e-01 -8.45947826e-01 1.59502646e+02] [-1.37700569e-01 9.58010351e-01 2.51504912e-01 8.78185197e+01] [ 8.82536608e-01 3.40318908e-03 4.70231384e-01 3.74583191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.00687500000004 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:159.51, Y:87.81, Z:37.49 [[ 4.49749694e-01 2.95226835e-01 -8.42950965e-01 1.59509968e+02] [-1.37653860e-01 9.55426123e-01 2.61174918e-01 8.78137193e+01] [ 8.82483217e-01 -1.42788523e-03 4.70341720e-01 3.74851686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.036875 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:159.55, Y:87.82, Z:37.49 [[ 4.59836069e-01 2.62617334e-01 -8.48282338e-01 1.59553350e+02] [-1.35774577e-01 9.64829529e-01 2.25098299e-01 8.78191372e+01] [ 8.77562564e-01 1.16668586e-02 4.79320175e-01 3.74862891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.06687500000004 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:159.54, Y:87.81, Z:37.53 [[ 4.48703845e-01 2.89023870e-01 -8.45653630e-01 1.59539745e+02] [-1.39729552e-01 9.57310740e-01 2.53045053e-01 8.78081284e+01] [ 8.82689363e-01 4.62051430e-03 4.69934186e-01 3.75328426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.096875 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:159.59, Y:87.81, Z:37.53 [[ 4.61607644e-01 2.54800901e-01 -8.49702821e-01 1.59585774e+02] [-1.37593332e-01 9.66833605e-01 2.15176336e-01 8.78149049e+01] [ 8.76348366e-01 1.75864003e-02 4.81356687e-01 3.75295863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.12687500000004 meters Centerline goodness : 0.998473 Centerline is valid? [True, True] Translation: X:159.62, Y:87.82, Z:37.54 [[ 4.66755181e-01 2.33353254e-01 -8.53045052e-01 1.59618885e+02] [-1.37818533e-01 9.71969589e-01 1.90476168e-01 8.78181724e+01] [ 8.73582082e-01 2.86596796e-02 4.85832244e-01 3.75428335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.156875 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:159.58, Y:87.80, Z:37.61 [[ 4.48949369e-01 2.87925417e-01 -8.45897995e-01 1.59582658e+02] [-1.43738652e-01 9.57605683e-01 2.49660881e-01 8.77984414e+01] [ 8.81920441e-01 9.50314208e-03 4.71302478e-01 3.76050799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.18687500000004 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:159.59, Y:87.79, Z:37.63 [[ 4.48101500e-01 2.93271928e-01 -8.44509693e-01 1.59593104e+02] [-1.45007714e-01 9.55994120e-01 2.55045107e-01 8.77942413e+01] [ 8.82143871e-01 8.17432517e-03 4.70909091e-01 3.76314617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.216875 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:159.66, Y:87.81, Z:37.62 [[ 4.64499159e-01 2.37659470e-01 -8.53087632e-01 1.59656623e+02] [-1.42403612e-01 9.70825547e-01 1.92922181e-01 8.78062201e+01] [ 8.74049050e-01 3.18705696e-02 4.84791218e-01 3.76194109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.246875 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:159.68, Y:87.81, Z:37.64 [[ 4.66871960e-01 2.27974244e-01 -8.54434501e-01 1.59678510e+02] [-1.41916176e-01 9.72991821e-01 1.82062395e-01 8.78061008e+01] [ 8.72863318e-01 3.62582498e-02 4.86615831e-01 3.76387346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.276875 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:159.63, Y:87.78, Z:37.71 [[ 4.47042868e-01 2.93665991e-01 -8.44933701e-01 1.59632368e+02] [-1.47853756e-01 9.55840303e-01 2.53985399e-01 8.77820700e+01] [ 8.82208559e-01 1.13842598e-02 4.70721210e-01 3.77061499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.306875 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:159.65, Y:87.78, Z:37.73 [[ 4.47314072e-01 2.92745402e-01 -8.45109609e-01 1.59645336e+02] [-1.48169834e-01 9.56113208e-01 2.52771110e-01 8.77782183e+01] [ 8.82018039e-01 1.21516755e-02 4.71058930e-01 3.77291042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.336875 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:159.66, Y:87.77, Z:37.75 [[ 4.47123699e-01 2.92421795e-01 -8.45322360e-01 1.59658484e+02] [-1.47918026e-01 9.56212624e-01 2.52542424e-01 8.77737366e+01] [ 8.82156820e-01 1.21207120e-02 4.70799780e-01 3.77539241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.366875 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:159.73, Y:87.79, Z:37.73 [[ 4.67448394e-01 2.28385641e-01 -8.54009367e-01 1.59727822e+02] [-1.40741601e-01 9.72956538e-01 1.83159428e-01 8.77901741e+01] [ 8.72744981e-01 3.45770653e-02 4.86950332e-01 3.77331942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.396875 meters Centerline goodness : 0.998513 Centerline is valid? [True, True] Translation: X:159.74, Y:87.79, Z:37.75 [[ 4.65377433e-01 2.24244955e-01 -8.56234807e-01 1.59740341e+02] [-1.38546331e-01 9.73905114e-01 1.79760238e-01 8.77884923e+01] [ 8.74201784e-01 3.49718326e-02 4.84301778e-01 3.77533855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.426875 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:159.72, Y:87.76, Z:37.82 [[ 4.42956337e-01 2.58193557e-01 -8.58560290e-01 1.59715149e+02] [-1.48065175e-01 9.65551763e-01 2.13977794e-01 8.77644419e+01] [ 8.84232089e-01 3.23400595e-02 4.65926746e-01 3.78168202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.456875 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:159.70, Y:87.75, Z:37.85 [[ 4.43001289e-01 2.96768168e-01 -8.45977844e-01 1.59702905e+02] [-1.46459911e-01 9.54902484e-01 2.58284225e-01 8.77527546e+01] [ 8.84476881e-01 9.48159485e-03 4.66487670e-01 3.78534646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.486875 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:159.72, Y:87.75, Z:37.88 [[ 4.43082600e-01 2.96212668e-01 -8.46129934e-01 1.59716225e+02] [-1.46214913e-01 9.55074798e-01 2.57785432e-01 8.77489383e+01] [ 8.84476686e-01 9.49657520e-03 4.66487735e-01 3.78785144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.516875 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:159.77, Y:87.76, Z:37.86 [[ 4.62297184e-01 2.47966690e-01 -8.51348245e-01 1.59769757e+02] [-1.36632670e-01 9.68557834e-01 2.07911607e-01 8.77640574e+01] [ 8.76135165e-01 2.02050337e-02 4.81641910e-01 3.78616186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.546875 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:159.77, Y:87.75, Z:37.91 [[ 4.44318182e-01 2.50674600e-01 -8.60083483e-01 1.59767319e+02] [-1.45116611e-01 9.67514559e-01 2.07018713e-01 8.77492821e+01] [ 8.84037625e-01 3.28302222e-02 4.66261359e-01 3.79131499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.57687500000003 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:159.75, Y:87.74, Z:37.95 [[ 4.44132891e-01 2.93881176e-01 -8.46392243e-01 1.59753604e+02] [-1.43977578e-01 9.55808310e-01 2.56321929e-01 8.77376749e+01] [ 8.84316930e-01 8.02050604e-03 4.66818208e-01 3.79505163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.606875 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:159.80, Y:87.75, Z:37.94 [[ 4.60149436e-01 2.51466647e-01 -8.51485186e-01 1.59803574e+02] [-1.35834657e-01 9.67699800e-01 2.12381832e-01 8.77521217e+01] [ 8.77388992e-01 1.79338185e-02 4.79444403e-01 3.79378612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.63687500000003 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:159.83, Y:87.75, Z:37.96 [[ 4.55822116e-01 2.24508059e-01 -8.61291083e-01 1.59830408e+02] [-1.39448950e-01 9.73729049e-01 1.80015916e-01 8.77523120e+01] [ 8.79079171e-01 3.80509014e-02 4.75154649e-01 3.79574866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.666875 meters Centerline goodness : 0.998469 Centerline is valid? [True, True] Translation: X:159.84, Y:87.75, Z:37.99 [[ 4.55474882e-01 2.31872773e-01 -8.59521756e-01 1.59838445e+02] [-1.38816104e-01 9.72173695e-01 1.88701870e-01 8.77470672e+01] [ 8.79359268e-01 3.33664994e-02 4.74988374e-01 3.79871970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.69687500000003 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:159.85, Y:87.74, Z:38.01 [[ 4.53724916e-01 2.33587749e-01 -8.59982828e-01 1.59848834e+02] [-1.39913915e-01 9.71739023e-01 1.90124612e-01 8.77423430e+01] [ 8.80089653e-01 3.40592909e-02 4.73584382e-01 3.80143351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.726875 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:159.84, Y:87.72, Z:38.07 [[ 4.42776811e-01 2.61871458e-01 -8.57538358e-01 1.59836729e+02] [-1.45197782e-01 9.64717546e-01 2.19630735e-01 8.77245301e+01] [ 8.84797321e-01 2.72652714e-02 4.65177713e-01 3.80650172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.75687500000004 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:159.83, Y:87.71, Z:38.10 [[ 4.42516331e-01 2.95408569e-01 -8.46707195e-01 1.59828508e+02] [-1.44857431e-01 9.55331767e-01 2.57599572e-01 8.77146484e+01] [ 8.84983402e-01 8.65981193e-03 4.65542035e-01 3.81000543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.786875 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:159.84, Y:87.71, Z:38.12 [[ 4.42427723e-01 2.95126070e-01 -8.46852002e-01 1.59840875e+02] [-1.45195136e-01 9.55413943e-01 2.57104203e-01 8.77114829e+01] [ 8.84972363e-01 9.20876433e-03 4.65552485e-01 3.81239103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.81687500000004 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:159.90, Y:87.72, Z:38.11 [[ 4.57139734e-01 2.46128857e-01 -8.54660078e-01 1.59897843e+02] [-1.41647673e-01 9.68828240e-01 2.03243152e-01 8.77237062e+01] [ 8.78042824e-01 2.81500911e-02 4.77753464e-01 3.81143620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.846875 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:159.93, Y:87.73, Z:38.13 [[ 4.59324707e-01 2.18081587e-01 -8.61081434e-01 1.59933002e+02] [-1.43093244e-01 9.74898766e-01 1.70577604e-01 8.77276315e+01] [ 8.76667062e-01 4.48644275e-02 4.79001092e-01 3.81292071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.87687500000004 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:159.93, Y:87.72, Z:38.16 [[ 4.56412163e-01 2.42515700e-01 -8.56080646e-01 1.59929885e+02] [-1.45398337e-01 9.69533966e-01 1.97137548e-01 8.77164081e+01] [ 8.77808214e-01 3.44967276e-02 4.77768474e-01 3.81647699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.906875 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:159.89, Y:87.70, Z:38.22 [[ 4.41372021e-01 3.03417226e-01 -8.44469494e-01 1.59889617e+02] [-1.47474920e-01 9.52828637e-01 2.65271061e-01 8.76970245e+01] [ 8.85122526e-01 7.45484717e-03 4.65298333e-01 3.82241766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.93687500000004 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:159.98, Y:87.72, Z:38.20 [[ 4.62976708e-01 2.15584818e-01 -8.59753310e-01 1.59975699e+02] [-1.43484586e-01 9.75405902e-01 1.67318556e-01 8.77160781e+01] [ 8.74679794e-01 4.58967535e-02 4.82523311e-01 3.82028696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.966875 meters Centerline goodness : 0.998665 Centerline is valid? [True, True] Translation: X:159.98, Y:87.71, Z:38.23 [[ 4.65945878e-01 2.28941934e-01 -8.54681244e-01 1.59981515e+02] [-1.43026402e-01 9.72730362e-01 1.82589952e-01 8.77079962e+01] [ 8.73176893e-01 3.71649474e-02 4.85984444e-01 3.82308362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.996875 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:159.99, Y:87.70, Z:38.26 [[ 4.66361300e-01 2.34879150e-01 -8.52841675e-01 1.59989252e+02] [-1.42536900e-01 9.71459564e-01 1.89603659e-01 8.77018980e+01] [ 8.73035148e-01 3.31375998e-02 4.86530091e-01 3.82584978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.026875 meters Centerline goodness : 0.998566 Centerline is valid? [True, True] Translation: X:160.00, Y:87.70, Z:38.28 [[ 4.63594798e-01 2.30293218e-01 -8.55596223e-01 1.60004622e+02] [-1.42422748e-01 9.72444425e-01 1.84574109e-01 8.76983168e+01] [ 8.74525943e-01 3.62887682e-02 4.83619170e-01 3.82840661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.056875 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:160.01, Y:87.69, Z:38.31 [[ 4.61198831e-01 2.37761469e-01 -8.54848011e-01 1.60012539e+02] [-1.41519929e-01 9.70807422e-01 1.93662231e-01 8.76920918e+01] [ 8.75938210e-01 3.16612351e-02 4.81383234e-01 3.83119359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.086875 meters Centerline goodness : 0.998539 Centerline is valid? [True, True] Translation: X:160.02, Y:87.69, Z:38.34 [[ 4.64669920e-01 2.46866747e-01 -8.50375608e-01 1.60019122e+02] [-1.38945123e-01 9.68782331e-01 2.05316947e-01 8.76855125e+01] [ 8.74514790e-01 2.27509336e-02 4.84464938e-01 3.83395281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.116875 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:159.96, Y:87.66, Z:38.41 [[ 4.43203292e-01 3.18777006e-01 -8.37825795e-01 1.59960766e+02] [-1.40081596e-01 9.47780937e-01 2.86510807e-01 8.76641624e+01] [ 8.85408374e-01 -9.61855840e-03 4.64714423e-01 3.84103277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.146875 meters Centerline goodness : 0.998582 Centerline is valid? [True, True] Translation: X:160.06, Y:87.69, Z:38.38 [[ 4.66701020e-01 2.07724194e-01 -8.59674832e-01 1.60063834e+02] [-1.30924068e-01 9.77543543e-01 1.65128770e-01 8.76851111e+01] [ 8.74670822e-01 3.54863605e-02 4.83416665e-01 3.83811729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.176875 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:159.99, Y:87.66, Z:38.46 [[ 4.44553932e-01 3.11705660e-01 -8.39768649e-01 1.59986269e+02] [-1.33303317e-01 9.50083400e-01 2.82084667e-01 8.76552942e+01] [ 8.85777640e-01 -1.34579017e-02 4.63914709e-01 3.84591684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.206875 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:160.09, Y:87.68, Z:38.43 [[ 4.67249043e-01 2.05325225e-01 -8.59953419e-01 1.60088286e+02] [-1.25364504e-01 9.78218345e-01 1.65446702e-01 8.76773093e+01] [ 8.75192592e-01 3.05028210e-02 4.82812081e-01 3.84278996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.236875 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:160.01, Y:87.65, Z:38.51 [[ 4.44978632e-01 3.00470859e-01 -8.43629824e-01 1.60014288e+02] [-1.28058617e-01 9.53701611e-01 2.72129064e-01 8.76476791e+01] [ 8.86337976e-01 -1.30575497e-02 4.62854721e-01 3.85060969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.266875 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:160.11, Y:87.67, Z:38.48 [[ 4.67055073e-01 2.05816352e-01 -8.59941386e-01 1.60109172e+02] [-1.20226035e-01 9.78283176e-01 1.68842315e-01 8.76687640e+01] [ 8.76016700e-01 2.45286837e-02 4.81656604e-01 3.84767451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.296875 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:160.04, Y:87.64, Z:38.55 [[ 4.44195897e-01 2.93028809e-01 -8.46654665e-01 1.60041168e+02] [-1.26138553e-01 9.56042757e-01 2.64709865e-01 8.76400698e+01] [ 8.87005677e-01 -1.07872414e-02 4.61632500e-01 3.85531020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.32687500000003 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:160.06, Y:87.64, Z:38.58 [[ 4.44343689e-01 2.85108573e-01 -8.49277215e-01 1.60057939e+02] [-1.25424851e-01 9.58467470e-01 2.56141985e-01 8.76374929e+01] [ 8.87032859e-01 -7.29460593e-03 4.61648671e-01 3.85751852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.356875 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:160.07, Y:87.63, Z:38.60 [[ 4.44817900e-01 2.84542635e-01 -8.49218773e-01 1.60070536e+02] [-1.24816314e-01 9.58631663e-01 2.55824595e-01 8.76336595e+01] [ 8.86881009e-01 -7.79900224e-03 4.61932085e-01 3.85998917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.38687500000003 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:160.08, Y:87.63, Z:38.62 [[ 4.45027648e-01 2.84364487e-01 -8.49168553e-01 1.60082190e+02] [-1.25506484e-01 9.58690513e-01 2.55265789e-01 8.76306221e+01] [ 8.86678360e-01 -7.02417383e-03 4.62333371e-01 3.86238902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.416875 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:160.09, Y:87.63, Z:38.65 [[ 4.45101550e-01 2.84565474e-01 -8.49062484e-01 1.60094755e+02] [-1.26581603e-01 9.58637862e-01 2.54932438e-01 8.76274124e+01] [ 8.86488414e-01 -5.99513290e-03 4.62711952e-01 3.86480617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.44687500000003 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:160.11, Y:87.62, Z:38.67 [[ 4.44609340e-01 2.85141911e-01 -8.49126978e-01 1.60107755e+02] [-1.28352068e-01 9.58475954e-01 2.54655831e-01 8.76238679e+01] [ 8.86480841e-01 -4.23515723e-03 4.62745916e-01 3.86730803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.476875 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:160.12, Y:87.62, Z:38.70 [[ 4.43864513e-01 2.85541370e-01 -8.49382376e-01 1.60120895e+02] [-1.30033955e-01 9.58363396e-01 2.54225829e-01 8.76210858e+01] [ 8.86608969e-01 -2.39327471e-03 4.62513576e-01 3.86978331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.50687500000004 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:160.13, Y:87.62, Z:38.72 [[ 4.43115582e-01 2.86167127e-01 -8.49562803e-01 1.60134206e+02] [-1.32344442e-01 9.58179720e-01 2.53725390e-01 8.76183769e+01] [ 8.86641714e-01 5.24111668e-06 4.62456993e-01 3.87217313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.536875 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:160.15, Y:87.62, Z:38.75 [[ 4.42198144e-01 2.86941200e-01 -8.49779706e-01 1.60147454e+02] [-1.34484884e-01 9.57945688e-01 2.53483482e-01 8.76155585e+01] [ 8.86777660e-01 2.19259939e-03 4.62191059e-01 3.87451923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.56687500000004 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:160.16, Y:87.61, Z:38.77 [[ 4.40477196e-01 2.88312864e-01 -8.50209111e-01 1.60161755e+02] [-1.38241889e-01 9.57517098e-01 2.53081383e-01 8.76128405e+01] [ 8.87056379e-01 6.05793602e-03 4.61621361e-01 3.87689278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.596875 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:160.17, Y:87.61, Z:38.79 [[ 4.39649002e-01 2.88735331e-01 -8.50494364e-01 1.60174564e+02] [-1.40058187e-01 9.57375073e-01 2.52619624e-01 8.76095827e+01] [ 8.87182315e-01 8.05473318e-03 4.61348742e-01 3.87920190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.62687500000004 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:160.19, Y:87.61, Z:38.82 [[ 4.39249382e-01 2.89034838e-01 -8.50599108e-01 1.60187713e+02] [-1.41239738e-01 9.57273451e-01 2.52346737e-01 8.76064422e+01] [ 8.87192942e-01 9.29524656e-03 4.61304977e-01 3.88165093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.656875 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:160.26, Y:87.62, Z:38.80 [[ 4.61588590e-01 2.21718414e-01 -8.58939415e-01 1.60261284e+02] [-1.35633239e-01 9.74516703e-01 1.78663989e-01 8.76247411e+01] [ 8.76663903e-01 3.40314761e-02 4.79898177e-01 3.87957052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.68687500000004 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:160.22, Y:87.60, Z:38.86 [[ 4.38453616e-01 2.80030469e-01 -8.54014849e-01 1.60217941e+02] [-1.44408929e-01 9.59825301e-01 2.40585644e-01 8.76020564e+01] [ 8.87076371e-01 1.78417243e-02 4.61277774e-01 3.88623383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.716875 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:160.28, Y:87.62, Z:38.85 [[ 4.57804597e-01 2.32921340e-01 -8.57999185e-01 1.60276686e+02] [-1.39350763e-01 9.71941984e-01 1.89499724e-01 8.76154411e+01] [ 8.78063959e-01 3.28089964e-02 4.77417274e-01 3.88514962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.746875 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:160.24, Y:87.60, Z:38.91 [[ 4.37321760e-01 2.82350137e-01 -8.53831411e-01 1.60241052e+02] [-1.45196620e-01 9.59146489e-01 2.42808474e-01 8.75952677e+01] [ 8.87506406e-01 1.77880059e-02 4.60451916e-01 3.89118501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.776875 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:160.30, Y:87.61, Z:38.90 [[ 4.56914096e-01 2.33737182e-01 -8.58251967e-01 1.60300498e+02] [-1.39235754e-01 9.71758282e-01 1.90523611e-01 8.76084646e+01] [ 8.78545909e-01 3.24464362e-02 4.76554630e-01 3.89010493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.806875 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:160.27, Y:87.59, Z:38.96 [[ 4.36987021e-01 2.81001753e-01 -8.54447399e-01 1.60267046e+02] [-1.43408117e-01 9.59562220e-01 2.42228112e-01 8.75886553e+01] [ 8.87961967e-01 1.66841518e-02 4.59614168e-01 3.89606966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.836875 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:160.32, Y:87.60, Z:38.95 [[ 4.53959700e-01 2.36632009e-01 -8.59026125e-01 1.60323892e+02] [-1.37207408e-01 9.71156327e-01 1.95011576e-01 8.76009176e+01] [ 8.80394638e-01 2.93373516e-02 4.73333500e-01 3.89517063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.866875 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:160.29, Y:87.58, Z:39.01 [[ 4.37086422e-01 2.81028505e-01 -8.54387757e-01 1.60291209e+02] [-1.40223453e-01 9.59608658e-01 2.43902862e-01 8.75815438e+01] [ 8.88421546e-01 1.31985725e-02 4.58838703e-01 3.90101055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.896875 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:160.30, Y:87.58, Z:39.04 [[ 4.37526564e-01 2.86964707e-01 -8.52186460e-01 1.60299137e+02] [-1.37804330e-01 9.57913654e-01 2.51816199e-01 8.75768896e+01] [ 8.88583408e-01 7.25870792e-03 4.58657649e-01 3.90371014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.926875 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:160.31, Y:87.57, Z:39.06 [[ 4.37811730e-01 2.85538583e-01 -8.52518978e-01 1.60311327e+02] [-1.35531685e-01 9.58351519e-01 2.51383229e-01 8.75731550e+01] [ 8.88792468e-01 5.48480718e-03 4.58277061e-01 3.90608538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.956875 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:160.32, Y:87.57, Z:39.09 [[ 4.38819812e-01 2.83746104e-01 -8.52599156e-01 1.60323870e+02] [-1.32131775e-01 9.58896289e-01 2.51115713e-01 8.75696153e+01] [ 8.88807272e-01 2.46088960e-03 4.58274565e-01 3.90857099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.986875 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:160.34, Y:87.57, Z:39.11 [[ 4.40877733e-01 2.80265311e-01 -8.52688794e-01 1.60335888e+02] [-1.25499749e-01 9.59916267e-01 2.50620377e-01 8.75654473e+01] [ 8.88750042e-01 -3.48071435e-03 4.58378934e-01 3.91096330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.016875 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:160.35, Y:87.56, Z:39.13 [[ 4.42297458e-01 2.78372455e-01 -8.52573595e-01 1.60348259e+02] [-1.22012335e-01 9.60449965e-01 2.50297534e-01 8.75618531e+01] [ 8.88530218e-01 -6.68146831e-03 4.58769451e-01 3.91342858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.046875 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:160.36, Y:87.56, Z:39.16 [[ 4.44232451e-01 2.76326122e-01 -8.52233186e-01 1.60361782e+02] [-1.18773114e-01 9.61015014e-01 2.49685982e-01 8.75584554e+01] [ 8.88003647e-01 -9.69622614e-03 4.59734169e-01 3.91590611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.07687500000003 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:160.37, Y:87.56, Z:39.18 [[ 4.47342836e-01 2.73168412e-01 -8.51623982e-01 1.60373831e+02] [-1.13322121e-01 9.61851133e-01 2.48998986e-01 8.75551666e+01] [ 8.87154149e-01 -1.48800769e-02 4.61233237e-01 3.91838883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.106875 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:160.39, Y:87.55, Z:39.21 [[ 4.48013216e-01 2.71729297e-01 -8.51731969e-01 1.60385409e+02] [-1.11202792e-01 9.62230354e-01 2.48488803e-01 8.75517604e+01] [ 8.87084042e-01 -1.66112950e-02 4.61308971e-01 3.92075702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.13687500000003 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:160.40, Y:87.55, Z:39.23 [[ 4.48578267e-01 2.70574842e-01 -8.51802086e-01 1.60397630e+02] [-1.09253537e-01 9.62525383e-01 2.48210699e-01 8.75482976e+01] [ 8.87040700e-01 -1.82795342e-02 4.61329227e-01 3.92325375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.166875 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:160.41, Y:87.55, Z:39.26 [[ 4.48780440e-01 2.69385192e-01 -8.52072611e-01 1.60410061e+02] [-1.07563112e-01 9.62834382e-01 2.47750135e-01 8.75452741e+01] [ 8.87145024e-01 -1.95338323e-02 4.61077147e-01 3.92567649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.19687500000003 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:160.42, Y:87.54, Z:39.28 [[ 4.48860820e-01 2.68673973e-01 -8.52254810e-01 1.60422965e+02] [-1.06493298e-01 9.63016490e-01 2.47504379e-01 8.75422872e+01] [ 8.87233420e-01 -2.03355932e-02 4.60872349e-01 3.92811614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.226875 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:160.44, Y:87.54, Z:39.31 [[ 4.49060971e-01 2.68169127e-01 -8.52308374e-01 1.60435835e+02] [-1.06437199e-01 9.63160332e-01 2.46968210e-01 8.75403827e+01] [ 8.87138866e-01 -2.01864687e-02 4.61060885e-01 3.93054968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.25687500000004 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:160.45, Y:87.54, Z:39.33 [[ 4.48978535e-01 2.68176307e-01 -8.52349543e-01 1.60449034e+02] [-1.07149978e-01 9.63174686e-01 2.46603746e-01 8.75377850e+01] [ 8.87094785e-01 -1.93905539e-02 4.61179845e-01 3.93302066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.286875 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:160.46, Y:87.54, Z:39.35 [[ 4.48797365e-01 2.68214699e-01 -8.52432872e-01 1.60462612e+02] [-1.08187829e-01 9.63186706e-01 2.46103156e-01 8.75354539e+01] [ 8.87060493e-01 -1.82275859e-02 4.61293221e-01 3.93544621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.31687500000004 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:160.48, Y:87.53, Z:39.38 [[ 4.48575943e-01 2.68388250e-01 -8.52494792e-01 1.60475499e+02] [-1.09561674e-01 9.63165010e-01 2.45579730e-01 8.75332654e+01] [ 8.87003869e-01 -1.67604022e-02 4.61457719e-01 3.93786102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.346875 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:160.49, Y:87.53, Z:39.40 [[ 4.48190171e-01 2.69614025e-01 -8.52310887e-01 1.60488912e+02] [-1.12885458e-01 9.62871088e-01 2.45226713e-01 8.75321063e+01] [ 8.86782072e-01 -1.36946975e-02 4.61984861e-01 3.94029082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.37687500000004 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:160.50, Y:87.53, Z:39.43 [[ 4.48042676e-01 2.69884845e-01 -8.52302722e-01 1.60502222e+02] [-1.14509547e-01 9.62817429e-01 2.44683799e-01 8.75299036e+01] [ 8.86648365e-01 -1.20319854e-02 4.62287689e-01 3.94280208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.406875 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:160.52, Y:87.53, Z:39.45 [[ 4.48081980e-01 2.69369009e-01 -8.52445233e-01 1.60515296e+02] [-1.14346429e-01 9.62962998e-01 2.44186730e-01 8.75264113e+01] [ 8.86649555e-01 -1.19416055e-02 4.62287751e-01 3.94531930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.43687500000004 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:160.53, Y:87.52, Z:39.48 [[ 4.47569891e-01 2.70023316e-01 -8.52507244e-01 1.60528167e+02] [-1.16360774e-01 9.62802374e-01 2.43868322e-01 8.75240166e+01] [ 8.86646132e-01 -9.94971594e-03 4.62341476e-01 3.94777134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.466875 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:160.54, Y:87.52, Z:39.50 [[ 4.47061531e-01 2.70490334e-01 -8.52625925e-01 1.60541587e+02] [-1.18345278e-01 9.62690355e-01 2.43355039e-01 8.75217200e+01] [ 8.86639940e-01 -7.89042409e-03 4.62393077e-01 3.95026552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.496875 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:160.56, Y:87.52, Z:39.53 [[ 4.44643726e-01 2.72125731e-01 -8.53369523e-01 1.60555507e+02] [-1.22492585e-01 9.62255238e-01 2.43023503e-01 8.75210646e+01] [ 8.87292243e-01 -3.52743696e-03 4.61194139e-01 3.95267956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.526875 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:160.57, Y:87.52, Z:39.55 [[ 4.43511082e-01 2.72841199e-01 -8.53730403e-01 1.60569514e+02] [-1.24891610e-01 9.62058601e-01 2.42580572e-01 8.75189878e+01] [ 8.87524651e-01 -9.63407260e-04 4.60759228e-01 3.95510489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.556875 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:160.58, Y:87.52, Z:39.58 [[ 4.42231428e-01 2.73569327e-01 -8.54161102e-01 1.60583063e+02] [-1.27284686e-01 9.61850905e-01 2.42159958e-01 8.75168940e+01] [ 8.87823165e-01 1.63088395e-03 4.60181885e-01 3.95754532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.586875 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:160.65, Y:87.53, Z:39.56 [[ 4.58663328e-01 2.15121243e-01 -8.62177941e-01 1.60647544e+02] [-1.23529544e-01 9.76269329e-01 1.77872562e-01 8.75344818e+01] [ 8.79982047e-01 2.49208263e-02 4.74352769e-01 3.95607652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.616875 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:160.61, Y:87.51, Z:39.62 [[ 4.40018819e-01 2.64320056e-01 -8.58206471e-01 1.60614326e+02] [-1.31560550e-01 9.64361665e-01 2.29561321e-01 8.75143017e+01] [ 8.88299083e-01 1.18948143e-02 4.59111373e-01 3.96213807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.646875 meters Centerline goodness : 0.998652 Centerline is valid? [True, True] Translation: X:160.62, Y:87.51, Z:39.65 [[ 4.39433595e-01 2.75791997e-01 -8.54889987e-01 1.60620534e+02] [-1.32728731e-01 9.61190468e-01 2.41859396e-01 8.75098306e+01] [ 8.88414993e-01 7.18731924e-03 4.58984904e-01 3.96491243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.676875 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:160.63, Y:87.51, Z:39.67 [[ 4.38900513e-01 2.76485890e-01 -8.54939701e-01 1.60634287e+02] [-1.35268412e-01 9.60968767e-01 2.41332727e-01 8.75081630e+01] [ 8.88295445e-01 9.72527751e-03 4.59169492e-01 3.96742629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.706875 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:160.65, Y:87.51, Z:39.70 [[ 4.38652048e-01 2.76443638e-01 -8.55080871e-01 1.60646532e+02] [-1.36199432e-01 9.60969097e-01 2.40807203e-01 8.75055122e+01] [ 8.88275912e-01 1.08309564e-02 4.59182529e-01 3.96978929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.736875 meters Centerline goodness : 0.998390 Centerline is valid? [True, True] Translation: X:160.71, Y:87.52, Z:39.69 [[ 4.55225679e-01 2.22718076e-01 -8.62070902e-01 1.60706197e+02] [-1.32380995e-01 9.74378722e-01 1.81827881e-01 8.75198878e+01] [ 8.80479899e-01 3.13490832e-02 4.73045856e-01 3.96880061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.766875 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:160.67, Y:87.50, Z:39.75 [[ 4.37884996e-01 2.69640960e-01 -8.57642398e-01 1.60674513e+02] [-1.38046643e-01 9.62815993e-01 2.32225081e-01 8.75007614e+01] [ 8.88369211e-01 1.67067752e-02 4.58825706e-01 3.97458488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.796875 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:160.74, Y:87.52, Z:39.73 [[ 4.57729836e-01 2.14402139e-01 -8.62852896e-01 1.60737113e+02] [-1.32671797e-01 9.76093810e-01 1.72160008e-01 8.75205550e+01] [ 8.79136845e-01 3.56734719e-02 4.75232377e-01 3.97281406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.82687500000003 meters Centerline goodness : 0.998535 Centerline is valid? [True, True] Translation: X:160.76, Y:87.52, Z:39.75 [[ 4.55073185e-01 1.98990506e-01 -8.67935006e-01 1.60757682e+02] [-1.34996337e-01 9.78861701e-01 1.53641656e-01 8.75213341e+01] [ 8.80161568e-01 4.72498486e-02 4.72316701e-01 3.97494243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.856875 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:160.77, Y:87.52, Z:39.78 [[ 4.52607241e-01 1.94677305e-01 -8.70199651e-01 1.60772920e+02] [-1.39139754e-01 9.79342575e-01 1.46725079e-01 8.75163628e+01] [ 8.80787610e-01 5.46705321e-02 4.70344894e-01 3.97770741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.88687500000003 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:160.78, Y:87.51, Z:39.81 [[ 4.50677059e-01 2.13860490e-01 -8.66691341e-01 1.60775119e+02] [-1.40867937e-01 9.75752506e-01 1.67520955e-01 8.75072383e+01] [ 8.81502361e-01 4.65911696e-02 4.69875356e-01 3.98082528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.916875 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:160.73, Y:87.48, Z:39.87 [[ 4.30773478e-01 2.80343104e-01 -8.57812308e-01 1.60730785e+02] [-1.46537793e-01 9.59640756e-01 2.40033946e-01 8.74825248e+01] [ 8.90483513e-01 2.23016646e-02 4.54468645e-01 3.98720259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.94687500000003 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:160.74, Y:87.48, Z:39.90 [[ 4.29623148e-01 2.86834377e-01 -8.56241783e-01 1.60739875e+02] [-1.48247275e-01 9.57748828e-01 2.46454718e-01 8.74773924e+01] [ 8.90756250e-01 2.10528586e-02 4.53993481e-01 3.98972463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.976875 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:160.75, Y:87.47, Z:39.92 [[ 4.29127481e-01 2.86960732e-01 -8.56447981e-01 1.60752483e+02] [-1.49062132e-01 9.57689338e-01 2.46194260e-01 8.74731710e+01] [ 8.90859184e-01 2.20152391e-02 4.53745791e-01 3.99225180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.00687500000004 meters Centerline goodness : 0.998620 Centerline is valid? [True, True] Translation: X:160.76, Y:87.47, Z:39.95 [[ 4.28581137e-01 2.86740887e-01 -8.56795117e-01 1.60764664e+02] [-1.49505066e-01 9.57737386e-01 2.45738347e-01 8.74690247e+01] [ 8.91047947e-01 2.27763904e-02 4.53337393e-01 3.99477487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.036875 meters Centerline goodness : 0.998599 Centerline is valid? [True, True] Translation: X:160.82, Y:87.48, Z:39.94 [[ 4.43633679e-01 2.35554402e-01 -8.64698377e-01 1.60822485e+02] [-1.47189405e-01 9.70889734e-01 1.88966671e-01 8.74807097e+01] [ 8.84038708e-01 4.34424601e-02 4.65390497e-01 3.99397107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.06687500000004 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:160.79, Y:87.46, Z:40.00 [[ 4.26190363e-01 2.83515293e-01 -8.59058120e-01 1.60788866e+02] [-1.51402666e-01 9.58580578e-01 2.41247817e-01 8.74604176e+01] [ 8.91873874e-01 2.72461947e-02 4.51462776e-01 3.99970208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.096875 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:160.80, Y:87.46, Z:40.02 [[ 4.26011489e-01 2.88510945e-01 -8.57482155e-01 1.60798465e+02] [-1.51659762e-01 9.57151494e-01 2.46698872e-01 8.74551691e+01] [ 8.91915651e-01 2.49489859e-02 4.51513034e-01 4.00236571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.12687500000004 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:160.81, Y:87.45, Z:40.05 [[ 4.25422741e-01 2.88142154e-01 -8.57898357e-01 1.60810720e+02] [-1.51752719e-01 9.57250074e-01 2.46258824e-01 8.74512348e+01] [ 8.92180813e-01 2.54243039e-02 4.50962306e-01 4.00485867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.156875 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:160.82, Y:87.45, Z:40.07 [[ 4.24981751e-01 2.88159981e-01 -8.58110912e-01 1.60822943e+02] [-1.52827333e-01 9.57209876e-01 2.45749995e-01 8.74460290e+01] [ 8.92207553e-01 2.67035388e-02 4.50835450e-01 4.00731971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.18687500000004 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:160.88, Y:87.46, Z:40.06 [[ 4.40809155e-01 2.39099197e-01 -8.65169846e-01 1.60878455e+02] [-1.48584140e-01 9.70008896e-01 1.92368122e-01 8.74586421e+01] [ 8.85217511e-01 4.37528884e-02 4.63115150e-01 4.00646510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.216875 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:160.85, Y:87.44, Z:40.12 [[ 4.24550495e-01 2.76697323e-01 -8.62087854e-01 1.60853085e+02] [-1.53362693e-01 9.60376101e-01 2.32717916e-01 8.74392317e+01] [ 8.92320997e-01 3.34116085e-02 4.50163196e-01 4.01201077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.246875 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:160.91, Y:87.46, Z:40.11 [[ 4.45119658e-01 2.25737801e-01 -8.66551173e-01 1.60914546e+02] [-1.47180146e-01 9.72986581e-01 1.77862636e-01 8.74551640e+01] [ 8.83292983e-01 4.83689724e-02 4.66319577e-01 4.01051721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.276875 meters Centerline goodness : 0.998394 Centerline is valid? [True, True] Translation: X:160.94, Y:87.46, Z:40.12 [[ 4.44273280e-01 2.07154862e-01 -8.71612365e-01 1.60937353e+02] [-1.47130031e-01 9.76560918e-01 1.57103554e-01 8.74556261e+01] [ 8.83727337e-01 5.84434428e-02 4.64338624e-01 4.01227909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.306875 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:160.89, Y:87.43, Z:40.19 [[ 4.19136958e-01 2.76452863e-01 -8.64810976e-01 1.60887020e+02] [-1.53972944e-01 9.60361885e-01 2.32373370e-01 8.74254977e+01] [ 8.94771783e-01 3.57612246e-02 4.45089420e-01 4.01915414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.336875 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:160.89, Y:87.42, Z:40.22 [[ 4.19107082e-01 2.95114265e-01 -8.58636608e-01 1.60887091e+02] [-1.52266686e-01 9.55152822e-01 2.53964453e-01 8.74172379e+01] [ 8.95077712e-01 2.43034497e-02 4.45247383e-01 4.02216387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.366875 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:160.90, Y:87.41, Z:40.25 [[ 4.19649017e-01 2.93295470e-01 -8.58995035e-01 1.60898279e+02] [-1.49146285e-01 9.55774522e-01 2.53476722e-01 8.74114648e+01] [ 8.95349143e-01 2.17446614e-02 4.44833768e-01 4.02459535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.396875 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:160.91, Y:87.41, Z:40.27 [[ 4.19982318e-01 2.92251974e-01 -8.59187777e-01 1.60910462e+02] [-1.47336264e-01 9.56126990e-01 2.53205854e-01 8.74066913e+01] [ 8.95492534e-01 2.02475354e-02 4.44615743e-01 4.02706232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.426875 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:160.92, Y:87.40, Z:40.29 [[ 4.20531190e-01 2.90869990e-01 -8.59388252e-01 1.60922340e+02] [-1.45246091e-01 9.56582592e-01 2.52692141e-01 8.74023085e+01] [ 8.95576402e-01 1.85578576e-02 4.44520544e-01 4.02942217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.456875 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:160.93, Y:87.40, Z:40.32 [[ 4.20650547e-01 2.89593565e-01 -8.59760830e-01 1.60934529e+02] [-1.42799620e-01 9.57006326e-01 2.52482002e-01 8.73977195e+01] [ 8.95913716e-01 1.65668277e-02 4.43919085e-01 4.03188042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.486875 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:161.00, Y:87.41, Z:40.31 [[ 4.38761360e-01 2.26696282e-01 -8.69538536e-01 1.61000030e+02] [-1.34315721e-01 9.73329523e-01 1.85980987e-01 8.74085740e+01] [ 8.88508726e-01 3.51914243e-02 4.57508259e-01 4.03075563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.516875 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:161.01, Y:87.40, Z:40.33 [[ 4.38107422e-01 2.26664735e-01 -8.69876419e-01 1.61009580e+02] [-1.31748660e-01 9.73428765e-01 1.87293164e-01 8.74032733e+01] [ 8.89215484e-01 3.25505278e-02 4.56329142e-01 4.03333103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.546875 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:161.02, Y:87.40, Z:40.36 [[ 4.38601411e-01 2.24236474e-01 -8.70256747e-01 1.61021587e+02] [-1.27802238e-01 9.74091597e-01 1.86580138e-01 8.74000120e+01] [ 8.89547857e-01 2.93864484e-02 4.55895873e-01 4.03567497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.57687500000003 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:161.04, Y:87.39, Z:40.38 [[ 4.38365501e-01 2.12883266e-01 -8.73221852e-01 1.61038493e+02] [-1.24177087e-01 9.76573118e-01 1.75741277e-01 8.73944439e+01] [ 8.90177364e-01 3.13952331e-02 4.54531188e-01 4.03808461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.606875 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:160.99, Y:87.37, Z:40.45 [[ 4.20188342e-01 2.81495223e-01 -8.62671546e-01 1.60987917e+02] [-1.26753002e-01 9.59555406e-01 2.51370444e-01 8.73689316e+01] [ 8.98540725e-01 3.72327806e-03 4.38874360e-01 4.04464304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.63687500000003 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:161.00, Y:87.36, Z:40.47 [[ 4.21498625e-01 2.85070947e-01 -8.60856239e-01 1.60996549e+02] [-1.24603324e-01 9.58506080e-01 2.56398335e-01 8.73637154e+01] [ 8.98227655e-01 -8.05996259e-04 4.39529782e-01 4.04733178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.666875 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:161.01, Y:87.36, Z:40.50 [[ 4.22562189e-01 2.83523670e-01 -8.60845820e-01 1.61008514e+02] [-1.22269611e-01 9.58961019e-01 2.55820064e-01 8.73594453e+01] [ 8.98048628e-01 -2.84460282e-03 4.39886997e-01 4.04981077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.69687500000003 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:161.07, Y:87.37, Z:40.49 [[ 4.39060988e-01 2.26778178e-01 -8.69365922e-01 1.61070394e+02] [-1.14185743e-01 9.73858978e-01 1.96367784e-01 8.73692694e+01] [ 8.91171737e-01 1.30517607e-02 4.53478320e-01 4.04899036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.726875 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:161.08, Y:87.37, Z:40.51 [[ 4.40023529e-01 2.22822008e-01 -8.69902090e-01 1.61083105e+02] [-1.10367334e-01 9.74800378e-01 1.93864063e-01 8.73675568e+01] [ 8.91178066e-01 1.07040255e-02 4.53527373e-01 4.05118409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.75687500000004 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:161.05, Y:87.35, Z:40.57 [[ 4.23548349e-01 2.64501656e-01 -8.66398101e-01 1.61050727e+02] [-1.15039867e-01 9.64384473e-01 2.38177282e-01 8.73467137e+01] [ 8.98539162e-01 -1.20927250e-03 4.38891687e-01 4.05709321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.786875 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:161.05, Y:87.34, Z:40.60 [[ 4.24662260e-01 2.80242597e-01 -8.60886782e-01 1.61052071e+02] [-1.11910068e-01 9.59842483e-01 2.57251908e-01 8.73391495e+01] [ 8.98408650e-01 -1.29032785e-02 4.38970846e-01 4.06002937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.81687500000004 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:161.12, Y:87.35, Z:40.58 [[ 4.41633551e-01 2.16277278e-01 -8.70737587e-01 1.61122665e+02] [-1.05692350e-01 9.76294012e-01 1.88889197e-01 8.73543818e+01] [ 8.90948334e-01 8.61049466e-03 4.54023045e-01 4.05842514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.846875 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:161.08, Y:87.33, Z:40.65 [[ 4.22772777e-01 2.72701847e-01 -8.64231960e-01 1.61079678e+02] [-1.11668685e-01 9.62058905e-01 2.48943305e-01 8.73328280e+01] [ 8.99329352e-01 -8.73880577e-03 4.37184572e-01 4.06482801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.87687500000004 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:161.09, Y:87.33, Z:40.68 [[ 4.22285598e-01 2.80659093e-01 -8.61919571e-01 1.61087300e+02] [-1.12197022e-01 9.59731870e-01 2.57539446e-01 8.73281134e+01] [ 8.99492469e-01 -1.20503898e-02 4.36770061e-01 4.06757210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.906875 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:161.10, Y:87.33, Z:40.70 [[ 4.21725667e-01 2.80713873e-01 -8.62175842e-01 1.61099985e+02] [-1.13326584e-01 9.59731913e-01 2.57044239e-01 8.73252932e+01] [ 8.99613554e-01 -1.06947098e-02 4.36555925e-01 4.07004174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.93687500000004 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:161.11, Y:87.32, Z:40.72 [[ 4.19702203e-01 2.81576135e-01 -8.62881765e-01 1.61112583e+02] [-1.16024366e-01 9.59508702e-01 2.56673717e-01 8.73232244e+01] [ 9.00215756e-01 -7.61121475e-03 4.35377608e-01 4.07243686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.966875 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:161.12, Y:87.32, Z:40.75 [[ 4.18990015e-01 2.81834003e-01 -8.63143651e-01 1.61124582e+02] [-1.17268477e-01 9.59443214e-01 2.56352926e-01 8.73204453e+01] [ 9.00386290e-01 -6.18977517e-03 4.35047371e-01 4.07483394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.996875 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:161.14, Y:87.32, Z:40.77 [[ 4.18497586e-01 2.81903594e-01 -8.63359794e-01 1.61137073e+02] [-1.18466058e-01 9.59430763e-01 2.55848400e-01 8.73179030e+01] [ 9.00458530e-01 -4.79310640e-03 4.34915466e-01 4.07729502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.026875 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:161.15, Y:87.32, Z:40.80 [[ 4.18092106e-01 2.82290823e-01 -8.63429721e-01 1.61150153e+02] [-1.20507398e-01 9.59325117e-01 2.55290593e-01 8.73164490e+01] [ 9.00376009e-01 -2.68531263e-03 4.35104391e-01 4.07978560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.056875 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:161.21, Y:87.33, Z:40.79 [[ 4.33587376e-01 2.29374202e-01 -8.71429551e-01 1.61210144e+02] [-1.17898536e-01 9.73187953e-01 1.97497196e-01 8.73276230e+01] [ 8.93365503e-01 1.71079776e-02 4.49004894e-01 4.07905026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.086875 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:161.18, Y:87.31, Z:40.85 [[ 4.17266523e-01 2.77027924e-01 -8.65531154e-01 1.61176831e+02] [-1.21851729e-01 9.60860447e-01 2.48795813e-01 8.73111710e+01] [ 9.00578039e-01 1.65230364e-03 4.34691230e-01 4.08464132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.116875 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:161.19, Y:87.31, Z:40.87 [[ 4.17417282e-01 2.82191148e-01 -8.63788729e-01 1.61185356e+02] [-1.22116366e-01 9.59357938e-01 2.54401139e-01 8.73073496e+01] [ 9.00472324e-01 -7.08691210e-04 4.34912741e-01 4.08728954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.146875 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:161.20, Y:87.30, Z:40.90 [[ 4.17915740e-01 2.81725204e-01 -8.63699800e-01 1.61197382e+02] [-1.22220141e-01 9.59494992e-01 2.53833800e-01 8.73048523e+01] [ 9.00227011e-01 -5.19628404e-04 4.35420553e-01 4.08980758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.176875 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:161.21, Y:87.30, Z:40.92 [[ 4.19274330e-01 2.81293827e-01 -8.63181800e-01 1.61210086e+02] [-1.22753134e-01 9.59621674e-01 2.53096642e-01 8.73030337e+01] [ 8.99522487e-01 -1.58654381e-04 4.36874434e-01 4.09232060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.206875 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:161.27, Y:87.32, Z:40.92 [[ 4.34735230e-01 2.24391215e-01 -8.72154724e-01 1.61273883e+02] [-1.19426076e-01 9.74271446e-01 1.91134929e-01 8.73157393e+01] [ 8.92604443e-01 2.10649293e-02 4.50348284e-01 4.09162545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.236875 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:161.23, Y:87.30, Z:40.97 [[ 4.19471629e-01 2.87566708e-01 -8.61016226e-01 1.61229257e+02] [-1.22046908e-01 9.57751609e-01 2.60415838e-01 8.72966969e+01] [ 8.99526600e-01 -4.15268811e-03 4.36846255e-01 4.09748211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.266875 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:161.24, Y:87.30, Z:41.00 [[ 4.19928887e-01 2.79862302e-01 -8.63328919e-01 1.61244906e+02] [-1.20394869e-01 9.60037732e-01 2.52651199e-01 8.72960701e+01] [ 8.99535883e-01 -2.15516503e-03 4.36841562e-01 4.09973895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.296875 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:161.26, Y:87.29, Z:41.02 [[ 4.19997440e-01 2.79268360e-01 -8.63487889e-01 1.61257400e+02] [-1.20155344e-01 9.60210726e-01 2.52107228e-01 8.72927084e+01] [ 8.99535905e-01 -2.13170629e-03 4.36841633e-01 4.10229159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.32687500000003 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:161.32, Y:87.31, Z:41.01 [[ 4.34446064e-01 2.22182619e-01 -8.72863965e-01 1.61321892e+02] [-1.15467604e-01 9.74839784e-01 1.90668898e-01 8.73055802e+01] [ 8.93265834e-01 1.79521580e-02 4.49170202e-01 4.10149896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.356875 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:161.33, Y:87.31, Z:41.04 [[ 4.33866345e-01 2.24698994e-01 -8.72508084e-01 1.61332123e+02] [-1.12186897e-01 9.74338535e-01 1.95137183e-01 8.73055433e+01] [ 8.93965377e-01 1.32205179e-02 4.47940981e-01 4.10359121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.38687500000003 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:161.30, Y:87.29, Z:41.10 [[ 4.13870546e-01 2.67585710e-01 -8.70120141e-01 1.61298613e+02] [-1.16706187e-01 9.63532212e-01 2.40801457e-01 8.72877881e+01] [ 9.02823813e-01 1.88777311e-03 4.30006510e-01 4.10956917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.416875 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:161.30, Y:87.28, Z:41.12 [[ 4.14006115e-01 2.81282741e-01 -8.65724527e-01 1.61302450e+02] [-1.15669051e-01 9.59605910e-01 2.56470598e-01 8.72827667e+01] [ 9.02895126e-01 -6.04286128e-03 4.29818422e-01 4.11242755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.44687500000003 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:161.36, Y:87.30, Z:41.11 [[ 4.32214269e-01 2.23953631e-01 -8.73519088e-01 1.61364715e+02] [-1.08714270e-01 9.74546188e-01 1.96063601e-01 8.72981447e+01] [ 8.95193852e-01 1.02225036e-02 4.45559724e-01 4.11115647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.476875 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:161.34, Y:87.28, Z:41.17 [[ 4.13679746e-01 2.56099790e-01 -8.73660097e-01 1.61339767e+02] [-1.14871041e-01 9.66633888e-01 2.28961942e-01 8.72817590e+01] [ 9.03146561e-01 5.64132690e-03 4.29295311e-01 4.11679518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.50687500000004 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:161.34, Y:87.27, Z:41.20 [[ 4.14576030e-01 2.80400691e-01 -8.65737932e-01 1.61336757e+02] [-1.13973046e-01 9.59853055e-01 2.56305007e-01 8.72749590e+01] [ 9.02849301e-01 -7.58712340e-03 4.29890190e-01 4.11998076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.536875 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:161.35, Y:87.27, Z:41.22 [[ 4.15282173e-01 2.79546087e-01 -8.65675864e-01 1.61349416e+02] [-1.13301389e-01 9.60098117e-01 2.55684181e-01 8.72725975e+01] [ 9.02609280e-01 -8.09880435e-03 4.30384593e-01 4.12249514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.56687500000004 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:161.36, Y:87.27, Z:41.25 [[ 4.15624221e-01 2.78862228e-01 -8.65732271e-01 1.61361227e+02] [-1.12968584e-01 9.60295937e-01 2.55087852e-01 8.72703716e+01] [ 9.02493549e-01 -8.22014049e-03 4.30624922e-01 4.12492397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.596875 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:161.37, Y:87.27, Z:41.27 [[ 4.16854143e-01 2.78198584e-01 -8.65354362e-01 1.61374093e+02] [-1.12399911e-01 9.60482528e-01 2.54636158e-01 8.72696301e+01] [ 9.01997164e-01 -8.88038431e-03 4.31650617e-01 4.12748073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.62687500000004 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:161.43, Y:87.28, Z:41.27 [[ 4.31988024e-01 2.27627751e-01 -8.72680901e-01 1.61430862e+02] [-1.06886597e-01 9.73727086e-01 2.01074158e-01 8.72836245e+01] [ 8.95523089e-01 6.41626391e-03 4.44968795e-01 4.12654397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.656875 meters Centerline goodness : 0.998636 Centerline is valid? [True, True] Translation: X:161.46, Y:87.29, Z:41.28 [[ 4.31953064e-01 1.99238008e-01 -8.79613988e-01 1.61460765e+02] [-1.07516606e-01 9.79714717e-01 1.69113138e-01 8.72895778e+01] [ 8.95464533e-01 2.15241729e-02 4.44612168e-01 4.12821659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.68687500000004 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:161.42, Y:87.27, Z:41.34 [[ 4.13793869e-01 2.56448423e-01 -8.73503773e-01 1.61423764e+02] [-1.15273803e-01 9.66540098e-01 2.29155382e-01 8.72700042e+01] [ 9.03042958e-01 5.86900910e-03 4.29510151e-01 4.13439273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.716875 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:161.42, Y:87.26, Z:41.38 [[ 4.14082693e-01 2.83153774e-01 -8.65077721e-01 1.61419971e+02] [-1.15618231e-01 9.59048608e-01 2.58569512e-01 8.72630493e+01] [ 9.02866517e-01 -7.05040448e-03 4.29863169e-01 4.13751937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.746875 meters Centerline goodness : 0.998315 Centerline is valid? [True, True] Translation: X:161.48, Y:87.28, Z:41.36 [[ 4.30384379e-01 2.27686093e-01 -8.73457686e-01 1.61481556e+02] [-1.10651670e-01 9.73673808e-01 1.99287541e-01 8.72792681e+01] [ 8.95837873e-01 1.08793070e-02 4.44247843e-01 4.13627668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.776875 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:161.46, Y:87.26, Z:41.42 [[ 4.12721538e-01 2.65003088e-01 -8.71455275e-01 1.61455684e+02] [-1.17058534e-01 9.64239778e-01 2.37779203e-01 8.72648724e+01] [ 9.03304064e-01 3.87467865e-03 4.28983397e-01 4.14200770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.806875 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:161.46, Y:87.26, Z:41.45 [[ 4.12940874e-01 2.84760404e-01 -8.65096149e-01 1.61455920e+02] [-1.16837370e-01 9.58578735e-01 2.59761117e-01 8.72590959e+01] [ 9.03232453e-01 -6.19042420e-03 4.29106997e-01 4.14492458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.836875 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:161.47, Y:87.26, Z:41.47 [[ 4.13038288e-01 2.84113139e-01 -8.65262444e-01 1.61468354e+02] [-1.16086038e-01 9.58767366e-01 2.59401560e-01 8.72573754e+01] [ 9.03284786e-01 -6.69788753e-03 4.28989200e-01 4.14742227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.866875 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:161.48, Y:87.26, Z:41.50 [[ 4.13580204e-01 2.83069925e-01 -8.65345499e-01 1.61480629e+02] [-1.14849648e-01 9.59068641e-01 2.58837595e-01 8.72571192e+01] [ 9.03194870e-01 -7.66547995e-03 4.29162285e-01 4.14983793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.896875 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:161.49, Y:87.26, Z:41.52 [[ 4.13437631e-01 2.82739206e-01 -8.65521731e-01 1.61492635e+02] [-1.14808133e-01 9.59167496e-01 2.58489471e-01 8.72551571e+01] [ 9.03265419e-01 -7.50034024e-03 4.29016698e-01 4.15236244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.926875 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:161.51, Y:87.25, Z:41.55 [[ 4.13495438e-01 2.82096624e-01 -8.65703770e-01 1.61505322e+02] [-1.14446734e-01 9.59356022e-01 2.57949544e-01 8.72533448e+01] [ 9.03284821e-01 -7.58399035e-03 4.28974376e-01 4.15490886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.956875 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:161.52, Y:87.25, Z:41.57 [[ 4.13326111e-01 2.81801519e-01 -8.65880725e-01 1.61518517e+02] [-1.14893910e-01 9.59447844e-01 2.57408671e-01 8.72530903e+01] [ 9.03305549e-01 -6.90930287e-03 4.28942124e-01 4.15728591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.986875 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:161.58, Y:87.27, Z:41.56 [[ 4.29009905e-01 2.20763766e-01 -8.75907450e-01 1.61583018e+02] [-1.11067561e-01 9.75209237e-01 1.91392116e-01 8.72690131e+01] [ 8.96445480e-01 1.51757904e-02 4.42894115e-01 4.15632816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.016875 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:161.54, Y:87.25, Z:41.62 [[ 4.12067527e-01 2.78295310e-01 -8.67612860e-01 1.61543951e+02] [-1.15743772e-01 9.60487726e-01 2.53114021e-01 8.72497451e+01] [ 9.03771947e-01 -3.87928379e-03 4.27996750e-01 4.16219623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.046875 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:161.55, Y:87.25, Z:41.65 [[ 4.12092905e-01 2.82250113e-01 -8.66322291e-01 1.61553427e+02] [-1.16250766e-01 9.59326205e-01 2.57252776e-01 8.72468691e+01] [ 9.03695301e-01 -5.30141389e-03 4.28143315e-01 4.16483237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.07687500000003 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:161.57, Y:87.25, Z:41.67 [[ 4.12339430e-01 2.82599336e-01 -8.66091110e-01 1.61565578e+02] [-1.18423780e-01 9.59232551e-01 2.56610056e-01 8.72456881e+01] [ 9.03300616e-01 -3.24466079e-03 4.28995885e-01 4.16741745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.106875 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:161.58, Y:87.24, Z:41.70 [[ 4.12895209e-01 2.82524528e-01 -8.65850702e-01 1.61578122e+02] [-1.19642298e-01 9.59257802e-01 2.55949583e-01 8.72435908e+01] [ 9.02886077e-01 -2.08798854e-03 4.29874834e-01 4.16997968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.13687500000003 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:161.59, Y:87.24, Z:41.72 [[ 4.13185835e-01 2.82463831e-01 -8.65731858e-01 1.61590618e+02] [-1.20835066e-01 9.59277544e-01 2.55314472e-01 8.72417901e+01] [ 9.02594235e-01 -8.81557076e-04 4.30491428e-01 4.17240601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.166875 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:161.60, Y:87.24, Z:41.75 [[ 4.12744987e-01 2.82813706e-01 -8.65827918e-01 1.61602963e+02] [-1.22446706e-01 9.59174528e-01 2.54933382e-01 8.72399069e+01] [ 9.02578739e-01 7.95301270e-04 4.30524085e-01 4.17485594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.19687500000003 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:161.62, Y:87.24, Z:41.77 [[ 4.12142820e-01 2.84124194e-01 -8.65685704e-01 1.61616386e+02] [-1.26254197e-01 9.58777492e-01 2.54569436e-01 8.72391200e+01] [ 9.02329305e-01 4.37748844e-03 4.31025131e-01 4.17734030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.226875 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:161.71, Y:87.27, Z:41.75 [[ 4.37613321e-01 1.84913236e-01 -8.79944132e-01 1.61707532e+02] [-1.21447424e-01 9.81813260e-01 1.45922055e-01 8.72664980e+01] [ 8.90923736e-01 4.30095132e-02 4.52111798e-01 4.17507054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.25687500000004 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:161.63, Y:87.23, Z:41.83 [[ 4.08418374e-01 2.96527452e-01 -8.63287844e-01 1.61633582e+02] [-1.32586586e-01 9.55004816e-01 2.65304729e-01 8.72322007e+01] [ 9.03114184e-01 6.10506189e-03 4.29357077e-01 4.18259221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.286875 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:161.65, Y:87.23, Z:41.85 [[ 4.07588372e-01 2.86844432e-01 -8.66944053e-01 1.61651584e+02] [-1.34432343e-01 9.57887233e-01 2.53732129e-01 8.72314933e+01] [ 9.03216289e-01 1.31270547e-02 4.28984867e-01 4.18489375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.31687500000004 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:161.66, Y:87.23, Z:41.87 [[ 4.06302177e-01 2.87084480e-01 -8.67468179e-01 1.61664030e+02] [-1.36040535e-01 9.57786053e-01 2.53256488e-01 8.72287536e+01] [ 9.03554931e-01 1.51121728e-02 4.28205685e-01 4.18730757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.346875 meters Centerline goodness : 0.998650 Centerline is valid? [True, True] Translation: X:161.68, Y:87.23, Z:41.90 [[ 4.05125626e-01 2.87530453e-01 -8.67870650e-01 1.61676104e+02] [-1.37618011e-01 9.57621893e-01 2.53024888e-01 8.72260878e+01] [ 9.03844295e-01 1.69277661e-02 4.27526538e-01 4.18970873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.37687500000004 meters Centerline goodness : 0.998583 Centerline is valid? [True, True] Translation: X:161.75, Y:87.24, Z:41.88 [[ 4.23749334e-01 2.15804137e-01 -8.79696013e-01 1.61747450e+02] [-1.37439492e-01 9.75276917e-01 1.73047164e-01 8.72432842e+01] [ 8.95291510e-01 4.75763529e-02 4.42932955e-01 4.18842516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.406875 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:161.70, Y:87.22, Z:41.95 [[ 4.00754256e-01 2.93993238e-01 -8.67734984e-01 1.61695557e+02] [-1.43249249e-01 9.55575241e-01 2.57595829e-01 8.72173436e+01] [ 9.04917498e-01 2.10697602e-02 4.25065156e-01 4.19474245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.43687500000004 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:161.75, Y:87.22, Z:41.95 [[ 4.10971376e-01 2.46694269e-01 -8.77635725e-01 1.61747634e+02] [-1.47914813e-01 9.67979021e-01 2.02824610e-01 8.72210296e+01] [ 8.99568639e-01 4.64602154e-02 4.34301407e-01 4.19536895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.466875 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:161.75, Y:87.21, Z:41.98 [[ 4.12335550e-01 2.70328753e-01 -8.70001011e-01 1.61745509e+02] [-1.46659384e-01 9.62203189e-01 2.29469056e-01 8.72132343e+01] [ 8.99149832e-01 3.29755628e-02 4.36396829e-01 4.19808324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.496875 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:161.72, Y:87.20, Z:42.03 [[ 3.95948385e-01 3.06705779e-01 -8.65538238e-01 1.61717898e+02] [-1.48794899e-01 9.51544691e-01 2.69114807e-01 8.72002085e+01] [ 9.06137382e-01 2.22321013e-02 4.22398839e-01 4.20295213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.526875 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:161.78, Y:87.21, Z:42.02 [[ 4.12626600e-01 2.35933269e-01 -8.79815197e-01 1.61784649e+02] [-1.48625827e-01 9.70368776e-01 1.90511948e-01 8.72114804e+01] [ 8.98693303e-01 5.21529637e-02 4.35465746e-01 4.20249191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.556875 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:161.74, Y:87.19, Z:42.08 [[ 3.94473680e-01 3.09517418e-01 -8.65210659e-01 1.61735978e+02] [-1.50504211e-01 9.50612221e-01 2.71449603e-01 8.71871786e+01] [ 9.06498207e-01 2.31381236e-02 4.21575176e-01 4.20818912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.586875 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:161.76, Y:87.18, Z:42.10 [[ 3.95027267e-01 2.93752921e-01 -8.70438211e-01 1.61756115e+02] [-1.51177922e-01 9.55367789e-01 2.53806271e-01 8.71849876e+01] [ 9.06144963e-01 3.13306425e-02 4.21805283e-01 4.21032843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.616875 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:161.77, Y:87.18, Z:42.13 [[ 3.95058382e-01 2.93427476e-01 -8.70533854e-01 1.61767262e+02] [-1.51666125e-01 9.55445826e-01 2.53220576e-01 8.71796597e+01] [ 9.06049812e-01 3.19935854e-02 4.21959890e-01 4.21287612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.646875 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:161.81, Y:87.18, Z:42.14 [[ 4.03410720e-01 2.58890383e-01 -8.77630652e-01 1.61809376e+02] [-1.54814980e-01 9.64622758e-01 2.13389917e-01 8.71765728e+01] [ 9.01827097e-01 4.97865917e-02 4.29219270e-01 4.21398855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.676875 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:161.81, Y:87.17, Z:42.17 [[ 4.02163889e-01 2.81267606e-01 -8.71293716e-01 1.61807273e+02] [-1.53511653e-01 9.58886094e-01 2.38687310e-01 8.71689114e+01] [ 9.02606436e-01 3.77623217e-02 4.28807216e-01 4.21700169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.706875 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:161.82, Y:87.17, Z:42.19 [[ 4.00986600e-01 2.71710799e-01 -8.74861697e-01 1.61823403e+02] [-1.53580195e-01 9.61424293e-01 2.28202656e-01 8.71666747e+01] [ 9.03118415e-01 4.28552227e-02 4.27247656e-01 4.21928276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.736875 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:161.83, Y:87.16, Z:42.22 [[ 4.00887656e-01 2.71803706e-01 -8.74878181e-01 1.61833061e+02] [-1.53736342e-01 9.61391408e-01 2.28236056e-01 8.71581499e+01] [ 9.03135773e-01 4.30035538e-02 4.27196056e-01 4.22197653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.766875 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:161.85, Y:87.15, Z:42.24 [[ 4.00418375e-01 2.65983962e-01 -8.76879499e-01 1.61850148e+02] [-1.54513799e-01 9.62840899e-01 2.21501442e-01 8.71519386e+01] [ 9.03211277e-01 4.67967352e-02 4.26637381e-01 4.22430011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.796875 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:161.85, Y:87.14, Z:42.27 [[ 4.00340234e-01 2.79852810e-01 -8.72588163e-01 1.61851427e+02] [-1.52456192e-01 9.59295928e-01 2.37715022e-01 8.71443320e+01] [ 9.03595489e-01 3.78645810e-02 4.26710050e-01 4.22719971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.82687500000003 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:161.87, Y:87.14, Z:42.30 [[ 4.01313824e-01 2.71155669e-01 -8.74883889e-01 1.61865759e+02] [-1.51134798e-01 9.61685945e-01 2.28732194e-01 8.71379527e+01] [ 9.03385570e-01 4.04320083e-02 4.26918921e-01 4.22952757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.856875 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:161.87, Y:87.13, Z:42.32 [[ 4.00390916e-01 2.71864117e-01 -8.75086862e-01 1.61874168e+02] [-1.49772012e-01 9.61549343e-01 2.30198188e-01 8.71327120e+01] [ 9.04021824e-01 3.88942571e-02 4.25713258e-01 4.23229013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.88687500000003 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:161.85, Y:87.12, Z:42.37 [[ 3.90503666e-01 3.08454827e-01 -8.67388325e-01 1.61849475e+02] [-1.47672146e-01 9.50984801e-01 2.71699920e-01 8.71212136e+01] [ 9.08680265e-01 2.19892812e-02 4.16913237e-01 4.23659393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.916875 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:161.87, Y:87.12, Z:42.39 [[ 3.92956509e-01 2.89276129e-01 -8.72871413e-01 1.61869429e+02] [-1.42260312e-01 9.56926401e-01 2.53088652e-01 8.71172888e+01] [ 9.08486206e-01 2.47221260e-02 4.17182970e-01 4.23877837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.94687500000003 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:161.88, Y:87.11, Z:42.41 [[ 3.94301742e-01 2.87658828e-01 -8.72799252e-01 1.61879262e+02] [-1.39706148e-01 9.57471106e-01 2.52450536e-01 8.71124641e+01] [ 9.08299691e-01 2.23937349e-02 4.17720232e-01 4.24121432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.976875 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:161.89, Y:87.11, Z:42.44 [[ 3.95716456e-01 2.86111040e-01 -8.72667726e-01 1.61890269e+02] [-1.37359799e-01 9.57982896e-01 2.51795664e-01 8.71080729e+01] [ 9.08042275e-01 2.02297756e-02 4.18389751e-01 4.24371574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.00687500000004 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:161.94, Y:87.11, Z:42.44 [[ 4.10331276e-01 2.44821362e-01 -8.78459302e-01 1.61936541e+02] [-1.30573237e-01 9.69137325e-01 2.09101590e-01 8.71129695e+01] [ 9.02540234e-01 2.89023524e-02 4.29634473e-01 4.24405043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.036875 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:161.91, Y:87.10, Z:42.49 [[ 3.98709182e-01 2.80627217e-01 -8.73086109e-01 1.61912822e+02] [-1.31148905e-01 9.59693353e-01 2.48573194e-01 8.70992410e+01] [ 9.07651339e-01 1.53958728e-02 4.19442504e-01 4.24881250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.06687500000004 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:161.92, Y:87.09, Z:42.51 [[ 3.98868196e-01 2.82173556e-01 -8.72514898e-01 1.61922115e+02] [-1.28996745e-01 9.59284134e-01 2.51264382e-01 8.70946534e+01] [ 9.07889862e-01 1.23302115e-02 4.19027402e-01 4.25128667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.096875 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:161.93, Y:87.09, Z:42.54 [[ 3.99462041e-01 2.80928411e-01 -8.72645006e-01 1.61933698e+02] [-1.26647056e-01 9.59673836e-01 2.50971418e-01 8.70907027e+01] [ 9.07959581e-01 1.02643659e-02 4.18932025e-01 4.25386238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.12687500000004 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:161.94, Y:87.09, Z:42.56 [[ 3.99560534e-01 2.79734294e-01 -8.72983450e-01 1.61944067e+02] [-1.24924798e-01 9.60035396e-01 2.50451259e-01 8.70861460e+01] [ 9.08154818e-01 8.98684199e-03 4.18538006e-01 4.25638754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.156875 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:161.96, Y:87.08, Z:42.59 [[ 3.99990834e-01 2.79146318e-01 -8.72974608e-01 1.61955222e+02] [-1.24851368e-01 9.60205829e-01 2.49833748e-01 8.70825216e+01] [ 9.07975478e-01 9.06086479e-03 4.18925330e-01 4.25885851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.18687500000004 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:161.97, Y:87.08, Z:42.61 [[ 4.00045350e-01 2.78788017e-01 -8.73064121e-01 1.61967088e+02] [-1.24842400e-01 9.60308532e-01 2.49443179e-01 8.70793723e+01] [ 9.07952693e-01 9.20683648e-03 4.18971528e-01 4.26140455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.216875 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:161.98, Y:87.08, Z:42.64 [[ 4.00122367e-01 2.78163644e-01 -8.73227965e-01 1.61979018e+02] [-1.24596818e-01 9.60489415e-01 2.48868876e-01 8.70762579e+01] [ 9.07952490e-01 9.22342224e-03 4.18971603e-01 4.26398745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.246875 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:162.03, Y:87.09, Z:42.64 [[ 4.12091635e-01 2.37802034e-01 -8.79562776e-01 1.62028719e+02] [-1.22462389e-01 9.71037259e-01 2.05157510e-01 8.70854346e+01] [ 9.02875101e-01 2.31696654e-02 4.29278137e-01 4.26402718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.276875 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:162.01, Y:87.07, Z:42.69 [[ 3.99045274e-01 2.69446650e-01 -8.76448157e-01 1.62008138e+02] [-1.25994825e-01 9.62895471e-01 2.38657949e-01 8.70728478e+01] [ 9.08233546e-01 1.51926051e-02 4.18187771e-01 4.26874382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.306875 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:162.01, Y:87.07, Z:42.71 [[ 3.98901793e-01 2.77943076e-01 -8.73856399e-01 1.62014242e+02] [-1.26463380e-01 9.60526651e-01 2.47781287e-01 8.70681286e+01] [ 9.08231454e-01 1.16704346e-02 4.18305424e-01 4.27147215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.336875 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:162.07, Y:87.08, Z:42.71 [[ 4.13552383e-01 2.32360486e-01 -8.80331205e-01 1.62066112e+02] [-1.23221094e-01 9.72274509e-01 1.98743153e-01 8.70784033e+01] [ 9.02103646e-01 2.62846696e-02 4.30718154e-01 4.27122316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.366875 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:162.04, Y:87.06, Z:42.76 [[ 3.99240082e-01 2.64601613e-01 -8.77834462e-01 1.62044209e+02] [-1.27364953e-01 9.64172547e-01 2.32700385e-01 8.70638137e+01] [ 9.07956786e-01 1.89020240e-02 4.18637299e-01 4.27615053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.396875 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:162.05, Y:87.06, Z:42.79 [[ 3.99242978e-01 2.77027426e-01 -8.73991333e-01 1.62047686e+02] [-1.26917413e-01 9.60780868e-01 2.46560528e-01 8.70583948e+01] [ 9.08018180e-01 1.24871592e-02 4.18744619e-01 4.27899851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.426875 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:162.06, Y:87.06, Z:42.81 [[ 4.00041401e-01 2.76214381e-01 -8.73883570e-01 1.62060079e+02] [-1.26245869e-01 9.61022027e-01 2.45964723e-01 8.70557825e+01] [ 9.07760353e-01 1.19281179e-02 4.19319522e-01 4.28147811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.456875 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:162.07, Y:87.05, Z:42.84 [[ 3.99871659e-01 2.75478717e-01 -8.74193418e-01 1.62071404e+02] [-1.25618074e-01 9.61236372e-01 2.45448033e-01 8.70531277e+01] [ 9.07922219e-01 1.16667811e-02 4.18976289e-01 4.28388279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.486875 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:162.08, Y:87.05, Z:42.86 [[ 3.99623749e-01 2.75082311e-01 -8.74431576e-01 1.62083544e+02] [-1.25423630e-01 9.61349187e-01 2.45105392e-01 8.70503333e+01] [ 9.08058243e-01 1.17244464e-02 4.18679788e-01 4.28631712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.516875 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:162.10, Y:87.05, Z:42.89 [[ 3.99399930e-01 2.74601891e-01 -8.74684799e-01 1.62095083e+02] [-1.25277002e-01 9.61484795e-01 2.44648035e-01 8.70479555e+01] [ 9.08176948e-01 1.18654811e-02 4.18418262e-01 4.28877465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.546875 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:162.11, Y:87.05, Z:42.91 [[ 3.99073698e-01 2.74316064e-01 -8.74923357e-01 1.62107202e+02] [-1.25592836e-01 9.61559211e-01 2.44193208e-01 8.70453190e+01] [ 9.08276733e-01 1.24330188e-02 4.18185123e-01 4.29127230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.57687500000003 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:162.15, Y:87.05, Z:42.92 [[ 4.08510643e-01 2.42990576e-01 -8.79815114e-01 1.62147684e+02] [-1.23175018e-01 9.69771799e-01 2.10643235e-01 8.70534700e+01] [ 9.04404207e-01 2.23212392e-02 4.26092470e-01 4.29173527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.606875 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:162.14, Y:87.04, Z:42.96 [[ 3.96827349e-01 2.60601641e-01 -8.80122060e-01 1.62140347e+02] [-1.28695893e-01 9.65175101e-01 2.27759506e-01 8.70442936e+01] [ 9.08826398e-01 2.28868931e-02 4.16546237e-01 4.29602433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.63687500000003 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:162.14, Y:87.04, Z:42.99 [[ 3.95991933e-01 2.75504261e-01 -8.75949651e-01 1.62143073e+02] [-1.29448852e-01 9.61152076e-01 2.43782038e-01 8.70390948e+01] [ 9.09083815e-01 1.68549563e-02 4.16272179e-01 4.29879340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.666875 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:162.19, Y:87.05, Z:42.99 [[ 4.08714083e-01 2.35307827e-01 -8.81806682e-01 1.62191730e+02] [-1.26990096e-01 9.71455114e-01 2.00370846e-01 8.70499041e+01] [ 9.03784440e-01 3.00863285e-02 4.26929150e-01 4.29869628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.69687500000003 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:162.21, Y:87.05, Z:43.01 [[ 4.06656722e-01 2.21383473e-01 -8.86351888e-01 1.62210149e+02] [-1.28667877e-01 9.74403444e-01 1.84343446e-01 8.70507185e+01] [ 9.04474924e-01 3.90805144e-02 4.24732652e-01 4.30105438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.726875 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:162.22, Y:87.05, Z:43.03 [[ 4.06326604e-01 2.20521651e-01 -8.86718045e-01 1.62223124e+02] [-1.29645728e-01 9.74535876e-01 1.82953029e-01 8.70491563e+01] [ 9.04483652e-01 4.06205237e-02 4.24569543e-01 4.30335701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.75687500000004 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:162.24, Y:87.05, Z:43.06 [[ 4.07639267e-01 2.17269793e-01 -8.86918297e-01 1.62236792e+02] [-1.29401601e-01 9.75223580e-01 1.79427409e-01 8.70458619e+01] [ 9.03927792e-01 4.16269899e-02 4.25654485e-01 4.30606149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.786875 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:162.21, Y:87.03, Z:43.11 [[ 3.94300572e-01 2.64058282e-01 -8.80227404e-01 1.62205380e+02] [-1.31901302e-01 9.64173462e-01 2.30155558e-01 8.70268382e+01] [ 9.09466385e-01 2.53526720e-02 4.15003779e-01 4.31137649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.81687500000004 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:162.25, Y:87.04, Z:43.11 [[ 4.09421122e-01 2.29363241e-01 -8.83044081e-01 1.62252220e+02] [-1.27452607e-01 9.72771369e-01 1.93576072e-01 8.70371162e+01] [ 9.03399235e-01 3.32921377e-02 4.27506089e-01 4.31115872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.846875 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:162.27, Y:87.04, Z:43.13 [[ 4.09002988e-01 2.09057887e-01 -8.88263112e-01 1.62274755e+02] [-1.26760706e-01 9.76982615e-01 1.71571252e-01 8.70410163e+01] [ 9.03685941e-01 4.24237042e-02 4.26089134e-01 4.31296392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.87687500000004 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:162.24, Y:87.02, Z:43.19 [[ 3.89996024e-01 2.51499303e-01 -8.85805397e-01 1.62243544e+02] [-1.33537230e-01 9.67256074e-01 2.15832101e-01 8.70192756e+01] [ 9.11082274e-01 3.41143373e-02 4.10810543e-01 4.31867040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.906875 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:162.27, Y:87.02, Z:43.20 [[ 4.00848039e-01 2.44065591e-01 -8.83036147e-01 1.62273052e+02] [-1.31540507e-01 9.69206908e-01 2.08170756e-01 8.70210901e+01] [ 9.06652053e-01 3.27101829e-02 4.20609201e-01 4.31967700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.93687500000004 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:162.25, Y:87.01, Z:43.24 [[ 3.87527441e-01 2.75322214e-01 -8.79784156e-01 1.62252666e+02] [-1.33911542e-01 9.61049340e-01 2.41768204e-01 8.70075060e+01] [ 9.12080140e-01 2.41214398e-02 4.09301814e-01 4.32432472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.966875 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:162.26, Y:87.00, Z:43.27 [[ 3.87137158e-01 2.82586545e-01 -8.77650081e-01 1.62259742e+02] [-1.33704259e-01 9.59019823e-01 2.49808228e-01 8.70024452e+01] [ 9.12276270e-01 2.06355067e-02 4.09055233e-01 4.32708835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.996875 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:162.27, Y:87.00, Z:43.30 [[ 3.86261282e-01 2.82032718e-01 -8.78213965e-01 1.62270680e+02] [-1.33502492e-01 9.59176178e-01 2.49315349e-01 8.69991829e+01] [ 9.12677000e-01 2.09428866e-02 4.08144692e-01 4.32950559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.026875 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:162.28, Y:87.00, Z:43.32 [[ 3.86155839e-01 2.81694575e-01 -8.78368849e-01 1.62281759e+02] [-1.33398584e-01 9.59273805e-01 2.48995152e-01 8.69955746e+01] [ 9.12736811e-01 2.10222288e-02 4.08006838e-01 4.33194154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.056875 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:162.29, Y:86.99, Z:43.35 [[ 3.85922884e-01 2.80866017e-01 -8.78736484e-01 1.62293107e+02] [-1.32582587e-01 9.59525486e-01 2.48460660e-01 8.69919520e+01] [ 9.12954208e-01 2.06185016e-02 4.07540786e-01 4.33451840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.086875 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:162.30, Y:86.99, Z:43.37 [[ 3.86431130e-01 2.80035464e-01 -8.78778198e-01 1.62303899e+02] [-1.31932270e-01 9.59777754e-01 2.47831675e-01 8.69870817e+01] [ 9.12833423e-01 2.01693281e-02 4.07833717e-01 4.33711874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.116875 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:162.31, Y:86.98, Z:43.40 [[ 3.87273442e-01 2.79262237e-01 -8.78653449e-01 1.62314942e+02] [-1.30968821e-01 9.60021584e-01 2.47397912e-01 8.69836441e+01] [ 9.12615170e-01 1.92655656e-02 4.08365509e-01 4.33963461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.146875 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:162.36, Y:86.99, Z:43.40 [[ 3.98509782e-01 2.41917442e-01 -8.84684071e-01 1.62359843e+02] [-1.27607365e-01 9.69829415e-01 2.07719201e-01 8.69908159e+01] [ 9.08243532e-01 3.01140693e-02 4.17356956e-01 4.34002449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.176875 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:162.37, Y:86.99, Z:43.43 [[ 3.98969526e-01 2.35869107e-01 -8.86108956e-01 1.62372803e+02] [-1.25030159e-01 9.71318677e-01 2.02255992e-01 8.69863077e+01] [ 9.08400119e-01 3.00963661e-02 4.17017305e-01 4.34255145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.206875 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:162.35, Y:86.97, Z:43.48 [[ 3.92384190e-01 2.79323019e-01 -8.76363680e-01 1.62345546e+02] [-1.28229033e-01 9.60082646e-01 2.48593298e-01 8.69669390e+01] [ 9.10819391e-01 1.48311876e-02 4.12538572e-01 4.34750629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.236875 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:162.36, Y:86.97, Z:43.50 [[ 3.89830988e-01 2.77951719e-01 -8.77937721e-01 1.62356380e+02] [-1.24182229e-01 9.60520422e-01 2.48956408e-01 8.69657169e+01] [ 9.12474972e-01 1.19733411e-02 4.08957290e-01 4.34984558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.266875 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:162.37, Y:86.96, Z:43.52 [[ 3.90189583e-01 2.73309634e-01 -8.79234857e-01 1.62369128e+02] [-1.21825245e-01 9.61856835e-01 2.44928640e-01 8.69615525e+01] [ 9.12639413e-01 1.15443981e-02 4.08602531e-01 4.35224735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.296875 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:162.38, Y:86.96, Z:43.55 [[ 3.90257505e-01 2.72364826e-01 -8.79497858e-01 1.62379893e+02] [-1.20124372e-01 9.62140302e-01 2.44655216e-01 8.69580088e+01] [ 9.12835809e-01 1.01705941e-02 4.08200128e-01 4.35474347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.32687500000003 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:162.39, Y:86.95, Z:43.57 [[ 3.90553119e-01 2.71216621e-01 -8.79721436e-01 1.62391152e+02] [-1.18402183e-01 9.62478094e-01 2.44165602e-01 8.69541809e+01] [ 9.12934381e-01 8.80130138e-03 4.08011462e-01 4.35730177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.356875 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:162.40, Y:86.95, Z:43.60 [[ 3.91213252e-01 2.69812203e-01 -8.79859970e-01 1.62402486e+02] [-1.16200458e-01 9.62887968e-01 2.43606678e-01 8.69506450e+01] [ 9.12934633e-01 6.93797069e-03 4.08046835e-01 4.35980736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.38687500000003 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:162.41, Y:86.95, Z:43.62 [[ 3.91946378e-01 2.67756412e-01 -8.80161656e-01 1.62414005e+02] [-1.12295237e-01 9.63480073e-01 2.43096543e-01 8.69460216e+01] [ 9.13108874e-01 3.55715233e-03 4.07700295e-01 4.36235157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.416875 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:162.43, Y:86.94, Z:43.65 [[ 3.92525974e-01 2.66539482e-01 -8.80272721e-01 1.62425678e+02] [-1.10656061e-01 9.63821439e-01 2.42494267e-01 8.69425505e+01] [ 9.13060018e-01 2.22221359e-03 4.07819159e-01 4.36488906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.44687500000003 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:162.44, Y:86.94, Z:43.67 [[ 3.93138119e-01 2.64889541e-01 -8.80497559e-01 1.62436282e+02] [-1.07878609e-01 9.64278754e-01 2.41927034e-01 8.69392278e+01] [ 9.13129030e-01 -1.23887357e-04 4.07670650e-01 4.36734231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.476875 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:162.45, Y:86.94, Z:43.70 [[ 3.93326445e-01 2.63779892e-01 -8.80746545e-01 1.62447431e+02] [-1.06400889e-01 9.64582120e-01 2.41371465e-01 8.69360697e+01] [ 9.13221309e-01 -1.22556486e-03 4.07462072e-01 4.36982278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.50687500000004 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:162.46, Y:86.93, Z:43.72 [[ 3.93408773e-01 2.63028541e-01 -8.80934461e-01 1.62459001e+02] [-1.05223321e-01 9.64785667e-01 2.41073993e-01 8.69325664e+01] [ 9.13322281e-01 -2.14577423e-03 4.07231882e-01 4.37235807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.536875 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:162.47, Y:86.93, Z:43.75 [[ 3.93197852e-01 2.62131814e-01 -8.81295842e-01 1.62469603e+02] [-1.04177371e-01 9.65028087e-01 2.40557409e-01 8.69294257e+01] [ 9.13532991e-01 -2.77557249e-03 4.06755174e-01 4.37492624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.56687500000004 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:162.53, Y:86.94, Z:43.75 [[ 4.06962041e-01 2.12894860e-01 -8.88289185e-01 1.62526083e+02] [-1.00320180e-01 9.76994826e-01 1.88193973e-01 8.69418845e+01] [ 9.07919467e-01 1.25255276e-02 4.18957459e-01 4.37464413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.596875 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:162.50, Y:86.93, Z:43.80 [[ 3.93412154e-01 2.51801219e-01 -8.84207568e-01 1.62497676e+02] [-1.04795044e-01 9.67775537e-01 2.28972725e-01 8.69259876e+01] [ 9.13370065e-01 2.57991775e-03 4.07122179e-01 4.37968684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.62687500000004 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:162.50, Y:86.92, Z:43.82 [[ 3.93955170e-01 2.60454539e-01 -8.81454909e-01 1.62503838e+02] [-1.05312884e-01 9.65485576e-01 2.38215867e-01 8.69218301e+01] [ 9.13076405e-01 -1.01781415e-03 4.07787253e-01 4.38242039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.656875 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:162.52, Y:86.92, Z:43.85 [[ 3.93890510e-01 2.60874981e-01 -8.81359467e-01 1.62515537e+02] [-1.07817864e-01 9.65371497e-01 2.37556690e-01 8.69200782e+01] [ 9.12811905e-01 1.45496968e-03 4.08377654e-01 4.38497746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.68687500000004 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:162.53, Y:86.92, Z:43.87 [[ 3.93693347e-01 2.60930692e-01 -8.81431065e-01 1.62527705e+02] [-1.09302233e-01 9.65352702e-01 2.36953966e-01 8.69173453e+01] [ 9.12720423e-01 3.05518323e-03 4.08573244e-01 4.38748683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.716875 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:162.54, Y:86.91, Z:43.90 [[ 3.93306177e-01 2.60995604e-01 -8.81584679e-01 1.62538841e+02] [-1.10808598e-01 9.65328409e-01 2.36352526e-01 8.69148038e+01] [ 9.12705706e-01 4.72825340e-03 4.08590183e-01 4.38993131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.746875 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:162.55, Y:86.91, Z:43.92 [[ 3.92431339e-01 2.61707474e-01 -8.81763484e-01 1.62550359e+02] [-1.13909489e-01 9.65114701e-01 2.35750380e-01 8.69121963e+01] [ 9.12700538e-01 7.92539050e-03 4.08552219e-01 4.39237638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.776875 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:162.56, Y:86.91, Z:43.95 [[ 3.92439021e-01 2.61538934e-01 -8.81810071e-01 1.62562558e+02] [-1.14744755e-01 9.65152034e-01 2.35191819e-01 8.69095317e+01] [ 9.12592601e-01 8.88463316e-03 4.08773540e-01 4.39493973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.806875 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:162.62, Y:86.92, Z:43.95 [[ 4.07171008e-01 2.09686771e-01 -8.88956258e-01 1.62622309e+02] [-1.11256431e-01 9.77428809e-01 1.79596573e-01 8.69230869e+01] [ 9.06550482e-01 2.57755833e-02 4.21309675e-01 4.39452118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.836875 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:162.64, Y:86.92, Z:43.97 [[ 4.04810842e-01 2.06116052e-01 -8.90867193e-01 1.62635850e+02] [-1.12786415e-01 9.78079209e-01 1.75043668e-01 8.69211049e+01] [ 9.07417989e-01 2.96181419e-02 4.19184158e-01 4.39698890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.866875 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:162.60, Y:86.90, Z:44.03 [[ 3.87674759e-01 2.56465146e-01 -8.85400424e-01 1.62599059e+02] [-1.17684521e-01 9.66426766e-01 2.28406784e-01 8.69016694e+01] [ 9.14253047e-01 1.56503798e-02 4.04841242e-01 4.40250925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.896875 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:162.64, Y:86.91, Z:44.02 [[ 4.01848938e-01 2.21442232e-01 -8.88527303e-01 1.62644655e+02] [-1.10351155e-01 9.74958771e-01 1.93075161e-01 8.69146997e+01] [ 9.09032482e-01 2.04629660e-02 4.16222553e-01 4.40209896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.926875 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:162.64, Y:86.90, Z:44.07 [[ 3.87284775e-01 2.28317488e-01 -8.93242200e-01 1.62637888e+02] [-1.17595491e-01 9.73170927e-01 1.97761591e-01 8.69012697e+01] [ 9.14429770e-01 2.84512016e-02 4.03743391e-01 4.40673873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.956875 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:162.63, Y:86.89, Z:44.10 [[ 3.86918996e-01 2.63845077e-01 -8.83560675e-01 1.62627496e+02] [-1.16599728e-01 9.64498399e-01 2.36954304e-01 8.68907327e+01] [ 9.14712082e-01 1.13408134e-02 4.03947017e-01 4.41019895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.986875 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:162.68, Y:86.90, Z:44.10 [[ 4.00236277e-01 2.22748203e-01 -8.88928659e-01 1.62678068e+02] [-1.11240344e-01 9.74645861e-01 1.94141780e-01 8.69027306e+01] [ 9.09635371e-01 2.11821468e-02 4.14867218e-01 4.41006038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.016875 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:162.66, Y:86.89, Z:44.15 [[ 3.87189763e-01 2.43141807e-01 -8.89362777e-01 1.62662039e+02] [-1.15159067e-01 9.69801240e-01 2.14997545e-01 8.68890545e+01] [ 9.14780015e-01 1.91733393e-02 4.03497096e-01 4.41470237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.046875 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:162.69, Y:86.89, Z:44.15 [[ 3.98885615e-01 2.26595291e-01 -8.88563358e-01 1.62693681e+02] [-1.09213532e-01 9.73831050e-01 1.99312544e-01 8.68939621e+01] [ 9.10473872e-01 1.75402363e-02 4.13194469e-01 4.41541575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.07687500000003 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:162.68, Y:86.88, Z:44.20 [[ 3.86317976e-01 2.39749446e-01 -8.90661902e-01 1.62683818e+02] [-1.12511685e-01 9.70665617e-01 2.12483836e-01 8.68818966e+01] [ 9.15477767e-01 1.81235458e-02 4.01960191e-01 4.41981146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.106875 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:162.68, Y:86.87, Z:44.23 [[ 3.86255838e-01 2.61462426e-01 -8.84558550e-01 1.62681812e+02] [-1.11978035e-01 9.65182609e-01 2.36396807e-01 8.68743670e+01] [ 9.15569412e-01 7.74148177e-03 4.02085466e-01 4.42295084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.13687500000003 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:162.69, Y:86.87, Z:44.25 [[ 3.86854360e-01 2.59170799e-01 -8.84971300e-01 1.62692209e+02] [-1.07357517e-01 9.65824257e-01 2.35919199e-01 8.68701194e+01] [ 9.15870115e-01 3.74195018e-03 4.01457258e-01 4.42549118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.166875 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:162.70, Y:86.87, Z:44.28 [[ 3.87668439e-01 2.57598424e-01 -8.85074140e-01 1.62702712e+02] [-1.04807851e-01 9.66250842e-01 2.35318137e-01 8.68669840e+01] [ 9.15821214e-01 1.53730411e-03 4.01583292e-01 4.42795755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.19687500000003 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:162.71, Y:86.86, Z:44.30 [[ 3.87983296e-01 2.56181041e-01 -8.85347523e-01 1.62713456e+02] [-1.02540012e-01 9.66628772e-01 2.34764483e-01 8.68636002e+01] [ 9.15944599e-01 -3.01152668e-04 4.01304624e-01 4.43048823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.226875 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:162.72, Y:86.86, Z:44.33 [[ 3.88479134e-01 2.54600290e-01 -8.85586051e-01 1.62724638e+02] [-9.99100398e-02 9.67043145e-01 2.34191245e-01 8.68606666e+01] [ 9.16025079e-01 -2.49947450e-03 4.01113209e-01 4.43308811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.25687500000004 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:162.74, Y:86.86, Z:44.36 [[ 3.89351231e-01 2.52453915e-01 -8.85817498e-01 1.62735912e+02] [-9.58745324e-02 9.67590117e-01 2.33618151e-01 8.68576826e+01] [ 9.16086073e-01 -6.03217611e-03 4.00936304e-01 4.43557858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.286875 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:162.75, Y:86.85, Z:44.38 [[ 3.90350341e-01 2.51338647e-01 -8.85694923e-01 1.62747396e+02] [-9.39861651e-02 9.67867780e-01 2.33234991e-01 8.68549653e+01] [ 9.15856546e-01 -7.80028876e-03 4.01429873e-01 4.43806120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.31687500000004 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:162.76, Y:86.85, Z:44.41 [[ 3.91131717e-01 2.50231949e-01 -8.85663566e-01 1.62758556e+02] [-9.22325726e-02 9.68140582e-01 2.32802419e-01 8.68524317e+01] [ 9.15701443e-01 -9.36938050e-03 4.01750024e-01 4.44060226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.346875 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:162.77, Y:86.85, Z:44.43 [[ 3.92291724e-01 2.48820414e-01 -8.85548195e-01 1.62769108e+02] [-9.02152583e-02 9.68485062e-01 2.32159194e-01 8.68496061e+01] [ 9.15406145e-01 -1.11841713e-02 4.02376072e-01 4.44318407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.37687500000004 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:162.78, Y:86.85, Z:44.46 [[ 3.92521861e-01 2.48189194e-01 -8.85623347e-01 1.62780392e+02] [-9.00209159e-02 9.68647216e-01 2.31557349e-01 8.68472050e+01] [ 9.15326621e-01 -1.11666968e-02 4.02557426e-01 4.44576679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.406875 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:162.79, Y:86.84, Z:44.48 [[ 3.93042737e-01 2.47749565e-01 -8.85515420e-01 1.62791849e+02] [-9.03499812e-02 9.68764329e-01 2.30938426e-01 8.68448730e+01] [ 9.15070646e-01 -1.07623695e-02 4.03149952e-01 4.44823366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.43687500000004 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:162.80, Y:86.84, Z:44.51 [[ 3.93201383e-01 2.47378865e-01 -8.85548626e-01 1.62803042e+02] [-9.07082491e-02 9.68864527e-01 2.30376957e-01 8.68432063e+01] [ 9.14967041e-01 -1.02579729e-02 4.03398176e-01 4.45065606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.466875 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:162.81, Y:86.84, Z:44.53 [[ 3.93393298e-01 2.47767949e-01 -8.85354594e-01 1.62814058e+02] [-9.30326755e-02 9.68786157e-01 2.29778813e-01 8.68426891e+01] [ 9.14651100e-01 -8.02653842e-03 4.04164496e-01 4.45309811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.496875 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:162.83, Y:86.84, Z:44.56 [[ 3.93350288e-01 2.47719797e-01 -8.85387177e-01 1.62826143e+02] [-9.42596760e-02 9.68808601e-01 2.29183350e-01 8.68411047e+01] [ 9.14543965e-01 -6.69302811e-03 4.04431130e-01 4.45559678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.526875 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:162.87, Y:86.85, Z:44.56 [[ 4.02817308e-01 2.14002864e-01 -8.89910664e-01 1.62870318e+02] [-9.37059037e-02 9.76815495e-01 1.92485562e-01 8.68514474e+01] [ 9.10470988e-01 5.85336719e-03 4.13531520e-01 4.45599674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.556875 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:162.89, Y:86.85, Z:44.58 [[ 4.02726117e-01 1.97973350e-01 -8.93654423e-01 1.62892307e+02] [-9.42699912e-02 9.80108679e-01 1.74642912e-01 8.68545195e+01] [ 9.10453098e-01 1.39115328e-02 4.13378308e-01 4.45777529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.586875 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:162.87, Y:86.84, Z:44.63 [[ 3.89371202e-01 2.30234934e-01 -8.91841882e-01 1.62871417e+02] [-1.00288756e-01 9.73096399e-01 2.07426043e-01 8.68397248e+01] [ 9.15604845e-01 8.67598513e-03 4.01985690e-01 4.46264607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.616875 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:162.87, Y:86.83, Z:44.66 [[ 3.88736455e-01 2.52940275e-01 -8.85948749e-01 1.62869600e+02] [-1.01765947e-01 9.67481885e-01 2.31565314e-01 8.68328136e+01] [ 9.15711560e-01 1.41533849e-04 4.01836185e-01 4.46575889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.646875 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:162.88, Y:86.83, Z:44.68 [[ 3.88517302e-01 2.52643786e-01 -8.86129462e-01 1.62881077e+02] [-1.02338768e-01 9.67558903e-01 2.30990358e-01 8.68306712e+01] [ 9.15740729e-01 9.41646613e-04 4.01768629e-01 4.46826881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.676875 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:162.89, Y:86.83, Z:44.71 [[ 3.88590901e-01 2.52418783e-01 -8.86161311e-01 1.62893222e+02] [-1.03172510e-01 9.67616211e-01 2.30378606e-01 8.68285973e+01] [ 9.15615937e-01 1.90445693e-03 4.02049535e-01 4.47078485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.706875 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:162.91, Y:86.83, Z:44.73 [[ 3.88145188e-01 2.52570395e-01 -8.86313437e-01 1.62905917e+02] [-1.04900595e-01 9.67571122e-01 2.29786835e-01 8.68270993e+01] [ 9.15608638e-01 3.78415289e-03 4.02052859e-01 4.47330002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.736875 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:162.95, Y:86.84, Z:44.74 [[ 3.97766669e-01 2.20025811e-01 -8.90713377e-01 1.62945999e+02] [-1.01734861e-01 9.75409452e-01 1.95515778e-01 8.68356009e+01] [ 9.11828764e-01 1.28469420e-02 4.10369664e-01 4.47382621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.766875 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:162.94, Y:86.83, Z:44.78 [[ 3.87354677e-01 2.33455032e-01 -8.91882897e-01 1.62940227e+02] [-1.05747868e-01 9.72273546e-01 2.08570229e-01 8.68263349e+01] [ 9.15845916e-01 1.35240608e-02 4.01302077e-01 4.47787883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.796875 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:162.94, Y:86.82, Z:44.81 [[ 3.86600680e-01 2.51336943e-01 -8.87338524e-01 1.62940498e+02] [-1.05895880e-01 9.67882185e-01 2.28013463e-01 8.68199150e+01] [ 9.16147356e-01 5.81533429e-03 4.00799457e-01 4.48076094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.82687500000003 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:162.95, Y:86.82, Z:44.83 [[ 3.86560306e-01 2.50926602e-01 -8.87472236e-01 1.62951671e+02] [-1.05623377e-01 9.67989194e-01 2.27685359e-01 8.68176283e+01] [ 9.16195848e-01 5.72369265e-03 4.00689914e-01 4.48332760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.856875 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:162.96, Y:86.82, Z:44.86 [[ 3.86859103e-01 2.50217844e-01 -8.87542148e-01 1.62963602e+02] [-1.05256707e-01 9.68173510e-01 2.27070650e-01 8.68153959e+01] [ 9.16111925e-01 5.57541625e-03 4.00883842e-01 4.48587651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.88687500000003 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:162.97, Y:86.81, Z:44.88 [[ 3.87291713e-01 2.49672246e-01 -8.87507126e-01 1.62974146e+02] [-1.05357572e-01 9.68312962e-01 2.26428331e-01 8.68132797e+01] [ 9.15917524e-01 5.81177964e-03 4.01324447e-01 4.48831945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.916875 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:163.01, Y:86.82, Z:44.89 [[ 3.97649099e-01 2.14900582e-01 -8.92016218e-01 1.63014742e+02] [-1.02182703e-01 9.76509523e-01 1.89704628e-01 8.68231058e+01] [ 9.11829967e-01 1.57127536e-02 4.10267255e-01 4.48879615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.94687500000003 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:163.01, Y:86.81, Z:44.93 [[ 3.87423654e-01 2.30201521e-01 -8.92698253e-01 1.63007309e+02] [-1.05945060e-01 9.73024579e-01 2.04936120e-01 8.68131243e+01] [ 9.15793949e-01 1.51798692e-02 4.01361452e-01 4.49300600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.976875 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:163.01, Y:86.81, Z:44.96 [[ 3.87511320e-01 2.49344130e-01 -8.87503511e-01 1.63006446e+02] [-1.06164328e-01 9.68391391e-01 2.25714972e-01 8.68072178e+01] [ 9.15731463e-01 6.75410709e-03 4.01734079e-01 4.49594487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.00687500000004 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:163.02, Y:86.80, Z:44.99 [[ 3.87459282e-01 2.49070020e-01 -8.87603194e-01 1.63017594e+02] [-1.06222583e-01 9.68460516e-01 2.25390755e-01 8.68048486e+01] [ 9.15746727e-01 6.95376435e-03 4.01695877e-01 4.49855819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.036875 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:163.06, Y:86.82, Z:44.99 [[ 3.98853096e-01 2.11861930e-01 -8.92205543e-01 1.63061318e+02] [-1.02427197e-01 9.77149954e-01 1.86243486e-01 8.68156824e+01] [ 9.11276510e-01 1.71023214e-02 4.11439708e-01 4.49866210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.06687500000004 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:163.05, Y:86.81, Z:45.03 [[ 3.87567820e-01 2.30439872e-01 -8.92574170e-01 1.63050394e+02] [-1.07128289e-01 9.72950125e-01 2.04674335e-01 8.68052935e+01] [ 9.15595279e-01 1.62947580e-02 4.01770789e-01 4.50308306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.096875 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:163.05, Y:86.80, Z:45.06 [[ 3.87461173e-01 2.48200981e-01 -8.87845771e-01 1.63051640e+02] [-1.07004891e-01 9.68674072e-01 2.24099298e-01 8.67996905e+01] [ 9.15654844e-01 8.17406295e-03 4.01882311e-01 4.50608448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.12687500000004 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:163.06, Y:86.80, Z:45.09 [[ 3.87312713e-01 2.47834703e-01 -8.88012850e-01 1.63063488e+02] [-1.07351343e-01 9.68762855e-01 2.23549145e-01 8.67978113e+01] [ 9.15677100e-01 8.74594641e-03 4.01819558e-01 4.50858383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.156875 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:163.08, Y:86.80, Z:45.11 [[ 3.86703951e-01 2.47452428e-01 -8.88384686e-01 1.63075022e+02] [-1.07652509e-01 9.68854452e-01 2.23006699e-01 8.67960054e+01] [ 9.15899007e-01 9.39926859e-03 4.01298719e-01 4.51106054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.18687500000004 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:163.09, Y:86.79, Z:45.14 [[ 3.85756156e-01 2.47762745e-01 -8.88710195e-01 1.63086804e+02] [-1.09072595e-01 9.68758146e-01 2.22734873e-01 8.67949723e+01] [ 9.16130644e-01 1.10125786e-02 4.00728544e-01 4.51350027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.216875 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:163.10, Y:86.79, Z:45.16 [[ 3.85931864e-01 2.47446714e-01 -8.88721959e-01 1.63098853e+02] [-1.09711377e-01 9.68829839e-01 2.22108436e-01 8.67932365e+01] [ 9.15980355e-01 1.17841875e-02 4.01050026e-01 4.51603096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.246875 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:163.11, Y:86.79, Z:45.18 [[ 3.86169323e-01 2.47301009e-01 -8.88659364e-01 1.63109975e+02] [-1.10290231e-01 9.68859361e-01 2.21692587e-01 8.67917424e+01] [ 9.15810744e-01 1.23995702e-02 4.01418649e-01 4.51847630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.276875 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:163.12, Y:86.79, Z:45.21 [[ 3.86441317e-01 2.47331954e-01 -8.88532505e-01 1.63121894e+02] [-1.11432782e-01 9.68836436e-01 2.21220919e-01 8.67912282e+01] [ 9.15557668e-01 1.35227457e-02 4.01959316e-01 4.52104725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.306875 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:163.17, Y:86.80, Z:45.21 [[ 3.98806352e-01 2.05561601e-01 -8.93699011e-01 1.63168446e+02] [-1.08185717e-01 9.78293419e-01 1.76742290e-01 8.68031161e+01] [ 9.10631289e-01 2.61995201e-02 4.12388459e-01 4.52131359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.336875 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:163.18, Y:86.80, Z:45.24 [[ 3.98648023e-01 1.98935314e-01 -8.95267834e-01 1.63181333e+02] [-1.08560238e-01 9.79562815e-01 1.69326213e-01 8.68027905e+01] [ 9.10656043e-01 2.96889286e-02 4.12097245e-01 4.52392054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.366875 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:163.16, Y:86.79, Z:45.28 [[ 3.88825412e-01 2.32365326e-01 -8.91527427e-01 1.63162513e+02] [-1.11673517e-01 9.72423961e-01 2.04745366e-01 8.67883633e+01] [ 9.14518356e-01 1.99498016e-02 4.04052201e-01 4.52845489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.396875 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:163.17, Y:86.78, Z:45.31 [[ 3.89693308e-01 2.44985939e-01 -8.87761801e-01 1.63166197e+02] [-1.10687073e-01 9.69440209e-01 2.18938468e-01 8.67834136e+01] [ 9.14268832e-01 1.29448995e-02 4.04901138e-01 4.53132820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.426875 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:163.18, Y:86.78, Z:45.34 [[ 3.90555944e-01 2.43834757e-01 -8.87699649e-01 1.63178035e+02] [-1.09270568e-01 9.69745700e-01 2.18296174e-01 8.67817442e+01] [ 9.14071112e-01 1.17425761e-02 4.05383909e-01 4.53381508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.456875 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:163.19, Y:86.78, Z:45.36 [[ 3.91135737e-01 2.43159127e-01 -8.87629694e-01 1.63189747e+02] [-1.08582873e-01 9.69922090e-01 2.17855224e-01 8.67793029e+01] [ 9.13905135e-01 1.11704191e-02 4.05774108e-01 4.53635090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.486875 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:163.20, Y:86.78, Z:45.39 [[ 3.90680853e-01 2.42423364e-01 -8.88031184e-01 1.63200788e+02] [-1.07971847e-01 9.70108465e-01 2.17328431e-01 8.67769303e+01] [ 9.14172058e-01 1.09763102e-02 4.05177701e-01 4.53880973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.516875 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:163.21, Y:86.77, Z:45.41 [[ 3.90045784e-01 2.41747510e-01 -8.88494473e-01 1.63213586e+02] [-1.07335183e-01 9.70279379e-01 2.16880346e-01 8.67749816e+01] [ 9.14518149e-01 1.07734522e-02 4.04401394e-01 4.54136091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.546875 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:163.26, Y:86.78, Z:45.42 [[ 3.99053759e-01 2.06975280e-01 -8.93262185e-01 1.63255171e+02] [-1.04293678e-01 9.78113968e-01 1.80044148e-01 8.67838410e+01] [ 9.10976908e-01 2.13143046e-02 4.11906269e-01 4.54188642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.57687500000003 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:163.24, Y:86.77, Z:45.46 [[ 3.87879912e-01 2.34466824e-01 -8.91389075e-01 1.63239670e+02] [-1.07548098e-01 9.72010708e-01 2.08874578e-01 8.67714441e+01] [ 9.15413885e-01 1.48489466e-02 4.02239889e-01 4.54630002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.606875 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:163.25, Y:86.77, Z:45.49 [[ 3.87321258e-01 2.41866052e-01 -8.89653335e-01 1.63246414e+02] [-1.07520305e-01 9.70240058e-01 2.16964546e-01 8.67676629e+01] [ 9.15653661e-01 1.16208166e-02 4.01800112e-01 4.54891145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.63687500000003 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:163.29, Y:86.78, Z:45.49 [[ 3.97084628e-01 2.06410862e-01 -8.94269732e-01 1.63287682e+02] [-1.04466342e-01 9.78213894e-01 1.79400005e-01 8.67771162e+01] [ 9.11817186e-01 2.21841037e-02 4.09996688e-01 4.54940842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.666875 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:163.27, Y:86.77, Z:45.54 [[ 3.86428696e-01 2.30140015e-01 -8.93145249e-01 1.63274839e+02] [-1.07640743e-01 9.73004612e-01 2.04145770e-01 8.67654185e+01] [ 9.16016558e-01 1.72510347e-02 4.00769345e-01 4.55379735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.69687500000003 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:163.28, Y:86.76, Z:45.57 [[ 3.86520508e-01 2.41809928e-01 -8.90016773e-01 1.63278736e+02] [-1.08385668e-01 9.70239607e-01 2.16535566e-01 8.67603455e+01] [ 9.15889974e-01 1.27696257e-02 4.01226236e-01 4.55657888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.726875 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:163.29, Y:86.76, Z:45.59 [[ 3.86455652e-01 2.41666590e-01 -8.90083866e-01 1.63289831e+02] [-1.08812953e-01 9.70268145e-01 2.16193126e-01 8.67576279e+01] [ 9.15866677e-01 1.33035983e-02 4.01262064e-01 4.55919137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.75687500000004 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:163.30, Y:86.76, Z:45.62 [[ 3.86852063e-01 2.41749530e-01 -8.89889120e-01 1.63300933e+02] [-1.10576822e-01 9.70222225e-01 2.15503135e-01 8.67557833e+01] [ 9.15487983e-01 1.50332790e-02 4.02064364e-01 4.56174963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.786875 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:163.31, Y:86.75, Z:45.64 [[ 3.87317238e-01 2.41424120e-01 -8.89775113e-01 1.63312096e+02] [-1.11256860e-01 9.70291359e-01 2.14840846e-01 8.67533957e+01] [ 9.15208866e-01 1.57820220e-02 4.02670659e-01 4.56426704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.81687500000004 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:163.32, Y:86.75, Z:45.67 [[ 3.87627120e-01 2.41012589e-01 -8.89751734e-01 1.63323768e+02] [-1.11686516e-01 9.70384348e-01 2.14196965e-01 8.67508713e+01] [ 9.15025321e-01 1.63447183e-02 4.03065146e-01 4.56686078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.846875 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:163.34, Y:86.75, Z:45.69 [[ 3.87605799e-01 2.40644680e-01 -8.89860597e-01 1.63335138e+02] [-1.12165463e-01 9.70463958e-01 2.13585145e-01 8.67481840e+01] [ 9.14975767e-01 1.70247855e-02 4.03149480e-01 4.56945986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.87687500000004 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:163.35, Y:86.75, Z:45.72 [[ 3.87317826e-01 2.40116478e-01 -8.90128630e-01 1.63346951e+02] [-1.12152040e-01 9.70589508e-01 2.13020954e-01 8.67460254e+01] [ 9.15099351e-01 1.73229286e-02 4.02856171e-01 4.57203481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.906875 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:163.36, Y:86.74, Z:45.74 [[ 3.86476954e-01 2.39979878e-01 -8.90530866e-01 1.63358218e+02] [-1.13077542e-01 9.70600056e-01 2.12482942e-01 8.67437509e+01] [ 9.15340938e-01 1.85792814e-02 4.02250888e-01 4.57446528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.936875 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:163.37, Y:86.74, Z:45.77 [[ 3.86048919e-01 2.39755586e-01 -8.90776903e-01 1.63369078e+02] [-1.13200850e-01 9.70648913e-01 2.12193909e-01 8.67411261e+01] [ 9.15506308e-01 1.89194734e-02 4.01858499e-01 4.57699112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.966875 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:163.43, Y:86.76, Z:45.77 [[ 4.00988743e-01 1.86576314e-01 -8.96881992e-01 1.63425682e+02] [-1.09741266e-01 9.81773207e-01 1.55171600e-01 8.67551897e+01] [ 9.09486054e-01 3.62029002e-02 4.14155124e-01 4.57669255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.996875 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:163.44, Y:86.75, Z:45.79 [[ 4.00311059e-01 1.79926176e-01 -8.98541945e-01 1.63440270e+02] [-1.09786770e-01 9.82889134e-01 1.47904754e-01 8.67543141e+01] [ 9.09779051e-01 3.94401088e-02 4.13214904e-01 4.57918666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.026875 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:163.45, Y:86.75, Z:45.81 [[ 3.98695979e-01 1.85324915e-01 -8.98162676e-01 1.63447033e+02] [-1.07935482e-01 9.82044601e-01 1.54720179e-01 8.67526500e+01] [ 9.10709311e-01 3.52573080e-02 4.11540367e-01 4.58149579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.056875 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:163.47, Y:86.76, Z:45.84 [[ 3.98578890e-01 1.61782184e-01 -9.02752122e-01 1.63470134e+02] [-1.06310766e-01 9.85833295e-01 1.29733327e-01 8.67565715e+01] [ 9.10951639e-01 4.42633037e-02 4.10131529e-01 4.58362834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.086875 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:163.44, Y:86.73, Z:45.89 [[ 3.82054912e-01 2.08507138e-01 -9.00310401e-01 1.63438752e+02] [-1.12164667e-01 9.77474725e-01 1.78779891e-01 8.67326217e+01] [ 9.17307545e-01 3.26792807e-02 3.96836154e-01 4.58916147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.116875 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:163.43, Y:86.72, Z:45.92 [[ 3.81967016e-01 2.39817822e-01 -8.92518129e-01 1.63430542e+02] [-1.08299907e-01 9.70706063e-01 2.14478132e-01 8.67210078e+01] [ 9.17808438e-01 1.47360582e-02 3.96749946e-01 4.59245660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.146875 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:163.49, Y:86.74, Z:45.92 [[ 3.99335160e-01 1.84493190e-01 -8.98049939e-01 1.63488404e+02] [-1.00885478e-01 9.82437226e-01 1.56968842e-01 8.67358479e+01] [ 9.11237373e-01 2.79170196e-02 4.10934411e-01 4.59192315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.176875 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:163.46, Y:86.72, Z:45.97 [[ 3.83736741e-01 2.19004543e-01 -8.97097054e-01 1.63459497e+02] [-1.01373540e-01 9.75589535e-01 1.94803659e-01 8.67169797e+01] [ 9.17861384e-01 1.61885826e-02 3.96570814e-01 4.59722852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.206875 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:163.46, Y:86.71, Z:46.00 [[ 3.84654888e-01 2.35740594e-01 -8.92449993e-01 1.63459679e+02] [-9.86671692e-02 9.71799463e-01 2.14174212e-01 8.67097915e+01] [ 9.17771980e-01 5.67235675e-03 3.97067271e-01 4.60021210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.236875 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:163.47, Y:86.71, Z:46.03 [[ 3.85705829e-01 2.34150512e-01 -8.92415011e-01 1.63470615e+02] [-9.61603207e-02 9.72194208e-01 2.13521930e-01 8.67067569e+01] [ 9.17596974e-01 3.45826057e-03 3.97496961e-01 4.60279993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.266875 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:163.48, Y:86.70, Z:46.05 [[ 3.87491190e-01 2.31987380e-01 -8.92206497e-01 1.63481163e+02] [-9.23060838e-02 9.72718789e-01 2.12832667e-01 8.67027994e+01] [ 9.17240516e-01 -1.14695904e-04 3.98333808e-01 4.60535488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.296875 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:163.49, Y:86.70, Z:46.08 [[ 3.87645023e-01 2.30670740e-01 -8.92481006e-01 1.63492176e+02] [-9.03285015e-02 9.73030443e-01 2.12255787e-01 8.66999687e+01] [ 9.17372388e-01 -1.66342733e-03 3.98026551e-01 4.60790873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.32687500000003 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:163.50, Y:86.70, Z:46.11 [[ 3.87753224e-01 2.29464371e-01 -8.92744947e-01 1.63503598e+02] [-8.86222150e-02 9.73312552e-01 2.11680843e-01 8.66972754e+01] [ 9.17493074e-01 -2.96289475e-03 3.97740721e-01 4.61051677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.356875 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:163.52, Y:86.69, Z:46.13 [[ 3.87857894e-01 2.28491649e-01 -8.92948946e-01 1.63515290e+02] [-8.75392524e-02 9.73538823e-01 2.11090121e-01 8.66942616e+01] [ 9.17552796e-01 -3.70488669e-03 3.97596706e-01 4.61303019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.38687500000003 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:163.53, Y:86.69, Z:46.15 [[ 3.87560001e-01 2.27435242e-01 -8.93347892e-01 1.63526243e+02] [-8.61693616e-02 9.73782277e-01 2.10530087e-01 8.66914492e+01] [ 9.17808306e-01 -4.61382319e-03 3.96997010e-01 4.61548075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.416875 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:163.54, Y:86.69, Z:46.18 [[ 3.87580344e-01 2.27144821e-01 -8.93412954e-01 1.63538047e+02] [-8.62452197e-02 9.73851009e-01 2.10180813e-01 8.66884997e+01] [ 9.17792590e-01 -4.40935547e-03 3.97035664e-01 4.61806993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.44687500000003 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:163.55, Y:86.69, Z:46.21 [[ 3.87251211e-01 2.26669567e-01 -8.93676343e-01 1.63549362e+02] [-8.64186355e-02 9.73963780e-01 2.09586198e-01 8.66863557e+01] [ 9.17915203e-01 -3.93221899e-03 3.96757128e-01 4.62052128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.476875 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:163.56, Y:86.68, Z:46.23 [[ 3.87000152e-01 2.26921455e-01 -8.93721173e-01 1.63560572e+02] [-8.78659295e-02 9.73909991e-01 2.09234098e-01 8.66841780e+01] [ 9.17883686e-01 -2.44598629e-03 3.96841979e-01 4.62303874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.50687500000004 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:163.57, Y:86.68, Z:46.26 [[ 3.86806484e-01 2.26588031e-01 -8.93889595e-01 1.63572034e+02] [-8.83901990e-02 9.73989217e-01 2.08643660e-01 8.66818560e+01] [ 9.17914983e-01 -1.69364159e-03 3.96773506e-01 4.62555083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.536875 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:163.58, Y:86.68, Z:46.28 [[ 3.86573999e-01 2.26308766e-01 -8.94060896e-01 1.63583197e+02] [-8.90923445e-02 9.74055314e-01 2.08035574e-01 8.66793591e+01] [ 9.17945040e-01 -7.67162632e-04 3.96706837e-01 4.62812101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.56687500000004 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:163.59, Y:86.68, Z:46.31 [[ 3.87218061e-01 2.26021361e-01 -8.93854864e-01 1.63594419e+02] [-8.99780374e-02 9.74122335e-01 2.07339404e-01 8.66772189e+01] [ 9.17587122e-01 1.41744052e-04 3.97534721e-01 4.63056811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.596875 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:163.61, Y:86.67, Z:46.33 [[ 3.87471529e-01 2.25764766e-01 -8.93809871e-01 1.63605566e+02] [-9.01923917e-02 9.74181756e-01 2.06966759e-01 8.66749290e+01] [ 9.17459071e-01 4.21123299e-04 3.97829958e-01 4.63309292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.62687500000004 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:163.65, Y:86.69, Z:46.33 [[ 3.99552220e-01 1.84045259e-01 -8.98045303e-01 1.63654973e+02] [-8.78778874e-02 9.82817164e-01 1.62320357e-01 8.66861180e+01] [ 9.12488630e-01 1.40628651e-02 4.08860288e-01 4.63334753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.656875 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:163.63, Y:86.67, Z:46.38 [[ 3.88474064e-01 2.20270535e-01 -8.94745099e-01 1.63631252e+02] [-9.15476314e-02 9.75430342e-01 2.00386326e-01 8.66723136e+01] [ 9.16900721e-01 4.06690415e-03 3.99094635e-01 4.63802877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.686875 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:163.64, Y:86.67, Z:46.41 [[ 3.88337186e-01 2.24666806e-01 -8.93710835e-01 1.63639869e+02] [-9.16544923e-02 9.74433043e-01 2.05133366e-01 8.66690070e+01] [ 9.16948027e-01 2.25169877e-03 3.99000308e-01 4.64057780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.716875 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:163.70, Y:86.68, Z:46.41 [[ 4.01883962e-01 1.73425165e-01 -8.99117898e-01 1.63698312e+02] [-8.80996680e-02 9.84669327e-01 1.50548217e-01 8.66828433e+01] [ 9.11442664e-01 1.87090744e-02 4.11001509e-01 4.64063148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.746875 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:163.66, Y:86.66, Z:46.46 [[ 3.88415366e-01 2.30600545e-01 -8.92164162e-01 1.63658448e+02] [-9.13660190e-02 9.73048232e-01 2.11729517e-01 8.66628030e+01] [ 9.16943703e-01 -7.25509943e-04 3.99015939e-01 4.64594352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.776875 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:163.67, Y:86.66, Z:46.48 [[ 3.88268698e-01 2.23449473e-01 -8.94045721e-01 1.63673214e+02] [-9.07654769e-02 9.74713726e-01 2.04192997e-01 8.66622659e+01] [ 9.17065454e-01 1.86673744e-03 3.98732327e-01 4.64824450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.806875 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:163.68, Y:86.66, Z:46.51 [[ 3.88425531e-01 2.22579756e-01 -8.94194531e-01 1.63684956e+02] [-8.97903620e-02 9.74913770e-01 2.03668434e-01 8.66603078e+01] [ 9.17095032e-01 1.18003076e-03 3.98666916e-01 4.65075637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.836875 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:163.70, Y:86.66, Z:46.53 [[ 3.88539651e-01 2.21002172e-01 -8.94536181e-01 1.63697817e+02] [-8.71349028e-02 9.75272835e-01 2.03101958e-01 8.66580600e+01] [ 9.17302812e-01 -9.67840650e-04 3.98189169e-01 4.65323975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.866875 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:163.71, Y:86.66, Z:46.56 [[ 3.88113522e-01 2.19798314e-01 -8.95017651e-01 1.63708575e+02] [-8.53877359e-02 9.75542883e-01 2.02546336e-01 8.66553862e+01] [ 9.17647443e-01 -2.18744092e-03 3.97389464e-01 4.65568615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.896875 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:163.72, Y:86.65, Z:46.58 [[ 3.87423972e-01 2.18186401e-01 -8.95710534e-01 1.63719027e+02] [-8.18028449e-02 9.75893693e-01 2.02335847e-01 8.66520048e+01] [ 9.18265191e-01 -5.11808770e-03 3.95932879e-01 4.65824678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.926875 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:163.73, Y:86.65, Z:46.61 [[ 3.87692430e-01 2.16962199e-01 -8.95891726e-01 1.63729998e+02] [-8.01442582e-02 9.76158998e-01 2.01718885e-01 8.66496525e+01] [ 9.18298142e-01 -6.40430707e-03 3.95837729e-01 4.66069148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.956875 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:163.74, Y:86.65, Z:46.63 [[ 3.88516175e-01 2.15994318e-01 -8.95768740e-01 1.63741724e+02] [-7.86156794e-02 9.76363475e-01 2.01330423e-01 8.66470512e+01] [ 9.18082108e-01 -7.79865787e-03 3.96313543e-01 4.66326731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.986875 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:163.75, Y:86.64, Z:46.66 [[ 3.89819791e-01 2.14604394e-01 -8.95536423e-01 1.63752528e+02] [-7.67793694e-02 9.76655361e-01 2.00622118e-01 8.66448615e+01] [ 9.17684837e-01 -9.44775023e-03 3.97196778e-01 4.66577086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.016875 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:163.80, Y:86.66, Z:46.66 [[ 4.03162114e-01 1.69320319e-01 -8.99328049e-01 1.63803859e+02] [-7.07930948e-02 9.85559689e-01 1.53819496e-01 8.66587482e+01] [ 9.12386238e-01 1.65202258e-03 4.09327037e-01 4.66574479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.046875 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:163.78, Y:86.64, Z:46.71 [[ 3.90742674e-01 2.03263133e-01 -8.97777401e-01 1.63779830e+02] [-7.75314940e-02 9.79116666e-01 1.87934623e-01 8.66420723e+01] [ 9.17228995e-01 -3.82805422e-03 3.98341959e-01 4.67065490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.07687500000003 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:163.78, Y:86.64, Z:46.73 [[ 3.90873527e-01 2.14472630e-01 -8.95108584e-01 1.63783943e+02] [-7.83510340e-02 9.76697507e-01 1.99807645e-01 8.66373360e+01] [ 9.17103594e-01 -7.96683595e-03 3.98569352e-01 4.67335258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.106875 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:163.79, Y:86.64, Z:46.76 [[ 3.90884531e-01 2.14328772e-01 -8.95138236e-01 1.63794461e+02] [-7.87940354e-02 9.76733290e-01 1.99458218e-01 8.66354343e+01] [ 9.17060949e-01 -7.43357808e-03 3.98677763e-01 4.67583401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.13687500000003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:163.81, Y:86.63, Z:46.78 [[ 3.90683418e-01 2.14017149e-01 -8.95300579e-01 1.63806305e+02] [-7.92298966e-02 9.76806353e-01 1.98927051e-01 8.66335279e+01] [ 9.17109094e-01 -6.78292794e-03 3.98578601e-01 4.67836826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.166875 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:163.82, Y:86.63, Z:46.81 [[ 3.90245122e-01 2.13796273e-01 -8.95544470e-01 1.63817895e+02] [-7.99776532e-02 9.76861142e-01 1.98357969e-01 8.66312201e+01] [ 9.17230789e-01 -5.78468479e-03 3.98314219e-01 4.68092425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.19687500000003 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:163.83, Y:86.63, Z:46.83 [[ 3.89215434e-01 2.13627575e-01 -8.96032703e-01 1.63828134e+02] [-8.07376056e-02 9.76904070e-01 1.97838008e-01 8.66290728e+01] [ 9.17601648e-01 -4.65807122e-03 3.97473920e-01 4.68341969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.226875 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:163.84, Y:86.63, Z:46.86 [[ 3.88896328e-01 2.13230966e-01 -8.96265698e-01 1.63839077e+02] [-8.06024697e-02 9.76991219e-01 1.97462401e-01 8.66267792e+01] [ 9.17748815e-01 -4.55117395e-03 3.97135240e-01 4.68598314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.25687500000004 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:163.85, Y:86.62, Z:46.89 [[ 3.88899816e-01 2.12681494e-01 -8.96394732e-01 1.63849637e+02] [-8.06018525e-02 9.77112078e-01 1.96863731e-01 8.66245349e+01] [ 9.17747392e-01 -4.30919276e-03 3.97141230e-01 4.68858301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.286875 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:163.86, Y:86.62, Z:46.91 [[ 3.89073558e-01 2.12189501e-01 -8.96435933e-01 1.63859993e+02] [-8.08286170e-02 9.77220795e-01 1.96230102e-01 8.66224813e+01] [ 9.17653803e-01 -3.89026730e-03 3.97361755e-01 4.69102740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.31687500000004 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:163.87, Y:86.62, Z:46.94 [[ 3.88682092e-01 2.11907149e-01 -8.96672511e-01 1.63870836e+02] [-8.08135661e-02 9.77282837e-01 1.95927088e-01 8.66206355e+01] [ 9.17821006e-01 -3.69004718e-03 3.96977310e-01 4.69357082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.346875 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:163.88, Y:86.62, Z:46.96 [[ 3.87928635e-01 2.12313599e-01 -8.96902620e-01 1.63882274e+02] [-8.31984079e-02 9.77200901e-01 1.95336696e-01 8.66194418e+01] [ 9.17926685e-01 -1.15582808e-03 3.96748365e-01 4.69604996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.37687500000004 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:163.93, Y:86.63, Z:46.96 [[ 3.98138175e-01 1.73722799e-01 -9.00725476e-01 1.63926422e+02] [-8.02897720e-02 9.84735017e-01 1.54436067e-01 8.66327876e+01] [ 9.13804983e-01 1.08321493e-02 4.06008766e-01 4.69616847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.406875 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:163.92, Y:86.62, Z:47.01 [[ 3.86137420e-01 1.91845540e-01 -9.02271124e-01 1.63915947e+02] [-8.72300218e-02 9.81344897e-01 1.71327512e-01 8.66211464e+01] [ 9.18307583e-01 1.25491665e-02 3.95668677e-01 4.70062543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.436875 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:163.91, Y:86.62, Z:47.04 [[ 3.85102407e-01 2.15259316e-01 -8.97418277e-01 1.63912943e+02] [-9.13295713e-02 9.76532909e-01 1.95044577e-01 8.66150993e+01] [ 9.18343643e-01 6.84869045e-03 3.95724714e-01 4.70363866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.466875 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:163.95, Y:86.63, Z:47.04 [[ 3.93911826e-01 1.81194120e-01 -9.01111627e-01 1.63953244e+02] [-8.94098888e-02 9.83281119e-01 1.58632005e-01 8.66261134e+01] [ 9.14789235e-01 1.80812674e-02 4.03526608e-01 4.70405615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.496875 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:163.95, Y:86.62, Z:47.08 [[ 3.82894705e-01 1.96092918e-01 -9.02739836e-01 1.63945398e+02] [-9.59826287e-02 9.80366894e-01 1.72244271e-01 8.66160970e+01] [ 9.18792131e-01 2.06959234e-02 3.94198806e-01 4.70832041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.526875 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:163.94, Y:86.61, Z:47.11 [[ 3.81997313e-01 2.17374120e-01 -8.98235239e-01 1.63944784e+02] [-9.72252108e-02 9.76003113e-01 1.94846562e-01 8.66098726e+01] [ 9.19034989e-01 1.29002474e-02 3.93964811e-01 4.71132238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.556875 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:163.96, Y:86.61, Z:47.14 [[ 3.80624582e-01 2.18114656e-01 -8.98638372e-01 1.63955981e+02] [-1.00478819e-01 9.75786251e-01 1.94281237e-01 8.66085118e+01] [ 9.19254554e-01 1.63459077e-02 3.93324138e-01 4.71374472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.586875 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:164.00, Y:86.62, Z:47.14 [[ 3.89886271e-01 1.83779253e-01 -9.02338009e-01 1.63997261e+02] [-9.83336850e-02 9.82589191e-01 1.57635556e-01 8.66192815e+01] [ 9.15597719e-01 2.72702825e-02 4.01169727e-01 4.71435275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.616875 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:163.99, Y:86.61, Z:47.19 [[ 3.78927762e-01 2.06002442e-01 -9.02206598e-01 1.63985327e+02] [-1.04168486e-01 9.78208021e-01 1.79605105e-01 8.66069886e+01] [ 9.19544821e-01 2.59241349e-02 3.92129139e-01 4.71861855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.646875 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:164.02, Y:86.61, Z:47.19 [[ 3.88341945e-01 1.85268585e-01 -9.02699332e-01 1.64018264e+02] [-1.01183471e-01 9.82231230e-01 1.58062380e-01 8.66147304e+01] [ 9.15943469e-01 2.99559996e-02 4.00187705e-01 4.71944931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.676875 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:164.01, Y:86.60, Z:47.24 [[ 3.78220570e-01 2.03977264e-01 -9.02963164e-01 1.64007659e+02] [-1.05934640e-01 9.78550992e-01 1.76679959e-01 8.66025186e+01] [ 9.19634195e-01 2.88310827e-02 3.91716372e-01 4.72369785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.706875 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:164.01, Y:86.60, Z:47.27 [[ 3.77283033e-01 2.20152882e-01 -8.99550011e-01 1.64009428e+02] [-1.06966215e-01 9.75191751e-01 1.93802161e-01 8.65963526e+01] [ 9.19899854e-01 2.31031928e-02 3.91472222e-01 4.72663283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.736875 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:164.02, Y:86.59, Z:47.29 [[ 3.76767638e-01 2.19794576e-01 -8.99853594e-01 1.64020496e+02] [-1.07422420e-01 9.75254346e-01 1.93234016e-01 8.65939788e+01] [ 9.20057917e-01 2.38601266e-02 3.91055142e-01 4.72916637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.766875 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:164.03, Y:86.59, Z:47.32 [[ 3.76611707e-01 2.19351784e-01 -9.00026898e-01 1.64031723e+02] [-1.07787291e-01 9.75338804e-01 1.92603522e-01 8.65919082e+01] [ 9.20079085e-01 2.44747198e-02 3.90967346e-01 4.73159013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.796875 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:164.04, Y:86.59, Z:47.34 [[ 3.75660432e-01 2.18919832e-01 -9.00529482e-01 1.64044120e+02] [-1.07571712e-01 9.75431458e-01 1.92254511e-01 8.65892324e+01] [ 9.20493111e-01 2.46490851e-02 3.89980584e-01 4.73408320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.82687500000003 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:164.05, Y:86.59, Z:47.37 [[ 3.75741044e-01 2.18260447e-01 -9.00655897e-01 1.64054969e+02] [-1.07332216e-01 9.75578871e-01 1.91639406e-01 8.65866855e+01] [ 9.20488166e-01 2.46626026e-02 3.89991401e-01 4.73652582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.856875 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:164.07, Y:86.58, Z:47.39 [[ 3.75991164e-01 2.17383646e-01 -9.00763562e-01 1.64065763e+02] [-1.06531829e-01 9.75787748e-01 1.91021572e-01 8.65841010e+01] [ 9.20479013e-01 2.41375662e-02 3.90045849e-01 4.73912780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.88687500000003 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:164.12, Y:86.60, Z:47.39 [[ 3.93730316e-01 1.67137199e-01 -9.03903532e-01 1.64119394e+02] [-9.86680946e-02 9.85334283e-01 1.39215511e-01 8.66009587e+01] [ 9.13915229e-01 3.43730720e-02 4.04447087e-01 4.73862056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.916875 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:164.14, Y:86.61, Z:47.41 [[ 3.93537781e-01 1.40146070e-01 -9.08563203e-01 1.64144474e+02] [-9.88481439e-02 9.89032605e-01 1.09743112e-01 8.66066149e+01] [ 9.13978698e-01 4.66217254e-02 4.03074875e-01 4.74059410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.94687500000003 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:164.11, Y:86.58, Z:47.46 [[ 3.76485585e-01 1.93380294e-01 -9.06014717e-01 1.64107566e+02] [-1.05428970e-01 9.80561357e-01 1.65481590e-01 8.65801115e+01] [ 9.20403899e-01 3.32187656e-02 3.89555101e-01 4.74623949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.976875 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:164.15, Y:86.59, Z:47.46 [[ 3.92919175e-01 1.57225337e-01 -9.06032403e-01 1.64154846e+02] [-9.80332519e-02 9.86822101e-01 1.28730818e-01 8.65927984e+01] [ 9.14332546e-01 3.82404960e-02 4.03154636e-01 4.74612251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.00687500000004 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:164.17, Y:86.59, Z:47.48 [[ 3.95044686e-01 1.40282828e-01 -9.07887892e-01 1.64174287e+02] [-9.22083526e-02 9.89336155e-01 1.12745697e-01 8.65948787e+01] [ 9.14022601e-01 3.91752582e-02 4.03767239e-01 4.74819227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.036875 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:164.14, Y:86.57, Z:47.54 [[ 3.76034340e-01 1.90063143e-01 -9.06903621e-01 1.64136670e+02] [-9.83988127e-02 9.81393907e-01 1.64874717e-01 8.65677193e+01] [ 9.21366295e-01 2.72396842e-02 3.87739798e-01 4.75416584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.06687500000004 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:164.18, Y:86.58, Z:47.54 [[ 3.93066180e-01 1.55852710e-01 -9.06205777e-01 1.64183680e+02] [-8.97905171e-02 9.87326668e-01 1.30857609e-01 8.65805714e+01] [ 9.15115644e-01 2.99329849e-02 4.02078817e-01 4.75401226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.096875 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:164.15, Y:86.56, Z:47.59 [[ 3.74415584e-01 2.00403285e-01 -9.05346063e-01 1.64151987e+02] [-9.28891293e-02 9.79560821e-01 1.78415829e-01 8.65617988e+01] [ 9.22596651e-01 1.72951407e-02 3.85378123e-01 4.75937096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.12687500000004 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:164.16, Y:86.56, Z:47.62 [[ 3.72884887e-01 2.13122342e-01 -9.03070168e-01 1.64157158e+02] [-9.07654209e-02 9.76974663e-01 1.93085853e-01 8.65579489e+01] [ 9.23427582e-01 9.96874725e-03 3.83643226e-01 4.76204051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.156875 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:164.17, Y:86.56, Z:47.65 [[ 3.72910854e-01 2.11725110e-01 -9.03388052e-01 1.64169344e+02] [-8.84136975e-02 9.77295958e-01 1.92550329e-01 8.65561482e+01] [ 9.23645231e-01 8.06777042e-03 3.83163670e-01 4.76459174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.186875 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:164.18, Y:86.55, Z:47.67 [[ 3.73832480e-01 2.10336980e-01 -9.03331407e-01 1.64179172e+02] [-8.63562139e-02 9.77608827e-01 1.91894724e-01 8.65532848e+01] [ 9.23467315e-01 6.27179970e-03 3.83625838e-01 4.76721203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.216875 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:164.19, Y:86.55, Z:47.70 [[ 3.75368547e-01 2.08319056e-01 -9.03162015e-01 1.64188845e+02] [-8.27145380e-02 9.78056541e-01 1.91216389e-01 8.65521804e+01] [ 9.23177534e-01 2.92801059e-03 3.84362677e-01 4.76982333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.246875 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:164.20, Y:86.55, Z:47.73 [[ 3.78471161e-01 2.06204544e-01 -9.02352074e-01 1.64198249e+02] [-7.91785249e-02 9.78508717e-01 1.90398139e-01 8.65516091e+01] [ 9.22220332e-01 -6.13298734e-04 3.86664302e-01 4.77251083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.276875 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:164.21, Y:86.55, Z:47.75 [[ 3.79341473e-01 2.05169457e-01 -9.02222556e-01 1.64208764e+02] [-7.81132290e-02 9.78725324e-01 1.89723649e-01 8.65510456e+01] [ 9.21953562e-01 -1.49453146e-03 3.87297555e-01 4.77496595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.306875 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:164.22, Y:86.55, Z:47.78 [[ 3.79393905e-01 2.04756438e-01 -9.02294334e-01 1.64220463e+02] [-7.80658652e-02 9.78811984e-01 1.89295593e-01 8.65506351e+01] [ 9.21935999e-01 -1.37920657e-03 3.87339789e-01 4.77757523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.336875 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:164.28, Y:86.57, Z:47.77 [[ 3.94335432e-01 1.53486201e-01 -9.06058250e-01 1.64279009e+02] [-7.61834737e-02 9.88019600e-01 1.34213813e-01 8.65697065e+01] [ 9.15803279e-01 1.61014031e-02 4.01304248e-01 4.77735656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.366875 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:164.25, Y:86.55, Z:47.83 [[ 3.78453045e-01 1.98885659e-01 -9.04000989e-01 1.64246481e+02] [-8.30802339e-02 9.79999997e-01 1.80824999e-01 8.65511975e+01] [ 9.21884466e-01 6.67084226e-03 3.87407450e-01 4.78259080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.396875 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:164.25, Y:86.55, Z:47.85 [[ 3.77641444e-01 2.07240364e-01 -9.02462393e-01 1.64253247e+02] [-8.53202657e-02 9.78273773e-01 1.88946759e-01 8.65485569e+01] [ 9.22012685e-01 5.64420427e-03 3.87118523e-01 4.78531149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.426875 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:164.27, Y:86.55, Z:47.88 [[ 3.75860717e-01 2.08517501e-01 -9.02911498e-01 1.64265957e+02] [-8.99629071e-02 9.77963166e-01 1.88400428e-01 8.65506793e+01] [ 9.22298974e-01 1.04162233e-02 3.86336778e-01 4.78770554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.456875 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:164.28, Y:86.55, Z:47.90 [[ 3.75522576e-01 2.08731147e-01 -9.03002826e-01 1.64277773e+02] [-9.18533141e-02 9.77894396e-01 1.87844402e-01 8.65503336e+01] [ 9.22250380e-01 1.24039883e-02 3.86394070e-01 4.79021522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.486875 meters Centerline goodness : 0.999838 Centerline is valid? [True, True] Translation: X:164.29, Y:86.55, Z:47.93 [[ 3.75283534e-01 2.08819909e-01 -9.03081677e-01 1.64288783e+02] [-9.35673156e-02 9.77850489e-01 1.87226008e-01 8.65494471e+01] [ 9.22175377e-01 1.42360903e-02 3.86509906e-01 4.79279910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.516875 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:164.30, Y:86.55, Z:47.95 [[ 3.74978448e-01 2.09211595e-01 -9.03117751e-01 1.64299659e+02] [-9.61259908e-02 9.77725235e-01 1.86582847e-01 8.65491809e+01] [ 9.22036310e-01 1.68485424e-02 3.86736563e-01 4.79543045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.546875 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:164.36, Y:86.57, Z:47.95 [[ 3.91235969e-01 1.53591367e-01 -9.07383110e-01 1.64359600e+02] [-9.24069116e-02 9.87548055e-01 1.27317719e-01 8.65679018e+01] [ 9.15639328e-01 3.40371997e-02 4.00557224e-01 4.79505598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.57687500000003 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:164.37, Y:86.57, Z:47.98 [[ 3.90882855e-01 1.49940207e-01 -9.08145654e-01 1.64373485e+02] [-9.32882647e-02 9.88015511e-01 1.22974180e-01 8.65702940e+01] [ 9.15700766e-01 3.66508335e-02 4.00185986e-01 4.79750999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.606875 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:164.34, Y:86.55, Z:48.03 [[ 3.73991244e-01 2.02525483e-01 -9.05049158e-01 1.64336952e+02] [-9.81635911e-02 9.79028052e-01 1.78516056e-01 8.65496775e+01] [ 9.22222565e-01 2.20794336e-02 3.86028548e-01 4.80294044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.63687500000003 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:164.34, Y:86.55, Z:48.06 [[ 3.73829567e-01 2.09652938e-01 -9.03491616e-01 1.64343895e+02] [-9.75287591e-02 9.77602753e-01 1.86496646e-01 8.65471261e+01] [ 9.22355461e-01 1.83984559e-02 3.85904005e-01 4.80567051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.666875 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:164.35, Y:86.55, Z:48.08 [[ 3.74335547e-01 2.08987382e-01 -9.03436313e-01 1.64354887e+02] [-9.73998049e-02 9.77744547e-01 1.85819478e-01 8.65456545e+01] [ 9.22163856e-01 1.84356847e-02 3.86359870e-01 4.80825471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.69687500000003 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:164.37, Y:86.55, Z:48.11 [[ 3.74985056e-01 2.07953970e-01 -9.03405421e-01 1.64366053e+02] [-9.63293860e-02 9.77980235e-01 1.85135919e-01 8.65453522e+01] [ 9.22012395e-01 1.76012865e-02 3.86760052e-01 4.81089491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.726875 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:164.38, Y:86.54, Z:48.13 [[ 3.75260681e-01 2.07067024e-01 -9.03494698e-01 1.64377570e+02] [-9.55977652e-02 9.78176514e-01 1.84477029e-01 8.65442572e+01] [ 9.21976404e-01 1.71450985e-02 3.86866329e-01 4.81342495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.75687500000004 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:164.39, Y:86.54, Z:48.16 [[ 3.74991610e-01 2.06409628e-01 -9.03756803e-01 1.64388770e+02] [-9.54160432e-02 9.78312863e-01 1.83847002e-01 8.65433390e+01] [ 9.22104697e-01 1.72918149e-02 3.86553905e-01 4.81587685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.786875 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:164.46, Y:86.57, Z:48.15 [[ 3.93269180e-01 1.41449167e-01 -9.08477564e-01 1.64456295e+02] [-9.00704596e-02 9.89269220e-01 1.15037922e-01 8.65660083e+01] [ 9.15000909e-01 3.65861223e-02 4.01789486e-01 4.81516820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.81687500000004 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:164.41, Y:86.54, Z:48.21 [[ 3.73611436e-01 2.04964573e-01 -9.04656852e-01 1.64410174e+02] [-9.47577469e-02 9.78612813e-01 1.82586777e-01 8.65413015e+01] [ 9.22732607e-01 1.75067370e-02 3.85042919e-01 4.82097727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.846875 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:164.42, Y:86.54, Z:48.23 [[ 3.73979882e-01 2.05295111e-01 -9.04429635e-01 1.64420134e+02] [-9.33505341e-02 9.78572660e-01 1.83524461e-01 8.65399233e+01] [ 9.22726788e-01 1.57945333e-02 3.85130896e-01 4.82345305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.87687500000004 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:164.47, Y:86.55, Z:48.24 [[ 3.87203489e-01 1.57990193e-01 -9.08357065e-01 1.64472283e+02] [-8.92420041e-02 9.87005221e-01 1.33628431e-01 8.65539087e+01] [ 9.17665148e-01 2.93222101e-02 3.96271226e-01 4.82380890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.906875 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:164.44, Y:86.53, Z:48.29 [[ 3.73674689e-01 2.12218484e-01 -9.02956556e-01 1.64435963e+02] [-9.07418193e-02 9.77169532e-01 1.92108374e-01 8.65340803e+01] [ 9.23110583e-01 1.01498838e-02 3.84400612e-01 4.82889586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.936875 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:164.45, Y:86.53, Z:48.31 [[ 3.74021245e-01 2.03204756e-01 -9.04884487e-01 1.64450565e+02] [-8.91102226e-02 9.79060537e-01 1.83029595e-01 8.65346362e+01] [ 9.23129176e-01 1.21775009e-02 3.84297062e-01 4.83125331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.966875 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:164.46, Y:86.53, Z:48.34 [[ 3.74444625e-01 2.02244723e-01 -9.04924469e-01 1.64461920e+02] [-8.80097211e-02 9.79269506e-01 1.82443208e-01 8.65336046e+01] [ 9.23063114e-01 1.13272717e-02 3.84481705e-01 4.83380424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.996875 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:164.47, Y:86.53, Z:48.36 [[ 3.74877641e-01 2.01447795e-01 -9.04922947e-01 1.64473613e+02] [-8.74951844e-02 9.79437174e-01 1.81789479e-01 8.65322407e+01] [ 9.22936264e-01 1.10275893e-02 3.84794809e-01 4.83632758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.026875 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:164.48, Y:86.53, Z:48.39 [[ 3.74767088e-01 2.00784255e-01 -9.05116187e-01 1.64484757e+02] [-8.72980923e-02 9.79572325e-01 1.81154916e-01 8.65308098e+01] [ 9.22999823e-01 1.11240160e-02 3.84639550e-01 4.83888585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.056875 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:164.50, Y:86.53, Z:48.41 [[ 3.75046568e-01 2.00355124e-01 -9.05095518e-01 1.64496296e+02] [-8.77867656e-02 9.79652687e-01 1.80482952e-01 8.65300265e+01] [ 9.22839941e-01 1.17658966e-02 3.85003906e-01 4.84141108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.086875 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:164.51, Y:86.53, Z:48.44 [[ 3.74888090e-01 2.00008513e-01 -9.05237822e-01 1.64507206e+02] [-8.84208006e-02 9.79712883e-01 1.79845569e-01 8.65287734e+01] [ 9.22843802e-01 1.26198910e-02 3.84967604e-01 4.84404265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.116875 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:164.52, Y:86.53, Z:48.46 [[ 3.74894043e-01 1.99727033e-01 -9.05297503e-01 1.64517663e+02] [-8.92936862e-02 9.79756285e-01 1.79176617e-01 8.65277662e+01] [ 9.22757332e-01 1.36651047e-02 3.85139158e-01 4.84648491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.146875 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:164.53, Y:86.53, Z:48.49 [[ 3.74242851e-01 2.00480191e-01 -9.05400454e-01 1.64528380e+02] [-9.21310873e-02 9.79558904e-01 1.78818947e-01 8.65273633e+01] [ 9.22742733e-01 1.64938157e-02 3.85063375e-01 4.84911201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.176875 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:164.54, Y:86.53, Z:48.52 [[ 3.73535849e-01 2.00356716e-01 -9.05719689e-01 1.64539596e+02] [-9.33004870e-02 9.79558831e-01 1.78211996e-01 8.65267519e+01] [ 9.22911690e-01 1.79355189e-02 3.84593719e-01 4.85156405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.206875 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:164.60, Y:86.55, Z:48.51 [[ 3.89354941e-01 1.40089667e-01 -9.10372240e-01 1.64602364e+02] [-9.17028421e-02 9.89351504e-01 1.13022963e-01 8.65476057e+01] [ 9.16511494e-01 3.94776727e-02 3.98055517e-01 4.85123232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.236875 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:164.62, Y:86.55, Z:48.54 [[ 3.89463412e-01 1.36796264e-01 -9.10826566e-01 1.64616013e+02] [-9.24593579e-02 9.89720276e-01 1.09110234e-01 8.65475229e+01] [ 9.16389392e-01 4.17199956e-02 3.98107930e-01 4.85357575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.266875 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:164.63, Y:86.55, Z:48.56 [[ 3.86186719e-01 1.37000148e-01 -9.12190100e-01 1.64626125e+02] [-9.36966229e-02 9.89620282e-01 1.08961645e-01 8.65461807e+01] [ 9.17649585e-01 4.33895916e-02 3.95014661e-01 4.85622626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.296875 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:164.63, Y:86.54, Z:48.59 [[ 3.83548474e-01 1.42984132e-01 -9.12384845e-01 1.64633586e+02] [-9.40796939e-02 9.88851663e-01 1.15418373e-01 8.65439569e+01] [ 9.18716267e-01 4.15683463e-02 3.92724450e-01 4.85892850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.32687500000003 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:164.65, Y:86.55, Z:48.61 [[ 3.81826351e-01 1.36229530e-01 -9.14139023e-01 1.64647863e+02] [-9.43326028e-02 9.89656352e-01 1.08081751e-01 8.65452216e+01] [ 9.19407417e-01 4.49646527e-02 3.90727760e-01 4.86142423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.356875 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:164.66, Y:86.54, Z:48.64 [[ 3.78426828e-01 1.36410023e-01 -9.15524681e-01 1.64658764e+02] [-9.58641065e-02 9.89538499e-01 1.07812953e-01 8.65429663e+01] [ 9.20653686e-01 4.69666416e-02 3.87544741e-01 4.86409696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.38687500000003 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:164.66, Y:86.54, Z:48.67 [[ 3.74796722e-01 1.47647613e-01 -9.15274603e-01 1.64659735e+02] [-9.48449919e-02 9.88163896e-01 1.20567585e-01 8.65370081e+01] [ 9.22242834e-01 4.16208767e-02 3.84364226e-01 4.86714302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.416875 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:164.62, Y:86.51, Z:48.73 [[ 3.55803056e-01 2.08408522e-01 -9.11026934e-01 1.64616865e+02] [-9.72677089e-02 9.77782011e-01 1.85691497e-01 8.65133556e+01] [ 9.29485437e-01 2.25439004e-02 3.68169247e-01 4.87264422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.44687500000003 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:164.63, Y:86.51, Z:48.75 [[ 3.56815168e-01 2.05401008e-01 -9.11314085e-01 1.64626067e+02] [-9.24810367e-02 9.78502918e-01 1.84334744e-01 8.65107096e+01] [ 9.29586034e-01 1.85058388e-02 3.68140381e-01 4.87526757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.476875 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:164.69, Y:86.53, Z:48.75 [[ 3.77193202e-01 1.31865998e-01 -9.16698777e-01 1.64694626e+02] [-8.50799870e-02 9.90559838e-01 1.07483037e-01 8.65324569e+01] [ 9.22218350e-01 3.74508490e-02 3.84851594e-01 4.87471749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.50687500000004 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:164.64, Y:86.50, Z:48.81 [[ 3.56893963e-01 2.07042049e-01 -9.10911790e-01 1.64639778e+02] [-8.65710624e-02 9.78263173e-01 1.88431991e-01 8.65037043e+01] [ 9.30124804e-01 1.16083616e-02 3.67060070e-01 4.88067137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.536875 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:164.65, Y:86.50, Z:48.83 [[ 3.57748025e-01 2.01660179e-01 -9.11783704e-01 1.64650678e+02] [-8.38425673e-02 9.79396865e-01 1.83717732e-01 8.65022308e+01] [ 9.30046652e-01 1.07216310e-02 3.67285001e-01 4.88316522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.56687500000004 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:164.66, Y:86.50, Z:48.86 [[ 3.60656701e-01 1.99210117e-01 -9.11176203e-01 1.64658737e+02] [-7.84082526e-02 9.79942097e-01 1.83209260e-01 8.64992869e+01] [ 9.29397057e-01 5.36808664e-03 3.69042401e-01 4.88582202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.596875 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:164.67, Y:86.50, Z:48.88 [[ 3.61852087e-01 1.97559144e-01 -9.11061717e-01 1.64667894e+02] [-7.56876531e-02 9.80286636e-01 1.82508880e-01 8.64969968e+01] [ 9.29157923e-01 2.91490398e-03 3.69671553e-01 4.88847305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.62687500000004 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:164.68, Y:86.49, Z:48.91 [[ 3.62796563e-01 1.96102281e-01 -9.11000850e-01 1.64676937e+02] [-7.34705903e-02 9.80582969e-01 1.81821652e-01 8.64947381e+01] [ 9.28967559e-01 9.67499920e-04 3.70159882e-01 4.89099796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.656875 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:164.68, Y:86.49, Z:48.94 [[ 3.64219581e-01 1.94534231e-01 -9.10769197e-01 1.64684546e+02] [-7.02941145e-02 9.80893591e-01 1.81401488e-01 8.64922923e+01] [ 9.28656468e-01 -2.04825949e-03 3.70935264e-01 4.89369689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.686875 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:164.69, Y:86.49, Z:48.96 [[ 3.64892038e-01 1.93565862e-01 -9.10706351e-01 1.64694581e+02] [-6.94088680e-02 9.81083485e-01 1.80714153e-01 8.64903104e+01] [ 9.28459051e-01 -2.73005864e-03 3.71424739e-01 4.89635574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.716875 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:164.70, Y:86.49, Z:48.99 [[ 3.66707330e-01 1.92764977e-01 -9.10146910e-01 1.64703355e+02] [-6.92742242e-02 9.81240597e-01 1.79911015e-01 8.64885749e+01] [ 9.27753640e-01 -2.92496697e-03 3.73181763e-01 4.89902141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.746875 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:164.71, Y:86.49, Z:49.02 [[ 3.67463351e-01 1.92384691e-01 -9.09922423e-01 1.64712693e+02] [-7.00838978e-02 9.81317403e-01 1.79177013e-01 8.64870841e+01] [ 9.27393623e-01 -2.07007543e-03 3.74081251e-01 4.90155039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.776875 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:164.72, Y:86.49, Z:49.04 [[ 3.68494319e-01 1.92295909e-01 -9.09524173e-01 1.64722298e+02] [-7.09912720e-02 9.81336143e-01 1.78716575e-01 8.64858779e+01] [ 9.26915410e-01 -1.28776453e-03 3.75268124e-01 4.90415948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.806875 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:164.73, Y:86.48, Z:49.07 [[ 3.68541455e-01 1.91602320e-01 -9.09651443e-01 1.64733394e+02] [-7.07463002e-02 9.81471821e-01 1.78067473e-01 8.64839846e+01] [ 9.26915399e-01 -1.27077144e-03 3.75268208e-01 4.90678941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.836875 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:164.74, Y:86.48, Z:49.09 [[ 3.71107567e-01 1.92069602e-01 -9.08508911e-01 1.64742628e+02] [-7.40767681e-02 9.81380109e-01 1.77216575e-01 8.64836203e+01] [ 9.25630491e-01 1.53299195e-03 3.78425479e-01 4.90940418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.866875 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:164.75, Y:86.48, Z:49.12 [[ 3.72813016e-01 1.92076097e-01 -9.07809026e-01 1.64752415e+02] [-7.60891286e-02 9.81374444e-01 1.76393438e-01 8.64823244e+01] [ 9.24781542e-01 3.31262820e-03 3.80484069e-01 4.91196418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.896875 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:164.76, Y:86.48, Z:49.14 [[ 3.75720530e-01 1.93022631e-01 -9.06408488e-01 1.64761764e+02] [-8.00964195e-02 9.81172309e-01 1.75742608e-01 8.64824773e+01] [ 9.23265210e-01 6.56996875e-03 3.84107001e-01 4.91447893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.926875 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:164.77, Y:86.48, Z:49.17 [[ 3.77054062e-01 1.93130546e-01 -9.05831566e-01 1.64773190e+02] [-8.16737194e-02 9.81141052e-01 1.75190295e-01 8.64820513e+01] [ 9.22583133e-01 7.92642059e-03 3.85716910e-01 4.91703392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.956875 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:164.79, Y:86.48, Z:49.20 [[ 3.77695788e-01 1.93081234e-01 -9.05574696e-01 1.64785377e+02] [-8.32374254e-02 9.81136986e-01 1.74475629e-01 8.64815684e+01] [ 9.22180797e-01 9.47899600e-03 3.86642892e-01 4.91960379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.986875 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:164.80, Y:86.48, Z:49.22 [[ 3.78123809e-01 1.93658744e-01 -9.05272708e-01 1.64798869e+02] [-8.64285879e-02 9.80988804e-01 1.73755766e-01 8.64827667e+01] [ 9.21711714e-01 1.25402496e-02 3.87672874e-01 4.92202440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.016875 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:164.81, Y:86.48, Z:49.24 [[ 3.78188052e-01 1.93960160e-01 -9.05181337e-01 1.64811102e+02] [-8.81122568e-02 9.80906774e-01 1.73372810e-01 8.64822818e+01] [ 9.21525923e-01 1.41900453e-02 3.88057489e-01 4.92445801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.046875 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:164.82, Y:86.48, Z:49.27 [[ 3.77560016e-01 1.94159328e-01 -9.05400790e-01 1.64823001e+02] [-8.96077143e-02 9.80842367e-01 1.72970254e-01 8.64819332e+01] [ 9.21639242e-01 1.58242435e-02 3.87725033e-01 4.92705097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.07687500000003 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:164.84, Y:86.48, Z:49.30 [[ 3.75882726e-01 1.94694783e-01 -9.05983509e-01 1.64836483e+02] [-9.24040437e-02 9.80681563e-01 1.72409871e-01 8.64826653e+01] [ 9.22048626e-01 1.89106472e-02 3.86611845e-01 4.92959139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.106875 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:164.89, Y:86.50, Z:49.30 [[ 3.89517673e-01 1.48835708e-01 -9.08913590e-01 1.64886173e+02] [-8.84925050e-02 9.88338718e-01 1.23917939e-01 8.64989051e+01] [ 9.16757906e-01 3.21638133e-02 3.98146242e-01 4.92994336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.13687500000003 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:164.86, Y:86.48, Z:49.35 [[ 3.73313117e-01 1.85032099e-01 -9.09065696e-01 1.64864626e+02] [-9.46696772e-02 9.82390390e-01 1.61080023e-01 8.64835495e+01] [ 9.22862378e-01 2.59276704e-02 3.84256148e-01 4.93456463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.166875 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:164.91, Y:86.50, Z:49.35 [[ 3.88900062e-01 1.42336312e-01 -9.10218169e-01 1.64913912e+02] [-8.93545663e-02 9.89162603e-01 1.16503674e-01 8.64999236e+01] [ 9.16936477e-01 3.60238638e-02 3.97403797e-01 4.93465003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.19687500000003 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:164.89, Y:86.48, Z:49.40 [[ 3.69067939e-01 1.79604101e-01 -9.11883339e-01 1.64890499e+02] [-9.58488532e-02 9.83273934e-01 1.54872105e-01 8.64835735e+01] [ 9.24446782e-01 3.02446435e-02 3.80109732e-01 4.93951979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.226875 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:164.89, Y:86.48, Z:49.42 [[ 3.67316439e-01 1.95878692e-01 -9.09236037e-01 1.64893335e+02] [-9.50865821e-02 9.80358642e-01 1.72787370e-01 8.64786390e+01] [ 9.25222771e-01 2.29885057e-02 3.78727281e-01 4.94246084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.25687500000004 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:164.91, Y:86.48, Z:49.45 [[ 3.65374401e-01 1.94744026e-01 -9.10261672e-01 1.64905233e+02] [-9.33911570e-02 9.80606136e-01 1.72306990e-01 8.64782735e+01] [ 9.26163937e-01 2.20538277e-02 3.76475749e-01 4.94499575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.286875 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:164.92, Y:86.48, Z:49.47 [[ 3.64490772e-01 1.93665218e-01 -9.10845904e-01 1.64915977e+02] [-9.20208549e-02 9.80838045e-01 1.71723297e-01 8.64773083e+01] [ 9.26649146e-01 2.12252615e-02 3.75327656e-01 4.94747033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.31687500000004 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:164.93, Y:86.48, Z:49.50 [[ 3.63851752e-01 1.92826634e-01 -9.11279206e-01 1.64927142e+02] [-9.07927186e-02 9.81020804e-01 1.71332616e-01 8.64762167e+01] [ 9.27021351e-01 2.03978442e-02 3.74453392e-01 4.95007194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.346875 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:164.94, Y:86.48, Z:49.53 [[ 3.62691568e-01 1.91658151e-01 -9.11987928e-01 1.64937548e+02] [-8.91262844e-02 9.81271095e-01 1.70773370e-01 8.64757477e+01] [ 9.27637500e-01 1.93440342e-02 3.72980531e-01 4.95254260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.37687500000004 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:164.95, Y:86.47, Z:49.55 [[ 3.62339980e-01 1.91177103e-01 -9.12228620e-01 1.64947967e+02] [-8.87027437e-02 9.81368497e-01 1.70433850e-01 8.64742340e+01] [ 9.27815479e-01 1.91621836e-02 3.72546975e-01 4.95518292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.406875 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:164.99, Y:86.49, Z:49.56 [[ 3.76076872e-01 1.45065580e-01 -9.15162370e-01 1.64992792e+02] [-8.31938657e-02 9.88965985e-01 1.22576757e-01 8.64902137e+01] [ 9.22846123e-01 3.00376118e-02 3.83995801e-01 4.95554252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.436875 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:165.01, Y:86.49, Z:49.58 [[ 3.73828717e-01 1.32705573e-01 -9.17954967e-01 1.65005762e+02] [-8.39886469e-02 9.90488539e-01 1.08987897e-01 8.64906219e+01] [ 9.23687175e-01 3.63549898e-02 3.81418821e-01 4.95819821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.466875 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:165.01, Y:86.49, Z:49.61 [[ 3.72907775e-01 1.36348794e-01 -9.17795619e-01 1.65013854e+02] [-8.35803694e-02 9.90059122e-01 1.13124965e-01 8.64881239e+01] [ 9.24096376e-01 3.45245178e-02 3.80596827e-01 4.96092313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.496875 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:165.02, Y:86.49, Z:49.64 [[ 3.72548770e-01 1.35637335e-01 -9.18046800e-01 1.65023678e+02] [-8.31895760e-02 9.90159508e-01 1.12532850e-01 8.64862415e+01] [ 9.24276424e-01 3.44479491e-02 3.80166320e-01 4.96357245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.526875 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:165.03, Y:86.48, Z:49.67 [[ 3.73153393e-01 1.42104686e-01 -9.16822122e-01 1.65027620e+02] [-8.24986151e-02 9.89367861e-01 1.19771511e-01 8.64813370e+01] [ 9.24094435e-01 3.09434097e-02 3.80909414e-01 4.96655954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.556875 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:165.04, Y:86.48, Z:49.69 [[ 3.76957238e-01 1.33899892e-01 -9.16500987e-01 1.65043063e+02] [-8.13556953e-02 9.90457567e-01 1.11243244e-01 8.64813065e+01] [ 9.22650796e-01 3.26286292e-02 3.84253668e-01 4.96886693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.586875 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:165.02, Y:86.46, Z:49.74 [[ 3.65206079e-01 1.74169289e-01 -9.14488698e-01 1.65018947e+02] [-8.54271324e-02 9.84467556e-01 1.53381345e-01 8.64628533e+01] [ 9.26998773e-01 2.21063476e-02 3.74412319e-01 4.97364963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.616875 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:165.05, Y:86.47, Z:49.75 [[ 3.78154083e-01 1.50757069e-01 -9.13384801e-01 1.65051636e+02] [-8.17610676e-02 9.88234148e-01 1.29260966e-01 8.64702867e+01] [ 9.22125055e-01 2.57987542e-02 3.86030837e-01 4.97472025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.646875 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:165.07, Y:86.47, Z:49.77 [[ 3.82447958e-01 1.40447867e-01 -9.13240360e-01 1.65067931e+02] [-8.05315254e-02 9.89685468e-01 1.18479318e-01 8.64704465e+01] [ 9.20460881e-01 2.82324659e-02 3.89813667e-01 4.97710515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.676875 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:165.04, Y:86.45, Z:49.82 [[ 3.71427446e-01 1.78517849e-01 -9.11138316e-01 1.65044292e+02] [-8.40266839e-02 9.83777637e-01 1.58496299e-01 8.64532747e+01] [ 9.24651918e-01 1.76900558e-02 3.80402278e-01 4.98170850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.706875 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:165.09, Y:86.47, Z:49.82 [[ 3.89361634e-01 1.27708211e-01 -9.12188649e-01 1.65094744e+02] [-7.77743396e-02 9.91363091e-01 1.05595332e-01 8.64675706e+01] [ 9.17795549e-01 2.98300987e-02 3.95931175e-01 4.98189869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.736875 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:165.11, Y:86.47, Z:49.85 [[ 3.88868240e-01 1.23348263e-01 -9.12998739e-01 1.65106703e+02] [-7.75396123e-02 9.91862523e-01 1.00976949e-01 8.64656288e+01] [ 9.18024564e-01 3.15268398e-02 3.95268210e-01 4.98453834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.766875 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:165.07, Y:86.44, Z:49.90 [[ 3.72674814e-01 1.80906192e-01 -9.10157367e-01 1.65072008e+02] [-8.18060671e-02 9.83399347e-01 1.61967563e-01 8.64423590e+01] [ 9.24349096e-01 1.40951633e-02 3.81287393e-01 4.98962544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.796875 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:165.08, Y:86.44, Z:49.92 [[ 3.72794349e-01 1.84120267e-01 -9.09463634e-01 1.65081059e+02] [-8.11812201e-02 9.82829725e-01 1.65696534e-01 8.64394570e+01] [ 9.24355983e-01 1.20606360e-02 3.81340475e-01 4.99225282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.82687500000003 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:165.14, Y:86.46, Z:49.92 [[ 3.86780542e-01 1.33184519e-01 -9.12503532e-01 1.65135409e+02] [-7.54463134e-02 9.90768731e-01 1.12628485e-01 8.64550378e+01] [ 9.19080337e-01 2.52825209e-02 3.93258348e-01 4.99233550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.856875 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:165.14, Y:86.45, Z:49.95 [[ 3.81330498e-01 1.35376464e-01 -9.14472670e-01 1.65142732e+02] [-7.63478327e-02 9.90451826e-01 1.14787584e-01 8.64512101e+01] [ 9.21280663e-01 2.60459998e-02 3.88025187e-01 4.99526725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.88687500000003 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:165.12, Y:86.43, Z:50.00 [[ 3.67861709e-01 1.82648357e-01 -9.11766056e-01 1.65115942e+02] [-7.98818899e-02 9.83102070e-01 1.64709454e-01 8.64320814e+01] [ 9.26443008e-01 1.22432946e-02 3.76235903e-01 4.99993025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.916875 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:165.12, Y:86.43, Z:50.03 [[ 3.67934187e-01 1.87575801e-01 -9.10735830e-01 1.65124217e+02] [-7.88959582e-02 9.82207520e-01 1.70422461e-01 8.64282888e+01] [ 9.26498711e-01 9.14912618e-03 3.76186698e-01 5.00253109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.94687500000003 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:165.17, Y:86.44, Z:50.03 [[ 3.79065707e-01 1.45285950e-01 -9.13893420e-01 1.65169225e+02] [-7.31409575e-02 9.89212382e-01 1.26922275e-01 8.64403179e+01] [ 9.22474710e-01 1.87311580e-02 3.85602844e-01 5.00309209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.976875 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:165.15, Y:86.43, Z:50.08 [[ 3.64914456e-01 1.73768464e-01 -9.14681344e-01 1.65152422e+02] [-7.74938873e-02 9.84688431e-01 1.56151820e-01 8.64261542e+01] [ 9.27810399e-01 1.39001564e-02 3.72793037e-01 5.00751278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.00687500000004 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:165.16, Y:86.42, Z:50.10 [[ 3.63468890e-01 1.86560318e-01 -9.12735238e-01 1.65156827e+02] [-7.71847640e-02 9.82405550e-01 1.70064248e-01 8.64208937e+01] [ 9.28403403e-01 8.63619053e-03 3.71473469e-01 5.01029372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.036875 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:165.17, Y:86.42, Z:50.13 [[ 3.59235478e-01 1.86205457e-01 -9.14482039e-01 1.65167734e+02] [-7.72884858e-02 9.82462732e-01 1.69686390e-01 8.64190491e+01] [ 9.30041054e-01 9.72156060e-03 3.67327007e-01 5.01278511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.06687500000004 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:165.20, Y:86.43, Z:50.14 [[ 3.67499611e-01 1.54545548e-01 -9.17093076e-01 1.65204288e+02] [-7.35830052e-02 9.87836941e-01 1.36980726e-01 8.64293614e+01] [ 9.27108180e-01 1.71421009e-02 3.74401618e-01 5.01373277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.096875 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:165.20, Y:86.42, Z:50.18 [[ 3.55158874e-01 1.67732558e-01 -9.19634690e-01 1.65197676e+02] [-7.86466638e-02 9.85644266e-01 1.49399077e-01 8.64192876e+01] [ 9.31491748e-01 1.92657923e-02 3.63251914e-01 5.01774412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.12687500000004 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:165.23, Y:86.43, Z:50.18 [[ 3.67501978e-01 1.42616255e-01 -9.19022796e-01 1.65233098e+02] [-7.39026270e-02 9.89525770e-01 1.24004647e-01 8.64290427e+01] [ 9.27081818e-01 2.23462457e-02 3.74192394e-01 5.01840282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.156875 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:165.22, Y:86.42, Z:50.23 [[ 3.53645463e-01 1.64876015e-01 -9.20733830e-01 1.65217627e+02] [-7.88770884e-02 9.86093007e-01 1.46283928e-01 8.64158984e+01] [ 9.32047902e-01 2.08921564e-02 3.61732258e-01 5.02289594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.186875 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:165.21, Y:86.41, Z:50.26 [[ 3.53895750e-01 1.85919764e-01 -9.16619681e-01 1.65214630e+02] [-7.71974727e-02 9.82505760e-01 1.69478557e-01 8.64091544e+01] [ 9.32093530e-01 1.07829815e-02 3.62057149e-01 5.02586538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.216875 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:165.22, Y:86.41, Z:50.28 [[ 3.54579001e-01 1.85059506e-01 -9.16529711e-01 1.65223409e+02] [-7.61036065e-02 9.82678084e-01 1.68973442e-01 8.64070225e+01] [ 9.31923802e-01 9.83678221e-03 3.62520709e-01 5.02837950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.246875 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:165.27, Y:86.42, Z:50.29 [[ 3.70724694e-01 1.32320821e-01 -9.19268406e-01 1.65273746e+02] [-6.99866688e-02 9.90964548e-01 1.14416481e-01 8.64233900e+01] [ 9.26102083e-01 2.19195186e-02 3.76635722e-01 5.02857043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.276875 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:165.25, Y:86.41, Z:50.33 [[ 3.57454655e-01 1.69467883e-01 -9.18426266e-01 1.65246431e+02] [-7.26131817e-02 9.85465148e-01 1.53576588e-01 8.64054223e+01] [ 9.31103375e-01 1.17931871e-02 3.64564706e-01 5.03345188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.306875 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:165.25, Y:86.40, Z:50.36 [[ 3.58366084e-01 1.82882892e-01 -9.15493090e-01 1.65248653e+02] [-7.12270985e-02 9.83122893e-01 1.68511356e-01 8.64002576e+01] [ 9.30860059e-01 4.81916176e-03 3.65344119e-01 5.03630775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.336875 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:165.26, Y:86.40, Z:50.39 [[ 3.60799408e-01 1.81377553e-01 -9.14836581e-01 1.65257941e+02] [-6.91792448e-02 9.83409592e-01 1.67689616e-01 8.63985721e+01] [ 9.30074201e-01 2.78538971e-03 3.67361161e-01 5.03898702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.366875 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:165.27, Y:86.40, Z:50.42 [[ 3.61869242e-01 1.80282718e-01 -9.14630414e-01 1.65268440e+02] [-6.80899324e-02 9.83613063e-01 1.66940419e-01 8.63969608e+01] [ 9.29738895e-01 1.86652040e-03 3.68214751e-01 5.04164320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.396875 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:165.28, Y:86.40, Z:50.44 [[ 3.63098269e-01 1.79276581e-01 -9.14341049e-01 1.65279489e+02] [-6.73126470e-02 9.83797965e-01 1.66164289e-01 8.63951280e+01] [ 9.29316230e-01 1.21275059e-03 3.69282919e-01 5.04425937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.426875 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:165.29, Y:86.39, Z:50.47 [[ 3.65924428e-01 1.77952120e-01 -9.13472690e-01 1.65289799e+02] [-6.59280475e-02 9.84039113e-01 1.65289192e-01 8.63931585e+01] [ 9.28306418e-01 -2.59882193e-04 3.71815985e-01 5.04672524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.456875 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:165.30, Y:86.39, Z:50.49 [[ 3.66787408e-01 1.77258658e-01 -9.13261389e-01 1.65300461e+02] [-6.51467072e-02 9.84163820e-01 1.64855941e-01 8.63910757e+01] [ 9.28020961e-01 -9.71111178e-04 3.72526715e-01 5.04928154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.486875 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:165.31, Y:86.39, Z:50.52 [[ 3.67579738e-01 1.76315227e-01 -9.13125444e-01 1.65312539e+02] [-6.44690686e-02 9.84332678e-01 1.64112518e-01 8.63889654e+01] [ 9.27754749e-01 -1.45608966e-03 3.73187627e-01 5.05174121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.516875 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:165.32, Y:86.39, Z:50.54 [[ 3.67371596e-01 1.75774702e-01 -9.13313399e-01 1.65323487e+02] [-6.41508337e-02 9.84429227e-01 1.63657469e-01 8.63870779e+01] [ 9.27859246e-01 -1.53328971e-03 3.72927430e-01 5.05433992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.546875 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:165.34, Y:86.39, Z:50.57 [[ 3.67544166e-01 1.75092577e-01 -9.13374992e-01 1.65335205e+02] [-6.40512889e-02 9.84550988e-01 1.62962522e-01 8.63851504e+01] [ 9.27797779e-01 -1.39307862e-03 3.73080877e-01 5.05692068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.57687500000003 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:165.35, Y:86.38, Z:50.59 [[ 3.66582891e-01 1.75031487e-01 -9.13772927e-01 1.65346743e+02] [-6.54651454e-02 9.84562786e-01 1.62328170e-01 8.63835188e+01] [ 9.28079360e-01 3.13547749e-04 3.72382335e-01 5.05933751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.606875 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:165.36, Y:86.38, Z:50.62 [[ 3.66122943e-01 1.75003091e-01 -9.13962750e-01 1.65357671e+02] [-6.62764482e-02 9.84567062e-01 1.61972630e-01 8.63816328e+01] [ 9.28203331e-01 1.27230877e-03 3.72071173e-01 5.06193862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.63687500000003 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:165.37, Y:86.38, Z:50.65 [[ 3.66096181e-01 1.74821795e-01 -9.14008165e-01 1.65368784e+02] [-6.75138762e-02 9.84596488e-01 1.61281222e-01 8.63796054e+01] [ 9.28124702e-01 2.66379486e-03 3.72259911e-01 5.06451833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.666875 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:165.38, Y:86.38, Z:50.67 [[ 3.65548386e-01 1.75063981e-01 -9.14181043e-01 1.65380540e+02] [-6.98729880e-02 9.84543485e-01 1.60598544e-01 8.63785948e+01] [ 9.28166011e-01 5.17002253e-03 3.72130525e-01 5.06698159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.69687500000003 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:165.39, Y:86.38, Z:50.70 [[ 3.65457809e-01 1.75245362e-01 -9.14182505e-01 1.65391862e+02] [-7.13474799e-02 9.84502148e-01 1.60203177e-01 8.63773205e+01] [ 9.28089504e-01 6.67711590e-03 3.72297313e-01 5.06952445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.726875 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:165.40, Y:86.38, Z:50.72 [[ 3.65493099e-01 1.74543878e-01 -9.14302592e-01 1.65402696e+02] [-7.11761574e-02 9.84626092e-01 1.59516186e-01 8.63757238e+01] [ 9.28088762e-01 6.77448000e-03 3.72297404e-01 5.07216357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.75687500000004 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:165.42, Y:86.37, Z:50.75 [[ 3.63643202e-01 1.75507582e-01 -9.14855568e-01 1.65415315e+02] [-7.46801279e-02 9.84422714e-01 1.59169091e-01 8.63746075e+01] [ 9.28539983e-01 1.04407729e-02 3.71085556e-01 5.07472146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.786875 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:165.43, Y:86.37, Z:50.77 [[ 3.62443394e-01 1.75566149e-01 -9.15320334e-01 1.65426949e+02] [-7.64606164e-02 9.84387957e-01 1.58537456e-01 8.63732924e+01] [ 9.28864124e-01 1.25251032e-02 3.70208808e-01 5.07733183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.81687500000004 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:165.44, Y:86.37, Z:50.80 [[ 3.60886912e-01 1.75823287e-01 -9.15885805e-01 1.65437524e+02] [-7.87587423e-02 9.84305297e-01 1.57924485e-01 8.63719117e+01] [ 9.29278052e-01 1.51411344e-02 3.69070520e-01 5.07981871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.846875 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:165.45, Y:86.37, Z:50.82 [[ 3.59125035e-01 1.76196772e-01 -9.16506359e-01 1.65448177e+02] [-8.05749253e-02 9.84204065e-01 1.57638957e-01 8.63703424e+01] [ 9.29804759e-01 1.72353356e-02 3.67649361e-01 5.08244862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.87687500000004 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:165.46, Y:86.37, Z:50.85 [[ 3.55412967e-01 1.77323435e-01 -9.17735268e-01 1.65459182e+02] [-8.51443833e-02 9.83900115e-01 1.57133691e-01 8.63692840e+01] [ 9.30823322e-01 2.22926522e-02 3.64788953e-01 5.08507204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.906875 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:165.47, Y:86.37, Z:50.88 [[ 3.54210362e-01 1.77528620e-01 -9.18160448e-01 1.65469767e+02] [-8.74492510e-02 9.83801485e-01 1.56484075e-01 8.63683523e+01] [ 9.31068015e-01 2.48641626e-02 3.63997425e-01 5.08758716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.936875 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:165.48, Y:86.37, Z:50.90 [[ 3.53471191e-01 1.77824090e-01 -9.18388104e-01 1.65480435e+02] [-8.94727825e-02 9.83691326e-01 1.56032034e-01 8.63673258e+01] [ 9.31156667e-01 2.70179102e-02 3.63616961e-01 5.09022177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.966875 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:165.49, Y:86.37, Z:50.93 [[ 3.53687435e-01 1.78605164e-01 -9.18153252e-01 1.65490757e+02] [-9.34696347e-02 9.83435741e-01 1.55298329e-01 8.63665261e+01] [ 9.30681807e-01 3.08923813e-02 3.64523024e-01 5.09286606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.996875 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:165.50, Y:86.37, Z:50.95 [[ 3.54432678e-01 1.78500660e-01 -9.17886154e-01 1.65499961e+02] [-9.50251938e-02 9.83404713e-01 1.54548967e-01 8.63652359e+01] [ 9.30240662e-01 3.24451056e-02 3.65512825e-01 5.09536745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.026875 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:165.51, Y:86.36, Z:50.98 [[ 3.56576743e-01 1.78764321e-01 -9.17004004e-01 1.65508428e+02] [-9.69024968e-02 9.83306222e-01 1.54009024e-01 8.63635881e+01] [ 9.29227062e-01 3.39439414e-02 3.67946839e-01 5.09794659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.056875 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:165.52, Y:86.36, Z:51.01 [[ 3.57933389e-01 1.78186055e-01 -9.16587922e-01 1.65518500e+02] [-9.69593528e-02 9.83409379e-01 1.53313004e-01 8.63620846e+01] [ 9.28699399e-01 3.39959287e-02 3.69271856e-01 5.10058276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.086875 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:165.53, Y:86.36, Z:51.03 [[ 3.58887693e-01 1.77578214e-01 -9.16332692e-01 1.65528578e+02] [-9.70928379e-02 9.83511764e-01 1.52569955e-01 8.63602402e+01] [ 9.28317082e-01 3.42138621e-02 3.70211841e-01 5.10323833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.116875 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:165.54, Y:86.36, Z:51.06 [[ 3.60215390e-01 1.76657007e-01 -9.15989724e-01 1.65538452e+02] [-9.63797732e-02 9.83698901e-01 1.51813741e-01 8.63585749e+01] [ 9.27877046e-01 3.35972362e-02 3.71369645e-01 5.10588998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.146875 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:165.55, Y:86.36, Z:51.08 [[ 3.61229960e-01 1.75547890e-01 -9.15803393e-01 1.65548407e+02] [-9.51677011e-02 9.83931506e-01 1.51069188e-01 8.63562583e+01] [ 9.27607689e-01 3.25841870e-02 3.72132027e-01 5.10847163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.176875 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:165.56, Y:86.35, Z:51.11 [[ 3.61684031e-01 1.74542258e-01 -9.15816391e-01 1.65558399e+02] [-9.42415773e-02 9.84131800e-01 1.50343360e-01 8.63543331e+01] [ 9.27525303e-01 3.19311889e-02 3.72393894e-01 5.11093545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.206875 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:165.61, Y:86.37, Z:51.11 [[ 3.77391836e-01 1.22679402e-01 -9.17891697e-01 1.65610270e+02] [-8.60436753e-02 9.91543784e-01 9.71463389e-02 8.63717562e+01] [ 9.22047660e-01 4.23165399e-02 3.84756316e-01 5.11082780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.236875 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:165.59, Y:86.35, Z:51.16 [[ 3.61473673e-01 1.52505954e-01 -9.19825373e-01 1.65588608e+02] [-9.00067077e-02 9.87632541e-01 1.28377398e-01 8.63539188e+01] [ 9.28027788e-01 3.63854040e-02 3.70729721e-01 5.11581437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.266875 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:165.59, Y:86.35, Z:51.19 [[ 3.61034480e-01 1.72345577e-01 -9.16488465e-01 1.65588926e+02] [-8.77555778e-02 9.84691910e-01 1.50601465e-01 8.63467619e+01] [ 9.28414273e-01 2.60546532e-02 3.70632017e-01 5.11874222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.296875 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:165.60, Y:86.34, Z:51.21 [[ 3.61208498e-01 1.69986483e-01 -9.16860413e-01 1.65599971e+02] [-8.30398378e-02 9.85201337e-01 1.49942362e-01 8.63437061e+01] [ 9.28780279e-01 2.19754848e-02 3.69978745e-01 5.12133355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.32687500000003 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:165.61, Y:86.34, Z:51.24 [[ 3.61300553e-01 1.68233082e-01 -9.17147502e-01 1.65610676e+02] [-7.99894573e-02 9.85555720e-01 1.49270254e-01 8.63415904e+01] [ 9.29012162e-01 1.94307055e-02 3.69538700e-01 5.12392556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.356875 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:165.62, Y:86.34, Z:51.26 [[ 3.60796737e-01 1.65838473e-01 -9.17781736e-01 1.65620971e+02] [-7.51073285e-02 9.86034212e-01 1.48645286e-01 8.63388023e+01] [ 9.29615299e-01 1.53014002e-02 3.68213611e-01 5.12641053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.38687500000003 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:165.63, Y:86.34, Z:51.29 [[ 3.59981680e-01 1.64611180e-01 -9.18322574e-01 1.65631536e+02] [-7.26033203e-02 9.86269171e-01 1.48330305e-01 8.63367167e+01] [ 9.30130071e-01 1.32770756e-02 3.66990151e-01 5.12887202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.416875 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:165.64, Y:86.33, Z:51.31 [[ 3.58960143e-01 1.63334597e-01 -9.18950176e-01 1.65642866e+02] [-6.99209356e-02 9.86508095e-01 1.48029868e-01 8.63346251e+01] [ 9.30730186e-01 1.11170334e-02 3.65537594e-01 5.13144601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.44687500000003 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:165.65, Y:86.33, Z:51.34 [[ 3.57086022e-01 1.61013968e-01 -9.20089167e-01 1.65653501e+02] [-6.49098826e-02 9.86926977e-01 1.47518982e-01 8.63316024e+01] [ 9.31813436e-01 7.04591347e-03 3.62869226e-01 5.13398120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.476875 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:165.66, Y:86.33, Z:51.37 [[ 3.56576352e-01 1.59567161e-01 -9.20538770e-01 1.65663891e+02] [-6.25335416e-02 9.87173457e-01 1.46894936e-01 8.63289246e+01] [ 9.32171047e-01 5.18528916e-03 3.61981010e-01 5.13659727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.50687500000004 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:165.67, Y:86.33, Z:51.39 [[ 3.56391121e-01 1.58080006e-01 -9.20867027e-01 1.65673877e+02] [-6.00735042e-02 9.87421136e-01 1.46255509e-01 8.63266668e+01] [ 9.32403638e-01 3.19554446e-03 3.61404545e-01 5.13923076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.536875 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:165.68, Y:86.32, Z:51.42 [[ 3.56278610e-01 1.56357426e-01 -9.21204596e-01 1.65682858e+02] [-5.69677711e-02 9.87700357e-01 1.45611396e-01 8.63239745e+01] [ 9.32641531e-01 6.00746844e-04 3.60803844e-01 5.14181093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.56687500000004 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:165.69, Y:86.32, Z:51.44 [[ 3.55991027e-01 1.55412677e-01 -9.21475604e-01 1.65692612e+02] [-5.58579607e-02 9.87849622e-01 1.45027628e-01 8.63220370e+01] [ 9.32818459e-01 -1.56786226e-04 3.60346637e-01 5.14442261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.596875 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:165.69, Y:86.32, Z:51.48 [[ 3.58979433e-01 1.67387112e-01 -9.18213113e-01 1.65694928e+02] [-5.66029536e-02 9.85880521e-01 1.57593476e-01 8.63151560e+01] [ 9.31627540e-01 -4.59924259e-03 3.63385435e-01 5.14757323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.62687500000004 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:165.71, Y:86.32, Z:51.50 [[ 3.55692426e-01 1.60109820e-01 -9.20786481e-01 1.65708278e+02] [-5.54210453e-02 9.87096277e-01 1.50231312e-01 8.63159402e+01] [ 9.32958416e-01 -2.40519067e-03 3.59976123e-01 5.14979920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.656875 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:165.72, Y:86.32, Z:51.52 [[ 3.55885662e-01 1.53884151e-01 -9.21772783e-01 1.65721444e+02] [-5.56183940e-02 9.88088876e-01 1.43481594e-01 8.63153865e+01] [ 9.32872976e-01 2.04479564e-04 3.60205453e-01 5.15228998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.686875 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:165.73, Y:86.31, Z:51.55 [[ 3.56431979e-01 1.53246733e-01 -9.21667881e-01 1.65731604e+02] [-5.56890067e-02 9.88187860e-01 1.42770754e-01 8.63138459e+01] [ 9.32660163e-01 4.38706352e-04 3.60755913e-01 5.15487241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.716875 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:165.74, Y:86.31, Z:51.57 [[ 3.57128346e-01 1.53022731e-01 -9.21435504e-01 1.65741193e+02] [-5.69340969e-02 9.88221151e-01 1.42047403e-01 8.63112330e+01] [ 9.32318536e-01 1.73194433e-03 3.61633996e-01 5.15740972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.746875 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:165.75, Y:86.31, Z:51.60 [[ 3.57873608e-01 1.52452985e-01 -9.21240776e-01 1.65750793e+02] [-5.70286418e-02 9.88308831e-01 1.41397981e-01 8.63092603e+01] [ 9.32026939e-01 1.93450457e-03 3.62383833e-01 5.16003326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.776875 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:165.76, Y:86.31, Z:51.63 [[ 3.59383564e-01 1.52109622e-01 -9.20709572e-01 1.65759257e+02] [-5.81256836e-02 9.88359111e-01 1.40597556e-01 8.63061162e+01] [ 9.31377935e-01 2.98842261e-03 3.64041496e-01 5.16261911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.806875 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:165.77, Y:86.30, Z:51.65 [[ 3.60834553e-01 1.51923715e-01 -9.20172598e-01 1.65769367e+02] [-5.88293616e-02 9.88385760e-01 1.40116724e-01 8.63040073e+01] [ 9.30772546e-01 3.57421100e-03 3.65581309e-01 5.16526061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.836875 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:165.78, Y:86.30, Z:51.68 [[ 3.61703560e-01 1.51691464e-01 -9.19869683e-01 1.65779840e+02] [-6.01119247e-02 9.88415803e-01 1.39358373e-01 8.63017524e+01] [ 9.30353208e-01 4.88871741e-03 3.66631981e-01 5.16784914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.866875 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:165.79, Y:86.30, Z:51.70 [[ 3.62358762e-01 1.51439378e-01 -9.19653327e-01 1.65789895e+02] [-6.13065389e-02 9.88447393e-01 1.38611902e-01 8.62997305e+01] [ 9.30020234e-01 6.15352503e-03 3.67456798e-01 5.17038457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.896875 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:165.80, Y:86.30, Z:51.73 [[ 3.62876394e-01 1.51911839e-01 -9.19371261e-01 1.65801585e+02] [-6.36761229e-02 9.88358348e-01 1.38177880e-01 8.62972215e+01] [ 9.29659117e-01 8.40050643e-03 3.68325070e-01 5.17297739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.926875 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:165.86, Y:86.32, Z:51.73 [[ 3.76917867e-01 9.68043094e-02 -9.21174168e-01 1.65859897e+02] [-6.04827820e-02 9.94973313e-01 7.98119029e-02 8.63151042e+01] [ 9.24269849e-01 2.56326442e-02 3.80878213e-01 5.17285967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.956875 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:165.88, Y:86.32, Z:51.75 [[ 3.77251761e-01 8.32348802e-02 -9.22362761e-01 1.65880575e+02] [-6.09378211e-02 9.96025599e-01 6.49583587e-02 8.63173011e+01] [ 9.24103723e-01 3.17011217e-02 3.80824563e-01 5.17502484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.986875 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:165.83, Y:86.29, Z:51.81 [[ 3.58207637e-01 1.51535997e-01 -9.21262249e-01 1.65833808e+02] [-6.73583653e-02 9.88363580e-01 1.36382859e-01 8.62895801e+01] [ 9.31208967e-01 1.32013374e-02 3.64246600e-01 5.18067137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.016875 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:165.84, Y:86.29, Z:51.83 [[ 3.55604785e-01 1.53279756e-01 -9.21981862e-01 1.65844950e+02] [-6.85734930e-02 9.88080603e-01 1.37820164e-01 8.62863846e+01] [ 9.32117435e-01 1.42140068e-02 3.61877119e-01 5.18318408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.046875 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:165.90, Y:86.30, Z:51.83 [[ 3.69991117e-01 9.77108541e-02 -9.23882656e-01 1.65900700e+02] [-6.41133063e-02 9.94768381e-01 7.95320854e-02 8.63042209e+01] [ 9.26820402e-01 2.98070066e-02 3.74320030e-01 5.18329056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.07687500000003 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:165.86, Y:86.28, Z:51.88 [[ 3.52965764e-01 1.52926197e-01 -9.23054033e-01 1.65864776e+02] [-6.97131709e-02 9.88108464e-01 1.37046481e-01 8.62808592e+01] [ 9.33035499e-01 1.59763075e-02 3.59429429e-01 5.18830782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.106875 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:165.87, Y:86.28, Z:51.91 [[ 3.52142891e-01 1.52672465e-01 -9.23410257e-01 1.65874481e+02] [-7.00683599e-02 9.88137751e-01 1.36653617e-01 8.62785237e+01] [ 9.33319779e-01 1.65802426e-02 3.58663194e-01 5.19087266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.13687500000003 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:165.88, Y:86.28, Z:51.93 [[ 3.51615402e-01 1.52217705e-01 -9.23686299e-01 1.65884415e+02] [-6.99326662e-02 9.88205965e-01 1.36229196e-01 8.62763399e+01] [ 9.33528806e-01 1.66955623e-02 3.58113427e-01 5.19345792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.166875 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:165.89, Y:86.27, Z:51.96 [[ 3.50690879e-01 1.51738169e-01 -9.24116570e-01 1.65894023e+02] [-7.02428357e-02 9.88268377e-01 1.35615480e-01 8.62731925e+01] [ 9.33853228e-01 1.73534564e-02 3.57235225e-01 5.19613700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.19687500000003 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:165.95, Y:86.29, Z:51.96 [[ 3.66222198e-01 9.34142073e-02 -9.25826705e-01 1.65952709e+02] [-6.55454966e-02 9.95066607e-01 7.44730543e-02 8.62920417e+01] [ 9.28216079e-01 3.34100855e-02 3.70538361e-01 5.19600800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.226875 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:165.92, Y:86.27, Z:52.01 [[ 3.49572278e-01 1.46531828e-01 -9.25379731e-01 1.65915264e+02] [-7.07880129e-02 9.89001553e-01 1.29865259e-01 8.62693945e+01] [ 9.34231384e-01 2.01084979e-02 3.56100223e-01 5.20126642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.25687500000004 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:165.97, Y:86.28, Z:52.02 [[ 3.63710096e-01 9.87552982e-02 -9.26262575e-01 1.65965797e+02] [-6.55376463e-02 9.94613184e-01 8.03083488e-02 8.62843362e+01] [ 9.29203844e-01 3.14961118e-02 3.68223046e-01 5.20151955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.286875 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:165.98, Y:86.28, Z:52.04 [[ 3.64213558e-01 8.78458787e-02 -9.27163193e-01 1.65981751e+02] [-6.53763493e-02 9.95497186e-01 6.86388036e-02 8.62847496e+01] [ 9.29017985e-01 3.56153618e-02 3.68316615e-01 5.20387740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.31687500000004 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:165.94, Y:86.26, Z:52.09 [[ 3.49342392e-01 1.41909837e-01 -9.26186532e-01 1.65943663e+02] [-6.95878910e-02 9.89664218e-01 1.25388443e-01 8.62599810e+01] [ 9.34407523e-01 2.06478686e-02 3.55606872e-01 5.20924841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.346875 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:165.95, Y:86.26, Z:52.12 [[ 3.50397967e-01 1.51300301e-01 -9.24299456e-01 1.65947344e+02] [-6.83075628e-02 9.88365996e-01 1.35892367e-01 8.62551486e+01] [ 9.34106708e-01 1.55202338e-02 3.56656391e-01 5.21197194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.37687500000004 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:166.00, Y:86.27, Z:52.12 [[ 3.64505389e-01 9.88954120e-02 -9.25934943e-01 1.66001167e+02] [-6.29404462e-02 9.94687165e-01 8.14613011e-02 8.62708030e+01] [ 9.29071753e-01 2.85856752e-02 3.68793353e-01 5.21222329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.406875 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:165.97, Y:86.25, Z:52.17 [[ 3.51593582e-01 1.49476641e-01 -9.24142136e-01 1.65965609e+02] [-6.57470990e-02 9.88675408e-01 1.34900916e-01 8.62495124e+01] [ 9.33841139e-01 1.33293682e-02 3.57439583e-01 5.21729276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.436875 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:165.97, Y:86.25, Z:52.20 [[ 3.53015859e-01 1.48847563e-01 -9.23701362e-01 1.65974592e+02] [-6.28154274e-02 9.88807047e-01 1.35332351e-01 8.62457221e+01] [ 9.33506307e-01 1.02482298e-02 3.58414492e-01 5.21990191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.466875 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:165.98, Y:86.24, Z:52.22 [[ 3.54379176e-01 1.47220095e-01 -9.23440114e-01 1.65984245e+02] [-6.02611294e-02 9.89071702e-01 1.34557660e-01 8.62425464e+01] [ 9.33158077e-01 7.96311167e-03 3.59378064e-01 5.22239454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.496875 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:165.99, Y:86.24, Z:52.25 [[ 3.54896263e-01 1.46398101e-01 -9.23372210e-01 1.65993937e+02] [-5.90400088e-02 9.89201629e-01 1.34143263e-01 8.62402077e+01] [ 9.33039613e-01 6.90896084e-03 3.59707306e-01 5.22488030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.526875 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:166.00, Y:86.24, Z:52.27 [[ 3.55819791e-01 1.45547948e-01 -9.23151164e-01 1.66004289e+02] [-5.77829022e-02 9.89334400e-01 1.33710812e-01 8.62382714e+01] [ 9.32766537e-01 5.76540021e-03 3.60434942e-01 5.22742571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.556875 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:166.02, Y:86.24, Z:52.30 [[ 3.56646306e-01 1.44759587e-01 -9.22956161e-01 1.66015026e+02] [-5.66735736e-02 9.89455360e-01 1.33289894e-01 8.62361319e+01] [ 9.32518911e-01 4.76987573e-03 3.61089642e-01 5.23005130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.586875 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:166.03, Y:86.23, Z:52.33 [[ 3.57080414e-01 1.43446282e-01 -9.22993360e-01 1.66025805e+02] [-5.48783854e-02 9.89652561e-01 1.32575150e-01 8.62338976e+01] [ 9.32460155e-01 3.31239577e-03 3.61257647e-01 5.23260928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.616875 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:166.04, Y:86.23, Z:52.35 [[ 3.57119962e-01 1.42694630e-01 -9.23094565e-01 1.66036561e+02] [-5.46220249e-02 9.89761165e-01 1.31868383e-01 8.62326420e+01] [ 9.32460062e-01 3.32846231e-03 3.61257740e-01 5.23525869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.646875 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:166.10, Y:86.25, Z:52.35 [[ 3.71636269e-01 8.44961412e-02 -9.24525222e-01 1.66095902e+02] [-4.83120066e-02 9.96260405e-01 7.16320814e-02 8.62520297e+01] [ 9.27120507e-01 1.80445891e-02 3.74328678e-01 5.23515693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.676875 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:166.06, Y:86.23, Z:52.40 [[ 3.54668349e-01 1.36078103e-01 -9.25036817e-01 1.66059365e+02] [-5.37895263e-02 9.90683482e-01 1.25111654e-01 8.62302227e+01] [ 9.33443651e-01 5.38414851e-03 3.58683651e-01 5.24029097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.706875 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:166.07, Y:86.23, Z:52.43 [[ 3.53643780e-01 1.41535036e-01 -9.24610140e-01 1.66066882e+02] [-5.39783842e-02 9.89926623e-01 1.30887793e-01 8.62275794e+01] [ 9.33821402e-01 3.62130751e-03 3.57721226e-01 5.24299116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.736875 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:166.08, Y:86.23, Z:52.46 [[ 3.52314084e-01 1.40864770e-01 -9.25219921e-01 1.66078012e+02] [-5.37142681e-02 9.90021557e-01 1.30276989e-01 8.62268912e+01] [ 9.34339105e-01 3.79909286e-03 3.56364986e-01 5.24557421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.766875 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:166.09, Y:86.23, Z:52.48 [[ 3.50532578e-01 1.40500222e-01 -9.25951726e-01 1.66089248e+02] [-5.43130209e-02 9.90068825e-01 1.29668105e-01 8.62265015e+01] [ 9.34974335e-01 4.83834018e-03 3.54682369e-01 5.24819716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.796875 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:166.10, Y:86.23, Z:52.51 [[ 3.49408566e-01 1.39895235e-01 -9.26468012e-01 1.66099389e+02] [-5.43119728e-02 9.90152474e-01 1.29028248e-01 8.62257193e+01] [ 9.35395031e-01 5.23473026e-03 3.53565742e-01 5.25072066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.82687500000003 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:166.11, Y:86.23, Z:52.53 [[ 3.48964337e-01 1.39293621e-01 -9.26726054e-01 1.66109758e+02] [-5.42250173e-02 9.90236195e-01 1.28420894e-01 8.62250427e+01] [ 9.35565892e-01 5.43742423e-03 3.53110317e-01 5.25331551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.856875 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:166.16, Y:86.25, Z:52.53 [[ 3.62599660e-01 8.81855570e-02 -9.27763329e-01 1.66163302e+02] [-4.83795586e-02 9.95951824e-01 7.57587120e-02 8.62461053e+01] [ 9.30688404e-01 1.74146971e-02 3.65398171e-01 5.25311834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.88687500000003 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:166.18, Y:86.25, Z:52.55 [[ 3.60909338e-01 6.60125336e-02 -9.30261681e-01 1.66183924e+02] [-4.91127812e-02 9.97452911e-01 5.17264480e-02 8.62523454e+01] [ 9.31306815e-01 2.70191803e-02 3.63232129e-01 5.25523957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.916875 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:166.15, Y:86.23, Z:52.61 [[ 3.46013283e-01 1.10281356e-01 -9.31725727e-01 1.66153200e+02] [-5.60901522e-02 9.93723151e-01 9.67894265e-02 8.62311107e+01] [ 9.36551495e-01 1.87702107e-02 3.50027108e-01 5.26051608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.94687500000003 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:166.14, Y:86.22, Z:52.64 [[ 3.47414453e-01 1.41789771e-01 -9.26929802e-01 1.66144484e+02] [-5.49344861e-02 9.89881689e-01 1.30829825e-01 8.62235982e+01] [ 9.36101170e-01 5.46824023e-03 3.51688354e-01 5.26375306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.976875 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:166.19, Y:86.24, Z:52.64 [[ 3.61603096e-01 9.46394695e-02 -9.27516346e-01 1.66194379e+02] [-4.84323112e-02 9.95398252e-01 8.26839217e-02 8.62426431e+01] [ 9.31073312e-01 1.50229982e-02 3.64522698e-01 5.26369691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.00687500000004 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:166.18, Y:86.23, Z:52.68 [[ 3.50330068e-01 1.14456221e-01 -9.29606700e-01 1.66175048e+02] [-5.38243410e-02 9.93325428e-01 1.02017325e-01 8.62298847e+01] [ 9.35078491e-01 1.42957315e-02 3.54152295e-01 5.26844107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.036875 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:166.17, Y:86.22, Z:52.72 [[ 3.51369271e-01 1.39465260e-01 -9.25791055e-01 1.66171331e+02] [-5.29968747e-02 9.90219987e-01 1.29056999e-01 8.62238182e+01] [ 9.34735774e-01 3.71736909e-03 3.55324098e-01 5.27157758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.06687500000004 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:166.18, Y:86.22, Z:52.74 [[ 3.52736652e-01 1.38502013e-01 -9.25415607e-01 1.66181967e+02] [-5.23040246e-02 9.90357136e-01 1.28284967e-01 8.62238978e+01] [ 9.34259677e-01 3.15215084e-03 3.56579473e-01 5.27413285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.096875 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:166.19, Y:86.23, Z:52.77 [[ 3.54113062e-01 1.37219140e-01 -9.25080995e-01 1.66192840e+02] [-5.07422201e-02 9.90539098e-01 1.27504987e-01 8.62250083e+01] [ 9.33825019e-01 1.78948221e-03 3.57725637e-01 5.27670857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.12687500000004 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:166.20, Y:86.22, Z:52.79 [[ 3.54772840e-01 1.36199287e-01 -9.24978911e-01 1.66203107e+02] [-4.98587825e-02 9.90680791e-01 1.26750430e-01 8.62247197e+01] [ 9.33622158e-01 1.15071231e-03 3.58257368e-01 5.27919037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.156875 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:166.21, Y:86.22, Z:52.82 [[ 3.54929189e-01 1.35366029e-01 -9.25041247e-01 1.66213585e+02] [-4.85808258e-02 9.90795655e-01 1.26348226e-01 8.62241885e+01] [ 9.33630106e-01 9.45943939e-05 3.58238491e-01 5.28184314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.186875 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:166.22, Y:86.22, Z:52.84 [[ 3.54283678e-01 1.34041227e-01 -9.25481510e-01 1.66224658e+02] [-4.65671530e-02 9.90974715e-01 1.25700496e-01 8.62243895e+01] [ 9.33977824e-01 -1.43659497e-03 3.57328085e-01 5.28444685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.216875 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:166.29, Y:86.25, Z:52.84 [[ 3.72008654e-01 6.43841702e-02 -9.25993650e-01 1.66291513e+02] [-3.88489446e-02 9.97797375e-01 5.37694966e-02 8.62488059e+01] [ 9.27415937e-01 1.59711579e-02 3.73690516e-01 5.28400681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.246875 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:166.25, Y:86.22, Z:52.90 [[ 3.51948802e-01 1.31816629e-01 -9.26691112e-01 1.66246067e+02] [-4.46850490e-02 9.91271579e-01 1.24031867e-01 8.62245306e+01] [ 9.34952024e-01 -2.24362902e-03 3.54767077e-01 5.28956824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.276875 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:166.26, Y:86.22, Z:52.92 [[ 3.51197353e-01 1.32189772e-01 -9.26923019e-01 1.66255746e+02] [-4.42089689e-02 9.91220517e-01 1.24609205e-01 8.62239966e+01] [ 9.35257177e-01 -2.78411218e-03 3.53957995e-01 5.29216499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.306875 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:166.27, Y:86.22, Z:52.95 [[ 3.51038683e-01 1.31402600e-01 -9.27095033e-01 1.66266931e+02] [-4.38614799e-02 9.91325048e-01 1.23898423e-01 8.62237556e+01] [ 9.35333103e-01 -2.82937915e-03 3.53756952e-01 5.29480173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.336875 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:166.28, Y:86.22, Z:52.97 [[ 3.50113145e-01 1.30716980e-01 -9.27541836e-01 1.66277822e+02] [-4.37094955e-02 9.91416320e-01 1.23219971e-01 8.62243805e+01] [ 9.35687056e-01 -2.59854583e-03 3.52821459e-01 5.29732837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.366875 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:166.29, Y:86.22, Z:53.00 [[ 3.49421654e-01 1.30216515e-01 -9.27872926e-01 1.66288643e+02] [-4.35014969e-02 9.91482350e-01 1.22761435e-01 8.62243880e+01] [ 9.35955195e-01 -2.53164234e-03 3.52110016e-01 5.29993958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.396875 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:166.30, Y:86.23, Z:53.02 [[ 3.47817754e-01 1.29740547e-01 -9.28541976e-01 1.66299060e+02] [-4.38765167e-02 9.91546467e-01 1.22108373e-01 8.62252953e+01] [ 9.36534923e-01 -1.73027243e-03 3.50570028e-01 5.30242431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.426875 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:166.31, Y:86.22, Z:53.05 [[ 3.47966093e-01 1.29356428e-01 -9.28539990e-01 1.66309151e+02] [-4.38761709e-02 9.91596861e-01 1.21698591e-01 8.62249737e+01] [ 9.36479834e-01 -1.60620399e-03 3.50717751e-01 5.30507870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.456875 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:166.32, Y:86.22, Z:53.08 [[ 3.47910990e-01 1.28667513e-01 -9.28656349e-01 1.66319028e+02] [-4.38036944e-02 9.91686779e-01 1.20989950e-01 8.62247727e+01] [ 9.36503700e-01 -1.41515424e-03 3.50654842e-01 5.30769374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.486875 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:166.33, Y:86.23, Z:53.10 [[ 3.47687503e-01 1.28333982e-01 -9.28786192e-01 1.66328331e+02] [-4.47326145e-02 9.91730968e-01 1.20285825e-01 8.62256694e+01] [ 9.36542788e-01 -2.74843246e-04 3.50553178e-01 5.31030888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.516875 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:166.34, Y:86.23, Z:53.13 [[ 3.47638589e-01 1.27857418e-01 -9.28870224e-01 1.66338852e+02] [-4.52896970e-02 9.91792433e-01 1.19568450e-01 8.62255847e+01] [ 9.36534172e-01 5.01643760e-04 3.50575946e-01 5.31293168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.546875 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:166.35, Y:86.23, Z:53.16 [[ 3.48322494e-01 1.27807597e-01 -9.28620837e-01 1.66348638e+02] [-4.71847666e-02 9.91795992e-01 1.18803653e-01 8.62267352e+01] [ 9.36186433e-01 2.43477281e-03 3.51495425e-01 5.31552765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.57687500000003 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:166.36, Y:86.23, Z:53.18 [[ 3.49318267e-01 1.27434986e-01 -9.28297944e-01 1.66358812e+02] [-4.81767461e-02 9.91840776e-01 1.18029129e-01 8.62266427e+01] [ 9.35764794e-01 3.49264358e-03 3.52607504e-01 5.31810031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.606875 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:166.37, Y:86.23, Z:53.21 [[ 3.50285743e-01 1.27057843e-01 -9.27985023e-01 1.66369050e+02] [-4.91402228e-02 9.91884976e-01 1.17257976e-01 8.62265695e+01] [ 9.35352948e-01 4.52759351e-03 3.53686816e-01 5.32064376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.63687500000003 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:166.38, Y:86.23, Z:53.23 [[ 3.51703894e-01 1.27254758e-01 -9.27421478e-01 1.66379321e+02] [-5.11723214e-02 9.91849299e-01 1.16689165e-01 8.62269745e+01] [ 9.34711594e-01 6.41827636e-03 3.55349182e-01 5.32324984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.666875 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:166.39, Y:86.23, Z:53.26 [[ 3.52497139e-01 1.26884294e-01 -9.27171043e-01 1.66389777e+02] [-5.21225026e-02 9.91889447e-01 1.15924845e-01 8.62266522e+01] [ 9.34360215e-01 7.46329880e-03 3.56251720e-01 5.32588402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.69687500000003 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:166.45, Y:86.25, Z:53.26 [[ 3.68985672e-01 6.70503483e-02 -9.27013390e-01 1.66448831e+02] [-4.75353664e-02 9.97450537e-01 5.32241901e-02 8.62474185e+01] [ 9.28218704e-01 2.44269577e-02 3.71232219e-01 5.32583070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.726875 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:166.41, Y:86.23, Z:53.31 [[ 3.53812534e-01 1.22208737e-01 -9.27298073e-01 1.66411506e+02] [-5.44795749e-02 9.92436664e-01 1.10006564e-01 8.62265577e+01] [ 9.33728369e-01 1.15971038e-02 3.57794411e-01 5.33101762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.75687500000004 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:166.42, Y:86.23, Z:53.34 [[ 3.54788956e-01 1.26859054e-01 -9.26299939e-01 1.66419831e+02] [-5.48272094e-02 9.91869913e-01 1.14839250e-01 8.62251113e+01] [ 9.33337438e-01 1.00427430e-02 3.58859819e-01 5.33370545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.786875 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:166.43, Y:86.22, Z:53.36 [[ 3.54358493e-01 1.26169495e-01 -9.26558858e-01 1.66430769e+02] [-5.46986973e-02 9.91955953e-01 1.14155332e-01 8.62242287e+01] [ 9.33508495e-01 1.02296512e-02 3.58409324e-01 5.33626110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.81687500000004 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:166.44, Y:86.22, Z:53.39 [[ 3.54076309e-01 1.25446455e-01 -9.26764886e-01 1.66442041e+02] [-5.43708780e-02 9.92047980e-01 1.13510410e-01 8.62231285e+01] [ 9.33634712e-01 1.01976735e-02 3.58081321e-01 5.33884509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.846875 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:166.45, Y:86.22, Z:53.41 [[ 3.53197125e-01 1.24533987e-01 -9.27223316e-01 1.66452899e+02] [-5.35718105e-02 9.92166799e-01 1.12849921e-01 8.62221307e+01] [ 9.34013840e-01 9.81476432e-03 3.57101972e-01 5.34145938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.87687500000004 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:166.52, Y:86.25, Z:53.41 [[ 3.69827529e-01 5.38890544e-02 -9.27536290e-01 1.66521771e+02] [-4.56589766e-02 9.98164429e-01 3.97873281e-02 8.62479374e+01] [ 9.27977832e-01 2.76359086e-02 3.71609203e-01 5.34076699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.906875 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:166.48, Y:86.22, Z:53.46 [[ 3.49347303e-01 1.17561183e-01 -9.29589065e-01 1.66475968e+02] [-5.19061586e-02 9.93002541e-01 1.06074050e-01 8.62203774e+01] [ 9.35554495e-01 1.11947140e-02 3.53004909e-01 5.34640678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.936875 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:166.48, Y:86.22, Z:53.49 [[ 3.49045891e-01 1.22499264e-01 -9.29064528e-01 1.66483812e+02] [-5.03019274e-02 9.92439078e-01 1.11957105e-01 8.62171973e+01] [ 9.35754606e-01 7.65556884e-03 3.52568731e-01 5.34906655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.966875 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:166.49, Y:86.22, Z:53.52 [[ 3.49054484e-01 1.21475371e-01 -9.29195728e-01 1.66493719e+02] [-4.92508548e-02 9.92570267e-01 1.11259239e-01 8.62157586e+01] [ 9.35807309e-01 6.92814755e-03 3.52443868e-01 5.35164976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.996875 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:166.50, Y:86.21, Z:53.54 [[ 3.48956626e-01 1.20521989e-01 -9.29356618e-01 1.66503813e+02] [-4.84034526e-02 9.92690007e-01 1.10560646e-01 8.62142044e+01] [ 9.35888016e-01 6.40319891e-03 3.52239435e-01 5.35429076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.026875 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:166.51, Y:86.21, Z:53.57 [[ 3.49156197e-01 1.19378873e-01 -9.29429198e-01 1.66513948e+02] [-4.71105760e-02 9.92833869e-01 1.09824868e-01 8.62127383e+01] [ 9.35879556e-01 5.43991149e-03 3.52278106e-01 5.35688840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.056875 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:166.52, Y:86.21, Z:53.60 [[ 3.49143187e-01 1.17895945e-01 -9.29623355e-01 1.66523474e+02] [-4.48232535e-02 9.93019513e-01 1.09101433e-01 8.62101220e+01] [ 9.35996747e-01 3.57672122e-03 3.51990477e-01 5.35954447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.086875 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:166.53, Y:86.21, Z:53.62 [[ 3.49189295e-01 1.16847221e-01 -9.29738438e-01 1.66533144e+02] [-4.37972305e-02 9.93145727e-01 1.08366816e-01 8.62082917e+01] [ 9.36028119e-01 2.87943661e-03 3.51913441e-01 5.36206413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.116875 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:166.54, Y:86.21, Z:53.65 [[ 3.49917601e-01 1.15640448e-01 -9.29615490e-01 1.66542454e+02] [-4.15083013e-02 9.93290802e-01 1.07937217e-01 8.62061273e+01] [ 9.35860424e-01 8.17627974e-04 3.52369973e-01 5.36465015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.146875 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:166.55, Y:86.20, Z:53.67 [[ 3.50596404e-01 1.14803112e-01 -9.29463505e-01 1.66552232e+02] [-4.05054287e-02 9.93388265e-01 1.07420040e-01 8.62043469e+01] [ 9.35650294e-01 -1.27620079e-05 3.52928502e-01 5.36726074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.176875 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:166.56, Y:86.20, Z:53.70 [[ 3.51509850e-01 1.13655177e-01 -9.29259558e-01 1.66562424e+02] [-3.92236143e-02 9.93519703e-01 1.06677591e-01 8.62028219e+01] [ 9.35362140e-01 -1.04930552e-03 3.53689929e-01 5.36988617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.206875 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:166.57, Y:86.20, Z:53.72 [[ 3.54647356e-01 1.12219294e-01 -9.28241393e-01 1.66571426e+02] [-3.74192846e-02 9.93679522e-01 1.05833854e-01 8.62008967e+01] [ 9.34251064e-01 -2.79956784e-03 3.56604981e-01 5.37246706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.236875 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:166.58, Y:86.20, Z:53.75 [[ 3.56312326e-01 1.11538351e-01 -9.27685681e-01 1.66581361e+02] [-3.67487004e-02 9.93754133e-01 1.05367243e-01 8.61991325e+01] [ 9.33643968e-01 -3.45240423e-03 3.58185736e-01 5.37504079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.266875 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:166.59, Y:86.20, Z:53.78 [[ 3.57984970e-01 1.10408146e-01 -9.27176791e-01 1.66590767e+02] [-3.56384022e-02 9.93876598e-01 1.04590690e-01 8.61973753e+01] [ 9.33046979e-01 -4.39879557e-03 3.59727654e-01 5.37766391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.296875 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:166.60, Y:86.20, Z:53.80 [[ 3.58050232e-01 1.09644028e-01 -9.27242265e-01 1.66600968e+02] [-3.54084386e-02 9.93961378e-01 1.03860591e-01 8.61963628e+01] [ 9.33030693e-01 -4.35510797e-03 3.59770426e-01 5.38017237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.32687500000003 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:166.61, Y:86.20, Z:53.83 [[ 3.57930330e-01 1.09197433e-01 -9.27341253e-01 1.66611911e+02] [-3.51884472e-02 9.94010334e-01 1.03466080e-01 8.61954208e+01] [ 9.33085019e-01 -4.40194951e-03 3.59628935e-01 5.38277826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.356875 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:166.62, Y:86.19, Z:53.85 [[ 3.56702269e-01 1.08666282e-01 -9.27876679e-01 1.66623444e+02] [-3.54070837e-02 9.94070954e-01 1.02806989e-01 8.61943520e+01] [ 9.33546908e-01 -3.81807888e-03 3.58434921e-01 5.38536857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.38687500000003 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:166.63, Y:86.19, Z:53.88 [[ 3.56117574e-01 1.08007917e-01 -9.28178088e-01 1.66634537e+02] [-3.53354736e-02 9.94143619e-01 1.02126736e-01 8.61935685e+01] [ 9.33772819e-01 -3.57151293e-03 3.57848524e-01 5.38799607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.416875 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:166.65, Y:86.19, Z:53.91 [[ 3.54751077e-01 1.07434745e-01 -9.28767705e-01 1.66645402e+02] [-3.54267247e-02 9.94207323e-01 1.01472888e-01 8.61921723e+01] [ 9.34289367e-01 -3.09441857e-03 3.56502180e-01 5.39060934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.44687500000003 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:166.66, Y:86.19, Z:53.93 [[ 3.54135266e-01 1.06643694e-01 -9.29093825e-01 1.66656152e+02] [-3.49837914e-02 9.94292180e-01 1.00792831e-01 8.61910617e+01] [ 9.34539645e-01 -3.19107132e-03 3.55844726e-01 5.39318494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.476875 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:166.67, Y:86.19, Z:53.96 [[ 3.53671733e-01 1.05820485e-01 -9.29364476e-01 1.66666695e+02] [-3.45067811e-02 9.94379673e-01 1.00091695e-01 8.61903885e+01] [ 9.34732896e-01 -3.33022681e-03 3.55335507e-01 5.39569883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.50687500000004 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:166.68, Y:86.19, Z:53.98 [[ 3.52883090e-01 1.05280895e-01 -9.29725475e-01 1.66677338e+02] [-3.39413682e-02 9.94435879e-01 9.97259593e-02 8.61897548e+01] [ 9.35051607e-01 -3.63544995e-03 3.54492983e-01 5.39830451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.536875 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:166.69, Y:86.19, Z:54.01 [[ 3.52898658e-01 1.04538162e-01 -9.29803372e-01 1.66687940e+02] [-3.37696401e-02 9.94514588e-01 9.89967006e-02 8.61889162e+01] [ 9.35051950e-01 -3.53667762e-03 3.54493080e-01 5.40095715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.56687500000004 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:166.70, Y:86.19, Z:54.04 [[ 3.52260179e-01 1.04110428e-01 -9.30093428e-01 1.66697988e+02] [-3.36946601e-02 9.94559996e-01 9.85651299e-02 8.61881176e+01] [ 9.35295374e-01 -3.38138837e-03 3.53851847e-01 5.40350192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.596875 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:166.71, Y:86.19, Z:54.06 [[ 3.51031755e-01 1.03840436e-01 -9.30587917e-01 1.66707356e+02] [-3.41173861e-02 9.94590328e-01 9.81126078e-02 8.61874210e+01] [ 9.35741797e-01 -2.69141368e-03 3.52675553e-01 5.40618499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.62687500000004 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:166.72, Y:86.19, Z:54.09 [[ 3.50829752e-01 1.03384175e-01 -9.30714885e-01 1.66717099e+02] [-3.47458194e-02 9.94639820e-01 9.73876656e-02 8.61866945e+01] [ 9.35794429e-01 -1.82803932e-03 3.52541409e-01 5.40870631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.656875 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:166.73, Y:86.19, Z:54.11 [[ 3.50429907e-01 1.03402639e-01 -9.30863456e-01 1.66727083e+02] [-3.58467683e-02 9.94639386e-01 9.69922682e-02 8.61858602e+01] [ 9.35902714e-01 -6.20544845e-04 3.52258038e-01 5.41128567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.686875 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:166.74, Y:86.19, Z:54.14 [[ 3.50240001e-01 1.02804510e-01 -9.31001168e-01 1.66737295e+02] [-3.60438855e-02 9.94701566e-01 9.62789305e-02 8.61855154e+01] [ 9.35966228e-01 -1.63833234e-04 3.52089752e-01 5.41395981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.716875 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:166.75, Y:86.18, Z:54.17 [[ 3.50134506e-01 1.02624082e-01 -9.31060753e-01 1.66746685e+02] [-3.74664315e-02 9.94719186e-01 9.55510719e-02 8.61848741e+01] [ 9.35949835e-01 1.42779656e-03 3.52130469e-01 5.41654217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.746875 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:166.76, Y:86.18, Z:54.19 [[ 3.50269217e-01 1.02240835e-01 -9.31052247e-01 1.66756064e+02] [-3.74557463e-02 9.94758473e-01 9.51454042e-02 8.61841015e+01] [ 9.35899857e-01 1.54675053e-03 3.52262779e-01 5.41918474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.776875 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:166.77, Y:86.18, Z:54.22 [[ 3.52284163e-01 1.01703826e-01 -9.30350579e-01 1.66765239e+02] [-3.79904903e-02 9.94812504e-01 9.43652761e-02 8.61828085e+01] [ 9.35121698e-01 2.10108230e-03 3.54320469e-01 5.42172409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.806875 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:166.77, Y:86.18, Z:54.24 [[ 3.53253791e-01 1.01042188e-01 -9.30054964e-01 1.66774849e+02] [-3.78744822e-02 9.94879871e-01 9.36993385e-02 8.61820400e+01] [ 9.34760549e-01 2.12570369e-03 3.55272006e-01 5.42439391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.836875 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:166.78, Y:86.18, Z:54.27 [[ 3.53698755e-01 1.00409485e-01 -9.29954368e-01 1.66784993e+02] [-3.79657485e-02 9.94943261e-01 9.29866082e-02 8.61812135e+01] [ 9.34588569e-01 2.41716607e-03 3.55722314e-01 5.42704316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.866875 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:166.80, Y:86.18, Z:54.30 [[ 3.54912260e-01 9.99599685e-02 -9.29540366e-01 1.66795148e+02] [-3.86434001e-02 9.94986370e-01 9.22432128e-02 8.61803417e+01] [ 9.34100624e-01 3.18235316e-03 3.56995655e-01 5.42958737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.896875 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:166.81, Y:86.18, Z:54.32 [[ 3.55434210e-01 9.92905911e-02 -9.29412664e-01 1.66805098e+02] [-3.84492353e-02 9.95053406e-01 9.15989963e-02 8.61796171e+01] [ 9.33910156e-01 3.17778935e-03 3.57493669e-01 5.43226835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.926875 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:166.82, Y:86.18, Z:54.35 [[ 3.55338282e-01 9.89245620e-02 -9.29488374e-01 1.66815948e+02] [-3.92381610e-02 9.95086202e-01 9.09055437e-02 8.61785929e+01] [ 9.33913846e-01 4.16919478e-03 3.57473839e-01 5.43475592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.956875 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:166.87, Y:86.20, Z:54.35 [[ 3.68853998e-01 4.60142936e-02 -9.28347679e-01 1.66869424e+02] [-3.36476394e-02 9.98780256e-01 3.61363554e-02 8.61985393e+01] [ 9.28878122e-01 1.79076688e-02 3.69952363e-01 5.43484245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.986875 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:166.84, Y:86.18, Z:54.40 [[ 3.53269561e-01 8.81583717e-02 -9.31358534e-01 1.66841046e+02] [-4.01766913e-02 9.96061214e-01 7.90436013e-02 8.61795318e+01] [ 9.34658467e-01 9.49520598e-03 3.55420020e-01 5.43970951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.016875 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:166.85, Y:86.18, Z:54.42 [[ 3.50990962e-01 9.87925631e-02 -9.31152713e-01 1.66846830e+02] [-4.07002945e-02 9.95088567e-01 9.02343014e-02 8.61765696e+01] [ 9.35493897e-01 6.22676540e-03 3.53287980e-01 5.44242003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.046875 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:166.90, Y:86.19, Z:54.43 [[ 3.62385396e-01 4.98661630e-02 -9.30693392e-01 1.66897740e+02] [-3.63161711e-02 9.98564846e-01 3.93622084e-02 8.61943876e+01] [ 9.31320547e-01 1.95349310e-02 3.63676265e-01 5.44281697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.07687500000003 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:166.92, Y:86.20, Z:54.45 [[ 3.61395934e-01 3.58624161e-02 -9.31722526e-01 1.66917205e+02] [-3.63173482e-02 9.99043195e-01 2.43668690e-02 8.61985051e+01] [ 9.31704905e-01 2.50316040e-02 3.62352577e-01 5.44492288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.106875 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:166.88, Y:86.17, Z:54.50 [[ 3.43751064e-01 9.35973619e-02 -9.34384685e-01 1.66878756e+02] [-4.25709322e-02 9.95550672e-01 8.40629288e-02 8.61745285e+01] [ 9.38095369e-01 1.08809058e-02 3.46206130e-01 5.45019085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.13687500000003 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:166.88, Y:86.17, Z:54.53 [[ 3.43097123e-01 1.02377692e-01 -9.33704007e-01 1.66883706e+02] [-4.21600589e-02 9.94719110e-01 9.35757488e-02 8.61713917e+01] [ 9.38353288e-01 7.25944570e-03 3.45601514e-01 5.45285835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.166875 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:166.89, Y:86.17, Z:54.55 [[ 3.43438750e-01 1.01674320e-01 -9.33655267e-01 1.66893288e+02] [-4.19151916e-02 9.94791508e-01 9.29137894e-02 8.61706560e+01] [ 9.38239277e-01 7.22414366e-03 3.45911651e-01 5.45548114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.19687500000003 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:166.96, Y:86.20, Z:54.55 [[ 3.63643272e-01 2.72540537e-02 -9.31139510e-01 1.66961014e+02] [-3.38586436e-02 9.99298133e-01 1.60260164e-02 8.61980800e+01] [ 9.30922748e-01 2.56993677e-02 3.64310828e-01 5.45484326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.226875 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:166.92, Y:86.17, Z:54.61 [[ 3.43198839e-01 9.05038705e-02 -9.34892297e-01 1.66915585e+02] [-4.11314141e-02 9.95840224e-01 8.13047037e-02 8.61704741e+01] [ 9.38361744e-01 1.05497622e-02 3.45493761e-01 5.46054019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.25687500000004 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:166.92, Y:86.17, Z:54.63 [[ 3.43373398e-01 1.00139745e-01 -9.33845138e-01 1.66920370e+02] [-4.00276659e-02 9.94956489e-01 9.19748362e-02 8.61670739e+01] [ 9.38345616e-01 5.79792915e-03 3.45649950e-01 5.46340662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.286875 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:166.99, Y:86.20, Z:54.62 [[ 3.64243240e-01 2.23661761e-02 -9.31035239e-01 1.66992849e+02] [-3.06324520e-02 9.99458370e-01 1.20257514e-02 8.61971178e+01] [ 9.30799933e-01 2.41395936e-02 3.64731086e-01 5.46234563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.31687500000004 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:166.94, Y:86.17, Z:54.68 [[ 3.43023276e-01 8.44408280e-02 -9.35523799e-01 1.66944549e+02] [-3.84752392e-02 9.96378472e-01 7.58260994e-02 8.61678721e+01] [ 9.38538592e-01 9.98438488e-03 3.45029889e-01 5.46822758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.346875 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:166.95, Y:86.16, Z:54.71 [[ 3.43212563e-01 9.79889030e-02 -9.34132385e-01 1.66947385e+02] [-3.67131400e-02 9.95182693e-01 9.09040848e-02 8.61628647e+01] [ 9.38539974e-01 3.09550911e-03 3.45156683e-01 5.47114840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.37687500000004 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:166.96, Y:86.16, Z:54.74 [[ 3.42800098e-01 9.67157214e-02 -9.34416482e-01 1.66957487e+02] [-3.49480941e-02 9.95310532e-01 9.01974308e-02 8.61620155e+01] [ 9.38758075e-01 1.73638700e-03 3.44572578e-01 5.47372085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.406875 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:166.97, Y:86.16, Z:54.76 [[ 3.43026212e-01 9.56868428e-02 -9.34439429e-01 1.66968037e+02] [-3.39551007e-02 9.95410944e-01 8.94656607e-02 8.61611376e+01] [ 9.38711920e-01 1.03991819e-03 3.44701102e-01 5.47636581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.436875 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:166.98, Y:86.16, Z:54.79 [[ 3.43090805e-01 9.47377006e-02 -9.34512422e-01 1.66978455e+02] [-3.31715516e-02 9.95502116e-01 8.87422415e-02 8.61599194e+01] [ 9.38716330e-01 5.52579951e-04 3.44690219e-01 5.47897639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.466875 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:166.99, Y:86.16, Z:54.81 [[ 3.43498618e-01 9.37196968e-02 -9.34465258e-01 1.66988748e+02] [-3.22788079e-02 9.95598621e-01 8.79855878e-02 8.61589278e+01] [ 9.38598305e-01 -5.95032048e-05 3.45011910e-01 5.48148013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.496875 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:167.00, Y:86.16, Z:54.84 [[ 3.43193974e-01 9.26375219e-02 -9.34685073e-01 1.66998747e+02] [-3.02253485e-02 9.95698258e-01 8.75865722e-02 8.61572971e+01] [ 9.38778102e-01 -1.80800174e-03 3.44517644e-01 5.48415089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.526875 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:167.01, Y:86.16, Z:54.87 [[ 3.43882473e-01 9.14893241e-02 -9.34545103e-01 1.67009071e+02] [-2.89855570e-02 9.95802211e-01 8.68204713e-02 8.61563175e+01] [ 9.38565226e-01 -2.76772804e-03 3.45090796e-01 5.48672226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.556875 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:167.02, Y:86.15, Z:54.89 [[ 3.43929737e-01 9.02299251e-02 -9.34650147e-01 1.67018829e+02] [-2.73355007e-02 9.95912693e-01 8.60852977e-02 8.61549708e+01] [ 9.38597414e-01 -4.05816410e-03 3.44990471e-01 5.48924635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.586875 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:167.03, Y:86.15, Z:54.92 [[ 3.43853190e-01 8.95636425e-02 -9.34742391e-01 1.67029505e+02] [-2.65098585e-02 9.95970102e-01 8.56783767e-02 8.61543009e+01] [ 9.38649142e-01 -4.68089458e-03 3.44841816e-01 5.49186190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.616875 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:167.04, Y:86.15, Z:54.94 [[ 3.43852915e-01 8.87576878e-02 -9.34819365e-01 1.67039310e+02] [-2.62259939e-02 9.96042231e-01 8.49239156e-02 8.61537869e+01] [ 9.38657216e-01 -4.68476898e-03 3.44819784e-01 5.49435419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.646875 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:167.05, Y:86.15, Z:54.97 [[ 3.43036588e-01 8.84495656e-02 -9.35148423e-01 1.67049512e+02] [-2.63893774e-02 9.96071291e-01 8.45315556e-02 8.61535066e+01] [ 9.38951277e-01 -4.31943175e-03 3.44023026e-01 5.49681370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.676875 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:167.06, Y:86.15, Z:54.99 [[ 3.42618238e-01 8.79380769e-02 -9.35350008e-01 1.67060173e+02] [-2.66423473e-02 9.96118607e-01 8.38922328e-02 8.61531351e+01] [ 9.39096868e-01 -3.82308921e-03 3.43631279e-01 5.49939175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.706875 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:167.11, Y:86.17, Z:54.99 [[ 3.56332267e-01 3.43889658e-02 -9.33726253e-01 1.67113123e+02] [-2.07135831e-02 9.99367619e-01 2.89017266e-02 8.61748052e+01] [ 9.34129682e-01 9.04219860e-03 3.56819248e-01 5.49942670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.736875 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:167.14, Y:86.18, Z:55.01 [[ 3.57994364e-01 7.22139327e-03 -9.33695821e-01 1.67138780e+02] [-2.07215366e-02 9.99785263e-01 -2.12436144e-04 8.61833145e+01] [ 9.33493789e-01 1.94236631e-02 3.58067128e-01 5.50125283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.766875 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:167.15, Y:86.19, Z:55.04 [[ 3.58384258e-01 4.29266376e-04 -9.33574067e-01 1.67153154e+02] [-2.09205666e-02 9.99752471e-01 -7.57137744e-03 8.61853706e+01] [ 9.33339731e-01 2.22443610e-02 3.58304529e-01 5.50369795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.796875 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:167.10, Y:86.15, Z:55.10 [[ 3.38504389e-01 7.15866476e-02 -9.38237779e-01 1.67104842e+02] [-2.99663476e-02 9.97416251e-01 6.52904273e-02 8.61541581e+01] [ 9.40487532e-01 6.01446322e-03 3.39774969e-01 5.50958375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.82687500000003 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:167.10, Y:86.15, Z:55.12 [[ 3.40168530e-01 9.11454352e-02 -9.35936900e-01 1.67104765e+02] [-3.06615552e-02 9.95837466e-01 8.58347855e-02 8.61488057e+01] [ 9.39864480e-01 -5.01011882e-04 3.41547228e-01 5.51245852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.856875 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:167.11, Y:86.15, Z:55.15 [[ 3.41039950e-01 9.06723124e-02 -9.35665690e-01 1.67114351e+02] [-3.05066751e-02 9.95880615e-01 8.53881938e-02 8.61486423e+01] [ 9.39553668e-01 -5.76736130e-04 3.42401186e-01 5.51513540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.88687500000003 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:167.12, Y:86.15, Z:55.18 [[ 3.42189249e-01 8.99681274e-02 -9.35313987e-01 1.67124499e+02] [-3.05581259e-02 9.95944575e-01 8.46203599e-02 8.61480134e+01] [ 9.39134026e-01 -3.74734816e-04 3.43550783e-01 5.51778467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.916875 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:167.13, Y:86.15, Z:55.20 [[ 3.43570111e-01 8.91860226e-02 -9.34882577e-01 1.67133382e+02] [-3.04099518e-02 9.96014916e-01 8.38422495e-02 8.61469013e+01] [ 9.38634547e-01 -3.75956883e-04 3.44913098e-01 5.52045430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.94687500000003 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:167.14, Y:86.15, Z:55.23 [[ 3.44104772e-01 8.82113472e-02 -9.34778404e-01 1.67143125e+02] [-2.96134513e-02 9.96101364e-01 8.30970346e-02 8.61464183e+01] [ 9.38464144e-01 -9.12071329e-04 3.45375475e-01 5.52304948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.976875 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:167.20, Y:86.17, Z:55.23 [[ 3.57481282e-01 3.41590714e-02 -9.33295393e-01 1.67195730e+02] [-2.36549899e-02 9.99341445e-01 2.75157896e-02 8.61664881e+01] [ 9.33620680e-01 1.22407133e-02 3.58053893e-01 5.52327061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.00687500000004 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:167.17, Y:86.15, Z:55.28 [[ 3.44245306e-01 7.93160905e-02 -9.35523451e-01 1.67166364e+02] [-2.84132089e-02 9.96848924e-01 7.40601913e-02 8.61470892e+01] [ 9.38449710e-01 1.08635009e-03 3.45414187e-01 5.52804670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.036875 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:167.17, Y:86.14, Z:55.31 [[ 3.44443170e-01 8.65817147e-02 -9.34806135e-01 1.67173026e+02] [-2.76238194e-02 9.96241731e-01 8.20934722e-02 8.61444249e+01] [ 9.38400675e-01 -2.45361994e-03 3.45540377e-01 5.53078501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.06687500000004 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:167.22, Y:86.16, Z:55.31 [[ 3.55337166e-01 3.99593067e-02 -9.33883693e-01 1.67219188e+02] [-2.16381757e-02 9.99169749e-01 3.45195902e-02 8.61616391e+01] [ 9.34487714e-01 7.94144611e-03 3.55906793e-01 5.53145341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.096875 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:167.20, Y:86.15, Z:55.36 [[ 3.43675871e-01 7.75871488e-02 -9.35877732e-01 1.67195960e+02] [-2.56183774e-02 9.96984855e-01 7.32454591e-02 8.61450372e+01] [ 9.38738832e-01 -1.19702800e-03 3.44627296e-01 5.53588727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.12687500000004 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:167.20, Y:86.14, Z:55.39 [[ 3.44383655e-01 8.49714879e-02 -9.34975799e-01 1.67202164e+02] [-2.44563294e-02 9.96369731e-01 8.15429217e-02 8.61426008e+01] [ 9.38510408e-01 -5.21597331e-03 3.45211541e-01 5.53867199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.156875 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:167.21, Y:86.14, Z:55.41 [[ 3.44442242e-01 8.41325084e-02 -9.35030087e-01 1.67212524e+02] [-2.41012783e-02 9.96440541e-01 8.07798005e-02 8.61419993e+01] [ 9.38498093e-01 -5.28855518e-03 3.45243915e-01 5.54128141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.186875 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:167.26, Y:86.16, Z:55.42 [[ 3.56254838e-01 3.58246300e-02 -9.33701819e-01 1.67260650e+02] [-1.66903153e-02 9.99349298e-01 3.19752116e-02 8.61613260e+01] [ 9.34239757e-01 4.19245392e-03 3.56620946e-01 5.54160462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.216875 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:167.24, Y:86.15, Z:55.46 [[ 3.43174924e-01 6.49735109e-02 -9.37021566e-01 1.67240414e+02] [-2.16094621e-02 9.97886683e-01 6.12796737e-02 8.61460005e+01] [ 9.39022898e-01 -7.81115348e-04 3.43853729e-01 5.54613764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.246875 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:167.24, Y:86.14, Z:55.49 [[ 3.42724578e-01 8.17018449e-02 -9.35876419e-01 1.67241780e+02] [-1.91421105e-02 9.96611526e-01 7.99940325e-02 8.61414077e+01] [ 9.39240887e-01 -9.50127121e-03 3.43127211e-01 5.54895393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.276875 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:167.25, Y:86.14, Z:55.52 [[ 3.42456320e-01 8.07640112e-02 -9.36056005e-01 1.67252060e+02] [-1.74930668e-02 9.96673835e-01 7.95943460e-02 8.61415499e+01] [ 9.39370886e-01 -1.08830966e-02 3.42730064e-01 5.55159401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.306875 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:167.26, Y:86.14, Z:55.54 [[ 3.42510500e-01 7.97782531e-02 -9.36120712e-01 1.67262343e+02] [-1.66364224e-02 9.96747033e-01 7.88579794e-02 8.61414892e+01] [ 9.39366694e-01 -1.14359864e-02 3.42723550e-01 5.55413248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.336875 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:167.27, Y:86.14, Z:55.57 [[ 3.42774211e-01 7.86189089e-02 -9.36122272e-01 1.67271951e+02] [-1.50890108e-02 9.96824138e-01 7.81918180e-02 8.61422860e+01] [ 9.39296632e-01 -1.26769796e-02 3.42871889e-01 5.55669736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.366875 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:167.28, Y:86.14, Z:55.59 [[ 3.43428737e-01 7.77645570e-02 -9.35953726e-01 1.67281606e+02] [-1.44557424e-02 9.96885765e-01 7.75229165e-02 8.61423933e+01] [ 9.39067481e-01 -1.30936913e-02 3.43483364e-01 5.55932220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.396875 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:167.29, Y:86.14, Z:55.62 [[ 3.44379807e-01 7.68714536e-02 -9.35678004e-01 1.67291512e+02] [-1.39339579e-02 9.96950925e-01 7.67769390e-02 8.61422769e+01] [ 9.38727007e-01 -1.34027295e-02 3.44400891e-01 5.56198862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.426875 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:167.30, Y:86.14, Z:55.65 [[ 3.44382779e-01 7.61450557e-02 -9.35736305e-01 1.67301786e+02] [-1.37713178e-02 9.97007933e-01 7.60626894e-02 8.61417343e+01] [ 9.38728317e-01 -1.33083583e-02 3.44400980e-01 5.56465420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.456875 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:167.31, Y:86.14, Z:55.67 [[ 3.45885789e-01 7.55277574e-02 -9.35231832e-01 1.67311095e+02] [-1.33720877e-02 9.97050484e-01 7.55746004e-02 8.61418709e+01] [ 9.38181330e-01 -1.36341782e-02 3.45875557e-01 5.56714965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.486875 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:167.32, Y:86.14, Z:55.70 [[ 3.46958667e-01 7.48193853e-02 -9.34891300e-01 1.67320157e+02] [-1.27672144e-02 9.97097319e-01 7.50595420e-02 8.61428986e+01] [ 9.37793518e-01 -1.41066010e-02 3.46906791e-01 5.56977596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.516875 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:167.33, Y:86.14, Z:55.72 [[ 3.46572369e-01 7.42237332e-02 -9.35082045e-01 1.67330430e+02] [-1.28982955e-02 9.97147319e-01 7.43697349e-02 8.61429104e+01] [ 9.37934554e-01 -1.37135307e-02 3.46541068e-01 5.57234121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.546875 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:167.34, Y:86.14, Z:55.75 [[ 3.46067088e-01 7.36333130e-02 -9.35315832e-01 1.67341194e+02] [-1.30241868e-02 9.97196446e-01 7.36859500e-02 8.61442784e+01] [ 9.38119364e-01 -1.33185540e-02 3.46055884e-01 5.57483713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.57687500000003 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:167.35, Y:86.14, Z:55.77 [[ 3.45668038e-01 7.30974868e-02 -9.35505406e-01 1.67351695e+02] [-1.31276651e-02 9.97240367e-01 7.30706096e-02 8.61447679e+01] [ 9.38265033e-01 -1.29771726e-02 3.45673721e-01 5.57740292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.606875 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:167.36, Y:86.14, Z:55.80 [[ 3.45457037e-01 7.25832388e-02 -9.35623380e-01 1.67362303e+02] [-1.34823358e-02 9.97285361e-01 7.23887786e-02 8.61449991e+01] [ 9.38337712e-01 -1.23928243e-02 3.45497837e-01 5.57998692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.63687500000003 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:167.37, Y:86.15, Z:55.83 [[ 3.44825130e-01 7.20860005e-02 -9.35894886e-01 1.67372041e+02] [-1.38268878e-02 9.97328716e-01 7.17234178e-02 8.61459349e+01] [ 9.38565100e-01 -1.17915232e-02 3.44900729e-01 5.58253944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.666875 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:167.38, Y:86.15, Z:55.85 [[ 3.44714643e-01 7.15015157e-02 -9.35980421e-01 1.67382185e+02] [-1.37881614e-02 9.97372939e-01 7.11133420e-02 8.61460489e+01] [ 9.38606255e-01 -1.16083611e-02 3.44794931e-01 5.58514677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.69687500000003 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:167.39, Y:86.15, Z:55.88 [[ 3.44302761e-01 7.09245856e-02 -9.36175898e-01 1.67392535e+02] [-1.39047844e-02 9.97418362e-01 7.04504660e-02 8.61460718e+01] [ 9.38755701e-01 -1.12389659e-02 3.44400087e-01 5.58775181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.726875 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:167.40, Y:86.15, Z:55.90 [[ 3.43863559e-01 7.04549978e-02 -9.36372760e-01 1.67402342e+02] [-1.43276178e-02 9.97458827e-01 6.97897425e-02 8.61472269e+01] [ 9.38910311e-01 -1.05821582e-02 3.43999195e-01 5.59030135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.75687500000004 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:167.41, Y:86.15, Z:55.93 [[ 3.43948586e-01 6.99148466e-02 -9.36382019e-01 1.67412757e+02] [-1.44163147e-02 9.97499826e-01 6.91828495e-02 8.61476394e+01] [ 9.38877809e-01 -1.02961654e-02 3.44096569e-01 5.59291098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.786875 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:167.42, Y:86.15, Z:55.95 [[ 3.43268784e-01 6.94255365e-02 -9.36667837e-01 1.67422304e+02] [-1.49448325e-02 9.97541882e-01 6.84605399e-02 8.61486153e+01] [ 9.39118307e-01 -9.50202227e-03 3.43462541e-01 5.59549792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.81687500000004 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:167.43, Y:86.15, Z:55.98 [[ 3.42603583e-01 6.89836628e-02 -9.36943989e-01 1.67432069e+02] [-1.49674741e-02 9.97574769e-01 6.79746622e-02 8.61483980e+01] [ 9.39360825e-01 -9.26467790e-03 3.42805201e-01 5.59814591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.846875 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:167.44, Y:86.15, Z:56.01 [[ 3.41815529e-01 6.82335099e-02 -9.37286686e-01 1.67442667e+02] [-1.47155454e-02 9.97626980e-01 6.72596649e-02 8.61482951e+01] [ 9.39651849e-01 -9.19771311e-03 3.42008487e-01 5.60080012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.87687500000004 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:167.45, Y:86.15, Z:56.03 [[ 3.40173213e-01 6.75226497e-02 -9.37935433e-01 1.67452951e+02] [-1.45362661e-02 9.97677104e-01 6.65514395e-02 8.61483249e+01] [ 9.40250436e-01 -9.00493791e-03 3.40364553e-01 5.60340293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.906875 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:167.49, Y:86.17, Z:56.04 [[ 3.50913739e-01 2.20477359e-02 -9.36148196e-01 1.67494426e+02] [-6.98536035e-03 9.99756596e-01 2.09273602e-02 8.61682815e+01] [ 9.36381734e-01 -8.04365712e-04 3.50982337e-01 5.60363485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.936875 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:167.52, Y:86.18, Z:56.06 [[ 3.50948399e-01 -1.28264048e-02 -9.36306950e-01 1.67519898e+02] [-6.76790241e-03 9.99845321e-01 -1.62335710e-02 8.61782451e+01] [ 9.36370342e-01 1.20339798e-02 3.50807307e-01 5.60576566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.966875 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:167.50, Y:86.16, Z:56.11 [[ 3.40338107e-01 2.92914896e-02 -9.39846786e-01 1.67497114e+02] [-1.32726598e-02 9.99564758e-01 2.63463675e-02 8.61561668e+01] [ 9.40209450e-01 3.50759378e-03 3.40578754e-01 5.61064174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.996875 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:167.49, Y:86.15, Z:56.14 [[ 3.41198361e-01 6.45536046e-02 -9.37772099e-01 1.67489366e+02] [-1.26043872e-02 9.97863611e-01 6.41041643e-02 8.61456858e+01] [ 9.39906808e-01 -1.00521932e-02 3.41283088e-01 5.61389789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.026875 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:167.50, Y:86.15, Z:56.17 [[ 3.42504094e-01 6.39932334e-02 -9.37334418e-01 1.67498019e+02] [-1.31587144e-02 9.97906499e-01 6.33203570e-02 8.61455391e+01] [ 9.39424182e-01 -9.35336553e-03 3.42629130e-01 5.61650129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.056875 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:167.51, Y:86.15, Z:56.19 [[ 3.42899203e-01 6.36415879e-02 -9.37213895e-01 1.67508039e+02] [-1.35732533e-02 9.97933909e-01 6.27987284e-02 8.61456013e+01] [ 9.39274136e-01 -8.81259235e-03 3.43054566e-01 5.61917362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.086875 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:167.52, Y:86.15, Z:56.22 [[ 3.43097348e-01 6.32170862e-02 -9.37170107e-01 1.67518131e+02] [-1.43701840e-02 9.97969127e-01 6.20573873e-02 8.61458878e+01] [ 9.39189921e-01 -7.82441807e-03 3.43309002e-01 5.62174607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.116875 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:167.53, Y:86.15, Z:56.24 [[ 3.43105450e-01 6.31979291e-02 -9.37168433e-01 1.67528549e+02] [-1.63432591e-02 9.97984613e-01 6.13156584e-02 8.61472417e+01] [ 9.39154699e-01 -5.72135009e-03 3.43446820e-01 5.62433357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.146875 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:167.54, Y:86.15, Z:56.27 [[ 3.42987443e-01 6.26807576e-02 -9.37246359e-01 1.67539239e+02] [-1.68495672e-02 9.98021175e-01 6.05790920e-02 8.61475981e+01] [ 9.39188855e-01 -4.98567239e-03 3.43364874e-01 5.62694253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.176875 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:167.55, Y:86.15, Z:56.30 [[ 3.42063358e-01 6.24142206e-02 -9.37601794e-01 1.67549943e+02] [-1.80266967e-02 9.98043931e-01 5.98610861e-02 8.61481150e+01] [ 9.39503963e-01 -3.57442103e-03 3.42519381e-01 5.62953935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.206875 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:167.56, Y:86.15, Z:56.32 [[ 3.41450685e-01 6.16964203e-02 -9.37872583e-01 1.67559846e+02] [-1.79471293e-02 9.98089320e-01 5.91236802e-02 8.61482696e+01] [ 9.39728328e-01 -3.35570063e-03 3.41905556e-01 5.63212782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.236875 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:167.57, Y:86.15, Z:56.35 [[ 3.41130229e-01 6.10135456e-02 -9.38033856e-01 1.67569971e+02] [-1.80046964e-02 9.98132356e-01 5.83749163e-02 8.61483568e+01] [ 9.39843603e-01 -3.02443376e-03 3.41591649e-01 5.63464073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.266875 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:167.58, Y:86.15, Z:56.37 [[ 3.39766735e-01 6.06013305e-02 -9.38555297e-01 1.67579809e+02] [-1.78538103e-02 9.98157706e-01 5.79865187e-02 8.61488354e+01] [ 9.40340261e-01 -2.94510193e-03 3.40222749e-01 5.63713235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.296875 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:167.59, Y:86.15, Z:56.40 [[ 3.39511841e-01 6.01675075e-02 -9.38675440e-01 1.67589947e+02] [-1.77144277e-02 9.98184026e-01 5.75747320e-02 8.61487511e+01] [ 9.40434957e-01 -2.91920508e-03 3.39961129e-01 5.63974571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.32687500000003 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:167.60, Y:86.15, Z:56.42 [[ 3.39374866e-01 5.93467973e-02 -9.38777214e-01 1.67599954e+02] [-1.73796935e-02 9.98233012e-01 5.68225350e-02 8.61487704e+01] [ 9.40490642e-01 -2.96847991e-03 3.39806624e-01 5.64223106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.356875 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:167.61, Y:86.15, Z:56.45 [[ 3.39028782e-01 5.86620069e-02 -9.38945288e-01 1.67609960e+02] [-1.64985247e-02 9.98271288e-01 5.64112980e-02 8.61485112e+01] [ 9.40631322e-01 -3.63384160e-03 3.39410536e-01 5.64484532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.38687500000003 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:167.62, Y:86.15, Z:56.47 [[ 3.39193379e-01 5.76390350e-02 -9.38949196e-01 1.67620171e+02] [-1.55955244e-02 9.98328516e-01 5.56502885e-02 8.61483623e+01] [ 9.40587386e-01 -4.23280429e-03 3.39525333e-01 5.64746136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.416875 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:167.63, Y:86.15, Z:56.50 [[ 3.39892660e-01 5.61797414e-02 -9.38784755e-01 1.67629985e+02] [-1.34319447e-02 9.98402371e-01 5.48843250e-02 8.61485404e+01] [ 9.40368312e-01 -6.04507428e-03 3.40104241e-01 5.65013248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.44687500000003 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:167.64, Y:86.15, Z:56.53 [[ 3.40120649e-01 5.50047303e-02 -9.38771763e-01 1.67639204e+02] [-1.20840864e-02 9.98461102e-01 5.41239503e-02 8.61484356e+01] [ 9.40304163e-01 -7.06447399e-03 3.40261920e-01 5.65267279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.476875 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:167.65, Y:86.15, Z:56.55 [[ 3.40549217e-01 5.40211267e-02 -9.38673505e-01 1.67648772e+02] [-1.03788741e-02 9.98503232e-01 5.36989187e-02 8.61481606e+01] [ 9.40169405e-01 -8.54475056e-03 3.40600172e-01 5.65535724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.50687500000004 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:167.66, Y:86.15, Z:56.58 [[ 3.40569971e-01 5.27973669e-02 -9.38735603e-01 1.67658592e+02] [-8.78451624e-03 9.98557204e-01 5.29749255e-02 8.61478111e+01] [ 9.40178136e-01 -9.79533068e-03 3.40542397e-01 5.65803905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.536875 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:167.67, Y:86.15, Z:56.61 [[ 3.41273407e-01 5.13616863e-02 -9.38559768e-01 1.67667650e+02] [-6.72663678e-03 9.98613881e-01 5.22021850e-02 8.61478748e+01] [ 9.39940006e-01 -1.15018669e-02 3.41145853e-01 5.66058440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.56687500000004 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:167.68, Y:86.15, Z:56.63 [[ 3.41618649e-01 5.05895424e-02 -9.38476104e-01 1.67677192e+02] [-5.91946490e-03 9.98646240e-01 5.16783076e-02 8.61478047e+01] [ 9.39820014e-01 -1.20989973e-02 3.41455642e-01 5.66324385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.596875 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:167.69, Y:86.15, Z:56.66 [[ 3.42508211e-01 4.96425599e-02 -9.38202399e-01 1.67686906e+02] [-5.29402120e-03 9.98689194e-01 5.09103818e-02 8.61482295e+01] [ 9.39499919e-01 -1.24703604e-02 3.42322058e-01 5.66574733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.62687500000004 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:167.70, Y:86.15, Z:56.68 [[ 3.42806952e-01 4.92376727e-02 -9.38114623e-01 1.67696604e+02] [-5.27772815e-03 9.98710646e-01 5.04895083e-02 8.61483708e+01] [ 9.39391047e-01 -1.23570405e-02 3.42624815e-01 5.66835323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.656875 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:167.71, Y:86.15, Z:56.71 [[ 3.43366471e-01 4.86884981e-02 -9.37938642e-01 1.67706765e+02] [-5.78633910e-03 9.98746100e-01 4.97267206e-02 8.61482575e+01] [ 9.39183680e-01 -1.16472575e-02 3.43217651e-01 5.67096067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.686875 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:167.72, Y:86.15, Z:56.73 [[ 3.43720901e-01 4.85495227e-02 -9.37816019e-01 1.67717189e+02] [-7.47992663e-03 9.98772551e-01 4.89636801e-02 8.61485680e+01] [ 9.39042061e-01 -9.81504522e-03 3.43662148e-01 5.67347943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.716875 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:167.73, Y:86.15, Z:56.76 [[ 3.43890502e-01 4.84623040e-02 -9.37758352e-01 1.67728159e+02] [-8.38567503e-03 9.98785990e-01 4.85409873e-02 8.61485749e+01] [ 9.38972312e-01 -8.82904769e-03 3.43879405e-01 5.67611892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.746875 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:167.74, Y:86.15, Z:56.79 [[ 3.43667696e-01 4.87326722e-02 -9.37826019e-01 1.67737880e+02] [-1.12179379e-02 9.98794412e-01 4.77899705e-02 8.61492286e+01] [ 9.39024320e-01 -5.90339503e-03 3.43800054e-01 5.67868135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.776875 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:167.75, Y:86.15, Z:56.81 [[ 3.43816522e-01 4.87420031e-02 -9.37770983e-01 1.67747996e+02] [-1.26567722e-02 9.98801779e-01 4.72737937e-02 8.61495047e+01] [ 9.38951546e-01 -4.38435763e-03 3.44021471e-01 5.68126098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.806875 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:167.79, Y:86.17, Z:56.82 [[ 3.53372827e-01 1.07963992e-02 -9.35420271e-01 1.67786117e+02] [-9.64490688e-03 9.99922301e-01 7.89731900e-03 8.61656386e+01] [ 9.35432852e-01 6.23134347e-03 3.53449500e-01 5.68211887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.836875 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:167.77, Y:86.15, Z:56.86 [[ 3.42706261e-01 3.54339706e-02 -9.38774122e-01 1.67773694e+02] [-1.83279852e-02 9.99350412e-01 3.10296557e-02 8.61535516e+01] [ 9.39263809e-01 6.57178098e-03 3.43133076e-01 5.68628209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.866875 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:167.81, Y:86.17, Z:56.87 [[ 3.53334331e-01 7.94956653e-03 -9.35463337e-01 1.67808470e+02] [-1.50941486e-02 9.99882168e-01 2.79577918e-03 8.61668001e+01] [ 9.35375335e-01 1.31321778e-02 3.53412689e-01 5.68734580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.896875 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:167.79, Y:86.15, Z:56.92 [[ 3.40713281e-01 3.89344814e-02 -9.39360722e-01 1.67792680e+02] [-2.40955385e-02 9.99175566e-01 3.26740429e-02 8.61531851e+01] [ 9.39858428e-01 1.15019221e-02 3.41370533e-01 5.69162159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.926875 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:167.80, Y:86.15, Z:56.94 [[ 3.40499806e-01 5.20738985e-02 -9.38801465e-01 1.67797197e+02] [-2.53876462e-02 9.98610315e-01 4.61834000e-02 8.61499825e+01] [ 9.39901776e-01 8.10852068e-03 3.41348653e-01 5.69446337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.956875 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:167.84, Y:86.17, Z:56.95 [[ 3.51998258e-01 1.12393670e-02 -9.35933172e-01 1.67838596e+02] [-2.26479308e-02 9.99737419e-01 3.48783825e-03 8.61683885e+01] [ 9.35726615e-01 1.99692368e-02 3.52160378e-01 5.69506668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.986875 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:167.86, Y:86.18, Z:56.97 [[ 3.53685942e-01 -1.58351707e-02 -9.35230186e-01 1.67862680e+02] [-2.35060068e-02 9.99390443e-01 -2.58110386e-02 8.61782173e+01] [ 9.35068833e-01 3.11125286e-02 3.53098129e-01 5.69688776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.016875 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:167.84, Y:86.16, Z:57.02 [[ 3.38267934e-01 2.94758284e-02 -9.40588103e-01 1.67836035e+02] [-3.21645503e-02 9.99287478e-01 1.97478473e-02 8.61565146e+01] [ 9.40499998e-01 2.35735298e-02 3.38974988e-01 5.70184373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.046875 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:167.83, Y:86.15, Z:57.05 [[ 3.38042806e-01 5.71971817e-02 -9.39391049e-01 1.67833060e+02] [-3.29501210e-02 9.98258836e-01 4.89242906e-02 8.61486559e+01] [ 9.40553747e-01 1.44145443e-02 3.39338872e-01 5.70496465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.07687500000003 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:167.87, Y:86.17, Z:57.06 [[ 3.50652681e-01 1.74712397e-02 -9.36342594e-01 1.67871294e+02] [-2.91724155e-02 9.99544538e-01 7.72569415e-03 8.61666154e+01] [ 9.36051103e-01 2.46063398e-02 3.51002651e-01 5.70563727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.106875 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:167.86, Y:86.16, Z:57.10 [[ 3.39418771e-01 3.32383254e-02 -9.40047930e-01 1.67862589e+02] [-3.60922485e-02 9.99099744e-01 2.22946247e-02 8.61553219e+01] [ 9.39942683e-01 2.63612294e-02 3.40312854e-01 5.70980261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.13687500000003 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:167.86, Y:86.15, Z:57.13 [[ 3.39588355e-01 5.75054869e-02 -9.38814608e-01 1.67861522e+02] [-3.66026325e-02 9.98181170e-01 4.79019671e-02 8.61487838e+01] [ 9.39861690e-01 1.80961359e-02 3.41075554e-01 5.71286775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.166875 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:167.90, Y:86.17, Z:57.13 [[ 3.53309942e-01 1.40951731e-02 -9.35400134e-01 1.67903095e+02] [-3.16757909e-02 9.99493399e-01 3.09670758e-03 8.61687713e+01] [ 9.34969908e-01 2.85354414e-02 3.53577430e-01 5.71342534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.19687500000003 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:167.93, Y:86.18, Z:57.15 [[ 3.55446525e-01 -1.61313748e-02 -9.34557407e-01 1.67927320e+02] [-3.07840172e-02 9.99106610e-01 -2.89538502e-02 8.61792776e+01] [ 9.34189548e-01 3.90609767e-02 3.54632384e-01 5.71541854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.226875 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:167.90, Y:86.16, Z:57.20 [[ 3.40864294e-01 2.74917092e-02 -9.39710455e-01 1.67903250e+02] [-3.84194176e-02 9.99144648e-01 1.52944839e-02 8.61574669e+01] [ 9.39327143e-01 3.08897849e-02 3.41628951e-01 5.72025325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.25687500000004 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:167.90, Y:86.15, Z:57.23 [[ 3.39890951e-01 5.54834919e-02 -9.38826780e-01 1.67900630e+02] [-3.82762471e-02 9.98247222e-01 4.51377107e-02 8.61497096e+01] [ 9.39685623e-01 2.05928664e-02 3.41418897e-01 5.72320823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.286875 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:167.91, Y:86.15, Z:57.26 [[ 3.39149745e-01 5.48702126e-02 -9.39130827e-01 1.67910720e+02] [-3.76774407e-02 9.98288798e-01 4.47200996e-02 8.61505672e+01] [ 9.39977585e-01 2.02172357e-02 3.40636760e-01 5.72567658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.31687500000004 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:167.94, Y:86.17, Z:57.27 [[ 3.48598573e-01 2.30839466e-02 -9.36987815e-01 1.67944518e+02] [-3.21332744e-02 9.99403326e-01 1.26667169e-02 8.61660902e+01] [ 9.36721136e-01 2.56928871e-02 3.49132336e-01 5.72676507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.346875 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:167.94, Y:86.16, Z:57.31 [[ 3.38108581e-01 3.12995889e-02 -9.40586478e-01 1.67940469e+02] [-3.73532001e-02 9.99105559e-01 1.98197149e-02 8.61569988e+01] [ 9.40365528e-01 2.84326993e-02 3.38975303e-01 5.73063504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.37687500000004 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:167.94, Y:86.15, Z:57.34 [[ 3.37642125e-01 5.38833499e-02 -9.39731015e-01 1.67940189e+02] [-3.69494359e-02 9.98349385e-01 4.39686704e-02 8.61502482e+01] [ 9.40549060e-01 1.98768556e-02 3.39075767e-01 5.73367944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.406875 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:167.95, Y:86.15, Z:57.36 [[ 3.37622290e-01 5.31068731e-02 -9.39782342e-01 1.67949902e+02] [-3.66275701e-02 9.98392194e-01 4.32602334e-02 8.61504451e+01] [ 9.40568770e-01 1.98163245e-02 3.39024635e-01 5.73632769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.436875 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:167.96, Y:86.15, Z:57.39 [[ 3.37359374e-01 5.24180902e-02 -9.39915420e-01 1.67959802e+02] [-3.67059825e-02 9.98421701e-01 4.25062198e-02 8.61505656e+01] [ 9.40660047e-01 2.01606472e-02 3.38750978e-01 5.73889817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.466875 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:167.97, Y:86.15, Z:57.41 [[ 3.37708661e-01 5.17769123e-02 -9.39825522e-01 1.67969131e+02] [-3.66956824e-02 9.98451024e-01 4.18208066e-02 8.61512275e+01] [ 9.40535107e-01 2.03642903e-02 3.39085548e-01 5.74143243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.496875 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:167.98, Y:86.15, Z:57.44 [[ 3.37563586e-01 5.12009157e-02 -9.39909193e-01 1.67978992e+02] [-3.68637546e-02 9.98472635e-01 4.11516902e-02 8.61517163e+01] [ 9.40580613e-01 2.07572697e-02 3.38935462e-01 5.74403857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.526875 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:167.99, Y:86.15, Z:57.47 [[ 3.37424354e-01 5.07328263e-02 -9.39984567e-01 1.67988752e+02] [-3.76545898e-02 9.98474919e-01 4.03728745e-02 8.61526049e+01] [ 9.40599244e-01 2.17719422e-02 3.38820078e-01 5.74667393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.556875 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:168.00, Y:86.15, Z:57.49 [[ 3.37950575e-01 5.01024128e-02 -9.39829323e-01 1.67998691e+02] [-3.79312858e-02 9.98495781e-01 3.95903245e-02 8.61530342e+01] [ 9.40399185e-01 2.22693617e-02 3.39342672e-01 5.74927015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.586875 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:168.03, Y:86.17, Z:57.50 [[ 3.48430525e-01 1.28917815e-02 -9.37245950e-01 1.68033985e+02] [-3.46156879e-02 9.99400312e-01 8.77985275e-04 8.61700398e+01] [ 9.36695214e-01 3.21374964e-02 3.48667833e-01 5.75027550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.616875 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:168.05, Y:86.18, Z:57.53 [[ 3.49232087e-01 -5.80464684e-03 -9.37018279e-01 1.68052234e+02] [-3.55557153e-02 9.99178572e-01 -1.94415369e-02 8.61763856e+01] [ 9.36361437e-01 4.01059637e-02 3.48738829e-01 5.75260687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.646875 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:168.06, Y:86.17, Z:57.56 [[ 3.47553058e-01 -3.23960199e-04 -9.37660262e-01 1.68058603e+02] [-3.74046587e-02 9.99199168e-01 -1.42096288e-02 8.61742550e+01] [ 9.36913957e-01 4.00114620e-02 3.47262609e-01 5.75558140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.676875 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:168.07, Y:86.17, Z:57.58 [[ 3.49010447e-01 6.58706631e-03 -9.37095683e-01 1.68065774e+02] [-3.82482487e-02 9.99242176e-01 -7.22120911e-03 8.61732179e+01] [ 9.36337962e-01 3.83625461e-02 3.48997902e-01 5.75815591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.706875 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:168.05, Y:86.16, Z:57.62 [[ 3.39063446e-01 3.19580621e-02 -9.40220539e-01 1.68054198e+02] [-4.41424557e-02 9.98862488e-01 1.80325951e-02 8.61593743e+01] [ 9.39727313e-01 3.53894496e-02 3.40088465e-01 5.76225305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.736875 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:168.08, Y:86.17, Z:57.63 [[ 3.49668923e-01 1.15325013e-02 -9.36802351e-01 1.68083247e+02] [-4.02475845e-02 9.99186029e-01 -2.72225551e-03 8.61717443e+01] [ 9.36008427e-01 3.86559200e-02 3.49848458e-01 5.76336222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.766875 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:168.08, Y:86.16, Z:57.67 [[ 3.39167658e-01 2.66971515e-02 -9.40347043e-01 1.68075821e+02] [-4.66907507e-02 9.98842993e-01 1.15173118e-02 8.61606710e+01] [ 9.39566535e-01 3.99992097e-02 3.40021749e-01 5.76739066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.796875 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:168.10, Y:86.17, Z:57.69 [[ 3.49254123e-01 1.12394556e-02 -9.36960635e-01 1.68103984e+02] [-4.22033681e-02 9.99102017e-01 -3.74651555e-03 8.61710953e+01] [ 9.36077151e-01 4.08513806e-02 3.49414842e-01 5.76853142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.82687500000003 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:168.09, Y:86.16, Z:57.73 [[ 3.38106976e-01 3.35517951e-02 -9.40509410e-01 1.68092017e+02] [-4.72717210e-02 9.98708243e-01 1.86341098e-02 8.61568350e+01] [ 9.39919708e-01 3.81591759e-02 3.39256275e-01 5.77273294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.856875 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:168.12, Y:86.17, Z:57.74 [[ 3.47091586e-01 1.66442642e-02 -9.37683529e-01 1.68118244e+02] [-4.23416934e-02 9.99101062e-01 2.06131017e-03 8.61654840e+01] [ 9.36874918e-01 3.89876450e-02 3.47484318e-01 5.77416907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.88687500000003 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:168.14, Y:86.17, Z:57.76 [[ 3.47674349e-01 -5.09677324e-03 -9.37601499e-01 1.68138537e+02] [-4.09344849e-02 9.98949261e-01 -2.06092762e-02 8.61704142e+01] [ 9.36721365e-01 4.55455510e-02 3.47100400e-01 5.77632773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.916875 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:168.15, Y:86.17, Z:57.79 [[ 3.47117333e-01 -9.96695119e-03 -9.37768744e-01 1.68150295e+02] [-4.02081943e-02 9.98865896e-01 -2.54994730e-02 8.61710218e+01] [ 9.36959369e-01 4.65572970e-02 3.46322913e-01 5.77889757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.94687500000003 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:168.16, Y:86.17, Z:57.81 [[ 3.46045363e-01 -1.49883428e-02 -9.38098053e-01 1.68161090e+02] [-4.04716268e-02 9.98703216e-01 -3.08858171e-02 8.61702229e+01] [ 9.37344469e-01 4.86542481e-02 3.44990014e-01 5.78147333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.976875 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:168.18, Y:86.17, Z:57.84 [[ 3.48880132e-01 -2.31624659e-02 -9.36881078e-01 1.68177288e+02] [-3.85544720e-02 9.98493471e-01 -3.90427997e-02 8.61720964e+01] [ 9.36373967e-01 4.97422125e-02 3.47461518e-01 5.78363750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.00687500000004 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:168.19, Y:86.17, Z:57.86 [[ 3.46247365e-01 -2.32760100e-02 -9.37854461e-01 1.68185485e+02] [-3.90209157e-02 9.98469720e-01 -3.91865498e-02 8.61673281e+01] [ 9.37331388e-01 5.01641795e-02 3.44809258e-01 5.78637892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.036875 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:168.20, Y:86.17, Z:57.89 [[ 3.45694624e-01 -2.42726366e-02 -9.38033084e-01 1.68196115e+02] [-3.88473974e-02 9.98438122e-01 -4.01521682e-02 8.61650687e+01] [ 9.37542589e-01 5.03205327e-02 3.44211762e-01 5.78899891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.06687500000004 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:168.21, Y:86.16, Z:57.92 [[ 3.44356246e-01 -2.40724872e-02 -9.38530389e-01 1.68205086e+02] [-3.89261464e-02 9.98445497e-01 -3.98916525e-02 8.61617247e+01] [ 9.38031732e-01 5.02703111e-02 3.42883894e-01 5.79174944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.096875 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:168.21, Y:86.15, Z:57.95 [[ 3.43398555e-01 -2.15608640e-02 -9.38942257e-01 1.68212686e+02] [-3.75469912e-02 9.98622063e-01 -3.66633164e-02 8.61545627e+01] [ 9.38438946e-01 4.78445866e-02 3.42115828e-01 5.79452049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.12687500000004 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:168.22, Y:86.15, Z:57.97 [[ 3.44502583e-01 -2.32655806e-02 -9.38497034e-01 1.68224199e+02] [-3.60691940e-02 9.98626698e-01 -3.79964551e-02 8.61523043e+01] [ 9.38092204e-01 4.69407085e-02 3.43190307e-01 5.79705194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.156875 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:168.20, Y:86.12, Z:58.02 [[ 3.29689813e-01 2.30581716e-02 -9.43807686e-01 1.68197640e+02] [-4.16874760e-02 9.99082181e-01 9.84636199e-03 8.61232786e+01] [ 9.43168480e-01 3.60987150e-02 3.30348455e-01 5.80194555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.186875 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:168.19, Y:86.11, Z:58.05 [[ 3.29195341e-01 5.39120480e-02 -9.42721549e-01 1.68192037e+02] [-4.04856743e-02 9.98256563e-01 4.29504984e-02 8.61109561e+01] [ 9.43393522e-01 2.40276136e-02 3.30804075e-01 5.80497498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.216875 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:168.23, Y:86.12, Z:58.06 [[ 3.39722258e-01 1.66404465e-02 -9.40378585e-01 1.68229890e+02] [-3.50797288e-02 9.99371952e-01 5.01141869e-03 8.61248281e+01] [ 9.39871374e-01 3.12857352e-02 3.40092638e-01 5.80584220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.246875 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:168.24, Y:86.12, Z:58.08 [[ 3.38190394e-01 2.53570791e-03 -9.41074294e-01 1.68243290e+02] [-3.54825850e-02 9.99319674e-01 -1.00585965e-02 8.61248897e+01] [ 9.40408551e-01 3.67934693e-02 3.38050288e-01 5.80847014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.276875 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:168.23, Y:86.10, Z:58.13 [[ 3.29801245e-01 3.31020117e-02 -9.43469870e-01 1.68228647e+02] [-4.01522604e-02 9.98972584e-01 2.10136405e-02 8.61041692e+01] [ 9.43196127e-01 3.09521231e-02 3.30791522e-01 5.81253821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.306875 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:168.26, Y:86.11, Z:58.14 [[ 3.39725309e-01 1.69067591e-02 -9.40372733e-01 1.68256172e+02] [-3.61697994e-02 9.99333646e-01 4.89986235e-03 8.61121687e+01] [ 9.39828953e-01 3.23484858e-02 3.40110446e-01 5.81380863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.336875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:168.28, Y:86.11, Z:58.16 [[ 3.39546894e-01 -2.63652792e-03 -9.40585432e-01 1.68276292e+02] [-3.86550445e-02 9.99112137e-01 -1.67548708e-02 8.61140308e+01] [ 9.39794496e-01 4.20474360e-02 3.39143508e-01 5.81608329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.366875 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:168.29, Y:86.12, Z:58.18 [[ 3.43442320e-01 -1.46229822e-02 -9.39059924e-01 1.68294905e+02] [-3.76430906e-02 9.98860978e-01 -2.93214053e-02 8.61164477e+01] [ 9.38419081e-01 4.54193293e-02 3.42500677e-01 5.81824520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.396875 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:168.30, Y:86.11, Z:58.21 [[ 3.41391398e-01 -1.51620271e-02 -9.39798929e-01 1.68303473e+02] [-3.91839456e-02 9.98771072e-01 -3.03474022e-02 8.61135518e+01] [ 9.39104111e-01 4.71853722e-02 3.40377745e-01 5.82110708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.426875 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:168.31, Y:86.11, Z:58.24 [[ 3.39557528e-01 -8.88916551e-03 -9.40543283e-01 1.68310399e+02] [-4.12327920e-02 9.98853388e-01 -2.43262361e-02 8.61065077e+01] [ 9.39681085e-01 4.70413822e-02 3.38801662e-01 5.82379620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.456875 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:168.33, Y:86.11, Z:58.26 [[ 3.39498053e-01 -1.85066528e-02 -9.40424678e-01 1.68326348e+02] [-4.15161691e-02 9.98537246e-01 -3.46377987e-02 8.61082112e+01] [ 9.39690098e-01 5.08022952e-02 3.38233125e-01 5.82608915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.486875 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:168.29, Y:86.08, Z:58.31 [[ 3.22180145e-01 3.48119962e-02 -9.46038096e-01 1.68293503e+02] [-4.90015167e-02 9.98597276e-01 2.00582291e-02 8.60794663e+01] [ 9.45409332e-01 3.98949384e-02 3.23434055e-01 5.83117041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.516875 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:168.33, Y:86.09, Z:58.32 [[ 3.37153513e-01 3.10882153e-03 -9.41444552e-01 1.68334691e+02] [-4.18697374e-02 9.99054624e-01 -1.16954806e-02 8.60936163e+01] [ 9.40518173e-01 4.33612086e-02 3.36964941e-01 5.83188205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.546875 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:168.35, Y:86.09, Z:58.35 [[ 3.35857019e-01 -6.47209092e-03 -9.41890745e-01 1.68346678e+02] [-4.12730532e-02 9.98914810e-01 -2.15809660e-02 8.60935803e+01] [ 9.41008288e-01 4.61228257e-02 3.35225428e-01 5.83452756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.57687500000003 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:168.36, Y:86.09, Z:58.37 [[ 3.33766826e-01 -9.40989184e-03 -9.42608699e-01 1.68356006e+02] [-3.93648119e-02 9.98938778e-01 -2.39108489e-02 8.60895035e+01] [ 9.41833381e-01 4.50862623e-02 3.33042207e-01 5.83716977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.606875 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:168.37, Y:86.09, Z:58.40 [[ 3.32344947e-01 -1.19119888e-02 -9.43082680e-01 1.68366016e+02] [-3.79770039e-02 9.98940293e-01 -2.60007224e-02 8.60877630e+01] [ 9.42393009e-01 4.44566633e-02 3.31540377e-01 5.83988509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.63687500000003 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:168.38, Y:86.09, Z:58.42 [[ 3.34906973e-01 -2.20727676e-02 -9.41992629e-01 1.68383131e+02] [-3.29829776e-02 9.98838285e-01 -3.51312245e-02 8.60885295e+01] [ 9.41673745e-01 4.28354138e-02 3.33789881e-01 5.84203722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.666875 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:168.39, Y:86.08, Z:58.45 [[ 3.33991957e-01 -1.76582844e-02 -9.42410504e-01 1.68387982e+02] [-3.12112159e-02 9.99069036e-01 -2.97812260e-02 8.60843242e+01] [ 9.42059039e-01 3.93604676e-02 3.33129886e-01 5.84497271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.69687500000003 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:168.40, Y:86.08, Z:58.48 [[ 3.35024095e-01 -1.93507254e-02 -9.42010831e-01 1.68398520e+02] [-2.86161710e-02 9.99118890e-01 -3.07011142e-02 8.60830658e+01] [ 9.41774904e-01 3.72423560e-02 3.34175159e-01 5.84756082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.726875 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:168.40, Y:86.08, Z:58.51 [[ 3.33561427e-01 -1.37406975e-02 -9.42628223e-01 1.68400598e+02] [-2.41520878e-02 9.99441021e-01 -2.31153927e-02 8.60762519e+01] [ 9.42418936e-01 3.04768430e-02 3.33043107e-01 5.85057714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.75687500000004 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:168.36, Y:86.05, Z:58.56 [[ 3.18720503e-01 4.59883634e-02 -9.46732439e-01 1.68358641e+02] [-2.79958818e-02 9.98843245e-01 3.90947887e-02 8.60490799e+01] [ 9.47435207e-01 1.40442987e-02 3.19639306e-01 5.85582801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.786875 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:168.41, Y:86.07, Z:58.56 [[ 3.32521550e-01 -1.80052944e-03 -9.43093939e-01 1.68409255e+02] [-2.01076766e-02 9.99757326e-01 -8.99839131e-03 8.60680918e+01] [ 9.42881276e-01 2.19555870e-02 3.32404651e-01 5.85635958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.81687500000004 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:168.42, Y:86.07, Z:58.59 [[ 3.29892760e-01 -1.15540043e-03 -9.44017707e-01 1.68415520e+02] [-1.71634283e-02 9.99826618e-01 -7.22157095e-03 8.60655423e+01] [ 9.43862375e-01 1.85849242e-02 3.29815732e-01 5.85918957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.846875 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:168.43, Y:86.07, Z:58.61 [[ 3.31899769e-01 -1.13888813e-02 -9.43245905e-01 1.68432559e+02] [-1.44360083e-02 9.99748696e-01 -1.71506995e-02 8.60689340e+01] [ 9.43204191e-01 1.93090189e-02 3.31651951e-01 5.86145253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.87687500000004 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:168.44, Y:86.07, Z:58.64 [[ 3.32538419e-01 -1.59685800e-02 -9.42954508e-01 1.68443941e+02] [-1.25398423e-02 9.99693382e-01 -2.13516802e-02 8.60698205e+01] [ 9.43006337e-01 1.89247548e-02 3.32236213e-01 5.86395364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.906875 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:168.45, Y:86.07, Z:58.67 [[ 3.29434034e-01 -1.24480992e-02 -9.44096532e-01 1.68449055e+02] [-1.27848191e-02 9.99762605e-01 -1.76432155e-02 8.60672270e+01] [ 9.44092032e-01 1.78823790e-02 3.29196681e-01 5.86694543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.936875 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:168.40, Y:86.04, Z:58.72 [[ 3.14626744e-01 5.08663221e-02 -9.47851586e-01 1.68404229e+02] [-1.63837945e-02 9.98705399e-01 4.81570019e-02 8.60421138e+01] [ 9.49074066e-01 3.77924876e-04 3.15052812e-01 5.87200368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.966875 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:168.41, Y:86.04, Z:58.75 [[ 3.14748145e-01 5.28349608e-02 -9.47703578e-01 1.68412095e+02] [-1.49864082e-02 9.98601718e-01 5.06953224e-02 8.60413048e+01] [ 9.49056907e-01 -1.75358594e-03 3.15099844e-01 5.87465133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.996875 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:168.42, Y:86.04, Z:58.77 [[ 3.15102078e-01 5.18923473e-02 -9.47638045e-01 1.68421188e+02] [-1.42135461e-02 9.98650098e-01 4.99595600e-02 8.60408731e+01] [ 9.48951345e-01 -2.27306414e-03 3.15414295e-01 5.87734374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.026875 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:168.43, Y:86.04, Z:58.80 [[ 3.16672260e-01 5.06172985e-02 -9.47183493e-01 1.68429809e+02] [-1.27010923e-02 9.98711898e-01 4.91246047e-02 8.60419833e+01] [ 9.48449979e-01 -3.52613465e-03 3.16907249e-01 5.87998132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.056875 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:168.44, Y:86.04, Z:58.83 [[ 3.17322039e-01 4.97419322e-02 -9.47012388e-01 1.68439537e+02] [-1.23870586e-02 9.98755620e-01 4.83091332e-02 8.60429190e+01] [ 9.48236935e-01 -3.59885466e-03 3.17543326e-01 5.88266805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.086875 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:168.45, Y:86.04, Z:58.85 [[ 3.17531935e-01 4.93816171e-02 -9.46960890e-01 1.68449169e+02] [-1.36828856e-02 9.98777725e-01 4.74956321e-02 8.60446884e+01] [ 9.48148854e-01 -2.12422241e-03 3.17819506e-01 5.88518111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.116875 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:168.51, Y:86.07, Z:58.85 [[ 3.31358301e-01 -1.11616250e-02 -9.43438972e-01 1.68509708e+02] [-8.41795912e-03 9.99855251e-01 -1.47856623e-02 8.60691658e+01] [ 9.43467442e-01 1.28411826e-02 3.31216379e-01 5.88544025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.146875 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:168.47, Y:86.05, Z:58.91 [[ 3.15431513e-01 4.99993497e-02 -9.47630216e-01 1.68466304e+02] [-1.62697362e-02 9.98749123e-01 4.72809102e-02 8.60457424e+01] [ 9.48808862e-01 5.03804568e-04 3.15850423e-01 5.89063590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.176875 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:168.48, Y:86.05, Z:58.93 [[ 3.14134777e-01 5.07687964e-02 -9.48019974e-01 1.68476177e+02] [-1.99726079e-02 9.98701549e-01 4.68648194e-02 8.60481832e+01] [ 9.49168287e-01 4.21256158e-03 3.14740873e-01 5.89313310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.206875 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:168.53, Y:86.07, Z:58.94 [[ 3.27793040e-01 -7.54531987e-03 -9.44719424e-01 1.68534087e+02] [-1.72152482e-02 9.99754373e-01 -1.39581179e-02 8.60712624e+01] [ 9.44592694e-01 2.08389532e-02 3.27582631e-01 5.89365640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.236875 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:168.54, Y:86.07, Z:58.97 [[ 3.26904833e-01 2.91115778e-04 -9.45057218e-01 1.68539164e+02] [-1.74682127e-02 9.99830975e-01 -5.73444284e-03 8.60682379e+01] [ 9.44895810e-01 1.83830776e-02 3.26854663e-01 5.89659896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.266875 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:168.50, Y:86.05, Z:59.01 [[ 3.12631819e-01 6.24545281e-02 -9.47818958e-01 1.68498051e+02] [-2.71531161e-02 9.98015932e-01 5.68058758e-02 8.60493218e+01] [ 9.49486205e-01 7.97691390e-03 3.13707372e-01 5.90140947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.296875 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:168.57, Y:86.08, Z:59.01 [[ 3.28925309e-01 -1.33674130e-02 -9.44261327e-01 1.68567637e+02] [-2.35898338e-02 9.99471494e-01 -2.23663101e-02 8.60790468e+01] [ 9.44061259e-01 2.96318132e-02 3.28436135e-01 5.90136984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.32687500000003 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:168.58, Y:86.08, Z:59.04 [[ 3.27428012e-01 -1.65171333e-02 -9.44731751e-01 1.68579920e+02] [-2.95766553e-02 9.99178079e-01 -2.77198082e-02 8.60825594e+01] [ 9.44413108e-01 3.70182470e-02 3.26670371e-01 5.90401757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.356875 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:168.58, Y:86.08, Z:59.07 [[ 3.26702317e-01 -2.23795468e-03 -9.45124641e-01 1.68580207e+02] [-3.16947501e-02 9.99408803e-01 -1.33224544e-02 8.60786621e+01] [ 9.44595701e-01 3.43079661e-02 3.26438240e-01 5.90706613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.38687500000003 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:168.59, Y:86.08, Z:59.10 [[ 3.23993545e-01 -1.16958576e-03 -9.46058568e-01 1.68587848e+02] [-3.43525742e-02 9.99325222e-01 -1.30000502e-02 8.60795681e+01] [ 9.45435393e-01 3.67114795e-02 3.23734743e-01 5.90986721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.416875 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:168.60, Y:86.08, Z:59.12 [[ 3.24415895e-01 1.39506841e-03 -9.45913517e-01 1.68596296e+02] [-3.72739468e-02 9.99241081e-01 -1.13099675e-02 8.60817512e+01] [ 9.45179866e-01 3.89270633e-02 3.24221689e-01 5.91243774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.44687500000003 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:168.60, Y:86.08, Z:59.15 [[ 3.22247096e-01 8.97973949e-04 -9.46655166e-01 1.68604280e+02] [-3.97465054e-02 9.99130574e-01 -1.25821980e-02 8.60816716e+01] [ 9.45820821e-01 4.16808115e-02 3.22002617e-01 5.91536277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.476875 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:168.61, Y:86.08, Z:59.18 [[ 3.20342866e-01 5.60297891e-03 -9.47285097e-01 1.68610286e+02] [-4.13627945e-02 9.99111537e-01 -8.07811220e-03 8.60805001e+01] [ 9.46398208e-01 4.17701245e-02 3.20290008e-01 5.91825434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.50687500000004 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:168.61, Y:86.08, Z:59.21 [[ 3.17592790e-01 1.75064104e-02 -9.48065581e-01 1.68611670e+02] [-4.35655210e-02 9.99043139e-01 3.85370368e-03 8.60770429e+01] [ 9.47225879e-01 4.00790625e-02 3.18051574e-01 5.92130267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.536875 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:168.62, Y:86.08, Z:59.24 [[ 3.19405073e-01 1.47318509e-02 -9.47503758e-01 1.68622389e+02] [-4.18948144e-02 9.99121030e-01 1.41158895e-03 8.60788950e+01] [ 9.46691726e-01 3.92446254e-02 3.19741514e-01 5.92367936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.56687500000004 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:168.63, Y:86.08, Z:59.27 [[ 3.15468524e-01 8.72368907e-03 -9.48895942e-01 1.68631534e+02] [-4.31307025e-02 9.99056142e-01 -5.15433113e-03 8.60802193e+01] [ 9.47955354e-01 4.25525778e-02 3.15547025e-01 5.92650017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.596875 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:168.65, Y:86.08, Z:59.29 [[ 3.18115931e-01 1.63562899e-03 -9.48050410e-01 1.68645834e+02] [-3.96486377e-02 9.99146578e-01 -1.15802177e-02 8.60825053e+01] [ 9.47222382e-01 4.12727589e-02 3.17909294e-01 5.92919905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.62687500000004 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:168.60, Y:86.05, Z:59.34 [[ 3.03548088e-01 7.77621741e-02 -9.49637616e-01 1.68598356e+02] [-4.71745945e-02 9.96668332e-01 6.65341571e-02 8.60539414e+01] [ 9.51647580e-01 2.46024533e-02 3.06205166e-01 5.93409000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.656875 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:168.66, Y:86.08, Z:59.34 [[ 3.21303006e-01 3.15238164e-03 -9.46971193e-01 1.68663560e+02] [-3.90839886e-02 9.99186540e-01 -9.93481724e-03 8.60834774e+01] [ 9.46169551e-01 4.02034980e-02 3.21164847e-01 5.93387864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.686875 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:168.68, Y:86.09, Z:59.36 [[ 3.18813529e-01 -1.44485087e-02 -9.47707325e-01 1.68679136e+02] [-3.97220735e-02 9.98801661e-01 -2.85901862e-02 8.60886410e+01] [ 9.46984736e-01 4.67598382e-02 3.17857558e-01 5.93639465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.716875 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:168.69, Y:86.09, Z:59.39 [[ 3.16923129e-01 -2.18354954e-02 -9.48199843e-01 1.68689734e+02] [-3.95471878e-02 9.98561271e-01 -3.62133561e-02 8.60903432e+01] [ 9.47626377e-01 4.89754874e-02 3.15603630e-01 5.93908744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.746875 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:168.69, Y:86.09, Z:59.42 [[ 3.14950778e-01 -8.87122117e-03 -9.49066546e-01 1.68690207e+02] [-3.94617104e-02 9.98969232e-01 -2.24331723e-02 8.60853291e+01] [ 9.48287288e-01 4.45171342e-02 3.14276063e-01 5.94202692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.776875 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:168.70, Y:86.09, Z:59.45 [[ 3.16790493e-01 -1.48353726e-02 -9.48379510e-01 1.68702770e+02] [-3.77163662e-02 9.98889824e-01 -2.82240271e-02 8.60874274e+01] [ 9.47745356e-01 4.47105323e-02 3.15879263e-01 5.94454035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.806875 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:168.71, Y:86.09, Z:59.47 [[ 3.16070370e-01 -1.56323719e-02 -9.48606952e-01 1.68712928e+02] [-3.76497570e-02 9.98869954e-01 -2.90053527e-02 8.60884455e+01] [ 9.47988406e-01 4.48825538e-02 3.15124641e-01 5.94704306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.836875 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:168.67, Y:86.06, Z:59.52 [[ 2.97019133e-01 4.44040560e-02 -9.53838516e-01 1.68670986e+02] [-4.43308324e-02 9.98482310e-01 3.26780251e-02 8.60611414e+01] [ 9.53841922e-01 3.25784567e-02 2.98536819e-01 5.95215899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.866875 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:168.66, Y:86.05, Z:59.55 [[ 2.95909245e-01 7.38109779e-02 -9.52360047e-01 1.68664147e+02] [-4.28835134e-02 9.97031375e-01 6.39487481e-02 8.60525828e+01] [ 9.54252966e-01 2.19175191e-02 2.98196075e-01 5.95518637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.896875 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:168.72, Y:86.08, Z:59.55 [[ 3.14654279e-01 1.06341336e-02 -9.49146775e-01 1.68723489e+02] [-3.32237519e-02 9.99447922e-01 1.83603819e-04 8.60782822e+01] [ 9.48624724e-01 3.14764453e-02 3.14833871e-01 5.95524155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.926875 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:168.69, Y:86.06, Z:59.60 [[ 2.96336658e-01 4.10813916e-02 -9.54199615e-01 1.68694787e+02] [-3.90183442e-02 9.98761157e-01 3.08823563e-02 8.60584902e+01] [ 9.54286201e-01 2.80797148e-02 2.97572471e-01 5.95998424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.956875 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:168.69, Y:86.05, Z:59.63 [[ 2.95840501e-01 7.21252327e-02 -9.52510550e-01 1.68687180e+02] [-3.73605696e-02 9.97256112e-01 6.39095908e-02 8.60492347e+01] [ 9.54506462e-01 1.66792913e-02 2.97723388e-01 5.96314963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.986875 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:168.74, Y:86.07, Z:59.63 [[ 3.12120782e-01 1.52303760e-02 -9.49920341e-01 1.68741987e+02] [-2.83341230e-02 9.99575942e-01 6.71661463e-03 8.60734350e+01] [ 9.49619816e-01 2.48187648e-02 3.12419964e-01 5.96318170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.016875 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:168.72, Y:86.06, Z:59.68 [[ 2.96121594e-01 4.03320320e-02 -9.54298344e-01 1.68716571e+02] [-3.35103768e-02 9.98931700e-01 3.18200270e-02 8.60562580e+01] [ 9.54562233e-01 2.25563000e-02 2.97156789e-01 5.96782518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.046875 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:168.76, Y:86.07, Z:59.69 [[ 3.11944953e-01 1.46960556e-02 -9.49986512e-01 1.68755230e+02] [-2.47021332e-02 9.99667812e-01 7.35322857e-03 8.60711873e+01] [ 9.49779001e-01 2.11728908e-02 3.12204352e-01 5.96873989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.07687500000003 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:168.77, Y:86.08, Z:59.71 [[ 3.10970745e-01 -3.17917146e-03 -9.50414167e-01 1.68770207e+02] [-2.14328380e-02 9.99716645e-01 -1.03568071e-02 8.60757748e+01] [ 9.50177788e-01 2.35907369e-02 3.10814491e-01 5.97121128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.106875 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:168.79, Y:86.08, Z:59.74 [[ 3.11646500e-01 -1.59947793e-02 -9.50063485e-01 1.68786155e+02] [-1.87459792e-02 9.99560220e-01 -2.29772686e-02 8.60800769e+01] [ 9.50013183e-01 2.49706557e-02 3.11209606e-01 5.97354374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.13687500000003 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:168.75, Y:86.06, Z:59.78 [[ 2.95152613e-01 3.19024673e-02 -9.54917362e-01 1.68751048e+02] [-2.34590693e-02 9.99383072e-01 2.61371100e-02 8.60550906e+01] [ 9.55162084e-01 1.46870362e-02 2.95718928e-01 5.97849684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.166875 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:168.74, Y:86.05, Z:59.82 [[ 2.95230101e-01 6.48855020e-02 -9.53220362e-01 1.68742868e+02] [-2.13379361e-02 9.97890208e-01 6.13174124e-02 8.60457047e+01] [ 9.55187877e-01 2.23700937e-03 2.95991749e-01 5.98168081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.19687500000003 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:168.75, Y:86.05, Z:59.84 [[ 2.94986336e-01 6.34474266e-02 -9.53392619e-01 1.68751475e+02] [-1.93600129e-02 9.97984981e-01 6.04248853e-02 8.60456397e+01] [ 9.55305318e-01 6.33177900e-04 2.95620276e-01 5.98426517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.226875 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:168.81, Y:86.07, Z:59.85 [[ 3.13669495e-01 7.00991612e-03 -9.49506350e-01 1.68806047e+02] [-7.83598144e-03 9.99957808e-01 4.79376680e-03 8.60694259e+01] [ 9.49499892e-01 5.93665573e-03 3.13711190e-01 5.98477804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.25687500000004 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:168.78, Y:86.05, Z:59.89 [[ 2.93277160e-01 4.42667823e-02 -9.55002073e-01 1.68775329e+02] [-1.46837811e-02 9.99018187e-01 4.17977134e-02 8.60503826e+01] [ 9.55914690e-01 1.76472665e-03 2.93639221e-01 5.98930991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.286875 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:168.78, Y:86.05, Z:59.92 [[ 2.93282913e-01 6.10370415e-02 -9.54075266e-01 1.68775386e+02] [-1.31331571e-02 9.98122910e-01 5.98178581e-02 8.60458477e+01] [ 9.55935486e-01 -5.01353528e-03 2.93534003e-01 5.99226461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.31687500000004 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:168.78, Y:86.05, Z:59.95 [[ 2.93370948e-01 5.97346828e-02 -9.54130628e-01 1.68784042e+02] [-1.16083423e-02 9.98194968e-01 5.89241218e-02 8.60463779e+01] [ 9.55928205e-01 -6.21075057e-03 2.93534825e-01 5.99490557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.346875 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:168.80, Y:86.05, Z:59.98 [[ 2.98168795e-01 5.63116673e-02 -9.52850652e-01 1.68795699e+02] [-8.72573035e-03 9.98377361e-01 5.62717286e-02 8.60479950e+01] [ 9.54473274e-01 -8.46415564e-03 2.98176335e-01 5.99756594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.37687500000004 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:168.84, Y:86.07, Z:59.98 [[ 3.10686260e-01 1.09819862e-02 -9.50449075e-01 1.68842431e+02] [ 3.71813430e-04 9.99931773e-01 1.16752750e-02 8.60687622e+01] [ 9.50512446e-01 -3.98073724e-03 3.10660979e-01 5.99785435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.406875 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:168.83, Y:86.06, Z:60.02 [[ 3.00444438e-01 2.56741643e-02 -9.53453710e-01 1.68826056e+02] [-5.21178055e-03 9.99666918e-01 2.52762793e-02 8.60567940e+01] [ 9.53785079e-01 -2.62492603e-03 3.00478174e-01 6.00224111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.436875 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:168.81, Y:86.05, Z:60.05 [[ 2.96720780e-01 6.20691866e-02 -9.52945012e-01 1.68814183e+02] [-4.27578904e-03 9.97961850e-01 6.36699538e-02 8.60483073e+01] [ 9.54954709e-01 -1.48176065e-02 2.96381413e-01 6.00537811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.466875 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:168.83, Y:86.05, Z:60.08 [[ 2.96773108e-01 4.93249743e-02 -9.53673303e-01 1.68828615e+02] [-4.13989803e-03 9.98722214e-01 5.03666580e-02 8.60521547e+01] [ 9.54939047e-01 -1.09993594e-02 2.96598096e-01 6.00785930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.496875 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:168.84, Y:86.05, Z:60.10 [[ 2.96899710e-01 4.85245106e-02 -9.53674962e-01 1.68837196e+02] [-4.25324522e-03 9.98765332e-01 4.94946534e-02 8.60545996e+01] [ 9.54899195e-01 -1.06387348e-02 2.96739524e-01 6.01044000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.526875 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:168.85, Y:86.06, Z:60.13 [[ 2.96879739e-01 4.78064599e-02 -9.53717444e-01 1.68846170e+02] [-4.34851319e-03 9.98803360e-01 4.87128212e-02 8.60555086e+01] [ 9.54904975e-01 -1.03145967e-02 2.96732368e-01 6.01311752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.556875 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:168.86, Y:86.06, Z:60.16 [[ 2.97119773e-01 4.70859730e-02 -9.53678537e-01 1.68855193e+02] [-4.70193879e-03 9.98843418e-01 4.78510037e-02 8.60574728e+01] [ 9.54828640e-01 -9.73334121e-03 2.96997524e-01 6.01563723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.586875 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:168.86, Y:86.06, Z:60.18 [[ 2.96891640e-01 4.63359711e-02 -9.53786314e-01 1.68863578e+02] [-4.64110743e-03 9.98880245e-01 4.70820135e-02 8.60584373e+01] [ 9.54899897e-01 -9.55163147e-03 2.96774245e-01 6.01818554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.616875 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:168.87, Y:86.06, Z:60.21 [[ 2.96805087e-01 4.57123509e-02 -9.53843342e-01 1.68872172e+02] [-4.98645762e-03 9.98914174e-01 4.63207188e-02 8.60592882e+01] [ 9.54925063e-01 -8.99192556e-03 2.96710751e-01 6.02084004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.646875 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:168.88, Y:86.06, Z:60.23 [[ 2.96630755e-01 4.52914957e-02 -9.53917646e-01 1.68880951e+02] [-6.24522308e-03 9.98945392e-01 4.54873708e-02 8.60616932e+01] [ 9.54971828e-01 -7.53552462e-03 2.96600781e-01 6.02348129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.676875 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:168.89, Y:86.06, Z:60.26 [[ 3.00217481e-01 4.92664472e-02 -9.52597649e-01 1.68887403e+02] [-6.96266338e-03 9.98751879e-01 4.94591221e-02 8.60619376e+01] [ 9.53845368e-01 -8.21587627e-03 3.00185799e-01 6.02617522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.706875 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:168.90, Y:86.06, Z:60.29 [[ 3.01850677e-01 5.38168481e-02 -9.51835026e-01 1.68895320e+02] [-1.03244672e-02 9.98531413e-01 5.31829199e-02 8.60632873e+01] [ 9.53299310e-01 -6.22611083e-03 3.01963013e-01 6.02899656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.736875 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:168.90, Y:86.07, Z:60.31 [[ 2.97597029e-01 5.04140109e-02 -9.53359552e-01 1.68904757e+02] [-1.17001754e-02 9.98722358e-01 4.91605316e-02 8.60661020e+01] [ 9.54619879e-01 -3.47555414e-03 2.97806659e-01 6.03146483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.766875 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:168.92, Y:86.07, Z:60.34 [[ 2.97110357e-01 4.42012650e-02 -9.53819524e-01 1.68916269e+02] [-1.33441230e-02 9.99022625e-01 4.21394044e-02 8.60692901e+01] [ 9.54749899e-01 2.07831579e-04 2.97409796e-01 6.03407436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.796875 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:168.92, Y:86.07, Z:60.37 [[ 2.96559153e-01 4.43962751e-02 -9.53981991e-01 1.68924984e+02] [-1.68859546e-02 9.99006472e-01 4.12423737e-02 8.60726382e+01] [ 9.54865191e-01 3.87809317e-03 2.97014186e-01 6.03661702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.82687500000003 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:168.93, Y:86.07, Z:60.39 [[ 2.96276262e-01 4.41008578e-02 -9.54083587e-01 1.68933832e+02] [-1.84952758e-02 9.99011014e-01 4.04341213e-02 8.60743105e+01] [ 9.54923191e-01 5.66636879e-03 2.96798906e-01 6.03915798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.856875 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:168.94, Y:86.08, Z:60.42 [[ 2.95344182e-01 4.44109580e-02 -9.54358151e-01 1.68942447e+02] [-2.20624249e-02 9.98969663e-01 3.96593154e-02 8.60769275e+01] [ 9.55136149e-01 9.34230698e-03 2.96019692e-01 6.04182724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.88687500000003 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:168.95, Y:86.08, Z:60.45 [[ 2.95053399e-01 4.40220640e-02 -9.54466107e-01 1.68951088e+02] [-2.36421005e-02 9.98968586e-01 3.87661507e-02 8.60779224e+01] [ 9.55188224e-01 1.11274991e-02 2.95789851e-01 6.04455439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.916875 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:168.96, Y:86.08, Z:60.47 [[ 2.95260025e-01 4.36847336e-02 -9.54417708e-01 1.68959743e+02] [-2.53809638e-02 9.98960234e-01 3.78716022e-02 8.60790472e+01] [ 9.55079748e-01 1.30420711e-02 2.96061784e-01 6.04726965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.94687500000003 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:169.00, Y:86.10, Z:60.48 [[ 3.07124467e-01 7.32599109e-03 -9.51641157e-01 1.68997566e+02] [-2.31383183e-02 9.99732247e-01 2.28747852e-04 8.60973504e+01] [ 9.51388028e-01 2.19491219e-02 3.07211744e-01 6.04846438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.976875 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:168.99, Y:86.09, Z:60.52 [[ 2.95957240e-01 2.40342211e-02 -9.54898774e-01 1.68985343e+02] [-3.01928042e-02 9.99419257e-01 1.57969460e-02 8.60871879e+01] [ 9.54723890e-01 2.41558512e-02 2.96511025e-01 6.05237779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.00687500000004 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:168.98, Y:86.08, Z:60.55 [[ 2.96442408e-01 4.49472837e-02 -9.53992474e-01 1.68984529e+02] [-3.31175479e-02 9.98774983e-01 3.67663035e-02 8.60831838e+01] [ 9.54476363e-01 2.06947999e-02 2.97567805e-01 6.05530039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.036875 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:168.99, Y:86.08, Z:60.58 [[ 2.96673268e-01 4.44478171e-02 -9.53944109e-01 1.68992802e+02] [-3.43616845e-02 9.98766269e-01 3.58498856e-02 8.60841765e+01] [ 9.54360648e-01 2.21434238e-02 2.97834555e-01 6.05786412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.06687500000004 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:169.00, Y:86.08, Z:60.61 [[ 2.96973864e-01 4.43451841e-02 -9.53855350e-01 1.69001387e+02] [-3.56323994e-02 9.98739982e-01 3.53380804e-02 8.60848349e+01] [ 9.54220549e-01 2.34936685e-02 2.98179797e-01 6.06051970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.096875 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:169.04, Y:86.10, Z:60.62 [[ 3.09018409e-01 3.44260083e-03 -9.51049826e-01 1.69041063e+02] [-3.31663110e-02 9.99424208e-01 -7.15880689e-03 8.61036312e+01] [ 9.50477574e-01 3.37550174e-02 3.08954657e-01 6.06162390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.12687500000004 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:169.03, Y:86.09, Z:60.66 [[ 2.96753093e-01 2.77662336e-02 -9.54550490e-01 1.69025392e+02] [-3.99392897e-02 9.99063467e-01 1.66446113e-02 8.60911150e+01] [ 9.54118680e-01 3.31847287e-02 2.97584138e-01 6.06565171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.156875 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:169.03, Y:86.09, Z:60.68 [[ 2.96219497e-01 4.46923884e-02 -9.54073687e-01 1.69026695e+02] [-4.19223439e-02 9.98550344e-01 3.37598496e-02 8.60881084e+01] [ 9.54199417e-01 2.99966795e-02 2.97663690e-01 6.06846673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.186875 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:169.04, Y:86.09, Z:60.71 [[ 2.96246860e-01 4.41238363e-02 -9.54091655e-01 1.69035480e+02] [-4.16532298e-02 9.98578785e-01 3.32478417e-02 8.60880134e+01] [ 9.54202707e-01 2.98914303e-02 2.97663729e-01 6.07118887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.216875 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:169.04, Y:86.09, Z:60.74 [[ 2.95812388e-01 4.35444045e-02 -9.54253067e-01 1.69044118e+02] [-4.25087433e-02 9.98570950e-01 3.23892744e-02 8.60882554e+01] [ 9.54299763e-01 3.09829501e-02 2.97240675e-01 6.07375848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.246875 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:169.08, Y:86.10, Z:60.75 [[ 3.06031116e-01 7.29014372e-03 -9.51993598e-01 1.69079468e+02] [-3.79839165e-02 9.99267954e-01 -4.55827998e-03 8.61041446e+01] [ 9.51263464e-01 3.75554208e-02 3.06083995e-01 6.07506822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.276875 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:169.11, Y:86.12, Z:60.77 [[ 3.12377482e-01 -2.60648305e-02 -9.49600407e-01 1.69107772e+02] [-3.50765916e-02 9.98625353e-01 -3.89491596e-02 8.61167777e+01] [ 9.49310245e-01 4.54755861e-02 3.11033807e-01 6.07663924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.306875 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:169.08, Y:86.10, Z:60.81 [[ 2.94452734e-01 1.34488730e-02 -9.55571408e-01 1.69081081e+02] [-4.30771147e-02 9.99071440e-01 7.87184231e-04 8.60962806e+01] [ 9.54694689e-01 4.09314706e-02 2.94758656e-01 6.08126360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.336875 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:169.08, Y:86.09, Z:60.84 [[ 2.93433064e-01 4.15253969e-02 -9.55077315e-01 1.69077253e+02] [-4.28825014e-02 9.98622257e-01 3.02436686e-02 8.60880452e+01] [ 9.55017344e-01 3.20816120e-02 2.94809501e-01 6.08418337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.366875 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:169.09, Y:86.09, Z:60.87 [[ 2.93397503e-01 4.06310680e-02 -9.55126705e-01 1.69085477e+02] [-4.24923624e-02 9.98663237e-01 2.94302324e-02 8.60879820e+01] [ 9.55045708e-01 3.19508334e-02 2.94731810e-01 6.08682068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.396875 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:169.09, Y:86.09, Z:60.90 [[ 2.94029067e-01 3.96670173e-02 -9.54973002e-01 1.69094430e+02] [-4.21200939e-02 9.98705556e-01 2.85150874e-02 8.60869303e+01] [ 9.54867952e-01 3.18392879e-02 2.95319242e-01 6.08953247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.426875 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:169.10, Y:86.09, Z:60.92 [[ 2.94230194e-01 3.86266208e-02 -9.54953704e-01 1.69102710e+02] [-4.15032524e-02 9.98756788e-01 2.76108565e-02 8.60864725e+01] [ 9.54833008e-01 3.15097369e-02 2.95467534e-01 6.09213194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.456875 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:169.11, Y:86.09, Z:60.95 [[ 2.94393796e-01 3.76660950e-02 -9.54941652e-01 1.69110731e+02] [-4.08593405e-02 9.98805426e-01 2.67999240e-02 8.60855443e+01] [ 9.54810351e-01 3.11285547e-02 2.95581133e-01 6.09481656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.486875 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:169.12, Y:86.08, Z:60.98 [[ 2.94645499e-01 3.67118163e-02 -9.54901185e-01 1.69119947e+02] [-4.05807265e-02 9.98841057e-01 2.58794746e-02 8.60849844e+01] [ 9.54744591e-01 3.11253132e-02 2.95793814e-01 6.09751655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.516875 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:169.17, Y:86.11, Z:60.98 [[ 3.09928430e-01 -1.31702329e-02 -9.50668666e-01 1.69166733e+02] [-3.35932119e-02 9.99128013e-01 -2.47933280e-02 8.61060683e+01] [ 9.50166230e-01 3.96201711e-02 3.09215747e-01 6.09813794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.546875 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:169.19, Y:86.11, Z:61.00 [[ 3.10339319e-01 -3.58350291e-02 -9.49950187e-01 1.69185198e+02] [-3.27196677e-02 9.98294497e-01 -4.83479158e-02 8.61114274e+01] [ 9.50062593e-01 4.60863137e-02 3.08637524e-01 6.10044880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.57687500000003 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:169.15, Y:86.09, Z:61.05 [[ 2.93948806e-01 1.21829542e-02 -9.55743520e-01 1.69154422e+02] [-4.04488003e-02 9.99181569e-01 2.96216222e-04 8.60867826e+01] [ 9.54964918e-01 3.85716064e-02 2.94201015e-01 6.10523259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.606875 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:169.18, Y:86.10, Z:61.07 [[ 3.04677834e-01 -5.31694114e-03 -9.52440627e-01 1.69184488e+02] [-3.53887722e-02 9.99230738e-01 -1.68987179e-02 8.60952210e+01] [ 9.51797800e-01 3.88543691e-02 3.04255297e-01 6.10675487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.63687500000003 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:169.20, Y:86.10, Z:61.09 [[ 3.04525472e-01 -1.68552075e-02 -9.52355049e-01 1.69199096e+02] [-3.55681820e-02 9.98944855e-01 -2.90530725e-02 8.60976625e+01] [ 9.51839872e-01 4.27209383e-02 3.03604644e-01 6.10922062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.666875 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:169.20, Y:86.10, Z:61.12 [[ 3.03581056e-01 -1.42304402e-02 -9.52699342e-01 1.69204773e+02] [-3.53672896e-02 9.99031087e-01 -2.61924095e-02 8.60950509e+01] [ 9.52148989e-01 4.16459129e-02 3.02783620e-01 6.11192667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.21, Y:86.09, Z:61.15 [[ 3.01212164e-01 -1.27288648e-02 -9.53472185e-01 1.69210959e+02] [-3.66398140e-02 9.99017981e-01 -2.49118147e-02 8.60894774e+01] [ 9.52852956e-01 4.24387851e-02 3.00449985e-01 6.11493389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.726875 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:169.22, Y:86.09, Z:61.18 [[ 3.01281754e-01 -5.14848303e-03 -9.53521262e-01 1.69217697e+02] [-3.57858573e-02 9.99219897e-01 -1.67023989e-02 8.60860392e+01] [ 9.52863410e-01 3.91547039e-02 3.00862480e-01 6.11754181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.75687500000004 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:169.23, Y:86.09, Z:61.20 [[ 3.04611695e-01 -1.78443857e-02 -9.52309452e-01 1.69233943e+02] [-3.43197342e-02 9.98969608e-01 -2.96964304e-02 8.60886024e+01] [ 9.51858115e-01 4.17288873e-02 3.03685411e-01 6.11996520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.786875 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:169.24, Y:86.08, Z:61.23 [[ 3.01790775e-01 -1.28838488e-02 -9.53287121e-01 1.69237647e+02] [-3.54469731e-02 9.99065673e-01 -2.47243250e-02 8.60832048e+01] [ 9.52714984e-01 4.12527162e-02 3.01052110e-01 6.12299600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.81687500000004 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:169.24, Y:86.08, Z:61.26 [[ 2.99103151e-01 -6.03056555e-03 -9.54201728e-01 1.69242667e+02] [-3.50653219e-02 9.99235158e-01 -1.73067193e-02 8.60760392e+01] [ 9.53576283e-01 3.86358850e-02 2.98662921e-01 6.12586840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.846875 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:169.25, Y:86.07, Z:61.29 [[ 2.98648917e-01 2.17584048e-03 -9.54360566e-01 1.69245956e+02] [-3.41582662e-02 9.99381045e-01 -8.41069481e-03 8.60704914e+01] [ 9.53751560e-01 3.51111472e-02 2.98538389e-01 6.12868379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.87687500000004 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:169.22, Y:86.05, Z:61.33 [[ 2.88210480e-01 3.58616462e-02 -9.56895324e-01 1.69224238e+02] [-3.70712173e-02 9.98967200e-01 2.62727744e-02 8.60542087e+01] [ 9.56849227e-01 2.79011856e-02 2.89242251e-01 6.13257381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.906875 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:169.27, Y:86.07, Z:61.34 [[ 3.01212411e-01 -1.04053115e-02 -9.53500295e-01 1.69268710e+02] [-3.15905655e-02 9.99282681e-01 -2.08844382e-02 8.60670651e+01] [ 9.53033640e-01 3.64122655e-02 3.00667636e-01 6.13382408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.936875 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:169.28, Y:86.06, Z:61.37 [[ 3.00519465e-01 -8.45453458e-03 -9.53738209e-01 1.69276006e+02] [-3.12085554e-02 9.99338090e-01 -1.86924637e-02 8.60638248e+01] [ 9.53264957e-01 3.53822410e-02 3.00056694e-01 6.13664512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.966875 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:169.25, Y:86.04, Z:61.41 [[ 2.88182822e-01 3.59788575e-02 -9.56899254e-01 1.69248360e+02] [-3.45384409e-02 9.99034211e-01 2.71614008e-02 8.60448410e+01] [ 9.56952328e-01 2.52223592e-02 2.89147152e-01 6.14075109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.996875 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:169.26, Y:86.04, Z:61.43 [[ 2.88087038e-01 3.22316460e-02 -9.57061638e-01 1.69258402e+02] [-3.33218555e-02 9.99165542e-01 2.36193308e-02 8.60417421e+01] [ 9.57024301e-01 2.50866465e-02 2.88920660e-01 6.14335990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.026875 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:169.27, Y:86.04, Z:61.46 [[ 2.87715345e-01 3.11620544e-02 -9.57208862e-01 1.69266362e+02] [-3.27361678e-02 9.99206449e-01 2.26895390e-02 8.60399810e+01] [ 9.57156321e-01 2.48072214e-02 2.88507155e-01 6.14594506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.056875 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:169.28, Y:86.04, Z:61.49 [[ 2.87896467e-01 3.01108162e-02 -9.57188050e-01 1.69275075e+02] [-3.18787644e-02 9.99252974e-01 2.18458003e-02 8.60365681e+01] [ 9.57130800e-01 2.42246436e-02 2.88641296e-01 6.14859343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.086875 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:169.28, Y:86.04, Z:61.51 [[ 2.88223991e-01 2.90448551e-02 -9.57122420e-01 1.69283092e+02] [-3.11939344e-02 9.99294167e-01 2.09309839e-02 8.60350035e+01] [ 9.57054789e-01 2.38236023e-02 2.88926577e-01 6.15117318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.116875 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:169.29, Y:86.03, Z:61.54 [[ 2.88759737e-01 2.81099588e-02 -9.56988842e-01 1.69291790e+02] [-3.06383482e-02 9.99328237e-01 2.01088596e-02 8.60331740e+01] [ 9.56911232e-01 2.35139284e-02 2.89427002e-01 6.15386603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.146875 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:169.30, Y:86.03, Z:61.57 [[ 2.89187763e-01 2.70920365e-02 -9.56888948e-01 1.69299425e+02] [-3.00814233e-02 9.99362964e-01 1.92034806e-02 8.60299484e+01] [ 9.56799637e-01 2.32311699e-02 2.89818507e-01 6.15658441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.176875 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:169.31, Y:86.03, Z:61.59 [[ 2.89966651e-01 2.62663946e-02 -9.56676235e-01 1.69308237e+02] [-3.02483505e-02 9.99375418e-01 1.82705240e-02 8.60284939e+01] [ 9.56558612e-01 2.36400354e-02 2.90580058e-01 6.15917295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.206875 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:169.37, Y:86.05, Z:61.59 [[ 3.07824108e-01 -3.79090390e-02 -9.50687763e-01 1.69369509e+02] [-2.33336147e-02 9.98604605e-01 -4.73749550e-02 8.60539614e+01] [ 9.51157117e-01 3.67661352e-02 3.06510016e-01 6.15934141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.236875 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:169.33, Y:86.03, Z:61.64 [[ 2.90827169e-01 8.26008301e-03 -9.56739948e-01 1.69333947e+02] [-3.11419844e-02 9.99514620e-01 -8.37073254e-04 8.60295168e+01] [ 9.56268652e-01 3.00382242e-02 2.90943242e-01 6.16411651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.266875 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:169.33, Y:86.02, Z:61.67 [[ 2.90230255e-01 2.34971369e-02 -9.56668325e-01 1.69333791e+02] [-3.12111860e-02 9.99399078e-01 1.50779389e-02 8.60236928e+01] [ 9.56447731e-01 2.54826790e-02 2.90789222e-01 6.16695210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.296875 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:169.34, Y:86.02, Z:61.70 [[ 2.89775822e-01 2.28225102e-02 -9.56822400e-01 1.69342942e+02] [-3.09018419e-02 9.99417536e-01 1.44798138e-02 8.60210865e+01] [ 9.56595551e-01 2.53716746e-02 2.90312296e-01 6.16959659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.32687500000003 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:169.35, Y:86.02, Z:61.72 [[ 2.89781924e-01 2.17197075e-02 -9.56846221e-01 1.69351389e+02] [-3.00144965e-02 9.99456978e-01 1.35970174e-02 8.60201598e+01] [ 9.56621956e-01 2.47790877e-02 2.90276472e-01 6.17223626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.356875 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:169.36, Y:86.02, Z:61.75 [[ 2.90079298e-01 2.06423293e-02 -9.56779962e-01 1.69359524e+02] [-2.91623992e-02 9.99493720e-01 1.27223298e-02 8.60190740e+01] [ 9.56558182e-01 2.42115147e-02 2.90534417e-01 6.17488686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.38687500000003 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:169.37, Y:86.02, Z:61.78 [[ 2.90582904e-01 1.92289093e-02 -9.56656587e-01 1.69367323e+02] [-2.71325460e-02 9.99561607e-01 1.18498379e-02 8.60172146e+01] [ 9.56465055e-01 2.25131685e-02 2.90977243e-01 6.17752006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.416875 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:169.38, Y:86.02, Z:61.80 [[ 2.91132253e-01 1.81958155e-02 -9.56509761e-01 1.69376514e+02] [-2.61280161e-02 9.99597388e-01 1.10629101e-02 8.60163232e+01] [ 9.56325958e-01 2.17709325e-02 2.91490460e-01 6.18015564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.44687500000003 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:169.44, Y:86.05, Z:61.80 [[ 3.08470150e-01 -4.89061207e-02 -9.49975978e-01 1.69441755e+02] [-1.61245919e-02 9.98265129e-01 -5.66279900e-02 8.60472963e+01] [ 9.51097348e-01 3.27860195e-02 3.07146402e-01 6.17990365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.476875 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:169.40, Y:86.02, Z:61.85 [[ 2.91693853e-01 -7.13346088e-03 -9.56485133e-01 1.69404130e+02] [-2.26712432e-02 9.99639705e-01 -1.43692281e-02 8.60207512e+01] [ 9.56243019e-01 2.58761226e-02 2.91427033e-01 6.18483945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.50687500000004 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:169.40, Y:86.01, Z:61.88 [[ 2.91050138e-01 1.38160958e-02 -9.56608035e-01 1.69401391e+02] [-2.16787003e-02 9.99734224e-01 7.84316545e-03 8.60141291e+01] [ 9.56462153e-01 1.84552645e-02 2.91272299e-01 6.18783266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.536875 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:169.41, Y:86.01, Z:61.91 [[ 2.91613204e-01 1.28179759e-02 -9.56450437e-01 1.69410201e+02] [-2.11351500e-02 9.99752440e-01 6.95437384e-03 8.60139181e+01] [ 9.56302800e-01 1.81867362e-02 2.91811922e-01 6.19050159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.56687500000004 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:169.42, Y:86.01, Z:61.93 [[ 2.91997518e-01 1.18355806e-02 -9.56345842e-01 1.69418377e+02] [-2.07442590e-02 9.99766575e-01 6.03918107e-03 8.60141029e+01] [ 9.56194084e-01 1.80752599e-02 2.92174879e-01 6.19310618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.596875 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:169.43, Y:86.01, Z:61.96 [[ 2.92023939e-01 1.10398464e-02 -9.56347291e-01 1.69427267e+02] [-2.07155577e-02 9.99771806e-01 5.21556184e-03 8.60143708e+01] [ 9.56186637e-01 1.82881986e-02 2.92185997e-01 6.19576065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.62687500000004 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:169.44, Y:86.02, Z:61.98 [[ 2.92380007e-01 1.00585697e-02 -9.56249317e-01 1.69436109e+02] [-2.02898069e-02 9.99784839e-01 4.31275768e-03 8.60150304e+01] [ 9.56086950e-01 1.81411499e-02 2.92521185e-01 6.19841906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.656875 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:169.44, Y:86.02, Z:62.01 [[ 2.92105636e-01 9.22392153e-03 -9.56341580e-01 1.69444114e+02] [-2.03796318e-02 9.99786471e-01 3.41817892e-03 8.60156920e+01] [ 9.56168901e-01 1.84914200e-02 2.92231243e-01 6.20103478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.686875 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:169.45, Y:86.02, Z:62.04 [[ 2.92432848e-01 8.28972343e-03 -9.56250129e-01 1.69453284e+02] [-2.01033630e-02 9.99794733e-01 2.51935980e-03 8.60162583e+01] [ 9.56074727e-01 1.84870999e-02 2.92539472e-01 6.20370125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.716875 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:169.46, Y:86.02, Z:62.06 [[ 2.92375498e-01 7.37158665e-03 -9.56275184e-01 1.69462211e+02] [-1.99966598e-02 9.99798777e-01 1.59323383e-03 8.60176046e+01] [ 9.56094505e-01 1.86564870e-02 2.92464072e-01 6.20625418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.746875 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:169.47, Y:86.02, Z:62.09 [[ 2.92285943e-01 6.61820132e-03 -9.56308071e-01 1.69471376e+02] [-2.00983266e-02 9.99797707e-01 7.76323210e-04 8.60180547e+01] [ 9.56119754e-01 1.89932836e-02 2.92359831e-01 6.20896184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.776875 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:169.48, Y:86.02, Z:62.12 [[ 2.92169553e-01 5.64190247e-03 -9.56349895e-01 1.69480436e+02] [-1.95810304e-02 9.99808270e-01 -8.38188427e-05 8.60188326e+01] [ 9.56166061e-01 1.87508056e-02 2.92224010e-01 6.21166459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.806875 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:169.49, Y:86.02, Z:62.14 [[ 2.92699046e-01 4.53377181e-03 -9.56193868e-01 1.69488745e+02] [-1.86814388e-02 9.99825009e-01 -9.77898843e-04 8.60194438e+01] [ 9.56022109e-01 1.81493073e-02 2.92732524e-01 6.21422850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.836875 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:169.50, Y:86.02, Z:62.17 [[ 2.92889540e-01 3.72970901e-03 -9.56139010e-01 1.69497208e+02] [-1.79044794e-02 9.99838447e-01 -1.58442264e-03 8.60199057e+01] [ 9.55978633e-01 1.75832321e-02 2.92909002e-01 6.21685609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.866875 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:169.51, Y:86.02, Z:62.20 [[ 2.93386109e-01 2.52023025e-03 -9.55990711e-01 1.69506800e+02] [-1.65422655e-02 9.99860188e-01 -2.44081138e-03 8.60207295e+01] [ 9.55850901e-01 1.65303523e-02 2.93386780e-01 6.21955474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.896875 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:169.52, Y:86.02, Z:62.22 [[ 2.93276536e-01 1.32839637e-03 -9.56026730e-01 1.69515291e+02] [-1.55333726e-02 9.99873651e-01 -3.37578970e-03 8.60217046e+01] [ 9.55901453e-01 1.58403593e-02 2.93260116e-01 6.22210978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.926875 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:169.52, Y:86.02, Z:62.25 [[ 2.93725294e-01 1.94944209e-04 -9.55889854e-01 1.69524319e+02] [-1.43719373e-02 9.99887846e-01 -4.21228360e-03 8.60225555e+01] [ 9.55781826e-01 1.49752433e-02 2.93695153e-01 6.22482217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.956875 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:169.53, Y:86.02, Z:62.27 [[ 2.93670057e-01 -9.63172763e-04 -9.55906360e-01 1.69533308e+02] [-1.33681632e-02 9.99897562e-01 -5.11441660e-03 8.60232799e+01] [ 9.55813366e-01 1.42806633e-02 2.93627098e-01 6.22738139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.986875 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:169.54, Y:86.02, Z:62.30 [[ 2.93566318e-01 -2.32505539e-03 -9.55935882e-01 1.69541235e+02] [-1.13912709e-02 9.99917532e-01 -5.93026918e-03 8.60242806e+01] [ 9.55870836e-01 1.26302518e-02 2.93515623e-01 6.23004048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.016875 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:169.55, Y:86.02, Z:62.33 [[ 2.93515745e-01 -3.38890529e-03 -9.55948232e-01 1.69550454e+02] [-1.06026230e-02 9.99920667e-01 -6.80023561e-03 8.60248430e+01] [ 9.55895440e-01 1.21315349e-02 2.93456528e-01 6.23270817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.046875 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:169.56, Y:86.03, Z:62.35 [[ 2.93526182e-01 -4.30152027e-03 -9.55941357e-01 1.69559275e+02] [-1.04295300e-02 9.99915950e-01 -7.70183106e-03 8.60252602e+01] [ 9.55894139e-01 1.22307081e-02 2.93456648e-01 6.23542661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.07687500000003 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:169.60, Y:86.04, Z:62.37 [[ 3.03309133e-01 -4.68028424e-02 -9.51742120e-01 1.69602920e+02] [-4.40366011e-03 9.98713538e-01 -5.05161027e-02 8.60438150e+01] [ 9.52882038e-01 1.95131441e-02 3.02712834e-01 6.23665043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.106875 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:169.58, Y:86.03, Z:62.41 [[ 2.90899980e-01 -7.04678634e-03 -9.56727519e-01 1.69577114e+02] [-8.82601956e-03 9.99910561e-01 -1.00484671e-02 8.60272366e+01] [ 9.56712759e-01 1.13671947e-02 2.90811767e-01 6.24070193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.13687500000003 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:169.61, Y:86.04, Z:62.42 [[ 2.99065879e-01 -4.07832260e-02 -9.53360545e-01 1.69614786e+02] [-4.52608032e-03 9.99014394e-01 -4.41560396e-02 8.60422928e+01] [ 9.54221732e-01 1.75205512e-02 2.98586530e-01 6.24215684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.166875 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:169.59, Y:86.03, Z:62.46 [[ 2.89714571e-01 -2.73400835e-03 -9.57109185e-01 1.69591804e+02] [-7.78825095e-03 9.99956078e-01 -5.21388586e-03 8.60274390e+01] [ 9.57081402e-01 8.96474523e-03 2.89680553e-01 6.24611829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.19687500000003 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:169.60, Y:86.03, Z:62.49 [[ 2.89416938e-01 -7.04872083e-03 -9.57177179e-01 1.69602502e+02] [-7.53621828e-03 9.99925114e-01 -9.64220878e-03 8.60290695e+01] [ 9.57173465e-01 1.00041147e-02 2.89342144e-01 6.24875993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.226875 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:169.64, Y:86.05, Z:62.50 [[ 3.00138665e-01 -4.98126646e-02 -9.52594079e-01 1.69644778e+02] [-1.45349212e-03 9.98610551e-01 -5.26768985e-02 8.60486284e+01] [ 9.53894475e-01 1.71949620e-02 2.99649235e-01 6.24990890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.25687500000004 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:169.65, Y:86.05, Z:62.53 [[ 2.98452306e-01 -5.61204729e-02 -9.52773170e-01 1.69654731e+02] [-1.95146777e-03 9.98231796e-01 -5.94093770e-02 8.60503702e+01] [ 9.54422555e-01 1.95901717e-02 2.97815064e-01 6.25267037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.286875 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:169.63, Y:86.03, Z:62.57 [[ 2.87668386e-01 -1.62438655e-02 -9.57592312e-01 1.69630414e+02] [-6.50578720e-03 9.99799943e-01 -1.89142341e-02 8.60332956e+01] [ 9.57707980e-01 1.16709190e-02 2.87505157e-01 6.25677282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.31687500000004 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:169.64, Y:86.03, Z:62.60 [[ 2.88651814e-01 -9.18981876e-03 -9.57390034e-01 1.69635028e+02] [-4.91075332e-03 9.99926571e-01 -1.10787051e-02 8.60322358e+01] [ 9.57421545e-01 7.89939461e-03 2.88585490e-01 6.25956331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.346875 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:169.64, Y:86.03, Z:62.62 [[ 2.89082012e-01 -1.03746964e-02 -9.57248116e-01 1.69643867e+02] [-3.86431958e-03 9.99920480e-01 -1.20041779e-02 8.60334132e+01] [ 9.57296536e-01 7.16930454e-03 2.89018933e-01 6.26212536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.37687500000004 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:169.70, Y:86.06, Z:62.63 [[ 3.03839637e-01 -6.79757914e-02 -9.50295095e-01 1.69696514e+02] [ 5.04499007e-03 9.97552228e-01 -6.97431088e-02 8.60603285e+01] [ 9.52709832e-01 1.63964915e-02 3.03438844e-01 6.26253397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.406875 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:169.67, Y:86.04, Z:62.67 [[ 2.88574315e-01 -3.38114268e-02 -9.56860310e-01 1.69669821e+02] [-2.24947022e-03 9.99349574e-01 -3.59912246e-02 8.60411390e+01] [ 9.57454858e-01 1.25385718e-02 2.88310561e-01 6.26703315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.436875 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:169.67, Y:86.04, Z:62.70 [[ 2.89078104e-01 -1.22514121e-02 -9.57227117e-01 1.69666542e+02] [-2.23426035e-04 9.99917214e-01 -1.28652701e-02 8.60358726e+01] [ 9.57305489e-01 3.93293736e-03 2.89051435e-01 6.26992281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.466875 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:169.68, Y:86.04, Z:62.73 [[ 2.88837619e-01 -1.30647083e-02 -9.57288955e-01 1.69675171e+02] [ 5.29641893e-04 9.99908912e-01 -1.34865629e-02 8.60370770e+01] [ 9.57377955e-01 3.38840640e-03 2.88818229e-01 6.27264568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.496875 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:169.68, Y:86.04, Z:62.75 [[ 2.88501495e-01 -1.40207258e-02 -9.57376784e-01 1.69684166e+02] [ 8.46646640e-04 9.99896125e-01 -1.43882856e-02 8.60384642e+01] [ 9.57479071e-01 3.34048207e-03 2.88483397e-01 6.27532669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.526875 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:169.69, Y:86.04, Z:62.78 [[ 2.87815628e-01 -1.50136273e-02 -9.57568147e-01 1.69693120e+02] [ 1.26951457e-03 9.99882211e-01 -1.52954886e-02 8.60402755e+01] [ 9.57684997e-01 3.18663395e-03 2.87800786e-01 6.27794526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.556875 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:169.70, Y:86.04, Z:62.81 [[ 2.86972848e-01 -1.58293042e-02 -9.57807923e-01 1.69702949e+02] [ 1.07140378e-03 9.99868142e-01 -1.62034087e-02 8.60431737e+01] [ 9.57938117e-01 3.62373932e-03 2.86951968e-01 6.28055408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.586875 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:169.71, Y:86.04, Z:62.83 [[ 2.86996786e-01 -1.66755532e-02 -9.57786391e-01 1.69711630e+02] [ 1.01934348e-03 9.99853222e-01 -1.71025162e-02 8.60447684e+01] [ 9.57931003e-01 3.93205389e-03 2.86971659e-01 6.28320816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.616875 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:169.72, Y:86.05, Z:62.86 [[ 2.86995291e-01 -1.74233895e-02 -9.57773527e-01 1.69719966e+02] [ 5.85299560e-04 9.99837578e-01 -1.80132160e-02 8.60468446e+01] [ 9.57931814e-01 4.60912373e-03 2.86958874e-01 6.28577251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.646875 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:169.73, Y:86.05, Z:62.88 [[ 2.86926614e-01 -1.81796979e-02 -9.57780046e-01 1.69728291e+02] [ 4.90419778e-04 9.99822565e-01 -1.88307929e-02 8.60481595e+01] [ 9.57952440e-01 4.93334137e-03 2.86884619e-01 6.28841443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.676875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:169.74, Y:86.05, Z:62.91 [[ 2.86937607e-01 -1.90507971e-02 -9.57759822e-01 1.69736580e+02] [ 5.42707215e-04 9.99805305e-01 -1.97245327e-02 8.60509142e+01] [ 9.57949119e-01 5.13992704e-03 2.86892081e-01 6.29114288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.706875 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:169.75, Y:86.05, Z:62.94 [[ 2.87380028e-01 -1.98457475e-02 -9.57611020e-01 1.69745597e+02] [ 3.28481154e-04 9.99787306e-01 -2.06212409e-02 8.60524562e+01] [ 9.57816586e-01 5.61157560e-03 2.87325423e-01 6.29381113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.736875 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:169.75, Y:86.05, Z:62.96 [[ 2.87649191e-01 -2.07059522e-02 -9.57511988e-01 1.69754580e+02] [ 2.05465131e-04 9.99767578e-01 -2.15579941e-02 8.60539353e+01] [ 9.57735820e-01 6.00440425e-03 2.87586590e-01 6.29649290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.766875 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:169.80, Y:86.08, Z:62.98 [[ 2.98897146e-01 -6.26507238e-02 -9.52226540e-01 1.69796235e+02] [ 6.29113668e-03 9.97950264e-01 -6.36843241e-02 8.60753355e+01] [ 9.54264595e-01 1.30444754e-02 2.98678630e-01 6.29750917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.796875 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:169.78, Y:86.06, Z:63.02 [[ 2.88121439e-01 -3.27226712e-02 -9.57034620e-01 1.69775396e+02] [-1.38359850e-04 9.99414542e-01 -3.42133682e-02 8.60603614e+01] [ 9.57593869e-01 9.99002006e-03 2.87948228e-01 6.30171522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.82687500000003 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:169.78, Y:86.06, Z:63.05 [[ 2.88308217e-01 -2.21984569e-02 -9.57280315e-01 1.69778128e+02] [ 3.73352838e-04 9.99733772e-01 -2.30704695e-02 8.60581142e+01] [ 9.57537588e-01 6.29400261e-03 2.88239749e-01 6.30457025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.856875 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:169.79, Y:86.06, Z:63.07 [[ 2.88898431e-01 -2.31823436e-02 -9.57079033e-01 1.69786696e+02] [ 7.50847651e-04 9.99711956e-01 -2.39883506e-02 8.60598810e+01] [ 9.57359459e-01 6.21157630e-03 2.88832622e-01 6.30727597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.88687500000003 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:169.80, Y:86.06, Z:63.10 [[ 2.89184002e-01 -2.39771101e-02 -9.56973203e-01 1.69795285e+02] [ 4.74517993e-04 9.99689735e-01 -2.49039866e-02 8.60626334e+01] [ 9.57273413e-01 6.74773353e-03 2.89105656e-01 6.30988487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.916875 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:169.80, Y:86.06, Z:63.13 [[ 2.88862418e-01 -2.47182492e-02 -9.57051468e-01 1.69803804e+02] [ 2.97997825e-04 9.99668910e-01 -2.57290080e-02 8.60641982e+01] [ 9.57370573e-01 7.14694421e-03 2.88774145e-01 6.31256067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.94687500000003 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:169.81, Y:86.07, Z:63.15 [[ 2.88620739e-01 -2.52620415e-02 -9.57110181e-01 1.69812984e+02] [-8.78006643e-04 9.99644454e-01 -2.66494612e-02 8.60669404e+01] [ 9.57443105e-01 8.53193629e-03 2.88495941e-01 6.31514361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.976875 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:169.85, Y:86.09, Z:63.16 [[ 2.98738475e-01 -6.40682239e-02 -9.52182013e-01 1.69851429e+02] [ 4.99656726e-03 9.97835304e-01 -6.55724094e-02 8.60890782e+01] [ 9.54321936e-01 1.48313601e-02 2.98411918e-01 6.31609296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.00687500000004 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:169.87, Y:86.10, Z:63.18 [[ 2.98360273e-01 -9.52821471e-02 -9.49685453e-01 1.69874040e+02] [ 3.60924774e-03 9.95110123e-01 -9.87057059e-02 8.61014849e+01] [ 9.54446500e-01 2.60222113e-02 2.97245225e-01 6.31832202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.036875 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:169.85, Y:86.08, Z:63.23 [[ 2.87288409e-01 -5.66761100e-02 -9.56165879e-01 1.69853674e+02] [-4.93043658e-03 9.98147165e-01 -6.06459162e-02 8.60826724e+01] [ 9.57831437e-01 2.21371840e-02 2.86476673e-01 6.32257483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.06687500000004 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:169.85, Y:86.07, Z:63.26 [[ 2.86316171e-01 -2.49402028e-02 -9.57810543e-01 1.69847491e+02] [-5.30022573e-03 9.99604641e-01 -2.76128541e-02 8.60734493e+01] [ 9.58120534e-01 1.29826187e-02 2.86070785e-01 6.32568339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.096875 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:169.86, Y:86.07, Z:63.28 [[ 2.86080341e-01 -2.57282099e-02 -9.57860166e-01 1.69855670e+02] [-5.66213529e-03 9.99576620e-01 -2.85398053e-02 8.60743947e+01] [ 9.58188905e-01 1.35882111e-02 2.85813544e-01 6.32823751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.12687500000004 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:169.86, Y:86.08, Z:63.31 [[ 2.86193859e-01 -2.62369521e-02 -9.57812454e-01 1.69864253e+02] [-5.98126992e-03 9.99556639e-01 -2.91676332e-02 8.60753053e+01] [ 9.58153067e-01 1.40765323e-02 2.85910041e-01 6.33092066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.156875 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:169.87, Y:86.08, Z:63.34 [[ 2.86949960e-01 -2.70562473e-02 -9.57563408e-01 1.69873546e+02] [-6.18409463e-03 9.99527909e-01 -3.00951349e-02 8.60770852e+01] [ 9.57925612e-01 1.45574605e-02 2.86647175e-01 6.33357993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.186875 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:169.88, Y:86.08, Z:63.36 [[ 2.86928291e-01 -2.80562006e-02 -9.57541125e-01 1.69881873e+02] [-5.85237543e-03 9.99501031e-01 -3.10393076e-02 8.60781683e+01] [ 9.57934186e-01 1.45099456e-02 2.86620927e-01 6.33618819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.216875 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:169.89, Y:86.08, Z:63.39 [[ 2.87429713e-01 -2.90976321e-02 -9.57359644e-01 1.69891037e+02] [-5.00815128e-03 9.99479112e-01 -3.18814013e-02 8.60790077e+01] [ 9.57788640e-01 1.39582640e-02 2.87134269e-01 6.33885852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.246875 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:169.90, Y:86.08, Z:63.42 [[ 2.87601149e-01 -3.01119002e-02 -9.57276790e-01 1.69899912e+02] [-4.55329439e-03 9.99451350e-01 -3.28065115e-02 8.60795097e+01] [ 9.57739446e-01 1.37939534e-02 2.87306249e-01 6.34156962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.276875 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:169.91, Y:86.08, Z:63.44 [[ 2.87597760e-01 -3.12116287e-02 -9.57242583e-01 1.69908630e+02] [-3.83124266e-03 9.99423367e-01 -3.37380393e-02 8.60801994e+01] [ 9.57743625e-01 1.33704131e-02 2.87312342e-01 6.34419639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.306875 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:169.92, Y:86.08, Z:63.47 [[ 2.87408031e-01 -3.25344601e-02 -9.57255521e-01 1.69917653e+02] [-2.34400913e-03 9.99396050e-01 -3.46704691e-02 8.60811074e+01] [ 9.57805371e-01 1.22083869e-02 2.87158189e-01 6.34673454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.336875 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:169.93, Y:86.08, Z:63.49 [[ 2.87480066e-01 -3.34994871e-02 -9.57200604e-01 1.69926654e+02] [-1.76292051e-03 9.99367955e-01 -3.55046980e-02 8.60818134e+01] [ 9.57784999e-01 1.18943615e-02 2.87239309e-01 6.34943859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.366875 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:169.94, Y:86.08, Z:63.52 [[ 2.87151225e-01 -3.45509833e-02 -9.57261931e-01 1.69935214e+02] [-1.22367399e-03 9.99335217e-01 -3.64366249e-02 8.60825181e+01] [ 9.57884480e-01 1.16341980e-02 2.86918052e-01 6.35202340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.396875 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:169.94, Y:86.08, Z:63.55 [[ 2.87015933e-01 -3.54562119e-02 -9.57269404e-01 1.69943911e+02] [-8.62538843e-04 9.99304794e-01 -3.72717699e-02 8.60831798e+01] [ 9.57925420e-01 1.15232738e-02 2.86785815e-01 6.35474874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.426875 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:169.95, Y:86.08, Z:63.57 [[ 2.86934991e-01 -3.62701511e-02 -9.57263175e-01 1.69952603e+02] [-1.15777263e-03 9.99269108e-01 -3.82087685e-02 8.60838050e+01] [ 9.57949357e-01 1.20717258e-02 2.86683280e-01 6.35730371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.456875 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:169.96, Y:86.08, Z:63.60 [[ 2.86248100e-01 -3.69578900e-02 -9.57442500e-01 1.69960924e+02] [-1.63191771e-03 9.99235573e-01 -3.90590263e-02 8.60844406e+01] [ 9.58154143e-01 1.27430394e-02 2.85968971e-01 6.35996695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.486875 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:169.97, Y:86.09, Z:63.63 [[ 2.85385888e-01 -3.75996921e-02 -9.57674871e-01 1.69969999e+02] [-2.63182121e-03 9.99195648e-01 -4.00141368e-02 8.60852931e+01] [ 9.58409082e-01 1.39398990e-02 2.85057381e-01 6.36253840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.516875 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:169.98, Y:86.09, Z:63.65 [[ 2.85439900e-01 -3.83063517e-02 -9.57630768e-01 1.69978564e+02] [-3.00429500e-03 9.99160239e-01 -4.08630659e-02 8.60859139e+01] [ 9.58391902e-01 1.45409548e-02 2.85085115e-01 6.36506100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.546875 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:169.99, Y:86.09, Z:63.68 [[ 2.85246550e-01 -3.88904620e-02 -9.57664836e-01 1.69986682e+02] [-3.78276018e-03 9.99122983e-01 -4.17007832e-02 8.60860360e+01] [ 9.58446710e-01 1.55176209e-02 2.84849271e-01 6.36770683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.57687500000003 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:169.99, Y:86.09, Z:63.70 [[ 2.85311610e-01 -3.97149486e-02 -9.57611617e-01 1.69994981e+02] [-3.94928001e-03 9.99083909e-01 -4.26115774e-02 8.60861790e+01] [ 9.58426674e-01 1.59394542e-02 2.84893393e-01 6.37041202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.606875 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:170.04, Y:86.12, Z:63.71 [[ 2.99636616e-01 -9.41693075e-02 -9.49394565e-01 1.70041890e+02] [ 4.18768597e-03 9.95237025e-01 -9.73946985e-02 8.61151379e+01] [ 9.54044214e-01 2.52072516e-02 2.98603806e-01 6.37076590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.63687500000003 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:170.03, Y:86.10, Z:63.75 [[ 2.85217778e-01 -7.92618148e-02 -9.55179765e-01 1.70027000e+02] [-6.26938236e-03 9.96399151e-01 -8.45542872e-02 8.60988102e+01] [ 9.58442233e-01 3.01047731e-02 2.83693829e-01 6.37508269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.666875 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:170.02, Y:86.09, Z:63.78 [[ 2.84290797e-01 -4.00262412e-02 -9.57902209e-01 1.70017826e+02] [-6.67696513e-03 9.99021247e-01 -4.37260346e-02 8.60857358e+01] [ 9.58714849e-01 1.88267889e-02 2.83745293e-01 6.37832866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.69687500000003 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:170.06, Y:86.11, Z:63.79 [[ 2.98663700e-01 -9.14970243e-02 -9.49962256e-01 1.70063483e+02] [ 1.29750298e-03 9.95431602e-01 -9.54685429e-02 8.61129257e+01] [ 9.54357538e-01 2.72804094e-02 2.97418003e-01 6.37897127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.726875 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:170.08, Y:86.12, Z:63.81 [[ 2.99690954e-01 -1.18324746e-01 -9.46670263e-01 1.70081619e+02] [ 1.61906454e-03 9.92340692e-01 -1.23520560e-01 8.61220231e+01] [ 9.54034963e-01 3.54852742e-02 2.97587104e-01 6.38131152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.75687500000004 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:170.06, Y:86.10, Z:63.86 [[ 2.85612268e-01 -7.30386824e-02 -9.55557944e-01 1.70055421e+02] [-6.93898995e-03 9.96907788e-01 -7.82733192e-02 8.60962041e+01] [ 9.58320136e-01 2.89864272e-02 2.84222279e-01 6.38598137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.786875 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:170.05, Y:86.09, Z:63.89 [[ 2.84839833e-01 -4.32943428e-02 -9.57596924e-01 1.70048891e+02] [-5.85363542e-03 9.98882340e-01 -4.69020961e-02 8.60854877e+01] [ 9.58557252e-01 1.89650085e-02 2.84268049e-01 6.38900291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.81687500000004 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:170.09, Y:86.11, Z:63.90 [[ 2.96314569e-01 -8.65982152e-02 -9.51156362e-01 1.70089534e+02] [ 1.56784116e-03 9.95923738e-01 -9.01856387e-02 8.61083887e+01] [ 9.55089115e-01 2.52320566e-02 2.95242486e-01 6.38980495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.846875 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:170.07, Y:86.09, Z:63.94 [[ 2.83253208e-01 -6.73803379e-02 -9.56675238e-01 1.70074633e+02] [-5.30412845e-03 9.97403552e-01 -7.18193564e-02 8.60931822e+01] [ 9.59030493e-01 2.54173914e-02 2.82160361e-01 6.39399736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.87687500000004 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:170.10, Y:86.10, Z:63.96 [[ 2.92993794e-01 -7.88950878e-02 -9.52853715e-01 1.70098937e+02] [ 1.32549712e-03 9.96622269e-01 -8.21114907e-02 8.61031478e+01] [ 9.56113424e-01 2.27951524e-02 2.92108715e-01 6.39556817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.906875 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:170.12, Y:86.11, Z:63.98 [[ 2.91967883e-01 -9.80558552e-02 -9.51388356e-01 1.70115117e+02] [ 2.82504720e-03 9.94814713e-01 -1.01664671e-01 8.61095444e+01] [ 9.56423951e-01 2.69951018e-02 2.90730958e-01 6.39805012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.936875 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:170.10, Y:86.09, Z:64.02 [[ 2.81124554e-01 -6.22712790e-02 -9.57648826e-01 1.70095893e+02] [-2.68416008e-03 9.97837620e-01 -6.56725163e-02 8.60900225e+01] [ 9.59667536e-01 2.10326396e-02 2.80349510e-01 6.40211249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.966875 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:170.12, Y:86.10, Z:64.04 [[ 2.89761991e-01 -7.75091199e-02 -9.53955096e-01 1.70121519e+02] [ 3.15430952e-03 9.96787373e-01 -8.00311391e-02 8.60999060e+01] [ 9.57093537e-01 2.01809126e-02 2.89075582e-01 6.40373814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.996875 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:170.13, Y:86.10, Z:64.06 [[ 2.89390060e-01 -8.71666793e-02 -9.53234160e-01 1.70133590e+02] [ 3.10568110e-03 9.95925379e-01 -9.01276502e-02 8.61037757e+01] [ 9.57206220e-01 2.31216048e-02 2.88481617e-01 6.40635798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.026875 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:170.15, Y:86.11, Z:64.09 [[ 2.90450819e-01 -9.68531087e-02 -9.51975734e-01 1.70148469e+02] [ 4.04952020e-03 9.94979921e-01 -9.99927924e-02 8.61078385e+01] [ 9.56881353e-01 2.51879435e-02 2.89384941e-01 6.40863217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.056875 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:170.16, Y:86.11, Z:64.11 [[ 2.90053932e-01 -1.07433865e-01 -9.50960925e-01 1.70161754e+02] [ 4.52165547e-03 9.93821635e-01 -1.10896855e-01 8.61117570e+01] [ 9.56999619e-01 2.78661512e-02 2.88747652e-01 6.41124220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.086875 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:170.13, Y:86.08, Z:64.16 [[ 2.76368601e-01 -5.63002359e-02 -9.59401209e-01 1.70130664e+02] [-1.54171534e-03 9.98255349e-01 -5.90244132e-02 8.60846039e+01] [ 9.61050477e-01 1.77916181e-02 2.75799636e-01 6.41565506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.116875 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:170.13, Y:86.08, Z:64.18 [[ 2.76049161e-01 -4.25543289e-02 -9.60201015e-01 1.70132404e+02] [-9.46695990e-04 9.99006872e-01 -4.45462991e-02 8.60797692e+01] [ 9.61143051e-01 1.32059869e-02 2.75734722e-01 6.41849439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.146875 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:170.14, Y:86.08, Z:64.21 [[ 2.75902254e-01 -4.36009733e-02 -9.60196283e-01 1.70140694e+02] [-5.22803391e-04 9.98963675e-01 -4.55115604e-02 8.60797461e+01] [ 9.61185556e-01 1.30587360e-02 2.75593535e-01 6.42117844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.176875 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:170.15, Y:86.08, Z:64.24 [[ 2.75627686e-01 -4.46337135e-02 -9.60227687e-01 1.70148510e+02] [-1.81647776e-04 9.98919003e-01 -4.64843208e-02 8.60797634e+01] [ 9.61264452e-01 1.29867890e-02 2.75321626e-01 6.42377797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.206875 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:170.19, Y:86.10, Z:64.25 [[ 2.88372751e-01 -9.07651126e-02 -9.53206615e-01 1.70192745e+02] [ 5.68018058e-03 9.95641739e-01 -9.30873998e-02 8.61010293e+01] [ 9.57501380e-01 2.14294839e-02 2.87631509e-01 6.42490165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.236875 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:170.17, Y:86.08, Z:64.29 [[ 2.75602603e-01 -5.35586174e-02 -9.59778454e-01 1.70167917e+02] [ 3.49967856e-05 9.98447192e-01 -5.57064037e-02 8.60816261e+01] [ 9.61271660e-01 1.53192407e-02 2.75176519e-01 6.42907350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.266875 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:170.17, Y:86.08, Z:64.32 [[ 2.75669012e-01 -4.59960277e-02 -9.60151530e-01 1.70171922e+02] [ 7.85251944e-05 9.98855602e-01 -4.78275996e-02 8.60787638e+01] [ 9.61252615e-01 1.31091911e-02 2.75357149e-01 6.43183896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.296875 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:170.21, Y:86.10, Z:64.33 [[ 2.87590380e-01 -9.17362514e-02 -9.53350006e-01 1.70214552e+02] [ 5.90598163e-03 9.95553202e-01 -9.40156446e-02 8.61003228e+01] [ 9.57735294e-01 2.14075274e-02 2.86853317e-01 6.43304397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.32687500000003 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:170.19, Y:86.08, Z:64.37 [[ 2.74620697e-01 -5.31328015e-02 -9.60083527e-01 1.70190047e+02] [-7.65035853e-04 9.98459759e-01 -5.54754429e-02 8.60808638e+01] [ 9.61552332e-01 1.59692031e-02 2.74157066e-01 6.43711344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.356875 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:170.19, Y:86.08, Z:64.40 [[ 2.74274003e-01 -4.70982152e-02 -9.60497543e-01 1.70194851e+02] [-9.26753096e-04 9.98786528e-01 -4.92403624e-02 8.60793446e+01] [ 9.61651139e-01 1.43954954e-02 2.73897531e-01 6.43992086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.38687500000003 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:170.24, Y:86.10, Z:64.41 [[ 2.84711036e-01 -8.91148327e-02 -9.54462243e-01 1.70235505e+02] [ 3.11789492e-03 9.95750455e-01 -9.20397185e-02 8.60991744e+01] [ 9.58608317e-01 2.32288107e-02 2.83778995e-01 6.44118935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.416875 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:170.21, Y:86.08, Z:64.45 [[ 2.73183492e-01 -5.45629654e-02 -9.60413277e-01 1.70213116e+02] [-2.40449824e-03 9.98348246e-01 -5.74020699e-02 8.60822958e+01] [ 9.61958938e-01 1.79906099e-02 2.72601063e-01 6.44517591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.44687500000003 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:170.25, Y:86.10, Z:64.46 [[ 2.84487603e-01 -9.34501501e-02 -9.54114183e-01 1.70253521e+02] [ 1.94626995e-03 9.95291931e-01 -9.69029623e-02 8.61016021e+01] [ 9.58677744e-01 2.57107277e-02 2.83330095e-01 6.44643081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.476875 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:170.26, Y:86.10, Z:64.49 [[ 2.81134232e-01 -9.02308938e-02 -9.55417149e-01 1.70257344e+02] [ 3.17321706e-04 9.95578713e-01 -9.39304336e-02 8.60995882e+01] [ 9.59668403e-01 2.61038857e-02 2.79919889e-01 6.44940082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.50687500000004 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:170.23, Y:86.08, Z:64.53 [[ 2.69844474e-01 -4.36545439e-02 -9.61913843e-01 1.70229985e+02] [-3.92043915e-03 9.98913690e-01 -4.64335041e-02 8.60792289e+01] [ 9.62895939e-01 1.63009492e-02 2.69380194e-01 6.45347239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.536875 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:170.28, Y:86.10, Z:64.55 [[ 2.82293352e-01 -9.51209017e-02 -9.54600690e-01 1.70275733e+02] [ 1.89501430e-03 9.95125483e-01 -9.85985913e-02 8.61015650e+01] [ 9.59326260e-01 2.60247449e-02 2.81097564e-01 6.45470411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.56687500000004 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:170.28, Y:86.10, Z:64.57 [[ 2.83757984e-01 -9.23062634e-02 -9.54442748e-01 1.70281779e+02] [ 3.25569159e-03 9.95442933e-01 -9.53035572e-02 8.61008140e+01] [ 9.58890404e-01 2.39357741e-02 2.82765401e-01 6.45720754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.596875 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:170.25, Y:86.08, Z:64.61 [[ 2.71048514e-01 -5.34908322e-02 -9.61078266e-01 1.70254565e+02] [-1.79227794e-03 9.98424956e-01 -5.60749087e-02 8.60818052e+01] [ 9.62564019e-01 1.69215400e-02 2.70525730e-01 6.46142606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.62687500000004 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:170.26, Y:86.08, Z:64.64 [[ 2.71445241e-01 -4.90767126e-02 -9.61201830e-01 1.70260325e+02] [-1.61517155e-03 9.98674466e-01 -5.14461051e-02 8.60805779e+01] [ 9.62452530e-01 1.55173062e-02 2.71006163e-01 6.46408854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.656875 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:170.31, Y:86.11, Z:64.65 [[ 2.84531344e-01 -1.03420084e-01 -9.53071981e-01 1.70310075e+02] [ 4.34455041e-03 9.94292920e-01 -1.06596037e-01 8.61067602e+01] [ 9.58656893e-01 2.61892444e-02 2.83356815e-01 6.46504206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.686875 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:170.32, Y:86.11, Z:64.68 [[ 2.82735511e-01 -1.02219584e-01 -9.53735701e-01 1.70316026e+02] [ 4.22504705e-03 9.94428513e-01 -1.05328444e-01 8.61075165e+01] [ 9.59188605e-01 2.57505133e-02 2.81592136e-01 6.46778991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.716875 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:170.29, Y:86.09, Z:64.72 [[ 2.69532087e-01 -6.06519989e-02 -9.61079492e-01 1.70288818e+02] [-2.80668352e-03 9.97960890e-01 -6.37666442e-02 8.60866851e+01] [ 9.62987319e-01 1.98846027e-02 2.68812251e-01 6.47202299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.746875 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:170.33, Y:86.11, Z:64.73 [[ 2.83150251e-01 -1.05356808e-01 -9.53271146e-01 1.70332963e+02] [ 3.55208836e-03 9.94056289e-01 -1.08809360e-01 8.61093575e+01] [ 9.59068985e-01 2.74232942e-02 2.81841524e-01 6.47314988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.776875 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:170.30, Y:86.09, Z:64.78 [[ 2.68832204e-01 -5.37937319e-02 -9.61683670e-01 1.70299634e+02] [-2.69679643e-03 9.98393235e-01 -5.66010274e-02 8.60854756e+01] [ 9.63183250e-01 1.78096440e-02 2.68255183e-01 6.47753978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.806875 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:170.31, Y:86.09, Z:64.80 [[ 2.69154030e-01 -5.16104539e-02 -9.61713299e-01 1.70306342e+02] [-3.35797854e-03 9.98506772e-01 -5.45247749e-02 8.60856799e+01] [ 9.63091290e-01 1.79049755e-02 2.68578814e-01 6.48031705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.836875 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:170.36, Y:86.11, Z:64.81 [[ 2.83203887e-01 -1.07122484e-01 -9.53058409e-01 1.70355619e+02] [ 3.02804716e-03 9.93837420e-01 -1.10806198e-01 8.61126983e+01] [ 9.59054946e-01 2.84948401e-02 2.81782992e-01 6.48110747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.866875 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:170.33, Y:86.09, Z:64.85 [[ 2.68851422e-01 -6.40086430e-02 -9.61052447e-01 1.70327099e+02] [-4.24842049e-03 9.97700882e-01 -6.76380084e-02 8.60912440e+01] [ 9.63172292e-01 2.22675296e-02 2.67961365e-01 6.48543972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.896875 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:170.33, Y:86.09, Z:64.88 [[ 2.68238379e-01 -5.33584108e-02 -9.61873719e-01 1.70329741e+02] [-4.32758823e-03 9.98388076e-01 -5.65908240e-02 8.60888052e+01] [ 9.63342849e-01 1.93424243e-02 2.67575086e-01 6.48824537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.926875 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:170.34, Y:86.09, Z:64.91 [[ 2.68258084e-01 -5.38519186e-02 -9.61840720e-01 1.70338625e+02] [-5.85730866e-03 9.98326692e-01 -5.75283173e-02 8.60902113e+01] [ 9.63329275e-01 2.10662342e-02 2.67493778e-01 6.49092919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.956875 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:170.35, Y:86.09, Z:64.94 [[ 2.67942954e-01 -5.43904149e-02 -9.61898257e-01 1.70346342e+02] [-6.01921938e-03 9.98291170e-01 -5.81249399e-02 8.60913393e+01] [ 9.63415976e-01 2.13640447e-02 2.67157697e-01 6.49358896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.986875 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:170.39, Y:86.12, Z:64.95 [[ 2.81806731e-01 -1.07116965e-01 -9.53473084e-01 1.70393498e+02] [-6.81891378e-04 9.93725918e-01 -1.11840667e-01 8.61175824e+01] [ 9.59470949e-01 3.21676179e-02 2.79965611e-01 6.49454537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.016875 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:170.41, Y:86.12, Z:64.97 [[ 2.82230643e-01 -1.18880609e-01 -9.51952344e-01 1.70406670e+02] [-3.42219332e-04 9.92279884e-01 -1.24018206e-01 8.61230386e+01] [ 9.59346521e-01 3.53275144e-02 2.80011107e-01 6.49704644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.046875 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:170.42, Y:86.13, Z:65.00 [[ 2.82719681e-01 -1.25779042e-01 -9.50920194e-01 1.70417921e+02] [ 8.20105671e-05 9.91368512e-01 -1.31104794e-01 8.61267668e+01] [ 9.59202573e-01 3.69879199e-02 2.80289705e-01 6.49960476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.07687500000003 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:170.38, Y:86.10, Z:65.04 [[ 2.67372554e-01 -7.30288160e-02 -9.60821893e-01 1.70383558e+02] [-7.05132014e-03 9.96948971e-01 -7.77369178e-02 8.60997736e+01] [ 9.63567432e-01 2.75597810e-02 2.66041843e-01 6.50421313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.106875 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:170.42, Y:86.12, Z:65.05 [[ 2.78833129e-01 -1.03677032e-01 -9.54726746e-01 1.70421271e+02] [-6.96302600e-04 9.94133290e-01 -1.08159682e-01 8.61187908e+01] [ 9.60339316e-01 3.08232813e-02 2.77125105e-01 6.50544330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.13687500000003 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:170.40, Y:86.10, Z:65.10 [[ 2.65434883e-01 -6.65286280e-02 -9.61830684e-01 1.70395833e+02] [-6.56932472e-03 9.97468432e-01 -7.08065726e-02 8.60989289e+01] [ 9.64106409e-01 2.51131124e-02 2.64325868e-01 6.50972553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.166875 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:170.45, Y:86.13, Z:65.10 [[ 2.81328850e-01 -1.19903276e-01 -9.52091005e-01 1.70446200e+02] [ 3.39177201e-03 9.92281110e-01 -1.23962470e-01 8.61282442e+01] [ 9.59605426e-01 3.16449435e-02 2.79563988e-01 6.51033700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.19687500000003 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:170.42, Y:86.10, Z:65.15 [[ 2.64080801e-01 -8.08076887e-02 -9.61109488e-01 1.70416456e+02] [-4.71133926e-03 9.96364152e-01 -8.50663316e-02 8.61043339e+01] [ 9.64489053e-01 2.69924978e-02 2.62739931e-01 6.51485885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.226875 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:170.46, Y:86.13, Z:65.16 [[ 2.78979494e-01 -1.18540229e-01 -9.52952599e-01 1.70458461e+02] [ 4.88850083e-03 9.92514337e-01 -1.22030294e-01 8.61283274e+01] [ 9.60284616e-01 2.93854401e-02 2.77470632e-01 6.51564665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.25687500000004 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:170.43, Y:86.11, Z:65.20 [[ 2.62930719e-01 -8.38968915e-02 -9.61160106e-01 1.70429733e+02] [-2.20103190e-03 9.96157360e-01 -8.75538054e-02 8.61062323e+01] [ 9.64812206e-01 2.51361290e-02 2.61735711e-01 6.52012445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.286875 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:170.43, Y:86.10, Z:65.23 [[ 2.62636321e-01 -5.88796364e-02 -9.63096751e-01 1.70425536e+02] [-5.63457702e-04 9.98126904e-01 -6.11748857e-02 8.60987153e+01] [ 9.64894733e-01 1.66094112e-02 2.62111202e-01 6.52315805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.31687500000004 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:170.43, Y:86.10, Z:65.26 [[ 2.62385621e-01 -6.02316977e-02 -9.63081475e-01 1.70433680e+02] [ 8.89597106e-04 9.98064729e-01 -6.21772063e-02 8.61001735e+01] [ 9.64962691e-01 1.54576504e-02 2.61931416e-01 6.52587450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.346875 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:170.44, Y:86.10, Z:65.28 [[ 2.62817431e-01 -6.18306497e-02 -9.62862383e-01 1.70441483e+02] [ 3.35188242e-03 9.97997030e-01 -6.31719265e-02 8.61016387e+01] [ 9.64839760e-01 1.33752819e-02 2.62498265e-01 6.52847047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.37687500000004 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:170.48, Y:86.13, Z:65.29 [[ 2.75184998e-01 -1.08768060e-01 -9.55218680e-01 1.70483575e+02] [ 1.13696305e-02 9.93878207e-01 -1.09894681e-01 8.61258659e+01] [ 9.61324060e-01 1.93808842e-02 2.74737025e-01 6.52948929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.406875 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:170.47, Y:86.11, Z:65.33 [[ 2.62422403e-01 -8.71779371e-02 -9.61007018e-01 1.70466264e+02] [ 5.81436206e-03 9.96035375e-01 -8.87678120e-02 8.61110243e+01] [ 9.64935581e-01 1.77070198e-02 2.61888881e-01 6.53346135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.436875 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:170.50, Y:86.13, Z:65.35 [[ 2.72284492e-01 -1.06995972e-01 -9.56249454e-01 1.70495638e+02] [ 1.35025407e-02 9.94125363e-01 -1.07389214e-01 8.61257604e+01] [ 9.62122049e-01 1.63286203e-02 2.72129637e-01 6.53482253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.466875 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:170.48, Y:86.11, Z:65.39 [[ 2.61479917e-01 -7.87083725e-02 -9.61994410e-01 1.70476146e+02] [ 8.56105593e-03 9.96819544e-01 -7.92307096e-02 8.61097792e+01] [ 9.65170949e-01 1.24815514e-02 2.61322118e-01 6.53890555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.496875 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:170.48, Y:86.11, Z:65.42 [[ 2.61321478e-01 -6.64482843e-02 -9.62961947e-01 1.70477948e+02] [ 9.05955115e-03 9.97752590e-01 -6.63904661e-02 8.61066369e+01] [ 9.65209309e-01 8.62525171e-03 2.61336173e-01 6.54173452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.526875 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:170.49, Y:86.11, Z:65.44 [[ 2.61619230e-01 -6.74538891e-02 -9.62811171e-01 1.70486088e+02] [ 9.35208245e-03 9.97685178e-01 -6.73559496e-02 8.61087095e+01] [ 9.65125856e-01 8.61732219e-03 2.61644462e-01 6.54432871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.556875 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:170.49, Y:86.11, Z:65.47 [[ 2.61635911e-01 -6.83152372e-02 -9.62745905e-01 1.70493901e+02] [ 9.42372178e-03 9.97625163e-01 -6.82292340e-02 8.61100198e+01] [ 9.65120637e-01 8.77856827e-03 2.61658352e-01 6.54702149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.586875 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:170.50, Y:86.11, Z:65.50 [[ 2.61315237e-01 -6.92720974e-02 -9.62764625e-01 1.70501411e+02] [ 9.33023281e-03 9.97556193e-01 -6.92429655e-02 8.61111876e+01] [ 9.65208420e-01 9.11142385e-03 2.61322958e-01 6.54961211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.616875 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:170.51, Y:86.11, Z:65.52 [[ 2.61164886e-01 -6.99053331e-02 -9.62759652e-01 1.70508927e+02] [ 9.20416189e-03 9.97509319e-01 -6.99316981e-02 8.61121893e+01] [ 9.65250323e-01 9.40230824e-03 2.61157827e-01 6.55237055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.646875 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:170.52, Y:86.11, Z:65.55 [[ 2.61203329e-01 -7.09307048e-02 -9.62674221e-01 1.70517033e+02] [ 9.51401308e-03 9.97437299e-01 -7.09106334e-02 8.61132114e+01] [ 9.65236916e-01 9.36319837e-03 2.61208779e-01 6.55508035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.676875 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:170.52, Y:86.11, Z:65.58 [[ 2.61256328e-01 -7.19063774e-02 -9.62587453e-01 1.70524485e+02] [ 9.57532655e-03 9.97365486e-01 -7.19054921e-02 8.61139223e+01] [ 9.65221966e-01 9.56867562e-03 2.61256572e-01 6.55774031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.706875 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:170.53, Y:86.11, Z:65.60 [[ 2.62286029e-01 -7.27705360e-02 -9.62242427e-01 1.70531978e+02] [ 9.25147862e-03 9.97296362e-01 -7.28997758e-02 8.61143549e+01] [ 9.64945827e-01 1.02184275e-02 2.62250138e-01 6.56030112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.736875 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:170.54, Y:86.12, Z:65.63 [[ 2.63078859e-01 -7.37009082e-02 -9.61955139e-01 1.70540229e+02] [ 9.53931860e-03 9.97227844e-01 -7.37945065e-02 8.61154128e+01] [ 9.64727172e-01 1.02373780e-02 2.63052620e-01 6.56301818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.766875 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:170.55, Y:86.12, Z:65.66 [[ 2.63529397e-01 -7.45864211e-02 -9.61763548e-01 1.70548245e+02] [ 9.27179903e-03 9.97156153e-01 -7.47906460e-02 8.61161969e+01] [ 9.64606806e-01 1.07922555e-02 2.63471510e-01 6.56560249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.796875 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:170.56, Y:86.12, Z:65.68 [[ 2.63266203e-01 -7.52400907e-02 -9.61784713e-01 1.70556378e+02] [ 9.21670763e-03 9.97104697e-01 -7.54803016e-02 8.61171177e+01] [ 9.64679200e-01 1.10069239e-02 2.63197434e-01 6.56833703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.82687500000003 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:170.56, Y:86.12, Z:65.71 [[ 2.63015150e-01 -7.59205941e-02 -9.61799924e-01 1.70564802e+02] [ 8.16829259e-03 9.97038541e-01 -7.64684752e-02 8.61175936e+01] [ 9.64757125e-01 1.22561043e-02 2.62856383e-01 6.57102724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.856875 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:170.57, Y:86.12, Z:65.74 [[ 2.63008176e-01 -7.69431868e-02 -9.61720565e-01 1.70572934e+02] [ 8.42057809e-03 9.96959923e-01 -7.74597065e-02 8.61186214e+01] [ 9.64756857e-01 1.22742930e-02 2.62856517e-01 6.57376861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.88687500000003 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:170.62, Y:86.15, Z:65.75 [[ 2.75589447e-01 -1.28492648e-01 -9.52648989e-01 1.70619080e+02] [ 1.43927184e-02 9.91466509e-01 -1.29564696e-01 8.61450533e+01] [ 9.61167679e-01 2.19954542e-02 2.75087066e-01 6.57480317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.916875 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:170.63, Y:86.15, Z:65.78 [[ 2.74942645e-01 -1.31414766e-01 -9.52437243e-01 1.70626541e+02] [ 1.36118691e-02 9.91047672e-01 -1.32812756e-01 8.61461999e+01] [ 9.61364270e-01 2.35514392e-02 2.74270069e-01 6.57757496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.94687500000003 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:170.60, Y:86.12, Z:65.82 [[ 2.62253644e-01 -8.74586264e-02 -9.61027583e-01 1.70600037e+02] [ 6.94426769e-03 9.96029815e-01 -8.87490031e-02 8.61235618e+01] [ 9.64973991e-01 1.66011166e-02 2.61819784e-01 6.58182233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.976875 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:170.60, Y:86.12, Z:65.85 [[ 2.62600555e-01 -8.08470039e-02 -9.61511680e-01 1.70604691e+02] [ 5.76378632e-03 9.96597293e-01 -8.22229552e-02 8.61217819e+01] [ 9.64887417e-01 1.60498458e-02 2.62172987e-01 6.58454544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.00687500000004 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:170.61, Y:86.12, Z:65.87 [[ 2.63042397e-01 -8.16458141e-02 -9.61323389e-01 1.70612556e+02] [ 5.63313725e-03 9.96525775e-01 -8.30942065e-02 8.61222993e+01] [ 9.64767830e-01 1.64420327e-02 2.62588450e-01 6.58723041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.036875 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:170.67, Y:86.15, Z:65.88 [[ 2.79129809e-01 -1.42848116e-01 -9.49568831e-01 1.70665139e+02] [ 1.41420265e-02 9.89377488e-01 -1.44679611e-01 8.61544361e+01] [ 9.60149235e-01 2.69555646e-02 2.78184911e-01 6.58767795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.06687500000004 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:170.68, Y:86.16, Z:65.90 [[ 2.76836131e-01 -1.65499545e-01 -9.46557794e-01 1.70679893e+02] [ 1.34028431e-02 9.85625832e-01 -1.68410462e-01 8.61627158e+01] [ 9.60823668e-01 3.39355351e-02 2.75075007e-01 6.59026761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.096875 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:170.69, Y:86.16, Z:65.93 [[ 2.76048381e-01 -1.60322084e-01 -9.47678279e-01 1.70685028e+02] [ 1.28428552e-02 9.86517410e-01 -1.63151653e-01 8.61606739e+01] [ 9.61057934e-01 3.28668546e-02 2.74385527e-01 6.59312890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.12687500000004 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:170.65, Y:86.13, Z:65.98 [[ 2.62691027e-01 -1.02373943e-01 -9.59433687e-01 1.70650912e+02] [ 5.74033500e-03 9.94503664e-01 -1.04544304e-01 8.61298869e+01] [ 9.64862930e-01 2.19553799e-02 2.61834849e-01 6.59764250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.156875 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:170.65, Y:86.12, Z:66.00 [[ 2.62229173e-01 -8.40181341e-02 -9.61341154e-01 1.70650095e+02] [ 5.23226323e-03 9.96311786e-01 -8.56472283e-02 8.61238122e+01] [ 9.64991443e-01 1.74292119e-02 2.61701621e-01 6.60048160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.186875 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:170.66, Y:86.12, Z:66.03 [[ 2.61883025e-01 -8.44657106e-02 -9.61396289e-01 1.70658097e+02] [ 4.40309369e-03 9.96256946e-01 -8.63290782e-02 8.61244885e+01] [ 9.65089578e-01 1.83750022e-02 2.61274693e-01 6.60318914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.216875 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:170.67, Y:86.12, Z:66.06 [[ 2.61310775e-01 -8.48469659e-02 -9.61518420e-01 1.70665956e+02] [ 2.16614408e-03 9.96178244e-01 -8.73167512e-02 8.61246144e+01] [ 9.65252292e-01 2.07340205e-02 2.60495899e-01 6.60586788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.246875 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:170.67, Y:86.13, Z:66.08 [[ 2.61222572e-01 -8.55109801e-02 -9.61483562e-01 1.70673698e+02] [ 9.41654480e-04 9.96090558e-01 -8.83329698e-02 8.61250824e+01] [ 9.65278137e-01 2.21691802e-02 2.60281859e-01 6.60843262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.276875 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:170.68, Y:86.13, Z:66.11 [[ 2.60970535e-01 -8.58751578e-02 -9.61519546e-01 1.70681484e+02] [-2.67623231e-04 9.96028919e-01 -8.90298930e-02 8.61257602e+01] [ 9.65346730e-01 2.34915038e-02 2.59911217e-01 6.61104703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.306875 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:170.72, Y:86.15, Z:66.12 [[ 2.73465795e-01 -1.32042300e-01 -9.52775572e-01 1.70723942e+02] [ 3.95723258e-03 9.90679036e-01 -1.36159421e-01 8.61499156e+01] [ 9.61873588e-01 3.34645898e-02 2.71439352e-01 6.61207534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.336875 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:170.74, Y:86.15, Z:66.15 [[ 2.72111583e-01 -1.46154348e-01 -9.51101568e-01 1.70735133e+02] [ 1.59900401e-03 9.88465386e-01 -1.51438512e-01 8.61537034e+01] [ 9.62264376e-01 3.96873581e-02 2.69206582e-01 6.61489161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.366875 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:170.75, Y:86.16, Z:66.17 [[ 2.74242368e-01 -1.48994434e-01 -9.50048305e-01 1.70745947e+02] [ 3.16686335e-03 9.88059306e-01 -1.54041483e-01 8.61562676e+01] [ 9.61655393e-01 3.92360278e-02 2.71439569e-01 6.61740843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.396875 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:170.72, Y:86.13, Z:66.22 [[ 2.61352770e-01 -1.08026506e-01 -9.59179339e-01 1.70720591e+02] [-3.81743303e-03 9.93594181e-01 -1.12942596e-01 8.61325221e+01] [ 9.65235804e-01 3.31794633e-02 2.59266207e-01 6.62168724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.426875 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:170.72, Y:86.12, Z:66.25 [[ 2.61138822e-01 -8.69301387e-02 -9.61379044e-01 1.70718315e+02] [-2.94649473e-03 9.95860377e-01 -9.08483759e-02 8.61246895e+01] [ 9.65296760e-01 2.65567362e-02 2.59801666e-01 6.62460897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.456875 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:170.73, Y:86.12, Z:66.27 [[ 2.61664637e-01 -8.80728057e-02 -9.61132040e-01 1.70725453e+02] [-1.72177362e-03 9.95783640e-01 -9.17168325e-02 8.61233702e+01] [ 9.65157321e-01 2.56539035e-02 2.60409723e-01 6.62737277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.486875 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:170.77, Y:86.15, Z:66.28 [[ 2.73412898e-01 -1.31354022e-01 -9.52885884e-01 1.70765742e+02] [ 5.08674661e-03 9.90815767e-01 -1.35123057e-01 8.61454389e+01] [ 9.61883315e-01 3.20972976e-02 2.71569975e-01 6.62847148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.516875 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:170.75, Y:86.13, Z:66.32 [[ 2.62129349e-01 -1.18665977e-01 -9.57709032e-01 1.70754405e+02] [-1.17150817e-03 9.92371054e-01 -1.23281460e-01 8.61338288e+01] [ 9.65032037e-01 3.34376526e-02 2.59990560e-01 6.63230994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.546875 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:170.75, Y:86.12, Z:66.35 [[ 2.61112533e-01 -9.08491326e-02 -9.61023767e-01 1.70749484e+02] [-1.00571799e-03 9.95535274e-01 -9.43848891e-02 8.61238952e+01] [ 9.65307844e-01 2.56115963e-02 2.59855368e-01 6.63525535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.57687500000003 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:170.78, Y:86.14, Z:66.37 [[ 2.66577660e-01 -1.17503407e-01 -9.56623908e-01 1.70778066e+02] [ 8.40926723e-04 9.92568511e-01 -1.21684194e-01 8.61356570e+01] [ 9.63813075e-01 3.16338372e-02 2.64695403e-01 6.63718261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.606875 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:170.76, Y:86.12, Z:66.41 [[ 2.59879438e-01 -8.53992752e-02 -9.61857392e-01 1.70762037e+02] [-1.24631123e-03 9.96051199e-01 -8.87719342e-02 8.61214160e+01] [ 9.65640267e-01 2.42687740e-02 2.58746791e-01 6.64066035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.63687500000003 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:170.79, Y:86.14, Z:66.42 [[ 2.67435159e-01 -1.21403867e-01 -9.55897242e-01 1.70794155e+02] [ 1.71922426e-03 9.92089663e-01 -1.25519496e-01 8.61369211e+01] [ 9.63574325e-01 3.19249247e-02 2.65528377e-01 6.64231729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.666875 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:170.80, Y:86.14, Z:66.45 [[ 2.65550371e-01 -1.21089123e-01 -9.56462453e-01 1.70800736e+02] [ 1.04196848e-03 9.92116623e-01 -1.25313687e-01 8.61352146e+01] [ 9.64096424e-01 3.22804925e-02 2.63583109e-01 6.64518314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.69687500000003 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:170.79, Y:86.12, Z:66.49 [[ 2.58415186e-01 -9.60365017e-02 -9.61248450e-01 1.70789187e+02] [-2.01421143e-03 9.94990513e-01 -9.99490933e-02 8.61235172e+01] [ 9.66031850e-01 2.77645212e-02 2.56927221e-01 6.64858216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.726875 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:170.80, Y:86.12, Z:66.51 [[ 2.57785474e-01 -9.43978044e-02 -9.61579796e-01 1.70796742e+02] [-2.57000876e-03 9.95145414e-01 -9.83819060e-02 8.61220532e+01] [ 9.66198760e-01 2.78326948e-02 2.56291429e-01 6.65132894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.75687500000004 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:170.80, Y:86.12, Z:66.54 [[ 2.57910965e-01 -9.53084180e-02 -9.61456312e-01 1.70804713e+02] [-2.81856261e-03 9.95044161e-01 -9.93940357e-02 8.61221977e+01] [ 9.66164577e-01 2.83447365e-02 2.56364167e-01 6.65393301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.786875 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:170.84, Y:86.14, Z:66.55 [[ 2.68324105e-01 -1.38068181e-01 -9.53383109e-01 1.70844277e+02] [ 2.31442949e-03 9.89765351e-01 -1.42685645e-01 8.61429358e+01] [ 9.63325915e-01 3.60794601e-02 2.65897451e-01 6.65521719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.81687500000004 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:170.82, Y:86.12, Z:66.59 [[ 2.58022055e-01 -1.02656512e-01 -9.60669694e-01 1.70821868e+02] [-1.53527026e-03 9.94294157e-01 -1.06661950e-01 8.61227347e+01] [ 9.66137807e-01 2.89960232e-02 2.56392216e-01 6.65915101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.846875 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:170.83, Y:86.12, Z:66.62 [[ 2.57642145e-01 -9.88885728e-02 -9.61166778e-01 1.70826763e+02] [ 3.64006941e-04 9.94758965e-01 -1.02247095e-01 8.61206954e+01] [ 9.66240339e-01 2.59932895e-02 2.56327830e-01 6.66184390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.87687500000004 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:170.87, Y:86.14, Z:66.63 [[ 2.68045642e-01 -1.43880436e-01 -9.52601677e-01 1.70867407e+02] [ 8.17366047e-03 9.89089110e-01 -1.47091551e-01 8.61423997e+01] [ 9.63371541e-01 3.16410066e-02 2.66297055e-01 6.66304935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.906875 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:170.85, Y:86.13, Z:66.67 [[ 2.56151912e-01 -1.15956978e-01 -9.59656281e-01 1.70847870e+02] [ 4.31013410e-03 9.92905961e-01 -1.18824133e-01 8.61251836e+01] [ 9.66626930e-01 2.63007817e-02 2.54834550e-01 6.66709220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.936875 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:170.85, Y:86.12, Z:66.70 [[ 2.55033962e-01 -1.01723991e-01 -9.61566382e-01 1.70848179e+02] [ 8.88641904e-03 9.94655367e-01 -1.02867547e-01 8.61190544e+01] [ 9.66891261e-01 1.76898362e-02 2.54574861e-01 6.67002360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.966875 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:170.90, Y:86.15, Z:66.71 [[ 2.68367082e-01 -1.58402304e-01 -9.50204094e-01 1.70897531e+02] [ 1.75747585e-02 9.87028954e-01 -1.59577478e-01 8.61473842e+01] [ 9.63156393e-01 2.61257348e-02 2.67669963e-01 6.67081242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.996875 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:170.91, Y:86.15, Z:66.73 [[ 2.68367961e-01 -1.67838936e-01 -9.48582484e-01 1.70908283e+02] [ 1.90127632e-02 9.85435968e-01 -1.68980674e-01 8.61507148e+01] [ 9.63128835e-01 2.73138248e-02 2.67650524e-01 6.67341421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.026875 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:170.88, Y:86.13, Z:66.78 [[ 2.55685249e-01 -1.22112571e-01 -9.59016983e-01 1.70878662e+02] [ 1.35261107e-02 9.92345433e-01 -1.22750095e-01 8.61255453e+01] [ 9.66665453e-01 1.84136186e-02 2.55379797e-01 6.67785280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.056875 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:170.88, Y:86.12, Z:66.81 [[ 2.55499126e-01 -1.08381149e-01 -9.60715214e-01 1.70878533e+02] [ 1.50094312e-02 9.94021619e-01 -1.08146834e-01 8.61199654e+01] [ 9.66692771e-01 1.32116326e-02 2.55598395e-01 6.68068174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.086875 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:170.89, Y:86.12, Z:66.83 [[ 2.55991253e-01 -1.09321700e-01 -9.60477613e-01 1.70885879e+02] [ 1.53510653e-02 9.93919196e-01 -1.09036584e-01 8.61207897e+01] [ 9.66557201e-01 1.31680572e-02 2.56112825e-01 6.68338559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.116875 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:170.92, Y:86.14, Z:66.85 [[ 2.66517884e-01 -1.49747802e-01 -9.52125944e-01 1.70924918e+02] [ 2.00139838e-02 9.88503594e-01 -1.49866891e-01 8.61418518e+01] [ 9.63622155e-01 2.08863736e-02 2.66450936e-01 6.68471745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.146875 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:170.94, Y:86.15, Z:66.87 [[ 2.69805219e-01 -1.65839484e-01 -9.48526441e-01 1.70941504e+02] [ 2.00805449e-02 9.85812187e-01 -1.66646644e-01 8.61506927e+01] [ 9.62705519e-01 2.59152064e-02 2.69307420e-01 6.68700280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.176875 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:170.91, Y:86.13, Z:66.91 [[ 2.58650855e-01 -1.21638259e-01 -9.58281727e-01 1.70913573e+02] [ 1.33748453e-02 9.92395847e-01 -1.22358472e-01 8.61286833e+01] [ 9.65878278e-01 1.88312537e-02 2.58310928e-01 6.69128608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.206875 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:170.92, Y:86.13, Z:66.94 [[ 2.58506867e-01 -1.13893874e-01 -9.59271800e-01 1.70917304e+02] [ 1.13276643e-02 9.93314427e-01 -1.14883132e-01 8.61283449e+01] [ 9.65943003e-01 1.88317696e-02 2.58068751e-01 6.69402600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.236875 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:170.96, Y:86.15, Z:66.96 [[ 2.68421621e-01 -1.54672654e-01 -9.50802926e-01 1.70955943e+02] [ 1.47121995e-02 9.87568363e-01 -1.56500094e-01 8.61498510e+01] [ 9.63189174e-01 2.80196067e-02 2.67360276e-01 6.69550334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.266875 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:170.93, Y:86.13, Z:66.99 [[ 2.57769329e-01 -1.08279917e-01 -9.60120010e-01 1.70927818e+02] [ 9.48894236e-03 9.93936423e-01 -1.09546092e-01 8.61289397e+01] [ 9.66159890e-01 1.91270992e-02 2.57233787e-01 6.69949245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.296875 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:170.97, Y:86.15, Z:67.01 [[ 2.68693352e-01 -1.58868407e-01 -9.50034058e-01 1.70973065e+02] [ 1.28268527e-02 9.86807343e-01 -1.61390025e-01 8.61546131e+01] [ 9.63140361e-01 3.11784799e-02 2.67186354e-01 6.70082425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.32687500000003 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:170.98, Y:86.16, Z:67.03 [[ 2.68287422e-01 -1.53487215e-01 -9.51032878e-01 1.70977893e+02] [ 1.44310872e-02 9.87755211e-01 -1.55342807e-01 8.61559155e+01] [ 9.63230815e-01 2.79520828e-02 2.67217286e-01 6.70340328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.356875 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:170.99, Y:86.16, Z:67.06 [[ 2.66847539e-01 -1.70970429e-01 -9.48452162e-01 1.70990398e+02] [ 1.36617347e-02 9.84710426e-01 -1.73662700e-01 8.61629232e+01] [ 9.63641919e-01 3.33839623e-02 2.65103306e-01 6.70599859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.38687500000003 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:171.00, Y:86.17, Z:67.09 [[ 2.66615739e-01 -1.73535051e-01 -9.48051493e-01 1.70999086e+02] [ 1.41314737e-02 9.84255133e-01 -1.76187784e-01 8.61667003e+01] [ 9.63699304e-01 3.35770715e-02 2.64870216e-01 6.70863725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.416875 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:170.97, Y:86.14, Z:67.13 [[ 2.51820026e-01 -1.21625112e-01 -9.60101040e-01 1.70965593e+02] [ 6.48513053e-03 9.92261251e-01 -1.23998200e-01 8.61397791e+01] [ 9.67752354e-01 2.49988493e-02 2.50660009e-01 6.71310086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.44687500000003 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:171.01, Y:86.17, Z:67.14 [[ 2.65428750e-01 -1.65857751e-01 -9.49757224e-01 1.71010353e+02] [ 1.53415926e-02 9.85693860e-01 -1.67845912e-01 8.61672643e+01] [ 9.64008410e-01 2.99803422e-02 2.64176011e-01 6.71397205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.476875 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:170.98, Y:86.15, Z:67.18 [[ 2.51365671e-01 -1.28357046e-01 -9.59343405e-01 1.70981996e+02] [ 8.48511399e-03 9.91421768e-01 -1.30425771e-01 8.61456997e+01] [ 9.67855001e-01 2.46444232e-02 2.50298522e-01 6.71826679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.50687500000004 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:171.02, Y:86.17, Z:67.19 [[ 2.63970525e-01 -1.67623354e-01 -9.49853659e-01 1.71023976e+02] [ 1.78770136e-02 9.85464282e-01 -1.68939522e-01 8.61702409e+01] [ 9.64365063e-01 2.76145075e-02 2.63130128e-01 6.71933732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.536875 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:170.99, Y:86.15, Z:67.24 [[ 2.49528611e-01 -1.24177127e-01 -9.60372591e-01 1.70992106e+02] [ 1.18266125e-02 9.92060830e-01 -1.25201601e-01 8.61459074e+01] [ 9.68295205e-01 1.98834271e-02 2.49016155e-01 6.72374234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.56687500000004 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:170.99, Y:86.14, Z:67.27 [[ 2.49102904e-01 -1.12231041e-01 -9.61952149e-01 1.70993566e+02] [ 1.36922134e-02 9.93571596e-01 -1.12374409e-01 8.61429039e+01] [ 9.68380228e-01 1.48215375e-02 2.49038261e-01 6.72664802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.596875 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:171.00, Y:86.14, Z:67.29 [[ 2.49254384e-01 -1.13503350e-01 -9.61763610e-01 1.71001375e+02] [ 1.51650729e-02 9.93443728e-01 -1.13311867e-01 8.61445310e+01] [ 9.68319303e-01 1.36582644e-02 2.49341491e-01 6.72930851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.62687500000004 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:171.05, Y:86.18, Z:67.30 [[ 2.62925285e-01 -1.73974841e-01 -9.49001080e-01 1.71053158e+02] [ 2.59246618e-02 9.84526930e-01 -1.73305037e-01 8.61792388e+01] [ 9.64467836e-01 2.09637442e-02 2.63367263e-01 6.72995660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.656875 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:171.07, Y:86.19, Z:67.32 [[ 2.63607420e-01 -2.02812239e-01 -9.43068568e-01 1.71073928e+02] [ 2.78650804e-02 9.78840943e-01 -2.02716417e-01 8.61937639e+01] [ 9.64227497e-01 2.71588703e-02 2.63681115e-01 6.73205033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.686875 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:171.03, Y:86.16, Z:67.37 [[ 2.47200602e-01 -1.45131852e-01 -9.58033720e-01 1.71033286e+02] [ 1.82388669e-02 9.89241058e-01 -1.45153271e-01 8.61591586e+01] [ 9.68792654e-01 1.84085264e-02 2.47188026e-01 6.73690503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.716875 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:171.03, Y:86.15, Z:67.40 [[ 2.46771479e-01 -1.14502847e-01 -9.62285267e-01 1.71026098e+02] [ 2.03672619e-02 9.93388402e-01 -1.12980781e-01 8.61504875e+01] [ 9.68859645e-01 8.28131847e-03 2.47472035e-01 6.73994536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.746875 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:171.08, Y:86.19, Z:67.40 [[ 2.63441778e-01 -1.82706566e-01 -9.47215255e-01 1.71083408e+02] [ 3.09998040e-02 9.82996865e-01 -1.80986674e-01 8.61892398e+01] [ 9.64177080e-01 1.83159638e-02 2.64626310e-01 6.74034773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.776875 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:171.05, Y:86.16, Z:67.45 [[ 2.45852107e-01 -1.37080998e-01 -9.59565288e-01 1.71049214e+02] [ 2.13306487e-02 9.90474854e-01 -1.36031491e-01 8.61618933e+01] [ 9.69072621e-01 1.29754787e-02 2.46434356e-01 6.74496567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.806875 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:171.05, Y:86.16, Z:67.48 [[ 2.45644234e-01 -1.16570121e-01 -9.62325474e-01 1.71047197e+02] [ 2.17078403e-02 9.93155629e-01 -1.14763528e-01 8.61554211e+01] [ 9.69116959e-01 7.30099116e-03 2.46493439e-01 6.74799590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.836875 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:171.10, Y:86.19, Z:67.49 [[ 2.60230625e-01 -1.77390977e-01 -9.49111407e-01 1.71099596e+02] [ 3.04899630e-02 9.83997982e-01 -1.75551510e-01 8.61891500e+01] [ 9.65064964e-01 1.67455075e-02 2.61475054e-01 6.74881692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.866875 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:171.07, Y:86.16, Z:67.53 [[ 2.45844201e-01 -1.28661700e-01 -9.60732427e-01 1.71066731e+02] [ 2.28520688e-02 9.91645345e-01 -1.26953899e-01 8.61620917e+01] [ 9.69039944e-01 9.25615623e-03 2.46730443e-01 6.75321545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.896875 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:171.07, Y:86.16, Z:67.56 [[ 2.46077143e-01 -1.19082036e-01 -9.61907224e-01 1.71069419e+02] [ 2.40017436e-02 9.92868353e-01 -1.16774780e-01 8.61602249e+01] [ 9.68953020e-01 5.64815358e-03 2.47180385e-01 6.75610628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.926875 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:171.08, Y:86.16, Z:67.59 [[ 2.46461400e-01 -1.20128326e-01 -9.61678722e-01 1.71077086e+02] [ 2.41707776e-02 9.92741475e-01 -1.17813991e-01 8.61615603e+01] [ 9.68851151e-01 5.79207867e-03 2.47576049e-01 6.75884609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.956875 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:171.08, Y:86.16, Z:67.61 [[ 2.46419470e-01 -1.21172468e-01 -9.61558463e-01 1.71084223e+02] [ 2.42218445e-02 9.92613315e-01 -1.18878546e-01 8.61630287e+01] [ 9.68860541e-01 6.00326859e-03 2.47534268e-01 6.76147600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.986875 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:171.09, Y:86.16, Z:67.64 [[ 2.47541036e-01 -1.22079364e-01 -9.61155588e-01 1.71092536e+02] [ 2.43192339e-02 9.92500473e-01 -1.19797272e-01 8.61647670e+01] [ 9.68572150e-01 6.28017337e-03 2.48653472e-01 6.76413105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.016875 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:171.10, Y:86.17, Z:67.67 [[ 2.47456493e-01 -1.23116590e-01 -9.61045051e-01 1.71100122e+02] [ 2.44304979e-02 9.92371424e-01 -1.20839184e-01 8.61659114e+01] [ 9.68590953e-01 6.42363180e-03 2.48576552e-01 6.76687778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.046875 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:171.11, Y:86.17, Z:67.69 [[ 2.47760473e-01 -1.24119018e-01 -9.60837769e-01 1.71107471e+02] [ 2.43613399e-02 9.92244083e-01 -1.21894235e-01 8.61666830e+01] [ 9.68514984e-01 6.79327769e-03 2.48862569e-01 6.76947355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.07687500000003 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:171.16, Y:86.20, Z:67.70 [[ 2.61637642e-01 -1.79930766e-01 -9.48246099e-01 1.71156667e+02] [ 3.34413099e-02 9.83569350e-01 -1.77406351e-01 8.61978532e+01] [ 9.64586659e-01 1.47055877e-02 2.63355886e-01 6.77038365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.13, Y:86.17, Z:67.75 [[ 2.47819547e-01 -1.40740608e-01 -9.58528849e-01 1.71128503e+02] [ 2.50501679e-02 9.89991808e-01 -1.38883799e-01 8.61735687e+01] [ 9.68482298e-01 1.04068115e-02 2.48864897e-01 6.77461363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.13687500000003 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:171.16, Y:86.19, Z:67.76 [[ 2.58734844e-01 -1.67981701e-01 -9.51229956e-01 1.71163239e+02] [ 3.17319723e-02 9.85709323e-01 -1.65439451e-01 8.61914651e+01] [ 9.65427036e-01 1.26205480e-02 2.60367739e-01 6.77595240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.166875 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:171.15, Y:86.18, Z:67.80 [[ 2.47542393e-01 -1.46879842e-01 -9.57679005e-01 1.71147105e+02] [ 2.43142439e-02 9.89072682e-01 -1.45409926e-01 8.61760114e+01] [ 9.68571929e-01 1.27098801e-02 2.48408691e-01 6.77981442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.19687500000003 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:171.17, Y:86.19, Z:67.82 [[ 2.57211167e-01 -1.61639967e-01 -9.52740750e-01 1.71172882e+02] [ 2.92997301e-02 9.86762703e-01 -1.59502018e-01 8.61873971e+01] [ 9.65910939e-01 1.31106533e-02 2.58542393e-01 6.78153189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.226875 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:171.16, Y:86.17, Z:67.85 [[ 2.48584356e-01 -1.43851320e-01 -9.57868788e-01 1.71160589e+02] [ 2.30351532e-02 9.89508724e-01 -1.42624918e-01 8.61743034e+01] [ 9.68336305e-01 1.33896692e-02 2.49290026e-01 6.78518900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.25687500000004 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:171.16, Y:86.17, Z:67.88 [[ 2.48856348e-01 -1.27879738e-01 -9.60061087e-01 1.71160661e+02] [ 2.24011625e-02 9.91740047e-01 -1.26292783e-01 8.61683103e+01] [ 9.68281316e-01 9.92227620e-03 2.49665461e-01 6.78800580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.286875 meters Centerline goodness : 0.999837 Centerline is valid? [True, True] Translation: X:171.17, Y:86.17, Z:67.91 [[ 2.49243935e-01 -1.28723568e-01 -9.59847750e-01 1.71168457e+02] [ 2.18214824e-02 9.91621834e-01 -1.27318346e-01 8.61688819e+01] [ 9.68194858e-01 1.07880248e-02 2.49964667e-01 6.79066974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.31687500000004 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:171.18, Y:86.17, Z:67.93 [[ 2.50513595e-01 -1.29238159e-01 -9.59447986e-01 1.71176648e+02] [ 2.01099539e-02 9.91530337e-01 -1.28308924e-01 8.61687064e+01] [ 9.67904194e-01 1.28486751e-02 2.50990802e-01 6.79335152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.346875 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:171.18, Y:86.17, Z:67.96 [[ 2.50924153e-01 -1.29965727e-01 -9.59242399e-01 1.71184272e+02] [ 1.90305970e-02 9.91416781e-01 -1.29346833e-01 8.61691504e+01] [ 9.67819666e-01 1.42012890e-02 2.51243741e-01 6.79602170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.37687500000004 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:171.19, Y:86.17, Z:67.99 [[ 2.51356242e-01 -1.30746932e-01 -9.59023086e-01 1.71192056e+02] [ 1.82092020e-02 9.91297596e-01 -1.30374466e-01 8.61699983e+01] [ 9.67723341e-01 1.53073907e-02 2.51549635e-01 6.79862920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.406875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:171.20, Y:86.17, Z:68.01 [[ 2.51958076e-01 -1.31045106e-01 -9.58824441e-01 1.71199717e+02] [ 1.58797785e-02 9.91215589e-01 -1.31299233e-01 8.61702637e+01] [ 9.67607855e-01 1.78559825e-02 2.51825740e-01 6.80133435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.436875 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:171.21, Y:86.17, Z:68.04 [[ 2.52241690e-01 -1.31908452e-01 -9.58631467e-01 1.71207211e+02] [ 1.53334834e-02 9.91085833e-01 -1.32339547e-01 8.61713448e+01] [ 9.67542771e-01 1.86823912e-02 2.52015782e-01 6.80393710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.466875 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:171.22, Y:86.17, Z:68.07 [[ 2.52242759e-01 -1.32598214e-01 -9.58536021e-01 1.71215382e+02] [ 1.44174897e-02 9.90972044e-01 -1.33291199e-01 8.61723706e+01] [ 9.67556575e-01 1.98020567e-02 2.51877256e-01 6.80662776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.496875 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:171.22, Y:86.17, Z:68.09 [[ 2.52668217e-01 -1.33253427e-01 -9.58333082e-01 1.71223818e+02] [ 1.31111280e-02 9.90851510e-01 -1.34318220e-01 8.61738707e+01] [ 9.67464144e-01 2.13731174e-02 2.52103787e-01 6.80924587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.526875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:171.23, Y:86.18, Z:68.12 [[ 2.52615999e-01 -1.33824785e-01 -9.58267230e-01 1.71231405e+02] [ 1.26595222e-02 9.90761262e-01 -1.35025399e-01 8.61752233e+01] [ 9.67483795e-01 2.19783707e-02 2.51976304e-01 6.81192703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.24, Y:86.18, Z:68.15 [[ 2.52953111e-01 -1.34754709e-01 -9.58047959e-01 1.71238950e+02] [ 1.25096066e-02 9.90625191e-01 -1.36033968e-01 8.61765206e+01] [ 9.67397660e-01 2.24254123e-02 2.52267453e-01 6.81450177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.586875 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:171.28, Y:86.20, Z:68.16 [[ 2.64673771e-01 -1.76476022e-01 -9.48052746e-01 1.71276433e+02] [ 2.05840021e-02 9.83922382e-01 -1.77406440e-01 8.62021390e+01] [ 9.64118299e-01 2.74401118e-02 2.64051030e-01 6.81553863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.616875 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:171.27, Y:86.19, Z:68.19 [[ 2.54630186e-01 -1.72134972e-01 -9.51594987e-01 1.71269874e+02] [ 1.38291363e-02 9.84577633e-01 -1.74400800e-01 8.61931272e+01] [ 9.66939617e-01 3.12479714e-02 2.53083663e-01 6.81931318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.646875 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:171.30, Y:86.21, Z:68.21 [[ 2.65745195e-01 -1.85431309e-01 -9.46041606e-01 1.71296136e+02] [ 2.34875521e-02 9.82280941e-01 -1.85936787e-01 8.62095964e+01] [ 9.63757141e-01 2.71916063e-02 2.65391767e-01 6.82064632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.676875 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:171.28, Y:86.19, Z:68.25 [[ 2.54558967e-01 -1.72999273e-01 -9.51457295e-01 1.71283303e+02] [ 1.74889331e-02 9.84531279e-01 -1.74333869e-01 8.61949223e+01] [ 9.66899100e-01 2.77382767e-02 2.53646838e-01 6.82464361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.706875 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:171.27, Y:86.18, Z:68.28 [[ 2.53497966e-01 -1.40118023e-01 -9.57134118e-01 1.71274689e+02] [ 1.89881506e-02 9.89983842e-01 -1.39897971e-01 8.61831774e+01] [ 9.67149539e-01 1.72896443e-02 2.53619473e-01 6.82771528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.736875 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:171.28, Y:86.19, Z:68.30 [[ 2.53733413e-01 -1.41631988e-01 -9.56848857e-01 1.71282472e+02] [ 2.08379896e-02 9.89792751e-01 -1.40982581e-01 8.61852142e+01] [ 9.67049706e-01 1.58331848e-02 2.54094819e-01 6.83042998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.766875 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:171.29, Y:86.19, Z:68.33 [[ 2.53671743e-01 -1.43024030e-01 -9.56658128e-01 1.71290314e+02] [ 2.24569503e-02 9.89612454e-01 -1.41996041e-01 8.61873556e+01] [ 9.67029644e-01 1.45367594e-02 2.54248600e-01 6.83313447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.796875 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:171.30, Y:86.19, Z:68.36 [[ 2.53806969e-01 -1.44665527e-01 -9.56375401e-01 1.71297191e+02] [ 2.50253795e-02 9.89403341e-01 -1.43020137e-01 8.61898838e+01] [ 9.66931101e-01 1.23658500e-02 2.54737772e-01 6.83588720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.82687500000003 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:171.30, Y:86.19, Z:68.39 [[ 2.53458867e-01 -1.46088278e-01 -9.56251441e-01 1.71304005e+02] [ 2.66120385e-02 9.89209642e-01 -1.44069719e-01 8.61920223e+01] [ 9.66980042e-01 1.10679475e-02 2.54611662e-01 6.83865412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.856875 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:171.31, Y:86.20, Z:68.41 [[ 2.53522789e-01 -1.47808793e-01 -9.55970060e-01 1.71310796e+02] [ 2.94163935e-02 9.88977973e-01 -1.45111150e-01 8.61953283e+01] [ 9.66882036e-01 8.66779197e-03 2.55076456e-01 6.84123934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.88687500000003 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:171.32, Y:86.20, Z:68.44 [[ 2.53855427e-01 -1.49038958e-01 -9.55690751e-01 1.71318319e+02] [ 3.07421373e-02 9.88801405e-01 -1.46036647e-01 8.61974824e+01] [ 9.66753507e-01 7.69221907e-03 2.55594379e-01 6.84396324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.916875 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:171.36, Y:86.23, Z:68.45 [[ 2.64871905e-01 -1.96674341e-01 -9.44013812e-01 1.71359294e+02] [ 4.04555294e-02 9.80383959e-01 -1.92900606e-01 8.62282647e+01] [ 9.63434598e-01 1.29033724e-02 2.67632731e-01 6.84480876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.94687500000003 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:171.35, Y:86.22, Z:68.49 [[ 2.53501232e-01 -1.91858752e-01 -9.48117791e-01 1.71349874e+02] [ 3.19165269e-02 9.81259068e-01 -1.90031516e-01 8.62180944e+01] [ 9.66808389e-01 1.79125966e-02 2.54873847e-01 6.84876590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.976875 meters Centerline goodness : 0.999838 Centerline is valid? [True, True] Translation: X:171.34, Y:86.21, Z:68.52 [[ 2.52922747e-01 -1.51652259e-01 -9.55526910e-01 1.71340102e+02] [ 3.12456276e-02 9.88403697e-01 -1.48599607e-01 8.62067251e+01] [ 9.66981797e-01 7.72818294e-03 2.54728248e-01 6.85197076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.00687500000004 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:171.35, Y:86.21, Z:68.55 [[ 2.52532998e-01 -1.52584883e-01 -9.55481522e-01 1.71347877e+02] [ 3.09500158e-02 9.88256213e-01 -1.49638748e-01 8.62098784e+01] [ 9.67093161e-01 8.21655354e-03 2.54289809e-01 6.85464560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.036875 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:171.36, Y:86.21, Z:68.57 [[ 2.52551127e-01 -1.53414501e-01 -9.55343875e-01 1.71355629e+02] [ 3.01923105e-02 9.88118963e-01 -1.50696184e-01 8.62128344e+01] [ 9.67112379e-01 9.21445207e-03 2.54182496e-01 6.85734952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.06687500000004 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:171.36, Y:86.22, Z:68.60 [[ 2.52149316e-01 -1.54303170e-01 -9.55306890e-01 1.71362954e+02] [ 2.95836615e-02 9.87972865e-01 -1.51770961e-01 8.62156188e+01] [ 9.67236026e-01 1.00074684e-02 2.53681535e-01 6.85993826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.096875 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:171.41, Y:86.25, Z:68.61 [[ 2.63027469e-01 -2.14124914e-01 -9.40726885e-01 1.71411184e+02] [ 3.69105458e-02 9.76579879e-01 -2.11965447e-01 8.62546474e+01] [ 9.64082031e-01 2.10299923e-02 2.64770801e-01 6.86054144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.12687500000004 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:171.39, Y:86.23, Z:68.65 [[ 2.55964343e-01 -1.78467900e-01 -9.50069189e-01 1.71388028e+02] [ 2.65930553e-02 9.83738340e-01 -1.77627949e-01 8.62299427e+01] [ 9.66320374e-01 2.02011789e-02 2.56547944e-01 6.86496699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.156875 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:171.38, Y:86.22, Z:68.68 [[ 2.52551660e-01 -1.43214604e-01 -9.56925930e-01 1.71377164e+02] [ 2.34268641e-02 9.89600602e-01 -1.41921920e-01 8.62198189e+01] [ 9.67299768e-01 1.34248427e-02 2.53280344e-01 6.86810639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.186875 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:171.39, Y:86.23, Z:68.71 [[ 2.52794473e-01 -1.52811550e-01 -9.55376148e-01 1.71388459e+02] [ 2.24450856e-02 9.88108971e-01 -1.52108120e-01 8.62259857e+01] [ 9.67259620e-01 1.70085924e-02 2.53218355e-01 6.87074004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.216875 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:171.40, Y:86.23, Z:68.73 [[ 2.52827946e-01 -1.53563256e-01 -9.55246751e-01 1.71396618e+02] [ 2.14928148e-02 9.87971455e-01 -1.53135438e-01 8.62286404e+01] [ 9.67272500e-01 1.81859768e-02 2.53087301e-01 6.87342419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.246875 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:171.40, Y:86.23, Z:68.76 [[ 2.52781793e-01 -1.54332877e-01 -9.55134927e-01 1.71404435e+02] [ 2.06150164e-02 9.87830802e-01 -1.54160072e-01 8.62306525e+01] [ 9.67303668e-01 1.92787371e-02 2.52887216e-01 6.87616123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.276875 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:171.41, Y:86.23, Z:68.79 [[ 2.52193716e-01 -1.55448645e-01 -9.55109443e-01 1.71412748e+02] [ 2.10530251e-02 9.87660671e-01 -1.55187526e-01 8.62326867e+01] [ 9.67447725e-01 1.90293758e-02 2.52354479e-01 6.87881396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.306875 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:171.42, Y:86.23, Z:68.81 [[ 2.51757017e-01 -1.56886775e-01 -9.54989500e-01 1.71419819e+02] [ 2.25623882e-02 9.87456251e-01 -1.56272490e-01 8.62342349e+01] [ 9.67527438e-01 1.77958521e-02 2.52138781e-01 6.88146529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.336875 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:171.43, Y:86.23, Z:68.84 [[ 2.50861606e-01 -1.58548001e-01 -9.54950777e-01 1.71427647e+02] [ 2.52964041e-02 9.87232808e-01 -1.57262442e-01 8.62348875e+01] [ 9.67692382e-01 1.52942880e-02 2.51669502e-01 6.88413301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.366875 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:171.44, Y:86.24, Z:68.87 [[ 2.50399157e-01 -1.59995115e-01 -9.54830784e-01 1.71435091e+02] [ 2.69267533e-02 9.87019448e-01 -1.58327377e-01 8.62358728e+01] [ 9.67768160e-01 1.39345489e-02 2.51456987e-01 6.88677531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.396875 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:171.44, Y:86.24, Z:68.89 [[ 2.50247250e-01 -1.61375843e-01 -9.54638231e-01 1.71442049e+02] [ 2.88203543e-02 9.86815852e-01 -1.59260357e-01 8.62368802e+01] [ 9.67752913e-01 1.23414543e-02 2.51598862e-01 6.88943966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.426875 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:171.50, Y:86.28, Z:68.90 [[ 2.66328941e-01 -2.32494184e-01 -9.35422551e-01 1.71497557e+02] [ 4.35508438e-02 9.72385373e-01 -2.29281509e-01 8.62804421e+01] [ 9.62897824e-01 2.03258602e-02 2.69099685e-01 6.88966770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.456875 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:171.47, Y:86.25, Z:68.94 [[ 2.48927848e-01 -2.03818489e-01 -9.46833116e-01 1.71472802e+02] [ 3.31757736e-02 9.78826872e-01 -2.01983472e-01 8.62537997e+01] [ 9.67953664e-01 1.88673898e-02 2.50419102e-01 6.89420730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.486875 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:171.46, Y:86.24, Z:68.97 [[ 2.47646285e-01 -1.64638302e-01 -9.54759418e-01 1.71462739e+02] [ 3.46846325e-02 9.86330727e-01 -1.61085916e-01 8.62388880e+01] [ 9.68229463e-01 6.77684917e-03 2.49971560e-01 6.89728437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.516875 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:171.47, Y:86.24, Z:69.00 [[ 2.47023896e-01 -1.65926526e-01 -9.54697639e-01 1.71470495e+02] [ 3.61080847e-02 9.86122462e-01 -1.62045352e-01 8.62399783e+01] [ 9.68336409e-01 5.55677085e-03 2.49587102e-01 6.89997584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.546875 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:171.48, Y:86.24, Z:69.03 [[ 2.46757773e-01 -1.67297912e-01 -9.54527113e-01 1.71478490e+02] [ 3.75584710e-02 9.85896605e-01 -1.63086618e-01 8.62411719e+01] [ 9.68349091e-01 4.39231182e-03 2.49561104e-01 6.90266966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.57687500000003 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:171.49, Y:86.24, Z:69.05 [[ 2.46765599e-01 -1.69063629e-01 -9.54213932e-01 1.71485390e+02] [ 4.06764165e-02 9.85603704e-01 -1.64105966e-01 8.62421589e+01] [ 9.68221136e-01 1.68170363e-03 2.50089991e-01 6.90523922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.606875 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:171.49, Y:86.24, Z:69.08 [[ 2.46329239e-01 -1.70326643e-01 -9.54102060e-01 1.71492475e+02] [ 4.20590029e-02 9.85387515e-01 -1.65052977e-01 8.62434114e+01] [ 9.68273178e-01 5.28792856e-04 2.49893526e-01 6.90797161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.63687500000003 meters Centerline goodness : 0.999838 Centerline is valid? [True, True] Translation: X:171.50, Y:86.24, Z:69.11 [[ 2.46056619e-01 -1.71672652e-01 -9.53931151e-01 1.71499493e+02] [ 4.33086924e-02 9.85153952e-01 -1.66120585e-01 8.62448211e+01] [ 9.68287404e-01 -4.38441362e-04 2.49838568e-01 6.91053387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.666875 meters Centerline goodness : 0.999838 Centerline is valid? [True, True] Translation: X:171.51, Y:86.25, Z:69.13 [[ 2.46027204e-01 -1.72415263e-01 -9.53804798e-01 1.71506846e+02] [ 4.34756778e-02 9.85024264e-01 -1.66844431e-01 8.62464230e+01] [ 9.68287396e-01 -4.19041220e-04 2.49838636e-01 6.91329069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.69687500000003 meters Centerline goodness : 0.999838 Centerline is valid? [True, True] Translation: X:171.51, Y:86.25, Z:69.16 [[ 2.45310807e-01 -1.73536731e-01 -9.53785936e-01 1.71514476e+02] [ 4.53938444e-02 9.84824931e-01 -1.67508969e-01 8.62474904e+01] [ 9.68381127e-01 -2.20424992e-03 2.49465698e-01 6.91604361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.726875 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:171.52, Y:86.25, Z:69.19 [[ 2.45241611e-01 -1.74756883e-01 -9.53580927e-01 1.71521832e+02] [ 4.61149481e-02 9.84608100e-01 -1.68583215e-01 8.62492352e+01] [ 9.68364582e-01 -2.63071569e-03 2.49525782e-01 6.91860194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.75687500000004 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:171.53, Y:86.25, Z:69.21 [[ 2.45160227e-01 -1.75556361e-01 -9.53454995e-01 1.71529378e+02] [ 4.64738978e-02 9.84465397e-01 -1.69316447e-01 8.62511104e+01] [ 9.68368029e-01 -2.80111138e-03 2.49510549e-01 6.92126922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.786875 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:171.54, Y:86.25, Z:69.24 [[ 2.44963440e-01 -1.76506046e-01 -9.53330231e-01 1.71536941e+02] [ 4.62648739e-02 9.84296689e-01 -1.70351374e-01 8.62534978e+01] [ 9.68427837e-01 -2.37584449e-03 2.49282732e-01 6.92393283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.81687500000004 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:171.54, Y:86.26, Z:69.27 [[ 2.45182606e-01 -1.77468556e-01 -9.53095169e-01 1.71544262e+02] [ 4.61201815e-02 9.84124565e-01 -1.71381940e-01 8.62555757e+01] [ 9.68379274e-01 -1.93705151e-03 2.49475108e-01 6.92657708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.846875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:171.55, Y:86.26, Z:69.29 [[ 2.45101265e-01 -1.78173241e-01 -9.52984610e-01 1.71551042e+02] [ 4.46263730e-02 9.83999103e-01 -1.72494211e-01 8.62578735e+01] [ 9.68469853e-01 -2.49697191e-04 2.49130651e-01 6.92919736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.87687500000004 meters Centerline goodness : 0.999838 Centerline is valid? [True, True] Translation: X:171.56, Y:86.26, Z:69.32 [[ 2.45204234e-01 -1.78929177e-01 -9.52816474e-01 1.71558290e+02] [ 4.34288994e-02 9.83861245e-01 -1.73582780e-01 8.62599226e+01] [ 9.68498226e-01 1.18346187e-03 2.49017640e-01 6.93193133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.906875 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:171.57, Y:86.26, Z:69.35 [[ 2.45684741e-01 -1.79652240e-01 -9.52556602e-01 1.71565456e+02] [ 4.21986436e-02 9.83726446e-01 -1.74646941e-01 8.62626160e+01] [ 9.68430835e-01 2.71149185e-03 2.49267658e-01 6.93452852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.936875 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:171.57, Y:86.27, Z:69.37 [[ 2.45814789e-01 -1.80036071e-01 -9.52450577e-01 1.71572388e+02] [ 4.08766384e-02 9.83651132e-01 -1.75384012e-01 8.62650826e+01] [ 9.68454537e-01 4.17900605e-03 2.49155265e-01 6.93717154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.966875 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:171.58, Y:86.27, Z:69.40 [[ 2.46722014e-01 -1.80310283e-01 -9.52164088e-01 1.71580466e+02] [ 3.78493376e-02 9.83581219e-01 -1.76452299e-01 8.62683397e+01] [ 9.68346878e-01 7.49588667e-03 2.49495764e-01 6.93990143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.996875 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:171.59, Y:86.27, Z:69.43 [[ 2.46665931e-01 -1.81018479e-01 -9.52044237e-01 1.71587890e+02] [ 3.65696685e-02 9.83438784e-01 -1.77512867e-01 8.62704989e+01] [ 9.68410336e-01 8.97043434e-03 2.49200629e-01 6.94262508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.60, Y:86.27, Z:69.45 [[ 2.47055572e-01 -1.81898424e-01 -9.51775450e-01 1.71595231e+02] [ 3.59999786e-02 9.83267956e-01 -1.78572474e-01 8.62730990e+01] [ 9.68332353e-01 9.85342875e-03 2.49470166e-01 6.94537518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.056875 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:171.60, Y:86.28, Z:69.48 [[ 2.48086355e-01 -1.82199135e-01 -9.51449755e-01 1.71602779e+02] [ 3.32246292e-02 9.83176401e-01 -1.79611495e-01 8.62751851e+01] [ 9.68168004e-01 1.29475957e-02 2.49966148e-01 6.94801151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.086875 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:171.61, Y:86.28, Z:69.51 [[ 2.48030777e-01 -1.82780898e-01 -9.51352656e-01 1.71609623e+02] [ 3.17858988e-02 9.83045993e-01 -1.80583033e-01 8.62767367e+01] [ 9.68230546e-01 1.45505508e-02 2.49635517e-01 6.95077043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.116875 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:171.62, Y:86.28, Z:69.53 [[ 2.48658024e-01 -1.83482349e-01 -9.51053844e-01 1.71617136e+02] [ 3.06365271e-02 9.82892411e-01 -1.81614733e-01 8.62786955e+01] [ 9.68106704e-01 1.60229737e-02 2.50025347e-01 6.95347560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.146875 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:171.62, Y:86.28, Z:69.56 [[ 2.48319091e-01 -1.84118639e-01 -9.51019430e-01 1.71624265e+02] [ 2.89769872e-02 9.82742680e-01 -1.82694171e-01 8.62806848e+01] [ 9.68244785e-01 1.78087726e-02 2.49368972e-01 6.95619721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.176875 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:171.63, Y:86.28, Z:69.59 [[ 2.48366227e-01 -1.84443563e-01 -9.50944157e-01 1.71632380e+02] [ 2.60697419e-02 9.82621850e-01 -1.83778858e-01 8.62834657e+01] [ 9.68315334e-01 2.08535928e-02 2.48858477e-01 6.95890229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.206875 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:171.67, Y:86.31, Z:69.60 [[ 2.58695194e-01 -2.26958745e-01 -9.38917741e-01 1.71670409e+02] [ 3.20957055e-02 9.73488680e-01 -2.26472197e-01 8.63113092e+01] [ 9.65425638e-01 2.84520417e-02 2.59121244e-01 6.96011181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.236875 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:171.65, Y:86.29, Z:69.64 [[ 2.47908691e-01 -1.97055092e-01 -9.48530744e-01 1.71652193e+02] [ 2.34570064e-02 9.80028657e-01 -1.97467971e-01 8.62922683e+01] [ 9.68499380e-01 2.67043343e-02 2.47579944e-01 6.96404583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.266875 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:171.65, Y:86.29, Z:69.67 [[ 2.47145462e-01 -1.86195691e-01 -9.50920757e-01 1.71654183e+02] [ 2.35410493e-02 9.82228368e-01 -1.86207552e-01 8.62888586e+01] [ 9.68692386e-01 2.36346790e-02 2.47136526e-01 6.96692959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.296875 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:171.66, Y:86.29, Z:69.70 [[ 2.47423557e-01 -1.87322033e-01 -9.50627182e-01 1.71662012e+02] [ 2.39474354e-02 9.82015715e-01 -1.87274279e-01 8.62902308e+01] [ 9.68611431e-01 2.35709853e-02 2.47459704e-01 6.96964889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.32687500000003 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:171.67, Y:86.29, Z:69.72 [[ 2.47221651e-01 -1.88532246e-01 -9.50440449e-01 1.71669488e+02] [ 2.48135896e-02 9.81798393e-01 -1.88298173e-01 8.62916701e+01] [ 9.68641183e-01 2.29675459e-02 2.47399981e-01 6.97240625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.356875 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:171.68, Y:86.29, Z:69.75 [[ 2.46933634e-01 -1.90015910e-01 -9.50219835e-01 1.71676391e+02] [ 2.64810810e-02 9.81543244e-01 -1.89398029e-01 8.62920848e+01] [ 9.68670498e-01 2.16058952e-02 2.47407867e-01 6.97509045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.38687500000003 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:171.68, Y:86.29, Z:69.78 [[ 2.46706794e-01 -1.91373368e-01 -9.50006311e-01 1.71683376e+02] [ 2.77066194e-02 9.81299604e-01 -1.90482102e-01 8.62933809e+01] [ 9.68694018e-01 2.06717655e-02 2.47395588e-01 6.97769578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.416875 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:171.72, Y:86.32, Z:69.79 [[ 2.57151768e-01 -2.34821682e-01 -9.37406927e-01 1.71721058e+02] [ 3.55175502e-02 9.71669166e-01 -2.33661157e-01 8.63198070e+01] [ 9.65718112e-01 2.67919819e-02 2.58206735e-01 6.97911808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.44687500000003 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:171.70, Y:86.30, Z:69.83 [[ 2.45925563e-01 -1.98482365e-01 -9.48749371e-01 1.71699628e+02] [ 2.98693718e-02 9.79896857e-01 -1.97256103e-01 8.62973214e+01] [ 9.68828384e-01 2.01717706e-02 2.46910230e-01 6.98303129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.476875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:171.70, Y:86.30, Z:69.86 [[ 2.45424679e-01 -1.94099273e-01 -9.49785344e-01 1.71704818e+02] [ 3.20481574e-02 9.80839342e-01 -1.92164256e-01 8.62953826e+01] [ 9.68885774e-01 1.67229806e-02 2.46942704e-01 6.98566896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.50687500000004 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:171.71, Y:86.30, Z:69.88 [[ 2.44763768e-01 -1.95452440e-01 -9.49678388e-01 1.71712425e+02] [ 3.36449937e-02 9.80593474e-01 -1.93143609e-01 8.62964422e+01] [ 9.68998819e-01 1.53226343e-02 2.46589750e-01 6.98834963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.536875 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:171.72, Y:86.30, Z:69.91 [[ 2.44157113e-01 -1.96860751e-01 -9.49543653e-01 1.71719957e+02] [ 3.54184503e-02 9.80334774e-01 -1.94137229e-01 8.62973337e+01] [ 9.69088663e-01 1.37686207e-02 2.46328211e-01 6.99100882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.56687500000004 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:171.73, Y:86.30, Z:69.94 [[ 2.42535185e-01 -1.98938819e-01 -9.49526214e-01 1.71727679e+02] [ 3.94141435e-02 9.79961605e-01 -1.95247994e-01 8.62968063e+01] [ 9.69341637e-01 9.92974576e-03 2.45516172e-01 6.99373088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.596875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:171.77, Y:86.33, Z:69.95 [[ 2.52964962e-01 -2.46025918e-01 -9.35670869e-01 1.71768822e+02] [ 5.00027947e-02 9.69158384e-01 -2.41312553e-01 8.63266177e+01] [ 9.66182410e-01 1.42574623e-02 2.57465097e-01 6.99466704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.62687500000004 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:171.75, Y:86.31, Z:69.99 [[ 2.41786104e-01 -2.26807372e-01 -9.43449997e-01 1.71752045e+02] [ 4.52608645e-02 9.73876364e-01 -2.22522541e-01 8.63061816e+01] [ 9.69273405e-01 1.11014958e-02 2.45735269e-01 6.99866048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.656875 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:171.75, Y:86.30, Z:70.02 [[ 2.41583919e-01 -2.03772682e-01 -9.48743329e-01 1.71749320e+02] [ 4.69492328e-02 9.79012437e-01 -1.98318981e-01 8.62964234e+01] [ 9.69243509e-01 3.36790523e-03 2.46080633e-01 7.00167185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.686875 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:171.76, Y:86.30, Z:70.04 [[ 2.41637883e-01 -2.05176824e-01 -9.48426911e-01 1.71756270e+02] [ 4.86889074e-02 9.78722904e-01 -1.99326032e-01 8.62973185e+01] [ 9.69144223e-01 1.98685034e-03 2.46486366e-01 7.00439023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.716875 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:171.80, Y:86.33, Z:70.05 [[ 2.52363840e-01 -2.53248880e-01 -9.33904437e-01 1.71797555e+02] [ 5.86451003e-02 9.67372604e-01 -2.46477174e-01 8.63288389e+01] [ 9.65853635e-01 7.43300671e-03 2.58981671e-01 7.00532560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.746875 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:171.78, Y:86.31, Z:70.09 [[ 2.41386018e-01 -2.35117193e-01 -9.41516169e-01 1.71781652e+02] [ 4.95153999e-02 9.71926252e-01 -2.30016493e-01 8.63092502e+01] [ 9.69165113e-01 8.90321565e-03 2.46251329e-01 7.00934843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.776875 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:171.78, Y:86.30, Z:70.12 [[ 2.41258680e-01 -2.06482331e-01 -9.48240105e-01 1.71776174e+02] [ 4.90839618e-02 9.78448587e-01 -2.00571999e-01 8.62977590e+01] [ 9.69218765e-01 1.84635468e-03 2.46194186e-01 7.01238820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.806875 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:171.78, Y:86.30, Z:70.15 [[ 2.41111372e-01 -2.07332612e-01 -9.48092028e-01 1.71783403e+02] [ 4.81406328e-02 9.78265947e-01 -2.01688416e-01 8.62992561e+01] [ 9.69302732e-01 2.98762060e-03 2.45852168e-01 7.01505638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.836875 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:171.79, Y:86.30, Z:70.18 [[ 2.41329858e-01 -2.07744716e-01 -9.47946218e-01 1.71790745e+02] [ 4.56601194e-02 9.78166791e-01 -2.02743393e-01 8.63013235e+01] [ 9.69368379e-01 5.64469659e-03 2.45546501e-01 7.01777712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.866875 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:171.80, Y:86.30, Z:70.21 [[ 2.41619591e-01 -2.08366135e-01 -9.47736001e-01 1.71798353e+02] [ 4.40812703e-02 9.78022434e-01 -2.03786557e-01 8.63032112e+01] [ 9.69369287e-01 7.46141755e-03 2.45494424e-01 7.02051513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.896875 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:171.81, Y:86.31, Z:70.23 [[ 2.41934849e-01 -2.08986037e-01 -9.47519058e-01 1.71805458e+02] [ 4.25133842e-02 9.77874665e-01 -2.04826151e-01 8.63050492e+01] [ 9.69360687e-01 9.27234210e-03 2.45466663e-01 7.02314873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.926875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:171.81, Y:86.31, Z:70.26 [[ 2.42095769e-01 -2.09650546e-01 -9.47331139e-01 1.71812861e+02] [ 4.08762154e-02 9.77713020e-01 -2.05928109e-01 8.63068827e+01] [ 9.69390929e-01 1.11310122e-02 2.45269906e-01 7.02589433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.956875 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:171.82, Y:86.31, Z:70.29 [[ 2.42334408e-01 -2.09676114e-01 -9.47264462e-01 1.71820159e+02] [ 3.83715468e-02 9.77674688e-01 -2.06590970e-01 8.63080216e+01] [ 9.69433680e-01 1.37160977e-02 2.44969814e-01 7.02861259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.986875 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:171.83, Y:86.31, Z:70.31 [[ 2.42651856e-01 -2.10524799e-01 -9.46994924e-01 1.71827190e+02] [ 3.76929488e-02 9.77478140e-01 -2.07643272e-01 8.63098132e+01] [ 9.69380894e-01 1.46899942e-02 2.45122185e-01 7.03130206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.016875 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:171.83, Y:86.31, Z:70.34 [[ 2.42397557e-01 -2.11427227e-01 -9.46858993e-01 1.71833490e+02] [ 3.73528635e-02 9.77275389e-01 -2.08656604e-01 8.63116685e+01] [ 9.69457677e-01 1.52099565e-02 2.44786579e-01 7.03400680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.046875 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:171.84, Y:86.31, Z:70.37 [[ 2.42886986e-01 -2.12329116e-01 -9.46531700e-01 1.71841081e+02] [ 3.68332915e-02 9.77065968e-01 -2.09726971e-01 8.63134406e+01] [ 9.69355054e-01 1.60760737e-02 2.45137388e-01 7.03665476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.07687500000003 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:171.85, Y:86.32, Z:70.39 [[ 2.42950564e-01 -2.13380899e-01 -9.46278825e-01 1.71847944e+02] [ 3.73501465e-02 9.76840635e-01 -2.10683034e-01 8.63152494e+01] [ 9.69319344e-01 1.58419091e-02 2.45293791e-01 7.03936927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.106875 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:171.85, Y:86.32, Z:70.42 [[ 2.42987866e-01 -2.14551355e-01 -9.46004552e-01 1.71854813e+02] [ 3.79875581e-02 9.76589529e-01 -2.11730579e-01 8.63169922e+01] [ 9.69285222e-01 1.55115587e-02 2.45449688e-01 7.04202145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.13687500000003 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:171.86, Y:86.32, Z:70.45 [[ 2.43315249e-01 -2.15793276e-01 -9.45637855e-01 1.71862647e+02] [ 3.90350152e-02 9.76326099e-01 -2.12752474e-01 8.63182294e+01] [ 9.69161471e-01 1.48529330e-02 2.45978521e-01 7.04471958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.166875 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:171.87, Y:86.32, Z:70.47 [[ 2.43434178e-01 -2.17028718e-01 -9.45324461e-01 1.71869915e+02] [ 4.00200662e-02 9.76061796e-01 -2.13779709e-01 8.63203361e+01] [ 9.69091428e-01 1.42093402e-02 2.46292305e-01 7.04738313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.19687500000003 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:171.91, Y:86.35, Z:70.49 [[ 2.52330997e-01 -2.56781100e-01 -9.32948302e-01 1.71905725e+02] [ 4.79487279e-02 9.66280783e-01 -2.52986893e-01 8.63483056e+01] [ 9.66452269e-01 1.91027505e-02 2.56134920e-01 7.04870920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.226875 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:171.89, Y:86.33, Z:70.53 [[ 2.43228476e-01 -2.36584828e-01 -9.40673975e-01 1.71891914e+02] [ 4.12588272e-02 9.71443709e-01 -2.33655365e-01 8.63315368e+01] [ 9.69091130e-01 1.80205333e-02 2.46043985e-01 7.05250510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.25687500000004 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:171.89, Y:86.33, Z:70.55 [[ 2.42286577e-01 -2.19773789e-01 -9.44985024e-01 1.71891413e+02] [ 4.17432289e-02 9.75465224e-01 -2.16159896e-01 8.63255758e+01] [ 9.69306307e-01 1.29259150e-02 2.45516197e-01 7.05540335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.90, Y:86.33, Z:70.58 [[ 2.41670308e-01 -2.20925980e-01 -9.44874158e-01 1.71898839e+02] [ 4.18279161e-02 9.75203967e-01 -2.17319232e-01 8.63277436e+01] [ 9.69456491e-01 1.29974886e-02 2.44918716e-01 7.05815358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.31687500000004 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:171.91, Y:86.33, Z:70.61 [[ 2.40659512e-01 -2.22000220e-01 -9.44880363e-01 1.71906552e+02] [ 4.18658927e-02 9.74959912e-01 -2.18404253e-01 8.63298534e+01] [ 9.69706268e-01 1.30028012e-02 2.43927614e-01 7.06071952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.346875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:171.91, Y:86.33, Z:70.63 [[ 2.40133912e-01 -2.23098556e-01 -9.44755386e-01 1.71913825e+02] [ 4.18819271e-02 9.74707227e-01 -2.19526140e-01 8.63319268e+01] [ 9.69835867e-01 1.31474946e-02 2.43404056e-01 7.06338896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.37687500000004 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:171.92, Y:86.33, Z:70.66 [[ 2.39661774e-01 -2.24110182e-01 -9.44635835e-01 1.71921299e+02] [ 4.18232236e-02 9.74472285e-01 -2.20577841e-01 8.63339104e+01] [ 9.69955180e-01 1.33563610e-02 2.42916767e-01 7.06602060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.406875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:171.93, Y:86.34, Z:70.69 [[ 2.39723408e-01 -2.25191443e-01 -9.44363014e-01 1.71929632e+02] [ 4.19859977e-02 9.74221205e-01 -2.21653379e-01 8.63359170e+01] [ 9.69932917e-01 1.34854801e-02 2.42998515e-01 7.06874058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.436875 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:171.94, Y:86.34, Z:70.71 [[ 2.39926186e-01 -2.26316802e-01 -9.44042441e-01 1.71936792e+02] [ 4.26397821e-02 9.73964756e-01 -2.22653326e-01 8.63378989e+01] [ 9.69854254e-01 1.31665992e-02 2.43329748e-01 7.07139639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.466875 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:171.94, Y:86.34, Z:70.74 [[ 2.40138777e-01 -2.27383536e-01 -9.43732004e-01 1.71944190e+02] [ 4.30334861e-02 9.73717207e-01 -2.23658042e-01 8.63393651e+01] [ 9.69784248e-01 1.30968908e-02 2.43612366e-01 7.07405637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.95, Y:86.34, Z:70.77 [[ 2.40171486e-01 -2.28548775e-01 -9.43442163e-01 1.71951627e+02] [ 4.37252609e-02 9.73449477e-01 -2.24686932e-01 8.63408343e+01] [ 9.69745203e-01 1.27111396e-02 2.43788162e-01 7.07678167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.526875 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:171.96, Y:86.34, Z:70.80 [[ 2.40758889e-01 -2.29767832e-01 -9.42996236e-01 1.71959337e+02] [ 4.50720085e-02 9.73173743e-01 -2.25613344e-01 8.63413145e+01] [ 9.69537865e-01 1.18156837e-02 2.44656327e-01 7.07951164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.97, Y:86.34, Z:70.82 [[ 2.40656457e-01 -2.30869806e-01 -9.42753203e-01 1.71966623e+02] [ 4.53802229e-02 9.72913488e-01 -2.26671523e-01 8.63426329e+01] [ 9.69548919e-01 1.17676151e-02 2.44614836e-01 7.08221661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.586875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:171.97, Y:86.34, Z:70.85 [[ 2.40751441e-01 -2.31996530e-01 -9.42452308e-01 1.71973838e+02] [ 4.61079380e-02 9.72650359e-01 -2.27651790e-01 8.63441351e+01] [ 9.69491001e-01 1.13529640e-02 2.44863857e-01 7.08491150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.616875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:171.98, Y:86.35, Z:70.88 [[ 2.40703397e-01 -2.33097122e-01 -9.42192977e-01 1.71981186e+02] [ 4.63633367e-02 9.72386975e-01 -2.28722564e-01 8.63463616e+01] [ 9.69490751e-01 1.13710877e-02 2.44864008e-01 7.08766934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.646875 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:171.99, Y:86.35, Z:70.90 [[ 2.40910747e-01 -2.34091302e-01 -9.41893452e-01 1.71988816e+02] [ 4.65314533e-02 9.72146463e-01 -2.29708683e-01 8.63477703e+01] [ 9.69431192e-01 1.15116192e-02 2.45093139e-01 7.09032218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.676875 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:172.00, Y:86.35, Z:70.93 [[ 2.40500389e-01 -2.35170635e-01 -9.41729438e-01 1.71996104e+02] [ 4.63596578e-02 9.71881691e-01 -2.30860914e-01 8.63496400e+01] [ 9.69541306e-01 1.18638851e-02 2.44640355e-01 7.09299482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.706875 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:172.00, Y:86.35, Z:70.96 [[ 2.40167092e-01 -2.36285607e-01 -9.41535384e-01 1.72003937e+02] [ 4.67395551e-02 9.71613319e-01 -2.31911560e-01 8.63514969e+01] [ 9.69605684e-01 1.16905801e-02 2.44393429e-01 7.09570619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.01, Y:86.35, Z:70.98 [[ 2.39580818e-01 -2.37457270e-01 -9.41389970e-01 1.72011260e+02] [ 4.72886662e-02 9.71332266e-01 -2.32975130e-01 8.63532004e+01] [ 9.69724092e-01 1.12992962e-02 2.43941616e-01 7.09837901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.766875 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:172.02, Y:86.35, Z:71.01 [[ 2.38510227e-01 -2.38758104e-01 -9.41332800e-01 1.72018911e+02] [ 4.85713315e-02 9.71026699e-01 -2.33982853e-01 8.63542437e+01] [ 9.69924583e-01 1.00855158e-02 2.43196597e-01 7.10096806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.796875 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:172.03, Y:86.36, Z:71.04 [[ 2.38053670e-01 -2.40165160e-01 -9.41090403e-01 1.72026230e+02] [ 4.99588766e-02 9.70690816e-01 -2.35081795e-01 8.63561754e+01] [ 9.69966268e-01 8.94626459e-03 2.43074893e-01 7.10366424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.82687500000003 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:172.03, Y:86.36, Z:71.06 [[ 2.38137327e-01 -2.41442913e-01 -9.40742225e-01 1.72033376e+02] [ 5.12919538e-02 9.70382347e-01 -2.36066168e-01 8.63579103e+01] [ 9.69876152e-01 7.96365934e-03 2.43468337e-01 7.10636944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.856875 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:172.04, Y:86.36, Z:71.09 [[ 2.37526610e-01 -2.42702179e-01 -9.40572571e-01 1.72039884e+02] [ 5.26551084e-02 9.70077208e-01 -2.37018248e-01 8.63599377e+01] [ 9.69952859e-01 6.77219005e-03 2.43198660e-01 7.10901381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.88687500000003 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:172.05, Y:86.36, Z:71.12 [[ 2.37737757e-01 -2.44338322e-01 -9.40095497e-01 1.72046751e+02] [ 5.53661747e-02 9.69679426e-01 -2.38026045e-01 8.63619192e+01] [ 9.69750146e-01 4.53828652e-03 2.44057489e-01 7.11169048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.916875 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:172.08, Y:86.39, Z:71.13 [[ 2.46812084e-01 -2.82945409e-01 -9.26836388e-01 1.72081406e+02] [ 6.37470406e-02 9.59093864e-01 -2.75817468e-01 8.63891996e+01] [ 9.66964379e-01 8.99200708e-03 2.54752887e-01 7.11319496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.94687500000003 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:172.06, Y:86.37, Z:71.17 [[ 2.37547577e-01 -2.57146765e-01 -9.36721244e-01 1.72063771e+02] [ 5.93762618e-02 9.66364804e-01 -2.50226946e-01 8.63711049e+01] [ 9.69559492e-01 3.82179888e-03 2.44826031e-01 7.11695488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.976875 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:172.07, Y:86.37, Z:71.20 [[ 2.37960675e-01 -2.48084873e-01 -9.39057300e-01 1.72066896e+02] [ 6.06245704e-02 9.68738250e-01 -2.40563639e-01 8.63692708e+01] [ 9.69380925e-01 3.14740586e-04 2.45561647e-01 7.11982883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.00687500000004 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:172.07, Y:86.37, Z:71.22 [[ 2.37726677e-01 -2.49288554e-01 -9.38797765e-01 1.72073446e+02] [ 6.17049173e-02 9.68429118e-01 -2.41531667e-01 8.63721826e+01] [ 9.69370172e-01 -5.09917860e-04 2.45603766e-01 7.12247360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.036875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:172.08, Y:86.38, Z:71.25 [[ 2.36518521e-01 -2.50495612e-01 -9.38781624e-01 1.72080066e+02] [ 6.23401624e-02 9.68117063e-01 -2.42617098e-01 8.63760657e+01] [ 9.69625027e-01 -1.14036171e-03 2.44593553e-01 7.12515244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.06687500000004 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:172.09, Y:86.38, Z:71.28 [[ 2.36223313e-01 -2.51623896e-01 -9.38554187e-01 1.72087611e+02] [ 6.27617268e-02 9.67824163e-01 -2.43674693e-01 8.63796169e+01] [ 9.69669795e-01 -1.34363808e-03 2.44414980e-01 7.12782151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.096875 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:172.09, Y:86.38, Z:71.31 [[ 2.35719251e-01 -2.52705629e-01 -9.38390271e-01 1.72094205e+02] [ 6.29404401e-02 9.67542239e-01 -2.44745821e-01 8.63824824e+01] [ 9.69780870e-01 -1.37139515e-03 2.43973735e-01 7.13057197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.12687500000004 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:172.14, Y:86.42, Z:71.32 [[ 2.45924994e-01 -3.00827962e-01 -9.21424677e-01 1.72136336e+02] [ 7.15069065e-02 9.53659628e-01 -2.92267132e-01 8.64185204e+01] [ 9.66647640e-01 5.98756436e-03 2.56040015e-01 7.13174415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.156875 meters Centerline goodness : 0.999837 Centerline is valid? [True, True] Translation: X:172.11, Y:86.39, Z:71.36 [[ 2.34906486e-01 -2.63816480e-01 -9.35531832e-01 1.72110780e+02] [ 6.31838462e-02 9.64572312e-01 -2.56140698e-01 8.63928984e+01] [ 9.69962239e-01 1.05861207e-03 2.43253232e-01 7.13583084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.186875 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:172.11, Y:86.39, Z:71.39 [[ 2.34994751e-01 -2.55014665e-01 -9.37947220e-01 1.72113640e+02] [ 6.31838269e-02 9.66936436e-01 -2.47066252e-01 8.63912711e+01] [ 9.69940860e-01 -1.20382259e-03 2.43337789e-01 7.13858143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.216875 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:172.12, Y:86.39, Z:71.41 [[ 2.34981970e-01 -2.56098728e-01 -9.37655009e-01 1.72120291e+02] [ 6.32992353e-02 9.66650070e-01 -2.48154889e-01 8.63944713e+01] [ 9.69936431e-01 -1.04092036e-03 2.43356192e-01 7.14134960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.246875 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:172.13, Y:86.40, Z:71.44 [[ 2.35750878e-01 -2.56732555e-01 -9.37288600e-01 1.72127058e+02] [ 6.19477126e-02 9.66482251e-01 -2.49147627e-01 8.63982897e+01] [ 9.69837102e-01 6.73886908e-04 2.43753033e-01 7.14405619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.13, Y:86.40, Z:71.47 [[ 2.35851636e-01 -2.57703518e-01 -9.36996746e-01 1.72133674e+02] [ 6.17101973e-02 9.66223308e-01 -2.50208654e-01 8.64019104e+01] [ 9.69827746e-01 1.18986636e-03 2.43788283e-01 7.14662552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.306875 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:172.14, Y:86.41, Z:71.49 [[ 2.36689123e-01 -2.58403672e-01 -9.36592655e-01 1.72140631e+02] [ 6.09572694e-02 9.66034182e-01 -2.51121825e-01 8.64051574e+01] [ 9.69671321e-01 2.34567373e-03 2.44401365e-01 7.14928688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.336875 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:172.15, Y:86.41, Z:71.52 [[ 2.37209540e-01 -2.59018017e-01 -9.36291248e-01 1.72147050e+02] [ 5.93738382e-02 9.65863259e-01 -2.52156522e-01 8.64094567e+01] [ 9.69642399e-01 4.22272765e-03 2.44490873e-01 7.15185357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.366875 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:172.15, Y:86.41, Z:71.55 [[ 2.37934464e-01 -2.59954671e-01 -9.35847616e-01 1.72154170e+02] [ 5.90070243e-02 9.65607730e-01 -2.53219040e-01 8.64129127e+01] [ 9.69487164e-01 5.02795368e-03 2.45090509e-01 7.15456667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.396875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:172.16, Y:86.42, Z:71.57 [[ 2.38037091e-01 -2.60680443e-01 -9.35619608e-01 1.72160819e+02] [ 5.78349879e-02 9.65403844e-01 -2.54264690e-01 8.64159634e+01] [ 9.69532598e-01 6.41287841e-03 2.44878373e-01 7.15729565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.426875 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:172.17, Y:86.42, Z:71.60 [[ 2.38331544e-01 -2.61408714e-01 -9.35341413e-01 1.72167847e+02] [ 5.67205359e-02 9.65196744e-01 -2.55299876e-01 8.64192427e+01] [ 9.69526099e-01 7.79294747e-03 2.44864073e-01 7.16002195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.456875 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:172.17, Y:86.42, Z:71.63 [[ 2.38635045e-01 -2.61811614e-01 -9.35151322e-01 1.72174775e+02] [ 5.41883170e-02 9.65061860e-01 -2.56357625e-01 8.64238446e+01] [ 9.69596278e-01 1.05016370e-02 2.44484711e-01 7.16272950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.486875 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:172.21, Y:86.46, Z:71.64 [[ 2.49084622e-01 -3.06871525e-01 -9.18578640e-01 1.72213775e+02] [ 6.13714978e-02 9.51567961e-01 -3.01250653e-01 8.64595184e+01] [ 9.66535251e-01 1.86623579e-02 2.55854111e-01 7.16389062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.516875 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:172.19, Y:86.44, Z:71.68 [[ 2.38368378e-01 -2.78741511e-01 -9.30313757e-01 1.72194235e+02] [ 5.11848387e-02 9.60200570e-01 -2.74581461e-01 8.64376525e+01] [ 9.69825051e-01 1.78335778e-02 2.43148792e-01 7.16789847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.546875 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:172.19, Y:86.43, Z:71.71 [[ 2.38438173e-01 -2.62309937e-01 -9.35061888e-01 1.72194803e+02] [ 4.88874149e-02 9.64853462e-01 -2.58201118e-01 8.64342444e+01] [ 9.69926419e-01 1.58522445e-02 2.42881552e-01 7.17080954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.57687500000003 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:172.23, Y:86.47, Z:71.72 [[ 2.49685953e-01 -3.09775256e-01 -9.17440034e-01 1.72234546e+02] [ 5.74232120e-02 9.50518096e-01 -3.05316105e-01 8.64715967e+01] [ 9.66622729e-01 2.35507889e-02 2.55119307e-01 7.17179976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.606875 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:172.24, Y:86.48, Z:71.75 [[ 2.48082008e-01 -3.22956517e-01 -9.13320538e-01 1.72244171e+02] [ 5.51289604e-02 9.45971880e-01 -3.19527777e-01 8.64795474e+01] [ 9.67169124e-01 2.89186808e-02 2.52482861e-01 7.17450903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.63687500000003 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:172.25, Y:86.48, Z:71.77 [[ 2.47157034e-01 -3.23161611e-01 -9.13498754e-01 1.72250300e+02] [ 5.35482884e-02 9.45861660e-01 -3.20122321e-01 8.64818596e+01] [ 9.67494693e-01 3.02041889e-02 2.51081114e-01 7.17727200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.666875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:172.26, Y:86.49, Z:71.80 [[ 2.48831578e-01 -3.26073576e-01 -9.12008152e-01 1.72257948e+02] [ 5.43061089e-02 9.44841086e-01 -3.22995618e-01 8.64871726e+01] [ 9.67023109e-01 3.08438952e-02 2.52814085e-01 7.17984611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.69687500000003 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:172.27, Y:86.49, Z:71.82 [[ 2.48645547e-01 -3.33006923e-01 -9.09550318e-01 1.72267821e+02] [ 5.39414700e-02 9.42344745e-01 -3.30267618e-01 8.64937219e+01] [ 9.67091366e-01 3.30570913e-02 2.52272707e-01 7.18239465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.726875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:172.24, Y:86.46, Z:71.87 [[ 2.36516500e-01 -2.89734151e-01 -9.27423348e-01 1.72242768e+02] [ 4.29503958e-02 9.56689700e-01 -2.87923742e-01 8.64611335e+01] [ 9.70677706e-01 2.82655158e-02 2.38717096e-01 7.18676069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.75687500000004 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:172.27, Y:86.48, Z:71.88 [[ 2.47085336e-01 -3.00855221e-01 -9.21105300e-01 1.72267368e+02] [ 5.42096165e-02 9.53382309e-01 -2.96856009e-01 8.64818060e+01] [ 9.67476178e-01 2.34160017e-02 2.51876034e-01 7.18807190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.786875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:172.26, Y:86.47, Z:71.92 [[ 2.35803906e-01 -2.96242714e-01 -9.25546742e-01 1.72258059e+02] [ 4.42487281e-02 9.54689112e-01 -2.94297044e-01 8.64677354e+01] [ 9.70792752e-01 2.84421265e-02 2.38227785e-01 7.19204942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.81687500000004 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:172.25, Y:86.45, Z:71.95 [[ 2.34449804e-01 -2.57571146e-01 -9.37384870e-01 1.72249608e+02] [ 4.58343831e-02 9.66116969e-01 -2.54002385e-01 8.64522329e+01] [ 9.71047115e-01 1.65863521e-02 2.38311549e-01 7.19526622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.26, Y:86.46, Z:71.98 [[ 2.34043394e-01 -2.59235527e-01 -9.37027551e-01 1.72256612e+02] [ 4.83519687e-02 9.65706843e-01 -2.55092887e-01 8.64552238e+01] [ 9.71023057e-01 1.43956785e-02 2.38551856e-01 7.19792244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.87687500000004 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:172.26, Y:86.46, Z:72.01 [[ 2.33931834e-01 -2.60555998e-01 -9.36689099e-01 1.72263910e+02] [ 4.99271840e-02 9.65369375e-01 -2.56064924e-01 8.64582764e+01] [ 9.70970223e-01 1.31354883e-02 2.38839455e-01 7.20062221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.906875 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:172.27, Y:86.46, Z:72.03 [[ 2.34060690e-01 -2.61911784e-01 -9.36278704e-01 1.72271273e+02] [ 5.13665588e-02 9.65016140e-01 -2.57109561e-01 8.64612064e+01] [ 9.70864084e-01 1.20858261e-02 2.39325850e-01 7.20335956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.936875 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:172.28, Y:86.46, Z:72.06 [[ 2.34101439e-01 -2.63343186e-01 -9.35866915e-01 1.72277862e+02] [ 5.30996877e-02 9.64642421e-01 -2.58157748e-01 8.64641082e+01] [ 9.70761011e-01 1.07408594e-02 2.39807620e-01 7.20593394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.966875 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:172.29, Y:86.47, Z:72.09 [[ 2.34180988e-01 -2.64882037e-01 -9.35412621e-01 1.72285621e+02] [ 5.50600186e-02 9.64236840e-01 -2.59259928e-01 8.64678075e+01] [ 9.70632608e-01 9.20990971e-03 2.40390346e-01 7.20862417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.996875 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:172.29, Y:86.47, Z:72.11 [[ 2.34003613e-01 -2.66251910e-01 -9.35068035e-01 1.72292681e+02] [ 5.65523027e-02 9.63870024e-01 -2.60300623e-01 8.64709488e+01] [ 9.70589587e-01 8.03103553e-03 2.40606227e-01 7.21130750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.026875 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:172.30, Y:86.47, Z:72.14 [[ 2.33742948e-01 -2.67869530e-01 -9.34671145e-01 1.72300597e+02] [ 5.91371182e-02 9.63437683e-01 -2.61324763e-01 8.64749465e+01] [ 9.70498344e-01 5.80906250e-03 2.41037797e-01 7.21397428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.056875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:172.31, Y:86.48, Z:72.17 [[ 2.33566940e-01 -2.69295349e-01 -9.34305357e-01 1.72307554e+02] [ 6.08510483e-02 9.63047464e-01 -2.62367552e-01 8.64779684e+01] [ 9.70434766e-01 4.42692584e-03 2.41322953e-01 7.21665211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.086875 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:172.31, Y:86.48, Z:72.19 [[ 2.33608332e-01 -2.70713086e-01 -9.33885203e-01 1.72314577e+02] [ 6.25615229e-02 9.62655061e-01 -2.63403284e-01 8.64810030e+01] [ 9.70316033e-01 3.10792105e-03 2.41820466e-01 7.21933439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.116875 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:172.32, Y:86.48, Z:72.22 [[ 2.33489075e-01 -2.72340539e-01 -9.33441740e-01 1.72321156e+02] [ 6.51371568e-02 9.62200470e-01 -2.64437907e-01 8.64840285e+01] [ 9.70175243e-01 9.41621396e-04 2.42402786e-01 7.22197637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.146875 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:172.33, Y:86.49, Z:72.25 [[ 2.32784705e-01 -2.73537664e-01 -9.33267608e-01 1.72327788e+02] [ 6.68800283e-02 9.61861057e-01 -2.65236441e-01 8.64867663e+01] [ 9.70225924e-01 -6.73977229e-04 2.42200749e-01 7.22469716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.34, Y:86.49, Z:72.27 [[ 2.32423764e-01 -2.74943055e-01 -9.32944538e-01 1.72335145e+02] [ 6.84769858e-02 9.61458445e-01 -2.66286615e-01 8.64901966e+01] [ 9.70201060e-01 -1.99389245e-03 2.42293062e-01 7.22742228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.206875 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:172.34, Y:86.49, Z:72.30 [[ 2.31659269e-01 -2.76647109e-01 -9.32630881e-01 1.72342387e+02] [ 7.11770063e-02 9.60961309e-01 -2.67370896e-01 8.64940241e+01] [ 9.70189578e-01 -4.44292763e-03 2.42306508e-01 7.23013730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.236875 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:172.35, Y:86.50, Z:72.33 [[ 2.31237079e-01 -2.78082481e-01 -9.32308719e-01 1.72349570e+02] [ 7.27581600e-02 9.60539955e-01 -2.68457159e-01 8.64972753e+01] [ 9.70173007e-01 -5.75581773e-03 2.42345223e-01 7.23287079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.266875 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:172.36, Y:86.50, Z:72.36 [[ 2.30802235e-01 -2.79302649e-01 -9.32051693e-01 1.72357154e+02] [ 7.33414835e-02 9.60183486e-01 -2.69571328e-01 8.65004542e+01] [ 9.70232629e-01 -6.14038894e-03 2.42096965e-01 7.23558404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.296875 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:172.36, Y:86.50, Z:72.38 [[ 2.29794928e-01 -2.80613875e-01 -9.31906725e-01 1.72363836e+02] [ 7.41961750e-02 9.59795688e-01 -2.70716024e-01 8.65039265e+01] [ 9.70406728e-01 -6.93474516e-03 2.41376658e-01 7.23822010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.32687500000003 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:172.37, Y:86.51, Z:72.41 [[ 2.29812919e-01 -2.81547900e-01 -9.31620525e-01 1.72372320e+02] [ 7.41232082e-02 9.59524370e-01 -2.71696033e-01 8.65084352e+01] [ 9.70408044e-01 -6.61544365e-03 2.41380330e-01 7.24087431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.356875 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:172.38, Y:86.51, Z:72.44 [[ 2.30009914e-01 -2.82464243e-01 -9.31294471e-01 1.72379226e+02] [ 7.35926735e-02 9.59260315e-01 -2.72770538e-01 8.65115664e+01] [ 9.70401751e-01 -5.79652194e-03 2.41426681e-01 7.24351386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.38687500000003 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:172.39, Y:86.51, Z:72.46 [[ 2.30311007e-01 -2.83302551e-01 -9.30965362e-01 1.72386525e+02] [ 7.24888889e-02 9.59020488e-01 -2.73907035e-01 8.65146152e+01] [ 9.70413418e-01 -4.40083966e-03 2.41409262e-01 7.24626154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.416875 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:172.39, Y:86.52, Z:72.49 [[ 2.31408963e-01 -2.83542177e-01 -9.30620076e-01 1.72392725e+02] [ 6.91209348e-02 9.58959518e-01 -2.74988980e-01 8.65180440e+01] [ 9.70397954e-01 -6.90414976e-04 2.41510528e-01 7.24886237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.44687500000003 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:172.40, Y:86.52, Z:72.51 [[ 2.32111785e-01 -2.84233469e-01 -9.30234086e-01 1.72399321e+02] [ 6.74284618e-02 9.58754122e-01 -2.76123046e-01 8.65212334e+01] [ 9.70349175e-01 1.36715968e-03 2.41703557e-01 7.25145075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.476875 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:172.41, Y:86.52, Z:72.54 [[ 2.32041689e-01 -2.85365989e-01 -9.29904784e-01 1.72406296e+02] [ 6.76705727e-02 9.58417596e-01 -2.77229879e-01 8.65237962e+01] [ 9.70349086e-01 1.40169996e-03 2.41703717e-01 7.25421359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.50687500000004 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:172.41, Y:86.53, Z:72.57 [[ 2.32752729e-01 -2.85768468e-01 -9.29603437e-01 1.72413256e+02] [ 6.54678153e-02 9.58290790e-01 -2.78195484e-01 8.65266132e+01] [ 9.70329909e-01 3.89165215e-03 2.41753434e-01 7.25690857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.536875 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:172.42, Y:86.53, Z:72.60 [[ 2.34747083e-01 -2.85604819e-01 -9.29152137e-01 1.72420018e+02] [ 6.08147840e-02 9.58304882e-01 -2.79201209e-01 8.65298078e+01] [ 9.70152240e-01 9.03548284e-03 2.42328271e-01 7.25965074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.56687500000004 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:172.43, Y:86.53, Z:72.62 [[ 2.35632155e-01 -2.86120052e-01 -9.28769510e-01 1.72427121e+02] [ 5.86590039e-02 9.58124013e-01 -2.80281105e-01 8.65327953e+01] [ 9.70070414e-01 1.15625465e-02 2.42548343e-01 7.26235928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.596875 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:172.43, Y:86.54, Z:72.65 [[ 2.36373074e-01 -2.86732687e-01 -9.28392232e-01 1.72434659e+02] [ 5.69118385e-02 9.57913103e-01 -2.81360144e-01 8.65360824e+01] [ 9.69994233e-01 1.36694533e-02 2.42743349e-01 7.26502020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.62687500000004 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:172.46, Y:86.56, Z:72.66 [[ 2.44285969e-01 -3.18667029e-01 -9.15846980e-01 1.72461581e+02] [ 6.08036733e-02 9.47636296e-01 -3.13509751e-01 8.65624205e+01] [ 9.67795060e-01 2.08991729e-02 2.50870377e-01 7.26642164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.656875 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:172.46, Y:86.56, Z:72.70 [[ 2.36900373e-01 -3.25833488e-01 -9.15265400e-01 1.72462024e+02] [ 5.13623072e-02 9.44965715e-01 -3.23112537e-01 8.65587313e+01] [ 9.70175307e-01 2.95353377e-02 2.40598290e-01 7.26986764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.686875 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:172.45, Y:86.54, Z:72.73 [[ 2.35996059e-01 -2.87219678e-01 -9.28337609e-01 1.72454972e+02] [ 5.02392790e-02 9.57650242e-01 -2.83517245e-01 8.65415655e+01] [ 9.70454468e-01 2.02699405e-02 2.40431393e-01 7.27308744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.716875 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:172.46, Y:86.54, Z:72.76 [[ 2.36056789e-01 -2.87830482e-01 -9.28132968e-01 1.72462759e+02] [ 4.81519326e-02 9.57416892e-01 -2.84665219e-01 8.65427171e+01] [ 9.70545508e-01 2.25057613e-02 2.39864351e-01 7.27569925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.746875 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:172.47, Y:86.54, Z:72.78 [[ 2.35825989e-01 -2.88670594e-01 -9.27930704e-01 1.72469292e+02] [ 4.74910860e-02 9.57144810e-01 -2.85689359e-01 8.65442687e+01] [ 9.70634174e-01 2.33045388e-02 2.39428901e-01 7.27828554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.776875 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:172.48, Y:86.55, Z:72.81 [[ 2.35860047e-01 -2.89688539e-01 -9.27604759e-01 1.72476516e+02] [ 4.70446628e-02 9.56819577e-01 -2.86850305e-01 8.65461587e+01] [ 9.70647639e-01 2.40176733e-02 2.39303810e-01 7.28104365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.806875 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:172.48, Y:86.55, Z:72.84 [[ 2.35291700e-01 -2.90645748e-01 -9.27449656e-01 1.72484042e+02] [ 4.62653042e-02 9.56507759e-01 -2.88014632e-01 8.65473846e+01] [ 9.70823021e-01 2.48587118e-02 2.38505150e-01 7.28370797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.836875 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:172.49, Y:86.55, Z:72.86 [[ 2.35476061e-01 -2.91688541e-01 -9.27075412e-01 1.72491327e+02] [ 4.61912592e-02 9.56179850e-01 -2.89113233e-01 8.65492395e+01] [ 9.70781846e-01 2.52564645e-02 2.38630926e-01 7.28640033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.866875 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:172.50, Y:86.55, Z:72.89 [[ 2.35587274e-01 -2.92729887e-01 -9.26718862e-01 1.72498617e+02] [ 4.61204297e-02 9.55851657e-01 -2.90207712e-01 8.65507120e+01] [ 9.70758231e-01 2.56285716e-02 2.38687314e-01 7.28914103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.896875 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:172.50, Y:86.55, Z:72.92 [[ 2.35315885e-01 -2.93817245e-01 -9.26443663e-01 1.72504972e+02] [ 4.60709690e-02 9.55511380e-01 -2.91333948e-01 8.65520654e+01] [ 9.70826401e-01 2.58733484e-02 2.38383451e-01 7.29176119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.51, Y:86.55, Z:72.94 [[ 2.35695572e-01 -2.94753673e-01 -9.26049604e-01 1.72512181e+02] [ 4.69233546e-02 9.55235806e-01 -2.92100590e-01 8.65524247e+01] [ 9.70693461e-01 2.53934618e-02 2.38975681e-01 7.29441275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.956875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:172.52, Y:86.55, Z:72.97 [[ 2.35563870e-01 -2.96005493e-01 -9.25683754e-01 1.72519125e+02] [ 4.75050336e-02 9.54856310e-01 -2.93245119e-01 8.65538139e+01] [ 9.70697139e-01 2.51033172e-02 2.38991398e-01 7.29711511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.986875 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:172.53, Y:86.55, Z:73.00 [[ 2.34490570e-01 -2.97456006e-01 -9.25491273e-01 1.72526460e+02] [ 4.89261957e-02 9.54440207e-01 -2.94363922e-01 8.65538643e+01] [ 9.70886399e-01 2.37447968e-02 2.38360619e-01 7.29979099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.016875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:172.53, Y:86.56, Z:73.02 [[ 2.33650725e-01 -2.98776622e-01 -9.25278265e-01 1.72533745e+02] [ 4.98110677e-02 9.54047033e-01 -2.95487929e-01 8.65552056e+01] [ 9.71043869e-01 2.29518705e-02 2.37796164e-01 7.30249958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.046875 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:172.54, Y:86.56, Z:73.05 [[ 2.32448950e-01 -3.00265005e-01 -9.25099137e-01 1.72540687e+02] [ 5.12544663e-02 9.53612616e-01 -2.96641126e-01 8.65566506e+01] [ 9.71257157e-01 2.15384558e-02 2.37056174e-01 7.30507515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.07687500000003 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:172.55, Y:86.56, Z:73.08 [[ 2.30498519e-01 -3.02378717e-01 -9.24898667e-01 1.72548987e+02] [ 5.50883467e-02 9.53023485e-01 -2.97844776e-01 8.65563537e+01] [ 9.71512072e-01 1.77016413e-02 2.36328046e-01 7.30779201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.106875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:172.56, Y:86.56, Z:73.11 [[ 2.29267801e-01 -3.03979833e-01 -9.24679694e-01 1.72555520e+02] [ 5.72700052e-02 9.52551037e-01 -2.98942584e-01 8.65567535e+01] [ 9.71677118e-01 1.55814979e-02 2.35798208e-01 7.31050174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.13687500000003 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:172.56, Y:86.56, Z:73.13 [[ 2.28454102e-01 -3.05601591e-01 -9.24346467e-01 1.72562401e+02] [ 5.96513634e-02 9.52065139e-01 -3.00022808e-01 8.65574442e+01] [ 9.71725495e-01 1.34029143e-02 2.35732738e-01 7.31323525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.166875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:172.57, Y:86.56, Z:73.16 [[ 2.27839621e-01 -3.07278830e-01 -9.23942005e-01 1.72569001e+02] [ 6.22971462e-02 9.51555442e-01 -3.01100159e-01 8.65581801e+01] [ 9.71703748e-01 1.10435959e-02 2.35944625e-01 7.31590744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.58, Y:86.56, Z:73.19 [[ 2.26239242e-01 -3.09380696e-01 -9.23633797e-01 1.72575555e+02] [ 6.66146707e-02 9.50913649e-01 -3.02201452e-01 8.65571192e+01] [ 9.71791280e-01 6.84226627e-03 2.35743277e-01 7.31853293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.226875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:172.58, Y:86.56, Z:73.21 [[ 2.25478110e-01 -3.10694640e-01 -9.23378829e-01 1.72581889e+02] [ 6.89366360e-02 9.50498346e-01 -3.02986196e-01 8.65580736e+01] [ 9.71806237e-01 4.66212460e-03 2.35734814e-01 7.32124654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.25687500000004 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:172.59, Y:86.56, Z:73.24 [[ 2.23802456e-01 -3.12576163e-01 -9.23151452e-01 1.72589049e+02] [ 7.24651663e-02 9.49892000e-01 -3.04062475e-01 8.65579792e+01] [ 9.71936860e-01 1.15360520e-03 2.35239046e-01 7.32400857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.60, Y:86.56, Z:73.27 [[ 2.23012988e-01 -3.14022807e-01 -9.22851496e-01 1.72595700e+02] [ 7.42209369e-02 9.49415334e-01 -3.05125837e-01 8.65595267e+01] [ 9.71985833e-01 -4.47877895e-04 2.35039018e-01 7.32667585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.60, Y:86.56, Z:73.29 [[ 2.22549423e-01 -3.15467969e-01 -9.22470441e-01 1.72602968e+02] [ 7.57981202e-02 9.48934575e-01 -3.06231639e-01 8.65614513e+01] [ 9.71970370e-01 -1.76985088e-03 2.35096721e-01 7.32940310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.61, Y:86.56, Z:73.32 [[ 2.21747634e-01 -3.16825097e-01 -9.22198376e-01 1.72609905e+02] [ 7.70423459e-02 9.48479549e-01 -3.07328850e-01 8.65633862e+01] [ 9.72055793e-01 -2.89888102e-03 2.34732044e-01 7.33210792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.37687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.62, Y:86.56, Z:73.35 [[ 2.19912740e-01 -3.18560547e-01 -9.22039893e-01 1.72616322e+02] [ 7.99870616e-02 9.47883982e-01 -3.08412107e-01 8.65638213e+01] [ 9.72234775e-01 -5.92751028e-03 2.33932486e-01 7.33471026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.62, Y:86.57, Z:73.37 [[ 2.18928045e-01 -3.20052767e-01 -9.21757418e-01 1.72622918e+02] [ 8.14268371e-02 9.47371792e-01 -3.09606779e-01 8.65653977e+01] [ 9.72337483e-01 -7.27418435e-03 2.33467139e-01 7.33743250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.436875 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:172.63, Y:86.57, Z:73.40 [[ 2.17774183e-01 -3.21452782e-01 -9.21543550e-01 1.72629910e+02] [ 8.27522375e-02 9.46886653e-01 -3.10737402e-01 8.65674790e+01] [ 9.72484690e-01 -8.58920704e-03 2.32808404e-01 7.34016903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.466875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:172.64, Y:86.57, Z:73.43 [[ 2.15939862e-01 -3.22927327e-01 -9.21459667e-01 1.72636457e+02] [ 8.42885955e-02 9.46367539e-01 -3.11903692e-01 8.65691065e+01] [ 9.72761743e-01 -1.03161009e-02 2.31577567e-01 7.34281368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.64, Y:86.57, Z:73.46 [[ 2.15522192e-01 -3.24018164e-01 -9.21174475e-01 1.72643373e+02] [ 8.41306398e-02 9.45997728e-01 -3.13066021e-01 8.65719413e+01] [ 9.72868038e-01 -1.00263228e-02 2.31143360e-01 7.34556099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.65, Y:86.58, Z:73.48 [[ 2.15620601e-01 -3.24938351e-01 -9.20827250e-01 1.72649871e+02] [ 8.36524253e-02 9.45689493e-01 -3.14123629e-01 8.65751232e+01] [ 9.72887469e-01 -9.29790697e-03 2.31092018e-01 7.34820692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.66, Y:86.58, Z:73.51 [[ 2.15520826e-01 -3.25435392e-01 -9.20675067e-01 1.72655686e+02] [ 8.07918103e-02 9.45542440e-01 -3.15312826e-01 8.65788066e+01] [ 9.73151302e-01 -6.42652471e-03 2.30076602e-01 7.35085261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.66, Y:86.58, Z:73.54 [[ 2.15101589e-01 -3.26200634e-01 -9.20502283e-01 1.72662674e+02] [ 7.91995409e-02 9.45288226e-01 -3.16476860e-01 8.65820979e+01] [ 9.73374922e-01 -4.82868295e-03 2.29167939e-01 7.35360835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.67, Y:86.59, Z:73.56 [[ 2.14775646e-01 -3.26989431e-01 -9.20298503e-01 1.72669143e+02] [ 7.80675909e-02 9.45020976e-01 -3.17554416e-01 8.65854290e+01] [ 9.73538327e-01 -3.64253236e-03 2.28494767e-01 7.35634964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.646875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:172.68, Y:86.59, Z:73.59 [[ 2.15178464e-01 -3.27414356e-01 -9.20053296e-01 1.72675446e+02] [ 7.54071559e-02 9.44880504e-01 -3.18613549e-01 8.65893997e+01] [ 9.73659073e-01 -8.19828354e-04 2.28007321e-01 7.35900493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.68, Y:86.59, Z:73.62 [[ 2.15874160e-01 -3.28135410e-01 -9.19633351e-01 1.72681319e+02] [ 7.43229801e-02 9.44630476e-01 -3.19608133e-01 8.65929412e+01] [ 9.73588435e-01 6.45246092e-04 2.28309312e-01 7.36161228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.69, Y:86.60, Z:73.64 [[ 2.16886536e-01 -3.28893312e-01 -9.19124268e-01 1.72687566e+02] [ 7.32409710e-02 9.44364462e-01 -3.20642361e-01 8.65965744e+01] [ 9.73445423e-01 2.22545726e-03 2.28908403e-01 7.36426657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.69, Y:86.60, Z:73.67 [[ 2.18395326e-01 -3.29479368e-01 -9.18556927e-01 1.72692945e+02] [ 7.16222171e-02 9.44152271e-01 -3.21631384e-01 8.66005580e+01] [ 9.73228514e-01 4.45370746e-03 2.29796486e-01 7.36705454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.70, Y:86.60, Z:73.70 [[ 2.18897717e-01 -3.30387228e-01 -9.18111142e-01 1.72698725e+02] [ 7.12104347e-02 9.43830865e-01 -3.22664488e-01 8.66036397e+01] [ 9.73145859e-01 5.25142607e-03 2.30129439e-01 7.36966672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.70, Y:86.61, Z:73.72 [[ 2.19121413e-01 -3.31371191e-01 -9.17703078e-01 1.72704843e+02] [ 7.07844977e-02 9.43481469e-01 -3.23778122e-01 8.66070644e+01] [ 9.73126591e-01 5.98756808e-03 2.30192936e-01 7.37220098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.71, Y:86.61, Z:73.75 [[ 2.19554246e-01 -3.32432226e-01 -9.17215759e-01 1.72711264e+02] [ 7.06398061e-02 9.43104453e-01 -3.24906153e-01 8.66107933e+01] [ 9.73039542e-01 6.54258190e-03 2.30545535e-01 7.37491367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.72, Y:86.62, Z:73.78 [[ 2.20089937e-01 -3.33027472e-01 -9.16871378e-01 1.72717774e+02] [ 6.88466684e-02 9.42877775e-01 -3.25947292e-01 8.66154640e+01] [ 9.73047047e-01 8.61417920e-03 2.30445742e-01 7.37764803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.72, Y:86.62, Z:73.80 [[ 2.19908824e-01 -3.33884237e-01 -9.16603200e-01 1.72723885e+02] [ 6.80087475e-02 9.42565418e-01 -3.27024836e-01 8.66187681e+01] [ 9.73146916e-01 9.57861160e-03 2.29985501e-01 7.38040415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.73, Y:86.62, Z:73.83 [[ 2.20439156e-01 -3.34559120e-01 -9.16229651e-01 1.72729445e+02] [ 6.66283139e-02 9.42307390e-01 -3.28050988e-01 8.66228498e+01] [ 9.73122421e-01 1.12684459e-02 2.30012556e-01 7.38315215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.94687500000003 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:172.74, Y:86.63, Z:73.86 [[ 2.20342886e-01 -3.35510272e-01 -9.15904946e-01 1.72735385e+02] [ 6.62233567e-02 9.41961815e-01 -3.29123695e-01 8.66265137e+01] [ 9.73171866e-01 1.18657647e-02 2.29773201e-01 7.38575635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.74, Y:86.63, Z:73.88 [[ 2.20755935e-01 -3.36537142e-01 -9.15428626e-01 1.72741890e+02] [ 6.61598367e-02 9.41589479e-01 -3.30200134e-01 8.66305136e+01] [ 9.73082573e-01 1.23290308e-02 2.30126708e-01 7.38842617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.75, Y:86.64, Z:73.91 [[ 2.20584035e-01 -3.37667910e-01 -9.15053587e-01 1.72747771e+02] [ 6.66299209e-02 9.41187553e-01 -3.31249821e-01 8.66350332e+01] [ 9.73089481e-01 1.20984741e-02 2.30109734e-01 7.39113970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.036875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:172.75, Y:86.64, Z:73.94 [[ 2.20209256e-01 -3.38818546e-01 -9.14718468e-01 1.72754187e+02] [ 6.70839906e-02 9.40777522e-01 -3.32321219e-01 8.66386431e+01] [ 9.73143166e-01 1.18172431e-02 2.29897218e-01 7.39385074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.06687500000004 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:172.76, Y:86.64, Z:73.96 [[ 2.19773970e-01 -3.40026035e-01 -9.14375031e-01 1.72760610e+02] [ 6.77760810e-02 9.40348147e-01 -3.33394310e-01 8.66421721e+01] [ 9.73193611e-01 1.12986350e-02 2.29709677e-01 7.39648018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.77, Y:86.65, Z:73.99 [[ 2.18607053e-01 -3.41539405e-01 -9.14090691e-01 1.72766756e+02] [ 6.94472060e-02 9.39817888e-01 -3.34543604e-01 8.66460622e+01] [ 9.73338606e-01 9.65254666e-03 2.29169776e-01 7.39922321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.12687500000004 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:172.77, Y:86.65, Z:74.02 [[ 2.18217751e-01 -3.42803172e-01 -9.13710566e-01 1.72773197e+02] [ 7.04043180e-02 9.39365019e-01 -3.35613757e-01 8.66495113e+01] [ 9.73357203e-01 8.90770992e-03 2.29120945e-01 7.40196148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.78, Y:86.65, Z:74.05 [[ 2.17954165e-01 -3.44042469e-01 -9.13307594e-01 1.72779488e+02] [ 7.12495137e-02 9.38917319e-01 -3.36686464e-01 8.66529437e+01] [ 9.73354760e-01 8.30949524e-03 2.29153799e-01 7.40467688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.186875 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:172.79, Y:86.66, Z:74.07 [[ 2.17754638e-01 -3.45376708e-01 -9.12851492e-01 1.72785716e+02] [ 7.26223544e-02 9.38436132e-01 -3.37733060e-01 8.66564022e+01] [ 9.73297956e-01 7.24951572e-03 2.29430890e-01 7.40729824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.216875 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:172.79, Y:86.66, Z:74.10 [[ 2.17289901e-01 -3.46845840e-01 -9.12405098e-01 1.72791352e+02] [ 7.42721194e-02 9.37903829e-01 -3.38851088e-01 8.66601002e+01] [ 9.73277325e-01 5.86265897e-03 2.29558006e-01 7.40998773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.246875 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:172.80, Y:86.66, Z:74.13 [[ 2.17124375e-01 -3.48053570e-01 -9.11984495e-01 1.72798007e+02] [ 7.51952914e-02 9.37460125e-01 -3.39873774e-01 8.66638260e+01] [ 9.73243379e-01 5.21794090e-03 2.29717433e-01 7.41267423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.276875 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:172.80, Y:86.67, Z:74.15 [[ 2.17080448e-01 -3.49340556e-01 -9.11502746e-01 1.72804683e+02] [ 7.64205220e-02 9.36985743e-01 -3.40907058e-01 8.66675814e+01] [ 9.73157738e-01 4.34674119e-03 2.30098072e-01 7.41527112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.81, Y:86.67, Z:74.18 [[ 2.15867710e-01 -3.50924219e-01 -9.11182377e-01 1.72810282e+02] [ 7.83833242e-02 9.36400735e-01 -3.42066831e-01 8.66713341e+01] [ 9.73271384e-01 2.41967992e-03 2.29645289e-01 7.41800279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.336875 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:172.82, Y:86.67, Z:74.21 [[ 2.15865301e-01 -3.52121822e-01 -9.10720810e-01 1.72816989e+02] [ 7.93271231e-02 9.35952422e-01 -3.43074733e-01 8.66748290e+01] [ 9.73195448e-01 1.81306853e-03 2.29972462e-01 7.42062240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.82, Y:86.68, Z:74.23 [[ 2.15941633e-01 -3.53076185e-01 -9.10333136e-01 1.72822956e+02] [ 8.04465316e-02 9.35594034e-01 -3.43790866e-01 8.66780167e+01] [ 9.73086618e-01 1.00561768e-03 2.30437458e-01 7.42338900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.396875 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:172.83, Y:86.68, Z:74.26 [[ 2.16291039e-01 -3.54332855e-01 -9.09761735e-01 1.72828392e+02] [ 8.17102485e-02 9.35119336e-01 -3.44782922e-01 8.66811336e+01] [ 9.72903706e-01 2.36598939e-04 2.31210558e-01 7.42598098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.426875 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:172.84, Y:86.68, Z:74.29 [[ 2.16203735e-01 -3.55468864e-01 -9.09339228e-01 1.72835184e+02] [ 8.19415615e-02 9.34688083e-01 -3.45895602e-01 8.66842004e+01] [ 9.72903657e-01 2.71244744e-04 2.31210728e-01 7.42874401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.456875 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:172.84, Y:86.69, Z:74.32 [[ 2.16168898e-01 -3.56439373e-01 -9.08967536e-01 1.72841088e+02] [ 8.20227720e-02 9.34318356e-01 -3.46873859e-01 8.66868941e+01] [ 9.72904555e-01 4.27302942e-04 2.31206715e-01 7.43151646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.85, Y:86.69, Z:74.34 [[ 2.16746650e-01 -3.57329678e-01 -9.08480265e-01 1.72846837e+02] [ 8.15236498e-02 9.33977351e-01 -3.47908326e-01 8.66909579e+01] [ 9.72817961e-01 1.34533709e-03 2.31567281e-01 7.43421630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.516875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:172.85, Y:86.69, Z:74.37 [[ 2.17364034e-01 -3.58215930e-01 -9.07983604e-01 1.72853718e+02] [ 8.10054122e-02 9.33635943e-01 -3.48944191e-01 8.66949802e+01] [ 9.72723496e-01 2.29633091e-03 2.31956304e-01 7.43687412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.546875 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:172.86, Y:86.70, Z:74.40 [[ 2.18084881e-01 -3.59053574e-01 -9.07479760e-01 1.72860800e+02] [ 8.03287818e-02 9.33310662e-01 -3.49969278e-01 8.66989795e+01] [ 9.72618256e-01 3.42626455e-03 2.32383281e-01 7.43961661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.87, Y:86.70, Z:74.42 [[ 2.17939025e-01 -3.59996084e-01 -9.07141335e-01 1.72866637e+02] [ 7.97793576e-02 9.32944626e-01 -3.51069193e-01 8.67024041e+01] [ 9.72696168e-01 4.14052478e-03 2.32045299e-01 7.44226411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.87, Y:86.71, Z:74.45 [[ 2.17873598e-01 -3.60419267e-01 -9.06989001e-01 1.72872655e+02] [ 7.80779048e-02 9.32772030e-01 -3.51909336e-01 8.67058122e+01] [ 9.72848876e-01 5.85595236e-03 2.31367179e-01 7.44503177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.88, Y:86.71, Z:74.48 [[ 2.17865029e-01 -3.61241697e-01 -9.06663811e-01 1.72879102e+02] [ 7.70130445e-02 9.32445315e-01 -3.53008110e-01 8.67091857e+01] [ 9.72935671e-01 7.08318158e-03 2.30967548e-01 7.44769150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.666875 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:172.89, Y:86.71, Z:74.50 [[ 2.18482277e-01 -3.62060246e-01 -9.06188652e-01 1.72885446e+02] [ 7.59121878e-02 9.32115232e-01 -3.54116554e-01 8.67126855e+01] [ 9.72883772e-01 8.57742785e-03 2.31135444e-01 7.45042630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.69687500000003 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:172.89, Y:86.72, Z:74.53 [[ 2.19438270e-01 -3.62828203e-01 -9.05650342e-01 1.72891411e+02] [ 7.50301635e-02 9.31802636e-01 -3.55125783e-01 8.67160112e+01] [ 9.72737025e-01 9.97709414e-03 2.31696218e-01 7.45306129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.726875 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:172.90, Y:86.72, Z:74.56 [[ 2.21307407e-01 -3.63272117e-01 -9.05017349e-01 1.72897338e+02] [ 7.26882601e-02 9.31591857e-01 -3.56164328e-01 8.67203979e+01] [ 9.72491362e-01 1.30376673e-02 2.32573796e-01 7.45578098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.75687500000004 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:172.90, Y:86.72, Z:74.58 [[ 2.21801914e-01 -3.64057369e-01 -9.04580645e-01 1.72904036e+02] [ 7.17749943e-02 9.31266725e-01 -3.57198315e-01 8.67241425e+01] [ 9.72446534e-01 1.43009996e-02 2.32686958e-01 7.45846578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.786875 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:172.91, Y:86.73, Z:74.61 [[ 2.22701962e-01 -3.64663904e-01 -9.04115078e-01 1.72910195e+02] [ 7.01877598e-02 9.30996221e-01 -3.58217413e-01 8.67278963e+01] [ 9.72356681e-01 1.63179090e-02 2.32929628e-01 7.46110710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.81687500000004 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:172.92, Y:86.73, Z:74.64 [[ 2.22996044e-01 -3.65646307e-01 -9.03645696e-01 1.72916361e+02] [ 6.99178479e-02 9.30599684e-01 -3.59298933e-01 8.67310861e+01] [ 9.72308726e-01 1.69412781e-02 2.33085251e-01 7.46382518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.846875 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:172.92, Y:86.73, Z:74.66 [[ 2.23236483e-01 -3.66258700e-01 -9.03338274e-01 1.72922494e+02] [ 6.99591397e-02 9.30354983e-01 -3.59924054e-01 8.67341354e+01] [ 9.72250581e-01 1.71514116e-02 2.33312318e-01 7.46649124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.87687500000004 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:172.93, Y:86.74, Z:74.69 [[ 2.23483364e-01 -3.66955215e-01 -9.02994494e-01 1.72928605e+02] [ 6.98578011e-02 9.30073561e-01 -3.60670292e-01 8.67370701e+01] [ 9.72201149e-01 1.75226002e-02 2.33490652e-01 7.46910351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.94, Y:86.74, Z:74.72 [[ 2.23707047e-01 -3.67920054e-01 -9.02546393e-01 1.72935259e+02] [ 6.95279989e-02 9.29679820e-01 -3.61747550e-01 8.67404161e+01] [ 9.72173346e-01 1.81732316e-02 2.33556672e-01 7.47171048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.936875 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:172.94, Y:86.74, Z:74.74 [[ 2.23534474e-01 -3.68994775e-01 -9.02150317e-01 1.72941983e+02] [ 6.96559574e-02 9.29252026e-01 -3.62820506e-01 8.67434790e+01] [ 9.72203881e-01 1.82627470e-02 2.33422548e-01 7.47437266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.966875 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:172.95, Y:86.75, Z:74.77 [[ 2.23655697e-01 -3.70014157e-01 -9.01702641e-01 1.72949336e+02] [ 6.96858191e-02 9.28841007e-01 -3.63865732e-01 8.67467136e+01] [ 9.72173861e-01 1.85447566e-02 2.33525322e-01 7.47698351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.996875 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:172.96, Y:86.75, Z:74.80 [[ 2.23648522e-01 -3.70847869e-01 -9.01361857e-01 1.72955821e+02] [ 7.01069467e-02 9.28512211e-01 -3.64623216e-01 8.67496062e+01] [ 9.72145233e-01 1.83557159e-02 2.33659396e-01 7.47966085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.026875 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:172.96, Y:86.75, Z:74.82 [[ 2.23623208e-01 -3.71994798e-01 -9.00895405e-01 1.72962365e+02] [ 7.08049469e-02 9.28060720e-01 -3.65636375e-01 8.67524772e+01] [ 9.72100468e-01 1.79769280e-02 2.33874988e-01 7.48236503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.97, Y:86.75, Z:74.85 [[ 2.23575816e-01 -3.73327843e-01 -9.00355583e-01 1.72969115e+02] [ 7.22338164e-02 9.27544779e-01 -3.66664641e-01 8.67543095e+01] [ 9.72006240e-01 1.69412266e-02 2.34343476e-01 7.48509428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.086875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:172.98, Y:86.76, Z:74.88 [[ 2.22967268e-01 -3.74589845e-01 -8.99982247e-01 1.72976019e+02] [ 7.30211652e-02 9.27047656e-01 -3.67764263e-01 8.67567698e+01] [ 9.72087191e-01 1.62816406e-02 2.34054270e-01 7.48768859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.116875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:172.98, Y:86.76, Z:74.90 [[ 2.22772789e-01 -3.75988999e-01 -8.99446806e-01 1.72982950e+02] [ 7.44407007e-02 9.26499179e-01 -3.68860208e-01 8.67594051e+01] [ 9.72024108e-01 1.52165669e-02 2.34387691e-01 7.49043193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.99, Y:86.76, Z:74.93 [[ 2.22192215e-01 -3.77548512e-01 -8.98937006e-01 1.72990225e+02] [ 7.68677318e-02 9.25897372e-01 -3.69872151e-01 8.67611058e+01] [ 9.71968092e-01 1.30834639e-02 2.34748486e-01 7.49309135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.176875 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:173.00, Y:86.76, Z:74.96 [[ 2.21281626e-01 -3.78954811e-01 -8.98569804e-01 1.72997332e+02] [ 7.80909426e-02 9.25338299e-01 -3.71013256e-01 8.67637556e+01] [ 9.72078313e-01 1.19282537e-02 2.34353302e-01 7.49580411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.206875 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:173.00, Y:86.77, Z:74.98 [[ 2.20560834e-01 -3.80342261e-01 -8.98160722e-01 1.73004166e+02] [ 7.95471709e-02 9.24784822e-01 -3.72082358e-01 8.67661997e+01] [ 9.72124049e-01 1.06206509e-02 2.34226463e-01 7.49840093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.236875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:173.01, Y:86.77, Z:75.01 [[ 2.20227293e-01 -3.81778486e-01 -8.97633069e-01 1.73010725e+02] [ 8.11627186e-02 9.24206788e-01 -3.73168095e-01 8.67683695e+01] [ 9.72066126e-01 9.32745920e-03 2.34521739e-01 7.50109305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.266875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:173.02, Y:86.77, Z:75.04 [[ 2.19211720e-01 -3.83508458e-01 -8.97144071e-01 1.73017463e+02] [ 8.42166151e-02 9.23514663e-01 -3.74203460e-01 8.67687787e+01] [ 9.72035896e-01 6.47534726e-03 2.34743022e-01 7.50371672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.02, Y:86.77, Z:75.06 [[ 2.18388656e-01 -3.84990416e-01 -8.96709972e-01 1.73024085e+02] [ 8.58829696e-02 9.22907275e-01 -3.75321565e-01 8.67707054e+01] [ 9.72075363e-01 4.95385679e-03 2.34616600e-01 7.50634097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.32687500000003 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:173.03, Y:86.77, Z:75.09 [[ 2.17451141e-01 -3.86601950e-01 -8.96244350e-01 1.73031884e+02] [ 8.82789697e-02 9.22242640e-01 -3.76397843e-01 8.67717410e+01] [ 9.72070895e-01 2.72861245e-03 2.34671536e-01 7.50902009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.04, Y:86.77, Z:75.12 [[ 2.16761701e-01 -3.87831760e-01 -8.95879953e-01 1.73038379e+02] [ 8.92165201e-02 9.21728251e-01 -3.77435351e-01 8.67738380e+01] [ 9.72139279e-01 1.88623707e-03 2.34396384e-01 7.51175550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.38687500000003 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:173.05, Y:86.78, Z:75.14 [[ 2.16360135e-01 -3.88885050e-01 -8.95520357e-01 1.73045162e+02] [ 8.92704264e-02 9.21284221e-01 -3.78505186e-01 8.67754386e+01] [ 9.72223782e-01 1.94994887e-03 2.34045113e-01 7.51433966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.05, Y:86.78, Z:75.17 [[ 2.15480541e-01 -3.89682566e-01 -8.95385746e-01 1.73052447e+02] [ 8.91965614e-02 9.20947328e-01 -3.79341526e-01 8.67758473e+01] [ 9.72425889e-01 1.87538751e-03 2.33204573e-01 7.51711142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.44687500000003 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:173.09, Y:86.82, Z:75.18 [[ 2.25950806e-01 -4.38725861e-01 -8.69750454e-01 1.73089636e+02] [ 1.01229457e-01 8.98581412e-01 -4.26970776e-01 8.68188736e+01] [ 9.68864712e-01 8.43002492e-03 2.47447175e-01 7.51801403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.476875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:173.07, Y:86.79, Z:75.22 [[ 2.14984290e-01 -4.16706203e-01 -8.83254038e-01 1.73074693e+02] [ 8.84309446e-02 9.08991981e-01 -4.07324866e-01 8.67933245e+01] [ 9.72605636e-01 9.46145831e-03 2.32268719e-01 7.52201206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.07, Y:86.78, Z:75.25 [[ 2.14380070e-01 -3.91963191e-01 -8.94654147e-01 1.73072507e+02] [ 8.79880617e-02 9.19975444e-01 -3.81972883e-01 8.67816135e+01] [ 9.72779156e-01 3.16848930e-03 2.31712482e-01 7.52492224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.08, Y:86.78, Z:75.28 [[ 2.15052955e-01 -3.92680071e-01 -8.94178164e-01 1.73079633e+02] [ 8.64762180e-02 9.19661242e-01 -3.83073183e-01 8.67830594e+01] [ 9.72766205e-01 5.05587409e-03 2.31733355e-01 7.52763386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.56687500000004 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:173.09, Y:86.79, Z:75.30 [[ 2.16235758e-01 -3.93458104e-01 -8.93550680e-01 1.73085945e+02] [ 8.59365524e-02 9.19321317e-01 -3.84009407e-01 8.67853321e+01] [ 9.72551801e-01 6.24790044e-03 2.32602575e-01 7.53035480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.09, Y:86.79, Z:75.33 [[ 2.18234105e-01 -3.93710180e-01 -8.92953621e-01 1.73091528e+02] [ 8.30091578e-02 9.19181377e-01 -3.84987112e-01 8.67865116e+01] [ 9.72359684e-01 9.89398973e-03 2.33278275e-01 7.53303223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.62687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.10, Y:86.79, Z:75.36 [[ 2.19072896e-01 -3.94400519e-01 -8.92443442e-01 1.73097645e+02] [ 8.14964058e-02 9.18862279e-01 -3.86070523e-01 8.67890726e+01] [ 9.72299029e-01 1.18466546e-02 2.33440045e-01 7.53568489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.10, Y:86.79, Z:75.38 [[ 2.20123794e-01 -3.95149071e-01 -8.91853534e-01 1.73104519e+02] [ 8.04372652e-02 9.18518190e-01 -3.87110036e-01 8.67919913e+01] [ 9.72149866e-01 1.34738705e-02 2.33972419e-01 7.53838454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.686875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:173.13, Y:86.82, Z:75.40 [[ 2.31096819e-01 -4.27455775e-01 -8.73999897e-01 1.73133423e+02] [ 8.70073689e-02 9.03797165e-01 -4.19023152e-01 8.68227332e+01] [ 9.69032496e-01 2.07904859e-02 2.46056452e-01 7.53982599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.14, Y:86.83, Z:75.43 [[ 2.27869231e-01 -4.39948117e-01 -8.68631837e-01 1.73143605e+02] [ 8.25790399e-02 8.97619342e-01 -4.32966765e-01 8.68305591e+01] [ 9.70183651e-01 2.69290208e-02 2.40870322e-01 7.54261617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.746875 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:173.12, Y:86.80, Z:75.46 [[ 2.19274474e-01 -3.93329587e-01 -8.92866474e-01 1.73124721e+02] [ 7.38772095e-02 9.19204273e-01 -3.86788911e-01 8.67981181e+01] [ 9.72862202e-01 1.88504514e-02 2.30616126e-01 7.54645156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.13, Y:86.80, Z:75.49 [[ 2.18877636e-01 -3.94744344e-01 -8.92339332e-01 1.73131147e+02] [ 7.34819612e-02 9.18585614e-01 -3.88330879e-01 8.68004598e+01] [ 9.72981491e-01 1.94261008e-02 2.30064436e-01 7.54914754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.16, Y:86.83, Z:75.51 [[ 2.24680146e-01 -4.24119342e-01 -8.77292207e-01 1.73156636e+02] [ 8.01299585e-02 9.05303280e-01 -4.17139259e-01 8.68268290e+01] [ 9.71132340e-01 2.34255214e-02 2.37388338e-01 7.55094000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.14, Y:86.81, Z:75.55 [[ 2.17408666e-01 -3.99935180e-01 -8.90384930e-01 1.73144272e+02] [ 7.31913983e-02 9.16315754e-01 -3.93711135e-01 8.68070305e+01] [ 9.73332673e-01 2.04276945e-02 2.28486800e-01 7.55450703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.15, Y:86.81, Z:75.57 [[ 2.17878600e-01 -3.96246404e-01 -8.91917991e-01 1.73148773e+02] [ 7.38731845e-02 9.17946922e-01 -3.89764288e-01 8.68074202e+01] [ 9.73176073e-01 1.90324750e-02 2.29272974e-01 7.55723601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.15, Y:86.81, Z:75.60 [[ 2.17876601e-01 -3.97091217e-01 -8.91542681e-01 1.73154441e+02] [ 7.43487477e-02 9.17586567e-01 -3.90521645e-01 8.68101990e+01] [ 9.73140304e-01 1.88004467e-02 2.29443877e-01 7.55995521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.16, Y:86.81, Z:75.63 [[ 2.18224578e-01 -3.98074843e-01 -8.91018773e-01 1.73161132e+02] [ 7.46259250e-02 9.17157472e-01 -3.91475597e-01 8.68136450e+01] [ 9.73041112e-01 1.89364970e-02 2.29853006e-01 7.56262812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.956875 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:173.17, Y:86.82, Z:75.65 [[ 2.18185291e-01 -3.99248932e-01 -8.90502931e-01 1.73166869e+02] [ 7.52547293e-02 9.16653253e-01 -3.92534763e-01 8.68171161e+01] [ 9.73001493e-01 1.86307543e-02 2.30045627e-01 7.56523464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.17, Y:86.82, Z:75.68 [[ 2.18130350e-01 -3.99976771e-01 -8.90189718e-01 1.73172907e+02] [ 7.50431463e-02 9.16328416e-01 -3.93332888e-01 8.68205653e+01] [ 9.73030152e-01 1.89952031e-02 2.29894553e-01 7.56796309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.18, Y:86.82, Z:75.71 [[ 2.17756300e-01 -4.01040448e-01 -8.89802648e-01 1.73178869e+02] [ 7.51083759e-02 9.15862195e-01 -3.94404831e-01 8.68239455e+01] [ 9.73108897e-01 1.90525049e-02 2.29556260e-01 7.57054611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.046875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:173.19, Y:86.83, Z:75.73 [[ 2.17499689e-01 -4.02160079e-01 -8.89359970e-01 1.73185356e+02] [ 7.52252419e-02 9.15369618e-01 -3.95524493e-01 8.68278340e+01] [ 9.73157258e-01 1.91241354e-02 2.29345197e-01 7.57329318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.19, Y:86.83, Z:75.76 [[ 2.16905828e-01 -4.03409949e-01 -8.88938848e-01 1.73191421e+02] [ 7.60873862e-02 9.14834593e-01 -3.96595987e-01 8.68320093e+01] [ 9.73222776e-01 1.83869474e-02 2.29127363e-01 7.57589347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.20, Y:86.84, Z:75.79 [[ 2.16785803e-01 -4.04615893e-01 -8.88419887e-01 1.73197689e+02] [ 7.67259171e-02 9.14308628e-01 -3.97684380e-01 8.68357420e+01] [ 9.73199388e-01 1.80474972e-02 2.29253655e-01 7.57864430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.20, Y:86.84, Z:75.81 [[ 2.15865611e-01 -4.06070130e-01 -8.87980342e-01 1.73203600e+02] [ 7.86948343e-02 9.13698558e-01 -3.98700474e-01 8.68393943e+01] [ 9.73246711e-01 1.61862556e-02 2.29191719e-01 7.58139338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.21, Y:86.84, Z:75.84 [[ 2.15533860e-01 -4.07335702e-01 -8.87481144e-01 1.73209911e+02] [ 7.98239388e-02 9.13150112e-01 -3.99731175e-01 8.68431472e+01] [ 9.73228285e-01 1.53133624e-02 2.29329908e-01 7.58408348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.22, Y:86.85, Z:75.87 [[ 2.14978427e-01 -4.08563666e-01 -8.87051299e-01 1.73215890e+02] [ 8.05785537e-02 9.12611637e-01 -4.00808055e-01 8.68470263e+01] [ 9.73288946e-01 1.46877743e-02 2.29113283e-01 7.58668629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.22, Y:86.85, Z:75.89 [[ 2.14736162e-01 -4.09691145e-01 -8.86589841e-01 1.73221632e+02] [ 8.24279963e-02 9.12129613e-01 -4.01528573e-01 8.68512694e+01] [ 9.73187549e-01 1.31428806e-02 2.29637232e-01 7.58933930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.25687500000004 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:173.23, Y:86.86, Z:75.92 [[ 2.14422465e-01 -4.10968783e-01 -8.86074300e-01 1.73227704e+02] [ 8.33444163e-02 9.11563964e-01 -4.02622464e-01 8.68550159e+01] [ 9.73178665e-01 1.24819559e-02 2.29711746e-01 7.59204143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.286875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:173.23, Y:86.86, Z:75.95 [[ 2.14332811e-01 -4.12026886e-01 -8.85604478e-01 1.73234211e+02] [ 8.35777643e-02 9.11085948e-01 -4.03654745e-01 8.68584616e+01] [ 9.73178403e-01 1.24996138e-02 2.29711898e-01 7.59480731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.24, Y:86.86, Z:75.97 [[ 2.14193730e-01 -4.13140530e-01 -8.85119172e-01 1.73239798e+02] [ 8.44251441e-02 9.10589057e-01 -4.04598522e-01 8.68619374e+01] [ 9.73135880e-01 1.19361530e-02 2.29921916e-01 7.59741144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.346875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:173.25, Y:86.87, Z:76.00 [[ 2.14186994e-01 -4.14370193e-01 -8.84545801e-01 1.73245894e+02] [ 8.53369624e-02 9.10037022e-01 -4.05647903e-01 8.68660389e+01] [ 9.73057827e-01 1.14000531e-02 2.30279188e-01 7.60012086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.37687500000004 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:173.25, Y:86.87, Z:76.03 [[ 2.13894229e-01 -4.15651140e-01 -8.84015491e-01 1.73251742e+02] [ 8.67135664e-02 9.09465561e-01 -4.06636387e-01 8.68705694e+01] [ 9.73000522e-01 1.03210406e-02 2.30572028e-01 7.60268748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.406875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:173.26, Y:86.87, Z:76.05 [[ 2.13419167e-01 -4.16860662e-01 -8.83560665e-01 1.73257817e+02] [ 8.73341580e-02 9.08917007e-01 -4.07728610e-01 8.68743021e+01] [ 9.73049333e-01 9.85207351e-03 2.30386485e-01 7.60539563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.436875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:173.26, Y:86.88, Z:76.08 [[ 2.12966855e-01 -4.18070851e-01 -8.83097890e-01 1.73264037e+02] [ 8.83166504e-02 9.08369292e-01 -4.08736344e-01 8.68785159e+01] [ 9.73059756e-01 9.05504605e-03 2.30375168e-01 7.60812735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.27, Y:86.88, Z:76.11 [[ 2.12118717e-01 -4.19579650e-01 -8.82586295e-01 1.73270300e+02] [ 9.07007703e-02 9.07692622e-01 -4.09716334e-01 8.68834122e+01] [ 9.73025704e-01 6.85724629e-03 2.30594792e-01 7.61071143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.28, Y:86.89, Z:76.13 [[ 2.11405812e-01 -4.20962095e-01 -8.82098916e-01 1.73276237e+02] [ 9.22187735e-02 9.07061592e-01 -4.10773619e-01 8.68870032e+01] [ 9.73038170e-01 5.49385030e-03 2.30578701e-01 7.61340515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.526875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:173.28, Y:86.89, Z:76.16 [[ 2.10663282e-01 -4.22324992e-01 -8.81624967e-01 1.73282184e+02] [ 9.37032315e-02 9.06435010e-01 -4.11819471e-01 8.68903181e+01] [ 9.73057391e-01 4.14413295e-03 2.30525791e-01 7.61603907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.29, Y:86.89, Z:76.19 [[ 2.10087579e-01 -4.23855819e-01 -8.81027499e-01 1.73287692e+02] [ 9.58753211e-02 9.05726827e-01 -4.12876298e-01 8.68942671e+01] [ 9.72970263e-01 2.27138745e-03 2.30919269e-01 7.61879409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.29, Y:86.90, Z:76.21 [[ 2.09660517e-01 -4.25126365e-01 -8.80516917e-01 1.73293371e+02] [ 9.69526204e-02 9.05132902e-01 -4.13925862e-01 8.68982545e+01] [ 9.72955630e-01 1.41548759e-03 2.30987747e-01 7.62144630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.30, Y:86.90, Z:76.24 [[ 2.09977226e-01 -4.26446908e-01 -8.79802591e-01 1.73299065e+02] [ 9.83574592e-02 9.04512399e-01 -4.14949551e-01 8.69028895e+01] [ 9.72746306e-01 5.94808037e-04 2.31871239e-01 7.62404512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.31, Y:86.91, Z:76.27 [[ 2.09568150e-01 -4.27635413e-01 -8.79323117e-01 1.73305041e+02] [ 9.87979462e-02 9.03951244e-01 -4.16066238e-01 8.69073479e+01] [ 9.72789883e-01 3.18913588e-04 2.31688890e-01 7.62672125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.676875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:173.31, Y:86.91, Z:76.29 [[ 2.09715469e-01 -4.28645450e-01 -8.78796052e-01 1.73311594e+02] [ 9.88739990e-02 9.03472602e-01 -4.17086549e-01 8.69117423e+01] [ 9.72750407e-01 5.79421459e-04 2.31854070e-01 7.62928132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.32, Y:86.92, Z:76.32 [[ 2.09750596e-01 -4.29769808e-01 -8.78238350e-01 1.73317741e+02] [ 9.92216846e-02 9.02938308e-01 -4.18159622e-01 8.69160752e+01] [ 9.72707430e-01 5.68941427e-04 2.32034333e-01 7.63186755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.736875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:173.32, Y:86.92, Z:76.35 [[ 2.09955126e-01 -4.30907400e-01 -8.77631846e-01 1.73323854e+02] [ 9.97872268e-02 9.02396045e-01 -4.19194330e-01 8.69207241e+01] [ 9.72605447e-01 4.35550274e-04 2.32461730e-01 7.63456762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.33, Y:86.92, Z:76.37 [[ 2.09933019e-01 -4.31939690e-01 -8.77129541e-01 1.73329547e+02] [ 1.00111735e-01 9.01902404e-01 -4.20178170e-01 8.69245462e+01] [ 9.72576870e-01 3.98311513e-04 2.32581327e-01 7.63734306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.34, Y:86.93, Z:76.40 [[ 2.10699720e-01 -4.32837119e-01 -8.76503084e-01 1.73335754e+02] [ 1.00071132e-01 9.01471573e-01 -4.21111352e-01 8.69284289e+01] [ 9.72415239e-01 1.01538782e-03 2.33254308e-01 7.64008809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.34, Y:86.93, Z:76.43 [[ 2.11862049e-01 -4.33603770e-01 -8.75843732e-01 1.73341223e+02] [ 9.95851340e-02 9.01100982e-01 -4.22018745e-01 8.69328183e+01] [ 9.72212566e-01 2.18874053e-03 2.34089590e-01 7.64285579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.35, Y:86.94, Z:76.45 [[ 2.12332013e-01 -4.34407881e-01 -8.75331314e-01 1.73346807e+02] [ 9.87219412e-02 9.00709797e-01 -4.23055362e-01 8.69366164e+01] [ 9.72198074e-01 3.41379015e-03 2.34135114e-01 7.64544698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.35, Y:86.94, Z:76.48 [[ 2.13138296e-01 -4.34928872e-01 -8.74876530e-01 1.73353014e+02] [ 9.79834209e-02 9.00453068e-01 -4.23772961e-01 8.69410568e+01] [ 9.72096351e-01 4.59885133e-03 2.34536851e-01 7.64817436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.916875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:173.36, Y:86.95, Z:76.51 [[ 2.14720537e-01 -4.35169648e-01 -8.74369755e-01 1.73359290e+02] [ 9.48450334e-02 9.00310390e-01 -4.24788915e-01 8.69470572e+01] [ 9.72059417e-01 8.28127514e-03 2.34588810e-01 7.65081622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.37, Y:86.95, Z:76.53 [[ 2.15269221e-01 -4.35900204e-01 -8.73870800e-01 1.73365174e+02] [ 9.37690043e-02 8.99942507e-01 -4.25806128e-01 8.69517974e+01] [ 9.72042456e-01 9.72095876e-03 2.34603851e-01 7.65344537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.37, Y:86.96, Z:76.56 [[ 2.16082565e-01 -4.36455526e-01 -8.73392752e-01 1.73370754e+02] [ 9.16344149e-02 8.99642934e-01 -4.26902479e-01 8.69563445e+01] [ 9.72065563e-01 1.22133488e-02 2.34391499e-01 7.65608584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.00687500000004 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:173.38, Y:86.96, Z:76.59 [[ 2.16248999e-01 -4.37328581e-01 -8.72914706e-01 1.73376378e+02] [ 9.08890607e-02 8.99204726e-01 -4.27983692e-01 8.69600817e+01] [ 9.72098529e-01 1.32126471e-02 2.34200505e-01 7.65880710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.036875 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:173.38, Y:86.96, Z:76.61 [[ 2.16359363e-01 -4.38115117e-01 -8.72492848e-01 1.73382110e+02] [ 8.99328182e-02 8.98804201e-01 -4.29025752e-01 8.69637528e+01] [ 9.72162905e-01 1.43579979e-02 2.33865632e-01 7.66149715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.39, Y:86.97, Z:76.64 [[ 2.16521597e-01 -4.39018557e-01 -8.71998340e-01 1.73388260e+02] [ 8.96534687e-02 8.98353902e-01 -4.30026188e-01 8.69680728e+01] [ 9.72152588e-01 1.49322812e-02 2.33872558e-01 7.66416793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.39, Y:86.97, Z:76.67 [[ 2.16261738e-01 -4.39782052e-01 -8.71678041e-01 1.73394000e+02] [ 8.83104232e-02 8.97957347e-01 -4.31130923e-01 8.69724734e+01] [ 9.72333343e-01 1.62588661e-02 2.33031156e-01 7.66678043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.12687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.40, Y:86.98, Z:76.70 [[ 2.15825659e-01 -4.40835070e-01 -8.71254111e-01 1.73400385e+02] [ 8.81130087e-02 8.97436033e-01 -4.32255324e-01 8.69766880e+01] [ 9.72448139e-01 1.65229689e-02 2.32533027e-01 7.66951405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.41, Y:86.98, Z:76.72 [[ 2.15335456e-01 -4.41901094e-01 -8.70835268e-01 1.73406346e+02] [ 8.83429635e-02 8.96914394e-01 -4.33289846e-01 8.69804698e+01] [ 9.72535944e-01 1.63704983e-02 2.32176322e-01 7.67222917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.186875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:173.41, Y:86.98, Z:76.75 [[ 2.15462804e-01 -4.42987780e-01 -8.70251462e-01 1.73412580e+02] [ 8.88726380e-02 8.96380718e-01 -4.34284771e-01 8.69844304e+01] [ 9.72459477e-01 1.62306711e-02 2.32506195e-01 7.67484808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.42, Y:86.99, Z:76.78 [[ 2.15055579e-01 -4.44064128e-01 -8.69803511e-01 1.73418514e+02] [ 8.87423889e-02 8.95843977e-01 -4.35417452e-01 8.69877633e+01] [ 9.72561508e-01 1.64505107e-02 2.32063557e-01 7.67758642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.42, Y:86.99, Z:76.80 [[ 2.15133156e-01 -4.45081040e-01 -8.69264398e-01 1.73424577e+02] [ 8.87858078e-02 8.95334230e-01 -4.36455835e-01 8.69911441e+01] [ 9.72540388e-01 1.67177794e-02 2.32132958e-01 7.68024138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.44, Y:87.02, Z:76.82 [[ 2.20364452e-01 -4.74473562e-01 -8.52240780e-01 1.73444925e+02] [ 9.72006613e-02 8.80051694e-01 -4.64823674e-01 8.70211135e+01] [ 9.70562486e-01 1.95922469e-02 2.40051253e-01 7.68167256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.306875 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:173.45, Y:87.02, Z:76.85 [[ 2.14909029e-01 -4.82366272e-01 -8.49197791e-01 1.73446736e+02] [ 8.81009639e-02 8.75544908e-01 -4.75036140e-01 8.70181467e+01] [ 9.72652214e-01 2.72744117e-02 2.30659440e-01 7.68510553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.44, Y:87.00, Z:76.88 [[ 2.14264239e-01 -4.47249533e-01 -8.68365528e-01 1.73441735e+02] [ 8.81195019e-02 8.94237884e-01 -4.38832042e-01 8.70011337e+01] [ 9.72792778e-01 1.75060758e-02 2.31014606e-01 7.68826160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.366875 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:173.47, Y:87.04, Z:76.89 [[ 2.21253926e-01 -4.83834114e-01 -8.46729739e-01 1.73466206e+02] [ 9.86506865e-02 8.74898593e-01 -4.74152396e-01 8.70377889e+01] [ 9.70213761e-01 2.13776091e-02 2.41305316e-01 7.68927920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.396875 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:173.47, Y:87.03, Z:76.93 [[ 2.14381291e-01 -4.95633959e-01 -8.41657674e-01 1.73466853e+02] [ 8.74652209e-02 8.67971480e-01 -4.88851046e-01 8.70336195e+01] [ 9.72826036e-01 3.11847441e-02 2.29427581e-01 7.69304015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.426875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:173.46, Y:87.01, Z:76.96 [[ 2.12607158e-01 -4.48029068e-01 -8.68370975e-01 1.73458018e+02] [ 8.76122077e-02 8.93849481e-01 -4.39724011e-01 8.70089485e+01] [ 9.73202085e-01 1.74085740e-02 2.29291614e-01 7.69624608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.46, Y:87.01, Z:76.99 [[ 2.12153986e-01 -4.49229051e-01 -8.67861709e-01 1.73464312e+02] [ 8.80478910e-02 8.93252685e-01 -4.40848284e-01 8.70125862e+01] [ 9.73261658e-01 1.71143273e-02 2.29060788e-01 7.69894161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.47, Y:87.02, Z:77.02 [[ 2.10395426e-01 -4.50599114e-01 -8.67579508e-01 1.73470476e+02] [ 8.90397087e-02 8.92587555e-01 -4.41994781e-01 8.70158421e+01] [ 9.73553129e-01 1.57446537e-02 2.27917553e-01 7.70153481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.516875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:173.48, Y:87.02, Z:77.04 [[ 2.09683228e-01 -4.51887228e-01 -8.67081817e-01 1.73476711e+02] [ 8.99144521e-02 8.91949821e-01 -4.43103721e-01 8.70194836e+01] [ 9.73626384e-01 1.49482321e-02 2.27658110e-01 7.70410592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.48, Y:87.02, Z:77.07 [[ 2.08523247e-01 -4.53519210e-01 -8.66509308e-01 1.73483021e+02] [ 9.24580497e-02 8.91158781e-01 -4.44170617e-01 8.70224521e+01] [ 9.73637286e-01 1.25041386e-02 2.27758824e-01 7.70680685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.49, Y:87.03, Z:77.10 [[ 2.07365590e-01 -4.54899916e-01 -8.66063265e-01 1.73488795e+02] [ 9.39040010e-02 8.90474627e-01 -4.45238114e-01 8.70253938e+01] [ 9.73746143e-01 1.10002586e-02 2.27370719e-01 7.70952541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.50, Y:87.03, Z:77.12 [[ 2.06567456e-01 -4.56286175e-01 -8.65524588e-01 1.73495046e+02] [ 9.55746410e-02 8.89782786e-01 -4.46264587e-01 8.70284506e+01] [ 9.73753241e-01 9.46153884e-03 2.27409554e-01 7.71222250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.63687500000003 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:173.50, Y:87.03, Z:77.15 [[ 2.05958022e-01 -4.57700492e-01 -8.64922859e-01 1.73501806e+02] [ 9.75448776e-02 8.89072692e-01 -4.47252440e-01 8.70318608e+01] [ 9.73686957e-01 7.74643335e-03 2.27757992e-01 7.71497847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.51, Y:87.03, Z:77.18 [[ 2.03871430e-01 -4.59681993e-01 -8.64366187e-01 1.73508149e+02] [ 1.01921520e-01 8.88077503e-01 -4.48252554e-01 8.70338941e+01] [ 9.73677793e-01 3.28837304e-03 2.27905118e-01 7.71756675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.51, Y:87.04, Z:77.20 [[ 2.02153423e-01 -4.61317207e-01 -8.63898390e-01 1.73514511e+02] [ 1.04318338e-01 8.87234983e-01 -4.49368189e-01 8.70366905e+01] [ 9.73782151e-01 7.20873637e-04 2.27481434e-01 7.72028457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.52, Y:87.04, Z:77.23 [[ 2.01099392e-01 -4.62850143e-01 -8.63324261e-01 1.73521155e+02] [ 1.06707024e-01 8.86435187e-01 -4.50384581e-01 8.70394365e+01] [ 9.73741570e-01 -1.55069688e-03 2.27650939e-01 7.72303250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.75687500000004 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:173.53, Y:87.04, Z:77.26 [[ 1.98674245e-01 -4.64654042e-01 -8.62916662e-01 1.73527435e+02] [ 1.09976113e-01 8.85477021e-01 -4.51481671e-01 8.70408671e+01] [ 9.73875659e-01 -5.20244001e-03 2.27022324e-01 7.72566624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.53, Y:87.04, Z:77.28 [[ 1.98201736e-01 -4.66052061e-01 -8.62271157e-01 1.73533976e+02] [ 1.11669200e-01 8.84732695e-01 -4.52524085e-01 8.70438096e+01] [ 9.73779267e-01 -6.59807135e-03 2.27399217e-01 7.72837181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.54, Y:87.05, Z:77.31 [[ 1.97607472e-01 -4.67272319e-01 -8.61746985e-01 1.73539960e+02] [ 1.12598981e-01 8.84082437e-01 -4.53563351e-01 8.70465153e+01] [ 9.73792974e-01 -7.40432557e-03 2.27315683e-01 7.73101244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.55, Y:87.05, Z:77.34 [[ 1.97336959e-01 -4.68437260e-01 -8.61176322e-01 1.73546764e+02] [ 1.13067177e-01 8.83463633e-01 -4.54651319e-01 8.70497587e+01] [ 9.73793581e-01 -7.65126713e-03 2.27304906e-01 7.73373919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.87687500000004 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:173.55, Y:87.05, Z:77.36 [[ 1.97144700e-01 -4.69387706e-01 -8.60702706e-01 1.73552960e+02] [ 1.12705551e-01 8.82963107e-01 -4.55712202e-01 8.70533256e+01] [ 9.73874441e-01 -7.16472714e-03 2.26974097e-01 7.73636658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.56, Y:87.06, Z:77.39 [[ 1.97780469e-01 -4.70161776e-01 -8.60134170e-01 1.73560159e+02] [ 1.11468329e-01 8.82562907e-01 -4.56790463e-01 8.70571119e+01] [ 9.73887929e-01 -5.53348696e-03 2.26961853e-01 7.73899089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.936875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:173.57, Y:87.06, Z:77.42 [[ 1.97901965e-01 -4.71048753e-01 -8.59620779e-01 1.73566277e+02] [ 1.10680463e-01 8.82095560e-01 -4.57883455e-01 8.70605325e+01] [ 9.73953103e-01 -4.52719026e-03 2.26704339e-01 7.74170054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.966875 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:173.57, Y:87.06, Z:77.44 [[ 1.98398924e-01 -4.71840991e-01 -8.59071561e-01 1.73572526e+02] [ 1.09928246e-01 8.81677118e-01 -4.58869525e-01 8.70642408e+01] [ 9.73937189e-01 -3.39700945e-03 2.26792444e-01 7.74444634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.58, Y:87.07, Z:77.47 [[ 1.99655056e-01 -4.72471736e-01 -8.58433642e-01 1.73577548e+02] [ 1.08533759e-01 8.81344773e-01 -4.59838900e-01 8.70670928e+01] [ 9.73836887e-01 -1.35986852e-03 2.27244073e-01 7.74704685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.026875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:173.58, Y:87.07, Z:77.50 [[ 2.00473347e-01 -4.73285321e-01 -8.57794522e-01 1.73583638e+02] [ 1.07647387e-01 8.80909191e-01 -4.60880720e-01 8.70702287e+01] [ 9.73767158e-01 5.49613753e-05 2.27546742e-01 7.74976782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.59, Y:87.07, Z:77.52 [[ 2.01026441e-01 -4.74060696e-01 -8.57236739e-01 1.73589658e+02] [ 1.06846339e-01 8.80491274e-01 -4.61864674e-01 8.70734117e+01] [ 9.73741357e-01 1.25440467e-03 2.27653677e-01 7.75249949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.60, Y:87.08, Z:77.55 [[ 2.01807245e-01 -4.74784180e-01 -8.56652682e-01 1.73595598e+02] [ 1.05883280e-01 8.80098121e-01 -4.62834775e-01 8.70769428e+01] [ 9.73685045e-01 2.69821526e-03 2.27881883e-01 7.75520577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.60, Y:87.08, Z:77.58 [[ 2.03578940e-01 -4.75130536e-01 -8.56041231e-01 1.73601218e+02] [ 1.03366422e-01 8.79895329e-01 -4.63788307e-01 8.70813109e+01] [ 9.73586667e-01 5.93161258e-03 2.28240702e-01 7.75782996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.146875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:173.61, Y:87.09, Z:77.60 [[ 2.04682678e-01 -4.75770512e-01 -8.55422364e-01 1.73607328e+02] [ 1.01882774e-01 8.79533213e-01 -4.64802354e-01 8.70856327e+01] [ 9.73511634e-01 7.98418709e-03 2.28498033e-01 7.76049500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.176875 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:173.61, Y:87.09, Z:77.63 [[ 2.05305456e-01 -4.76351502e-01 -8.54949657e-01 1.73613017e+02] [ 1.00185456e-01 8.79198314e-01 -4.65803821e-01 8.70898116e+01] [ 9.73556647e-01 9.97854471e-03 2.28227703e-01 7.76312191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.206875 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:173.62, Y:87.10, Z:77.66 [[ 2.06332529e-01 -4.76653391e-01 -8.54534044e-01 1.73619439e+02] [ 9.68685816e-02 8.78986732e-01 -4.66903419e-01 8.70954230e+01] [ 9.73675185e-01 1.35598626e-02 2.27536293e-01 7.76583810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.236875 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:173.63, Y:87.10, Z:77.69 [[ 2.06227720e-01 -4.77678411e-01 -8.53986805e-01 1.73625635e+02] [ 9.70943261e-02 8.78429843e-01 -4.67903518e-01 8.70993136e+01] [ 9.73674904e-01 1.35774021e-02 2.27536447e-01 7.76860483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.63, Y:87.10, Z:77.71 [[ 2.06347399e-01 -4.78393838e-01 -8.53557313e-01 1.73631258e+02] [ 9.60535852e-02 8.78021245e-01 -4.68884210e-01 8.71034399e+01] [ 9.73752771e-01 1.47657970e-02 2.27128843e-01 7.77121512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.64, Y:87.11, Z:77.74 [[ 2.07379160e-01 -4.79080213e-01 -8.52922056e-01 1.73636973e+02] [ 9.47824784e-02 8.77614028e-01 -4.69904140e-01 8.71074384e+01] [ 9.73658136e-01 1.66062595e-02 2.27407270e-01 7.77394016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.64, Y:87.11, Z:77.77 [[ 2.07406212e-01 -4.79970667e-01 -8.52414701e-01 1.73642745e+02] [ 9.42918960e-02 8.77113960e-01 -4.70935388e-01 8.71113379e+01] [ 9.73700006e-01 1.72991267e-02 2.27176228e-01 7.77660360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.65, Y:87.12, Z:77.79 [[ 2.07342346e-01 -4.80708544e-01 -8.52014347e-01 1.73648376e+02] [ 9.43836366e-02 8.76708152e-01 -4.71672075e-01 8.71150618e+01] [ 9.73704719e-01 1.73813822e-02 2.27149746e-01 7.77922490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.65, Y:87.12, Z:77.82 [[ 2.06979117e-01 -4.81518415e-01 -8.51645267e-01 1.73653796e+02] [ 9.48488001e-02 8.76271136e-01 -4.72390305e-01 8.71184305e+01] [ 9.73736797e-01 1.69973967e-02 2.27041270e-01 7.78192821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.416875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:173.66, Y:87.12, Z:77.85 [[ 2.07289245e-01 -4.82579354e-01 -8.50969057e-01 1.73659932e+02] [ 9.54637284e-02 8.75689529e-01 -4.73343983e-01 8.71216499e+01] [ 9.73610726e-01 1.68824381e-02 2.27589846e-01 7.78455882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.67, Y:87.13, Z:77.87 [[ 2.07105491e-01 -4.83766523e-01 -8.50339501e-01 1.73665563e+02] [ 9.61622438e-02 8.75041918e-01 -4.74399057e-01 8.71253817e+01] [ 9.73581090e-01 1.64800955e-02 2.27746061e-01 7.78729878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.67, Y:87.13, Z:77.90 [[ 2.07399139e-01 -4.84857757e-01 -8.49646134e-01 1.73671738e+02] [ 9.69335969e-02 8.74442471e-01 -4.75346446e-01 8.71291298e+01] [ 9.73442076e-01 1.62271876e-02 2.28357622e-01 7.78988039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.68, Y:87.13, Z:77.93 [[ 2.07283380e-01 -4.85986634e-01 -8.49029206e-01 1.73677721e+02] [ 9.73402778e-02 8.73817799e-01 -4.76410878e-01 8.71331550e+01] [ 9.73426151e-01 1.61073184e-02 2.28433981e-01 7.79262527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.536875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:173.68, Y:87.14, Z:77.95 [[ 2.07221481e-01 -4.86979671e-01 -8.48475137e-01 1.73683705e+02] [ 9.73577529e-02 8.73260676e-01 -4.77427754e-01 8.71364305e+01] [ 9.73437582e-01 1.63276535e-02 2.28369617e-01 7.79531777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.56687500000004 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:173.69, Y:87.14, Z:77.98 [[ 2.07328074e-01 -4.87968971e-01 -8.47880507e-01 1.73689297e+02] [ 9.75074716e-02 8.72704750e-01 -4.78412700e-01 8.71394574e+01] [ 9.73399899e-01 1.65136992e-02 2.28516815e-01 7.79790508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.596875 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:173.70, Y:87.14, Z:78.00 [[ 2.07509275e-01 -4.89009215e-01 -8.47236619e-01 1.73695949e+02] [ 9.76657169e-02 8.72117892e-01 -4.79449465e-01 8.71435128e+01] [ 9.73345421e-01 1.67442391e-02 2.28731987e-01 7.80048908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.62687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.70, Y:87.15, Z:78.03 [[ 2.07706502e-01 -4.89995348e-01 -8.46618313e-01 1.73701284e+02] [ 9.76123888e-02 8.71556162e-01 -4.80480674e-01 8.71476762e+01] [ 9.73308703e-01 1.71585242e-02 2.28857498e-01 7.80320067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.656875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:173.71, Y:87.15, Z:78.06 [[ 2.08079505e-01 -4.90867749e-01 -8.46021142e-01 1.73707028e+02] [ 9.72389830e-02 8.71049814e-01 -4.81473574e-01 8.71513010e+01] [ 9.73266408e-01 1.79185473e-02 2.28979094e-01 7.80578124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.686875 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:173.71, Y:87.16, Z:78.09 [[ 2.08579590e-01 -4.91875240e-01 -8.45312548e-01 1.73713573e+02] [ 9.74015956e-02 8.70473329e-01 -4.82482241e-01 8.71556505e+01] [ 9.73143095e-01 1.83011572e-02 2.29472403e-01 7.80853052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.72, Y:87.16, Z:78.11 [[ 2.08528454e-01 -4.92823193e-01 -8.44772860e-01 1.73719635e+02] [ 9.72247283e-02 8.69928713e-01 -4.83499107e-01 8.71594613e+01] [ 9.73171740e-01 1.86905094e-02 2.29319490e-01 7.81125015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.746875 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:173.73, Y:87.16, Z:78.14 [[ 2.08204274e-01 -4.93852916e-01 -8.44251312e-01 1.73725736e+02] [ 9.73653689e-02 8.69344822e-01 -4.84519933e-01 8.71635604e+01] [ 9.73227088e-01 1.86782806e-02 2.29085479e-01 7.81386518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.73, Y:87.17, Z:78.17 [[ 2.07833474e-01 -4.94919465e-01 -8.43717945e-01 1.73731644e+02] [ 9.73746544e-02 8.68736121e-01 -4.85608617e-01 8.71677892e+01] [ 9.73305411e-01 1.87689824e-02 2.28745058e-01 7.81657183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.74, Y:87.17, Z:78.19 [[ 2.07416590e-01 -4.95984630e-01 -8.43194880e-01 1.73737246e+02] [ 9.77565284e-02 8.68134148e-01 -4.86607400e-01 8.71716851e+01] [ 9.73356060e-01 1.85026436e-02 2.28551161e-01 7.81927390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.74, Y:87.18, Z:78.22 [[ 2.07505130e-01 -4.97007880e-01 -8.42570346e-01 1.73742961e+02] [ 9.82049341e-02 8.67550371e-01 -4.87557324e-01 8.71753669e+01] [ 9.73292049e-01 1.84260808e-02 2.28829779e-01 7.82192438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.866875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:173.75, Y:87.18, Z:78.25 [[ 2.07634821e-01 -4.97854091e-01 -8.42038648e-01 1.73748679e+02] [ 9.91715535e-02 8.67076848e-01 -4.88203587e-01 8.71783667e+01] [ 9.73166370e-01 1.78617833e-02 2.29408310e-01 7.82464327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.896875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:173.75, Y:87.18, Z:78.27 [[ 2.06826092e-01 -4.99056768e-01 -8.41525585e-01 1.73754452e+02] [ 9.99702448e-02 8.66401353e-01 -4.89238844e-01 8.71822856e+01] [ 9.73256861e-01 1.70598396e-02 2.29085234e-01 7.82734526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.926875 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:173.76, Y:87.19, Z:78.30 [[ 2.06522502e-01 -5.00269691e-01 -8.40879713e-01 1.73760414e+02] [ 1.01010672e-01 8.65716069e-01 -4.90237221e-01 8.71860096e+01] [ 9.73213903e-01 1.63071926e-02 2.29322426e-01 7.82996240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.77, Y:87.19, Z:78.33 [[ 2.05534110e-01 -5.01812923e-01 -8.40202071e-01 1.73766645e+02] [ 1.03236748e-01 8.64859019e-01 -4.91285101e-01 8.71895916e+01] [ 9.73189552e-01 1.42361169e-02 2.29563563e-01 7.83262967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.77, Y:87.19, Z:78.35 [[ 2.04725192e-01 -5.03151308e-01 -8.39598926e-01 1.73772457e+02] [ 1.04640345e-01 8.64101535e-01 -4.92319952e-01 8.71931231e+01] [ 9.73210149e-01 1.29343756e-02 2.29553279e-01 7.83529727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.78, Y:87.20, Z:78.38 [[ 2.04279337e-01 -5.04146732e-01 -8.39110258e-01 1.73778034e+02] [ 1.06135448e-01 8.63539466e-01 -4.92985656e-01 8.71964087e+01] [ 9.73141932e-01 1.16474399e-02 2.29911109e-01 7.83805027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.78, Y:87.20, Z:78.41 [[ 2.03272343e-01 -5.05647655e-01 -8.38451432e-01 1.73783299e+02] [ 1.08841980e-01 8.62691737e-01 -4.93878922e-01 8.71993930e+01] [ 9.73053841e-01 9.13321129e-03 2.30397062e-01 7.84076358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.79, Y:87.20, Z:78.43 [[ 2.02406029e-01 -5.06886764e-01 -8.37912649e-01 1.73788763e+02] [ 1.09811199e-01 8.61974009e-01 -4.94916466e-01 8.72032154e+01] [ 9.73125532e-01 8.16188370e-03 2.30130579e-01 7.84338421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.106875 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:173.79, Y:87.21, Z:78.46 [[ 2.01444930e-01 -5.08338735e-01 -8.37264397e-01 1.73794524e+02] [ 1.11705034e-01 8.61133564e-01 -4.95954605e-01 8.72080664e+01] [ 9.73109411e-01 6.38089245e-03 2.30254986e-01 7.84595325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.80, Y:87.21, Z:78.49 [[ 2.00809469e-01 -5.09352567e-01 -8.36800765e-01 1.73800501e+02] [ 1.13153873e-01 8.60543150e-01 -4.96650470e-01 8.72124987e+01] [ 9.73073357e-01 5.04486943e-03 2.30440428e-01 7.84862864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.81, Y:87.22, Z:78.51 [[ 2.00180069e-01 -5.10494387e-01 -8.36255596e-01 1.73806642e+02] [ 1.13884582e-01 8.59869916e-01 -4.97648499e-01 8.72167103e+01] [ 9.73117794e-01 4.38269172e-03 2.30266260e-01 7.85131950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.81, Y:87.22, Z:78.54 [[ 1.99061776e-01 -5.11796701e-01 -8.35726359e-01 1.73812743e+02] [ 1.15170803e-01 8.59101296e-01 -4.98678904e-01 8.72211346e+01] [ 9.73195816e-01 3.01663229e-03 2.29958267e-01 7.85396379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.82, Y:87.23, Z:78.57 [[ 1.97264555e-01 -5.13397289e-01 -8.35170593e-01 1.73819241e+02] [ 1.17494951e-01 8.58150927e-01 -4.99771871e-01 8.72252497e+01] [ 9.73283942e-01 4.58947815e-04 2.29604349e-01 7.85664345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.25687500000004 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:173.83, Y:87.23, Z:78.59 [[ 1.96605437e-01 -5.14656975e-01 -8.34550478e-01 1.73825400e+02] [ 1.18875844e-01 8.57395837e-01 -5.00740364e-01 8.72290274e+01] [ 9.73249627e-01 -7.59613873e-04 2.29748965e-01 7.85932152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.286875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:173.83, Y:87.23, Z:78.62 [[ 1.96212853e-01 -5.15844004e-01 -8.33909755e-01 1.73831093e+02] [ 1.19997200e-01 8.56680987e-01 -5.01695484e-01 8.72325479e+01] [ 9.73191239e-01 -1.62773338e-03 2.29991657e-01 7.86192902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.84, Y:87.24, Z:78.65 [[ 1.95826884e-01 -5.17017139e-01 -8.33273730e-01 1.73836698e+02] [ 1.20714118e-01 8.55972371e-01 -5.02731938e-01 8.72365820e+01] [ 9.73180319e-01 -2.13947455e-03 2.30033670e-01 7.86469701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.84, Y:87.24, Z:78.67 [[ 1.95478687e-01 -5.18094096e-01 -8.32686370e-01 1.73842721e+02] [ 1.21233689e-01 8.55320021e-01 -5.03716244e-01 8.72411262e+01] [ 9.73185735e-01 -2.48385034e-03 2.30007293e-01 7.86731335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.37687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.85, Y:87.25, Z:78.70 [[ 1.95320872e-01 -5.19130386e-01 -8.32077760e-01 1.73848796e+02] [ 1.21330896e-01 8.54691781e-01 -5.04758134e-01 8.72451719e+01] [ 9.73205307e-01 -2.36694152e-03 2.29925699e-01 7.87002906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.85, Y:87.25, Z:78.73 [[ 1.95142258e-01 -5.20249787e-01 -8.31420265e-01 1.73854749e+02] [ 1.22147805e-01 8.54009323e-01 -5.05715325e-01 8.72491860e+01] [ 9.73138948e-01 -2.86972969e-03 2.30200677e-01 7.87263822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.86, Y:87.25, Z:78.75 [[ 1.94983642e-01 -5.21327909e-01 -8.30781915e-01 1.73861840e+02] [ 1.22432114e-01 8.53351493e-01 -5.06755964e-01 8.72531297e+01] [ 9.73135015e-01 -2.90526261e-03 2.30216859e-01 7.87531060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.87, Y:87.26, Z:78.78 [[ 1.94307588e-01 -5.22375260e-01 -8.30282271e-01 1.73867878e+02] [ 1.22576167e-01 8.52710066e-01 -5.07799790e-01 8.72569705e+01] [ 9.73252097e-01 -3.10346559e-03 2.29718793e-01 7.87794503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.87, Y:87.26, Z:78.81 [[ 1.94060299e-01 -5.23358061e-01 -8.29721002e-01 1.73874205e+02] [ 1.22285246e-01 8.52108561e-01 -5.08878492e-01 8.72606323e+01] [ 9.73338029e-01 -2.70952513e-03 2.29359411e-01 7.88064892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.88, Y:87.26, Z:78.83 [[ 1.94567835e-01 -5.24287519e-01 -8.29015051e-01 1.73880552e+02] [ 1.22467063e-01 8.51538096e-01 -5.09788868e-01 8.72641688e+01] [ 9.73213839e-01 -2.33852154e-03 2.29889877e-01 7.88327104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.556875 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:173.89, Y:87.27, Z:78.86 [[ 1.95238581e-01 -5.25126306e-01 -8.28326179e-01 1.73886636e+02] [ 1.21901559e-01 8.51023384e-01 -5.10782938e-01 8.72678911e+01] [ 9.73150506e-01 -1.24971611e-03 2.30166314e-01 7.88586820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.586875 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:173.89, Y:87.27, Z:78.89 [[ 1.95958427e-01 -5.25913355e-01 -8.27656594e-01 1.73892579e+02] [ 1.21201413e-01 8.50538149e-01 -5.11756852e-01 8.72719250e+01] [ 9.73093270e-01 -3.00808703e-05 2.30411560e-01 7.88860106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.90, Y:87.28, Z:78.91 [[ 1.98826355e-01 -5.26150120e-01 -8.26821705e-01 1.73898438e+02] [ 1.18660276e-01 8.50383173e-01 -5.12609206e-01 8.72756162e+01] [ 9.72824660e-01 3.80932867e-03 2.31511705e-01 7.89123629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.90, Y:87.28, Z:78.94 [[ 2.00078947e-01 -5.26864229e-01 -8.26064464e-01 1.73903786e+02] [ 1.17679352e-01 8.49931362e-01 -5.13583733e-01 8.72799145e+01] [ 9.72686992e-01 5.54656173e-03 2.32054413e-01 7.89393184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.91, Y:87.28, Z:78.97 [[ 2.01363780e-01 -5.27443351e-01 -8.25382420e-01 1.73909271e+02] [ 1.16453401e-01 8.49557280e-01 -5.14481325e-01 8.72843607e+01] [ 9.72569398e-01 7.47931458e-03 2.32492637e-01 7.89652098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.706875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:173.92, Y:87.29, Z:78.99 [[ 2.03504635e-01 -5.27724044e-01 -8.24677632e-01 1.73915248e+02] [ 1.13767896e-01 8.49343722e-01 -5.15433902e-01 8.72895331e+01] [ 9.72441633e-01 1.10713489e-02 2.32883439e-01 7.89922512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.92, Y:87.29, Z:79.02 [[ 2.04687704e-01 -5.28326282e-01 -8.23998959e-01 1.73921182e+02] [ 1.12404819e-01 8.48940689e-01 -5.16396033e-01 8.72933270e+01] [ 9.72351840e-01 1.30784645e-02 2.33154141e-01 7.90184090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.766875 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:173.93, Y:87.30, Z:79.05 [[ 2.04689198e-01 -5.28941875e-01 -8.23603561e-01 1.73927008e+02] [ 1.11878511e-01 8.48547260e-01 -5.17156404e-01 8.72976136e+01] [ 9.72412223e-01 1.37127897e-02 2.32865687e-01 7.90455933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.796875 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:173.93, Y:87.30, Z:79.07 [[ 2.05346235e-01 -5.29697240e-01 -8.22954287e-01 1.73933265e+02] [ 1.11140851e-01 8.48055373e-01 -5.18121410e-01 8.73017912e+01] [ 9.72358285e-01 1.49304413e-02 2.33015980e-01 7.90724047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.82687500000003 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:173.96, Y:87.35, Z:79.08 [[ 2.12748439e-01 -5.69576433e-01 -7.93927445e-01 1.73959594e+02] [ 1.23163317e-01 8.21679983e-01 -5.56482527e-01 8.73453260e+01] [ 9.69313623e-01 2.06080510e-02 2.44962057e-01 7.90841547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.856875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:173.95, Y:87.32, Z:79.12 [[ 2.05060003e-01 -5.52914557e-01 -8.07611223e-01 1.73950702e+02] [ 1.12116429e-01 8.32984291e-01 -5.41818306e-01 8.73231778e+01] [ 9.72306691e-01 2.05587771e-02 2.32802567e-01 7.91229906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.95, Y:87.31, Z:79.15 [[ 2.04040208e-01 -5.32430699e-01 -8.21513934e-01 1.73950398e+02] [ 1.12808104e-01 8.46365405e-01 -5.20518908e-01 8.73135295e+01] [ 9.72441220e-01 1.35333566e-02 2.32755071e-01 7.91533222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.916875 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:173.96, Y:87.32, Z:79.18 [[ 2.03446262e-01 -5.33824778e-01 -8.20756191e-01 1.73956595e+02] [ 1.15127973e-01 8.45515783e-01 -5.21391034e-01 8.73172787e+01] [ 9.72293767e-01 1.15830600e-02 2.33475190e-01 7.91792488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.98, Y:87.36, Z:79.19 [[ 2.09788333e-01 -5.68991999e-01 -7.95133297e-01 1.73980068e+02] [ 1.26243958e-01 8.22186207e-01 -5.55042615e-01 8.73550274e+01] [ 9.69562437e-01 1.60606902e-02 2.44316875e-01 7.91947491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.97, Y:87.33, Z:79.23 [[ 2.02551764e-01 -5.45669168e-01 -8.13153087e-01 1.73970159e+02] [ 1.17132200e-01 8.37903932e-01 -5.33101349e-01 8.73307889e+01] [ 9.72241138e-01 1.27342090e-02 2.33634350e-01 7.92321679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.97, Y:87.33, Z:79.26 [[ 2.01600503e-01 -5.36321194e-01 -8.19583318e-01 1.73972312e+02] [ 1.19396430e-01 8.43980064e-01 -5.22916958e-01 8.73287259e+01] [ 9.72163428e-01 7.56499918e-03 2.34181641e-01 7.92597395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.98, Y:87.33, Z:79.29 [[ 2.00903118e-01 -5.37313720e-01 -8.19104330e-01 1.73977591e+02] [ 1.20792017e-01 8.43359288e-01 -5.23597555e-01 8.73332348e+01] [ 9.72135395e-01 6.25111682e-03 2.34336719e-01 7.92869197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.06687500000004 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:173.98, Y:87.34, Z:79.31 [[ 2.00313840e-01 -5.38521959e-01 -8.18454926e-01 1.73983271e+02] [ 1.22166565e-01 8.42596174e-01 -5.24506452e-01 8.73380283e+01] [ 9.72085231e-01 5.07807441e-03 2.34573053e-01 7.93137914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.096875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:173.99, Y:87.34, Z:79.34 [[ 1.99355617e-01 -5.39980574e-01 -8.17727533e-01 1.73988589e+02] [ 1.24850703e-01 8.41673344e-01 -5.25355389e-01 8.73431730e+01] [ 9.71941171e-01 2.63869029e-03 2.35209263e-01 7.93394612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.12687500000004 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:173.99, Y:87.35, Z:79.37 [[ 1.99269198e-01 -5.40966857e-01 -8.17096473e-01 1.73994466e+02] [ 1.24991346e-01 8.41039406e-01 -5.26336281e-01 8.73475046e+01] [ 9.71940816e-01 2.75262071e-03 2.35209423e-01 7.93670929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.00, Y:87.35, Z:79.39 [[ 1.98769276e-01 -5.41894767e-01 -8.16603231e-01 1.73999671e+02] [ 1.26886786e-01 8.40445624e-01 -5.26830994e-01 8.73520836e+01] [ 9.71797571e-01 1.10165577e-03 2.35814054e-01 7.93938860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.186875 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:174.00, Y:87.36, Z:79.42 [[ 1.97754656e-01 -5.43145798e-01 -8.16018222e-01 1.74004813e+02] [ 1.28342297e-01 8.39638322e-01 -5.27764856e-01 8.73566127e+01] [ 9.71813434e-01 -3.61695580e-04 2.35750967e-01 7.94206781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.01, Y:87.36, Z:79.45 [[ 1.97187819e-01 -5.44324789e-01 -8.15369541e-01 1.74010171e+02] [ 1.29599041e-01 8.38873351e-01 -5.28673425e-01 8.73613615e+01] [ 9.71761829e-01 -1.42315135e-03 2.35959577e-01 7.94482467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.01, Y:87.37, Z:79.48 [[ 1.95706107e-01 -5.45626837e-01 -8.14856107e-01 1.74014912e+02] [ 1.31074720e-01 8.38022335e-01 -5.29658365e-01 8.73678026e+01] [ 9.71863436e-01 -3.14965957e-03 2.35523974e-01 7.94751268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.276875 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:174.02, Y:87.37, Z:79.50 [[ 1.94671840e-01 -5.46743136e-01 -8.14355461e-01 1.74020756e+02] [ 1.31684597e-01 8.37291153e-01 -5.30662504e-01 8.73736424e+01] [ 9.71988704e-01 -3.93302469e-03 2.34994659e-01 7.95020473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.03, Y:87.38, Z:79.53 [[ 1.93927935e-01 -5.47843463e-01 -8.13793276e-01 1.74026310e+02] [ 1.32205650e-01 8.36568856e-01 -5.31671154e-01 8.73789419e+01] [ 9.72066676e-01 -4.48218074e-03 2.34662072e-01 7.95279550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.03, Y:87.39, Z:79.56 [[ 1.92422373e-01 -5.49296340e-01 -8.13171053e-01 1.74031798e+02] [ 1.34132947e-01 8.35601814e-01 -5.32708138e-01 8.73860156e+01] [ 9.72101838e-01 -6.56806581e-03 2.34467221e-01 7.95552661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.04, Y:87.39, Z:79.58 [[ 1.92016614e-01 -5.50419896e-01 -8.12506959e-01 1.74036998e+02] [ 1.35224785e-01 8.34855090e-01 -5.33602133e-01 8.73909853e+01] [ 9.72030801e-01 -7.41060390e-03 2.34736460e-01 7.95824299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.06, Y:87.43, Z:79.60 [[ 1.96579042e-01 -5.83636447e-01 -7.87861142e-01 1.74058918e+02] [ 1.46661345e-01 8.12002638e-01 -5.64926691e-01 8.74307186e+01] [ 9.69457132e-01 -4.49602716e-03 2.45219607e-01 7.95956086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.05, Y:87.41, Z:79.63 [[ 1.89093334e-01 -5.68088351e-01 -8.00949022e-01 1.74050742e+02] [ 1.36960688e-01 8.22949590e-01 -5.51358089e-01 8.74117264e+01] [ 9.72360777e-01 -5.44038988e-03 2.33420053e-01 7.96336882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.05, Y:87.41, Z:79.66 [[ 1.88570427e-01 -5.51443826e-01 -8.12619776e-01 1.74051472e+02] [ 1.38061775e-01 8.34132837e-01 -5.34005015e-01 8.74060882e+01] [ 9.72306608e-01 -1.14941746e-02 2.33426099e-01 7.96627825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.486875 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:174.06, Y:87.41, Z:79.69 [[ 1.87957011e-01 -5.52572551e-01 -8.11994913e-01 1.74055932e+02] [ 1.38843894e-01 8.33375703e-01 -5.34983468e-01 8.74131646e+01] [ 9.72314011e-01 -1.21866416e-02 2.33360131e-01 7.96886984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.516875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:174.06, Y:87.42, Z:79.72 [[ 1.88015602e-01 -5.53609504e-01 -8.11274707e-01 1.74060952e+02] [ 1.39152755e-01 8.32688193e-01 -5.35972839e-01 8.74188203e+01] [ 9.72258527e-01 -1.21198547e-02 2.33594660e-01 7.97160593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.546875 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:174.07, Y:87.42, Z:79.74 [[ 1.88166994e-01 -5.54535524e-01 -8.10606893e-01 1.74066263e+02] [ 1.39271266e-01 8.32075409e-01 -5.36892940e-01 8.74247034e+01] [ 9.72212269e-01 -1.18687178e-02 2.33799993e-01 7.97434919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.07, Y:87.43, Z:79.77 [[ 1.88263946e-01 -5.55508875e-01 -8.09917636e-01 1.74071071e+02] [ 1.39510312e-01 8.31427765e-01 -5.37833380e-01 8.74306260e+01] [ 9.72159225e-01 -1.17372276e-02 2.34027088e-01 7.97708254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.08, Y:87.44, Z:79.80 [[ 1.88932402e-01 -5.56174699e-01 -8.09304795e-01 1.74075501e+02] [ 1.38222991e-01 8.31004463e-01 -5.38819067e-01 8.74380498e+01] [ 9.72213429e-01 -1.00641494e-02 2.33879799e-01 7.97981022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.63687500000003 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:174.08, Y:87.44, Z:79.83 [[ 1.89651282e-01 -5.56947962e-01 -8.08604575e-01 1.74080779e+02] [ 1.37610592e-01 8.30499622e-01 -5.39753372e-01 8.74440794e+01] [ 9.72160335e-01 -8.90763518e-03 2.34147257e-01 7.98255525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.666875 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:174.09, Y:87.45, Z:79.85 [[ 1.89739241e-01 -5.57708144e-01 -8.08059804e-01 1.74085406e+02] [ 1.36528609e-01 8.30001282e-01 -5.40793686e-01 8.74499342e+01] [ 9.72295716e-01 -7.71349750e-03 2.33626931e-01 7.98527207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.69687500000003 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:174.09, Y:87.46, Z:79.88 [[ 1.90567874e-01 -5.58361560e-01 -8.07413311e-01 1.74090691e+02] [ 1.35264591e-01 8.29576220e-01 -5.41762665e-01 8.74556429e+01] [ 9.72310329e-01 -5.97187242e-03 2.33617124e-01 7.98801572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.726875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.09, Y:87.46, Z:79.91 [[ 1.91720007e-01 -5.58715543e-01 -8.06895521e-01 1.74094677e+02] [ 1.32340619e-01 8.29354912e-01 -5.42822614e-01 8.74625687e+01] [ 9.72486195e-01 -2.71509744e-03 2.32944690e-01 7.99059356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.75687500000004 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:174.11, Y:87.49, Z:79.92 [[ 1.97247627e-01 -5.85107093e-01 -7.86602226e-01 1.74111775e+02] [ 1.39279083e-01 8.10952064e-01 -5.68294014e-01 8.74935015e+01] [ 9.70409558e-01 2.53740877e-03 2.41451550e-01 7.99242108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.786875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:174.11, Y:87.48, Z:79.96 [[ 1.93476214e-01 -5.68463640e-01 -7.99634944e-01 1.74106586e+02] [ 1.29310370e-01 8.22700057e-01 -5.53573342e-01 8.74784371e+01] [ 9.72546031e-01 3.70218393e-03 2.32681136e-01 7.99585880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.11, Y:87.48, Z:79.99 [[ 1.95789294e-01 -5.59671682e-01 -8.05254097e-01 1.74109025e+02] [ 1.25674194e-01 8.28695609e-01 -5.45407723e-01 8.74788769e+01] [ 9.72559792e-01 5.58533294e-03 2.32586016e-01 7.99873850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.846875 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:174.11, Y:87.48, Z:80.01 [[ 1.97115148e-01 -5.60126204e-01 -8.04614351e-01 1.74114326e+02] [ 1.23784692e-01 8.28367762e-01 -5.46337077e-01 8.74842554e+01] [ 9.72534302e-01 8.09237392e-03 2.32618884e-01 8.00141184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.87687500000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.12, Y:87.49, Z:80.04 [[ 1.97837304e-01 -5.60655065e-01 -8.04068591e-01 1.74119256e+02] [ 1.21923037e-01 8.27986031e-01 -5.47333451e-01 8.74894695e+01] [ 9.72622832e-01 1.02484897e-02 2.32163292e-01 8.00409001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.12, Y:87.50, Z:80.07 [[ 1.99672559e-01 -5.60870528e-01 -8.03464448e-01 1.74124400e+02] [ 1.18951953e-01 8.27786759e-01 -5.48287802e-01 8.74953437e+01] [ 9.72615701e-01 1.39043634e-02 2.32002945e-01 8.00676746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.936875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.13, Y:87.50, Z:80.09 [[ 2.00530661e-01 -5.61546519e-01 -8.02778276e-01 1.74129213e+02] [ 1.17885035e-01 8.27299860e-01 -5.49252273e-01 8.74995615e+01] [ 9.72569058e-01 1.55063768e-02 2.32096919e-01 8.00944325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.966875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:174.13, Y:87.50, Z:80.12 [[ 2.02222960e-01 -5.62007882e-01 -8.02030558e-01 1.74134033e+02] [ 1.15809837e-01 8.26927394e-01 -5.50253729e-01 8.75043673e+01] [ 9.72467972e-01 1.83909102e-02 2.32309747e-01 8.01215663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.996875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:174.14, Y:87.51, Z:80.15 [[ 2.02931087e-01 -5.62762033e-01 -8.01322575e-01 1.74139359e+02] [ 1.15143268e-01 8.26386797e-01 -5.51204944e-01 8.75093286e+01] [ 9.72399610e-01 1.95897184e-02 2.32497831e-01 8.01481852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.026875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.15, Y:87.51, Z:80.18 [[ 2.03509576e-01 -5.63532745e-01 -8.00633935e-01 1.74145161e+02] [ 1.14144298e-01 8.25826750e-01 -5.52251083e-01 8.75143511e+01] [ 9.72396489e-01 2.10005849e-02 2.32387701e-01 8.01755319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.056875 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:174.15, Y:87.52, Z:80.20 [[ 2.03896510e-01 -5.64200022e-01 -8.00065340e-01 1.74150774e+02] [ 1.12708949e-01 8.25327683e-01 -5.53290980e-01 8.75202796e+01] [ 9.72482857e-01 2.26395764e-02 2.31871825e-01 8.02013157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.086875 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:174.16, Y:87.53, Z:80.23 [[ 2.03706287e-01 -5.65125955e-01 -7.99460070e-01 1.74156306e+02] [ 1.12100649e-01 8.24675212e-01 -5.54386363e-01 8.75252637e+01] [ 9.72593026e-01 2.33119943e-02 2.31342512e-01 8.02286133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.116875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.16, Y:87.53, Z:80.26 [[ 2.03907217e-01 -5.65959694e-01 -7.98818798e-01 1.74161922e+02] [ 1.11722527e-01 8.24083737e-01 -5.55341401e-01 8.75299303e+01] [ 9.72594429e-01 2.39920645e-02 2.31267068e-01 8.02559663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.146875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:174.17, Y:87.53, Z:80.28 [[ 2.03929255e-01 -5.66864311e-01 -7.98171480e-01 1.74167525e+02] [ 1.11501484e-01 8.23448143e-01 -5.56327758e-01 8.75340623e+01] [ 9.72615175e-01 2.44542012e-02 2.31131378e-01 8.02819561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.17, Y:87.54, Z:80.31 [[ 2.03285046e-01 -5.67648538e-01 -7.97778370e-01 1.74173187e+02] [ 1.11574574e-01 8.22914099e-01 -5.57102774e-01 8.75373989e+01] [ 9.72741643e-01 2.42388815e-02 2.30621274e-01 8.03092365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.18, Y:87.54, Z:80.34 [[ 2.02871219e-01 -5.68730445e-01 -7.97112884e-01 1.74178873e+02] [ 1.12165915e-01 8.22179364e-01 -5.58068008e-01 8.75414124e+01] [ 9.72760030e-01 2.38070409e-02 2.30588700e-01 8.03362576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.18, Y:87.55, Z:80.36 [[ 2.02212582e-01 -5.69840816e-01 -7.96486984e-01 1.74184630e+02] [ 1.12727373e-01 8.21425735e-01 -5.59063772e-01 8.75453677e+01] [ 9.72832263e-01 2.32638434e-02 2.30339277e-01 8.03634725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.19, Y:87.55, Z:80.39 [[ 2.01769550e-01 -5.70916222e-01 -7.95828949e-01 1.74190395e+02] [ 1.13248439e-01 8.20689663e-01 -5.60038631e-01 8.75490285e+01] [ 9.72863731e-01 2.28723567e-02 2.30245555e-01 8.03908324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.20, Y:87.55, Z:80.42 [[ 2.00554811e-01 -5.72194444e-01 -7.95217760e-01 1.74196696e+02] [ 1.14421533e-01 8.19835300e-01 -5.61050616e-01 8.75524619e+01] [ 9.72977636e-01 2.15313651e-02 2.29893279e-01 8.04178791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.32687500000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.20, Y:87.56, Z:80.45 [[ 2.00293778e-01 -5.73327695e-01 -7.94466964e-01 1.74202760e+02] [ 1.15417119e-01 8.19060427e-01 -5.61977674e-01 8.75561448e+01] [ 9.72913815e-01 2.08655432e-02 2.30224539e-01 8.04451128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.356875 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:174.21, Y:87.56, Z:80.47 [[ 1.99250392e-01 -5.74560361e-01 -7.93838569e-01 1.74208523e+02] [ 1.16441465e-01 8.18224153e-01 -5.62983677e-01 8.75599392e+01] [ 9.73005995e-01 1.97389921e-02 2.29934133e-01 8.04717732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.38687500000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.21, Y:87.56, Z:80.50 [[ 1.97744731e-01 -5.76069269e-01 -7.93121188e-01 1.74214892e+02] [ 1.18560044e-01 8.17213586e-01 -5.64008396e-01 8.75630725e+01] [ 9.73057315e-01 1.74972056e-02 2.29898479e-01 8.04990318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.416875 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:174.22, Y:87.57, Z:80.53 [[ 1.97078985e-01 -5.77348044e-01 -7.92356681e-01 1.74221069e+02] [ 1.20287347e-01 8.16340969e-01 -5.64905635e-01 8.75667447e+01] [ 9.72980384e-01 1.60205461e-02 2.30331314e-01 8.05254990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.24, Y:87.61, Z:80.54 [[ 2.01683924e-01 -6.12309824e-01 -7.64460774e-01 1.74242350e+02] [ 1.31574331e-01 7.90362547e-01 -5.98343747e-01 8.76065940e+01] [ 9.70572919e-01 2.00928999e-02 2.39967675e-01 8.05396425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.476875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.24, Y:87.58, Z:80.58 [[ 1.94290830e-01 -5.88868325e-01 -7.84528629e-01 1.74235461e+02] [ 1.23811987e-01 8.08094258e-01 -5.75894316e-01 8.75780311e+01] [ 9.73099001e-01 1.47569363e-02 2.29914261e-01 8.05781128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.24, Y:87.57, Z:80.61 [[ 1.93303546e-01 -5.80008080e-01 -7.91343393e-01 1.74239205e+02] [ 1.25199188e-01 8.14544109e-01 -5.66430100e-01 8.75748849e+01] [ 9.73118134e-01 1.04173971e-02 2.30070805e-01 8.06067053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.25, Y:87.58, Z:80.63 [[ 1.91272219e-01 -5.81415286e-01 -7.90804150e-01 1.74245955e+02] [ 1.26897543e-01 8.13565748e-01 -5.67457300e-01 8.75774140e+01] [ 9.73299518e-01 8.18771288e-03 2.29392697e-01 8.06331141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.56687500000004 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:174.25, Y:87.58, Z:80.66 [[ 1.90757762e-01 -5.82524647e-01 -7.90111708e-01 1.74252726e+02] [ 1.27513107e-01 8.12776693e-01 -5.68449166e-01 8.75814073e+01] [ 9.73320032e-01 7.68649204e-03 2.29322991e-01 8.06603041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.26, Y:87.59, Z:80.69 [[ 1.89400093e-01 -5.83745037e-01 -7.89537419e-01 1.74258713e+02] [ 1.28378769e-01 8.11910992e-01 -5.69490503e-01 8.75852810e+01] [ 9.73471364e-01 6.50171224e-03 2.28716487e-01 8.06868614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.62687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.27, Y:87.59, Z:80.71 [[ 1.88362972e-01 -5.85057988e-01 -7.88813375e-01 1.74266296e+02] [ 1.29795311e-01 8.10975569e-01 -5.70501361e-01 8.75883555e+01] [ 9.73484755e-01 5.07705477e-03 2.28695552e-01 8.07142733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.27, Y:87.59, Z:80.74 [[ 1.87560128e-01 -5.86135322e-01 -7.88204658e-01 1.74271931e+02] [ 1.30308286e-01 8.10200797e-01 -5.71484400e-01 8.75913771e+01] [ 9.73571235e-01 4.47808875e-03 2.28339654e-01 8.07417783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.28, Y:87.59, Z:80.77 [[ 1.86874861e-01 -5.87310601e-01 -7.87492251e-01 1.74277704e+02] [ 1.31577645e-01 8.09354706e-01 -5.72391721e-01 8.75949627e+01] [ 9.73532285e-01 3.34924754e-03 2.28524994e-01 8.07679424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.28, Y:87.60, Z:80.80 [[ 1.86248709e-01 -5.88484241e-01 -7.86764080e-01 1.74283735e+02] [ 1.32556603e-01 8.08504829e-01 -5.73366103e-01 8.75990246e+01] [ 9.73519474e-01 2.49792278e-03 2.28590452e-01 8.07953408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.29, Y:87.60, Z:80.82 [[ 1.85742852e-01 -5.89602183e-01 -7.86046346e-01 1.74289964e+02] [ 1.33705938e-01 8.07692283e-01 -5.74243762e-01 8.76031705e+01] [ 9.73458944e-01 1.56261048e-03 2.28856381e-01 8.08225455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.776875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:174.30, Y:87.61, Z:80.85 [[ 1.84866461e-01 -5.90930908e-01 -7.85254770e-01 1.74296416e+02] [ 1.36019221e-01 8.06722017e-01 -5.75063787e-01 8.76061864e+01] [ 9.73305277e-01 -4.99735123e-04 2.29513806e-01 8.08497718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.30, Y:87.61, Z:80.88 [[ 1.84281637e-01 -5.92011506e-01 -7.84578011e-01 1.74302276e+02] [ 1.36671619e-01 8.05928788e-01 -5.76020535e-01 8.76103615e+01] [ 9.73324790e-01 -1.07953973e-03 2.29429047e-01 8.08774463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.836875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:174.31, Y:87.61, Z:80.90 [[ 1.83227521e-01 -5.93218137e-01 -7.83913208e-01 1.74308208e+02] [ 1.37842567e-01 8.05038372e-01 -5.76985828e-01 8.76147318e+01] [ 9.73358671e-01 -2.33692585e-03 2.29275896e-01 8.09041391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.31, Y:87.62, Z:80.93 [[ 1.82739039e-01 -5.94313296e-01 -7.83197389e-01 1.74313424e+02] [ 1.38613826e-01 8.04228198e-01 -5.77930111e-01 8.76192830e+01] [ 9.73340974e-01 -2.95159343e-03 2.29343928e-01 8.09307908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.32, Y:87.62, Z:80.96 [[ 1.82387134e-01 -5.95410691e-01 -7.82445552e-01 1.74318801e+02] [ 1.39166979e-01 8.03414717e-01 -5.78927754e-01 8.76239767e+01] [ 9.73328046e-01 -3.30161024e-03 2.29394015e-01 8.09580067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.32, Y:87.63, Z:80.99 [[ 1.81228574e-01 -5.96549369e-01 -7.81847207e-01 1.74324158e+02] [ 1.39954244e-01 8.02564727e-01 -5.79916088e-01 8.76288927e+01] [ 9.73431566e-01 -4.32546950e-03 2.28937277e-01 8.09852754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.956875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:174.33, Y:87.63, Z:81.01 [[ 1.80580368e-01 -5.97620362e-01 -7.81179002e-01 1.74329411e+02] [ 1.40533790e-01 8.01764323e-01 -5.80882282e-01 8.76333423e+01] [ 9.73468533e-01 -4.88610948e-03 2.28768751e-01 8.10122551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.33, Y:87.64, Z:81.04 [[ 1.79709829e-01 -5.98806466e-01 -7.80471135e-01 1.74334636e+02] [ 1.41791669e-01 8.00870473e-01 -5.81808911e-01 8.76382875e+01] [ 9.73447225e-01 -6.10752489e-03 2.28830064e-01 8.10384560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.016875 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:174.34, Y:87.64, Z:81.07 [[ 1.79296251e-01 -5.99938781e-01 -7.79696296e-01 1.74340298e+02] [ 1.42681925e-01 8.00017341e-01 -5.82764208e-01 8.76435018e+01] [ 9.73393406e-01 -6.76113056e-03 2.29040530e-01 8.10657445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.046875 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:174.35, Y:87.65, Z:81.09 [[ 1.79142252e-01 -6.00856498e-01 -7.79024725e-01 1.74345782e+02] [ 1.42874676e-01 7.99328456e-01 -5.83661585e-01 8.76481696e+01] [ 9.73393487e-01 -6.74445428e-03 2.29040677e-01 8.10934329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.07687500000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.36, Y:87.69, Z:81.11 [[ 1.83518997e-01 -6.31133477e-01 -7.53651983e-01 1.74363030e+02] [ 1.54375755e-01 7.75663742e-01 -6.11975396e-01 8.76865828e+01] [ 9.70818677e-01 -4.03648297e-03 2.39780738e-01 8.11076155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.37, Y:87.70, Z:81.13 [[ 1.82050471e-01 -6.50069126e-01 -7.37745049e-01 1.74371061e+02] [ 1.51915262e-01 7.59869173e-01 -6.32076414e-01 8.77024879e+01] [ 9.71483082e-01 2.99507607e-03 2.37089963e-01 8.11339866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.13687500000003 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:174.37, Y:87.70, Z:81.16 [[ 1.80759962e-01 -6.43375225e-01 -7.43904669e-01 1.74374427e+02] [ 1.53208227e-01 7.65550310e-01 -6.24867956e-01 8.77031839e+01] [ 9.71521011e-01 -1.02120748e-03 2.36951223e-01 8.11614848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.38, Y:87.70, Z:81.19 [[ 1.80004553e-01 -6.43103792e-01 -7.44322426e-01 1.74379589e+02] [ 1.50818942e-01 7.65778974e-01 -6.25168945e-01 8.77040060e+01] [ 9.72034983e-01 2.75336349e-04 2.34835936e-01 8.11917140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.37, Y:87.68, Z:81.23 [[ 1.76274268e-01 -6.07950751e-01 -7.74159717e-01 1.74372999e+02] [ 1.46689401e-01 7.93917331e-01 -5.90065668e-01 8.76766678e+01] [ 9.73349681e-01 -9.54763127e-03 2.29127127e-01 8.12260678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.226875 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:174.38, Y:87.68, Z:81.25 [[ 1.75904541e-01 -6.07273192e-01 -7.74775363e-01 1.74378006e+02] [ 1.47415580e-01 7.94422771e-01 -5.89203792e-01 8.76797282e+01] [ 9.73306858e-01 -1.05703367e-02 2.29264103e-01 8.12538312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.38, Y:87.68, Z:81.28 [[ 1.75542860e-01 -6.08437411e-01 -7.73943551e-01 1.74382352e+02] [ 1.48903222e-01 7.93516150e-01 -5.90050804e-01 8.76838910e+01] [ 9.73145690e-01 -1.16634824e-02 2.29894385e-01 8.12798417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.39, Y:87.69, Z:81.31 [[ 1.75712782e-01 -6.09458108e-01 -7.73101438e-01 1.74387724e+02] [ 1.49428515e-01 7.92732200e-01 -5.90971047e-01 8.76890456e+01] [ 9.73034500e-01 -1.16822325e-02 2.30363600e-01 8.13064745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.31687500000004 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:174.40, Y:87.71, Z:81.33 [[ 1.79202410e-01 -6.27125913e-01 -7.58023473e-01 1.74399671e+02] [ 1.55049785e-01 7.78870121e-01 -6.07717779e-01 8.77123406e+01] [ 9.71517401e-01 -8.62688598e-03 2.36811141e-01 8.13271588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.346875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.40, Y:87.71, Z:81.36 [[ 1.77496492e-01 -6.21220026e-01 -7.63269726e-01 1.74399971e+02] [ 1.48542975e-01 7.83610812e-01 -6.03232195e-01 8.77056211e+01] [ 9.72846329e-01 -6.30675694e-03 2.31366041e-01 8.13587234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.37687500000004 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:174.41, Y:87.71, Z:81.38 [[ 1.80342958e-01 -6.23071874e-01 -7.61089914e-01 1.74408436e+02] [ 1.51792919e-01 7.82137239e-01 -6.04334550e-01 8.77149309e+01] [ 9.71820625e-01 -6.54057932e-03 2.35630842e-01 8.13826545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.41, Y:87.71, Z:81.41 [[ 1.80004579e-01 -6.09129507e-01 -7.72372705e-01 1.74407009e+02] [ 1.45751350e-01 7.93047250e-01 -5.91466486e-01 8.77054452e+01] [ 9.72807738e-01 -6.10768878e-03 2.31533585e-01 8.14120763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.41, Y:87.71, Z:81.44 [[ 1.80911282e-01 -6.12112063e-01 -7.69798630e-01 1.74413130e+02] [ 1.44676455e-01 7.90762047e-01 -5.94780723e-01 8.77118496e+01] [ 9.72799996e-01 -3.76919362e-03 2.31615979e-01 8.14389948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.466875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:174.42, Y:87.72, Z:81.47 [[ 1.82368263e-01 -6.12392584e-01 -7.69231525e-01 1.74418199e+02] [ 1.41529820e-01 7.90553779e-01 -5.95813756e-01 8.77157045e+01] [ 9.72990815e-01 -2.11679638e-04 2.30843732e-01 8.14650446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.496875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:174.42, Y:87.72, Z:81.49 [[ 1.83428146e-01 -6.13016678e-01 -7.68482054e-01 1.74423625e+02] [ 1.40133327e-01 7.90067967e-01 -5.96787449e-01 8.77204563e+01] [ 9.72993713e-01 1.77766878e-03 2.30824769e-01 8.14920178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.43, Y:87.72, Z:81.52 [[ 1.84353584e-01 -6.13511421e-01 -7.67865543e-01 1.74429135e+02] [ 1.38200160e-01 7.89675309e-01 -5.97757160e-01 8.77248956e+01] [ 9.73095305e-01 4.07953410e-03 2.30366850e-01 8.15191747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.44, Y:87.75, Z:81.54 [[ 1.88593576e-01 -6.33438417e-01 -7.50458683e-01 1.74443114e+02] [ 1.42748533e-01 7.73737509e-01 -6.17214001e-01 8.77504506e+01] [ 9.71625092e-01 9.27571990e-03 2.36344329e-01 8.15391406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.44, Y:87.74, Z:81.57 [[ 1.85903721e-01 -6.22916996e-01 -7.59877768e-01 1.74441874e+02] [ 1.34999090e-01 7.82217677e-01 -6.08202887e-01 8.77394623e+01] [ 9.73249738e-01 1.04843729e-02 2.29510404e-01 8.15718302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.45, Y:87.74, Z:81.60 [[ 1.86905957e-01 -6.14379003e-01 -7.66553719e-01 1.74445613e+02] [ 1.31975338e-01 7.88934327e-01 -6.00137599e-01 8.77372229e+01] [ 9.73472482e-01 1.10031063e-02 2.28539401e-01 8.15995918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.46, Y:87.77, Z:81.62 [[ 1.91859556e-01 -6.39069716e-01 -7.44835424e-01 1.74462096e+02] [ 1.38005886e-01 7.68961557e-01 -6.24221514e-01 8.77680225e+01] [ 9.71670873e-01 1.69711897e-02 2.35728006e-01 8.16169216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.46, Y:87.75, Z:81.65 [[ 1.88276303e-01 -6.23521994e-01 -7.58796650e-01 1.74458570e+02] [ 1.29693882e-01 7.81632573e-01 -6.10106562e-01 8.77509611e+01] [ 9.73515039e-01 1.64573247e-02 2.28029880e-01 8.16507956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.706875 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:174.46, Y:87.75, Z:81.68 [[ 1.88291238e-01 -6.15748753e-01 -7.65114294e-01 1.74463352e+02] [ 1.27792716e-01 7.87786565e-01 -6.02545724e-01 8.77481475e+01] [ 9.73763540e-01 1.56780468e-02 2.27021513e-01 8.16794823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.736875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:174.47, Y:87.75, Z:81.71 [[ 1.88175239e-01 -6.16596397e-01 -7.64459916e-01 1.74468905e+02] [ 1.27550129e-01 7.87115764e-01 -6.03473064e-01 8.77515210e+01] [ 9.73817767e-01 1.60517274e-02 2.26762647e-01 8.17063635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.47, Y:87.76, Z:81.73 [[ 1.87976978e-01 -6.17472554e-01 -7.63801218e-01 1.74474626e+02] [ 1.27349298e-01 7.86422542e-01 -6.04418516e-01 8.77554141e+01] [ 9.73882340e-01 1.63472172e-02 2.26464029e-01 8.17341073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.48, Y:87.76, Z:81.76 [[ 1.87818024e-01 -6.18378742e-01 -7.63106888e-01 1.74481239e+02] [ 1.27199918e-01 7.85704153e-01 -6.05383486e-01 8.77585394e+01] [ 9.73932529e-01 1.66347968e-02 2.26227127e-01 8.17604991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:87.81, Z:81.77 [[ 1.94350743e-01 -6.59618787e-01 -7.26037771e-01 1.74503304e+02] [ 1.40708874e-01 7.51243182e-01 -6.44852460e-01 8.78068053e+01] [ 9.70787722e-01 2.31675978e-02 2.38818887e-01 8.17711028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:87.78, Z:81.81 [[ 1.86657232e-01 -6.39487951e-01 -7.45797720e-01 1.74496615e+02] [ 1.27117399e-01 7.68478998e-01 -6.27121357e-01 8.77784387e+01] [ 9.74166436e-01 2.22528699e-02 2.24732207e-01 8.18105195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:87.77, Z:81.84 [[ 1.84772668e-01 -6.20874082e-01 -7.61823100e-01 1.74499024e+02] [ 1.27341540e-01 7.83760878e-01 -6.07867600e-01 8.77660308e+01] [ 9.74496379e-01 1.53055912e-02 2.23880650e-01 8.18401251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.916875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:174.50, Y:87.77, Z:81.87 [[ 1.83938604e-01 -6.21669718e-01 -7.61375960e-01 1.74504954e+02] [ 1.27715697e-01 7.83141485e-01 -6.08586983e-01 8.77688191e+01] [ 9.74605197e-01 1.47029786e-02 2.23446933e-01 8.18674537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:87.77, Z:81.90 [[ 1.83130860e-01 -6.22822341e-01 -7.60628306e-01 1.74511667e+02] [ 1.28974841e-01 7.82246624e-01 -6.09471665e-01 8.77707608e+01] [ 9.74591493e-01 1.35111554e-02 2.23581910e-01 8.18950389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:87.77, Z:81.92 [[ 1.82828323e-01 -6.23881047e-01 -7.59833037e-01 1.74517802e+02] [ 1.29899811e-01 7.81413073e-01 -6.10343877e-01 8.77748223e+01] [ 9.74525445e-01 1.28859790e-02 2.23906472e-01 8.19224002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:87.78, Z:81.95 [[ 1.82044628e-01 -6.24921389e-01 -7.59165997e-01 1.74523649e+02] [ 1.30184578e-01 7.80588259e-01 -6.11337833e-01 8.77781243e+01] [ 9.74634151e-01 1.24590635e-02 2.23457027e-01 8.19482078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:87.78, Z:81.98 [[ 1.81241943e-01 -6.26032352e-01 -7.58442385e-01 1.74530211e+02] [ 1.31096519e-01 7.79711719e-01 -6.12260842e-01 8.77818087e+01] [ 9.74661511e-01 1.15381881e-02 2.23387129e-01 8.19754168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.54, Y:87.78, Z:82.00 [[ 1.79688935e-01 -6.27333900e-01 -7.57736144e-01 1.74537591e+02] [ 1.32726334e-01 7.78691034e-01 -6.13207953e-01 8.77825576e+01] [ 9.74728479e-01 9.61514350e-03 2.23185891e-01 8.20018447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.096875 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:174.54, Y:87.79, Z:82.03 [[ 1.78994478e-01 -6.28533114e-01 -7.56906270e-01 1.74544439e+02] [ 1.34059282e-01 7.77736866e-01 -6.14128224e-01 8.77857450e+01] [ 9.74673836e-01 8.45524992e-03 2.23471303e-01 8.20284993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.12687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.55, Y:87.79, Z:82.06 [[ 1.77580996e-01 -6.29690360e-01 -7.56277092e-01 1.74550532e+02] [ 1.34979875e-01 7.76813344e-01 -6.15094677e-01 8.77884532e+01] [ 9.74805326e-01 7.14693774e-03 2.22942813e-01 8.20555325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.58, Y:87.83, Z:82.07 [[ 1.81699362e-01 -6.68947625e-01 -7.20759611e-01 1.74576752e+02] [ 1.49676722e-01 7.43233950e-01 -6.52073749e-01 8.78343131e+01] [ 9.71896199e-01 1.06004478e-02 2.35171022e-01 8.20682142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.57, Y:87.79, Z:82.11 [[ 1.74338395e-01 -6.34982388e-01 -7.52597828e-01 1.74565876e+02] [ 1.39999353e-01 7.72522185e-01 -6.19362297e-01 8.77945373e+01] [ 9.74682669e-01 2.61542014e-03 2.23577401e-01 8.21071597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.57, Y:87.80, Z:82.13 [[ 1.72057001e-01 -6.34070410e-01 -7.53890644e-01 1.74571057e+02] [ 1.42346459e-01 7.73274667e-01 -6.17886539e-01 8.77961894e+01] [ 9.74748108e-01 -1.00195916e-03 2.23304998e-01 8.21328425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.58, Y:87.80, Z:82.16 [[ 1.68776889e-01 -6.35939746e-01 -7.53057104e-01 1.74577668e+02] [ 1.46290326e-01 7.71717610e-01 -6.18911199e-01 8.77984980e+01] [ 9.74737658e-01 -5.70706226e-03 2.23279930e-01 8.21602460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.276875 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:174.58, Y:87.80, Z:82.19 [[ 1.67324578e-01 -6.37213828e-01 -7.52303810e-01 1.74583745e+02] [ 1.48267681e-01 7.70647188e-01 -6.19773835e-01 8.78029280e+01] [ 9.74689274e-01 -7.83894613e-03 2.23426432e-01 8.21873728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.59, Y:87.81, Z:82.21 [[ 1.66011973e-01 -6.38397144e-01 -7.51591053e-01 1.74588996e+02] [ 1.49744694e-01 7.69648392e-01 -6.20659230e-01 8.78072425e+01] [ 9.74687925e-01 -9.50990827e-03 2.23367433e-01 8.22142010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.59, Y:87.81, Z:82.24 [[ 1.63901299e-01 -6.39689542e-01 -7.50955161e-01 1.74594148e+02] [ 1.51523737e-01 7.68541164e-01 -6.21598775e-01 8.78125670e+01] [ 9.74770189e-01 -1.19066856e-02 2.22893045e-01 8.22390066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.60, Y:87.82, Z:82.27 [[ 1.63729520e-01 -6.40855813e-01 -7.49997648e-01 1.74599759e+02] [ 1.52635718e-01 7.67558707e-01 -6.22539934e-01 8.78189450e+01] [ 9.74625560e-01 -1.25482647e-02 2.23489505e-01 8.22660553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.60, Y:87.82, Z:82.29 [[ 1.63638982e-01 -6.41844332e-01 -7.49171634e-01 1.74604168e+02] [ 1.53422485e-01 7.66725911e-01 -6.23372215e-01 8.78245991e+01] [ 9.74517226e-01 -1.29317791e-02 2.23939600e-01 8.22918160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.426875 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:174.61, Y:87.83, Z:82.32 [[ 1.64727972e-01 -6.42758570e-01 -7.48148458e-01 1.74608278e+02] [ 1.54158834e-01 7.65966444e-01 -6.24123754e-01 8.78303632e+01] [ 9.74217506e-01 -1.25230536e-02 2.25263010e-01 8.23194640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.61, Y:87.84, Z:82.35 [[ 1.65556180e-01 -6.43651857e-01 -7.47197054e-01 1.74612751e+02] [ 1.54865649e-01 7.65220134e-01 -6.24863807e-01 8.78351868e+01] [ 9.73964980e-01 -1.22650917e-02 2.26366485e-01 8.23456829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.486875 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:174.62, Y:87.84, Z:82.37 [[ 1.65884158e-01 -6.44193326e-01 -7.46657489e-01 1.74617112e+02] [ 1.54352663e-01 7.64776511e-01 -6.25533487e-01 8.78398737e+01] [ 9.73990607e-01 -1.14824761e-02 2.26297263e-01 8.23735805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.62, Y:87.85, Z:82.40 [[ 1.66788495e-01 -6.44807826e-01 -7.45925241e-01 1.74620288e+02] [ 1.53133714e-01 7.64282619e-01 -6.26436065e-01 8.78458606e+01] [ 9.74028574e-01 -9.74397421e-03 2.26215365e-01 8.23995102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.546875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:174.63, Y:87.85, Z:82.43 [[ 1.66891087e-01 -6.45615994e-01 -7.45202894e-01 1.74625032e+02] [ 1.52420557e-01 7.63610683e-01 -6.27428640e-01 8.78527012e+01] [ 9.74122856e-01 -8.87199211e-03 2.25844966e-01 8.24269767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.57687500000003 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:174.63, Y:87.86, Z:82.45 [[ 1.67237164e-01 -6.46342641e-01 -7.44495078e-01 1.74629909e+02] [ 1.51735594e-01 7.63006550e-01 -6.28328986e-01 8.78599875e+01] [ 9.74170437e-01 -7.88644570e-03 2.25676236e-01 8.24542402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.63, Y:87.87, Z:82.48 [[ 1.67492502e-01 -6.47087892e-01 -7.43789971e-01 1.74633417e+02] [ 1.51157043e-01 7.62382920e-01 -6.29224786e-01 8.78675484e+01] [ 9.74216511e-01 -7.03865923e-03 2.25505315e-01 8.24813268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.64, Y:87.87, Z:82.51 [[ 1.67715971e-01 -6.48068354e-01 -7.42885429e-01 1.74638123e+02] [ 1.52078651e-01 7.61547057e-01 -6.30014415e-01 8.78736017e+01] [ 9.74034618e-01 -7.31353469e-03 2.26280966e-01 8.25072576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.666875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:174.64, Y:87.88, Z:82.53 [[ 1.67450806e-01 -6.49115441e-01 -7.42030574e-01 1.74642611e+02] [ 1.52770086e-01 7.60650835e-01 -6.30929162e-01 8.78792255e+01] [ 9.73972037e-01 -7.71047809e-03 2.26537017e-01 8.25349038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.65, Y:87.89, Z:82.56 [[ 1.66817953e-01 -6.50294525e-01 -7.41140204e-01 1.74646401e+02] [ 1.54797873e-01 7.59624614e-01 -6.31670851e-01 8.78850084e+01] [ 9.73760437e-01 -9.35288872e-03 2.27383232e-01 8.25613655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.65, Y:87.89, Z:82.59 [[ 1.66649559e-01 -6.51361850e-01 -7.40240275e-01 1.74650851e+02] [ 1.55974931e-01 7.58700631e-01 -6.32491244e-01 8.78908174e+01] [ 9.73601431e-01 -1.00545385e-02 2.28033245e-01 8.25884502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.75687500000004 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:174.66, Y:87.90, Z:82.62 [[ 1.65998772e-01 -6.52344018e-01 -7.39521257e-01 1.74655155e+02] [ 1.56545364e-01 7.57848462e-01 -6.33371343e-01 8.78964691e+01] [ 9.73621054e-01 -1.06297594e-02 2.27923346e-01 8.26159269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.66, Y:87.90, Z:82.64 [[ 1.66013360e-01 -6.53283165e-01 -7.38688480e-01 1.74658848e+02] [ 1.57199901e-01 7.57036072e-01 -6.34180239e-01 8.79029201e+01] [ 9.73513100e-01 -1.08393638e-02 2.28374151e-01 8.26429702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.66, Y:87.91, Z:82.67 [[ 1.66004338e-01 -6.54152272e-01 -7.37920975e-01 1.74663336e+02] [ 1.57288139e-01 7.56287965e-01 -6.35050356e-01 8.79087296e+01] [ 9.73500386e-01 -1.06451025e-02 2.28437476e-01 8.26692735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.67, Y:87.91, Z:82.70 [[ 1.66189567e-01 -6.55005309e-01 -7.37122156e-01 1.74668238e+02] [ 1.57101108e-01 7.55556615e-01 -6.35966542e-01 8.79147264e+01] [ 9.73498983e-01 -1.01117033e-02 2.28467687e-01 8.26964168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.87687500000004 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:174.67, Y:87.92, Z:82.72 [[ 1.66519544e-01 -6.55654230e-01 -7.36470483e-01 1.74672275e+02] [ 1.55827773e-01 7.55011133e-01 -6.36926915e-01 8.79208489e+01] [ 9.73647239e-01 -8.70177560e-03 2.27893248e-01 8.27223790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.68, Y:87.93, Z:82.75 [[ 1.66798396e-01 -6.56424172e-01 -7.35721144e-01 1.74676655e+02] [ 1.55098225e-01 7.54352602e-01 -6.37884545e-01 8.79263458e+01] [ 9.73715993e-01 -7.71092404e-03 2.27635028e-01 8.27493617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.68, Y:87.93, Z:82.78 [[ 1.66629704e-01 -6.57294313e-01 -7.34982127e-01 1.74681791e+02] [ 1.55278863e-01 7.53594702e-01 -6.38735860e-01 8.79314061e+01] [ 9.73716086e-01 -7.69482238e-03 2.27635176e-01 8.27770541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.966875 meters Centerline goodness : 0.999838 Centerline is valid? [True, True] Translation: X:174.69, Y:87.94, Z:82.80 [[ 1.66985931e-01 -6.57924549e-01 -7.34337107e-01 1.74686640e+02] [ 1.54430341e-01 7.53054900e-01 -6.39577663e-01 8.79369885e+01] [ 9.73790002e-01 -6.60345861e-03 2.27353086e-01 8.28038860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.69, Y:87.94, Z:82.83 [[ 1.68528637e-01 -6.58390431e-01 -7.33566725e-01 1.74690482e+02] [ 1.52864904e-01 7.52664817e-01 -6.40412362e-01 8.79421525e+01] [ 9.73771236e-01 -4.20878461e-03 2.27490366e-01 8.28292933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.026875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:174.70, Y:87.95, Z:82.86 [[ 1.69278500e-01 -6.59232701e-01 -7.32637042e-01 1.74695554e+02] [ 1.52443369e-01 7.51932538e-01 -6.41372339e-01 8.79474857e+01] [ 9.73707250e-01 -3.11511147e-03 2.27781666e-01 8.28558650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.70, Y:87.95, Z:82.88 [[ 1.70041755e-01 -6.60006790e-01 -7.31762830e-01 1.74700295e+02] [ 1.51908982e-01 7.51257115e-01 -6.42289972e-01 8.79522792e+01] [ 9.73657775e-01 -1.94523278e-03 2.28006038e-01 8.28818120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.71, Y:87.96, Z:82.91 [[ 1.71758242e-01 -6.60538778e-01 -7.30881405e-01 1.74705166e+02] [ 1.50363098e-01 7.50791708e-01 -6.43197287e-01 8.79577181e+01] [ 9.73596449e-01 5.76843105e-04 2.28275321e-01 8.29073042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.71, Y:87.96, Z:82.93 [[ 1.72635549e-01 -6.61277324e-01 -7.30006348e-01 1.74710078e+02] [ 1.49369831e-01 7.50138384e-01 -6.44190234e-01 8.79632503e+01] [ 9.73594177e-01 2.16920940e-03 2.28275434e-01 8.29349624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.72, Y:87.97, Z:82.96 [[ 1.74365433e-01 -6.61666189e-01 -7.29242450e-01 1.74715022e+02] [ 1.47428187e-01 7.49782112e-01 -6.45051715e-01 8.79685872e+01] [ 9.73581853e-01 4.96382920e-03 2.28284330e-01 8.29620484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.72, Y:87.97, Z:82.99 [[ 1.74727080e-01 -6.62359098e-01 -7.28526508e-01 1.74719698e+02] [ 1.46581008e-01 7.49161843e-01 -6.45964815e-01 8.79731268e+01] [ 9.73644933e-01 6.07939593e-03 2.27988125e-01 8.29882382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.73, Y:87.98, Z:83.02 [[ 1.75042483e-01 -6.63131625e-01 -7.27747605e-01 1.74725047e+02] [ 1.45964432e-01 7.48469971e-01 -6.46905779e-01 8.79775667e+01] [ 9.73680910e-01 7.01072793e-03 2.27807673e-01 8.30158008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.236875 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:174.73, Y:87.98, Z:83.04 [[ 1.75424359e-01 -6.63906051e-01 -7.26949138e-01 1.74730825e+02] [ 1.45877560e-01 7.47777560e-01 -6.47725604e-01 8.79827117e+01] [ 9.73625201e-01 7.58128184e-03 2.28027394e-01 8.30433548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.266875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:174.74, Y:87.99, Z:83.07 [[ 1.75231039e-01 -6.64715695e-01 -7.26255553e-01 1.74736003e+02] [ 1.45363208e-01 7.47052525e-01 -6.48677164e-01 8.79868273e+01] [ 9.73736936e-01 8.09753647e-03 2.27531995e-01 8.30692031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.296875 meters Centerline goodness : 0.999838 Centerline is valid? [True, True] Translation: X:174.74, Y:87.99, Z:83.10 [[ 1.74475805e-01 -6.65669900e-01 -7.25563077e-01 1.74741871e+02] [ 1.45069881e-01 7.46202334e-01 -6.49720560e-01 8.79918002e+01] [ 9.73916281e-01 8.10316859e-03 2.26762907e-01 8.30964703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.75, Y:88.00, Z:83.12 [[ 1.73515457e-01 -6.66577890e-01 -7.24959518e-01 1.74747173e+02] [ 1.44710941e-01 7.45392436e-01 -6.50729482e-01 8.79961341e+01] [ 9.74141227e-01 8.00204909e-03 2.25798223e-01 8.31226300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.356875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:174.75, Y:88.00, Z:83.15 [[ 1.73268213e-01 -6.67542988e-01 -7.24130158e-01 1.74753764e+02] [ 1.45110923e-01 7.44530118e-01 -6.51626982e-01 8.80003973e+01] [ 9.74125734e-01 7.82704755e-03 2.25871182e-01 8.31501442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.76, Y:88.00, Z:83.18 [[ 1.73240799e-01 -6.68405367e-01 -7.23340785e-01 1.74758755e+02] [ 1.45276164e-01 7.43754694e-01 -6.52475126e-01 8.80046508e+01] [ 9.74105981e-01 7.95113724e-03 2.25952025e-01 8.31762114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.76, Y:88.01, Z:83.20 [[ 1.73451310e-01 -6.69218644e-01 -7.22537922e-01 1.74763565e+02] [ 1.44912736e-01 7.43015457e-01 -6.53397528e-01 8.80089143e+01] [ 9.74122652e-01 8.62771010e-03 2.25855309e-01 8.32026602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.77, Y:88.01, Z:83.23 [[ 1.75137180e-01 -6.69490591e-01 -7.21879018e-01 1.74768568e+02] [ 1.43897747e-01 7.42744176e-01 -6.53930063e-01 8.80125542e+01] [ 9.73971461e-01 1.06507034e-02 2.26420308e-01 8.32297541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.77, Y:88.02, Z:83.26 [[ 1.75771309e-01 -6.70273227e-01 -7.20998091e-01 1.74773315e+02] [ 1.43370577e-01 7.42021598e-01 -6.54865502e-01 8.80167341e+01] [ 9.73934969e-01 1.17366548e-02 2.26523567e-01 8.32553546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.78, Y:88.02, Z:83.28 [[ 1.76702188e-01 -6.71076067e-01 -7.20023089e-01 1.74778448e+02] [ 1.42981958e-01 7.41275743e-01 -6.55794505e-01 8.80211617e+01] [ 9.73823648e-01 1.29300132e-02 2.26936816e-01 8.32823756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.78, Y:88.03, Z:83.31 [[ 1.78626925e-01 -6.71514517e-01 -7.19138842e-01 1.74783850e+02] [ 1.41831065e-01 7.40833835e-01 -6.56543355e-01 8.80257428e+01] [ 9.73640781e-01 1.52800927e-02 2.27574489e-01 8.33085308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.79, Y:88.03, Z:83.33 [[ 1.79917662e-01 -6.71898015e-01 -7.18458553e-01 1.74788677e+02] [ 1.41384755e-01 7.40456764e-01 -6.57064786e-01 8.80302780e+01] [ 9.73468020e-01 1.66384738e-02 2.28217386e-01 8.33345496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.596875 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:174.79, Y:88.04, Z:83.36 [[ 1.80599254e-01 -6.72559811e-01 -7.17667897e-01 1.74793142e+02] [ 1.40503589e-01 7.39823995e-01 -6.57965955e-01 8.80351884e+01] [ 9.73469389e-01 1.79932456e-02 2.28108729e-01 8.33599609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.62687500000004 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:174.80, Y:88.04, Z:83.39 [[ 1.82520436e-01 -6.72966549e-01 -7.16800051e-01 1.74798452e+02] [ 1.38101819e-01 7.39366534e-01 -6.58987872e-01 8.80399426e+01] [ 9.73454764e-01 2.12873627e-02 2.27887407e-01 8.33870997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.80, Y:88.04, Z:83.41 [[ 1.82702726e-01 -6.73672265e-01 -7.16090353e-01 1.74803049e+02] [ 1.37224160e-01 7.38693547e-01 -6.59925279e-01 8.80446455e+01] [ 9.73544680e-01 2.23052500e-02 2.27405435e-01 8.34139943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.81, Y:88.05, Z:83.44 [[ 1.83179989e-01 -6.74284522e-01 -7.15391834e-01 1.74808506e+02] [ 1.36328993e-01 7.38097245e-01 -6.60777468e-01 8.80493936e+01] [ 9.73580761e-01 2.35125614e-02 2.27129175e-01 8.34398652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.81, Y:88.05, Z:83.47 [[ 1.83235544e-01 -6.75110311e-01 -7.14598351e-01 1.74813669e+02] [ 1.35845387e-01 7.37320413e-01 -6.61743635e-01 8.80543440e+01] [ 9.73637903e-01 2.41800654e-02 2.26813929e-01 8.34663920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.746875 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:174.82, Y:88.06, Z:83.49 [[ 1.80761292e-01 -6.76621096e-01 -7.13799164e-01 1.74819383e+02] [ 1.37982818e-01 7.36023043e-01 -6.62744914e-01 8.80605328e+01] [ 9.73799824e-01 2.13066071e-02 2.26406562e-01 8.34930816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.83, Y:88.09, Z:83.51 [[ 1.82149854e-01 -7.01385689e-01 -6.89115046e-01 1.74832799e+02] [ 1.48883059e-01 7.12432580e-01 -6.85765013e-01 8.80946486e+01] [ 9.71933776e-01 2.23144413e-02 2.34193937e-01 8.35099099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.83, Y:88.08, Z:83.54 [[ 1.78221916e-01 -6.93585062e-01 -6.97980451e-01 1.74832076e+02] [ 1.42173908e-01 7.20044350e-01 -6.79207416e-01 8.80801772e+01] [ 9.73664998e-01 2.18150387e-02 2.26937383e-01 8.35438897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.836875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:174.83, Y:88.07, Z:83.57 [[ 1.75264694e-01 -6.80016115e-01 -7.11941269e-01 1.74834732e+02] [ 1.45952638e-01 7.33090326e-01 -6.64286385e-01 8.80712565e+01] [ 9.73642704e-01 1.25162433e-02 2.27734998e-01 8.35737002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.84, Y:88.08, Z:83.60 [[ 1.73435101e-01 -6.81243880e-01 -7.11215187e-01 1.74840031e+02] [ 1.47420722e-01 7.31980967e-01 -6.65184933e-01 8.80764566e+01] [ 9.73749145e-01 1.05185595e-02 2.27380658e-01 8.36010809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.85, Y:88.08, Z:83.63 [[ 1.71451020e-01 -6.82526312e-01 -7.10466312e-01 1.74845251e+02] [ 1.49064836e-01 7.30813911e-01 -6.66101120e-01 8.80813277e+01] [ 9.73850205e-01 8.29817192e-03 2.27039463e-01 8.36274836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.926875 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:174.86, Y:88.12, Z:83.64 [[ 1.71200813e-01 -7.14859801e-01 -6.77986538e-01 1.74861359e+02] [ 1.64078679e-01 6.99223386e-01 -6.95819549e-01 8.81243788e+01] [ 9.71477467e-01 7.88173727e-03 2.37000864e-01 8.36398668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.956875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:174.86, Y:88.11, Z:83.68 [[ 1.66174570e-01 -7.08764611e-01 -6.85593713e-01 1.74859557e+02] [ 1.54188141e-01 7.05384307e-01 -6.91851860e-01 8.81080635e+01] [ 9.73967160e-01 9.25776558e-03 2.26500031e-01 8.36769919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.986875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:174.86, Y:88.09, Z:83.71 [[ 1.64590869e-01 -6.85964636e-01 -7.08775257e-01 1.74860458e+02] [ 1.56661192e-01 7.27634021e-01 -6.67836808e-01 8.80929109e+01] [ 9.73841423e-01 -1.11773626e-03 2.27225953e-01 8.37078249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.016875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:174.87, Y:88.10, Z:83.74 [[ 1.62504247e-01 -6.87592174e-01 -7.07678862e-01 1.74865530e+02] [ 1.60779871e-01 7.26078921e-01 -6.68550098e-01 8.80960597e+01] [ 9.73520520e-01 -5.13828611e-03 2.28541890e-01 8.37351833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.046875 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:174.87, Y:88.10, Z:83.76 [[ 1.61227208e-01 -6.88781899e-01 -7.06813471e-01 1.74870120e+02] [ 1.62765157e-01 7.24933523e-01 -6.69312253e-01 8.81009262e+01] [ 9.73402944e-01 -7.13326004e-03 2.28988702e-01 8.37623694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.07687500000003 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:174.87, Y:88.11, Z:83.79 [[ 1.60017375e-01 -6.89907191e-01 -7.05990444e-01 1.74874815e+02] [ 1.64249585e-01 7.23845227e-01 -6.70126974e-01 8.81062210e+01] [ 9.73353232e-01 -8.72667785e-03 2.29144783e-01 8.37882727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.88, Y:88.11, Z:83.81 [[ 1.58223829e-01 -6.91132080e-01 -7.05196191e-01 1.74879595e+02] [ 1.65720240e-01 7.22649435e-01 -6.71054838e-01 8.81122645e+01] [ 9.73397155e-01 -1.06884164e-02 2.28874935e-01 8.38144900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.88, Y:88.12, Z:83.84 [[ 1.57668257e-01 -6.92110962e-01 -7.04360090e-01 1.74884310e+02] [ 1.65943200e-01 7.21708373e-01 -6.72011814e-01 8.81175408e+01] [ 9.73449318e-01 -1.09288357e-02 2.28641609e-01 8.38409039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.89, Y:88.12, Z:83.87 [[ 1.57129982e-01 -6.93019300e-01 -7.03586824e-01 1.74888849e+02] [ 1.65590466e-01 7.20838820e-01 -6.73031347e-01 8.81228444e+01] [ 9.73596408e-01 -1.07538667e-02 2.28022779e-01 8.38681134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.89, Y:88.13, Z:83.89 [[ 1.56945630e-01 -6.93719889e-01 -7.02937255e-01 1.74893054e+02] [ 1.64518417e-01 7.20177344e-01 -6.74001694e-01 8.81289685e+01] [ 9.73807866e-01 -9.86450412e-03 2.27158385e-01 8.38941473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.90, Y:88.13, Z:83.92 [[ 1.57171361e-01 -6.94483358e-01 -7.02132486e-01 1.74897707e+02] [ 1.63966172e-01 7.19451857e-01 -6.74910454e-01 8.81348779e+01] [ 9.73864599e-01 -9.04938169e-03 2.26949005e-01 8.39215136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.90, Y:88.14, Z:83.95 [[ 1.57645164e-01 -6.95273009e-01 -7.01244213e-01 1.74901957e+02] [ 1.63948597e-01 7.18696139e-01 -6.75719407e-01 8.81405031e+01] [ 9.73790974e-01 -8.44410817e-03 2.27288005e-01 8.39478451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.286875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:174.91, Y:88.15, Z:83.98 [[ 1.58313143e-01 -6.96088391e-01 -7.00284157e-01 1.74906260e+02] [ 1.63940071e-01 7.17914827e-01 -6.76551517e-01 8.81461647e+01] [ 9.73684036e-01 -7.69763718e-03 2.27772133e-01 8.39752732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.31687500000004 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:174.91, Y:88.15, Z:84.00 [[ 1.61313381e-01 -6.96604432e-01 -6.99085301e-01 1.74909588e+02] [ 1.64039702e-01 7.17434613e-01 -6.77036596e-01 8.81516267e+01] [ 9.73174686e-01 -5.46268208e-03 2.30002586e-01 8.40013358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.91, Y:88.16, Z:84.03 [[ 1.62842995e-01 -6.97300851e-01 -6.98035588e-01 1.74913943e+02] [ 1.63999949e-01 7.16766788e-01 -6.77753192e-01 8.81571655e+01] [ 9.72926604e-01 -4.11044106e-03 2.31077754e-01 8.40273749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.37687500000004 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:174.92, Y:88.16, Z:84.05 [[ 1.63721834e-01 -6.98049119e-01 -6.97081479e-01 1.74917722e+02] [ 1.63660672e-01 7.16043663e-01 -6.78599040e-01 8.81625311e+01] [ 9.72836238e-01 -2.98334451e-03 2.31475170e-01 8.40534267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.92, Y:88.17, Z:84.08 [[ 1.66412156e-01 -6.98418905e-01 -6.96073292e-01 1.74921673e+02] [ 1.61890837e-01 7.15689105e-01 -6.79397131e-01 8.81692294e+01] [ 9.72675872e-01 3.72052985e-04 2.32166988e-01 8.40802084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.436875 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:174.93, Y:88.18, Z:84.11 [[ 1.67350124e-01 -6.98994096e-01 -6.95270588e-01 1.74926041e+02] [ 1.60198818e-01 7.15123130e-01 -6.80393450e-01 8.81756700e+01] [ 9.72795084e-01 2.48240150e-03 2.31653973e-01 8.41073136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.466875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:174.93, Y:88.18, Z:84.13 [[ 1.68113569e-01 -6.99544414e-01 -6.94532534e-01 1.74930027e+02] [ 1.58839089e-01 7.14576694e-01 -6.81285764e-01 8.81816791e+01] [ 9.72886413e-01 4.21446690e-03 2.31245036e-01 8.41336783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.93, Y:88.19, Z:84.16 [[ 1.69452822e-01 -6.99851752e-01 -6.93897159e-01 1.74934088e+02] [ 1.55637433e-01 7.14247340e-01 -6.82369201e-01 8.81883547e+01] [ 9.73171481e-01 7.63301389e-03 2.29954358e-01 8.41604520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.526875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:174.94, Y:88.19, Z:84.19 [[ 1.69604512e-01 -7.00497650e-01 -6.93208015e-01 1.74938837e+02] [ 1.54451595e-01 7.13600126e-01 -6.83315129e-01 8.81943354e+01] [ 9.73333969e-01 8.82624518e-03 2.29222780e-01 8.41874353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.556875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:174.94, Y:88.20, Z:84.21 [[ 1.69777934e-01 -7.01156804e-01 -6.92498801e-01 1.74943627e+02] [ 1.53342565e-01 7.12937230e-01 -6.84256212e-01 8.82000782e+01] [ 9.73479076e-01 9.98206339e-03 2.28558192e-01 8.42135537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.586875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:174.95, Y:88.21, Z:84.24 [[ 1.69595491e-01 -7.01824874e-01 -6.91866472e-01 1.74947893e+02] [ 1.51538617e-01 7.12258457e-01 -6.85364091e-01 8.82054320e+01] [ 9.73793313e-01 1.13901710e-02 2.27149394e-01 8.42394940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.616875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:174.95, Y:88.21, Z:84.27 [[ 1.69617840e-01 -7.02633874e-01 -6.91039382e-01 1.74952770e+02] [ 1.50952192e-01 7.11448674e-01 -6.86333898e-01 8.82110257e+01] [ 9.73880498e-01 1.21005639e-02 2.26738511e-01 8.42663893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.646875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:174.96, Y:88.22, Z:84.29 [[ 1.70124767e-01 -7.03256908e-01 -6.90280585e-01 1.74957534e+02] [ 1.49951152e-01 7.10809437e-01 -6.87215101e-01 8.82162691e+01] [ 9.73946721e-01 1.34039399e-02 2.26380473e-01 8.42923024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.676875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:174.96, Y:88.22, Z:84.32 [[ 1.70218278e-01 -7.04070938e-01 -6.89427191e-01 1.74962246e+02] [ 1.49793978e-01 7.09994500e-01 -6.88091254e-01 8.82214470e+01] [ 9.73954569e-01 1.38536674e-02 2.26319628e-01 8.43186842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.706875 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:174.97, Y:88.23, Z:84.35 [[ 1.70021465e-01 -7.04930512e-01 -6.88596889e-01 1.74966816e+02] [ 1.49310464e-01 7.09131303e-01 -6.89085757e-01 8.82263657e+01] [ 9.74063184e-01 1.43446488e-02 2.25821045e-01 8.43451987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.736875 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:174.97, Y:88.23, Z:84.37 [[ 1.70290098e-01 -7.05771524e-01 -6.87668408e-01 1.74971492e+02] [ 1.49241956e-01 7.08283521e-01 -6.89971950e-01 8.82313871e+01] [ 9.74026756e-01 1.48664124e-02 2.25944393e-01 8.43719054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.766875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:174.98, Y:88.24, Z:84.40 [[ 1.70250637e-01 -7.06648303e-01 -6.86777181e-01 1.74976521e+02] [ 1.49189095e-01 7.07402447e-01 -6.90886671e-01 8.82367028e+01] [ 9.74041752e-01 1.51642297e-02 2.25859938e-01 8.43987102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.796875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:174.98, Y:88.24, Z:84.43 [[ 1.69967924e-01 -7.07585727e-01 -6.85881435e-01 1.74982194e+02] [ 1.49425569e-01 7.06466275e-01 -6.91792889e-01 8.82418722e+01] [ 9.74054877e-01 1.50943774e-02 2.25808006e-01 8.44261516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.82687500000003 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:174.99, Y:88.25, Z:84.45 [[ 1.69375983e-01 -7.08507262e-01 -6.85076081e-01 1.74987316e+02] [ 1.49867287e-01 7.05551558e-01 -6.92630346e-01 8.82467250e+01] [ 9.74090126e-01 1.46444524e-02 2.25685550e-01 8.44538607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.856875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:174.99, Y:88.25, Z:84.48 [[ 1.69207633e-01 -7.09357356e-01 -6.84237473e-01 1.74992051e+02] [ 1.50059323e-01 7.04696501e-01 -6.93458752e-01 8.82521791e+01] [ 9.74089820e-01 1.46623020e-02 2.25685711e-01 8.44815575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.00, Y:88.26, Z:84.51 [[ 1.67927967e-01 -7.10438181e-01 -6.83430895e-01 1.74997321e+02] [ 1.51538109e-01 7.03639319e-01 -6.94210278e-01 8.82554128e+01] [ 9.74082337e-01 1.30114952e-02 2.25819178e-01 8.45086215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.916875 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:175.00, Y:88.26, Z:84.54 [[ 1.67320947e-01 -7.11412297e-01 -6.82565926e-01 1.75002574e+02] [ 1.52322214e-01 7.02666857e-01 -6.95023188e-01 8.82599183e+01] [ 9.74064497e-01 1.23219846e-02 2.25934780e-01 8.45350958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.01, Y:88.26, Z:84.56 [[ 1.66345740e-01 -7.12217395e-01 -6.81964425e-01 1.75007613e+02] [ 1.53159984e-01 7.01868517e-01 -6.95645459e-01 8.82642023e+01] [ 9.74100156e-01 1.12679982e-02 2.25836042e-01 8.45623619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.01, Y:88.27, Z:84.59 [[ 1.65166787e-01 -7.13255847e-01 -6.81165199e-01 1.75012547e+02] [ 1.53874989e-01 7.00829109e-01 -6.96535030e-01 8.82685235e+01] [ 9.74188083e-01 1.02301658e-02 2.25505928e-01 8.45897650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.02, Y:88.27, Z:84.62 [[ 1.62941942e-01 -7.14525693e-01 -6.80369722e-01 1.75018098e+02] [ 1.55545665e-01 6.99565578e-01 -6.97433544e-01 8.82722094e+01] [ 9.74297424e-01 7.81261481e-03 2.25129948e-01 8.46156335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.02, Y:88.28, Z:84.64 [[ 1.61902051e-01 -7.15600417e-01 -6.79487873e-01 1.75023224e+02] [ 1.56381084e-01 6.98476742e-01 -6.98337452e-01 8.82769113e+01] [ 9.74337048e-01 6.80321555e-03 2.24991186e-01 8.46423838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.03, Y:88.28, Z:84.67 [[ 1.61063747e-01 -7.16714528e-01 -6.78512162e-01 1.75028255e+02] [ 1.57647262e-01 6.97343809e-01 -6.99184491e-01 8.82816531e+01] [ 9.74271939e-01 5.64768982e-03 2.25304890e-01 8.46688475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.03, Y:88.29, Z:84.70 [[ 1.60001046e-01 -7.17808010e-01 -6.77607059e-01 1.75033458e+02] [ 1.58548889e-01 6.96226017e-01 -7.00093982e-01 8.82864612e+01] [ 9.74300731e-01 4.58192262e-03 2.25204554e-01 8.46958863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.12687500000004 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:175.04, Y:88.29, Z:84.72 [[ 1.58796028e-01 -7.18932975e-01 -6.76697273e-01 1.75037997e+02] [ 1.60330571e-01 6.95073787e-01 -7.00832746e-01 8.82896015e+01] [ 9.74206307e-01 2.79419653e-03 2.25641891e-01 8.47232345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.04, Y:88.29, Z:84.75 [[ 1.58195675e-01 -7.19857819e-01 -6.75854163e-01 1.75042854e+02] [ 1.60964145e-01 6.94118037e-01 -7.01634303e-01 8.82949870e+01] [ 9.74199503e-01 2.20722511e-03 2.25677770e-01 8.47506818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.05, Y:88.30, Z:84.78 [[ 1.58113752e-01 -7.20738753e-01 -6.74933843e-01 1.75047426e+02] [ 1.61691720e-01 6.93204120e-01 -7.02370156e-01 8.83004858e+01] [ 9.74092310e-01 1.92316698e-03 2.26142593e-01 8.47781220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.05, Y:88.31, Z:84.80 [[ 1.57638607e-01 -7.21613184e-01 -6.74110141e-01 1.75052087e+02] [ 1.61975531e-01 6.92294481e-01 -7.03201450e-01 8.83055373e+01] [ 9.74122167e-01 1.66234865e-03 2.26016016e-01 8.48040926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.06, Y:88.31, Z:84.83 [[ 1.57099122e-01 -7.22254605e-01 -6.73548923e-01 1.75056597e+02] [ 1.62028551e-01 6.91625776e-01 -7.03846954e-01 8.83108396e+01] [ 9.74200500e-01 1.43958284e-03 2.25679669e-01 8.48314580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.276875 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:175.06, Y:88.32, Z:84.86 [[ 1.56994461e-01 -7.23071324e-01 -6.72696514e-01 1.75061437e+02] [ 1.62210494e-01 6.90771735e-01 -7.04643289e-01 8.83162450e+01] [ 9.74187094e-01 1.50665977e-03 2.25737093e-01 8.48575638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.306875 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:175.07, Y:88.32, Z:84.88 [[ 1.56722351e-01 -7.23923130e-01 -6.71843290e-01 1.75065398e+02] [ 1.62199214e-01 6.89878792e-01 -7.05520140e-01 8.83213209e+01] [ 9.74232785e-01 1.59832146e-03 2.25539189e-01 8.48838008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.07, Y:88.33, Z:84.91 [[ 1.57049790e-01 -7.24722699e-01 -6.70904146e-01 1.75069695e+02] [ 1.62044254e-01 6.89037067e-01 -7.06377788e-01 8.83270790e+01] [ 9.74205842e-01 2.22032084e-03 2.25650276e-01 8.49109469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.366875 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:175.07, Y:88.33, Z:84.94 [[ 1.57707647e-01 -7.25416828e-01 -6.69999048e-01 1.75073834e+02] [ 1.61856423e-01 6.88302955e-01 -7.07136154e-01 8.83331090e+01] [ 9.74130790e-01 3.07712981e-03 2.25964013e-01 8.49366809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.08, Y:88.34, Z:84.96 [[ 1.59379778e-01 -7.25998349e-01 -6.68972708e-01 1.75077323e+02] [ 1.61354713e-01 6.87679155e-01 -7.07857356e-01 8.83399090e+01] [ 9.73941858e-01 4.87624886e-03 2.26745406e-01 8.49626064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.08, Y:88.35, Z:84.99 [[ 1.60340565e-01 -7.26611846e-01 -6.68076439e-01 1.75081562e+02] [ 1.60560399e-01 6.87018728e-01 -7.08678789e-01 8.83459202e+01] [ 9.73915428e-01 6.36333737e-03 2.26822059e-01 8.49885499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.09, Y:88.35, Z:85.02 [[ 1.61183697e-01 -7.27047663e-01 -6.67399065e-01 1.75086260e+02] [ 1.59925241e-01 6.86545030e-01 -7.09281212e-01 8.83521278e+01] [ 9.73880759e-01 7.59061130e-03 2.26933139e-01 8.50151358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.09, Y:88.36, Z:85.04 [[ 1.62745549e-01 -7.27578805e-01 -6.66440522e-01 1.75090648e+02] [ 1.58513578e-01 6.85952135e-01 -7.10171186e-01 8.83585423e+01] [ 9.73851802e-01 9.93732767e-03 2.26966776e-01 8.50417551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.10, Y:88.36, Z:85.07 [[ 1.63624897e-01 -7.28286582e-01 -6.65451386e-01 1.75095185e+02] [ 1.58152098e-01 6.85182883e-01 -7.10993904e-01 8.83648566e+01] [ 9.73763219e-01 1.10937715e-02 2.27293030e-01 8.50683664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.10, Y:88.37, Z:85.09 [[ 1.64600347e-01 -7.28925565e-01 -6.64510532e-01 1.75099375e+02] [ 1.57750797e-01 6.84481942e-01 -7.11757794e-01 8.83703023e+01] [ 9.73663911e-01 1.23285138e-02 2.27654554e-01 8.50939702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.12, Y:88.42, Z:85.11 [[ 1.70726506e-01 -7.64241181e-01 -6.21922726e-01 1.75115629e+02] [ 1.69847659e-01 6.44567574e-01 -7.45442429e-01 8.84227109e+01] [ 9.70569025e-01 2.16346623e-02 2.39849346e-01 8.51089359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.11, Y:88.37, Z:85.15 [[ 1.68672172e-01 -7.21519238e-01 -6.71535321e-01 1.75106182e+02] [ 1.57978106e-01 6.92278298e-01 -7.04126179e-01 8.83744056e+01] [ 9.72929913e-01 1.26786140e-02 2.30752327e-01 8.51478042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.11, Y:88.39, Z:85.17 [[ 1.69849417e-01 -7.30881760e-01 -6.61031790e-01 1.75111362e+02] [ 1.57932687e-01 6.82296265e-01 -7.13813052e-01 8.83873601e+01] [ 9.72732462e-01 1.68422044e-02 2.31317743e-01 8.51731598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.666875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:175.12, Y:88.39, Z:85.20 [[ 1.71207912e-01 -7.31529934e-01 -6.59963489e-01 1.75115777e+02] [ 1.57717253e-01 6.81565019e-01 -7.14558880e-01 8.83930675e+01] [ 9.72529238e-01 1.82505051e-02 2.32064215e-01 8.51987784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.69687500000003 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:175.12, Y:88.40, Z:85.22 [[ 1.73299085e-01 -7.31980566e-01 -6.58917202e-01 1.75119898e+02] [ 1.56257129e-01 6.81001166e-01 -7.15416747e-01 8.83993624e+01] [ 9.72394538e-01 2.10205581e-02 2.32394061e-01 8.52245846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.726875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:175.12, Y:88.41, Z:85.25 [[ 1.74079149e-01 -7.32580400e-01 -6.58044381e-01 1.75124154e+02] [ 1.55360534e-01 6.80310079e-01 -7.16269015e-01 8.84056190e+01] [ 9.72398866e-01 2.24533741e-02 2.32241882e-01 8.52502175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.75687500000004 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:175.13, Y:88.41, Z:85.28 [[ 1.74835936e-01 -7.33243444e-01 -6.57104594e-01 1.75128811e+02] [ 1.54153306e-01 6.79538701e-01 -7.17261398e-01 8.84123665e+01] [ 9.72455220e-01 2.41082226e-02 2.31839685e-01 8.52769305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.13, Y:88.42, Z:85.30 [[ 1.75578242e-01 -7.33643289e-01 -6.56460056e-01 1.75133846e+02] [ 1.51600984e-01 6.79014038e-01 -7.18301523e-01 8.84192729e+01] [ 9.72722685e-01 2.65981285e-02 2.30441135e-01 8.53036394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.81687500000004 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:175.14, Y:88.42, Z:85.33 [[ 1.75640675e-01 -7.34304327e-01 -6.55703827e-01 1.75138668e+02] [ 1.50521180e-01 6.78257833e-01 -7.19242439e-01 8.84247004e+01] [ 9.72879092e-01 2.76309141e-02 2.29658018e-01 8.53300861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.14, Y:88.43, Z:85.36 [[ 1.75480464e-01 -7.34855986e-01 -6.55128451e-01 1.75143481e+02] [ 1.50159937e-01 6.77646884e-01 -7.19893530e-01 8.84299091e+01] [ 9.72963823e-01 2.79532043e-02 2.29259718e-01 8.53570255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.87687500000004 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:175.15, Y:88.44, Z:85.38 [[ 1.75042610e-01 -7.35700388e-01 -6.54297352e-01 1.75148225e+02] [ 1.50379940e-01 6.76737985e-01 -7.20702139e-01 8.84354725e+01] [ 9.73008714e-01 2.77603867e-02 2.29092564e-01 8.53838630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.906875 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:175.15, Y:88.44, Z:85.41 [[ 1.74157344e-01 -7.36834551e-01 -6.53256507e-01 1.75154192e+02] [ 1.51916908e-01 6.75557009e-01 -7.21487340e-01 8.84398052e+01] [ 9.72928812e-01 2.64116104e-02 2.29590841e-01 8.54108270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.16, Y:88.44, Z:85.44 [[ 1.73011637e-01 -7.37866897e-01 -6.52395138e-01 1.75158432e+02] [ 1.53429528e-01 6.74488765e-01 -7.22166384e-01 8.84440101e+01] [ 9.72895860e-01 2.48465103e-02 2.29904975e-01 8.54364103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.16, Y:88.45, Z:85.46 [[ 1.72094480e-01 -7.39093516e-01 -6.51248235e-01 1.75162906e+02] [ 1.55311991e-01 6.73200715e-01 -7.22965409e-01 8.84485015e+01] [ 9.72759824e-01 2.32716967e-02 2.30644212e-01 8.54629248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.996875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:175.17, Y:88.45, Z:85.49 [[ 1.70390137e-01 -7.40571567e-01 -6.50016119e-01 1.75168228e+02] [ 1.59268721e-01 6.71687136e-01 -7.23512174e-01 8.84530979e+01] [ 9.72420010e-01 1.97521021e-02 2.32398750e-01 8.54901513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.17, Y:88.46, Z:85.52 [[ 1.69197972e-01 -7.41639384e-01 -6.49109444e-01 1.75172979e+02] [ 1.60702065e-01 6.70551085e-01 -7.24248638e-01 8.84580594e+01] [ 9.72392355e-01 1.82281727e-02 2.32638865e-01 8.55169135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.18, Y:88.46, Z:85.54 [[ 1.67890134e-01 -7.42639101e-01 -6.48305536e-01 1.75177344e+02] [ 1.61799157e-01 6.69480481e-01 -7.24994427e-01 8.84627597e+01] [ 9.72437111e-01 1.68241223e-02 2.32557548e-01 8.55425019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.086875 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:175.18, Y:88.47, Z:85.57 [[ 1.66451047e-01 -7.43815771e-01 -6.47326925e-01 1.75182090e+02] [ 1.62631217e-01 6.68203422e-01 -7.25985726e-01 8.84683895e+01] [ 9.72545699e-01 1.55655184e-02 2.32190823e-01 8.55689723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.19, Y:88.47, Z:85.60 [[ 1.63607132e-01 -7.45194959e-01 -6.46465142e-01 1.75187264e+02] [ 1.64403584e-01 6.66726631e-01 -7.26943643e-01 8.84740349e+01] [ 9.72730265e-01 1.26519785e-02 2.31593954e-01 8.55955540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.19, Y:88.48, Z:85.62 [[ 1.62084808e-01 -7.46308116e-01 -6.45563871e-01 1.75191828e+02] [ 1.65282370e-01 6.65505120e-01 -7.27863087e-01 8.84791905e+01] [ 9.72836190e-01 1.12752220e-02 2.31219843e-01 8.56207128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.20, Y:88.48, Z:85.65 [[ 1.60612763e-01 -7.47422226e-01 -6.44642192e-01 1.75196616e+02] [ 1.65824353e-01 6.64271504e-01 -7.28866005e-01 8.84845810e+01] [ 9.72988090e-01 1.01678084e-02 2.30631289e-01 8.56465683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.20, Y:88.49, Z:85.67 [[ 1.58453839e-01 -7.48663791e-01 -6.43735124e-01 1.75201287e+02] [ 1.67307481e-01 6.62902396e-01 -7.29772993e-01 8.84901861e+01] [ 9.73088171e-01 7.93363047e-03 2.30296483e-01 8.56735626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.21, Y:88.50, Z:85.70 [[ 1.57387453e-01 -7.49573837e-01 -6.42937207e-01 1.75205884e+02] [ 1.67673298e-01 6.61881727e-01 -7.30614977e-01 8.84954614e+01] [ 9.73198261e-01 7.18622860e-03 2.29855397e-01 8.57003574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.21, Y:88.50, Z:85.73 [[ 1.56159327e-01 -7.50563094e-01 -6.42082009e-01 1.75210242e+02] [ 1.68170712e-01 6.60769212e-01 -7.31507116e-01 8.85006890e+01] [ 9.73310267e-01 6.25227009e-03 2.29408005e-01 8.57261621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.22, Y:88.51, Z:85.75 [[ 1.54006580e-01 -7.51762938e-01 -6.41197675e-01 1.75215285e+02] [ 1.68774951e-01 6.59417378e-01 -7.32587017e-01 8.85061844e+01] [ 9.73548658e-01 4.60511481e-03 2.28433368e-01 8.57517145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.22, Y:88.51, Z:85.78 [[ 1.53102797e-01 -7.52732105e-01 -6.40276433e-01 1.75220131e+02] [ 1.68770644e-01 6.58313213e-01 -7.33580386e-01 8.85117141e+01] [ 9.73691945e-01 4.25334311e-03 2.27828676e-01 8.57783841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.356875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:175.22, Y:88.52, Z:85.80 [[ 1.51778583e-01 -7.53622107e-01 -6.39544354e-01 1.75224804e+02] [ 1.68053179e-01 6.57295593e-01 -7.34656813e-01 8.85169306e+01] [ 9.74023301e-01 4.02770813e-03 2.26411984e-01 8.58045254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.23, Y:88.52, Z:85.83 [[ 1.51834414e-01 -7.54426349e-01 -6.38582176e-01 1.75229028e+02] [ 1.68123210e-01 6.56370565e-01 -7.35467380e-01 8.85225401e+01] [ 9.74002514e-01 4.30877385e-03 2.26496219e-01 8.58310060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.23, Y:88.53, Z:85.86 [[ 1.51984712e-01 -7.55219279e-01 -6.37608412e-01 1.75232863e+02] [ 1.68216423e-01 6.55455773e-01 -7.36261478e-01 8.85280388e+01] [ 9.73962978e-01 4.64428232e-03 2.26659542e-01 8.58574652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.44687500000003 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:175.24, Y:88.53, Z:85.88 [[ 1.52436274e-01 -7.55960036e-01 -6.36622028e-01 1.75236993e+02] [ 1.68218632e-01 6.54596655e-01 -7.37024905e-01 8.85336976e+01] [ 9.73892024e-01 5.25764387e-03 2.26950838e-01 8.58836225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.24, Y:88.54, Z:85.91 [[ 1.53372509e-01 -7.56654558e-01 -6.35571203e-01 1.75240834e+02] [ 1.68040170e-01 6.53783985e-01 -7.37786556e-01 8.85397118e+01] [ 9.73775834e-01 6.35468173e-03 2.27420851e-01 8.59100577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.24, Y:88.55, Z:85.94 [[ 1.53584972e-01 -7.57452151e-01 -6.34569063e-01 1.75244287e+02] [ 1.67989926e-01 6.52854851e-01 -7.38620287e-01 8.85453707e+01] [ 9.73751016e-01 6.83976650e-03 2.27513025e-01 8.59351193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.25, Y:88.55, Z:85.96 [[ 1.53876808e-01 -7.58065633e-01 -6.33765275e-01 1.75248022e+02] [ 1.68097759e-01 6.52138353e-01 -7.39228458e-01 8.85512376e+01] [ 9.73686331e-01 7.21559306e-03 2.27778102e-01 8.59620452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.25, Y:88.56, Z:85.99 [[ 1.54599355e-01 -7.58672615e-01 -6.32862468e-01 1.75251780e+02] [ 1.68008118e-01 6.51422226e-01 -7.39879960e-01 8.85577920e+01] [ 9.73587342e-01 8.05893222e-03 2.28172614e-01 8.59880219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.26, Y:88.56, Z:86.01 [[ 1.54365226e-01 -7.59439193e-01 -6.31999596e-01 1.75255353e+02] [ 1.67404015e-01 6.50522030e-01 -7.40808332e-01 8.85638789e+01] [ 9.73728542e-01 8.55577519e-03 2.27551150e-01 8.60149355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.62687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.26, Y:88.57, Z:86.04 [[ 1.54330015e-01 -7.60154290e-01 -6.31147924e-01 1.75259101e+02] [ 1.66415014e-01 6.49673946e-01 -7.41774768e-01 8.85700425e+01] [ 9.73903635e-01 9.44562035e-03 2.26765277e-01 8.60417593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.26, Y:88.58, Z:86.07 [[ 1.54246728e-01 -7.60826690e-01 -6.30357593e-01 1.75262429e+02] [ 1.65656564e-01 6.48876095e-01 -7.42642388e-01 8.85760585e+01] [ 9.74046123e-01 1.01272858e-02 2.26122949e-01 8.60681538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.686875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:175.27, Y:88.58, Z:86.09 [[ 1.54285001e-01 -7.61479622e-01 -6.29559309e-01 1.75265638e+02] [ 1.64402767e-01 6.48091634e-01 -7.43605382e-01 8.85834445e+01] [ 9.74252467e-01 1.12258652e-02 2.25180175e-01 8.60939128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.27, Y:88.59, Z:86.12 [[ 1.54044685e-01 -7.62266180e-01 -6.28665655e-01 1.75269338e+02] [ 1.63884541e-01 6.47158601e-01 -7.44531801e-01 8.85896297e+01] [ 9.74377798e-01 1.16625841e-02 2.24614986e-01 8.61197720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.27, Y:88.60, Z:86.15 [[ 1.53846573e-01 -7.63151487e-01 -6.27639260e-01 1.75273480e+02] [ 1.64073336e-01 6.46113741e-01 -7.45397192e-01 8.85954363e+01] [ 9.74377326e-01 1.16979366e-02 2.24615195e-01 8.61466471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.28, Y:88.60, Z:86.17 [[ 1.53175802e-01 -7.63928430e-01 -6.26857662e-01 1.75276893e+02] [ 1.63510042e-01 6.45192710e-01 -7.46318185e-01 8.86013346e+01] [ 9.74577673e-01 1.18203637e-02 2.23737880e-01 8.61730488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.806875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:175.29, Y:88.64, Z:86.19 [[ 1.55148647e-01 -7.87607081e-01 -5.96325401e-01 1.75285479e+02] [ 1.75065179e-01 6.16000865e-01 -7.68046299e-01 8.86434925e+01] [ 9.72255666e-01 1.47655309e-02 2.33454275e-01 8.61876459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.836875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:175.29, Y:88.63, Z:86.22 [[ 1.52012485e-01 -7.85712901e-01 -5.99622749e-01 1.75285433e+02] [ 1.65222719e-01 6.18337268e-01 -7.68349189e-01 8.86321387e+01] [ 9.74470963e-01 1.77273691e-02 2.23812606e-01 8.62232595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.866875 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:175.29, Y:88.62, Z:86.25 [[ 1.50749100e-01 -7.65965019e-01 -6.24957838e-01 1.75287088e+02] [ 1.65930078e-01 6.42818753e-01 -7.47831037e-01 8.86176764e+01] [ 9.74547032e-01 9.03555349e-03 2.24000984e-01 8.62528710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.29, Y:88.62, Z:86.28 [[ 1.49454251e-01 -7.67048962e-01 -6.23938552e-01 1.75290525e+02] [ 1.66840061e-01 6.41541125e-01 -7.48725169e-01 8.86236476e+01] [ 9.74591105e-01 7.80221268e-03 2.23855544e-01 8.62805348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.29, Y:88.63, Z:86.31 [[ 1.49192140e-01 -7.67858953e-01 -6.23004281e-01 1.75294167e+02] [ 1.67316572e-01 6.40574184e-01 -7.49446382e-01 8.86294544e+01] [ 9.74549573e-01 7.57256840e-03 2.24044161e-01 8.63073429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.30, Y:88.64, Z:86.34 [[ 1.49180241e-01 -7.68632421e-01 -6.22052616e-01 1.75297488e+02] [ 1.67817284e-01 6.39646588e-01 -7.50126390e-01 8.86353427e+01] [ 9.74465297e-01 7.51285501e-03 2.24412437e-01 8.63351592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.986875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:175.30, Y:88.64, Z:86.36 [[ 1.48959512e-01 -7.69391658e-01 -6.21166274e-01 1.75300411e+02] [ 1.67854699e-01 6.38732264e-01 -7.50896727e-01 8.86410970e+01] [ 9.74492619e-01 7.58753246e-03 2.24291252e-01 8.63609930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.30, Y:88.65, Z:86.39 [[ 1.48616919e-01 -7.70310468e-01 -6.20108695e-01 1.75302837e+02] [ 1.68065547e-01 6.37624799e-01 -7.51790255e-01 8.86490478e+01] [ 9.74508586e-01 7.50984426e-03 2.24224484e-01 8.63880263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.046875 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:175.31, Y:88.66, Z:86.41 [[ 1.48014180e-01 -7.71161192e-01 -6.19194815e-01 1.75305858e+02] [ 1.68529067e-01 6.36601058e-01 -7.52553684e-01 8.86553064e+01] [ 9.74520270e-01 7.03629167e-03 2.24189060e-01 8.64139542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.07687500000003 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:175.31, Y:88.66, Z:86.44 [[ 1.47548406e-01 -7.72056026e-01 -6.18190068e-01 1.75309457e+02] [ 1.69228417e-01 6.35520886e-01 -7.53309330e-01 8.86616950e+01] [ 9.74469708e-01 6.53426445e-03 2.24423913e-01 8.64410025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.106875 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:175.31, Y:88.67, Z:86.47 [[ 1.45726782e-01 -7.73159858e-01 -6.17241880e-01 1.75312016e+02] [ 1.71034848e-01 6.34196541e-01 -7.54017127e-01 8.86681799e+01] [ 9.74428441e-01 4.31061818e-03 2.24656700e-01 8.64672778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.32, Y:88.67, Z:86.49 [[ 1.44251385e-01 -7.74226307e-01 -6.16250893e-01 1.75315344e+02] [ 1.72447537e-01 6.32903489e-01 -7.54781439e-01 8.86748248e+01] [ 9.74398987e-01 2.60731900e-03 2.24810625e-01 8.64936236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.32, Y:88.68, Z:86.52 [[ 1.42669171e-01 -7.75299339e-01 -6.15269406e-01 1.75318759e+02] [ 1.73951002e-01 6.31593501e-01 -7.55533387e-01 8.86811553e+01] [ 9.74364694e-01 7.64592138e-04 2.24973019e-01 8.65203683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.32, Y:88.69, Z:86.55 [[ 1.39087606e-01 -7.76750581e-01 -6.14258230e-01 1.75321939e+02] [ 1.76960058e-01 6.29798591e-01 -7.56332514e-01 8.86876414e+01] [ 9.74340688e-01 -3.50269324e-03 2.25051006e-01 8.65470957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.226875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:175.33, Y:88.69, Z:86.57 [[ 1.37254662e-01 -7.77826615e-01 -6.13308173e-01 1.75325317e+02] [ 1.78014426e-01 6.28457009e-01 -7.57200536e-01 8.86932696e+01] [ 9.74408550e-01 -5.24839837e-03 2.24723012e-01 8.65742465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.25687500000004 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:175.33, Y:88.70, Z:86.60 [[ 1.35079304e-01 -7.78919846e-01 -6.12403017e-01 1.75328192e+02] [ 1.79676203e-01 6.27076823e-01 -7.57951925e-01 8.86996392e+01] [ 9.74407535e-01 -7.65063064e-03 2.24658461e-01 8.66000928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.286875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:175.33, Y:88.71, Z:86.63 [[ 1.32112700e-01 -7.80166733e-01 -6.11462266e-01 1.75330691e+02] [ 1.81865859e-01 6.25475559e-01 -7.58752354e-01 8.87062082e+01] [ 9.74408048e-01 -1.09632880e-02 2.24518958e-01 8.66273822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.31687500000004 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:175.34, Y:88.76, Z:86.64 [[ 1.32836326e-01 -8.12731224e-01 -5.67293987e-01 1.75338881e+02] [ 1.97018062e-01 5.82596461e-01 -7.88520924e-01 8.87615329e+01] [ 9.71359045e-01 -7.02293939e-03 2.37512704e-01 8.66358439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.34, Y:88.74, Z:86.67 [[ 1.28975926e-01 -8.07287562e-01 -5.75892354e-01 1.75337442e+02] [ 1.81748398e-01 5.90149499e-01 -7.86569189e-01 8.87420879e+01] [ 9.74850107e-01 -3.21902374e-03 2.22838299e-01 8.66748085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.37687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.34, Y:88.72, Z:86.71 [[ 1.27149846e-01 -7.82091264e-01 -6.10054237e-01 1.75337798e+02] [ 1.83361667e-01 6.22979230e-01 -7.60444198e-01 8.87244958e+01] [ 9.74787883e-01 -1.51701993e-02 2.22617270e-01 8.67064084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.406875 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:175.34, Y:88.73, Z:86.73 [[ 1.26620593e-01 -7.82923817e-01 -6.09095660e-01 1.75340820e+02] [ 1.84116673e-01 6.21917686e-01 -7.61130372e-01 8.87311636e+01] [ 9.74714459e-01 -1.57698874e-02 2.22896914e-01 8.67340360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.436875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:175.34, Y:88.74, Z:86.76 [[ 1.26105594e-01 -7.83722876e-01 -6.08174179e-01 1.75343530e+02] [ 1.84520696e-01 6.20900775e-01 -7.61862416e-01 8.87373540e+01] [ 9.74704823e-01 -1.61456104e-02 2.22912152e-01 8.67618747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.466875 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:175.35, Y:88.74, Z:86.79 [[ 1.25945307e-01 -7.84551786e-01 -6.07137773e-01 1.75345968e+02] [ 1.85696598e-01 6.19837901e-01 -7.62441965e-01 8.87432838e+01] [ 9.74502208e-01 -1.67174319e-02 2.23754272e-01 8.67886768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.35, Y:88.75, Z:86.82 [[ 1.25913653e-01 -7.85471160e-01 -6.05954461e-01 1.75346737e+02] [ 1.87626195e-01 6.18647138e-01 -7.62936517e-01 8.87499264e+01] [ 9.74136625e-01 -1.76288060e-02 2.25271086e-01 8.68165420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.526875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:175.35, Y:88.76, Z:86.84 [[ 1.25401097e-01 -7.86294982e-01 -6.04991543e-01 1.75349116e+02] [ 1.88510892e-01 6.17580402e-01 -7.63582406e-01 8.87566276e+01] [ 9.74031934e-01 -1.82934238e-02 2.25670429e-01 8.68439038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.556875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:175.35, Y:88.76, Z:86.87 [[ 1.24900479e-01 -7.87136444e-01 -6.04000073e-01 1.75349790e+02] [ 1.89391537e-01 6.16488103e-01 -7.64246861e-01 8.87644992e+01] [ 9.73925416e-01 -1.89377038e-02 2.26076640e-01 8.68699889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.35, Y:88.77, Z:86.90 [[ 1.24690109e-01 -7.87692520e-01 -6.03318217e-01 1.75352246e+02] [ 1.89525650e-01 6.15776052e-01 -7.64787475e-01 8.87713455e+01] [ 9.73926283e-01 -1.89828437e-02 2.26069120e-01 8.68964731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.616875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:175.36, Y:88.78, Z:86.92 [[ 1.24742364e-01 -7.88446655e-01 -6.02321522e-01 1.75355039e+02] [ 1.89481933e-01 6.14820931e-01 -7.65566339e-01 8.87786905e+01] [ 9.73928098e-01 -1.86304912e-02 2.26090613e-01 8.69237441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.36, Y:88.79, Z:86.95 [[ 1.24872611e-01 -7.89042918e-01 -6.01513179e-01 1.75356525e+02] [ 1.88366571e-01 6.14085954e-01 -7.66430999e-01 8.87865687e+01] [ 9.74127746e-01 -1.75987355e-02 2.25311825e-01 8.69508895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.36, Y:88.84, Z:86.96 [[ 1.27453343e-01 -8.18494201e-01 -5.60198973e-01 1.75364040e+02] [ 2.01054694e-01 5.74399753e-01 -7.93499801e-01 8.88381222e+01] [ 9.71253137e-01 -1.14964309e-02 2.37771269e-01 8.69638508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.36, Y:88.81, Z:87.00 [[ 1.25422739e-01 -8.01960164e-01 -5.84062524e-01 1.75362570e+02] [ 1.86584041e-01 5.97273581e-01 -7.80032477e-01 8.88098333e+01] [ 9.74400089e-01 -1.11429363e-02 2.24544656e-01 8.70021170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.37, Y:88.80, Z:87.03 [[ 1.25366920e-01 -7.90285998e-01 -5.99775938e-01 1.75365286e+02] [ 1.86118571e-01 6.12546568e-01 -7.68209984e-01 8.88046631e+01] [ 9.74496287e-01 -1.53213209e-02 2.23879977e-01 8.70309654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.37, Y:88.81, Z:87.06 [[ 1.26947831e-01 -7.90786379e-01 -5.98783059e-01 1.75368394e+02] [ 1.84986414e-01 6.11950980e-01 -7.68957753e-01 8.88115065e+01] [ 9.74507196e-01 -1.31492120e-02 2.23970586e-01 8.70577902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.796875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:175.37, Y:88.82, Z:87.08 [[ 1.27985151e-01 -7.91336205e-01 -5.97835104e-01 1.75372167e+02] [ 1.84217897e-01 6.11270721e-01 -7.69682969e-01 8.88178096e+01] [ 9.74517095e-01 -1.16239345e-02 2.24011867e-01 8.70840696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.82687500000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:175.38, Y:88.82, Z:87.11 [[ 1.28881126e-01 -7.91904153e-01 -5.96889828e-01 1.75375433e+02] [ 1.83073059e-01 6.10564020e-01 -7.70516601e-01 8.88240950e+01] [ 9.74614750e-01 -9.96939993e-03 2.23666494e-01 8.71118003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.856875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:175.38, Y:88.83, Z:87.14 [[ 1.31447545e-01 -7.92158564e-01 -5.95991907e-01 1.75378683e+02] [ 1.80825819e-01 6.10281893e-01 -7.71270403e-01 8.88304145e+01] [ 9.74691524e-01 -6.38912421e-03 2.23462778e-01 8.71391261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.88687500000003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:175.38, Y:88.84, Z:87.17 [[ 1.32269030e-01 -7.92698122e-01 -5.95092087e-01 1.75382252e+02] [ 1.79991219e-01 6.09593884e-01 -7.72009363e-01 8.88362763e+01] [ 9.74734869e-01 -4.99842037e-03 2.23309093e-01 8.71665368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.916875 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:175.39, Y:88.84, Z:87.19 [[ 1.33126833e-01 -7.93227592e-01 -5.94194610e-01 1.75385772e+02] [ 1.78956431e-01 6.08915462e-01 -7.72784935e-01 8.88417148e+01] [ 9.74808618e-01 -3.45653564e-03 2.23016166e-01 8.71929300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.94687500000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:175.39, Y:88.85, Z:87.22 [[ 1.34949114e-01 -7.93731168e-01 -5.93110082e-01 1.75388742e+02] [ 1.78415252e-01 6.08266996e-01 -7.73420494e-01 8.88477412e+01] [ 9.74657240e-01 -1.44747427e-03 2.23698838e-01 8.72195723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.976875 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:175.39, Y:88.85, Z:87.25 [[ 1.35625203e-01 -7.94438067e-01 -5.92008414e-01 1.75391951e+02] [ 1.78548128e-01 6.07344754e-01 -7.74114278e-01 8.88540082e+01] [ 9.74539055e-01 -7.12588168e-04 2.24216685e-01 8.72468503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.40, Y:88.86, Z:87.27 [[ 1.36720650e-01 -7.95024697e-01 -5.90968015e-01 1.75395218e+02] [ 1.78645080e-01 6.06576964e-01 -7.74693696e-01 8.88599846e+01] [ 9.74368205e-01 3.43097080e-04 2.24958847e-01 8.72735815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.036875 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:175.40, Y:88.87, Z:87.30 [[ 1.36973449e-01 -7.95708358e-01 -5.89988545e-01 1.75399072e+02] [ 1.78378038e-01 6.05679169e-01 -7.75457297e-01 8.88654945e+01] [ 9.74381624e-01 9.76061746e-04 2.24898861e-01 8.72991192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.40, Y:88.87, Z:87.33 [[ 1.37012111e-01 -7.96521887e-01 -5.88880774e-01 1.75402583e+02] [ 1.78430985e-01 6.04608330e-01 -7.76280330e-01 8.88713193e+01] [ 9.74366494e-01 1.28523085e-03 2.24962848e-01 8.73255407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.096875 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:175.41, Y:88.88, Z:87.35 [[ 1.37256396e-01 -7.97169959e-01 -5.87946204e-01 1.75406465e+02] [ 1.77341204e-01 6.03750162e-01 -7.77197427e-01 8.88776931e+01] [ 9.74531056e-01 2.40823028e-03 2.24239651e-01 8.73531701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.12687500000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:175.41, Y:88.88, Z:87.38 [[ 1.37511843e-01 -7.97804662e-01 -5.87024884e-01 1.75410174e+02] [ 1.76904508e-01 6.02907891e-01 -7.77950429e-01 8.88837834e+01] [ 9.74574414e-01 3.13004883e-03 2.24042217e-01 8.73801489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.156875 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:175.41, Y:88.89, Z:87.41 [[ 1.38104397e-01 -7.98322774e-01 -5.86180795e-01 1.75413789e+02] [ 1.75558590e-01 6.02211894e-01 -7.78793950e-01 8.88894232e+01] [ 9.74733993e-01 4.64579471e-03 2.23320531e-01 8.74065176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.42, Y:88.90, Z:87.43 [[ 1.38533892e-01 -7.98909303e-01 -5.85279665e-01 1.75417188e+02] [ 1.74417577e-01 6.01422319e-01 -7.79659992e-01 8.88950733e+01] [ 9.74877874e-01 5.92627189e-03 2.22661199e-01 8.74339647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.216875 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:175.42, Y:88.90, Z:87.46 [[ 1.40152236e-01 -7.99256152e-01 -5.84420187e-01 1.75420427e+02] [ 1.72331131e-01 6.00927896e-01 -7.80504737e-01 8.89008837e+01] [ 9.75017606e-01 8.67569212e-03 2.21958105e-01 8.74602423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.246875 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:175.42, Y:88.91, Z:87.49 [[ 1.40804265e-01 -7.99615643e-01 -5.83771345e-01 1.75424698e+02] [ 1.71415672e-01 6.00430307e-01 -7.81089056e-01 8.89068227e+01] [ 9.75085036e-01 9.91311295e-03 2.21609801e-01 8.74875726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.276875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:175.43, Y:88.91, Z:87.52 [[ 1.41132609e-01 -8.00231380e-01 -5.82847601e-01 1.75428881e+02] [ 1.70881359e-01 5.99595076e-01 -7.81847368e-01 8.89125468e+01] [ 9.75131349e-01 1.07463689e-02 2.21367043e-01 8.75150023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.306875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:175.43, Y:88.92, Z:87.54 [[ 1.41182636e-01 -8.00855194e-01 -5.81978025e-01 1.75432900e+02] [ 1.70107621e-01 5.98747620e-01 -7.82665117e-01 8.89183063e+01] [ 9.75259381e-01 1.14998275e-02 2.20764339e-01 8.75423051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.44, Y:88.92, Z:87.57 [[ 1.42724799e-01 -8.01357219e-01 -5.80909837e-01 1.75437150e+02] [ 1.69956429e-01 5.98043560e-01 -7.83236052e-01 8.89234554e+01] [ 9.75061251e-01 1.30578464e-02 2.21551459e-01 8.75694709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.44, Y:88.93, Z:87.60 [[ 1.43196967e-01 -8.02016838e-01 -5.79882419e-01 1.75440874e+02] [ 1.70080166e-01 5.97146011e-01 -7.83893729e-01 8.89284862e+01] [ 9.74970444e-01 1.36247061e-02 2.21916654e-01 8.75962726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.396875 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:175.45, Y:88.93, Z:87.62 [[ 1.44350344e-01 -8.02640804e-01 -5.78731991e-01 1.75445260e+02] [ 1.70334069e-01 5.96282394e-01 -7.84495769e-01 8.89343558e+01] [ 9.74756012e-01 1.46644593e-02 2.22790643e-01 8.76224499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.426875 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:175.45, Y:88.94, Z:87.65 [[ 1.46082017e-01 -8.02939161e-01 -5.77882988e-01 1.75448620e+02] [ 1.70350126e-01 5.95840619e-01 -7.84827874e-01 8.89390903e+01] [ 9.74495192e-01 1.62067991e-02 2.23822387e-01 8.76490707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.456875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:175.45, Y:88.94, Z:87.67 [[ 1.47074675e-01 -8.03561046e-01 -5.76765711e-01 1.75452007e+02] [ 1.70248686e-01 5.94969867e-01 -7.85510180e-01 8.89438872e+01] [ 9.74363600e-01 1.73350506e-02 2.24310212e-01 8.76743517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.46, Y:88.95, Z:87.70 [[ 1.49028381e-01 -8.03849080e-01 -5.75862135e-01 1.75455672e+02] [ 1.69650243e-01 5.94515596e-01 -7.85983461e-01 8.89483226e+01] [ 9.74171103e-01 1.94386913e-02 2.24972888e-01 8.77015653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.46, Y:88.95, Z:87.73 [[ 1.49330655e-01 -8.04470177e-01 -5.74915724e-01 1.75459151e+02] [ 1.69152788e-01 5.93648221e-01 -7.86745908e-01 8.89542039e+01] [ 9.74211317e-01 2.02366840e-02 2.24728251e-01 8.77276426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.46, Y:88.96, Z:87.75 [[ 1.49484734e-01 -8.05123120e-01 -5.73960866e-01 1.75462682e+02] [ 1.68347597e-01 5.92731899e-01 -7.87609029e-01 8.89600190e+01] [ 9.74327153e-01 2.11105941e-02 2.24144913e-01 8.77538866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.47, Y:88.97, Z:87.78 [[ 1.49376388e-01 -8.05817576e-01 -5.73013725e-01 1.75467091e+02] [ 1.67847933e-01 5.91769966e-01 -7.88438570e-01 8.89665929e+01] [ 9.74429970e-01 2.15949366e-02 2.23651275e-01 8.77805261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.606875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:175.47, Y:88.97, Z:87.81 [[ 1.48635977e-01 -8.06584347e-01 -5.72126767e-01 1.75471315e+02] [ 1.67575837e-01 5.90730066e-01 -7.89275825e-01 8.89722532e+01] [ 9.74590009e-01 2.14401616e-02 2.22967788e-01 8.78067421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.63687500000003 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:175.48, Y:88.98, Z:87.83 [[ 1.47838469e-01 -8.07416838e-01 -5.71158330e-01 1.75475587e+02] [ 1.67645728e-01 5.89605573e-01 -7.90101372e-01 8.89781326e+01] [ 9.74699286e-01 2.10551229e-02 2.22526369e-01 8.78327315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.666875 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:175.48, Y:88.98, Z:87.86 [[ 1.47631183e-01 -8.08190971e-01 -5.70116118e-01 1.75479228e+02] [ 1.67830630e-01 5.88543403e-01 -7.90853680e-01 8.89841044e+01] [ 9.74698883e-01 2.10717173e-02 2.22526559e-01 8.78596275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.69687500000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:175.48, Y:88.99, Z:87.89 [[ 1.45543603e-01 -8.09141701e-01 -5.69303757e-01 1.75483528e+02] [ 1.67772015e-01 5.87282291e-01 -7.91803045e-01 8.89890522e+01] [ 9.75022877e-01 1.97286295e-02 2.21226515e-01 8.78866546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.726875 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:175.49, Y:88.99, Z:87.91 [[ 1.44775771e-01 -8.09970462e-01 -5.68320180e-01 1.75487583e+02] [ 1.68477550e-01 5.86163370e-01 -7.92482062e-01 8.89945178e+01] [ 9.75015534e-01 1.89830098e-02 2.21324093e-01 8.79125542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.75687500000004 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:175.49, Y:89.00, Z:87.94 [[ 1.43568524e-01 -8.10650714e-01 -5.67656145e-01 1.75491256e+02] [ 1.68951672e-01 5.85254803e-01 -7.93052425e-01 8.89995457e+01] [ 9.75112000e-01 1.79509114e-02 2.20984961e-01 8.79399974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.786875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:175.50, Y:89.00, Z:87.97 [[ 1.42921374e-01 -8.11436812e-01 -5.66695492e-01 1.75495436e+02] [ 1.69444843e-01 5.84180529e-01 -7.93738971e-01 8.90047260e+01] [ 9.75121493e-01 1.74186356e-02 2.20985668e-01 8.79664109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.50, Y:89.01, Z:87.99 [[ 1.41084669e-01 -8.12469262e-01 -5.65675538e-01 1.75499804e+02] [ 1.70849412e-01 5.82799547e-01 -7.94452747e-01 8.90100297e+01] [ 9.75143884e-01 1.54397696e-02 2.21033977e-01 8.79937986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.846875 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:175.50, Y:89.02, Z:88.02 [[ 1.39808967e-01 -8.13341629e-01 -5.64737857e-01 1.75504124e+02] [ 1.71655471e-01 5.81612364e-01 -7.95148701e-01 8.90156175e+01] [ 9.75186060e-01 1.42285753e-02 2.20929165e-01 8.80213560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.87687500000004 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:175.51, Y:89.02, Z:88.05 [[ 1.37407285e-01 -8.14402564e-01 -5.63797572e-01 1.75508803e+02] [ 1.73237180e-01 5.80182668e-01 -7.95849829e-01 8.90203064e+01] [ 9.75247721e-01 1.16848630e-02 2.20806129e-01 8.80491773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.51, Y:89.03, Z:88.08 [[ 1.36002314e-01 -8.15310084e-01 -5.62825761e-01 1.75513192e+02] [ 1.74353871e-01 5.78934788e-01 -7.96514431e-01 8.90257365e+01] [ 9.75245661e-01 1.01969562e-02 2.20888940e-01 8.80759046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.936875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:175.52, Y:89.03, Z:88.10 [[ 1.34298640e-01 -8.16262370e-01 -5.61853733e-01 1.75517665e+02] [ 1.75697672e-01 5.77621104e-01 -7.97172621e-01 8.90312094e+01] [ 9.75240587e-01 8.34280634e-03 2.20989127e-01 8.81032807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.966875 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:175.52, Y:89.04, Z:88.13 [[ 1.30925923e-01 -8.17481279e-01 -5.60876778e-01 1.75523151e+02] [ 1.78050705e-01 5.75936823e-01 -7.97868863e-01 8.90359620e+01] [ 9.75272449e-01 4.59721164e-03 2.20958178e-01 8.81297069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.996875 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:175.53, Y:89.04, Z:88.16 [[ 1.29027092e-01 -8.18281060e-01 -5.60150084e-01 1.75527915e+02] [ 1.79478575e-01 5.74812997e-01 -7.98359230e-01 8.90412023e+01] [ 9.75263785e-01 2.47503134e-03 2.21030368e-01 8.81571860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.026875 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:175.53, Y:89.05, Z:88.18 [[ 1.27081450e-01 -8.19222010e-01 -5.59218743e-01 1.75532447e+02] [ 1.80461804e-01 5.73476152e-01 -7.99098642e-01 8.90457276e+01] [ 9.75337809e-01 6.32990992e-04 2.20716463e-01 8.81847419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.056875 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:175.54, Y:89.05, Z:88.21 [[ 1.23894688e-01 -8.20297829e-01 -5.58356139e-01 1.75538032e+02] [ 1.81695084e-01 5.71931794e-01 -7.99925571e-01 8.90501291e+01] [ 9.75518838e-01 -2.34403658e-03 2.19903394e-01 8.82108264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.086875 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:175.54, Y:89.06, Z:88.24 [[ 1.21173298e-01 -8.23892924e-01 -5.53640209e-01 1.75542906e+02] [ 1.80840052e-01 5.66738960e-01 -8.03805839e-01 8.90583160e+01] [ 9.76019420e-01 -2.72052004e-03 2.17666468e-01 8.82368094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.116875 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:175.55, Y:89.05, Z:88.26 [[ 1.21363905e-01 -8.13126679e-01 -5.69294130e-01 1.75547025e+02] [ 1.82137020e-01 5.82038337e-01 -7.92500776e-01 8.90518015e+01] [ 9.75754533e-01 -7.50854716e-03 2.18738916e-01 8.82646622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.146875 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:175.55, Y:89.07, Z:88.29 [[ 1.20874798e-01 -8.22168957e-01 -5.56262069e-01 1.75551343e+02] [ 1.81970429e-01 5.69227244e-01 -8.01789940e-01 8.90651283e+01] [ 9.75846323e-01 -4.30705056e-03 2.18415666e-01 8.82892745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.56, Y:89.07, Z:88.32 [[ 1.21858062e-01 -8.22745219e-01 -5.55194486e-01 1.75556013e+02] [ 1.81263584e-01 5.68403230e-01 -8.02534287e-01 8.90695983e+01] [ 9.75855587e-01 -2.84126961e-03 2.18398263e-01 8.83161453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.56, Y:89.07, Z:88.34 [[ 1.23169382e-01 -8.23292283e-01 -5.54093062e-01 1.75560083e+02] [ 1.80616791e-01 5.67616515e-01 -8.03236620e-01 8.90747207e+01] [ 9.75810883e-01 -1.14435278e-03 2.18613385e-01 8.83430252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.236875 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:175.56, Y:89.08, Z:88.37 [[ 1.27225469e-01 -8.23433912e-01 -5.52964983e-01 1.75564770e+02] [ 1.79313691e-01 5.67403753e-01 -8.03678780e-01 8.90797872e+01] [ 9.75530768e-01 3.09421749e-03 2.19841183e-01 8.83689967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.57, Y:89.09, Z:88.39 [[ 1.29329537e-01 -8.23855712e-01 -5.51847475e-01 1.75568400e+02] [ 1.78756526e-01 5.66774175e-01 -8.04246939e-01 8.90853734e+01] [ 9.75356332e-01 5.36654664e-03 2.20570227e-01 8.83949544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.296875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:175.57, Y:89.09, Z:88.42 [[ 1.31570378e-01 -8.24222937e-01 -5.50768359e-01 1.75572500e+02] [ 1.77407595e-01 5.66206117e-01 -8.04945450e-01 8.90915924e+01] [ 9.75302918e-01 8.19648743e-03 2.20719362e-01 8.84221900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.32687500000003 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:175.58, Y:89.10, Z:88.45 [[ 1.35906754e-01 -8.24209905e-01 -5.49733924e-01 1.75576862e+02] [ 1.74984861e-01 5.66128629e-01 -8.05530058e-01 8.90981648e+01] [ 9.75145965e-01 1.32818609e-02 2.21164960e-01 8.84489103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.58, Y:89.10, Z:88.48 [[ 1.37817220e-01 -8.24546733e-01 -5.48752311e-01 1.75581116e+02] [ 1.73510793e-01 5.65570415e-01 -8.06240727e-01 8.91043165e+01] [ 9.75141230e-01 1.58994071e-02 2.21013100e-01 8.84753361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.59, Y:89.11, Z:88.50 [[ 1.39683405e-01 -8.24906718e-01 -5.47738489e-01 1.75585311e+02] [ 1.71866363e-01 5.64963137e-01 -8.07018344e-01 8.91102181e+01] [ 9.75166909e-01 1.85892484e-02 2.20689692e-01 8.85021598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.416875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:175.59, Y:89.12, Z:88.53 [[ 1.42968075e-01 -8.24980612e-01 -5.46778857e-01 1.75590645e+02] [ 1.69417934e-01 5.64699156e-01 -8.07720513e-01 8.91167410e+01] [ 9.75119323e-01 2.28441030e-02 2.20500462e-01 8.85293458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.59, Y:89.12, Z:88.55 [[ 1.43948209e-01 -8.25458345e-01 -5.45799811e-01 1.75594524e+02] [ 1.68674900e-01 5.63939485e-01 -8.08406479e-01 8.91221394e+01] [ 9.75103939e-01 2.43059362e-02 2.20412183e-01 8.85544372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.476875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:175.60, Y:89.18, Z:88.57 [[ 1.48335908e-01 -8.57099405e-01 -4.93332614e-01 1.75603075e+02] [ 1.83277366e-01 5.14035565e-01 -8.37959930e-01 8.91819732e+01] [ 9.71805467e-01 3.38828450e-02 2.33336854e-01 8.85653205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.60, Y:89.13, Z:88.61 [[ 1.44391895e-01 -8.27305059e-01 -5.42878734e-01 1.75602625e+02] [ 1.66809905e-01 5.61127150e-01 -8.10747049e-01 8.91334729e+01] [ 9.75359132e-01 2.65077531e-02 2.19024891e-01 8.86073445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.536875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:175.61, Y:89.17, Z:88.63 [[ 1.46833467e-01 -8.43739834e-01 -5.16278051e-01 1.75612063e+02] [ 1.75992288e-01 5.35891616e-01 -8.25740208e-01 8.91658170e+01] [ 9.73378985e-01 3.03853417e-02 2.27178528e-01 8.86278876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.61, Y:89.14, Z:88.66 [[ 1.43571589e-01 -8.22093264e-01 -5.50953595e-01 1.75613400e+02] [ 1.68853849e-01 5.68907007e-01 -8.04880858e-01 8.91368811e+01] [ 9.75128492e-01 2.25273885e-02 2.20492495e-01 8.86617526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.62, Y:89.15, Z:88.69 [[ 1.43370515e-01 -8.28198506e-01 -5.41786056e-01 1.75618095e+02] [ 1.69798754e-01 5.59908910e-01 -8.10968801e-01 8.91477573e+01] [ 9.74993989e-01 2.42744176e-02 2.20901503e-01 8.86870137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.62687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.62, Y:89.15, Z:88.71 [[ 1.41749398e-01 -8.29278262e-01 -5.40559591e-01 1.75624273e+02] [ 1.72126540e-01 5.58403191e-01 -8.11516069e-01 8.91529424e+01] [ 9.74822837e-01 2.19872620e-02 2.21894114e-01 8.87142473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.656875 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:175.63, Y:89.16, Z:88.74 [[ 1.40534581e-01 -8.30183180e-01 -5.39486719e-01 1.75628933e+02] [ 1.73686492e-01 5.57116530e-01 -8.12067839e-01 8.91582846e+01] [ 9.74722029e-01 2.04220583e-02 2.22485742e-01 8.87414022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.686875 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:175.63, Y:89.16, Z:88.77 [[ 1.38334176e-01 -8.31337990e-01 -5.38275768e-01 1.75634636e+02] [ 1.77204686e-01 5.55507135e-01 -8.12410193e-01 8.91632524e+01] [ 9.74403487e-01 1.69991063e-02 2.24162610e-01 8.87679601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.64, Y:89.17, Z:88.80 [[ 1.36690413e-01 -8.32312505e-01 -5.37188631e-01 1.75639364e+02] [ 1.78656459e-01 5.54099211e-01 -8.13053463e-01 8.91685874e+01] [ 9.74370361e-01 1.51643953e-02 2.24438055e-01 8.87956229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.746875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:175.64, Y:89.17, Z:88.82 [[ 1.34739704e-01 -8.33268633e-01 -5.36198283e-01 1.75644093e+02] [ 1.79935001e-01 5.52711704e-01 -8.13715655e-01 8.91738944e+01] [ 9.74406798e-01 1.31589680e-02 2.24406403e-01 8.88225819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.776875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:175.65, Y:89.18, Z:88.85 [[ 1.30121074e-01 -8.34629734e-01 -5.35221181e-01 1.75649969e+02] [ 1.82639947e-01 5.50750018e-01 -8.14442796e-01 8.91784988e+01] [ 9.74531249e-01 8.22340287e-03 2.24100914e-01 8.88488668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.806875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:175.65, Y:89.18, Z:88.88 [[ 1.27944782e-01 -8.35670621e-01 -5.34120535e-01 1.75654501e+02] [ 1.84354816e-01 5.49200087e-01 -8.15102795e-01 8.91840985e+01] [ 9.74496503e-01 5.82045656e-03 2.24327189e-01 8.88756473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.66, Y:89.19, Z:88.90 [[ 1.25145251e-01 -8.36789327e-01 -5.33031227e-01 1.75658998e+02] [ 1.86229699e-01 5.47517693e-01 -8.15808112e-01 8.91901251e+01] [ 9.74503548e-01 2.82826550e-03 2.24354264e-01 8.89032345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.66, Y:89.20, Z:88.93 [[ 1.19229409e-01 -8.38274685e-01 -5.32052536e-01 1.75664838e+02] [ 1.89916894e-01 5.45235626e-01 -8.16486182e-01 8.91956162e+01] [ 9.74533694e-01 -3.69660060e-03 2.24210646e-01 8.89301671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.67, Y:89.20, Z:88.96 [[ 1.16317612e-01 -8.39298255e-01 -5.31082529e-01 1.75669287e+02] [ 1.91584831e-01 5.43630018e-01 -8.17166847e-01 8.92005260e+01] [ 9.74559114e-01 -6.69646047e-03 2.24030560e-01 8.89564130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.67, Y:89.21, Z:88.98 [[ 1.13687286e-01 -8.40352084e-01 -5.29984505e-01 1.75673862e+02] [ 1.93772661e-01 5.41953649e-01 -8.17764268e-01 8.92058304e+01] [ 9.74436943e-01 -9.72710790e-03 2.24450499e-01 8.89837964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.68, Y:89.21, Z:89.01 [[ 1.11634025e-01 -8.41301725e-01 -5.28913274e-01 1.75677669e+02] [ 1.95745537e-01 5.40428541e-01 -8.18303535e-01 8.92103807e+01] [ 9.74280006e-01 -1.21818959e-02 2.25011272e-01 8.90102451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.68, Y:89.22, Z:89.04 [[ 1.10119332e-01 -8.42175439e-01 -5.27839240e-01 1.75681417e+02] [ 1.97468129e-01 5.39020169e-01 -8.18818414e-01 8.92156180e+01] [ 9.74104754e-01 -1.40636904e-02 2.25659349e-01 8.90357605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.69, Y:89.22, Z:89.06 [[ 1.09216664e-01 -8.42963165e-01 -5.26768282e-01 1.75685258e+02] [ 1.99956576e-01 5.37736976e-01 -8.19058186e-01 8.92214260e+01] [ 9.73698664e-01 -1.58759790e-02 2.27285867e-01 8.90619428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.69, Y:89.23, Z:89.09 [[ 1.09182314e-01 -8.43679135e-01 -5.25627948e-01 1.75688454e+02] [ 2.00382417e-01 5.36614292e-01 -8.19690178e-01 8.92276305e+01] [ 9.73614970e-01 -1.58309280e-02 2.27647254e-01 8.90868348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.69, Y:89.23, Z:89.11 [[ 1.11163616e-01 -8.43962611e-01 -5.24756859e-01 1.75691894e+02] [ 1.99349077e-01 5.36233744e-01 -8.20191025e-01 8.92348616e+01] [ 9.73602895e-01 -1.34343954e-02 2.27852849e-01 8.91131127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.70, Y:89.24, Z:89.14 [[ 1.12663290e-01 -8.44456767e-01 -5.23640862e-01 1.75695041e+02] [ 1.98510320e-01 5.35500983e-01 -8.20872920e-01 8.92419098e+01] [ 9.73601888e-01 -1.14658711e-02 2.27964685e-01 8.91390496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.70, Y:89.25, Z:89.17 [[ 1.14078548e-01 -8.44910136e-01 -5.22602092e-01 1.75698099e+02] [ 1.97051758e-01 5.34828365e-01 -8.21662476e-01 8.92486347e+01] [ 9.73733377e-01 -9.24559825e-03 2.27503471e-01 8.91658707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.70, Y:89.26, Z:89.19 [[ 1.17515922e-01 -8.45105560e-01 -5.21523347e-01 1.75701188e+02] [ 1.94632334e-01 5.34577379e-01 -8.22402141e-01 8.92563296e+01] [ 9.73811205e-01 -4.85996045e-03 2.27306221e-01 8.91914908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.70, Y:89.26, Z:89.22 [[ 1.19222388e-01 -8.45558088e-01 -5.20401328e-01 1.75704262e+02] [ 1.93244559e-01 5.33877935e-01 -8.23183388e-01 8.92631783e+01] [ 9.73880158e-01 -2.42283599e-03 2.27049702e-01 8.92179406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.71, Y:89.27, Z:89.24 [[ 1.22588717e-01 -8.45737127e-01 -5.19327179e-01 1.75707086e+02] [ 1.91032141e-01 5.33596764e-01 -8.23881797e-01 8.92711193e+01] [ 9.73898726e-01 1.79042951e-03 2.26975916e-01 8.92433551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.71, Y:89.32, Z:89.25 [[ 1.24351624e-01 -8.68082118e-01 -4.80593498e-01 1.75709948e+02] [ 2.01912451e-01 4.96356904e-01 -8.44311072e-01 8.93217091e+01] [ 9.71477244e-01 7.95364210e-03 2.36999375e-01 8.92532998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.286875 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:175.71, Y:89.30, Z:89.29 [[ 1.25619520e-01 -8.61642042e-01 -4.91724239e-01 1.75712497e+02] [ 1.85612462e-01 5.07310934e-01 -8.41536470e-01 8.93011964e+01] [ 9.74560286e-01 1.44432605e-02 2.23659656e-01 8.92914260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.72, Y:89.28, Z:89.32 [[ 1.26657164e-01 -8.42839673e-01 -5.23048037e-01 1.75716599e+02] [ 1.84553046e-01 5.38110570e-01 -8.22421539e-01 8.92846802e+01] [ 9.74627178e-01 7.63547137e-03 2.23704188e-01 8.93221245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.72, Y:89.29, Z:89.35 [[ 1.29465211e-01 -8.42886816e-01 -5.22283998e-01 1.75719561e+02] [ 1.82912498e-01 5.37978426e-01 -8.22874372e-01 8.92914109e+01] [ 9.74567482e-01 1.10013336e-02 2.23824024e-01 8.93487294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.37687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.72, Y:89.30, Z:89.37 [[ 1.30160628e-01 -8.43442169e-01 -5.21213506e-01 1.75722335e+02] [ 1.82645805e-01 5.37086121e-01 -8.23516247e-01 8.92981941e+01] [ 9.74524869e-01 1.19919317e-02 2.23958641e-01 8.93745830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.73, Y:89.31, Z:89.40 [[ 1.30171645e-01 -8.44090444e-01 -5.20160231e-01 1.75725144e+02] [ 1.82654403e-01 5.36060287e-01 -8.24182466e-01 8.93052067e+01] [ 9.74521786e-01 1.22756308e-02 2.23956685e-01 8.94010753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.73, Y:89.31, Z:89.43 [[ 1.29243850e-01 -8.44913178e-01 -5.19054669e-01 1.75727951e+02] [ 1.83723289e-01 5.34785481e-01 -8.24772843e-01 8.93121110e+01] [ 9.74444344e-01 1.12343860e-02 2.24347963e-01 8.94266879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.73, Y:89.32, Z:89.45 [[ 1.28498542e-01 -8.45689361e-01 -5.17974546e-01 1.75731013e+02] [ 1.84544046e-01 5.33572748e-01 -8.25374835e-01 8.93179685e+01] [ 9.74387818e-01 1.04703443e-02 2.24630256e-01 8.94531818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.73, Y:89.32, Z:89.48 [[ 1.27473592e-01 -8.46535747e-01 -5.16843993e-01 1.75733756e+02] [ 1.85275668e-01 5.32246332e-01 -8.26067049e-01 8.93237891e+01] [ 9.74383605e-01 9.54311793e-03 2.24689827e-01 8.94788643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.74, Y:89.33, Z:89.50 [[ 1.25688919e-01 -8.47543531e-01 -5.15628024e-01 1.75736588e+02] [ 1.86890710e-01 5.30672279e-01 -8.26715667e-01 8.93305950e+01] [ 9.74307014e-01 7.54291133e-03 2.25097637e-01 8.95047621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.74, Y:89.34, Z:89.53 [[ 1.25449185e-01 -8.48268053e-01 -5.14493743e-01 1.75739773e+02] [ 1.87052726e-01 5.29513103e-01 -8.27421991e-01 8.93367890e+01] [ 9.74306820e-01 7.56195747e-03 2.25097839e-01 8.95316845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.74, Y:89.34, Z:89.56 [[ 1.23935944e-01 -8.49081597e-01 -5.13517598e-01 1.75742507e+02] [ 1.87154865e-01 5.28221240e-01 -8.28224232e-01 8.93427433e+01] [ 9.74480856e-01 6.53943540e-03 2.24375350e-01 8.95575023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.75, Y:89.35, Z:89.58 [[ 1.20551675e-01 -8.50202838e-01 -5.12467002e-01 1.75745364e+02] [ 1.87988599e-01 5.26442811e-01 -8.29167205e-01 8.93493340e+01] [ 9.74744880e-01 3.61954188e-03 2.23292003e-01 8.95834182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.75, Y:89.36, Z:89.61 [[ 1.18180487e-01 -8.51129405e-01 -5.11480311e-01 1.75748333e+02] [ 1.88293421e-01 5.24952897e-01 -8.30042194e-01 8.93555946e+01] [ 9.74976390e-01 1.78641280e-03 2.22301257e-01 8.96104786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.75, Y:89.36, Z:89.64 [[ 1.16472902e-01 -8.51962076e-01 -5.10484754e-01 1.75752097e+02] [ 1.89020895e-01 5.23603428e-01 -8.30728928e-01 8.93623416e+01] [ 9.75041109e-01 2.65124468e-04 2.22024245e-01 8.96374739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.706875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:175.76, Y:89.37, Z:89.66 [[ 1.14355504e-01 -8.52824708e-01 -5.09522164e-01 1.75755305e+02] [ 1.89709860e-01 5.22194908e-01 -8.31458145e-01 8.93690712e+01] [ 9.75157930e-01 -1.57956340e-03 2.21505117e-01 8.96643862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.76, Y:89.38, Z:89.69 [[ 1.10800105e-01 -8.53876939e-01 -5.08544501e-01 1.75757602e+02] [ 1.91430818e-01 5.20449490e-01 -8.32157780e-01 8.93755780e+01] [ 9.75232064e-01 -5.14792032e-03 2.21124219e-01 8.96902806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.766875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:175.76, Y:89.38, Z:89.72 [[ 1.08981827e-01 -8.54768399e-01 -5.07438612e-01 1.75760097e+02] [ 1.92786138e-01 5.18961463e-01 -8.32773982e-01 8.93822656e+01] [ 9.75169968e-01 -7.06990019e-03 2.21344867e-01 8.97176789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.76, Y:89.39, Z:89.74 [[ 1.07660722e-01 -8.55584441e-01 -5.06344185e-01 1.75762825e+02] [ 1.94360525e-01 5.17590097e-01 -8.33261350e-01 8.93887869e+01] [ 9.75004182e-01 -8.70380306e-03 2.22015964e-01 8.97439261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.77, Y:89.39, Z:89.77 [[ 1.06099238e-01 -8.56474168e-01 -5.05168240e-01 1.75765061e+02] [ 1.95680688e-01 5.16085570e-01 -8.33885336e-01 8.93944925e+01] [ 9.74911288e-01 -1.03770700e-02 2.22351740e-01 8.97691693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.856875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:175.77, Y:89.40, Z:89.80 [[ 1.04137986e-01 -8.57500685e-01 -5.03833162e-01 1.75767111e+02] [ 1.98268797e-01 5.14318422e-01 -8.34365654e-01 8.94003971e+01] [ 9.74599797e-01 -1.30052357e-02 2.23575714e-01 8.97960141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.88687500000003 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:175.77, Y:89.41, Z:89.82 [[ 1.03440138e-01 -8.58293041e-01 -5.02626297e-01 1.75769579e+02] [ 1.99402018e-01 5.12972665e-01 -8.34923877e-01 8.94067933e+01] [ 9.74442904e-01 -1.38600569e-02 2.24207327e-01 8.98225668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.77, Y:89.41, Z:89.85 [[ 1.02509205e-01 -8.59116164e-01 -5.01409294e-01 1.75771261e+02] [ 2.00692341e-01 5.11561218e-01 -8.35480523e-01 8.94146103e+01] [ 9.74276371e-01 -1.49845603e-02 2.24857768e-01 8.98500979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.94687500000003 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:175.77, Y:89.42, Z:89.88 [[ 1.02369957e-01 -8.59750489e-01 -5.00349366e-01 1.75773880e+02] [ 2.00869483e-01 5.10496477e-01 -8.36088989e-01 8.94214821e+01] [ 9.74254506e-01 -1.49145244e-02 2.24957139e-01 8.98763289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.77, Y:89.48, Z:89.88 [[ 1.01964692e-01 -8.86015569e-01 -4.52304779e-01 1.75771629e+02] [ 2.17794692e-01 4.63526590e-01 -8.58899629e-01 8.94810776e+01] [ 9.70653735e-01 -1.09321441e-02 2.40232834e-01 8.98832312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.77, Y:89.47, Z:89.92 [[ 1.03822481e-01 -8.91993443e-01 -4.39964305e-01 1.75773830e+02] [ 1.98913469e-01 4.52039894e-01 -8.69536294e-01 8.94730253e+01] [ 9.74502090e-01 2.76258864e-03 2.24361414e-01 8.99218234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.036875 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:175.78, Y:89.44, Z:89.96 [[ 1.05190812e-01 -8.60434556e-01 -4.98585267e-01 1.75780909e+02] [ 1.98683304e-01 5.09442453e-01 -8.37253445e-01 8.94401627e+01] [ 9.74402298e-01 -1.09891982e-02 2.24542645e-01 8.99558198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.78, Y:89.45, Z:89.98 [[ 1.08408521e-01 -8.60645998e-01 -4.97529958e-01 1.75782835e+02] [ 1.96062372e-01 5.09159730e-01 -8.38042908e-01 8.94476665e+01] [ 9.74580494e-01 -6.69591131e-03 2.23937550e-01 8.99824782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.78, Y:89.45, Z:90.01 [[ 1.10071704e-01 -8.61033237e-01 -4.96493690e-01 1.75784599e+02] [ 1.95159118e-01 5.08528014e-01 -8.38637095e-01 8.94540257e+01] [ 9.74575363e-01 -4.58505621e-03 2.24013032e-01 9.00089446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.12687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.79, Y:89.46, Z:90.03 [[ 1.12398719e-01 -8.61421556e-01 -4.95297316e-01 1.75786723e+02] [ 1.94187353e-01 5.07887273e-01 -8.39250731e-01 8.94606276e+01] [ 9.74503874e-01 -1.84976736e-03 2.24363051e-01 9.00343680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.79, Y:89.47, Z:90.06 [[ 1.14247890e-01 -8.61884672e-01 -4.94067032e-01 1.75788826e+02] [ 1.93313861e-01 5.07104141e-01 -8.39925676e-01 8.94674689e+01] [ 9.74462504e-01 4.49730956e-04 2.24549832e-01 9.00608967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.79, Y:89.47, Z:90.09 [[ 1.16153777e-01 -8.62272960e-01 -4.92943854e-01 1.75791396e+02] [ 1.92047772e-01 5.06435098e-01 -8.40619501e-01 8.94743398e+01] [ 9.74487534e-01 2.97236126e-03 2.24421950e-01 9.00883405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.79, Y:89.48, Z:90.11 [[ 1.19373474e-01 -8.62401749e-01 -4.91948369e-01 1.75794274e+02] [ 1.89604886e-01 5.06173887e-01 -8.41331078e-01 8.94806460e+01] [ 9.74576811e-01 7.15679885e-03 2.23939321e-01 9.01148778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.80, Y:89.49, Z:90.14 [[ 1.19803328e-01 -8.62909059e-01 -4.90953275e-01 1.75796908e+02] [ 1.88219787e-01 5.05287945e-01 -8.42174213e-01 8.94859600e+01] [ 9.74792529e-01 8.48815263e-03 2.22951737e-01 9.01411503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.80, Y:89.49, Z:90.17 [[ 1.20481127e-01 -8.63462923e-01 -4.89812289e-01 1.75800093e+02] [ 1.87785057e-01 5.04321556e-01 -8.42850248e-01 8.94918384e+01] [ 9.74792835e-01 9.56811857e-03 2.22906664e-01 9.01673447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.306875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:175.80, Y:89.50, Z:90.19 [[ 1.21180430e-01 -8.64002798e-01 -4.88686472e-01 1.75803573e+02] [ 1.87270992e-01 5.03373239e-01 -8.43531243e-01 8.94985858e+01] [ 9.74805047e-01 1.07026785e-02 2.22801647e-01 9.01940887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.336875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:175.81, Y:89.50, Z:90.22 [[ 1.21641663e-01 -8.64549392e-01 -4.87603994e-01 1.75806670e+02] [ 1.87380324e-01 5.02420635e-01 -8.44074712e-01 8.95048988e+01] [ 9.74726587e-01 1.13072568e-02 2.23114827e-01 9.02193303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.366875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:175.81, Y:89.51, Z:90.25 [[ 1.23164208e-01 -8.64863393e-01 -4.86664042e-01 1.75809510e+02] [ 1.86811479e-01 5.01836233e-01 -8.44548321e-01 8.95109459e+01] [ 9.74644576e-01 1.31036953e-02 2.23374672e-01 9.02457116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.396875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:175.81, Y:89.52, Z:90.27 [[ 1.24065898e-01 -8.65396912e-01 -4.85485157e-01 1.75812675e+02] [ 1.86431115e-01 5.00881461e-01 -8.45198912e-01 8.95171847e+01] [ 9.74603044e-01 1.43508229e-02 2.23479219e-01 9.02729601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.82, Y:89.52, Z:90.30 [[ 1.24190937e-01 -8.65936240e-01 -4.84490495e-01 1.75815048e+02] [ 1.85770379e-01 4.99927914e-01 -8.45908652e-01 8.95227779e+01] [ 9.74713280e-01 1.50502058e-02 2.22951820e-01 9.02994012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.456875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:175.82, Y:89.53, Z:90.33 [[ 1.24661670e-01 -8.66430572e-01 -4.83484779e-01 1.75817896e+02] [ 1.84388353e-01 4.99027918e-01 -8.46742034e-01 8.95287947e+01] [ 9.74915588e-01 1.64073141e-02 2.21969361e-01 9.03259973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.486875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:175.82, Y:89.57, Z:90.34 [[ 1.24838659e-01 -8.81836381e-01 -4.54730586e-01 1.75819408e+02] [ 1.93659210e-01 4.71157747e-01 -8.60526866e-01 8.95656350e+01] [ 9.73093736e-01 1.93642542e-02 2.29594439e-01 9.03420009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.516875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:175.82, Y:89.56, Z:90.38 [[ 1.24800068e-01 -8.82852166e-01 -4.52765939e-01 1.75821281e+02] [ 1.83166029e-01 4.68990660e-01 -8.64001138e-01 8.95598197e+01] [ 9.75128273e-01 2.48960611e-02 2.20238592e-01 9.03752055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.83, Y:89.55, Z:90.41 [[ 1.23530388e-01 -8.67846764e-01 -4.81229922e-01 1.75827166e+02] [ 1.81316200e-01 4.96519864e-01 -8.48877176e-01 8.95462880e+01] [ 9.75635526e-01 1.76073466e-02 2.18689969e-01 9.04052802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.57687500000003 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:175.83, Y:89.55, Z:90.43 [[ 1.22339630e-01 -8.68601890e-01 -4.80170566e-01 1.75830613e+02] [ 1.80890424e-01 4.95215548e-01 -8.49729496e-01 8.95523928e+01] [ 9.75864575e-01 1.70973353e-02 2.17706251e-01 9.04326119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.606875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:175.83, Y:89.59, Z:90.45 [[ 1.21107709e-01 -8.84410398e-01 -4.50722942e-01 1.75832557e+02] [ 1.90920345e-01 4.66341017e-01 -8.63756608e-01 8.95891407e+01] [ 9.74105921e-01 1.85554043e-02 2.25329431e-01 9.04483457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.63687500000003 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:175.84, Y:89.58, Z:90.48 [[ 1.19887578e-01 -8.85157050e-01 -4.49581990e-01 1.75835152e+02] [ 1.81742733e-01 4.64763229e-01 -8.66582206e-01 8.95818174e+01] [ 9.76010527e-01 2.21841821e-02 2.16590199e-01 9.04825420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.84, Y:89.60, Z:90.50 [[ 1.15248122e-01 -8.86352001e-01 -4.48439517e-01 1.75840566e+02] [ 1.93347429e-01 4.62829566e-01 -8.65104366e-01 8.95989528e+01] [ 9.74338053e-01 1.29970257e-02 2.24714118e-01 9.05016529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.84, Y:89.59, Z:90.54 [[ 1.13736018e-01 -8.85903285e-01 -4.49710449e-01 1.75843185e+02] [ 1.84977153e-01 4.63615366e-01 -8.66512692e-01 8.95882102e+01] [ 9.76139115e-01 1.53675445e-02 2.16601633e-01 9.05359607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.85, Y:89.57, Z:90.57 [[ 1.11725212e-01 -8.71823289e-01 -4.76908408e-01 1.75848714e+02] [ 1.86082190e-01 4.89778475e-01 -8.51757280e-01 8.95746264e+01] [ 9.76161306e-01 6.41860157e-03 2.16951391e-01 9.05659751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.75687500000004 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:175.85, Y:89.58, Z:90.59 [[ 1.09532246e-01 -8.72770514e-01 -4.75683000e-01 1.75851559e+02] [ 1.87794750e-01 4.88114134e-01 -8.52336626e-01 8.95796745e+01] [ 9.76081871e-01 4.02757482e-03 2.17365958e-01 9.05924941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.85, Y:89.62, Z:90.61 [[ 1.08877136e-01 -8.88182732e-01 -4.46404753e-01 1.75853400e+02] [ 1.96679930e-01 4.59444347e-01 -8.66156970e-01 8.96165900e+01] [ 9.74403805e-01 6.50583481e-03 2.24710703e-01 9.06075906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.81687500000004 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:175.86, Y:89.60, Z:90.64 [[ 1.07385069e-01 -8.81761858e-01 -4.59308690e-01 1.75855335e+02] [ 1.87965025e-01 4.71654356e-01 -8.61516870e-01 8.96007960e+01] [ 9.76287661e-01 6.18007876e-03 2.16389025e-01 9.06425585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.86, Y:89.60, Z:90.67 [[ 1.06839186e-01 -8.74325821e-01 -4.73433994e-01 1.75859082e+02] [ 1.88017213e-01 4.85334379e-01 -8.53873567e-01 8.95971770e+01] [ 9.76337501e-01 2.21341672e-03 2.16241034e-01 9.06710067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.87687500000004 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:175.86, Y:89.60, Z:90.70 [[ 1.06435629e-01 -8.75029906e-01 -4.72222534e-01 1.75861624e+02] [ 1.88541664e-01 4.84065082e-01 -8.54478225e-01 8.96036171e+01] [ 9.76280440e-01 1.91330501e-03 2.16501366e-01 9.06971149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.86, Y:89.61, Z:90.72 [[ 1.06347705e-01 -8.75652283e-01 -4.71087302e-01 1.75863036e+02] [ 1.88155584e-01 4.82936579e-01 -8.55201577e-01 8.96092755e+01] [ 9.76364503e-01 2.31101902e-03 2.16118063e-01 9.07234474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.86, Y:89.62, Z:90.75 [[ 1.06344665e-01 -8.76276980e-01 -4.69924958e-01 1.75864588e+02] [ 1.88054924e-01 4.81800434e-01 -8.55864293e-01 8.96152863e+01] [ 9.76384227e-01 2.64489901e-03 2.16025106e-01 9.07496854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.87, Y:89.62, Z:90.78 [[ 1.06655379e-01 -8.76898031e-01 -4.68694434e-01 1.75866352e+02] [ 1.88373611e-01 4.80666745e-01 -8.56431470e-01 8.96217029e+01] [ 9.76288898e-01 3.05336037e-03 2.16450143e-01 9.07763387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.87, Y:89.63, Z:90.80 [[ 1.06611998e-01 -8.77531553e-01 -4.67517117e-01 1.75867789e+02] [ 1.88422483e-01 4.79507657e-01 -8.57070227e-01 8.96278652e+01] [ 9.76284205e-01 3.28323293e-03 2.16467944e-01 9.08024411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.87, Y:89.64, Z:90.83 [[ 1.06310490e-01 -8.78172092e-01 -4.66381665e-01 1.75869091e+02] [ 1.88016638e-01 4.78331973e-01 -8.57815987e-01 8.96353287e+01] [ 9.76395321e-01 3.50732487e-03 2.15962671e-01 9.08297162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.056875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:175.87, Y:89.64, Z:90.86 [[ 1.05692790e-01 -8.78784585e-01 -4.65367261e-01 1.75871039e+02] [ 1.87864922e-01 4.77207196e-01 -8.58475430e-01 8.96413557e+01] [ 9.76491580e-01 3.30847910e-03 2.15530158e-01 9.08553202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.086875 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:175.87, Y:89.65, Z:90.88 [[ 1.05159608e-01 -8.79484538e-01 -4.64164200e-01 1.75873622e+02] [ 1.87626313e-01 4.75916239e-01 -8.59243912e-01 8.96482559e+01] [ 9.76595015e-01 3.26833564e-03 2.15061607e-01 9.08818456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.88, Y:89.66, Z:90.91 [[ 1.04496800e-01 -8.80146448e-01 -4.63057932e-01 1.75875448e+02] [ 1.87354195e-01 4.74692071e-01 -8.59980142e-01 8.96551310e+01] [ 9.76718396e-01 3.10932700e-03 2.14502932e-01 9.09083935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.146875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:175.88, Y:89.66, Z:90.93 [[ 1.04151330e-01 -8.80783414e-01 -4.61923238e-01 1.75878079e+02] [ 1.87161642e-01 4.73508634e-01 -8.60674209e-01 8.96616229e+01] [ 9.76792209e-01 3.18605151e-03 2.14165424e-01 9.09349843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.176875 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:175.88, Y:89.67, Z:90.96 [[ 1.03212843e-01 -8.81467991e-01 -4.60826746e-01 1.75880533e+02] [ 1.86624096e-01 4.72234773e-01 -8.61490433e-01 8.96673820e+01] [ 9.76994655e-01 2.91550196e-03 2.13243860e-01 9.09609313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.206875 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:175.88, Y:89.67, Z:90.99 [[ 1.02661725e-01 -8.82192160e-01 -4.59562361e-01 1.75883307e+02] [ 1.87024676e-01 4.70882620e-01 -8.62143450e-01 8.96734688e+01] [ 9.76976121e-01 2.55963243e-03 2.13333325e-01 9.09864340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.236875 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:175.89, Y:89.68, Z:91.01 [[ 1.01533242e-01 -8.82978306e-01 -4.58301552e-01 1.75886736e+02] [ 1.87929505e-01 4.69411496e-01 -8.62748717e-01 8.96783916e+01] [ 9.76920417e-01 1.46929035e-03 2.13598547e-01 9.10128455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.266875 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:175.89, Y:89.68, Z:91.04 [[ 1.00382762e-01 -8.83700008e-01 -4.57162551e-01 1.75889579e+02] [ 1.88239467e-01 4.68053327e-01 -8.63418778e-01 8.96834579e+01] [ 9.76979633e-01 6.16326417e-04 2.13331704e-01 9.10389187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.296875 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:175.89, Y:89.69, Z:91.07 [[ 9.99757005e-02 -8.84435805e-01 -4.55826904e-01 1.75893282e+02] [ 1.89773775e-01 4.66661855e-01 -8.63835996e-01 8.96889374e+01] [ 9.76724513e-01 -1.41383500e-04 2.14497567e-01 9.10666392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.32687500000003 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:175.90, Y:89.69, Z:91.09 [[ 1.00364443e-01 -8.84990429e-01 -4.54663523e-01 1.75895992e+02] [ 1.90587759e-01 4.65609207e-01 -8.64224724e-01 8.96945155e+01] [ 9.76526131e-01 8.41315611e-05 2.15398951e-01 9.10917906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.356875 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:175.90, Y:89.70, Z:91.12 [[ 1.01073068e-01 -8.85606945e-01 -4.53304063e-01 1.75898609e+02] [ 1.91329243e-01 4.64435027e-01 -8.64692562e-01 8.97006818e+01] [ 9.76308023e-01 6.66806540e-04 2.16384380e-01 9.11187832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.38687500000003 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:175.90, Y:89.70, Z:91.14 [[ 1.02861297e-01 -8.85980443e-01 -4.52170552e-01 1.75901619e+02] [ 1.90990802e-01 4.63715145e-01 -8.65153615e-01 8.97044850e+01] [ 9.76187516e-01 2.63040674e-03 2.16912457e-01 9.11444751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.416875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:175.90, Y:89.71, Z:91.17 [[ 1.03265956e-01 -8.86411081e-01 -4.51233352e-01 1.75904636e+02] [ 1.90718581e-01 4.62886895e-01 -8.65657060e-01 8.97097318e+01] [ 9.76198015e-01 3.33431938e-03 2.16855521e-01 9.11721357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.91, Y:89.74, Z:91.19 [[ 1.05646835e-01 -8.98370682e-01 -4.26343598e-01 1.75909666e+02] [ 1.95433177e-01 4.39139209e-01 -8.76905142e-01 8.97389464e+01] [ 9.75010061e-01 9.32056904e-03 2.21965104e-01 9.11939404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.92, Y:89.73, Z:91.23 [[ 1.05171550e-01 -8.84270763e-01 -4.54977101e-01 1.75915149e+02] [ 1.95110448e-01 4.66970517e-01 -8.62479246e-01 8.97260027e+01] [ 9.75126073e-01 1.93749316e-03 2.21642478e-01 9.12255242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.50687500000004 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:175.91, Y:89.71, Z:91.26 [[ 1.04617768e-01 -8.70730566e-01 -4.80503283e-01 1.75914986e+02] [ 1.88079738e-01 4.91758313e-01 -8.50176319e-01 8.97067808e+01] [ 9.76565991e-01 -1.42938277e-03 2.15213433e-01 9.12555261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.536875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:175.92, Y:89.76, Z:91.27 [[ 1.07720543e-01 -9.01886099e-01 -4.18327322e-01 1.75918433e+02] [ 1.94774960e-01 4.31766330e-01 -8.80704576e-01 8.97640931e+01] [ 9.74914868e-01 1.33902873e-02 2.22174933e-01 9.12744966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.56687500000004 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:175.92, Y:89.72, Z:91.31 [[ 1.05076071e-01 -8.68866584e-01 -4.83766346e-01 1.75921517e+02] [ 1.86614652e-01 4.95045072e-01 -8.48590212e-01 8.97164290e+01] [ 9.76797825e-01 -1.11136283e-03 2.14160627e-01 9.13102483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.596875 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:175.92, Y:89.75, Z:91.33 [[ 1.04396093e-01 -8.89314392e-01 -4.45220584e-01 1.75921850e+02] [ 1.86238649e-01 4.57228604e-01 -8.69630479e-01 8.97468016e+01] [ 9.76942486e-01 7.86874439e-03 2.13357591e-01 9.13321689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.62687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.92, Y:89.75, Z:91.36 [[ 1.02994021e-01 -8.90077750e-01 -4.44020078e-01 1.75924895e+02] [ 1.86828728e-01 4.55759817e-01 -8.70274678e-01 8.97526671e+01] [ 9.76978638e-01 6.67738164e-03 2.13232630e-01 9.13573820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.656875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:175.93, Y:89.76, Z:91.38 [[ 9.96166064e-02 -8.90934682e-01 -4.43071014e-01 1.75928823e+02] [ 1.88656446e-01 4.54120534e-01 -8.70737209e-01 8.97563877e+01] [ 9.76977624e-01 3.15168266e-03 2.13318518e-01 9.13840641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.686875 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:175.93, Y:89.76, Z:91.41 [[ 9.75694610e-02 -8.91765293e-01 -4.41853893e-01 1.75931602e+02] [ 1.89831582e-01 4.52496817e-01 -8.71326920e-01 8.97612545e+01] [ 9.76956586e-01 1.13707469e-03 2.13435087e-01 9.14097007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.716875 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:175.93, Y:89.77, Z:91.44 [[ 9.57748947e-02 -8.92594944e-01 -4.40569445e-01 1.75934489e+02] [ 1.90986090e-01 4.50859029e-01 -8.71923419e-01 8.97670278e+01] [ 9.76909148e-01 -6.34262184e-04 2.13654195e-01 9.14364325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.746875 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:175.94, Y:89.77, Z:91.46 [[ 9.31659284e-02 -8.94223817e-01 -4.37817170e-01 1.75936854e+02] [ 1.92362980e-01 4.47610984e-01 -8.73293130e-01 8.97741520e+01] [ 9.76891291e-01 -2.85865036e-03 2.13717651e-01 9.14617313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.94, Y:89.79, Z:91.49 [[ 9.16655824e-02 -8.98693243e-01 -4.28891451e-01 1.75938675e+02] [ 1.93472716e-01 4.38570462e-01 -8.77624212e-01 8.97850619e+01] [ 9.76814071e-01 -2.53085922e-03 2.14074439e-01 9.14875324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.94, Y:89.79, Z:91.51 [[ 9.03563918e-02 -8.94969099e-01 -4.36882174e-01 1.75941930e+02] [ 1.93885171e-01 4.46090980e-01 -8.73734157e-01 8.97856832e+01] [ 9.76854269e-01 -5.75750900e-03 2.13828408e-01 9.15149207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.836875 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:175.94, Y:89.79, Z:91.54 [[ 8.89439744e-02 -8.95666006e-01 -4.35742327e-01 1.75944514e+02] [ 1.94185273e-01 4.44674688e-01 -8.74389216e-01 8.97925426e+01] [ 9.76924280e-01 -6.84309051e-03 2.13476282e-01 9.15412960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.866875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:175.95, Y:89.80, Z:91.57 [[ 8.68734774e-02 -8.96414837e-01 -4.34618728e-01 1.75947435e+02] [ 1.94694361e-01 4.43132606e-01 -8.75058626e-01 8.97976251e+01] [ 9.77009265e-01 -8.59842985e-03 2.13023385e-01 9.15664126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.896875 meters Centerline goodness : 0.999838 Centerline is valid? [True, True] Translation: X:175.95, Y:89.80, Z:91.59 [[ 8.54223927e-02 -8.96985039e-01 -4.33729010e-01 1.75949839e+02] [ 1.95259580e-01 4.41950035e-01 -8.75530618e-01 8.98026320e+01] [ 9.77024417e-01 -9.89982416e-03 2.12897352e-01 9.15921045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.95, Y:89.81, Z:91.62 [[ 8.46494519e-02 -8.97651227e-01 -4.32500572e-01 1.75952094e+02] [ 1.95845576e-01 4.40580440e-01 -8.76089828e-01 8.98080717e+01] [ 9.76974401e-01 -1.05427997e-02 2.13095914e-01 9.16184374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.95, Y:89.81, Z:91.65 [[ 8.48677455e-02 -8.98232640e-01 -4.31248873e-01 1.75953968e+02] [ 1.97051802e-01 4.39392521e-01 -8.76415883e-01 8.98134652e+01] [ 9.76712882e-01 -1.05989277e-02 2.14288613e-01 9.16463608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.96, Y:89.82, Z:91.67 [[ 8.53148432e-02 -8.98727609e-01 -4.30127961e-01 1.75956355e+02] [ 1.97118807e-01 4.38393900e-01 -8.76900773e-01 8.98193573e+01] [ 9.76660409e-01 -9.97365845e-03 2.14557621e-01 9.16725600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.96, Y:89.87, Z:91.69 [[ 8.90880119e-02 -9.18062592e-01 -3.86295746e-01 1.75958522e+02] [ 2.07143086e-01 3.96435319e-01 -8.94388495e-01 8.98697227e+01] [ 9.74245897e-01 -3.39200058e-04 2.25487953e-01 9.16896008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.96, Y:89.82, Z:91.73 [[ 8.87667450e-02 -8.89987785e-01 -4.47260782e-01 1.75962392e+02] [ 1.94456130e-01 4.55877423e-01 -8.68540493e-01 8.98203156e+01] [ 9.76886523e-01 -9.87508857e-03 2.13530336e-01 9.17280666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.07687500000003 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:175.96, Y:89.84, Z:91.75 [[ 9.05772174e-02 -8.99719385e-01 -4.26966973e-01 1.75962862e+02] [ 1.92803160e-01 4.36460347e-01 -8.78822682e-01 8.98395499e+01] [ 9.77047956e-01 -2.71926859e-03 2.13002104e-01 9.17521093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.106875 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:175.96, Y:89.85, Z:91.78 [[ 9.23504832e-02 -9.00091138e-01 -4.25801986e-01 1.75964882e+02] [ 1.91477555e-01 4.35701557e-01 -8.79488771e-01 8.98464836e+01] [ 9.77142638e-01 -3.10310412e-04 2.12584500e-01 9.17792053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.13687500000003 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:175.97, Y:89.85, Z:91.80 [[ 9.74620109e-02 -9.00078897e-01 -4.24687104e-01 1.75966760e+02] [ 1.89179513e-01 4.35693201e-01 -8.79990083e-01 8.98519639e+01] [ 9.77093787e-01 5.42350346e-03 2.12740023e-01 9.18049511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.97, Y:89.86, Z:91.83 [[ 1.00071059e-01 -9.00431782e-01 -4.23330118e-01 1.75968731e+02] [ 1.88733615e-01 4.34919713e-01 -8.80468322e-01 8.98582333e+01] [ 9.76916274e-01 8.21277390e-03 2.13464621e-01 9.18315039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.19687500000003 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:175.97, Y:89.86, Z:91.86 [[ 1.02400437e-01 -9.00750153e-01 -4.22093962e-01 1.75970654e+02] [ 1.87846014e-01 4.34200130e-01 -8.81013122e-01 8.98639685e+01] [ 9.76845958e-01 1.09274606e-02 2.13664609e-01 9.18572520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.226875 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:175.97, Y:89.87, Z:91.88 [[ 1.07014566e-01 -9.00863585e-01 -4.20704984e-01 1.75973250e+02] [ 1.86905771e-01 4.33818634e-01 -8.81400945e-01 8.98708365e+01] [ 9.76531677e-01 1.56905503e-02 2.14801515e-01 9.18847957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.25687500000004 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:175.98, Y:89.88, Z:91.91 [[ 1.08560240e-01 -9.01204836e-01 -4.19576594e-01 1.75975492e+02] [ 1.86410107e-01 4.33038943e-01 -8.81889192e-01 8.98771373e+01] [ 9.76455809e-01 1.75247850e-02 2.15004501e-01 9.19105197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.286875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:175.98, Y:89.88, Z:91.94 [[ 1.11228353e-01 -9.01420386e-01 -4.18413123e-01 1.75977476e+02] [ 1.84182288e-01 4.32429842e-01 -8.82655831e-01 8.98836375e+01] [ 9.76578281e-01 2.11120676e-02 2.14124128e-01 9.19355482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.98, Y:89.89, Z:91.96 [[ 1.12230107e-01 -9.01869165e-01 -4.17176716e-01 1.75980509e+02] [ 1.83234876e-01 4.31412617e-01 -8.83350516e-01 8.98906938e+01] [ 9.76641891e-01 2.26971991e-02 2.13671369e-01 9.19625135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.98, Y:89.90, Z:91.99 [[ 1.12431886e-01 -9.02323207e-01 -4.16139280e-01 1.75983374e+02] [ 1.82003592e-01 4.30410227e-01 -8.84093733e-01 8.98971383e+01] [ 9.76848895e-01 2.36614822e-02 2.12617899e-01 9.19887830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.37687500000004 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:175.99, Y:89.90, Z:92.01 [[ 1.12796259e-01 -9.02767130e-01 -4.15076514e-01 1.75986929e+02] [ 1.80249614e-01 4.29402453e-01 -8.84942716e-01 8.99039428e+01] [ 9.77132069e-01 2.50008461e-02 2.11158417e-01 9.20147460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.406875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:175.99, Y:89.91, Z:92.04 [[ 1.12385044e-01 -9.03348588e-01 -4.13921405e-01 1.75989858e+02] [ 1.79757553e-01 4.28170474e-01 -8.85639468e-01 8.99108089e+01] [ 9.77270088e-01 2.51271317e-02 2.10503689e-01 9.20415285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.436875 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:175.99, Y:89.92, Z:92.07 [[ 1.12213092e-01 -9.03921744e-01 -4.12715038e-01 1.75992951e+02] [ 1.79838083e-01 4.26953515e-01 -8.86210449e-01 8.99171644e+01] [ 9.77275031e-01 2.52225338e-02 2.10469328e-01 9.20683125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.00, Y:89.92, Z:92.09 [[ 1.10907152e-01 -9.04477231e-01 -4.11850146e-01 1.75996921e+02] [ 1.80706786e-01 4.25851648e-01 -8.86563834e-01 8.99222254e+01] [ 9.77263865e-01 2.39021543e-02 2.10675167e-01 9.20949277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.496875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:176.00, Y:89.93, Z:92.12 [[ 1.09987125e-01 -9.05167678e-01 -4.10578015e-01 1.75999871e+02] [ 1.81242424e-01 4.24423256e-01 -8.87139270e-01 8.99275667e+01] [ 9.77268651e-01 2.31597431e-02 2.10735878e-01 9.21205481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.00, Y:89.93, Z:92.15 [[ 1.09213326e-01 -9.05858698e-01 -4.09258438e-01 1.76003200e+02] [ 1.81721968e-01 4.22977688e-01 -8.87731379e-01 8.99333025e+01] [ 9.77266379e-01 2.25808478e-02 2.10809225e-01 9.21476947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.01, Y:89.94, Z:92.17 [[ 1.08606070e-01 -9.06449139e-01 -4.08111112e-01 1.76006500e+02] [ 1.82247424e-01 4.21736966e-01 -8.88213830e-01 8.99388615e+01] [ 9.77236204e-01 2.20882147e-02 2.11001215e-01 9.21738049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.01, Y:89.94, Z:92.20 [[ 1.07717884e-01 -9.07089736e-01 -4.06921452e-01 1.76010221e+02] [ 1.82699222e-01 4.20393436e-01 -8.88757759e-01 8.99444497e+01] [ 9.77250148e-01 2.13908723e-02 2.11008480e-01 9.22000478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.616875 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:176.01, Y:89.95, Z:92.23 [[ 1.07620746e-01 -9.07624370e-01 -4.05753347e-01 1.76012862e+02] [ 1.82382419e-01 4.19221357e-01 -8.89376246e-01 8.99506680e+01] [ 9.77320024e-01 2.17130576e-02 2.10651643e-01 9.22263232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.02, Y:89.96, Z:92.25 [[ 1.07389555e-01 -9.08159388e-01 -4.04615880e-01 1.76016213e+02] [ 1.81579810e-01 4.18039910e-01 -8.90096290e-01 8.99564093e+01] [ 9.77494888e-01 2.21169697e-02 2.09796528e-01 9.22524669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.02, Y:89.96, Z:92.28 [[ 1.06959511e-01 -9.08760083e-01 -4.03379195e-01 1.76018572e+02] [ 1.81631916e-01 4.16738564e-01 -8.90695692e-01 8.99619082e+01] [ 9.77532358e-01 2.20018390e-02 2.09633988e-01 9.22777294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.02, Y:89.97, Z:92.30 [[ 1.06790618e-01 -9.09369429e-01 -4.02048512e-01 1.76021381e+02] [ 1.82025254e-01 4.15407704e-01 -8.91236919e-01 8.99678350e+01] [ 9.77477658e-01 2.19927593e-02 2.09889847e-01 9.23045581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.02, Y:89.97, Z:92.33 [[ 1.06391521e-01 -9.09971876e-01 -4.00789257e-01 1.76024356e+02] [ 1.83473264e-01 4.14121632e-01 -8.91538465e-01 8.99726069e+01] [ 9.77250432e-01 2.13180200e-02 2.11014540e-01 9.23307604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.03, Y:89.98, Z:92.36 [[ 1.06777631e-01 -9.10531769e-01 -3.99412614e-01 1.76026533e+02] [ 1.84323586e-01 4.12873526e-01 -8.91941852e-01 8.99792026e+01] [ 9.77048286e-01 2.16182729e-02 2.11918138e-01 9.23567346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.03, Y:89.99, Z:92.38 [[ 1.06876024e-01 -9.11069860e-01 -3.98157287e-01 1.76028800e+02] [ 1.84621953e-01 4.11671412e-01 -8.92435647e-01 8.99857752e+01] [ 9.76981192e-01 2.18713975e-02 2.12201300e-01 9.23833052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.03, Y:89.99, Z:92.41 [[ 1.06098490e-01 -9.11669665e-01 -3.96990594e-01 1.76030996e+02] [ 1.84362633e-01 4.10357578e-01 -8.93094104e-01 8.99923107e+01] [ 9.77114901e-01 2.15657042e-02 2.11616139e-01 9.24107779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.03, Y:90.00, Z:92.44 [[ 1.04745909e-01 -9.12291753e-01 -3.95919250e-01 1.76034298e+02] [ 1.84214815e-01 4.09018389e-01 -8.93738697e-01 8.99989236e+01] [ 9.77288697e-01 2.06812813e-02 2.10900660e-01 9.24369350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.04, Y:90.01, Z:92.46 [[ 1.03352739e-01 -9.12955507e-01 -3.94753661e-01 1.76036848e+02] [ 1.84570947e-01 4.07589563e-01 -8.94317793e-01 9.00051913e+01] [ 9.77369826e-01 1.95701363e-02 2.10630560e-01 9.24625962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.916875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:176.04, Y:90.01, Z:92.49 [[ 1.01412885e-01 -9.13721117e-01 -3.93483351e-01 1.76039661e+02] [ 1.84943909e-01 4.05943397e-01 -8.94989223e-01 9.00116289e+01] [ 9.77502520e-01 1.79910903e-02 2.10155047e-01 9.24892963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.04, Y:90.02, Z:92.51 [[ 1.00493401e-01 -9.14376344e-01 -3.92195077e-01 1.76041810e+02] [ 1.85827884e-01 4.04503719e-01 -8.95457837e-01 9.00175853e+01] [ 9.77429831e-01 1.71068221e-02 2.10566575e-01 9.25148476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.976875 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:176.04, Y:90.02, Z:92.54 [[ 9.96244936e-02 -9.15068164e-01 -3.90800736e-01 1.76043832e+02] [ 1.87200460e-01 4.02978062e-01 -8.95859737e-01 9.00239232e+01] [ 9.77256849e-01 1.60914950e-02 2.11447667e-01 9.25415586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.00687500000004 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:176.04, Y:90.09, Z:92.54 [[ 9.49008859e-02 -9.40325937e-01 -3.26773552e-01 1.76035646e+02] [ 2.10251694e-01 3.39783119e-01 -9.16701509e-01 9.00937222e+01] [ 9.73030342e-01 1.82910926e-02 2.29950840e-01 9.25449206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.036875 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:176.04, Y:90.07, Z:92.59 [[ 9.51301959e-02 -9.37984949e-01 -3.33368386e-01 1.76041480e+02] [ 1.91467635e-01 3.45875076e-01 -9.18537194e-01 9.00696478e+01] [ 9.76877879e-01 2.35513666e-02 2.12496924e-01 9.25856945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.05, Y:90.04, Z:92.62 [[ 8.89827736e-02 -9.18171600e-01 -3.86060850e-01 1.76051588e+02] [ 1.93096961e-01 3.96147095e-01 -8.97653075e-01 9.00431724e+01] [ 9.77136444e-01 5.32848344e-03 2.12546413e-01 9.26184608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.05, Y:90.05, Z:92.65 [[ 8.60984333e-02 -9.18953792e-01 -3.84851904e-01 1.76054151e+02] [ 1.93519884e-01 3.94354778e-01 -8.98350913e-01 9.00497325e+01] [ 9.77311165e-01 2.87011021e-03 2.11789160e-01 9.26452569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.12687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.05, Y:90.11, Z:92.66 [[ 8.30767652e-02 -9.38127724e-01 -3.36176478e-01 1.76050698e+02] [ 2.07098771e-01 3.46230402e-01 -9.15005250e-01 9.01055443e+01] [ 9.74786310e-01 6.39394095e-03 2.23048800e-01 9.26571234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.06, Y:90.07, Z:92.70 [[ 8.07965872e-02 -9.25369137e-01 -3.70356413e-01 1.76057210e+02] [ 1.94423706e-01 3.79065653e-01 -9.04714681e-01 9.00699913e+01] [ 9.77584438e-01 1.09179225e-03 2.10540908e-01 9.26954438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.06, Y:90.11, Z:92.71 [[ 7.64374129e-02 -9.37383622e-01 -3.39807692e-01 1.76055990e+02] [ 2.06337329e-01 3.48298574e-01 -9.14392153e-01 9.01109003e+01] [ 9.75490763e-01 -2.21240810e-04 2.20040274e-01 9.27121310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.06, Y:90.12, Z:92.74 [[ 7.39406843e-02 -9.38735167e-01 -3.36614113e-01 1.76056502e+02] [ 2.07548247e-01 3.44632521e-01 -9.15506499e-01 9.01195236e+01] [ 9.75426317e-01 -2.17049205e-03 2.20315203e-01 9.27381484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.06, Y:90.13, Z:92.76 [[ 7.19290792e-02 -9.41223086e-01 -3.30038348e-01 1.76057488e+02] [ 2.09058501e-01 3.37772383e-01 -9.17716928e-01 9.01273138e+01] [ 9.75254198e-01 -2.98678876e-03 2.21066344e-01 9.27647343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.06, Y:90.08, Z:92.80 [[ 7.14342367e-02 -9.23948440e-01 -3.75787747e-01 1.76064183e+02] [ 1.97713390e-01 3.82390919e-01 -9.02599912e-01 9.00844697e+01] [ 9.77653602e-01 -9.82173376e-03 2.09992782e-01 9.28045309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.07, Y:90.09, Z:92.83 [[ 7.07776874e-02 -9.21920001e-01 -3.80859594e-01 1.76066157e+02] [ 1.98789251e-01 3.87194759e-01 -9.00312752e-01 9.00874140e+01] [ 9.77483173e-01 -1.19887390e-02 2.10672536e-01 9.28314293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.07, Y:90.10, Z:92.86 [[ 7.03884470e-02 -9.22479721e-01 -3.79574275e-01 1.76065860e+02] [ 1.99591403e-01 3.85847633e-01 -9.00713537e-01 9.00951863e+01] [ 9.77347808e-01 -1.23599348e-02 2.11278237e-01 9.28582293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.07, Y:90.10, Z:92.89 [[ 7.02002718e-02 -9.22997146e-01 -3.78349296e-01 1.76067977e+02] [ 1.99652439e-01 3.84611062e-01 -9.01228736e-01 9.01016631e+01] [ 9.77348876e-01 -1.22718573e-02 2.11278432e-01 9.28851543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.07, Y:90.11, Z:92.91 [[ 7.04788806e-02 -9.23323244e-01 -3.77500879e-01 1.76068906e+02] [ 1.99381788e-01 3.83844737e-01 -9.01615284e-01 9.01080876e+01] [ 9.77384075e-01 -1.17219644e-02 2.11146787e-01 9.29116025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.426875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:176.07, Y:90.11, Z:92.94 [[ 7.12359151e-02 -9.23772170e-01 -3.76258451e-01 1.76069560e+02] [ 1.99297137e-01 3.82792264e-01 -9.02081335e-01 9.01143875e+01] [ 9.77346456e-01 -1.07266426e-02 2.11373706e-01 9.29377679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.07, Y:90.16, Z:92.96 [[ 7.36574988e-02 -9.36925603e-01 -3.41679655e-01 1.76065709e+02] [ 2.07803431e-01 3.49509167e-01 -9.13597874e-01 9.01556719e+01] [ 9.75393411e-01 -3.70887017e-03 2.20440326e-01 9.29571164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.07, Y:90.12, Z:92.99 [[ 7.48577810e-02 -9.22337471e-01 -3.79064510e-01 1.76069613e+02] [ 1.97671491e-01 3.86312722e-01 -9.00937547e-01 9.01244548e+01] [ 9.77405901e-01 -7.48806112e-03 2.11238336e-01 9.29928065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.07, Y:90.14, Z:93.02 [[ 7.77970753e-02 -9.24487983e-01 -3.73188404e-01 1.76067690e+02] [ 1.95505355e-01 3.81201878e-01 -9.03583302e-01 9.01362266e+01] [ 9.77612025e-01 -2.66419340e-03 2.10398743e-01 9.30175020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.07, Y:90.14, Z:93.04 [[ 7.92008043e-02 -9.24882033e-01 -3.71914583e-01 1.76068028e+02] [ 1.94616126e-01 3.80253379e-01 -9.04174724e-01 9.01444275e+01] [ 9.77676734e-01 -7.69209702e-04 2.10113331e-01 9.30440821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.57687500000003 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:176.06, Y:90.19, Z:93.06 [[ 7.95986728e-02 -9.40736943e-01 -3.29663548e-01 1.76063001e+02] [ 2.05809925e-01 3.39096961e-01 -9.17962704e-01 9.01923668e+01] [ 9.75349336e-01 5.22058297e-03 2.20604667e-01 9.30594193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.606875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:176.07, Y:90.16, Z:93.10 [[ 8.17547677e-02 -9.29001204e-01 -3.60933404e-01 1.76068143e+02] [ 1.92416341e-01 3.70044854e-01 -9.08868944e-01 9.01629818e+01] [ 9.77901892e-01 4.85488456e-03 2.09007943e-01 9.30964601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.63687500000003 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:176.07, Y:90.16, Z:93.12 [[ 8.33127084e-02 -9.25625143e-01 -3.69157267e-01 1.76068866e+02] [ 1.91923545e-01 3.78413813e-01 -9.05521032e-01 9.01646272e+01] [ 9.77867243e-01 4.59143851e-03 2.09175938e-01 9.31245382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.07, Y:90.17, Z:93.15 [[ 8.35173449e-02 -9.26051394e-01 -3.68040308e-01 1.76069214e+02] [ 1.91520188e-01 3.77361826e-01 -9.06045291e-01 9.01708871e+01] [ 9.77928868e-01 5.18334823e-03 2.08873795e-01 9.31499745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.69687500000003 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:176.07, Y:90.18, Z:93.18 [[ 8.36760196e-02 -9.26567554e-01 -3.66702730e-01 1.76069910e+02] [ 1.91366814e-01 3.76085403e-01 -9.06608246e-01 9.01778298e+01] [ 9.77945329e-01 5.68663633e-03 2.08783610e-01 9.31763040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.726875 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:176.07, Y:90.18, Z:93.20 [[ 8.40224141e-02 -9.27061506e-01 -3.65372683e-01 1.76068717e+02] [ 1.92152681e-01 3.74861312e-01 -9.06948920e-01 9.01846509e+01] [ 9.77761516e-01 5.99669721e-03 2.09634106e-01 9.32025569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.07, Y:90.19, Z:93.23 [[ 8.38184281e-02 -9.27598578e-01 -3.64054048e-01 1.76069231e+02] [ 1.93008705e-01 3.73533697e-01 -9.07314839e-01 9.01911878e+01] [ 9.77610409e-01 5.78410329e-03 2.10343608e-01 9.32288833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.786875 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:176.07, Y:90.20, Z:93.26 [[ 8.32439291e-02 -9.28161055e-01 -3.62749920e-01 1.76069894e+02] [ 1.93982965e-01 3.72142587e-01 -9.07678635e-01 9.01979684e+01] [ 9.77466653e-01 5.19143100e-03 2.11026044e-01 9.32565533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.81687500000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.07, Y:90.20, Z:93.28 [[ 8.27627737e-02 -9.28703599e-01 -3.61469153e-01 1.76069278e+02] [ 1.95695268e-01 3.70796805e-01 -9.07861824e-01 9.02041169e+01] [ 9.77166150e-01 4.39936016e-03 2.12431071e-01 9.32827658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.846875 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:176.07, Y:90.21, Z:93.31 [[ 8.22119321e-02 -9.29247349e-01 -3.60195172e-01 1.76069921e+02] [ 1.96490550e-01 3.69437686e-01 -9.08244053e-01 9.02107627e+01] [ 9.77053050e-01 3.89355099e-03 2.12960509e-01 9.33092657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.87687500000004 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:176.07, Y:90.22, Z:93.34 [[ 8.04577349e-02 -9.29729150e-01 -3.59346993e-01 1.76069760e+02] [ 1.97217370e-01 3.68237322e-01 -9.08573929e-01 9.02179759e+01] [ 9.77052640e-01 2.23233135e-03 2.12986279e-01 9.33363140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.07, Y:90.22, Z:93.36 [[ 7.92869180e-02 -9.30278123e-01 -3.58184586e-01 1.76070689e+02] [ 1.97601656e-01 3.66852734e-01 -9.09050415e-01 9.02244107e+01] [ 9.77070709e-01 1.29793813e-03 2.12911121e-01 9.33631222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.936875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.07, Y:90.23, Z:93.39 [[ 7.77056043e-02 -9.30869656e-01 -3.56992327e-01 1.76071355e+02] [ 1.97712215e-01 3.65351437e-01 -9.09630809e-01 9.02311753e+01] [ 9.77175378e-01 1.01667992e-04 2.12434156e-01 9.33894489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.966875 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:176.07, Y:90.24, Z:93.42 [[ 7.45909550e-02 -9.31573375e-01 -3.55819107e-01 1.76071963e+02] [ 1.97761519e-01 3.63545013e-01 -9.10343564e-01 9.02388800e+01] [ 9.77408088e-01 -2.46393140e-03 2.11346536e-01 9.34165284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.07, Y:90.25, Z:93.44 [[ 7.30396101e-02 -9.32125922e-01 -3.54692094e-01 1.76073342e+02] [ 1.97877210e-01 3.62115880e-01 -9.10887863e-01 9.02453317e+01] [ 9.77501829e-01 -3.65458774e-03 2.10895280e-01 9.34425268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.07, Y:90.25, Z:93.47 [[ 7.12980291e-02 -9.32556432e-01 -3.53913961e-01 1.76074663e+02] [ 1.97556497e-01 3.60990484e-01 -9.11404027e-01 9.02511144e+01] [ 9.77695260e-01 -4.93669168e-03 2.09970493e-01 9.34688570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.07, Y:90.29, Z:93.49 [[ 6.95162642e-02 -9.45564767e-01 -3.17922570e-01 1.76071502e+02] [ 2.06355705e-01 3.25430711e-01 -9.22774174e-01 9.02899411e+01] [ 9.76004514e-01 -1.45732265e-03 2.17745411e-01 9.34879040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.086875 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:176.08, Y:90.26, Z:93.52 [[ 6.74872566e-02 -9.30809558e-01 -3.59220039e-01 1.76077598e+02] [ 1.99234471e-01 3.65362095e-01 -9.09294323e-01 9.02599814e+01] [ 9.77625233e-01 -1.02032352e-02 2.10106635e-01 9.35233795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.08, Y:90.27, Z:93.55 [[ 6.64182524e-02 -9.34287302e-01 -3.50279678e-01 1.76077424e+02] [ 1.99914901e-01 3.56396909e-01 -9.12696705e-01 9.02702170e+01] [ 9.77559537e-01 -9.40640686e-03 2.10449213e-01 9.35499392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.146875 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:176.08, Y:90.28, Z:93.58 [[ 6.57953584e-02 -9.34784126e-01 -3.49069632e-01 1.76078788e+02] [ 2.00963868e-01 3.55073264e-01 -9.12982202e-01 9.02763126e+01] [ 9.77386564e-01 -1.00803921e-02 2.11220006e-01 9.35778307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.08, Y:90.28, Z:93.61 [[ 6.51371535e-02 -9.35311896e-01 -3.47776953e-01 1.76078608e+02] [ 2.03052873e-01 3.53648852e-01 -9.13072845e-01 9.02823330e+01] [ 9.76998814e-01 -1.11421435e-02 2.12953447e-01 9.36051247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.206875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:176.08, Y:90.29, Z:93.63 [[ 6.51816194e-02 -9.35783804e-01 -3.46496794e-01 1.76079486e+02] [ 2.04420922e-01 3.52393096e-01 -9.13253082e-01 9.02887426e+01] [ 9.76710522e-01 -1.13038793e-02 2.14263341e-01 9.36311979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.236875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:176.08, Y:90.30, Z:93.66 [[ 6.49916857e-02 -9.36276238e-01 -3.45199778e-01 1.76079306e+02] [ 2.05205281e-01 3.51077542e-01 -9.13583796e-01 9.02951244e+01] [ 9.76558689e-01 -1.14614667e-02 2.14945950e-01 9.36586052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.08, Y:90.30, Z:93.68 [[ 6.51696354e-02 -9.36706575e-01 -3.43996673e-01 1.76080313e+02] [ 2.05760696e-01 3.49935486e-01 -9.13896981e-01 9.03019009e+01] [ 9.76429954e-01 -1.12226616e-02 2.15542565e-01 9.36846737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.08, Y:90.31, Z:93.71 [[ 6.52761301e-02 -9.37154621e-01 -3.42753912e-01 1.76081229e+02] [ 2.06010453e-01 3.48743130e-01 -9.14296409e-01 9.03086604e+01] [ 9.76370176e-01 -1.09291572e-02 2.15828250e-01 9.37116158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.08, Y:90.35, Z:93.73 [[ 6.55157181e-02 -9.51250942e-01 -3.01379058e-01 1.76077369e+02] [ 2.17764071e-01 3.08378058e-01 -9.26003122e-01 9.03534903e+01] [ 9.73800031e-01 -4.96177108e-03 2.27351888e-01 9.37293252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.356875 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:176.08, Y:90.32, Z:93.77 [[ 6.72040051e-02 -9.35291272e-01 -3.47439000e-01 1.76083281e+02] [ 2.04949256e-01 3.53741007e-01 -9.12613337e-01 9.03187800e+01] [ 9.76462710e-01 -9.87609330e-03 2.15460063e-01 9.37663075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.08, Y:90.36, Z:93.78 [[ 6.84840027e-02 -9.50061716e-01 -3.04454721e-01 1.76078617e+02] [ 2.12777702e-01 3.12059064e-01 -9.25929150e-01 9.03635685e+01] [ 9.74697692e-01 -1.36984166e-03 2.23523003e-01 9.37849748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.416875 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:176.08, Y:90.33, Z:93.82 [[ 7.16791800e-02 -9.32691049e-01 -3.53481968e-01 1.76084370e+02] [ 2.01478652e-01 3.60627375e-01 -9.10688887e-01 9.03290583e+01] [ 9.76866648e-01 -5.94163776e-03 2.13766810e-01 9.38199961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.44687500000003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:176.08, Y:90.34, Z:93.84 [[ 7.33902072e-02 -9.38406574e-01 -3.37649195e-01 1.76082798e+02] [ 2.00282091e-01 3.45532899e-01 -9.16784653e-01 9.03441070e+01] [ 9.76985651e-01 -3.42071032e-04 2.13304762e-01 9.38447898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.08, Y:90.35, Z:93.87 [[ 7.48300022e-02 -9.38736207e-01 -3.36414631e-01 1.76083664e+02] [ 1.99313584e-01 3.44632845e-01 -9.17334343e-01 9.03509842e+01] [ 9.77074494e-01 1.59212517e-03 2.12891755e-01 9.38719491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.50687500000004 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:176.08, Y:90.36, Z:93.90 [[ 7.61320391e-02 -9.39053346e-01 -3.35235328e-01 1.76084586e+02] [ 1.99131451e-01 3.43757381e-01 -9.17702309e-01 9.03585024e+01] [ 9.77011043e-01 3.11065071e-03 2.13166006e-01 9.38989242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.536875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:176.08, Y:90.37, Z:93.93 [[ 7.77937147e-02 -9.39344566e-01 -3.34035813e-01 1.76084830e+02] [ 1.98969869e-01 3.42939112e-01 -9.18043439e-01 9.03652391e+01] [ 9.76913061e-01 4.95494769e-03 2.13579772e-01 9.39252806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.56687500000004 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:176.09, Y:90.37, Z:93.95 [[ 7.86555475e-02 -9.39723843e-01 -3.32764787e-01 1.76086196e+02] [ 1.99215731e-01 3.41882680e-01 -9.18384084e-01 9.03717962e+01] [ 9.76793938e-01 5.94402282e-03 2.14098741e-01 9.39520876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.596875 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:176.09, Y:90.38, Z:93.98 [[ 8.07477874e-02 -9.39977949e-01 -3.31543739e-01 1.76086611e+02] [ 1.99214556e-01 3.41138293e-01 -9.18661105e-01 9.03781213e+01] [ 9.76623446e-01 8.13151270e-03 2.14803452e-01 9.39784495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.62687500000004 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:176.09, Y:90.38, Z:94.00 [[ 8.18569710e-02 -9.40339178e-01 -3.30244860e-01 1.76087427e+02] [ 1.99789874e-01 3.40112998e-01 -9.18916294e-01 9.03842618e+01] [ 9.76413561e-01 9.24012541e-03 2.15710866e-01 9.40036318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.656875 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:176.09, Y:90.39, Z:94.03 [[ 8.31995679e-02 -9.40579760e-01 -3.29222640e-01 1.76088569e+02] [ 1.99763692e-01 3.39403937e-01 -9.19184114e-01 9.03906759e+01] [ 9.76305434e-01 1.07089911e-02 2.16131946e-01 9.40296723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.686875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.09, Y:90.40, Z:94.06 [[ 8.57617296e-02 -9.40807089e-01 -3.27913018e-01 1.76089096e+02] [ 1.99251291e-01 3.38672494e-01 -9.19565041e-01 9.03972826e+01] [ 9.76188429e-01 1.35263962e-02 2.16502166e-01 9.40559795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.716875 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:176.09, Y:90.40, Z:94.08 [[ 8.71054366e-02 -9.41130546e-01 -3.26628135e-01 1.76090226e+02] [ 1.98969043e-01 3.37703831e-01 -9.19982306e-01 9.04041582e+01] [ 9.76127022e-01 1.51465729e-02 2.16671684e-01 9.40828146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.746875 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:176.09, Y:90.41, Z:94.11 [[ 8.78556342e-02 -9.41467244e-01 -3.25454785e-01 1.76091041e+02] [ 1.98609921e-01 3.36713756e-01 -9.20422700e-01 9.04106550e+01] [ 9.76132925e-01 1.62257711e-02 2.16566935e-01 9.41088923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.776875 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:176.09, Y:90.42, Z:94.14 [[ 8.90693373e-02 -9.41780634e-01 -3.24215809e-01 1.76092197e+02] [ 1.98113003e-01 3.35756947e-01 -9.20879205e-01 9.04176987e+01] [ 9.76123912e-01 1.77907333e-02 2.16484638e-01 9.41361567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.806875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.09, Y:90.43, Z:94.16 [[ 9.07686998e-02 -9.42009890e-01 -3.23076478e-01 1.76093258e+02] [ 1.96573056e-01 3.34980553e-01 -9.21491760e-01 9.04253133e+01] [ 9.76278688e-01 2.01344781e-02 2.15579512e-01 9.41626135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.09, Y:90.43, Z:94.19 [[ 9.08409524e-02 -9.42287598e-01 -3.22245256e-01 1.76094769e+02] [ 1.95838263e-01 3.34167594e-01 -9.21943271e-01 9.04314199e+01] [ 9.76419631e-01 2.06422536e-02 2.14892069e-01 9.41884011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.866875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:176.10, Y:90.44, Z:94.22 [[ 9.08539507e-02 -9.42743147e-01 -3.20906403e-01 1.76096398e+02] [ 1.95457072e-01 3.32852219e-01 -9.22499828e-01 9.04381812e+01] [ 9.76494799e-01 2.10893280e-02 2.14506754e-01 9.42151970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.896875 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:176.10, Y:90.44, Z:94.24 [[ 9.04811910e-02 -9.43170755e-01 -3.19753156e-01 1.76098369e+02] [ 1.95224333e-01 3.31638612e-01 -9.22986073e-01 9.04447485e+01] [ 9.76575964e-01 2.10892827e-02 2.14136938e-01 9.42414737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.926875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.10, Y:90.45, Z:94.27 [[ 8.93978965e-02 -9.43556512e-01 -3.18918680e-01 1.76100247e+02] [ 1.95204424e-01 3.30589345e-01 -9.23366622e-01 9.04512185e+01] [ 9.76679706e-01 2.02926963e-02 2.13740398e-01 9.42685203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.956875 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:176.10, Y:90.46, Z:94.30 [[ 8.73742569e-02 -9.44145928e-01 -3.17732917e-01 1.76102572e+02] [ 1.95745767e-01 3.29006636e-01 -9.23817205e-01 9.04570256e+01] [ 9.76754490e-01 1.85229682e-02 2.13559280e-01 9.42956214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.986875 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:176.10, Y:90.46, Z:94.32 [[ 8.64395274e-02 -9.44653293e-01 -3.16478063e-01 1.76104898e+02] [ 1.96944302e-01 3.27600765e-01 -9.24062055e-01 9.04626520e+01] [ 9.76596718e-01 1.75469361e-02 2.14361739e-01 9.43219484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.016875 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:176.11, Y:90.47, Z:94.35 [[ 8.50346032e-02 -9.45097482e-01 -3.15531085e-01 1.76107113e+02] [ 1.98520393e-01 3.26399286e-01 -9.24149966e-01 9.04679993e+01] [ 9.76400927e-01 1.59453709e-02 2.15376357e-01 9.43491915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.046875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.11, Y:90.47, Z:94.38 [[ 8.27805989e-02 -9.45711031e-01 -3.14289705e-01 1.76110210e+02] [ 2.00180863e-01 3.24723760e-01 -9.24382011e-01 9.04727197e+01] [ 9.76255599e-01 1.36061118e-02 2.16194078e-01 9.43772649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.07687500000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:176.11, Y:90.48, Z:94.40 [[ 8.19560122e-02 -9.46178378e-01 -3.13096931e-01 1.76112516e+02] [ 2.00746746e-01 3.23387063e-01 -9.24727826e-01 9.04790131e+01] [ 9.76208972e-01 1.29338150e-02 2.16445744e-01 9.44044310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.11, Y:90.49, Z:94.43 [[ 8.10701554e-02 -9.46661131e-01 -3.11865888e-01 1.76114329e+02] [ 2.01694264e-01 3.22003985e-01 -9.25004247e-01 9.04855959e+01] [ 9.76087626e-01 1.20886773e-02 2.17041033e-01 9.44313963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.13687500000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.11, Y:90.52, Z:94.45 [[ 8.04405668e-02 -9.57139307e-01 -2.78233109e-01 1.76113053e+02] [ 2.10672647e-01 2.89157551e-01 -9.33812051e-01 9.05224121e+01] [ 9.74241423e-01 1.65002649e-02 2.24903069e-01 9.44524403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.166875 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:176.12, Y:90.52, Z:94.48 [[ 7.87050264e-02 -9.50726308e-01 -2.99874985e-01 1.76120616e+02] [ 2.09495545e-01 3.09864594e-01 -9.27413365e-01 9.05164941e+01] [ 9.74636925e-01 1.01696201e-02 2.23560827e-01 9.44834429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.19687500000003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:176.13, Y:90.49, Z:94.52 [[ 7.72999684e-02 -9.38771498e-01 -3.35757038e-01 1.76126936e+02] [ 2.00938435e-01 3.44523414e-01 -9.17020917e-01 9.04907693e+01] [ 9.76549262e-01 3.41919423e-03 2.15266924e-01 9.45156406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.226875 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:176.13, Y:90.51, Z:94.54 [[ 7.63812927e-02 -9.48164685e-01 -3.08463335e-01 1.76125115e+02] [ 2.00593276e-01 3.17654428e-01 -9.26745921e-01 9.05112663e+01] [ 9.76692498e-01 8.91038061e-03 2.14458316e-01 9.45400616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.25687500000004 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:176.13, Y:90.52, Z:94.57 [[ 7.45882797e-02 -9.48672490e-01 -3.07338731e-01 1.76128500e+02] [ 2.00244143e-01 3.16168253e-01 -9.27329456e-01 9.05172107e+01] [ 9.76902693e-01 7.62512814e-03 2.13548556e-01 9.45667332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.286875 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:176.13, Y:90.52, Z:94.59 [[ 7.43210826e-02 -9.49098024e-01 -3.06087109e-01 1.76130074e+02] [ 2.00343788e-01 3.14888475e-01 -9.27743292e-01 9.05236896e+01] [ 9.76902627e-01 7.62823489e-03 2.13548745e-01 9.45937114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.31687500000004 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:176.13, Y:90.53, Z:94.62 [[ 7.34394501e-02 -9.49558478e-01 -3.04869390e-01 1.76132307e+02] [ 2.00321640e-01 3.13509728e-01 -9.28214895e-01 9.05300747e+01] [ 9.76973842e-01 7.09565512e-03 2.13241094e-01 9.46206281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.13, Y:90.54, Z:94.65 [[ 7.24077817e-02 -9.50006461e-01 -3.03718351e-01 1.76134974e+02] [ 2.00200586e-01 3.12163817e-01 -9.28694501e-01 9.05366834e+01] [ 9.77075657e-01 6.44011677e-03 2.12794940e-01 9.46471472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.37687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.14, Y:90.54, Z:94.67 [[ 7.21491760e-02 -9.50450426e-01 -3.02387969e-01 1.76137224e+02] [ 2.00363707e-01 3.10809300e-01 -9.29113537e-01 9.05437590e+01] [ 9.77061350e-01 6.44720163e-03 2.12860406e-01 9.46743098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.14, Y:90.55, Z:94.70 [[ 7.20491480e-02 -9.50839254e-01 -3.01187042e-01 1.76139631e+02] [ 2.00640150e-01 3.09615882e-01 -9.29452278e-01 9.05505189e+01] [ 9.77012001e-01 6.53603151e-03 2.13084091e-01 9.47017163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.436875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.14, Y:90.56, Z:94.73 [[ 7.21380968e-02 -9.51204889e-01 -3.00008925e-01 1.76142709e+02] [ 2.00471284e-01 3.08482022e-01 -9.29865639e-01 9.05571652e+01] [ 9.77040101e-01 6.93556322e-03 2.12942571e-01 9.47289261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.466875 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:176.15, Y:90.56, Z:94.76 [[ 7.26613207e-02 -9.51541096e-01 -2.98814114e-01 1.76145420e+02] [ 2.00347284e-01 3.07424544e-01 -9.30242504e-01 9.05641784e+01] [ 9.77026764e-01 7.72605283e-03 2.12976547e-01 9.47557157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.15, Y:90.57, Z:94.78 [[ 7.31312001e-02 -9.51879854e-01 -2.97618164e-01 1.76147830e+02] [ 2.00287157e-01 3.06354999e-01 -9.30608225e-01 9.05706865e+01] [ 9.77004034e-01 8.44740039e-03 2.13053418e-01 9.47833742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.526875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.15, Y:90.58, Z:94.81 [[ 7.55917779e-02 -9.52071612e-01 -2.96387463e-01 1.76151081e+02] [ 2.00061121e-01 3.05674780e-01 -9.30880485e-01 9.05763755e+01] [ 9.76863056e-01 1.10713027e-02 2.13579014e-01 9.48095454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.556875 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:176.15, Y:90.58, Z:94.83 [[ 7.69307037e-02 -9.52250793e-01 -2.95465892e-01 1.76153438e+02] [ 2.00398164e-01 3.05064520e-01 -9.31008171e-01 9.05819785e+01] [ 9.76689430e-01 1.24122915e-02 2.14298139e-01 9.48346476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.586875 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:176.16, Y:90.59, Z:94.86 [[ 7.84766023e-02 -9.52565556e-01 -2.94041296e-01 1.76155823e+02] [ 2.00475432e-01 3.04004796e-01 -9.31338115e-01 9.05883770e+01] [ 9.76550574e-01 1.41401950e-02 2.14823255e-01 9.48613339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.16, Y:90.60, Z:94.89 [[ 7.95836645e-02 -9.52879697e-01 -2.92722947e-01 1.76157817e+02] [ 2.00277567e-01 3.02950958e-01 -9.31724000e-01 9.05950930e+01] [ 9.76501580e-01 1.55241707e-02 2.14950375e-01 9.48889267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.16, Y:90.60, Z:94.91 [[ 8.19939676e-02 -9.53023339e-01 -2.91587901e-01 1.76161052e+02] [ 1.98633749e-01 3.02330040e-01 -9.32277416e-01 9.06017569e+01] [ 9.76637918e-01 1.85219263e-02 2.14091838e-01 9.49137973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.16, Y:90.61, Z:94.94 [[ 8.24698639e-02 -9.53400919e-01 -2.90216143e-01 1.76163268e+02] [ 1.97896635e-01 3.01075574e-01 -9.32839976e-01 9.06083908e+01] [ 9.76747482e-01 1.94983878e-02 2.13504495e-01 9.49390604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.17, Y:90.61, Z:94.97 [[ 8.30715569e-02 -9.53766538e-01 -2.88839933e-01 1.76165644e+02] [ 1.97326725e-01 2.99845822e-01 -9.33356656e-01 9.06148133e+01] [ 9.76811794e-01 2.05395525e-02 2.13112287e-01 9.49659906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.736875 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:176.17, Y:90.62, Z:94.99 [[ 8.35314150e-02 -9.54099518e-01 -2.87604959e-01 1.76169097e+02] [ 1.97773252e-01 2.98745147e-01 -9.33615059e-01 9.06216762e+01] [ 9.76682263e-01 2.11056187e-02 2.13649970e-01 9.49931839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.766875 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:176.17, Y:90.63, Z:95.02 [[ 8.32019453e-02 -9.54492137e-01 -2.86395176e-01 1.76171534e+02] [ 1.97785825e-01 2.97491095e-01 -9.34012749e-01 9.06274229e+01] [ 9.76707840e-01 2.10667717e-02 2.13536853e-01 9.50196730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.796875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.17, Y:90.63, Z:95.05 [[ 8.15928528e-02 -9.55017627e-01 -2.85103383e-01 1.76174606e+02] [ 1.98371494e-01 2.95895063e-01 -9.34395453e-01 9.06332568e+01] [ 9.76724811e-01 1.96836068e-02 2.13591195e-01 9.50459066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.82687500000003 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:176.18, Y:90.64, Z:95.07 [[ 8.03712379e-02 -9.55526095e-01 -2.83743452e-01 1.76177005e+02] [ 1.99299982e-01 2.94321158e-01 -9.34694909e-01 9.06399170e+01] [ 9.76637078e-01 1.85725219e-02 2.14091290e-01 9.50720199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.856875 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:176.18, Y:90.65, Z:95.10 [[ 7.88678717e-02 -9.56045559e-01 -2.82412371e-01 1.76179506e+02] [ 1.99762027e-01 2.92705327e-01 -9.35103590e-01 9.06455145e+01] [ 9.76665240e-01 1.73343624e-02 2.14066645e-01 9.50979423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.18, Y:90.65, Z:95.12 [[ 7.55482333e-02 -9.56730790e-01 -2.80995835e-01 1.76183012e+02] [ 2.01168110e-01 2.90630587e-01 -9.35449225e-01 9.06509383e+01] [ 9.76639061e-01 1.41441353e-02 2.14420352e-01 9.51231537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.916875 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:176.19, Y:90.66, Z:95.15 [[ 7.33800388e-02 -9.57303925e-01 -2.79615031e-01 1.76185322e+02] [ 2.02125837e-01 2.88827859e-01 -9.35801055e-01 9.06576589e+01] [ 9.76606633e-01 1.21516955e-02 2.14690057e-01 9.51507106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.19, Y:90.66, Z:95.18 [[ 7.11667910e-02 -9.57822701e-01 -2.78407904e-01 1.76187711e+02] [ 2.02878008e-01 2.87180887e-01 -9.36145102e-01 9.06640525e+01] [ 9.76614459e-01 1.01396018e-02 2.14758904e-01 9.51767293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.19, Y:90.67, Z:95.20 [[ 6.88230784e-02 -9.58355296e-01 -2.77161525e-01 1.76190318e+02] [ 2.03194783e-01 2.85462492e-01 -9.36601861e-01 9.06702065e+01] [ 9.76716573e-01 8.14204739e-03 2.14379204e-01 9.52032123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.00687500000004 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:176.19, Y:90.68, Z:95.23 [[ 6.46166102e-02 -9.59012523e-01 -2.75897943e-01 1.76194109e+02] [ 2.03561720e-01 2.83329613e-01 -9.37169652e-01 9.06758234e+01] [ 9.76927490e-01 4.39446630e-03 2.13526038e-01 9.52288593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.036875 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:176.20, Y:90.68, Z:95.26 [[ 6.26577351e-02 -9.59434327e-01 -2.74881395e-01 1.76196472e+02] [ 2.04143549e-01 2.81919999e-01 -9.37468146e-01 9.06816292e+01] [ 9.76933682e-01 2.62436717e-03 2.13526797e-01 9.52555004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.06687500000004 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:176.20, Y:90.69, Z:95.28 [[ 6.10966850e-02 -9.59911783e-01 -2.73562724e-01 1.76198751e+02] [ 2.05122584e-01 2.80299802e-01 -9.37740234e-01 9.06877494e+01] [ 9.76827477e-01 1.17892680e-03 2.14024974e-01 9.52827844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.20, Y:90.69, Z:95.31 [[ 5.86635521e-02 -9.60410965e-01 -2.72340532e-01 1.76201357e+02] [ 2.06333582e-01 2.78584664e-01 -9.37985628e-01 9.06938149e+01] [ 9.76721578e-01 -1.16742873e-03 2.14507801e-01 9.53094492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.12687500000004 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:176.20, Y:90.70, Z:95.34 [[ 5.75508771e-02 -9.60830734e-01 -2.71094445e-01 1.76203177e+02] [ 2.06460091e-01 2.77128923e-01 -9.38388934e-01 9.07007505e+01] [ 9.76761039e-01 -1.96507749e-03 2.14322213e-01 9.53361398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.21, Y:90.71, Z:95.36 [[ 5.69338819e-02 -9.61227457e-01 -2.69815324e-01 1.76205330e+02] [ 2.05990520e-01 2.75748551e-01 -9.38898633e-01 9.07077153e+01] [ 9.76896330e-01 -2.12425496e-03 2.13703179e-01 9.53637741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.186875 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:176.21, Y:90.71, Z:95.39 [[ 5.66727764e-02 -9.61561928e-01 -2.68676115e-01 1.76208035e+02] [ 2.05183059e-01 2.74581667e-01 -9.39417277e-01 9.07138982e+01] [ 9.77081424e-01 -1.88840169e-03 2.12857523e-01 9.53894350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.21, Y:90.72, Z:95.42 [[ 5.67594345e-02 -9.61949397e-01 -2.67267140e-01 1.76210191e+02] [ 2.05292174e-01 2.73223405e-01 -9.39789388e-01 9.07206674e+01] [ 9.77053473e-01 -1.52593809e-03 2.12988689e-01 9.54163628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.21, Y:90.73, Z:95.44 [[ 5.82635880e-02 -9.62181467e-01 -2.66105577e-01 1.76211874e+02] [ 2.04380546e-01 2.72409010e-01 -9.40224401e-01 9.07270393e+01] [ 9.77156050e-01 3.94043941e-04 2.12522700e-01 9.54415915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.21, Y:90.73, Z:95.47 [[ 5.97811639e-02 -9.62374541e-01 -2.65068776e-01 1.76213079e+02] [ 2.03943871e-01 2.71717779e-01 -9.40519190e-01 9.07337238e+01] [ 9.77155622e-01 2.16617959e-03 2.12513994e-01 9.54677860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.306875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:176.21, Y:90.74, Z:95.49 [[ 6.16496913e-02 -9.62617158e-01 -2.63756560e-01 1.76214112e+02] [ 2.03562264e-01 2.70831328e-01 -9.40857479e-01 9.07402428e+01] [ 9.77119092e-01 4.31269067e-03 2.12649196e-01 9.54934376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.20, Y:90.79, Z:95.51 [[ 6.19150712e-02 -9.74269181e-01 -2.16716607e-01 1.76203735e+02] [ 2.16944884e-01 2.25078672e-01 -9.49881313e-01 9.07887634e+01] [ 9.74218375e-01 1.17964100e-02 2.25298477e-01 9.55073167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.21, Y:90.76, Z:95.54 [[ 6.74353383e-02 -9.67871446e-01 -2.42234061e-01 1.76211781e+02] [ 2.03707651e-01 2.51028893e-01 -9.46302112e-01 9.07639853e+01] [ 9.76706541e-01 1.44692715e-02 2.14091037e-01 9.55439424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.396875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:176.22, Y:90.76, Z:95.57 [[ 6.86271747e-02 -9.63239394e-01 -2.59730978e-01 1.76216815e+02] [ 2.03630648e-01 2.68388461e-01 -9.41542454e-01 9.07605703e+01] [ 9.76639581e-01 1.17262112e-02 2.14563804e-01 9.55732686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.22, Y:90.77, Z:95.60 [[ 6.95321535e-02 -9.63498329e-01 -2.58527076e-01 1.76218099e+02] [ 2.03472023e-01 2.67404025e-01 -9.41856796e-01 9.07667032e+01] [ 9.76608630e-01 1.28863042e-02 2.14638132e-01 9.55983210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.22, Y:90.77, Z:95.63 [[ 7.04591698e-02 -9.63810737e-01 -2.57107700e-01 1.76219642e+02] [ 2.03288997e-01 2.66213144e-01 -9.42233594e-01 9.07730558e+01] [ 9.76580303e-01 1.41218303e-02 2.14689275e-01 9.56259024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.22, Y:90.78, Z:95.65 [[ 7.02607167e-02 -9.64146526e-01 -2.55900191e-01 1.76220694e+02] [ 2.03151588e-01 2.64988012e-01 -9.42608501e-01 9.07796017e+01] [ 9.76623194e-01 1.42418187e-02 2.14486146e-01 9.56531081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.516875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:176.22, Y:90.79, Z:95.68 [[ 6.98669763e-02 -9.64501067e-01 -2.54668996e-01 1.76221370e+02] [ 2.03552420e-01 2.63705579e-01 -9.42881636e-01 9.07870000e+01] [ 9.76567979e-01 1.40377985e-02 2.14750837e-01 9.56794887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.22, Y:90.79, Z:95.71 [[ 6.93197577e-02 -9.64874789e-01 -2.53399708e-01 1.76222351e+02] [ 2.03531303e-01 2.62346842e-01 -9.43265150e-01 9.07934969e+01] [ 9.76611376e-01 1.38121390e-02 2.14568042e-01 9.57060656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.22, Y:90.80, Z:95.73 [[ 6.86991296e-02 -9.65265122e-01 -2.52078708e-01 1.76223405e+02] [ 2.03508715e-01 2.60921861e-01 -9.43665187e-01 9.07996014e+01] [ 9.76659937e-01 1.35287631e-02 2.14364969e-01 9.57311622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.22, Y:90.81, Z:95.76 [[ 6.82230675e-02 -9.65661260e-01 -2.50686944e-01 1.76224455e+02] [ 2.03498466e-01 2.59458973e-01 -9.44070662e-01 9.08061614e+01] [ 9.76695443e-01 1.33929880e-02 2.14211672e-01 9.57572346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.22, Y:90.81, Z:95.78 [[ 6.66737488e-02 -9.66106055e-01 -2.49386651e-01 1.76224779e+02] [ 2.03231502e-01 2.57852538e-01 -9.44568169e-01 9.08136590e+01] [ 9.76858008e-01 1.22946773e-02 2.13535180e-01 9.57843204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:90.82, Z:95.81 [[ 6.54340407e-02 -9.66499384e-01 -2.48188090e-01 1.76225758e+02] [ 2.03428476e-01 2.56418252e-01 -9.44916153e-01 9.08208396e+01] [ 9.76900835e-01 1.13411572e-02 2.13391979e-01 9.58110885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.69687500000003 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:176.23, Y:90.83, Z:95.84 [[ 6.32572707e-02 -9.66948822e-01 -2.46998976e-01 1.76226293e+02] [ 2.03186299e-01 2.54789102e-01 -9.45408822e-01 9.08270904e+01] [ 9.77094594e-01 9.61717398e-03 2.12588016e-01 9.58379351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:90.83, Z:95.86 [[ 6.18390540e-02 -9.67264150e-01 -2.46121910e-01 1.76227471e+02] [ 2.03127422e-01 2.53629647e-01 -9.45733183e-01 9.08340090e+01] [ 9.77197617e-01 8.48913611e-03 2.12162091e-01 9.58648231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:90.84, Z:95.89 [[ 5.98651082e-02 -9.67690818e-01 -2.44929887e-01 1.76228353e+02] [ 2.03225773e-01 2.52046346e-01 -9.46135257e-01 9.08411358e+01] [ 9.77300084e-01 6.86442397e-03 2.11748496e-01 9.58922930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:90.85, Z:95.92 [[ 5.79089822e-02 -9.68108745e-01 -2.43745787e-01 1.76229131e+02] [ 2.03328078e-01 2.50475294e-01 -9.46530412e-01 9.08477780e+01] [ 9.77396666e-01 5.25225041e-03 2.11348459e-01 9.59179316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.22, Y:90.89, Z:95.94 [[ 5.31554760e-02 -9.77022932e-01 -2.06399334e-01 1.76220439e+02] [ 2.14619510e-01 2.13039010e-01 -9.53180385e-01 9.08873730e+01] [ 9.75250205e-01 6.36943330e-03 2.21012373e-01 9.59354311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:90.86, Z:95.97 [[ 5.27633784e-02 -9.70420458e-01 -2.35584720e-01 1.76228446e+02] [ 2.06306905e-01 2.41416841e-01 -9.48238034e-01 9.08641402e+01] [ 9.77063707e-01 1.42948772e-03 2.12942410e-01 9.59695548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.87687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.22, Y:90.91, Z:95.98 [[ 4.80395943e-02 -9.79409186e-01 -1.96086316e-01 1.76218166e+02] [ 2.19532617e-01 2.01865727e-01 -9.54492356e-01 9.09073268e+01] [ 9.74421689e-01 2.80608342e-03 2.24709810e-01 9.59847664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.906875 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:176.23, Y:90.88, Z:96.02 [[ 4.76151575e-02 -9.73876885e-01 -2.22028399e-01 1.76226978e+02] [ 2.09805439e-01 2.27072945e-01 -9.51009756e-01 9.08829613e+01] [ 9.76583061e-01 -1.30028637e-03 2.15136781e-01 9.60209468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.936875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:176.23, Y:90.88, Z:96.05 [[ 4.59813136e-02 -9.70615807e-01 -2.36200495e-01 1.76230691e+02] [ 2.10336292e-01 2.40556877e-01 -9.47571123e-01 9.08812142e+01] [ 9.76547164e-01 -6.11097123e-03 2.15216851e-01 9.60489889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.966875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:176.23, Y:90.89, Z:96.08 [[ 4.46189759e-02 -9.70990130e-01 -2.34919805e-01 1.76231049e+02] [ 2.10689688e-01 2.39011098e-01 -9.47883722e-01 9.08881883e+01] [ 9.76534179e-01 -7.20157939e-03 2.15242038e-01 9.60761985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:90.90, Z:96.10 [[ 4.23674267e-02 -9.71378078e-01 -2.33729823e-01 1.76230240e+02] [ 2.10592753e-01 2.37366458e-01 -9.48318437e-01 9.08960064e+01] [ 9.76655361e-01 -9.04399486e-03 2.14621789e-01 9.61025472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.026875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:176.23, Y:90.90, Z:96.13 [[ 4.14298947e-02 -9.71727002e-01 -2.32443967e-01 1.76230178e+02] [ 2.10645173e-01 2.35909560e-01 -9.48670275e-01 9.09034096e+01] [ 9.76684276e-01 -9.65988993e-03 2.14463311e-01 9.61296264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:90.91, Z:96.16 [[ 4.04207258e-02 -9.72047652e-01 -2.31278031e-01 1.76229928e+02] [ 2.09905723e-01 2.34562827e-01 -9.49167987e-01 9.09110024e+01] [ 9.76885742e-01 -1.01805234e-02 2.13519565e-01 9.61568725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.086875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:176.23, Y:90.92, Z:96.18 [[ 4.01587179e-02 -9.72344106e-01 -2.30074375e-01 1.76230224e+02] [ 2.09774203e-01 2.33332946e-01 -9.49500142e-01 9.09173874e+01] [ 9.76924798e-01 -1.01329603e-02 2.13343062e-01 9.61831446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.116875 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:176.23, Y:90.92, Z:96.21 [[ 3.97353258e-02 -9.72661297e-01 -2.28803638e-01 1.76230455e+02] [ 2.09691049e-01 2.32002654e-01 -9.49844426e-01 9.09244575e+01] [ 9.76959962e-01 -1.02356971e-02 2.13177069e-01 9.62106904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:90.93, Z:96.24 [[ 3.92381960e-02 -9.72960801e-01 -2.27612927e-01 1.76230540e+02] [ 2.09176807e-01 2.30739425e-01 -9.50265427e-01 9.09311611e+01] [ 9.77090286e-01 -1.03246443e-02 2.12574633e-01 9.62366700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:90.94, Z:96.26 [[ 3.89683463e-02 -9.73271281e-01 -2.26328261e-01 1.76231539e+02] [ 2.09226803e-01 2.29426856e-01 -9.50572177e-01 9.09377855e+01] [ 9.77090381e-01 -1.03117126e-02 2.12574824e-01 9.62636423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:90.95, Z:96.29 [[ 3.89484843e-02 -9.73554459e-01 -2.25110485e-01 1.76230790e+02] [ 2.09015545e-01 2.28235426e-01 -9.50905407e-01 9.09458004e+01] [ 9.77136386e-01 -1.00152664e-02 2.12377439e-01 9.62908157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:90.95, Z:96.32 [[ 3.93968547e-02 -9.73819498e-01 -2.23882722e-01 1.76231370e+02] [ 2.09076981e-01 2.27130847e-01 -9.51156346e-01 9.09528519e+01] [ 9.77105267e-01 -9.33615535e-03 2.12551482e-01 9.63179761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:90.96, Z:96.35 [[ 4.00765254e-02 -9.74082988e-01 -2.22612227e-01 1.76231771e+02] [ 2.09407345e-01 2.26031527e-01 -9.51345527e-01 9.09594684e+01] [ 9.77006876e-01 -8.49001236e-03 2.13038691e-01 9.63454122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:90.97, Z:96.37 [[ 4.09473380e-02 -9.74332655e-01 -2.21357612e-01 1.76232047e+02] [ 2.09535643e-01 2.24990769e-01 -9.51563959e-01 9.09655674e+01] [ 9.76943258e-01 -7.41829857e-03 2.13370192e-01 9.63714578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.32687500000003 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:176.23, Y:90.97, Z:96.40 [[ 4.33226220e-02 -9.74538332e-01 -2.19995885e-01 1.76231403e+02] [ 2.10142380e-01 2.24165125e-01 -9.51625019e-01 9.09721424e+01] [ 9.76710464e-01 -5.00356794e-03 2.14503225e-01 9.63984700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:90.98, Z:96.43 [[ 4.40162697e-02 -9.74780452e-01 -2.18782171e-01 1.76231623e+02] [ 2.09981908e-01 2.23129425e-01 -9.51903807e-01 9.09790051e+01] [ 9.76713964e-01 -4.04104298e-03 2.14507584e-01 9.64256915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.21, Y:91.03, Z:96.44 [[ 4.24065182e-02 -9.85600753e-01 -1.63685193e-01 1.76213955e+02] [ 2.23950710e-01 1.69040789e-01 -9.59828782e-01 9.10336346e+01] [ 9.73677445e-01 4.04558155e-03 2.27894419e-01 9.64369380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.22, Y:91.01, Z:96.47 [[ 4.67860558e-02 -9.81563711e-01 -1.85320658e-01 1.76224439e+02] [ 2.09387746e-01 1.91039043e-01 -9.58989497e-01 9.10086749e+01] [ 9.76712771e-01 6.06346127e-03 2.14465376e-01 9.64749703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.44687500000003 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:176.23, Y:91.00, Z:96.50 [[ 4.70410448e-02 -9.75568456e-01 -2.14600390e-01 1.76232233e+02] [ 2.09711312e-01 2.19695592e-01 -9.52761782e-01 9.09993220e+01] [ 9.76631100e-01 -1.85219723e-04 2.14922451e-01 9.65040822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.22, Y:91.04, Z:96.52 [[ 4.42601428e-02 -9.84286935e-01 -1.70939371e-01 1.76218984e+02] [ 2.22052483e-01 1.76519454e-01 -9.58923134e-01 9.10440680e+01] [ 9.74029637e-01 4.48456306e-03 2.26376134e-01 9.65191604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.50687500000004 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:176.21, Y:91.06, Z:96.54 [[ 4.29519448e-02 -9.88152727e-01 -1.47340827e-01 1.76212617e+02] [ 2.22043590e-01 1.53230164e-01 -9.62921160e-01 9.10615676e+01] [ 9.74090229e-01 8.64325021e-03 2.25994513e-01 9.65427621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:91.04, Z:96.58 [[ 4.65336774e-02 -9.83606461e-01 -1.74220973e-01 1.76226027e+02] [ 2.08580475e-01 1.80132998e-01 -9.61273264e-01 9.10360948e+01] [ 9.76897539e-01 8.39248653e-03 2.13543354e-01 9.65820652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:91.06, Z:96.60 [[ 4.22833048e-02 -9.83225189e-01 -1.77427026e-01 1.76225293e+02] [ 2.17961106e-01 1.82386238e-01 -9.58763900e-01 9.10565716e+01] [ 9.75041065e-01 1.86751552e-03 2.22016743e-01 9.66008205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.22, Y:91.07, Z:96.63 [[ 4.22335910e-02 -9.87471144e-01 -1.52042968e-01 1.76220299e+02] [ 2.15676028e-01 1.57601463e-01 -9.63662612e-01 9.10741554e+01] [ 9.75551216e-01 7.90690925e-03 2.19629930e-01 9.66261540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.62687500000004 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:176.23, Y:91.05, Z:96.66 [[ 4.53156599e-02 -9.81602281e-01 -1.85481680e-01 1.76234353e+02] [ 2.03123975e-01 1.90847604e-01 -9.60373804e-01 9.10476560e+01] [ 9.78103850e-01 5.84419641e-03 2.08035343e-01 9.66637251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.24, Y:91.04, Z:96.69 [[ 4.45877109e-02 -9.75258357e-01 -2.16524995e-01 1.76243334e+02] [ 2.03301968e-01 2.21063148e-01 -9.53834050e-01 9.10379338e+01] [ 9.78100325e-01 -1.49068074e-03 2.08128643e-01 9.66943155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.24, Y:91.04, Z:96.72 [[ 4.41299139e-02 -9.75557332e-01 -2.15268303e-01 1.76244908e+02] [ 2.03591493e-01 2.19738302e-01 -9.54078394e-01 9.10449712e+01] [ 9.78060864e-01 -1.72339786e-03 2.08312207e-01 9.67220049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:91.05, Z:96.75 [[ 4.42580619e-02 -9.75826301e-01 -2.14019283e-01 1.76246309e+02] [ 2.03653558e-01 2.18543385e-01 -9.54339571e-01 9.10510400e+01] [ 9.78042153e-01 -1.34856865e-03 2.08402805e-01 9.67493050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.746875 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:176.25, Y:91.06, Z:96.78 [[ 4.56945399e-02 -9.76037127e-01 -2.12752288e-01 1.76247502e+02] [ 2.03771118e-01 2.17603900e-01 -9.54529137e-01 9.10570440e+01] [ 9.77951604e-01 2.63998097e-04 2.08831487e-01 9.67760213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.776875 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:176.25, Y:91.06, Z:96.80 [[ 4.69928375e-02 -9.76269525e-01 -2.11398884e-01 1.76248288e+02] [ 2.04349613e-01 2.16552654e-01 -9.54644533e-01 9.10631567e+01] [ 9.77769354e-01 1.66217540e-03 2.09676723e-01 9.68027663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.806875 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:176.25, Y:91.07, Z:96.83 [[ 4.82718417e-02 -9.76511354e-01 -2.09989060e-01 1.76248872e+02] [ 2.04814420e-01 2.15443922e-01 -9.54795774e-01 9.10697543e+01] [ 9.77609780e-01 3.08096301e-03 2.10403482e-01 9.68298571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.836875 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:176.25, Y:91.08, Z:96.86 [[ 5.12198937e-02 -9.76636756e-01 -2.08703543e-01 1.76248589e+02] [ 2.04968507e-01 2.14809308e-01 -9.54905688e-01 9.10763038e+01] [ 9.77427457e-01 6.13251409e-03 2.11182288e-01 9.68565189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.866875 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:176.25, Y:91.08, Z:96.88 [[ 5.25745832e-02 -9.76762887e-01 -2.07774338e-01 1.76248828e+02] [ 2.05008003e-01 2.14187465e-01 -9.55036883e-01 9.10819813e+01] [ 9.77347242e-01 7.61526382e-03 2.11505026e-01 9.68822137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.896875 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:176.25, Y:91.09, Z:96.91 [[ 5.38908282e-02 -9.76999908e-01 -2.06317615e-01 1.76249470e+02] [ 2.04920194e-01 2.13040999e-01 -9.55312120e-01 9.10886628e+01] [ 9.77293964e-01 9.20391564e-03 2.11687967e-01 9.69072490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:91.10, Z:96.93 [[ 5.56522530e-02 -9.77197522e-01 -2.04909321e-01 1.76249866e+02] [ 2.03947518e-01 2.12026115e-01 -9.55745958e-01 9.10950782e+01] [ 9.77398709e-01 1.13986684e-02 2.11096741e-01 9.69326949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:91.10, Z:96.96 [[ 5.60803122e-02 -9.77470161e-01 -2.03487305e-01 1.76250241e+02] [ 2.03984031e-01 2.10726192e-01 -9.56025621e-01 9.11017889e+01] [ 9.77366622e-01 1.21060547e-02 2.11205894e-01 9.69588506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.986875 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:176.25, Y:91.11, Z:96.98 [[ 5.66648807e-02 -9.77724431e-01 -2.02099058e-01 1.76250881e+02] [ 2.04427156e-01 2.09497829e-01 -9.56200919e-01 9.11087807e+01] [ 9.77240313e-01 1.28684753e-02 2.11744595e-01 9.69845430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:91.12, Z:97.01 [[ 5.64976598e-02 -9.78029983e-01 -2.00662319e-01 1.76251130e+02] [ 2.04623612e-01 2.08059889e-01 -9.56472822e-01 9.11154428e+01] [ 9.77208878e-01 1.29782277e-02 2.11882925e-01 9.70106325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:91.12, Z:97.04 [[ 5.65154335e-02 -9.78305988e-01 -1.99307298e-01 1.76252036e+02] [ 2.04750719e-01 2.06740219e-01 -9.56731741e-01 9.11218196e+01] [ 9.77181226e-01 1.32617965e-02 2.11992867e-01 9.70357101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:91.13, Z:97.06 [[ 5.59683968e-02 -9.78622907e-01 -1.97900847e-01 1.76253046e+02] [ 2.04668745e-01 2.05247659e-01 -9.57070584e-01 9.11284650e+01] [ 9.77229883e-01 1.30615882e-02 2.11780904e-01 9.70622841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.106875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.23, Y:91.20, Z:97.07 [[ 4.91053529e-02 -9.91405594e-01 -1.21258457e-01 1.76227522e+02] [ 2.24644175e-01 1.29257175e-01 -9.65829994e-01 9.11987016e+01] [ 9.73202784e-01 2.01874167e-02 2.29060711e-01 9.70669220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.24, Y:91.16, Z:97.11 [[ 5.50307542e-02 -9.87669991e-01 -1.46559223e-01 1.76243404e+02] [ 2.03325518e-01 1.54790904e-01 -9.66798071e-01 9.11638568e+01] [ 9.77563476e-01 2.34043970e-02 2.09336772e-01 9.71099453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.166875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.26, Y:91.15, Z:97.14 [[ 5.44812019e-02 -9.79250378e-01 -1.95193485e-01 1.76257439e+02] [ 2.03224673e-01 2.02266677e-01 -9.58012486e-01 9.11457969e+01] [ 9.77615226e-01 1.25255394e-02 2.10027570e-01 9.71420568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:91.15, Z:97.17 [[ 5.45915091e-02 -9.79497835e-01 -1.93916884e-01 1.76257903e+02] [ 2.03686908e-01 2.01047017e-01 -9.58171039e-01 9.11525904e+01] [ 9.77512870e-01 1.28096724e-02 2.10486346e-01 9.71683487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:91.16, Z:97.19 [[ 5.46248257e-02 -9.79775551e-01 -1.92499343e-01 1.76258731e+02] [ 2.03866185e-01 1.99669754e-01 -9.58420872e-01 9.11598427e+01] [ 9.77473635e-01 1.31094664e-02 2.10650029e-01 9.71948340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.25687500000004 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:176.26, Y:91.17, Z:97.22 [[ 5.45622433e-02 -9.80053458e-01 -1.91097310e-01 1.76259775e+02] [ 2.03543346e-01 1.98280655e-01 -9.58777810e-01 9.11665935e+01] [ 9.77544407e-01 1.34164823e-02 2.10301997e-01 9.72224125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:91.17, Z:97.25 [[ 5.48636853e-02 -9.80281656e-01 -1.89836381e-01 1.76261667e+02] [ 2.03388215e-01 1.97108317e-01 -9.59052420e-01 9.11725689e+01] [ 9.77559824e-01 1.40066674e-02 2.10191825e-01 9.72488885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:91.18, Z:97.28 [[ 5.54075526e-02 -9.80512941e-01 -1.88479115e-01 1.76262827e+02] [ 2.03836293e-01 1.95901636e-01 -9.59204522e-01 9.11787482e+01] [ 9.77435813e-01 1.47282909e-02 2.10718553e-01 9.72758445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:91.19, Z:97.30 [[ 5.57444395e-02 -9.80740972e-01 -1.87188951e-01 1.76263477e+02] [ 2.04319786e-01 1.94718114e-01 -9.59342630e-01 9.11852559e+01] [ 9.77315703e-01 1.52316110e-02 2.11239237e-01 9.73029302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.37687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:91.19, Z:97.33 [[ 5.67034932e-02 -9.80931655e-01 -1.85897289e-01 1.76264305e+02] [ 2.04910235e-01 1.93667364e-01 -9.59429387e-01 9.11918354e+01] [ 9.77136894e-01 1.63107406e-02 2.11984552e-01 9.73285010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.406875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.27, Y:91.20, Z:97.36 [[ 5.66214861e-02 -9.81215945e-01 -1.84416041e-01 1.76265085e+02] [ 2.04738860e-01 1.92198267e-01 -9.59761338e-01 9.11984770e+01] [ 9.77177572e-01 1.65859832e-02 2.11775586e-01 9.73557411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.27, Y:91.21, Z:97.38 [[ 5.66962813e-02 -9.81452042e-01 -1.83132250e-01 1.76266285e+02] [ 2.04852332e-01 1.90960356e-01 -9.59984200e-01 9.12052884e+01] [ 9.77149453e-01 1.69124659e-02 2.11879481e-01 9.73818757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.466875 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:176.27, Y:91.21, Z:97.41 [[ 5.63291793e-02 -9.81714817e-01 -1.81832454e-01 1.76268658e+02] [ 2.03809489e-01 1.89593064e-01 -9.60477049e-01 9.12118634e+01] [ 9.77388723e-01 1.70437044e-02 2.10762417e-01 9.74087238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.496875 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:176.27, Y:91.22, Z:97.43 [[ 5.57405199e-02 -9.81980680e-01 -1.80573916e-01 1.76270192e+02] [ 2.03458351e-01 1.88231568e-01 -9.60819222e-01 9.12184444e+01] [ 9.77495624e-01 1.68172919e-02 2.10284295e-01 9.74349301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.526875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:176.27, Y:91.22, Z:97.46 [[ 5.51720085e-02 -9.82257127e-01 -1.79240025e-01 1.76271437e+02] [ 2.03208044e-01 1.86802544e-01 -9.61151029e-01 9.12249225e+01] [ 9.77579941e-01 1.66056179e-02 2.09908821e-01 9.74617426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.556875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.27, Y:91.23, Z:97.49 [[ 5.47297895e-02 -9.82533702e-01 -1.77854362e-01 1.76273096e+02] [ 2.03150089e-01 1.85352781e-01 -9.61443908e-01 9.12319497e+01] [ 9.77616843e-01 1.64884933e-02 2.09746128e-01 9.74884775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:91.30, Z:97.49 [[ 4.67440394e-02 -9.93530829e-01 -1.03496311e-01 1.76246002e+02] [ 2.24821268e-01 1.11415212e-01 -9.68009322e-01 9.13005758e+01] [ 9.73278168e-01 2.19804940e-02 2.28574858e-01 9.74917366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:91.28, Z:97.53 [[ 5.38251496e-02 -9.92437039e-01 -1.10324873e-01 1.76258753e+02] [ 2.03746869e-01 1.19076039e-01 -9.71755170e-01 9.12753797e+01] [ 9.77542872e-01 2.98265199e-02 2.08615225e-01 9.75334667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:91.25, Z:97.57 [[ 5.20040039e-02 -9.83211726e-01 -1.74900790e-01 1.76279608e+02] [ 2.02283505e-01 1.81878223e-01 -9.62289819e-01 9.12489362e+01] [ 9.77945278e-01 1.46633787e-02 2.08345910e-01 9.75675713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.676875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:176.28, Y:91.26, Z:97.59 [[ 5.13301590e-02 -9.83473563e-01 -1.73623059e-01 1.76281282e+02] [ 2.02518878e-01 1.80490657e-01 -9.62501546e-01 9.12557197e+01] [ 9.77932165e-01 1.42434102e-02 2.08436577e-01 9.75948157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:91.26, Z:97.62 [[ 4.97224941e-02 -9.83780330e-01 -1.72348299e-01 1.76283517e+02] [ 2.02712091e-01 1.78910554e-01 -9.62755848e-01 9.12621347e+01] [ 9.77975195e-01 1.29335379e-02 2.08320047e-01 9.76205727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:91.27, Z:97.65 [[ 4.89683108e-02 -9.83984085e-01 -1.71398442e-01 1.76285240e+02] [ 2.03325549e-01 1.77831586e-01 -9.62826385e-01 9.12683642e+01] [ 9.77885896e-01 1.22982995e-02 2.08777217e-01 9.76480771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:91.27, Z:97.68 [[ 4.83308019e-02 -9.84237174e-01 -1.70121481e-01 1.76286987e+02] [ 2.03582755e-01 1.76452080e-01 -9.63025818e-01 9.12741053e+01] [ 9.77864099e-01 1.19100102e-02 2.08901786e-01 9.76751128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:91.28, Z:97.70 [[ 4.77278335e-02 -9.84486538e-01 -1.68844043e-01 1.76289034e+02] [ 2.04027278e-01 1.75081424e-01 -9.63181896e-01 9.12802342e+01] [ 9.77801066e-01 1.15217947e-02 2.09218366e-01 9.77028056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:91.29, Z:97.73 [[ 4.70098009e-02 -9.84738925e-01 -1.67568878e-01 1.76290804e+02] [ 2.04186178e-01 1.73685394e-01 -9.63400949e-01 9.12859752e+01] [ 9.77802681e-01 1.10740381e-02 2.09234993e-01 9.77297821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:91.29, Z:97.76 [[ 4.65547176e-02 -9.84986570e-01 -1.66235120e-01 1.76293720e+02] [ 2.05637260e-01 1.72301299e-01 -9.63340843e-01 9.12921358e+01] [ 9.77520320e-01 1.06639262e-02 2.10571378e-01 9.77563087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:91.30, Z:97.78 [[ 4.60990796e-02 -9.85169786e-01 -1.65273615e-01 1.76295467e+02] [ 2.06379997e-01 1.71272824e-01 -9.63365412e-01 9.12985680e+01] [ 9.77385375e-01 1.03010908e-02 2.11214857e-01 9.77834059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:91.30, Z:97.81 [[ 4.60145593e-02 -9.85388654e-01 -1.63987379e-01 1.76297177e+02] [ 2.06682023e-01 1.70000425e-01 -9.63526023e-01 9.13049339e+01] [ 9.77325535e-01 1.04429820e-02 2.11484615e-01 9.78097576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.27, Y:91.37, Z:97.81 [[ 3.72656059e-02 -9.94995187e-01 -9.27138237e-02 1.76271176e+02] [ 2.27991661e-01 9.87968118e-02 -9.68637699e-01 9.13738811e+01] [ 9.72949679e-01 1.49588921e-02 2.30532328e-01 9.78135641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:91.35, Z:97.86 [[ 4.56537251e-02 -9.94438881e-01 -9.49054744e-02 1.76284358e+02] [ 2.06303398e-01 1.02342190e-01 -9.73121259e-01 9.13512258e+01] [ 9.77422450e-01 2.48472886e-02 2.09828423e-01 9.78550462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:91.32, Z:97.89 [[ 4.50223021e-02 -9.85945071e-01 -1.60889120e-01 1.76305564e+02] [ 2.06227901e-01 1.66756287e-01 -9.64190020e-01 9.13237841e+01] [ 9.77467670e-01 1.02302287e-02 2.10837135e-01 9.78885340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:91.33, Z:97.92 [[ 4.52346653e-02 -9.86157245e-01 -1.59523393e-01 1.76308383e+02] [ 2.05998631e-01 1.65462962e-01 -9.64461804e-01 9.13300998e+01] [ 9.77506209e-01 1.07655062e-02 2.10631705e-01 9.79151613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:91.34, Z:97.94 [[ 4.54828380e-02 -9.86369406e-01 -1.58135088e-01 1.76309987e+02] [ 2.06464361e-01 1.64162858e-01 -9.64584379e-01 9.13371516e+01] [ 9.77396429e-01 1.12227751e-02 2.11116722e-01 9.79413984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:91.34, Z:97.97 [[ 4.51978324e-02 -9.86607395e-01 -1.56725889e-01 1.76310438e+02] [ 2.06528055e-01 1.62725315e-01 -9.64814300e-01 9.13437281e+01] [ 9.77396193e-01 1.12392220e-02 2.11116938e-01 9.79684116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.12687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:91.35, Z:98.00 [[ 4.52497098e-02 -9.86815380e-01 -1.55395851e-01 1.76312272e+02] [ 2.06449255e-01 1.61434672e-01 -9.65047953e-01 9.13499936e+01] [ 9.77410440e-01 1.15867821e-02 2.11032172e-01 9.79960877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:91.36, Z:98.02 [[ 4.52807208e-02 -9.87012740e-01 -1.54128218e-01 1.76315543e+02] [ 2.06319928e-01 1.60199966e-01 -9.65281336e-01 9.13555517e+01] [ 9.77436312e-01 1.19089119e-02 2.10894367e-01 9.80219832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:91.36, Z:98.05 [[ 4.50536731e-02 -9.87257364e-01 -1.52620651e-01 1.76317126e+02] [ 2.06567213e-01 1.58680712e-01 -9.65479372e-01 9.13620878e+01] [ 9.77394574e-01 1.19719697e-02 2.11084151e-01 9.80482573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:91.37, Z:98.07 [[ 4.48453719e-02 -9.87485028e-01 -1.51202551e-01 1.76319068e+02] [ 2.07187062e-01 1.57257524e-01 -9.65579408e-01 9.13691055e+01] [ 9.77272948e-01 1.19745552e-02 2.11646394e-01 9.80748839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:91.38, Z:98.10 [[ 4.34796591e-02 -9.87759953e-01 -1.49799181e-01 1.76322550e+02] [ 2.07501439e-01 1.55599760e-01 -9.65780445e-01 9.13756553e+01] [ 9.77267963e-01 1.09082589e-02 2.11727036e-01 9.81002728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:91.38, Z:98.13 [[ 4.24472323e-02 -9.88027342e-01 -1.48324655e-01 1.76324300e+02] [ 2.07652211e-01 1.53941013e-01 -9.66013832e-01 9.13825345e+01] [ 9.77281327e-01 1.02046710e-02 2.11700433e-01 9.81264037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:91.39, Z:98.15 [[ 4.17043406e-02 -9.88266684e-01 -1.46934368e-01 1.76326018e+02] [ 2.07979258e-01 1.52427673e-01 -9.66183436e-01 9.13889452e+01] [ 9.77243765e-01 9.73474231e-03 2.11895867e-01 9.81533076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:91.40, Z:98.18 [[ 4.10401171e-02 -9.88491655e-01 -1.45602046e-01 1.76329648e+02] [ 2.08356488e-01 1.50987961e-01 -9.66328210e-01 9.13950186e+01] [ 9.77191528e-01 9.32109189e-03 2.12155213e-01 9.81792849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:91.40, Z:98.21 [[ 4.08181260e-02 -9.88717982e-01 -1.44120201e-01 1.76331601e+02] [ 2.08447937e-01 1.49493104e-01 -9.66540878e-01 9.14015889e+01] [ 9.77181323e-01 9.41082876e-03 2.12198252e-01 9.82063010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:91.41, Z:98.23 [[ 4.06037153e-02 -9.88908700e-01 -1.42866795e-01 1.76333303e+02] [ 2.07887941e-01 1.48216843e-01 -9.66857989e-01 9.14077925e+01] [ 9.77309543e-01 9.55774258e-03 2.11600348e-01 9.82319572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:91.41, Z:98.26 [[ 4.04464861e-02 -9.89129046e-01 -1.41378259e-01 1.76335078e+02] [ 2.07459254e-01 1.46723930e-01 -9.67177722e-01 9.14147116e+01] [ 9.77407151e-01 9.78871204e-03 2.11138442e-01 9.82592806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:91.42, Z:98.29 [[ 3.93995532e-02 -9.89348840e-01 -1.40130467e-01 1.76338614e+02] [ 2.06453089e-01 1.45273395e-01 -9.67611887e-01 9.14218191e+01] [ 9.77662926e-01 9.19310831e-03 2.09977831e-01 9.82858405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:91.43, Z:98.31 [[ 3.81903298e-02 -9.89582874e-01 -1.38806465e-01 1.76340575e+02] [ 2.05610335e-01 1.43717383e-01 -9.68023607e-01 9.14281682e+01] [ 9.77888485e-01 8.42909715e-03 2.08957080e-01 9.83114270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:91.43, Z:98.34 [[ 3.68788297e-02 -9.89838881e-01 -1.37327862e-01 1.76342225e+02] [ 2.05516433e-01 1.41996272e-01 -9.68297503e-01 9.14349038e+01] [ 9.77958561e-01 7.48654644e-03 2.08664812e-01 9.83373918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:91.44, Z:98.36 [[ 3.70317765e-02 -9.90031536e-01 -1.35890417e-01 1.76343018e+02] [ 2.06844454e-01 1.40632677e-01 -9.68213728e-01 9.14411569e+01] [ 9.77672757e-01 7.74649522e-03 2.09990410e-01 9.83637803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:91.45, Z:98.39 [[ 3.68040648e-02 -9.90236179e-01 -1.34453600e-01 1.76343294e+02] [ 2.07374936e-01 1.39183918e-01 -9.68309596e-01 9.14468797e+01] [ 9.77568973e-01 7.75542250e-03 2.10472698e-01 9.83896919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:91.45, Z:98.42 [[ 3.59897533e-02 -9.90470112e-01 -1.32942447e-01 1.76343947e+02] [ 2.08164940e-01 1.37540679e-01 -9.68374886e-01 9.14527374e+01] [ 9.77431376e-01 7.17761663e-03 2.11131207e-01 9.84163411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:91.46, Z:98.44 [[ 3.30179455e-02 -9.90765300e-01 -1.31506408e-01 1.76344785e+02] [ 2.09122130e-01 1.35514169e-01 -9.68454359e-01 9.14592989e+01] [ 9.77331955e-01 4.47547324e-03 2.11665349e-01 9.84431229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:91.47, Z:98.47 [[ 2.89123138e-02 -9.91079686e-01 -1.30096637e-01 1.76344661e+02] [ 2.09331710e-01 1.33268364e-01 -9.68720692e-01 9.14667986e+01] [ 9.77417164e-01 7.74604991e-04 2.11317503e-01 9.84681359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:91.48, Z:98.49 [[ 1.90719963e-02 -9.91508937e-01 -1.28632372e-01 1.76343870e+02] [ 2.09960758e-01 1.29758770e-01 -9.69060959e-01 9.14755586e+01] [ 9.77523779e-01 -8.52582317e-03 2.10652726e-01 9.84941783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:91.48, Z:98.52 [[ 1.57759997e-02 -9.91752952e-01 -1.27189624e-01 1.76344727e+02] [ 2.11900918e-01 1.27632243e-01 -9.68921055e-01 9.14801088e+01] [ 9.77163814e-01 -1.16658999e-02 2.12166887e-01 9.85208068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:91.49, Z:98.55 [[ 1.31463607e-02 -9.91969649e-01 -1.25791056e-01 1.76344845e+02] [ 2.12871868e-01 1.25694556e-01 -9.68961530e-01 9.14858799e+01] [ 9.76991679e-01 -1.40390592e-02 2.12814858e-01 9.85471047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:91.49, Z:98.57 [[ 8.93994428e-03 -9.92188027e-01 -1.24430692e-01 1.76342393e+02] [ 2.11669827e-01 1.23493562e-01 -9.69507723e-01 9.14934110e+01] [ 9.77300344e-01 -1.76708782e-02 2.11120294e-01 9.85742437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:91.50, Z:98.60 [[ 7.09214572e-03 -9.92356867e-01 -1.23197196e-01 1.76341298e+02] [ 2.10665978e-01 1.21918035e-01 -9.69925687e-01 9.15004122e+01] [ 9.77532377e-01 -1.90746035e-02 2.09920491e-01 9.86000281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:91.51, Z:98.63 [[ 6.13931924e-03 -9.92542382e-01 -1.21745343e-01 1.76339501e+02] [ 2.08969045e-01 1.20333030e-01 -9.70490546e-01 9.15077302e+01] [ 9.77902985e-01 -1.94828568e-02 2.08149396e-01 9.86263549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.87687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:91.52, Z:98.65 [[ 6.15512598e-03 -9.92710499e-01 -1.20366021e-01 1.76337600e+02] [ 2.08101225e-01 1.19004613e-01 -9.70840760e-01 9.15157837e+01] [ 9.78087928e-01 -1.90726694e-02 2.07316760e-01 9.86530763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:91.52, Z:98.68 [[ 7.65436146e-03 -9.92869512e-01 -1.18960254e-01 1.76334052e+02] [ 2.08098939e-01 1.17940804e-01 -9.70971060e-01 9.15221023e+01] [ 9.78077830e-01 -1.73233392e-02 2.07517854e-01 9.86791055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:91.53, Z:98.71 [[ 8.61528790e-03 -9.93040263e-01 -1.17459839e-01 1.76332859e+02] [ 2.09332844e-01 1.16652562e-01 -9.70861442e-01 9.15271828e+01] [ 9.77806493e-01 -1.62239512e-02 2.08880937e-01 9.87063318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:91.53, Z:98.73 [[ 9.62704879e-03 -9.93193725e-01 -1.16075597e-01 1.76331448e+02] [ 2.09651067e-01 1.15505752e-01 -9.70929890e-01 9.15333136e+01] [ 9.77728874e-01 -1.49881834e-02 2.09336104e-01 9.87332508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:91.54, Z:98.76 [[ 1.11507355e-02 -9.93338928e-01 -1.14688424e-01 1.76326693e+02] [ 2.09213231e-01 1.14474658e-01 -9.71146424e-01 9.15415557e+01] [ 9.77806466e-01 -1.31653389e-02 2.09096123e-01 9.87592867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:91.55, Z:98.78 [[ 1.19017494e-02 -9.93491579e-01 -1.13282083e-01 1.76325008e+02] [ 2.08842532e-01 1.13261385e-01 -9.71368445e-01 9.15476698e+01] [ 9.77876856e-01 -1.20971333e-02 2.08831305e-01 9.87846300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:91.55, Z:98.81 [[ 1.47932764e-02 -9.93623209e-01 -1.11776914e-01 1.76323061e+02] [ 2.09500465e-01 1.12387944e-01 -9.71328217e-01 9.15532806e+01] [ 9.77696637e-01 -9.04818866e-03 2.09827110e-01 9.88111187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:91.56, Z:98.84 [[ 1.64366474e-02 -9.93753286e-01 -1.10382263e-01 1.76321940e+02] [ 2.09345460e-01 1.11370666e-01 -9.71478797e-01 9.15587869e+01] [ 9.77703593e-01 -7.14017114e-03 2.09868299e-01 9.88378774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:91.57, Z:98.86 [[ 1.80509807e-02 -9.93878896e-01 -1.08990374e-01 1.76320368e+02] [ 2.09472752e-01 1.10348204e-01 -9.71568032e-01 9.15650615e+01] [ 9.77647855e-01 -5.29275772e-03 2.10182441e-01 9.88635909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:91.57, Z:98.89 [[ 1.94887213e-02 -9.93968273e-01 -1.07922478e-01 1.76318951e+02] [ 2.09190087e-01 1.09607619e-01 -9.71712754e-01 9.15716853e+01] [ 9.77680775e-01 -3.63887352e-03 2.10064422e-01 9.88908514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:91.58, Z:98.92 [[ 2.23906686e-02 -9.94043763e-01 -1.06656712e-01 1.76315357e+02] [ 2.08277296e-01 1.08980700e-01 -9.71979308e-01 9.15794259e+01] [ 9.77813492e-01 -4.50905139e-04 2.09476898e-01 9.89165217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:91.59, Z:98.94 [[ 2.38384345e-02 -9.94169883e-01 -1.05156898e-01 1.76313865e+02] [ 2.07834221e-01 1.07816975e-01 -9.72203907e-01 9.15872171e+01] [ 9.77873543e-01 1.32061725e-03 2.09192711e-01 9.89432525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:91.59, Z:98.97 [[ 2.49045570e-02 -9.94285014e-01 -1.03812689e-01 1.76312962e+02] [ 2.06908321e-01 1.06723010e-01 -9.72522054e-01 9.15933874e+01] [ 9.78043307e-01 2.74052175e-03 2.08383732e-01 9.89683949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:91.60, Z:99.00 [[ 2.73517464e-02 -9.94329298e-01 -1.02767352e-01 1.76313045e+02] [ 2.06415025e-01 1.06208166e-01 -9.72683229e-01 9.15993213e+01] [ 9.78082164e-01 5.39185952e-03 2.08149486e-01 9.89952145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:91.61, Z:99.02 [[ 2.77777385e-02 -9.94463040e-01 -1.01349197e-01 1.76312565e+02] [ 2.05831786e-01 1.04905911e-01 -9.72948111e-01 9.16052692e+01] [ 9.78193065e-01 6.16541204e-03 2.07606152e-01 9.90215473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:91.61, Z:99.05 [[ 2.78411568e-02 -9.94603625e-01 -9.99424798e-02 1.76311851e+02] [ 2.05019456e-01 1.03537340e-01 -9.73266172e-01 9.16119246e+01] [ 9.78361841e-01 6.60670328e-03 2.06795693e-01 9.90473500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:91.64, Z:99.06 [[ 2.44622667e-02 -9.97319733e-01 -6.89561326e-02 1.76297480e+02] [ 2.11225981e-01 7.25758283e-02 -9.74739111e-01 9.16447379e+01] [ 9.77131098e-01 9.27900135e-03 2.12435208e-01 9.90641934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:91.64, Z:99.10 [[ 2.77952416e-02 -9.97037859e-01 -7.17142433e-02 1.76302704e+02] [ 2.03416806e-01 7.58824552e-02 -9.76147251e-01 9.16376136e+01] [ 9.78697618e-01 1.25443664e-02 2.04923428e-01 9.90969658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:91.63, Z:99.13 [[ 2.69153891e-02 -9.94955808e-01 -9.66359274e-02 1.76310662e+02] [ 2.03049684e-01 1.00097203e-01 -9.74038693e-01 9.16308373e+01] [ 9.78798441e-01 6.59473591e-03 2.04719617e-01 9.91259332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:91.64, Z:99.15 [[ 2.49756928e-02 -9.95140582e-01 -9.52440891e-02 1.76311016e+02] [ 2.03806129e-01 9.83414965e-02 -9.74059552e-01 9.16366508e+01] [ 9.78692636e-01 4.91648298e-03 2.05271897e-01 9.91535736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:91.64, Z:99.18 [[ 2.33799108e-02 -9.95301748e-01 -9.39564229e-02 1.76310838e+02] [ 2.03886939e-01 9.67539320e-02 -9.74201618e-01 9.16425571e+01] [ 9.78715227e-01 3.62025954e-03 2.05191125e-01 9.91801783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:91.65, Z:99.21 [[ 2.20481175e-02 -9.95460024e-01 -9.25916913e-02 1.76310682e+02] [ 2.04254915e-01 9.51458988e-02 -9.74282910e-01 9.16485373e+01] [ 9.78669408e-01 2.56879603e-03 2.05425390e-01 9.92059736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.536875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:176.31, Y:91.65, Z:99.23 [[ 1.95573125e-02 -9.95615784e-01 -9.14697849e-02 1.76310526e+02] [ 2.05681514e-01 9.35369094e-02 -9.74138574e-01 9.16543216e+01] [ 9.78423541e-01 2.37888614e-04 2.06609093e-01 9.92329657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:91.66, Z:99.26 [[ 1.84641311e-02 -9.95765730e-01 -9.00538040e-02 1.76310375e+02] [ 2.06071273e-01 9.19254445e-02 -9.74209599e-01 9.16599885e+01] [ 9.78362768e-01 -5.69568246e-04 2.06896035e-01 9.92593881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:91.67, Z:99.29 [[ 1.74385464e-02 -9.95911904e-01 -8.86305667e-02 1.76310380e+02] [ 2.06667355e-01 9.03200815e-02 -9.74233487e-01 9.16665271e+01] [ 9.78255847e-01 -1.32782883e-03 2.07397529e-01 9.92868328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.62687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:91.67, Z:99.31 [[ 1.62705185e-02 -9.96044438e-01 -8.73541510e-02 1.76310397e+02] [ 2.06533255e-01 8.88295674e-02 -9.74398955e-01 9.16723302e+01] [ 9.78304291e-01 -2.18756096e-03 2.07161603e-01 9.93138716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:91.68, Z:99.34 [[ 1.43309507e-02 -9.96183664e-01 -8.60972245e-02 1.76309975e+02] [ 2.05330380e-01 8.72029516e-02 -9.74800021e-01 9.16789186e+01] [ 9.78587788e-01 -3.70856480e-03 2.05796472e-01 9.93399867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:91.69, Z:99.36 [[ 1.37263926e-02 -9.96307283e-01 -8.47548491e-02 1.76309445e+02] [ 2.04945166e-01 8.57665678e-02 -9.75008500e-01 9.16856792e+01] [ 9.78677202e-01 -3.98674715e-03 2.05365627e-01 9.93649832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.716875 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:176.31, Y:91.69, Z:99.39 [[ 1.29707586e-02 -9.96441361e-01 -8.32848920e-02 1.76308910e+02] [ 2.04191989e-01 8.41762558e-02 -9.75305075e-01 9.16924836e+01] [ 9.78844927e-01 -4.35566107e-03 2.04557174e-01 9.93918284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:91.70, Z:99.42 [[ 1.28244289e-02 -9.96548559e-01 -8.20152657e-02 1.76309166e+02] [ 2.03775545e-01 8.29054226e-02 -9.75501009e-01 9.16987611e+01] [ 9.78933635e-01 -4.20246215e-03 2.04135441e-01 9.94169824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:91.71, Z:99.44 [[ 1.27841421e-02 -9.96670785e-01 -8.05227417e-02 1.76309241e+02] [ 2.03107693e-01 8.14388608e-02 -9.75763792e-01 9.17052810e+01] [ 9.79072945e-01 -3.88048529e-03 2.03472630e-01 9.94434934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:91.71, Z:99.47 [[ 1.32229834e-02 -9.96775154e-01 -7.91482478e-02 1.76309312e+02] [ 2.02831856e-01 8.01833855e-02 -9.75925132e-01 9.17116440e+01] [ 9.79124298e-01 -3.14914423e-03 2.03238018e-01 9.94705112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.836875 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:176.31, Y:91.72, Z:99.50 [[ 1.46052765e-02 -9.96864691e-01 -7.77655081e-02 1.76309772e+02] [ 2.03350309e-01 7.91097584e-02 -9.75904861e-01 9.17176981e+01] [ 9.78997108e-01 -1.56027977e-03 2.03868162e-01 9.94984246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:91.72, Z:99.52 [[ 1.51848694e-02 -9.96956036e-01 -7.64727598e-02 1.76310087e+02] [ 2.03890765e-01 7.79619464e-02 -9.75884466e-01 9.17234804e+01] [ 9.78875873e-01 -7.73411303e-04 2.04453971e-01 9.95244711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.896875 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:176.31, Y:91.73, Z:99.55 [[ 1.72855270e-02 -9.97039060e-01 -7.49287908e-02 1.76310892e+02] [ 2.05493283e-01 7.68827750e-02 -9.75633922e-01 9.17292281e+01] [ 9.78505862e-01 1.46698334e-03 2.06213789e-01 9.95506403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:91.74, Z:99.58 [[ 1.84192930e-02 -9.97124639e-01 -7.35063576e-02 1.76311305e+02] [ 2.05805600e-01 7.57256413e-02 -9.75658589e-01 9.17353899e+01] [ 9.78419534e-01 2.84292140e-03 2.06608647e-01 9.95770007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.956875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:176.31, Y:91.74, Z:99.60 [[ 1.95131985e-02 -9.97207119e-01 -7.20915816e-02 1.76311926e+02] [ 2.05916069e-01 7.45678593e-02 -9.75724452e-01 9.17419812e+01] [ 9.78375085e-01 4.19468984e-03 2.06796027e-01 9.96038051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.986875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:176.31, Y:91.75, Z:99.63 [[ 1.93081622e-02 -9.97311634e-01 -7.06873400e-02 1.76311790e+02] [ 2.05937450e-01 7.31515570e-02 -9.75827145e-01 9.17485367e+01] [ 9.78374653e-01 4.28425826e-03 2.06796237e-01 9.96307902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:91.75, Z:99.66 [[ 2.25285559e-02 -9.97312950e-01 -6.97089972e-02 1.76313950e+02] [ 2.05396428e-01 7.28564726e-02 -9.75963238e-01 9.17545189e+01] [ 9.78419527e-01 7.66906327e-03 2.06485869e-01 9.96581379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:91.76, Z:99.69 [[ 2.38971488e-02 -9.97369804e-01 -6.84280658e-02 1.76314669e+02] [ 2.05008981e-01 7.18819886e-02 -9.76116949e-01 9.17612727e+01] [ 9.78468315e-01 9.29804393e-03 2.06187542e-01 9.96855955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:91.77, Z:99.71 [[ 2.55165815e-02 -9.97418368e-01 -6.71230505e-02 1.76315522e+02] [ 2.04746639e-01 7.09358533e-02 -9.76241219e-01 9.17681441e+01] [ 9.78482354e-01 1.11671196e-02 2.06028099e-01 9.97130530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:91.77, Z:99.74 [[ 2.64567406e-02 -9.97481097e-01 -6.58141426e-02 1.76315936e+02] [ 2.04562412e-01 6.98461815e-02 -9.76358403e-01 9.17743838e+01] [ 9.78495918e-01 1.23681612e-02 2.05895042e-01 9.97395921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:91.78, Z:99.77 [[ 2.84909874e-02 -9.97515660e-01 -6.44264802e-02 1.76317635e+02] [ 2.04779338e-01 6.89102523e-02 -9.76379434e-01 9.17806142e+01] [ 9.78393421e-01 1.46248022e-02 2.06233918e-01 9.97659218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:91.79, Z:99.79 [[ 2.87260492e-02 -9.97600588e-01 -6.29911214e-02 1.76318324e+02] [ 2.04864934e-01 6.75551223e-02 -9.76456176e-01 9.17864745e+01] [ 9.78368628e-01 1.51450562e-02 2.06313970e-01 9.97918138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:91.79, Z:99.82 [[ 2.96219896e-02 -9.97668412e-01 -6.14839544e-02 1.76319461e+02] [ 2.04960681e-01 6.62664300e-02 -9.76524388e-01 9.17934997e+01] [ 9.78321858e-01 1.63248021e-02 2.06445741e-01 9.98185522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:91.80, Z:99.85 [[ 2.95813773e-02 -9.97748275e-01 -6.01940424e-02 1.76319944e+02] [ 2.04617089e-01 6.49896462e-02 -9.76682237e-01 9.18003349e+01] [ 9.78395007e-01 1.65748760e-02 2.06078831e-01 9.98461445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:91.81, Z:99.87 [[ 2.88695316e-02 -9.97846220e-01 -5.89022159e-02 1.76320534e+02] [ 2.04412585e-01 6.35749762e-02 -9.76818160e-01 9.18066932e+01] [ 9.78459016e-01 1.61599285e-02 2.05807705e-01 9.98725686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:91.81, Z:99.90 [[ 2.73415346e-02 -9.97968237e-01 -5.75485792e-02 1.76322331e+02] [ 2.03469048e-01 6.19209105e-02 -9.77121357e-01 9.18136460e+01] [ 9.78699539e-01 1.50066428e-02 2.04748660e-01 9.98985918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:91.82, Z:99.93 [[ 2.60701479e-02 -9.98083436e-01 -5.61231016e-02 1.76323030e+02] [ 2.02874765e-01 6.02563157e-02 -9.77348969e-01 9.18202484e+01] [ 9.78857588e-01 1.40936711e-02 2.04056833e-01 9.99263935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:91.83, Z:99.95 [[ 2.48312356e-02 -9.98186564e-01 -5.48360590e-02 1.76323878e+02] [ 2.03001786e-01 5.87448803e-02 -9.77414607e-01 9.18259634e+01] [ 9.78863466e-01 1.31385944e-02 2.04092364e-01 9.99521097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.37687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:91.83, Z:99.98 [[ 2.25868719e-02 -9.98322226e-01 -5.33157211e-02 1.76325230e+02] [ 2.03692560e-01 5.68060981e-02 -9.77385496e-01 9.18319499e+01] [ 9.78774322e-01 1.12160653e-02 2.04633882e-01 9.99800024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:91.84, Z:100.01 [[ 2.13790077e-02 -9.98416440e-01 -5.20341284e-02 1.76325559e+02] [ 2.03603393e-01 5.53032682e-02 -9.77490259e-01 9.18379797e+01] [ 9.78820002e-01 1.03034467e-02 2.04463304e-01 1.00006271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:91.84, Z:100.03 [[ 2.02622351e-02 -9.98513868e-01 -5.05914815e-02 1.76325761e+02] [ 2.04134013e-01 5.36676625e-02 -9.77470760e-01 9.18447795e+01] [ 9.78733236e-01 9.47830018e-03 2.04918070e-01 1.00033578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:91.85, Z:100.06 [[ 1.79996300e-02 -9.98621302e-01 -4.93103388e-02 1.76326006e+02] [ 2.04444055e-01 5.19523329e-02 -9.77498636e-01 9.18515870e+01] [ 9.78712747e-01 7.51340814e-03 2.05097311e-01 1.00059071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.496875 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:176.33, Y:91.86, Z:100.09 [[ 1.64616196e-02 -9.98721075e-01 -4.78040652e-02 1.76326333e+02] [ 2.04664268e-01 5.01639324e-02 -9.77545967e-01 9.18582864e+01] [ 9.78693799e-01 6.30820584e-03 2.05228298e-01 1.00086656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:91.86, Z:100.11 [[ 1.51724092e-02 -9.98801506e-01 -4.65333284e-02 1.76327106e+02] [ 2.04539502e-01 4.86549013e-02 -9.77648348e-01 9.18643704e+01] [ 9.78740717e-01 5.31537700e-03 2.05032575e-01 1.00113991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:91.87, Z:100.14 [[ 1.29653919e-02 -9.98891297e-01 -4.52556739e-02 1.76327763e+02] [ 2.05023282e-01 4.69535784e-02 -9.77630204e-01 9.18697286e+01] [ 9.78671218e-01 3.39689191e-03 2.05404744e-01 1.00139331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:91.88, Z:100.17 [[ 1.15323227e-02 -9.98975842e-01 -4.37523962e-02 1.76327253e+02] [ 2.05099099e-01 4.51881569e-02 -9.77697494e-01 9.18761742e+01] [ 9.78673268e-01 2.30154599e-03 2.05410170e-01 1.00166971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.616875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:176.33, Y:91.88, Z:100.19 [[ 9.09344800e-03 -9.99056925e-01 -4.24566843e-02 1.76327330e+02] [ 2.06292279e-01 4.34193941e-02 -9.77526599e-01 9.18826074e+01] [ 9.78448162e-01 1.30601123e-04 2.06492562e-01 1.00193213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:91.89, Z:100.22 [[ 7.53701531e-03 -9.99126620e-01 -4.10997672e-02 1.76326878e+02] [ 2.07026235e-01 4.17695335e-02 -9.77443320e-01 9.18886453e+01] [ 9.78306359e-01 -1.14172478e-03 2.07160240e-01 1.00219075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:91.90, Z:100.25 [[ 6.29193696e-03 -9.99195672e-01 -3.96033011e-02 1.76326205e+02] [ 2.07731685e-01 4.00461559e-02 -9.77365772e-01 9.18950576e+01] [ 9.78165609e-01 -2.07733662e-03 2.07816568e-01 1.00245203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:91.90, Z:100.27 [[ 5.04428579e-03 -9.99257496e-01 -3.81970129e-02 1.76325456e+02] [ 2.08279685e-01 3.84096486e-02 -9.77314827e-01 9.19015420e+01] [ 9.78056301e-01 -3.02580649e-03 2.08318785e-01 1.00271391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:91.91, Z:100.30 [[ 3.59624819e-03 -9.99316147e-01 -3.68008842e-02 1.76324644e+02] [ 2.08255323e-01 3.67426638e-02 -9.77384109e-01 9.19078234e+01] [ 9.78067885e-01 -4.14906420e-03 2.08245043e-01 1.00298444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:91.91, Z:100.32 [[ 2.91726614e-03 -9.99364312e-01 -3.55311248e-02 1.76323940e+02] [ 2.07892809e-01 3.53610665e-02 -9.77512238e-01 9.19141715e+01] [ 9.78147264e-01 -4.53500199e-03 2.07863812e-01 1.00323591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:91.92, Z:100.35 [[ 2.43190553e-03 -9.99417413e-01 -3.40429270e-02 1.76322460e+02] [ 2.06621898e-01 3.38105994e-02 -9.77836507e-01 9.19217219e+01] [ 9.78417844e-01 -4.65600816e-03 2.06583747e-01 1.00350671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:91.93, Z:100.38 [[ 2.08172333e-03 -9.99461161e-01 -3.27575090e-02 1.76321888e+02] [ 2.05988016e-01 3.24836555e-02 -9.78015209e-01 9.19285262e+01] [ 9.78552300e-01 -4.71169718e-03 2.05944643e-01 1.00376838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:91.94, Z:100.40 [[ 7.37853334e-04 -9.99624905e-01 -2.73770736e-02 1.76320210e+02] [ 2.03993619e-01 2.69518625e-02 -9.78601145e-01 9.19375044e+01] [ 9.78971940e-01 -4.86268420e-03 2.03936989e-01 1.00404246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:91.93, Z:100.43 [[ 2.00188116e-03 -9.98571622e-01 -5.33920243e-02 1.76328347e+02] [ 2.04648937e-01 5.26712049e-02 -9.77417289e-01 9.19298842e+01] [ 9.78833390e-01 -8.96994778e-03 2.04462063e-01 1.00432469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:91.95, Z:100.46 [[ 2.35462752e-03 -9.99639048e-01 -2.67624463e-02 1.76319254e+02] [ 2.04726011e-01 2.66775511e-02 -9.78455706e-01 9.19488881e+01] [ 9.78816488e-01 -3.17507013e-03 2.04714930e-01 1.00456330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:91.96, Z:100.48 [[ 2.62848568e-03 -9.99674317e-01 -2.53840829e-02 1.76318215e+02] [ 2.05072988e-01 2.53835286e-02 -9.78417470e-01 9.19558645e+01] [ 9.78743154e-01 -2.63383343e-03 2.05072920e-01 1.00483550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:91.96, Z:100.51 [[ 3.04229393e-03 -9.99705019e-01 -2.40960305e-02 1.76317357e+02] [ 2.05211408e-01 2.42074502e-02 -9.78418253e-01 9.19629468e+01] [ 9.78712942e-01 -1.96814445e-03 2.05224521e-01 1.00510777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:91.97, Z:100.54 [[ 4.63121832e-03 -9.99729131e-01 -2.28082500e-02 1.76315497e+02] [ 2.06211039e-01 2.32730435e-02 -9.78230736e-01 9.19700653e+01] [ 9.78496581e-01 -1.72912819e-04 2.06262966e-01 1.00537868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:91.98, Z:100.56 [[ 5.79272259e-03 -9.99751837e-01 -2.15106507e-02 1.76314486e+02] [ 2.06682209e-01 2.22435286e-02 -9.78155249e-01 9.19762895e+01] [ 9.78390980e-01 1.22031321e-03 2.06759768e-01 1.00564019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:91.98, Z:100.59 [[ 8.89583192e-03 -9.99757500e-01 -2.01446371e-02 1.76312895e+02] [ 2.07304868e-01 2.15516155e-02 -9.78038966e-01 9.19824961e+01] [ 9.78235941e-01 4.52438893e-03 2.07446316e-01 1.00589450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:91.99, Z:100.62 [[ 1.01412316e-02 -9.99767488e-01 -1.90295680e-02 1.76311646e+02] [ 2.07501208e-01 2.07203441e-02 -9.78015294e-01 9.19893510e+01] [ 9.78182194e-01 5.96962127e-03 2.07663092e-01 1.00616329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.00, Z:100.64 [[ 1.11077214e-02 -9.99781182e-01 -1.77258752e-02 1.76310185e+02] [ 2.06885002e-01 1.96412044e-02 -9.78168093e-01 9.19962499e+01] [ 9.78302210e-01 7.19800096e-03 2.07057901e-01 1.00642713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.00, Z:100.67 [[ 1.33127018e-02 -9.99770670e-01 -1.67743614e-02 1.76308270e+02] [ 2.06235113e-01 1.91605476e-02 -9.78314853e-01 9.20033402e+01] [ 9.78411902e-01 9.56455155e-03 2.06442896e-01 1.00667747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.01, Z:100.69 [[ 1.39680572e-02 -9.99785238e-01 -1.53092169e-02 1.76307588e+02] [ 2.05902298e-01 1.78585749e-02 -9.78409584e-01 9.20098586e+01] [ 9.78472860e-01 1.05142781e-02 2.06107528e-01 1.00694493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.02, Z:100.72 [[ 1.43791207e-02 -9.99799436e-01 -1.39401738e-02 1.76306889e+02] [ 2.05550466e-01 1.65995042e-02 -9.78505729e-01 9.20163345e+01] [ 9.78540876e-01 1.12046428e-02 2.05747926e-01 1.00721320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.02, Z:100.75 [[ 1.53679485e-02 -9.99803481e-01 -1.25230265e-02 1.76305959e+02] [ 2.04085750e-01 1.53973432e-02 -9.78831920e-01 9.20236164e+01] [ 9.78832382e-01 1.24868673e-02 2.04282269e-01 1.00748284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.03, Z:100.78 [[ 1.51190019e-02 -9.99822536e-01 -1.12389141e-02 1.76305377e+02] [ 2.03442907e-01 1.40810871e-02 -9.78985550e-01 9.20306511e+01] [ 9.78970071e-01 1.25148071e-02 2.03619695e-01 1.00775275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.04, Z:100.80 [[ 1.45976563e-02 -9.99843915e-01 -9.95258883e-03 1.76305213e+02] [ 2.03234049e-01 1.27127838e-02 -9.79047653e-01 9.20372673e+01] [ 9.79021363e-01 1.22690962e-02 2.03387904e-01 1.00800570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.04, Z:100.83 [[ 1.35844705e-02 -9.99872142e-01 -8.43575861e-03 1.76305728e+02] [ 2.03786468e-01 1.10279546e-02 -9.78953247e-01 9.20436952e+01] [ 9.78921109e-01 1.15794680e-02 2.03910222e-01 1.00827479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.05, Z:100.86 [[ 1.26834391e-02 -9.99894086e-01 -7.13775934e-03 1.76305549e+02] [ 2.04681440e-01 9.58338800e-03 -9.78781726e-01 9.20501513e+01] [ 9.78746463e-01 1.09533516e-02 2.04781312e-01 1.00855106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.06, Z:100.88 [[ 1.17973552e-02 -9.99913322e-01 -5.84563740e-03 1.76305436e+02] [ 2.05666555e-01 8.14749947e-03 -9.78588211e-01 9.20562036e+01] [ 9.78551016e-01 1.03425006e-02 2.05744847e-01 1.00883005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.06, Z:100.91 [[ 1.08144668e-02 -9.99931115e-01 -4.56218314e-03 1.76305301e+02] [ 2.06997319e-01 6.70229572e-03 -9.78318552e-01 9.20622314e+01] [ 9.78281737e-01 9.63563380e-03 2.07055541e-01 1.00908609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.07, Z:100.94 [[ 9.00355849e-03 -9.99953517e-01 -3.44950970e-03 1.76305673e+02] [ 2.09284114e-01 5.25761728e-03 -9.77840742e-01 9.20680197e+01] [ 9.77813426e-01 8.08211874e-03 2.09321724e-01 1.00935646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.07, Z:100.96 [[ 7.92760013e-03 -9.99966263e-01 -2.15081472e-03 1.76305842e+02] [ 2.09615438e-01 3.76489081e-03 -9.77776659e-01 9.20740746e+01] [ 9.77751769e-01 7.30057840e-03 2.09638212e-01 1.00962227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.08, Z:100.99 [[ 5.94112684e-03 -9.99982046e-01 -7.81898733e-04 1.76305834e+02] [ 2.09628704e-01 2.00999097e-03 -9.77778997e-01 9.20804964e+01] [ 9.77763013e-01 5.64520063e-03 2.09636881e-01 1.00987560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.08, Z:100.98 [[ 4.54275575e-03 -9.99989627e-01 3.30823680e-04 1.76305446e+02] [ 2.09298725e-01 6.27303047e-04 -9.77851548e-01 9.20807269e+01] [ 9.77841197e-01 4.51138172e-03 2.09299404e-01 1.00984830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.08, Z:100.98 [[ 3.42447584e-03 -9.99991901e-01 2.11430599e-03 1.76305403e+02] [ 2.08981507e-01 -1.35197811e-03 -9.77918658e-01 9.20812536e+01] [ 9.77913597e-01 3.79070968e-03 2.08975185e-01 1.00978818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.08, Z:100.97 [[ 1.03725508e-03 -9.99991864e-01 3.89819939e-03 1.76306461e+02] [ 2.06577858e-01 -3.59984541e-03 -9.78423543e-01 9.20809947e+01] [ 9.78429616e-01 1.82015647e-03 2.06572444e-01 1.00972657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.09, Z:100.99 [[-5.21952606e-04 -9.99983751e-01 5.67674342e-03 1.76306518e+02] [ 2.05678312e-01 -5.66272604e-03 -9.78603273e-01 9.20852750e+01] [ 9.78619517e-01 6.56798478e-04 2.05677925e-01 1.00986204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.08, Z:100.98 [[-2.00573245e-03 -9.99970145e-01 7.46229160e-03 1.76306406e+02] [ 2.05618209e-01 -7.71525799e-03 -9.78601874e-01 9.20843300e+01] [ 9.78630231e-01 -4.28430492e-04 2.05627545e-01 1.00975696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.09, Z:100.98 [[-4.53804212e-03 -9.99946876e-01 9.25481800e-03 1.76306186e+02] [ 2.05015547e-01 -9.98866189e-03 -9.78707746e-01 9.20867697e+01] [ 9.78748196e-01 -2.54403539e-03 2.05049984e-01 1.00981906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.08, Z:100.96 [[-5.79250197e-03 -9.99922202e-01 1.10470229e-02 1.76305792e+02] [ 2.04999581e-01 -1.19999882e-02 -9.78688496e-01 9.20824649e+01] [ 9.78744920e-01 -3.40441998e-03 2.05053143e-01 1.00958761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:92.08, Z:100.96 [[-7.14052109e-03 -9.99892206e-01 1.28292365e-02 1.76304813e+02] [ 2.05378683e-01 -1.40224838e-02 -9.78582121e-01 9.20842545e+01] [ 9.78656533e-01 -4.35273458e-03 2.05456672e-01 1.00962604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:92.08, Z:100.96 [[-8.32680387e-03 -9.99858716e-01 1.46017828e-02 1.76303832e+02] [ 2.05791585e-01 -1.60031803e-02 -9.78464982e-01 9.20840253e+01] [ 9.78560416e-01 -5.14256197e-03 2.05895765e-01 1.00956139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:92.09, Z:100.96 [[-8.70536969e-03 -9.99827997e-01 1.63766264e-02 1.76303176e+02] [ 2.05903977e-01 -1.78185895e-02 -9.78409960e-01 9.20857165e+01] [ 9.78533479e-01 -5.14540790e-03 2.06023678e-01 1.00961175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:92.08, Z:100.95 [[-8.40254729e-03 -9.99799937e-01 1.81516529e-02 1.76302188e+02] [ 2.06503302e-01 -1.94959386e-02 -9.78251652e-01 9.20828493e+01] [ 9.78409824e-01 -4.47142949e-03 2.06625804e-01 1.00946695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:92.08, Z:100.94 [[-8.77525935e-03 -9.99762952e-01 1.99257145e-02 1.76301633e+02] [ 2.06488095e-01 -2.13087115e-02 -9.78217054e-01 9.20831864e+01] [ 9.78409762e-01 -4.46968552e-03 2.06626137e-01 1.00944235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:92.09, Z:100.97 [[-8.30708313e-03 -9.99730265e-01 2.16884741e-02 1.76300780e+02] [ 2.07084523e-01 -2.29389566e-02 -9.78054091e-01 9.20885970e+01] [ 9.78287786e-01 -3.63342930e-03 2.07219221e-01 1.00965731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:92.09, Z:100.96 [[-7.93086577e-03 -9.99693103e-01 2.34691410e-02 1.76299810e+02] [ 2.07278864e-01 -2.46036252e-02 -9.77972461e-01 9.20874363e+01] [ 9.78249750e-01 -2.89151143e-03 2.07410379e-01 1.00957145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:92.09, Z:100.96 [[-6.22860456e-03 -9.99661517e-01 2.52597861e-02 1.76298198e+02] [ 2.07763624e-01 -2.60027412e-02 -9.77833388e-01 9.20881469e+01] [ 9.78159231e-01 -8.42472772e-04 2.07855260e-01 1.00955941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:92.09, Z:100.95 [[-6.00055623e-03 -9.99616147e-01 2.70472200e-02 1.76296926e+02] [ 2.08127692e-01 -2.77038331e-02 -9.77709242e-01 9.20883438e+01] [ 9.78083257e-01 -2.37523799e-04 2.08214040e-01 1.00950990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:92.09, Z:100.97 [[-5.88271601e-03 -9.99566917e-01 2.88335411e-02 1.76294722e+02] [ 2.08510737e-01 -2.94263686e-02 -9.77577292e-01 9.20933096e+01] [ 9.78002386e-01 2.61293323e-04 2.08593541e-01 1.00967333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:92.09, Z:100.93 [[-6.11138517e-03 -9.99512087e-01 3.06306853e-02 1.76294029e+02] [ 2.08918622e-01 -3.12314996e-02 -9.77434194e-01 9.20860182e+01] [ 9.77913933e-01 4.25843729e-04 2.09007556e-01 1.00932317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:92.09, Z:100.95 [[-6.13162193e-03 -9.99455473e-01 3.24216199e-02 1.76292970e+02] [ 2.08850913e-01 -3.29871563e-02 -9.77390988e-01 9.20903748e+01] [ 9.77928269e-01 7.78292876e-04 2.08939452e-01 1.00949009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:92.09, Z:100.93 [[-7.20057932e-03 -9.99388665e-01 3.42118200e-02 1.76291161e+02] [ 2.07649636e-01 -3.49613037e-02 -9.77578302e-01 9.20878631e+01] [ 9.78176763e-01 6.49418689e-05 2.07774434e-01 1.00929655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:92.09, Z:100.93 [[-7.83502465e-03 -9.99321003e-01 3.60020226e-02 1.76290525e+02] [ 2.06696302e-01 -3.68440677e-02 -9.77711181e-01 9.20885151e+01] [ 9.78373779e-01 -2.18906241e-04 2.06844630e-01 1.00926829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:92.09, Z:100.93 [[-8.86917865e-03 -9.99246658e-01 3.77816575e-02 1.76289620e+02] [ 2.05743468e-01 -3.87982896e-02 -9.77836550e-01 9.20903778e+01] [ 9.78565768e-01 -8.99277809e-04 2.05932582e-01 1.00930635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:92.09, Z:100.92 [[-9.82099605e-03 -9.99168958e-01 3.95593439e-02 1.76288782e+02] [ 2.05503892e-01 -4.07335561e-02 -9.77808226e-01 9.20887996e+01] [ 9.78607019e-01 -1.47345158e-03 2.05733154e-01 1.00919803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:92.09, Z:100.92 [[-1.12194161e-02 -9.99082839e-01 4.13231897e-02 1.76287030e+02] [ 2.06606067e-01 -4.27502056e-02 -9.77489822e-01 9.20896662e+01] [ 9.78359882e-01 -2.42924331e-03 2.06896209e-01 1.00917593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:92.09, Z:100.91 [[-1.21364067e-02 -9.98997724e-01 4.30842778e-02 1.76285859e+02] [ 2.07353195e-01 -4.46652261e-02 -9.77245962e-01 9.20892426e+01] [ 9.78190861e-01 -2.92659176e-03 2.07687446e-01 1.00914761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.09, Z:100.91 [[-1.24827067e-02 -9.98915926e-01 4.48459062e-02 1.76284694e+02] [ 2.07994095e-01 -4.64623121e-02 -9.77025952e-01 9.20895987e+01] [ 9.78050427e-01 -2.86824472e-03 2.08348590e-01 1.00911521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.09, Z:100.91 [[-1.24888569e-02 -9.98834953e-01 4.66129313e-02 1.76283388e+02] [ 2.07962668e-01 -4.81918119e-02 -9.76948861e-01 9.20892174e+01] [ 9.78057032e-01 -2.50722496e-03 2.08322243e-01 1.00907892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.09, Z:100.91 [[-1.22503711e-02 -9.98754302e-01 4.83712025e-02 1.76280292e+02] [ 2.08599969e-01 -4.98631023e-02 -9.76729094e-01 9.20910695e+01] [ 9.77924323e-01 -1.87506247e-03 2.08950958e-01 1.00909542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.09, Z:100.91 [[-1.26565493e-02 -9.98662230e-01 5.01354421e-02 1.76278174e+02] [ 2.08801360e-01 -5.16737010e-02 -9.76591942e-01 9.20928273e+01] [ 9.77876170e-01 -1.89193557e-03 2.09176042e-01 1.00912556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.09, Z:100.90 [[-1.35408943e-02 -9.98560152e-01 5.19063341e-02 1.76276330e+02] [ 2.08932133e-01 -5.35907830e-02 -9.76460645e-01 9.20920514e+01] [ 9.77836391e-01 -2.37724930e-03 2.09356970e-01 1.00904172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.27, Y:92.09, Z:100.90 [[-1.59076584e-02 -9.98431618e-01 5.36772898e-02 1.76273722e+02] [ 2.08946183e-01 -5.58182896e-02 -9.76332838e-01 9.20921154e+01] [ 9.77797750e-01 -4.31550439e-03 2.09506414e-01 1.00898640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.27, Y:92.09, Z:100.90 [[-1.77167266e-02 -9.98304197e-01 5.54513098e-02 1.76272368e+02] [ 2.08244583e-01 -5.79280787e-02 -9.76359837e-01 9.20924190e+01] [ 9.77916311e-01 -5.75046543e-03 2.08917737e-01 1.00899615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.27, Y:92.09, Z:100.89 [[-1.95378601e-02 -9.98170747e-01 5.72139192e-02 1.76270965e+02] [ 2.08442473e-01 -6.00340147e-02 -9.76190377e-01 9.20913927e+01] [ 9.77839459e-01 -7.14686023e-03 2.09234115e-01 1.00890545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.27, Y:92.09, Z:100.89 [[-2.20948812e-02 -9.98013940e-01 5.89914564e-02 1.76267807e+02] [ 2.07294407e-01 -6.22968199e-02 -9.76293058e-01 9.20914795e+01] [ 9.78029061e-01 -9.34248010e-03 2.08259149e-01 1.00889670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.27, Y:92.09, Z:100.88 [[-2.34086220e-02 -9.97877622e-01 6.07642079e-02 1.76265748e+02] [ 2.06369149e-01 -6.42949891e-02 -9.76359528e-01 9.20918194e+01] [ 9.78194158e-01 -1.03153732e-02 2.07436213e-01 1.00884992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.09, Z:100.88 [[-2.51093797e-02 -9.97726775e-01 6.25363975e-02 1.76263383e+02] [ 2.05419652e-01 -6.63706787e-02 -9.76420862e-01 9.20920417e+01] [ 9.78351821e-01 -1.16711172e-02 2.06619213e-01 1.00879677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.09, Z:100.88 [[-2.63182096e-02 -9.97583666e-01 6.42975988e-02 1.76261316e+02] [ 2.05072741e-01 -6.83397509e-02 -9.76357952e-01 9.20944475e+01] [ 9.78392826e-01 -1.25103085e-02 2.06375796e-01 1.00884781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.10, Z:100.88 [[-2.93619235e-02 -9.97383752e-01 6.60570170e-02 1.76257696e+02] [ 2.04932007e-01 -7.06883356e-02 -9.76220278e-01 9.20951861e+01] [ 9.78335704e-01 -1.51265081e-02 2.06471399e-01 1.00881976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.09, Z:100.87 [[-3.03706283e-02 -9.97235226e-01 6.78198205e-02 1.76256053e+02] [ 2.05032564e-01 -7.26237724e-02 -9.76057086e-01 9.20930516e+01] [ 9.78283841e-01 -1.57381953e-02 2.06671325e-01 1.00870305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:92.09, Z:100.87 [[-3.18998083e-02 -9.97067088e-01 6.95674073e-02 1.76253196e+02] [ 2.05637124e-01 -7.46609764e-02 -9.75776159e-01 9.20913911e+01] [ 9.78108264e-01 -1.68214308e-02 2.07415680e-01 1.00867951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.746875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:176.25, Y:92.09, Z:100.87 [[-3.25221537e-02 -9.96923847e-01 7.13102608e-02 1.76251271e+02] [ 2.06186895e-01 -7.65053732e-02 -9.75517243e-01 9.20912002e+01] [ 9.77972021e-01 -1.70226805e-02 2.08040752e-01 1.00866972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:92.09, Z:100.86 [[-3.24708034e-02 -9.96799213e-01 7.30546132e-02 1.76249451e+02] [ 2.06686320e-01 -7.82100409e-02 -9.75276348e-01 9.20904040e+01] [ 9.77868300e-01 -1.65686174e-02 2.08564304e-01 1.00862379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:92.09, Z:100.86 [[-2.97151917e-02 -9.96755986e-01 7.47964749e-02 1.76245272e+02] [ 2.07477532e-01 -7.93504230e-02 -9.75016197e-01 9.20906371e+01] [ 9.77788362e-01 -1.34542052e-02 2.09162385e-01 1.00861324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.24, Y:92.09, Z:100.87 [[-2.77511316e-02 -9.96679503e-01 7.65496057e-02 1.76242507e+02] [ 2.07477708e-01 -8.06544653e-02 -9.74909154e-01 9.20928197e+01] [ 9.77846039e-01 -1.11724955e-02 2.09027031e-01 1.00867317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.24, Y:92.09, Z:100.86 [[-2.34317443e-02 -9.96652498e-01 7.83246605e-02 1.76238290e+02] [ 2.06775308e-01 -8.14835891e-02 -9.74989434e-01 9.20936316e+01] [ 9.78107829e-01 -6.65009730e-03 2.07992430e-01 1.00862976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.24, Y:92.09, Z:100.86 [[-2.16846698e-02 -9.96551151e-01 8.00973083e-02 1.76236126e+02] [ 2.06280371e-01 -8.28520552e-02 -9.74978946e-01 9.20938380e+01] [ 9.78252618e-01 -4.61959403e-03 2.07365561e-01 1.00859439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.926875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:176.23, Y:92.09, Z:100.86 [[-2.02703264e-02 -9.96437750e-01 8.18591761e-02 1.76233833e+02] [ 2.06305905e-01 -8.42826168e-02 -9.74850919e-01 9.20946366e+01] [ 9.78277562e-01 -2.87251489e-03 2.07279428e-01 1.00858625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:92.10, Z:100.86 [[-1.71102013e-02 -9.96350247e-01 8.36267033e-02 1.76231087e+02] [ 2.06168057e-01 -8.53572975e-02 -9.74786574e-01 9.20951759e+01] [ 9.78366993e-01 5.62360464e-04 2.06876075e-01 1.00857740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.986875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:176.23, Y:92.10, Z:100.86 [[-1.62901078e-02 -9.96213894e-01 8.53961884e-02 1.76229828e+02] [ 2.05872673e-01 -8.69193751e-02 -9.74710965e-01 9.20954985e+01] [ 9.78443190e-01 1.70259490e-03 2.06509143e-01 1.00856901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:92.10, Z:100.86 [[-1.63532560e-02 -9.96057847e-01 8.71856497e-02 1.76228431e+02] [ 2.04544830e-01 -8.86858948e-02 -9.74831383e-01 9.20961868e+01] [ 9.78720585e-01 1.89170669e-03 2.05188786e-01 1.00855962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.046875 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:176.23, Y:92.10, Z:100.85 [[-1.75568210e-02 -9.95880087e-01 8.89640910e-02 1.76227308e+02] [ 2.03819497e-01 -9.06742228e-02 -9.74800389e-01 9.20965016e+01] [ 9.78851046e-01 1.01822041e-03 2.04571730e-01 1.00850870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.07687500000003 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:176.23, Y:92.10, Z:100.86 [[-1.93238147e-02 -9.95686814e-01 9.07433718e-02 1.76226865e+02] [ 2.02971756e-01 -9.27771228e-02 -9.74779396e-01 9.20982833e+01] [ 9.78993900e-01 -4.18114866e-04 2.03889109e-01 1.00855127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:92.10, Z:100.85 [[-2.16234919e-02 -9.95475624e-01 9.25240856e-02 1.76227115e+02] [ 2.02165774e-01 -9.49876606e-02 -9.74733986e-01 9.20976816e+01] [ 9.79112570e-01 -2.37194908e-03 2.03305065e-01 1.00851013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.13687500000003 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:176.23, Y:92.10, Z:100.84 [[-2.66361119e-02 -9.95187323e-01 9.43011610e-02 1.76228753e+02] [ 2.01429418e-01 -9.77429362e-02 -9.74614030e-01 9.20954847e+01] [ 9.79140800e-01 -6.96490042e-03 2.03063495e-01 1.00841719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.166875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:176.23, Y:92.10, Z:100.84 [[-3.15334824e-02 -9.94873887e-01 9.60811577e-02 1.76229339e+02] [ 2.00247301e-01 -1.00468329e-01 -9.74580491e-01 9.20952974e+01] [ 9.79237794e-01 -1.14919242e-02 2.02388927e-01 1.00836901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:92.10, Z:100.83 [[-3.43062675e-02 -9.94610398e-01 9.78429120e-02 1.76229132e+02] [ 1.99835267e-01 -1.02750174e-01 -9.74427148e-01 9.20951997e+01] [ 9.79228751e-01 -1.38764940e-02 2.02283210e-01 1.00833190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:92.09, Z:100.83 [[-3.61167489e-02 -9.94371251e-01 9.96062025e-02 1.76229637e+02] [ 1.99307178e-01 -1.04836053e-01 -9.74313118e-01 9.20941527e+01] [ 9.79271275e-01 -1.53367911e-02 2.01971665e-01 1.00828216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:92.09, Z:100.83 [[-3.80851220e-02 -9.94122776e-01 1.01338200e-01 1.76230588e+02] [ 2.00076008e-01 -1.06944396e-01 -9.73926325e-01 9.20934963e+01] [ 9.79039894e-01 -1.68167605e-02 2.02973107e-01 1.00825195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.286875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:176.23, Y:92.09, Z:100.82 [[-3.81919078e-02 -9.93938794e-01 1.03087599e-01 1.76230605e+02] [ 2.00123653e-01 -1.08680741e-01 -9.73724304e-01 9.20922708e+01] [ 9.79025997e-01 -1.65581220e-02 2.03061387e-01 1.00820499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.31687500000004 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:176.23, Y:92.09, Z:100.82 [[-3.76705171e-02 -9.93775339e-01 1.04840391e-01 1.76230376e+02] [ 1.99982627e-01 -1.10289672e-01 -9.73572358e-01 9.20923523e+01] [ 9.79075013e-01 -1.57087173e-02 2.02892472e-01 1.00819279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.22, Y:92.10, Z:100.82 [[-3.88985197e-02 -9.92398922e-01 1.16753092e-01 1.76222301e+02] [ 2.04575767e-01 -1.22275798e-01 -9.71183497e-01 9.21015788e+01] [ 9.78077533e-01 -1.38927471e-02 2.07777119e-01 1.00815768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.22, Y:92.10, Z:100.82 [[-3.14580149e-02 -9.91286852e-01 1.27909224e-01 1.76221124e+02] [ 1.98035374e-01 -1.31617148e-01 -9.71318134e-01 9.21022057e+01] [ 9.79689943e-01 -5.22518937e-03 2.00450277e-01 1.00822563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:92.09, Z:100.82 [[-2.71522168e-02 -9.93583767e-01 1.09790958e-01 1.76228502e+02] [ 1.97957662e-01 -1.13000772e-01 -9.73675300e-01 9.20943465e+01] [ 9.79834436e-01 -4.70348160e-03 1.99755741e-01 1.00821280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:92.09, Z:100.82 [[-2.49763234e-02 -9.93445284e-01 1.11546628e-01 1.76227686e+02] [ 1.98388188e-01 -1.14287794e-01 -9.73437428e-01 9.20943763e+01] [ 9.79805241e-01 -2.18335461e-03 1.99942299e-01 1.00818311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.466875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:176.22, Y:92.11, Z:100.84 [[-2.80493668e-02 -9.91932122e-01 1.23628066e-01 1.76219474e+02] [ 2.04298300e-01 -1.26754828e-01 -9.70667512e-01 9.21088814e+01] [ 9.78506739e-01 -1.96960528e-03 2.06205439e-01 1.00838746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.496875 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:176.21, Y:92.12, Z:100.84 [[-2.72668115e-02 -9.89134804e-01 1.44460587e-01 1.76211321e+02] [ 2.05211682e-01 -1.46975186e-01 -9.67618964e-01 9.21182767e+01] [ 9.78337716e-01 3.26111620e-03 2.06989562e-01 1.00844103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.21, Y:92.14, Z:100.97 [[-2.47891144e-02 -9.89041326e-01 1.45542968e-01 1.76209618e+02] [ 2.04587653e-01 -1.47525411e-01 -9.67667373e-01 9.21440365e+01] [ 9.78534308e-01 5.78867693e-03 2.06002668e-01 1.00971854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.22, Y:92.10, Z:100.81 [[-2.06133441e-02 -9.90522985e-01 1.35791405e-01 1.76220603e+02] [ 2.00711047e-01 -1.37155059e-01 -9.70001838e-01 9.21010005e+01] [ 9.79433594e-01 7.25985339e-03 2.01636130e-01 1.00812985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.586875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.22, Y:92.13, Z:100.95 [[-2.30665385e-02 -9.91867824e-01 1.25164514e-01 1.76220057e+02] [ 2.04731133e-01 -1.27231017e-01 -9.70514004e-01 9.21301917e+01] [ 9.78546421e-01 3.23867405e-03 2.06001002e-01 1.00950667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.22, Y:92.10, Z:100.81 [[-1.97040520e-02 -9.90152020e-01 1.38602767e-01 1.76220746e+02] [ 2.01529464e-01 -1.39717592e-01 -9.69466281e-01 9.21013565e+01] [ 9.79284241e-01 8.83012742e-03 2.02297809e-01 1.00812212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:92.09, Z:100.81 [[-1.85530553e-02 -9.92540260e-01 1.20497372e-01 1.76228321e+02] [ 2.01392020e-01 -1.21757769e-01 -9.71913731e-01 9.20936494e+01] [ 9.79334998e-01 6.23523991e-03 2.02148666e-01 1.00808976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:92.09, Z:100.81 [[-1.79942200e-02 -9.92332117e-01 1.22283188e-01 1.76228110e+02] [ 2.00844424e-01 -1.23397513e-01 -9.71820236e-01 9.20936643e+01] [ 9.79457873e-01 7.07274933e-03 2.01524815e-01 1.00807447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.22, Y:92.14, Z:100.97 [[-1.98618561e-02 -9.90709302e-01 1.34538413e-01 1.76217573e+02] [ 2.03323617e-01 -1.35755433e-01 -9.69654562e-01 9.21371435e+01] [ 9.78910115e-01 8.09569752e-03 2.04130954e-01 1.00968839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.22, Y:92.10, Z:100.82 [[-1.49584855e-02 -9.89721255e-01 1.42225458e-01 1.76221213e+02] [ 2.00696579e-01 -1.42318521e-01 -9.69260709e-01 9.21033611e+01] [ 9.79539242e-01 1.40454906e-02 2.00762539e-01 1.00817339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:92.09, Z:100.81 [[-1.43563207e-02 -9.91902322e-01 1.26189060e-01 1.76228585e+02] [ 2.00324145e-01 -1.26496593e-01 -9.71529129e-01 9.20944216e+01] [ 9.79624486e-01 1.13311317e-02 2.00518010e-01 1.00807016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:92.09, Z:100.80 [[-1.47226002e-02 -9.91668504e-01 1.27971964e-01 1.76228005e+02] [ 2.00297978e-01 -1.28316610e-01 -9.71295819e-01 9.20946360e+01] [ 9.79624400e-01 1.13325257e-02 2.00518351e-01 1.00804556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:92.10, Z:100.80 [[-1.38190283e-02 -9.91448220e-01 1.29766947e-01 1.76228917e+02] [ 1.99737181e-01 -1.29900809e-01 -9.71200720e-01 9.20955979e+01] [ 9.79752057e-01 1.24982341e-02 1.99824176e-01 1.00803753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:92.10, Z:100.80 [[-1.40487352e-02 -9.91210252e-01 1.31547972e-01 1.76229382e+02] [ 1.99569791e-01 -1.31693505e-01 -9.70993676e-01 9.20960901e+01] [ 9.79782900e-01 1.26117683e-02 1.99665750e-01 1.00801201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:92.10, Z:100.80 [[-1.44516485e-02 -9.90964743e-01 1.33341769e-01 1.76230044e+02] [ 1.98950807e-01 -1.33539068e-01 -9.70868629e-01 9.20962978e+01] [ 9.79902917e-01 1.24978005e-02 1.99083095e-01 1.00799616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:92.10, Z:100.79 [[-1.52060314e-02 -9.90707704e-01 1.35155551e-01 1.76232061e+02] [ 1.97587897e-01 -1.35482977e-01 -9.70877637e-01 9.20962935e+01] [ 9.80167231e-01 1.19419052e-02 1.97812010e-01 1.00794568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:92.10, Z:100.79 [[-1.56652933e-02 -9.90455826e-01 1.36937417e-01 1.76233036e+02] [ 1.97360560e-01 -1.37322752e-01 -9.70665376e-01 9.20968876e+01] [ 9.80205799e-01 1.18202873e-02 1.97628117e-01 1.00793542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.976875 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:176.23, Y:92.10, Z:100.79 [[-1.62461505e-02 -9.90199514e-01 1.38711876e-01 1.76233819e+02] [ 1.97341094e-01 -1.39176764e-01 -9.70405236e-01 9.20962529e+01] [ 9.80200263e-01 1.16082038e-02 1.97668142e-01 1.00787989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.24, Y:92.10, Z:100.79 [[-1.76643292e-02 -9.89928764e-01 1.40460005e-01 1.76235698e+02] [ 1.98038902e-01 -1.41162759e-01 -9.69976118e-01 9.20966022e+01] [ 9.80034981e-01 1.06825679e-02 1.98537951e-01 1.00785522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.24, Y:92.10, Z:100.78 [[-1.89392617e-02 -9.89654595e-01 1.42214933e-01 1.76236242e+02] [ 1.98421478e-01 -1.43131636e-01 -9.69609329e-01 9.20967377e+01] [ 9.79933784e-01 9.85481232e-03 1.99079535e-01 1.00781399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.24, Y:92.10, Z:100.78 [[-2.00937893e-02 -9.89376229e-01 1.43982350e-01 1.76236960e+02] [ 1.98321277e-01 -1.45094052e-01 -9.69338118e-01 9.20969340e+01] [ 9.79931074e-01 9.07708760e-03 1.99129847e-01 1.00778406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.24, Y:92.10, Z:100.78 [[-2.26417525e-02 -9.89062664e-01 1.45747721e-01 1.76238943e+02] [ 1.98021310e-01 -1.47333507e-01 -9.69061607e-01 9.20978943e+01] [ 9.79936177e-01 6.91990172e-03 1.99191373e-01 1.00778818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.24, Y:92.10, Z:100.77 [[-2.41969118e-02 -9.88766548e-01 1.47496519e-01 1.76239619e+02] [ 1.98422904e-01 -1.49354443e-01 -9.68670017e-01 9.20979493e+01] [ 9.79817769e-01 5.82786474e-03 1.99807846e-01 1.00772850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.24, Y:92.10, Z:100.78 [[-2.55257789e-02 -9.88471427e-01 1.49240321e-01 1.76240875e+02] [ 1.98963015e-01 -1.51325674e-01 -9.68253200e-01 9.20993210e+01] [ 9.79674514e-01 4.97788722e-03 2.00531961e-01 1.00775404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.24, Y:92.10, Z:100.77 [[-2.60302277e-02 -9.88190549e-01 1.51002867e-01 1.76241160e+02] [ 1.99036514e-01 -1.53152955e-01 -9.67950742e-01 9.20986597e+01] [ 9.79646310e-01 4.85910601e-03 2.00672609e-01 1.00768094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.24, Y:92.10, Z:100.77 [[-2.66996812e-02 -9.87902190e-01 1.52762529e-01 1.76240842e+02] [ 1.99153906e-01 -1.55010371e-01 -9.67630873e-01 9.20997067e+01] [ 9.79604435e-01 4.58781842e-03 2.00883307e-01 1.00767417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.24, Y:92.10, Z:100.76 [[-2.75906286e-02 -9.87602545e-01 1.54531456e-01 1.76240814e+02] [ 1.98871857e-01 -1.56923170e-01 -9.67380537e-01 9.20992665e+01] [ 9.79637046e-01 4.04132046e-03 2.00735961e-01 1.00760125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.24, Y:92.10, Z:100.76 [[-2.81856571e-02 -9.87310070e-01 1.56283061e-01 1.76240246e+02] [ 1.99089588e-01 -1.58757501e-01 -9.67036397e-01 9.21010294e+01] [ 9.79575880e-01 3.85777389e-03 2.01037839e-01 1.00762880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.24, Y:92.10, Z:100.76 [[-2.87455857e-02 -9.87012456e-01 1.58050953e-01 1.76239723e+02] [ 1.98814308e-01 -1.60602683e-01 -9.66788317e-01 9.21013676e+01] [ 9.79615518e-01 3.63189449e-03 2.00848817e-01 1.00760585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.24, Y:92.10, Z:100.75 [[-3.08518726e-02 -9.86661154e-01 1.59837198e-01 1.76239603e+02] [ 1.97816591e-01 -1.62777584e-01 -9.66629223e-01 9.21007040e+01] [ 9.79753417e-01 1.79612802e-03 2.00199939e-01 1.00751258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.24, Y:92.10, Z:100.75 [[-3.26983419e-02 -9.86317439e-01 1.61581954e-01 1.76239248e+02] [ 1.97953292e-01 -1.64856776e-01 -9.66248797e-01 9.21017473e+01] [ 9.79665919e-01 3.90946155e-04 2.00635327e-01 1.00751015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.24, Y:92.10, Z:100.75 [[-3.50406167e-02 -9.85946575e-01 1.63344746e-01 1.76239167e+02] [ 1.97367026e-01 -1.67053161e-01 -9.65991459e-01 9.21015082e+01] [ 9.79703227e-01 -1.61006968e-03 2.00446989e-01 1.00747558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.47, Y:91.27, Z:100.85 [[-1.08772764e-01 9.80521998e-01 -1.63539283e-01 1.75465363e+02] [ 2.05239595e-01 1.83122505e-01 9.61427510e-01 9.12722481e+01] [ 9.72648546e-01 7.10123910e-02 -2.21160679e-01 1.00853880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.456875 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:175.67, Y:91.18, Z:100.86 [[-1.78630081e-01 8.54835648e-01 -4.87183035e-01 1.75666764e+02] [ 1.66856432e-01 5.14293656e-01 8.41225871e-01 9.11770028e+01] [ 9.69665007e-01 6.89786229e-02 -2.34503144e-01 1.00862173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.486875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:175.88, Y:91.16, Z:100.87 [[-2.31428784e-01 6.36882620e-01 -7.35405498e-01 1.75877422e+02] [ 1.08023041e-01 7.68075899e-01 6.31181777e-01 9.11581408e+01] [ 9.66835943e-01 6.66328925e-02 -2.46552869e-01 1.00869739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.08, Y:91.21, Z:100.86 [[-2.63472820e-01 3.62855522e-01 -8.93822098e-01 1.76077128e+02] [ 3.70069064e-02 9.29680251e-01 3.66503915e-01 9.12057772e+01] [ 9.63956722e-01 6.34862293e-02 -2.58373638e-01 1.00860678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.24, Y:91.31, Z:100.87 [[-2.73824926e-01 6.59513214e-02 -9.59515676e-01 1.76243521e+02] [-4.16048919e-02 9.95900035e-01 8.03252950e-02 9.13098969e+01] [ 9.60879255e-01 6.19156139e-02 -2.69958356e-01 1.00865321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.37, Y:91.45, Z:100.87 [[-2.61399490e-01 -2.25173114e-01 -9.38598623e-01 1.76367207e+02] [-1.20649429e-01 9.72404565e-01 -1.99682442e-01 9.14540344e+01] [ 9.57660703e-01 6.10444996e-02 -2.81353065e-01 1.00866563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.44, Y:91.62, Z:100.87 [[-2.27515202e-01 -4.87302439e-01 -8.43073642e-01 1.76440762e+02] [-1.92825182e-01 8.71180524e-01 -4.51511843e-01 9.16214607e+01] [ 9.54492159e-01 5.98400203e-02 -2.92170995e-01 1.00872511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.46, Y:91.80, Z:100.87 [[-1.74357280e-01 -7.04065926e-01 -6.88397204e-01 1.76464434e+02] [-2.53529428e-01 7.07634572e-01 -6.59527211e-01 9.17974595e+01] [ 9.51484297e-01 5.95355789e-02 -3.01882671e-01 1.00873433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.666875 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:176.44, Y:91.97, Z:100.88 [[-1.06269518e-01 -8.64481199e-01 -4.91303416e-01 1.76440269e+02] [-2.97854352e-01 4.99088238e-01 -8.13752859e-01 9.19670167e+01] [ 9.48677803e-01 5.98597366e-02 -3.10527354e-01 1.00875912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.37, Y:92.12, Z:100.88 [[-2.94357461e-02 -9.62731864e-01 -2.68851065e-01 1.76374587e+02] [-3.23737427e-01 2.63652237e-01 -9.08670224e-01 9.21207471e+01] [ 9.45688963e-01 6.02897658e-02 -3.19433137e-01 1.00877602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.726875 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:176.28, Y:92.25, Z:100.89 [[ 5.14500973e-02 -9.97987762e-01 -3.70582657e-02 1.76275321e+02] [-3.29628626e-01 1.80576154e-02 -9.43937970e-01 9.22474770e+01] [ 9.42707726e-01 6.07811656e-02 -3.28036269e-01 1.00887204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.75687500000004 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:176.18, Y:92.34, Z:100.92 [[ 1.33232038e-01 -9.72870562e-01 1.89135122e-01 1.76180725e+02] [-3.15455422e-01 -2.22538974e-01 -9.22477253e-01 9.23433925e+01] [ 9.39540899e-01 6.32398249e-02 -3.36546615e-01 1.00915881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.08, Y:92.42, Z:100.94 [[ 2.08301383e-01 -8.93436576e-01 3.97971882e-01 1.76076083e+02] [-2.82342998e-01 -4.44503002e-01 -8.50117353e-01 9.24155880e+01] [ 9.36425633e-01 6.47160463e-02 -3.44846151e-01 1.00944216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.81687500000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:175.95, Y:92.45, Z:100.97 [[ 2.75391357e-01 -7.66917177e-01 5.79653037e-01 1.75952696e+02] [-2.30122292e-01 -6.38028874e-01 -7.34821670e-01 9.24539769e+01] [ 9.33382736e-01 6.89724516e-02 -3.52192376e-01 1.00973840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.846875 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:175.83, Y:92.46, Z:101.00 [[ 3.26842294e-01 -6.04195763e-01 7.26719750e-01 1.75827820e+02] [-1.65461577e-01 -7.93657563e-01 -5.85431584e-01 9.24639234e+01] [ 9.30481908e-01 7.10996061e-02 -3.59372042e-01 1.01001959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.71, Y:92.45, Z:101.03 [[ 3.63409899e-01 -4.15226726e-01 8.33978424e-01 1.75707693e+02] [-9.20208399e-02 -9.06803693e-01 -4.11386955e-01 9.24460024e+01] [ 9.27073573e-01 7.27586970e-02 -3.67750951e-01 1.01030531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.60, Y:92.40, Z:101.06 [[ 3.83441064e-01 -2.10168725e-01 8.99334230e-01 1.75597248e+02] [-1.14789181e-02 -9.74772797e-01 -2.22904078e-01 9.24040233e+01] [ 9.23494009e-01 7.51471929e-02 -3.76180429e-01 1.01059288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.50, Y:92.34, Z:101.09 [[ 3.84663748e-01 -2.16298760e-04 9.23056745e-01 1.75500128e+02] [ 6.98056422e-02 -9.97129529e-01 -2.93236337e-02 9.23407523e+01] [ 9.20413480e-01 7.57143077e-02 -3.83544483e-01 1.01087317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.42, Y:92.26, Z:101.11 [[ 3.68785562e-01 2.05718586e-01 9.06464049e-01 1.75420867e+02] [ 1.48764977e-01 -9.75693643e-01 1.60906481e-01 9.22614389e+01] [ 9.17532665e-01 7.55101167e-02 -3.90425449e-01 1.01113569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.36, Y:92.17, Z:101.14 [[ 3.37302800e-01 3.99177372e-01 8.52575068e-01 1.75360199e+02] [ 2.22223915e-01 -9.13817299e-01 3.39933045e-01 9.21691536e+01] [ 9.14791426e-01 7.48022023e-02 -3.96939892e-01 1.01140605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.026875 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:175.32, Y:92.07, Z:101.17 [[ 2.92109348e-01 5.73175247e-01 7.65599285e-01 1.75319518e+02] [ 2.87914134e-01 -8.16080471e-01 5.01116869e-01 9.20681884e+01] [ 9.12018410e-01 7.40459333e-02 -4.03409989e-01 1.01166334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.056875 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:175.30, Y:91.96, Z:101.19 [[ 2.35654392e-01 7.21880540e-01 6.50657740e-01 1.75299592e+02] [ 3.43585417e-01 -6.88160643e-01 6.39049287e-01 9.19634871e+01] [ 9.09074292e-01 7.29617396e-02 -4.10195704e-01 1.01191824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.086875 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:175.30, Y:91.86, Z:101.22 [[ 1.69867643e-01 8.40914028e-01 5.13817655e-01 1.75300426e+02] [ 3.86755920e-01 -5.36450506e-01 7.50093803e-01 9.18588101e+01] [ 9.06402142e-01 7.13053535e-02 -4.16354061e-01 1.01218072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.116875 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:175.32, Y:91.76, Z:101.24 [[ 9.64199918e-02 9.27525021e-01 3.61110121e-01 1.75321443e+02] [ 4.17622056e-01 -3.67020426e-01 8.31196623e-01 9.17591784e+01] [ 9.03490456e-01 7.06635798e-02 -4.22743013e-01 1.01243621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.146875 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:175.36, Y:91.67, Z:101.27 [[ 1.89436220e-02 9.79856166e-01 1.98804008e-01 1.75359836e+02] [ 4.33086754e-01 -1.87259025e-01 8.81685841e-01 9.16676499e+01] [ 9.01153152e-01 6.93970591e-02 -4.27910090e-01 1.01268632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.176875 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:176.35, Y:92.22, Z:101.02 [[ 9.86623130e-03 -9.99916841e-01 8.30472733e-03 1.76353994e+02] [ 4.25112486e-01 -3.32291283e-03 -9.05134428e-01 9.22232674e+01] [ 9.05086754e-01 1.24607089e-02 4.25044350e-01 1.01020547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.206875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:176.38, Y:92.19, Z:101.07 [[ 1.07793819e-02 -9.97720009e-01 -6.66227378e-02 1.76379943e+02] [ 4.16951872e-01 6.50428446e-02 -9.06598348e-01 9.21878836e+01] [ 9.08864644e-01 -1.80059055e-02 4.16702347e-01 1.01065559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.236875 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:176.35, Y:92.25, Z:101.07 [[ 6.53054606e-03 -9.99898572e-01 1.26569065e-02 1.76348800e+02] [ 4.27689983e-01 -8.64820470e-03 -9.03884111e-01 9.22513682e+01] [ 9.03901892e-01 1.13160889e-02 4.27590126e-01 1.01065878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.266875 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:176.37, Y:92.22, Z:101.11 [[ 1.13620698e-02 -9.98444896e-01 -5.45773966e-02 1.76374465e+02] [ 4.16596357e-01 5.43450273e-02 -9.07465754e-01 9.22179723e+01] [ 9.09020560e-01 -1.24260553e-02 4.16565978e-01 1.01113440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.296875 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:176.37, Y:92.24, Z:101.13 [[ 1.19994386e-02 -9.99489474e-01 -2.96108801e-02 1.76366043e+02] [ 4.16119198e-01 3.19183706e-02 -9.08749708e-01 9.22403144e+01] [ 9.09230899e-01 -1.41716936e-03 4.16289761e-01 1.01131839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.32687500000003 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:176.37, Y:92.25, Z:101.16 [[ 1.28407547e-02 -9.99499172e-01 -2.89226746e-02 1.76365279e+02] [ 4.15756522e-01 3.16430265e-02 -9.08925318e-01 9.22527097e+01] [ 9.09385303e-01 -3.53503546e-04 4.15954619e-01 1.01156604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.356875 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:176.36, Y:92.27, Z:101.18 [[ 1.39579982e-02 -9.99502710e-01 -2.82755676e-02 1.76364460e+02] [ 4.15647462e-01 3.15191919e-02 -9.08979498e-01 9.22652355e+01] [ 9.09418694e-01 9.34866256e-04 4.15880710e-01 1.01182327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.38687500000003 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:176.36, Y:92.28, Z:101.21 [[ 1.50827536e-02 -9.99503189e-01 -2.76746596e-02 1.76363730e+02] [ 4.15358004e-01 3.14397978e-02 -9.09114552e-01 9.22772336e+01] [ 9.09532979e-01 2.21705946e-03 4.15625848e-01 1.01206248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.416875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:176.34, Y:92.32, Z:101.21 [[ 1.33858354e-02 -9.99761403e-01 1.72614149e-02 1.76342716e+02] [ 4.25342590e-01 -9.93000310e-03 -9.04977943e-01 9.23239660e+01] [ 9.04933424e-01 1.94559007e-02 4.25108183e-01 1.01213590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.44687500000003 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:176.37, Y:92.29, Z:101.26 [[ 1.86543437e-02 -9.98520931e-01 -5.10682382e-02 1.76369764e+02] [ 4.14827797e-01 5.42029770e-02 -9.08284061e-01 9.22908354e+01] [ 9.09708697e-01 -4.24108172e-03 4.15225359e-01 1.01260674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.476875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:176.36, Y:92.31, Z:101.28 [[ 2.04617897e-02 -9.99457365e-01 -2.58125996e-02 1.76360479e+02] [ 4.16000783e-01 3.19880068e-02 -9.08801472e-01 9.23133679e+01] [ 9.09134019e-01 7.85764297e-03 4.16429579e-01 1.01279573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.50687500000004 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:176.36, Y:92.32, Z:101.30 [[ 2.03471148e-02 -9.99477865e-01 -2.50996371e-02 1.76359679e+02] [ 4.16659019e-01 3.12977712e-02 -9.08523919e-01 9.23247470e+01] [ 9.08835110e-01 8.02785030e-03 4.17078286e-01 1.01302799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.36, Y:92.34, Z:101.33 [[ 1.94734065e-02 -9.99512655e-01 -2.43975083e-02 1.76358609e+02] [ 4.18286091e-01 3.03085163e-02 -9.07809528e-01 9.23362033e+01] [ 9.08106565e-01 7.47300563e-03 4.18672452e-01 1.01327124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:92.38, Z:101.33 [[ 1.45609910e-02 -9.99616218e-01 2.35668068e-02 1.76337864e+02] [ 4.29854910e-01 -1.50221287e-02 -9.02773002e-01 9.23819591e+01] [ 9.02780557e-01 2.32755771e-02 4.29471202e-01 1.01333098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.37, Y:92.35, Z:101.38 [[ 1.73351479e-02 -9.98685581e-01 -4.82348677e-02 1.76366590e+02] [ 4.19790740e-01 5.10539006e-02 -9.06183885e-01 9.23486876e+01] [ 9.07455359e-01 -4.53971907e-03 4.20123986e-01 1.01380624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.36, Y:92.37, Z:101.40 [[ 1.55172928e-02 -9.99630950e-01 -2.22974906e-02 1.76357828e+02] [ 4.21363033e-01 2.67609009e-02 -9.06497131e-01 9.23709008e+01] [ 9.06759289e-01 4.67104320e-03 4.21622785e-01 1.01398960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.36, Y:92.38, Z:101.42 [[ 1.44290322e-02 -9.99662212e-01 -2.16163126e-02 1.76357787e+02] [ 4.21174737e-01 2.56835098e-02 -9.06615794e-01 9.23825883e+01] [ 9.06864733e-01 3.97734373e-03 4.21403057e-01 1.01423377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.36, Y:92.39, Z:101.45 [[ 1.41419215e-02 -9.99680257e-01 -2.09616114e-02 1.76357724e+02] [ 4.21184713e-01 2.49687941e-02 -9.06631125e-01 9.23946826e+01] [ 9.06864623e-01 3.99279598e-03 4.21403149e-01 1.01448393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:92.44, Z:101.46 [[ 8.60350274e-03 -9.99684606e-01 2.35938051e-02 1.76337491e+02] [ 4.30843545e-01 -1.75864178e-02 -9.02255262e-01 9.24392058e+01] [ 9.02385627e-01 1.79277942e-02 4.30556355e-01 1.01455416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.36, Y:92.41, Z:101.50 [[ 1.20774729e-02 -9.99060351e-01 -4.16239121e-02 1.76364175e+02] [ 4.18660684e-01 4.28549735e-02 -9.07131018e-01 9.24107155e+01] [ 9.08062424e-01 -6.47044523e-03 4.18784869e-01 1.01501364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.36, Y:92.43, Z:101.52 [[ 1.20453480e-02 -9.99744901e-01 -1.91060651e-02 1.76356427e+02] [ 4.17487575e-01 2.23905731e-02 -9.08406730e-01 9.24321302e+01] [ 9.08602792e-01 2.96553040e-03 4.17650777e-01 1.01520597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.36, Y:92.44, Z:101.54 [[ 1.32627340e-02 -9.99742017e-01 -1.84390631e-02 1.76356182e+02] [ 4.16152140e-01 2.22865757e-02 -9.09021840e-01 9.24444207e+01] [ 9.09198271e-01 4.38265932e-03 4.16340361e-01 1.01544579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.36, Y:92.46, Z:101.57 [[ 1.39944446e-02 -9.99743999e-01 -1.77789782e-02 1.76355896e+02] [ 4.15681701e-01 2.19882986e-02 -9.09244322e-01 9.24555933e+01] [ 9.09402484e-01 5.33397337e-03 4.15883000e-01 1.01568046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:92.50, Z:101.57 [[ 1.05059018e-02 -9.99542639e-01 2.83573402e-02 1.76333700e+02] [ 4.27087384e-01 -2.11567190e-02 -9.03962809e-01 9.25016622e+01] [ 9.04149320e-01 2.16080068e-02 4.26669780e-01 1.01573518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:92.51, Z:101.60 [[ 1.35588243e-02 -9.99843696e-01 1.13464798e-02 1.76341202e+02] [ 4.26000327e-01 -4.48993315e-03 -9.04711867e-01 9.25069460e+01] [ 9.04621401e-01 1.71004333e-02 4.25872863e-01 1.01602760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.926875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.36, Y:92.48, Z:101.64 [[ 1.78455566e-02 -9.98822432e-01 -4.51141488e-02 1.76362651e+02] [ 4.16659546e-01 4.84458767e-02 -9.07770797e-01 9.24819291e+01] [ 9.08887429e-01 -2.59756560e-03 4.17033444e-01 1.01644718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.35, Y:92.51, Z:101.66 [[ 1.87185824e-02 -9.99723174e-01 -1.42544538e-02 1.76352296e+02] [ 4.17100282e-01 2.07652021e-02 -9.08623223e-01 9.25058308e+01] [ 9.08667689e-01 1.10626020e-02 4.17373513e-01 1.01662775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.35, Y:92.52, Z:101.69 [[ 1.97729018e-02 -9.99709970e-01 -1.37480441e-02 1.76352052e+02] [ 4.18239726e-01 2.07604249e-02 -9.08099409e-01 9.25170511e+01] [ 9.08121448e-01 1.22057822e-02 4.18528917e-01 1.01688173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.35, Y:92.53, Z:101.71 [[ 1.95819775e-02 -9.99722490e-01 -1.30954194e-02 1.76351607e+02] [ 4.18836174e-01 2.00957553e-02 -9.07839424e-01 9.25284694e+01] [ 9.07850652e-01 1.22924558e-02 4.19113457e-01 1.01712731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:92.58, Z:101.72 [[ 1.43250310e-02 -9.99193795e-01 3.75040427e-02 1.76327295e+02] [ 4.30821163e-01 -2.76799128e-02 -9.02012721e-01 9.25757730e+01] [ 9.02323622e-01 2.90788955e-02 4.30077317e-01 1.01716675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.07687500000003 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:176.36, Y:92.54, Z:101.77 [[ 1.88451520e-02 -9.99279122e-01 -3.29559708e-02 1.76356400e+02] [ 4.20321069e-01 3.78257264e-02 -9.06586683e-01 9.25426900e+01] [ 9.07179728e-01 3.23267490e-03 4.20730901e-01 1.01765150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:92.59, Z:101.77 [[ 1.48325040e-02 -9.99395120e-01 3.14546012e-02 1.76328809e+02] [ 4.31015855e-01 -2.19947085e-02 -9.02076253e-01 9.25946645e+01] [ 9.02222439e-01 2.69374815e-02 4.30428905e-01 1.01769106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.13687500000003 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:176.36, Y:92.57, Z:101.81 [[ 1.83002990e-02 -9.99247510e-01 -3.41981470e-02 1.76355294e+02] [ 4.21084682e-01 3.87252806e-02 -9.06194264e-01 9.25659686e+01] [ 9.06836694e-01 2.18331018e-03 4.21476504e-01 1.01814178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.35, Y:92.59, Z:101.83 [[ 1.70108427e-02 -9.99805843e-01 -9.94526634e-03 1.76346538e+02] [ 4.20812757e-01 1.61819097e-02 -9.07003181e-01 9.25876740e+01] [ 9.06988013e-01 1.12437935e-02 4.21006321e-01 1.01833824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.35, Y:92.60, Z:101.86 [[ 1.61949329e-02 -9.99825718e-01 -9.28749895e-03 1.76345732e+02] [ 4.20439095e-01 1.52371908e-02 -9.07192810e-01 9.25997016e+01] [ 9.07176219e-01 1.07870991e-02 4.20612586e-01 1.01857669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:92.61, Z:101.88 [[ 1.51833303e-02 -9.99847739e-01 -8.60029416e-03 1.76344243e+02] [ 4.19578681e-01 1.41784583e-02 -9.07608232e-01 9.26126179e+01] [ 9.07591977e-01 1.01720155e-02 4.19730071e-01 1.01881024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:92.62, Z:101.90 [[ 1.44978731e-02 -9.99862102e-01 -8.09874049e-03 1.76343714e+02] [ 4.18321637e-01 1.34218993e-02 -9.08199791e-01 9.26239840e+01] [ 9.08183253e-01 9.77908696e-03 4.18458540e-01 1.01904204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:92.64, Z:101.93 [[ 1.37068525e-02 -9.99878506e-01 -7.42264945e-03 1.76342692e+02] [ 4.17668905e-01 1.24700200e-02 -9.08513723e-01 9.26364371e+01] [ 9.08495904e-01 9.35265372e-03 4.17789086e-01 1.01928638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:92.65, Z:101.95 [[ 1.29315745e-02 -9.99893398e-01 -6.77987849e-03 1.76341710e+02] [ 4.17765278e-01 1.15629890e-02 -9.08481409e-01 9.26485689e+01] [ 9.08462959e-01 8.91569716e-03 4.17870271e-01 1.01953260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.346875 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:176.34, Y:92.66, Z:101.98 [[ 1.25884172e-02 -9.99901904e-01 -6.14112297e-03 1.76341241e+02] [ 4.17942477e-01 1.08409479e-02 -9.08408806e-01 9.26608911e+01] [ 9.08386271e-01 8.86879287e-03 4.18037949e-01 1.01977377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:92.67, Z:102.00 [[ 1.20786884e-02 -9.99911936e-01 -5.49778043e-03 1.76340496e+02] [ 4.17847724e-01 1.00424591e-02 -9.08461573e-01 9.26723429e+01] [ 9.08436781e-01 8.67578920e-03 4.17932226e-01 1.02000878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.406875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.34, Y:92.68, Z:102.03 [[ 1.19935576e-02 -9.99916434e-01 -4.82498121e-03 1.76339478e+02] [ 4.17771113e-01 9.39486043e-03 -9.08503734e-01 9.26840044e+01] [ 9.08473143e-01 8.88045408e-03 4.17848879e-01 1.02025612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:92.70, Z:102.05 [[ 1.16827600e-02 -9.99923070e-01 -4.16731974e-03 1.76338991e+02] [ 4.17865855e-01 8.66836742e-03 -9.08467383e-01 9.26956986e+01] [ 9.08433619e-01 8.87202580e-03 4.17934979e-01 1.02048915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:92.71, Z:102.07 [[ 1.07946857e-02 -9.99935684e-01 -3.47901454e-03 1.76338614e+02] [ 4.17894592e-01 7.67209065e-03 -9.08463125e-01 9.27075564e+01] [ 9.08431387e-01 8.35271255e-03 4.17950532e-01 1.02073910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.496875 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:176.31, Y:92.75, Z:102.08 [[ 2.68233817e-03 -9.99219111e-01 3.94204580e-02 1.76314677e+02] [ 4.30209360e-01 -3.44330210e-02 -9.02072211e-01 9.27505968e+01] [ 9.02725159e-01 1.93787127e-02 4.29781053e-01 1.02077320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:92.73, Z:102.12 [[ 8.95419322e-03 -9.99956646e-01 -2.55509267e-03 1.76338172e+02] [ 4.18452496e-01 6.06774979e-03 -9.08218416e-01 9.27314724e+01] [ 9.08194545e-01 7.06317828e-03 4.18488686e-01 1.02123498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.556875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:176.34, Y:92.74, Z:102.15 [[ 6.30657749e-03 -9.99977579e-01 -2.25142175e-03 1.76339074e+02] [ 4.18689294e-01 4.68515693e-03 -9.08117462e-01 9.27425623e+01] [ 9.08107649e-01 4.78446696e-03 4.18709454e-01 1.02147358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:92.75, Z:102.17 [[ 4.37334042e-03 -9.99989215e-01 -1.56336505e-03 1.76339471e+02] [ 4.18669047e-01 3.25076083e-03 -9.08133064e-01 9.27543152e+01] [ 9.08128352e-01 3.31704248e-03 4.18678748e-01 1.02171090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:92.77, Z:102.19 [[ 2.74777234e-03 -9.99995834e-01 -8.84665873e-04 1.76339625e+02] [ 4.18724443e-01 1.95394261e-03 -9.08111239e-01 9.27658213e+01] [ 9.08109184e-01 2.12485173e-03 4.18728067e-01 1.02194205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:92.78, Z:102.22 [[ 1.36179803e-03 -9.99998995e-01 -3.94616748e-04 1.76340088e+02] [ 4.18358606e-01 9.28143935e-04 -9.08281463e-01 9.27778667e+01] [ 9.08280916e-01 1.07180459e-03 4.18359449e-01 1.02218809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:92.78, Z:102.22 [[ 4.73512496e-04 -9.99999851e-01 2.70748830e-04 1.76341664e+02] [ 4.17842588e-01 -4.81268939e-05 -9.08519438e-01 9.27775600e+01] [ 9.08519316e-01 5.43325702e-04 4.17842503e-01 1.02216035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:92.78, Z:102.21 [[ 5.90759327e-04 -9.99999233e-01 1.08876467e-03 1.76342183e+02] [ 4.17812068e-01 -7.42353016e-04 -9.08533172e-01 9.27764879e+01] [ 9.08533283e-01 9.91623469e-04 4.17811309e-01 1.02212594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:92.78, Z:102.21 [[ 2.35263298e-03 -9.99995415e-01 1.90664167e-03 1.76342529e+02] [ 4.17705427e-01 -7.49636562e-04 -9.08582200e-01 9.27773094e+01] [ 9.08579464e-01 2.93397502e-03 4.17701748e-01 1.02212238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:92.78, Z:102.21 [[ 3.34682859e-03 -9.99990689e-01 2.72412452e-03 1.76342493e+02] [ 4.18019909e-01 -1.07566517e-03 -9.08437229e-01 9.27759553e+01] [ 9.08431701e-01 4.17912198e-03 4.18012417e-01 1.02207354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:92.78, Z:102.21 [[ 4.56362846e-03 -9.99983318e-01 3.54071632e-03 1.76342546e+02] [ 4.18620958e-01 -1.30512858e-03 -9.08160113e-01 9.27774006e+01] [ 9.08149584e-01 5.62672339e-03 4.18608019e-01 1.02208403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:92.78, Z:102.21 [[ 7.30933004e-03 -9.99963789e-01 4.35824734e-03 1.76342581e+02] [ 4.18785974e-01 -8.96644536e-04 -9.08084525e-01 9.27772952e+01] [ 9.08055550e-01 8.46266236e-03 4.18764255e-01 1.02208105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:92.78, Z:102.20 [[ 8.15671725e-03 -9.99953327e-01 5.17809920e-03 1.76342135e+02] [ 4.18726699e-01 -1.28691564e-03 -9.08111390e-01 9.27760472e+01] [ 9.08075669e-01 9.57541622e-03 4.18696658e-01 1.02204445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:92.78, Z:102.21 [[ 9.58278543e-03 -9.99936096e-01 5.99779638e-03 1.76342558e+02] [ 4.18730211e-01 -1.43414605e-03 -9.08109550e-01 9.27769051e+01] [ 9.08060120e-01 1.12136775e-02 4.18689709e-01 1.02206251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:92.77, Z:102.20 [[ 9.59006385e-03 -9.99930757e-01 6.81997295e-03 1.76342869e+02] [ 4.18340093e-01 -2.18274144e-03 -9.08287841e-01 9.27749430e+01] [ 9.08239835e-01 1.15636065e-02 4.18290193e-01 1.02202081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.94687500000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.34, Y:92.77, Z:102.20 [[ 9.72149361e-03 -9.99923529e-01 7.64392762e-03 1.76342850e+02] [ 4.17739637e-01 -2.88415107e-03 -9.08562203e-01 9.27738770e+01] [ 9.08514771e-01 1.20257532e-02 4.17679654e-01 1.02198717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:92.78, Z:102.20 [[ 8.61928218e-03 -9.99927013e-01 8.46615959e-03 1.76341778e+02] [ 4.17431535e-01 -4.09553073e-03 -9.08699147e-01 9.27751281e+01] [ 9.08667498e-01 1.13663764e-02 4.17365767e-01 1.02198108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:92.77, Z:102.20 [[ 7.05464601e-03 -9.99931984e-01 9.28758153e-03 1.76341609e+02] [ 4.17381098e-01 -5.49566186e-03 -9.08714926e-01 9.27744261e+01] [ 9.08704161e-01 1.02871231e-02 4.17313939e-01 1.02195015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:92.77, Z:102.19 [[ 3.92685819e-03 -9.99941184e-01 1.01098365e-02 1.76341894e+02] [ 4.17270952e-01 -7.54920184e-03 -9.08750770e-01 9.27729337e+01] [ 9.08773642e-01 7.78707650e-03 4.17216765e-01 1.02190901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:92.77, Z:102.19 [[ 1.80520422e-03 -9.99938618e-01 1.09316479e-02 1.76341585e+02] [ 4.17108870e-01 -9.18238939e-03 -9.08810142e-01 9.27722677e+01] [ 9.08854736e-01 6.20027520e-03 4.17066691e-01 1.02188729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:92.77, Z:102.19 [[-2.87805066e-03 -9.99926865e-01 1.17465911e-02 1.76341040e+02] [ 4.17904548e-01 -1.18743789e-02 -9.08413335e-01 9.27723204e+01] [ 9.08486382e-01 2.29449424e-03 4.17908159e-01 1.02187044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:92.77, Z:102.18 [[-5.71279270e-03 -9.99904734e-01 1.25652996e-02 1.76341301e+02] [ 4.18089644e-01 -1.38028474e-02 -9.08300903e-01 9.27679889e+01] [ 9.08387810e-01 6.44868847e-05 4.18128667e-01 1.02178800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:92.77, Z:102.18 [[-8.15680101e-03 -9.99877167e-01 1.33834701e-02 1.76341624e+02] [ 4.18074321e-01 -1.55679917e-02 -9.08279417e-01 9.27677312e+01] [ 9.08376204e-01 -1.81336929e-03 4.18149953e-01 1.02178812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:92.76, Z:102.17 [[-1.08495402e-02 -9.99840310e-01 1.42000994e-02 1.76341329e+02] [ 4.18050990e-01 -1.74357740e-02 -9.08256221e-01 9.27647983e+01] [ 9.08358771e-01 -3.91779681e-03 4.18173401e-01 1.02171260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.216875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:176.32, Y:92.87, Z:102.32 [[-2.33813711e-02 -9.98681103e-01 4.57095896e-02 1.76322550e+02] [ 4.36757229e-01 -5.13320912e-02 -8.98113656e-01 9.28674243e+01] [ 8.99275505e-01 -1.03513493e-03 4.37381406e-01 1.02320192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.246875 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:176.34, Y:92.76, Z:102.17 [[-1.61208572e-02 -9.99861146e-01 4.21978426e-03 1.76344542e+02] [ 4.17456224e-01 -1.05654655e-02 -9.08635610e-01 9.27590480e+01] [ 9.08554027e-01 -1.28864097e-02 4.17568583e-01 1.02168238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:92.76, Z:102.16 [[-1.71925975e-02 -9.99723580e-01 1.60367673e-02 1.76340063e+02] [ 4.17131565e-01 -2.17483668e-02 -9.08585861e-01 9.27622681e+01] [ 9.08683483e-01 -8.93150918e-03 4.17390173e-01 1.02163841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:92.76, Z:102.16 [[-1.75258648e-02 -9.99704443e-01 1.68484533e-02 1.76337788e+02] [ 4.17213244e-01 -2.26259836e-02 -9.08526925e-01 9.27617620e+01] [ 9.08639617e-01 -8.89332220e-03 4.17486473e-01 1.02161386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:92.76, Z:102.16 [[-1.70365144e-02 -9.99698867e-01 1.76616088e-02 1.76336556e+02] [ 4.17146665e-01 -2.31600488e-02 -9.08544040e-01 9.27613254e+01] [ 9.08679491e-01 -8.11094240e-03 4.17415615e-01 1.02159102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:92.76, Z:102.16 [[-1.49208352e-02 -9.99718026e-01 1.84726302e-02 1.76334923e+02] [ 4.17342357e-01 -2.30151921e-02 -9.08457846e-01 9.27607044e+01] [ 9.08626836e-01 -5.84553879e-03 4.17568083e-01 1.02157420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:92.76, Z:102.16 [[-1.40562778e-02 -9.99715206e-01 1.92854144e-02 1.76333447e+02] [ 4.17350278e-01 -2.33927835e-02 -9.08444562e-01 9.27613424e+01] [ 9.08636983e-01 -4.72057608e-03 4.17560235e-01 1.02156859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:92.76, Z:102.15 [[-1.30971803e-02 -9.99712190e-01 2.00997926e-02 1.76331865e+02] [ 4.17273364e-01 -2.37320154e-02 -9.08471095e-01 9.27610762e+01] [ 9.08686637e-01 -3.51130168e-03 4.17464091e-01 1.02154724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:92.76, Z:102.15 [[-1.07814844e-02 -9.99723103e-01 2.09159456e-02 1.76329537e+02] [ 4.17148216e-01 -2.35068425e-02 -9.08534421e-01 9.27604528e+01] [ 9.08774519e-01 -1.07030030e-03 4.17286147e-01 1.02152797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:92.76, Z:102.15 [[-9.63109924e-03 -9.99717579e-01 2.17256786e-02 1.76328463e+02] [ 4.17606673e-01 -2.37625284e-02 -9.08317130e-01 9.27610680e+01] [ 9.08576859e-01 3.24695933e-04 4.17717592e-01 1.02152875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.86, Z:102.30 [[-1.58405561e-02 -9.98523748e-01 5.19557673e-02 1.76309646e+02] [ 4.37029283e-01 -5.36502549e-02 -8.97845786e-01 9.28591517e+01] [ 8.99307780e-01 8.48381513e-03 4.37233967e-01 1.02296377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:92.76, Z:102.16 [[-4.96477510e-03 -9.99951920e-01 8.45625016e-03 1.76329757e+02] [ 4.18219741e-01 -9.75759294e-03 -9.08293475e-01 9.27566572e+01] [ 9.08332318e-01 -9.72902080e-04 4.18248077e-01 1.02157916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.57687500000003 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:176.32, Y:92.76, Z:102.15 [[-3.45322166e-03 -9.99716496e-01 2.35584821e-02 1.76323250e+02] [ 4.18386114e-01 -2.28419334e-02 -9.07981996e-01 9.27619541e+01] [ 9.08262701e-01 6.72107868e-03 4.18346378e-01 1.02153873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.606875 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:176.32, Y:92.76, Z:102.15 [[-3.83099281e-03 -9.99695471e-01 2.43780248e-02 1.76323053e+02] [ 4.18382966e-01 -2.37443316e-02 -9.07960297e-01 9.27612699e+01] [ 9.08262637e-01 6.72096098e-03 4.18346521e-01 1.02151597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:92.76, Z:102.15 [[-1.52119827e-03 -9.99681452e-01 2.51928813e-02 1.76320425e+02] [ 4.18818870e-01 -2.35138205e-02 -9.07765308e-01 9.27629550e+01] [ 9.08068522e-01 9.17036308e-03 4.18721225e-01 1.02153951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:92.76, Z:102.15 [[-1.09862185e-03 -9.99660977e-01 2.60139414e-02 1.76319252e+02] [ 4.18842074e-01 -2.40822009e-02 -9.07739701e-01 9.27603560e+01] [ 9.08058429e-01 9.89847053e-03 4.18726534e-01 1.02147191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.69687500000003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:176.32, Y:92.76, Z:102.15 [[-8.65070267e-04 -9.99639445e-01 2.68371460e-02 1.76318674e+02] [ 4.18706725e-01 -2.47334771e-02 -9.07784630e-01 9.27607497e+01] [ 9.08121099e-01 1.04515960e-02 4.18577154e-01 1.02147047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:92.76, Z:102.14 [[-1.02463773e-03 -9.99616787e-01 2.76627930e-02 1.76317389e+02] [ 4.18361802e-01 -2.55540904e-02 -9.07920917e-01 9.27588994e+01] [ 9.08279887e-01 1.06427659e-02 4.18227664e-01 1.02143941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:92.76, Z:102.14 [[-1.57895994e-03 -9.99593005e-01 2.84838832e-02 1.76316130e+02] [ 4.18349437e-01 -2.65318321e-02 -9.07898568e-01 9.27580120e+01] [ 9.08284788e-01 1.04826810e-02 4.18221064e-01 1.02140682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:92.76, Z:102.14 [[-2.16402907e-03 -9.99568091e-01 2.93078240e-02 1.76315030e+02] [ 4.18111472e-01 -2.75275700e-02 -9.07978541e-01 9.27580927e+01] [ 9.08393150e-01 1.02890455e-02 4.17990456e-01 1.02138616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.81687500000004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:176.31, Y:92.76, Z:102.13 [[-3.78081309e-03 -9.99538883e-01 3.01285184e-02 1.76313197e+02] [ 4.18043126e-01 -2.89495560e-02 -9.07965786e-01 9.27565959e+01] [ 9.08419314e-01 9.16217111e-03 4.17959812e-01 1.02134549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.846875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.30, Y:92.78, Z:102.11 [[-1.29397244e-02 -9.98130865e-01 5.97272074e-02 1.76296592e+02] [ 4.37293559e-01 -5.93660632e-02 -8.97357239e-01 9.27761760e+01] [ 8.99225726e-01 1.45067677e-02 4.37244379e-01 1.02114812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:92.75, Z:102.13 [[-7.63820382e-03 -9.99780039e-01 1.95328324e-02 1.76315423e+02] [ 4.18783435e-01 -2.09361380e-02 -9.07844762e-01 9.27512028e+01] [ 9.08054014e-01 1.24572333e-03 4.18851234e-01 1.02133990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.75, Z:102.13 [[-9.94745519e-03 -9.99445114e-01 3.17885677e-02 1.76310475e+02] [ 4.19023926e-01 -3.30306759e-02 -9.07374192e-01 9.27527427e+01] [ 9.07920700e-01 4.29410632e-03 4.19119987e-01 1.02125470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.75, Z:102.12 [[-1.25199118e-02 -9.99389846e-01 3.26065687e-02 1.76309808e+02] [ 4.18906701e-01 -3.48518425e-02 -9.07360196e-01 9.27513156e+01] [ 9.07942965e-01 2.29904056e-03 4.19087446e-01 1.02121490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.966875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:176.31, Y:92.75, Z:102.12 [[-1.79452971e-02 -9.99280171e-01 3.34231289e-02 1.76308406e+02] [ 4.18657861e-01 -3.78668147e-02 -9.07354230e-01 9.27497405e+01] [ 9.07966718e-01 -2.28988560e-03 4.19036031e-01 1.02116668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.75, Z:102.12 [[-2.07524417e-02 -9.99198219e-01 3.42382213e-02 1.76307518e+02] [ 4.18494449e-01 -3.97826479e-02 -9.07347638e-01 9.27503466e+01] [ 9.07982231e-01 -4.50117334e-03 4.18984495e-01 1.02116094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.026875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:176.31, Y:92.75, Z:102.11 [[-2.64055782e-02 -9.99036954e-01 3.50415339e-02 1.76306274e+02] [ 4.18850402e-01 -4.28854305e-02 -9.07041995e-01 9.27501909e+01] [ 9.07671244e-01 -9.27380779e-03 4.19579444e-01 1.02114355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.75, Z:102.10 [[-2.94837557e-02 -9.98922196e-01 3.58490573e-02 1.76305755e+02] [ 4.19076453e-01 -4.49136933e-02 -9.06839394e-01 9.27452428e+01] [ 9.07472113e-01 -1.17135353e-02 4.19948995e-01 1.02104116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.74, Z:102.10 [[-3.21136234e-02 -9.98811929e-01 3.66530395e-02 1.76305336e+02] [ 4.19362238e-01 -4.67529563e-02 -9.06614292e-01 9.27430498e+01] [ 9.07250808e-01 -1.37437693e-02 4.20365413e-01 1.02101155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:92.74, Z:102.10 [[-3.44339122e-02 -9.98704787e-01 3.74573667e-02 1.76304317e+02] [ 4.19468950e-01 -4.84608992e-02 -9.06475229e-01 9.27432988e+01] [ 9.07116368e-01 -1.55012862e-02 4.20594347e-01 1.02101117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:92.74, Z:102.09 [[-3.74892629e-02 -9.98563943e-01 3.82701847e-02 1.76301581e+02] [ 4.19109761e-01 -5.04777254e-02 -9.06531305e-01 9.27397285e+01] [ 9.07161266e-01 -1.79457824e-02 4.20400268e-01 1.02093078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:92.74, Z:102.09 [[-3.86529294e-02 -9.98489070e-01 3.90580094e-02 1.76298451e+02] [ 4.20015206e-01 -5.17011774e-02 -9.06043164e-01 9.27385168e+01] [ 9.06693541e-01 -1.86162646e-02 4.21378995e-01 1.02090480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:92.74, Z:102.09 [[-3.87349716e-02 -9.98454382e-01 3.98553519e-02 1.76296397e+02] [ 4.20381293e-01 -5.24666985e-02 -9.05829352e-01 9.27392652e+01] [ 9.06520364e-01 -1.83328298e-02 4.21763840e-01 1.02091932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.75, Z:102.08 [[-4.59632963e-02 -9.97292614e-01 5.74005042e-02 1.76284268e+02] [ 4.31380299e-01 -7.16431062e-02 -8.99321023e-01 9.27485413e+01] [ 9.00998564e-01 -1.65743120e-02 4.33505340e-01 1.02075873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:92.74, Z:102.09 [[-3.79036471e-02 -9.98385353e-01 4.23083936e-02 1.76291904e+02] [ 4.20921302e-01 -5.43510816e-02 -9.05467403e-01 9.27369456e+01] [ 9.06304900e-01 -1.65120128e-02 4.22301767e-01 1.02085378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:92.74, Z:102.08 [[-3.58991622e-02 -9.98463772e-01 4.22060059e-02 1.76287757e+02] [ 4.21138571e-01 -5.34148293e-02 -9.05422090e-01 9.27364638e+01] [ 9.06285581e-01 -1.47293174e-02 4.22409153e-01 1.02084536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:92.74, Z:102.08 [[-3.50470668e-02 -9.98459443e-01 4.30167756e-02 1.76285168e+02] [ 4.20958456e-01 -5.37872149e-02 -9.05483801e-01 9.27359751e+01] [ 9.06402605e-01 -1.36262758e-02 4.22195030e-01 1.02082078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.74, Z:102.08 [[-3.34707762e-02 -9.98477703e-01 4.38404388e-02 1.76280682e+02] [ 4.20272885e-01 -5.38594278e-02 -9.05797916e-01 9.27381491e+01] [ 9.06780243e-01 -1.18928116e-02 4.21435821e-01 1.02082309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.74, Z:102.08 [[-3.33543021e-02 -9.98445110e-01 4.46637845e-02 1.76278652e+02] [ 4.19598617e-01 -5.45487169e-02 -9.06069224e-01 9.27376230e+01] [ 9.07096738e-01 -1.14804444e-02 4.20765621e-01 1.02079936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.74, Z:102.08 [[-3.36293772e-02 -9.98398778e-01 4.54856611e-02 1.76276938e+02] [ 4.19020079e-01 -5.54030736e-02 -9.06285095e-01 9.27365948e+01] [ 9.07353977e-01 -1.14183980e-02 4.20212305e-01 1.02075947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.27, Y:92.74, Z:102.07 [[-3.37847595e-02 -9.98355360e-01 4.63159243e-02 1.76274232e+02] [ 4.18103393e-01 -5.62107024e-02 -9.06658651e-01 9.27359062e+01] [ 9.07770975e-01 -1.12663994e-02 4.19314828e-01 1.02073976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.476875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.27, Y:92.74, Z:102.07 [[-3.34821178e-02 -9.98327473e-01 4.71296612e-02 1.76272555e+02] [ 4.17897078e-01 -5.68203196e-02 -9.06715768e-01 9.27359932e+01] [ 9.07877183e-01 -1.06634164e-02 4.19100599e-01 1.02073661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.27, Y:92.74, Z:102.07 [[-3.24388334e-02 -9.98323546e-01 4.79355761e-02 1.76269114e+02] [ 4.18088095e-01 -5.71168719e-02 -9.06609071e-01 9.27350628e+01] [ 9.07827113e-01 -9.36804695e-03 4.19239994e-01 1.02072282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.27, Y:92.73, Z:102.07 [[-3.20169716e-02 -9.98298370e-01 4.87368297e-02 1.76267376e+02] [ 4.18460453e-01 -5.76711395e-02 -9.06402167e-01 9.27338631e+01] [ 9.07670514e-01 -8.62581660e-03 4.19594843e-01 1.02068951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.27, Y:92.73, Z:102.07 [[-3.13845820e-02 -9.98278456e-01 4.95492881e-02 1.76265624e+02] [ 4.18384760e-01 -5.81427467e-02 -9.06406980e-01 9.27338320e+01] [ 9.07727493e-01 -7.71653714e-03 4.19489278e-01 1.02068245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.73, Z:102.07 [[-2.96900579e-02 -9.98289740e-01 5.03596631e-02 1.76262611e+02] [ 4.18464580e-01 -5.81681327e-02 -9.06368503e-01 9.27340455e+01] [ 9.07747705e-01 -5.83639804e-03 4.19475912e-01 1.02066662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.73, Z:102.07 [[-2.88032112e-02 -9.98274384e-01 5.11725455e-02 1.76261210e+02] [ 4.18433458e-01 -5.85339480e-02 -9.06359320e-01 9.27344873e+01] [ 9.07790623e-01 -4.69375374e-03 4.19397369e-01 1.02066859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.73, Z:102.06 [[-2.65661179e-02 -9.98293397e-01 5.20051476e-02 1.76259635e+02] [ 4.17792871e-01 -5.83500473e-02 -9.06666636e-01 9.27329450e+01] [ 9.08153819e-01 -2.35923280e-03 4.18629999e-01 1.02064080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.686875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:176.26, Y:92.73, Z:102.06 [[-2.55494175e-02 -9.98277087e-01 5.28212471e-02 1.76258684e+02] [ 4.17734940e-01 -5.86655569e-02 -9.06672969e-01 9.27327055e+01] [ 9.08209639e-01 -1.09968578e-03 4.18514090e-01 1.02063275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.716875 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:176.26, Y:92.73, Z:102.06 [[-2.44645694e-02 -9.98260746e-01 5.36373709e-02 1.76257512e+02] [ 4.17693324e-01 -5.89528046e-02 -9.06673510e-01 9.27328411e+01] [ 9.08258648e-01 2.22594755e-04 4.18409105e-01 1.02062972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.73, Z:102.06 [[-2.16419814e-02 -9.98280796e-01 5.44708865e-02 1.76256194e+02] [ 4.17164429e-01 -5.85309516e-02 -9.06944302e-01 9.27335728e+01] [ 9.08573312e-01 3.09524459e-03 4.17713964e-01 1.02063476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.776875 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:176.26, Y:92.73, Z:102.06 [[-2.05101351e-02 -9.98259287e-01 5.52967494e-02 1.76256091e+02] [ 4.16892030e-01 -5.88098827e-02 -9.07051505e-01 9.27320714e+01] [ 9.08724584e-01 4.44902520e-03 4.17372539e-01 1.02059959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.73, Z:102.06 [[-1.79444635e-02 -9.98261339e-01 5.61453058e-02 1.76256100e+02] [ 4.15931686e-01 -5.85179048e-02 -9.07511150e-01 9.27329902e+01] [ 9.09218802e-01 7.06781104e-03 4.16258594e-01 1.02062350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:92.73, Z:102.04 [[-2.36368473e-02 -9.97213369e-01 7.07587199e-02 1.76247724e+02] [ 4.24807058e-01 -7.40894051e-02 -9.02247041e-01 9.27338332e+01] [ 9.04975283e-01 8.73252808e-03 4.25374518e-01 1.02036547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.73, Z:102.06 [[-1.56864199e-02 -9.98163280e-01 5.85149815e-02 1.76256044e+02] [ 4.15342649e-01 -5.97390904e-02 -9.07701342e-01 9.27315206e+01] [ 9.09529780e-01 1.00651830e-02 4.15516873e-01 1.02058977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.73, Z:102.06 [[-1.48350189e-02 -9.98211275e-01 5.79152284e-02 1.76256548e+02] [ 4.15459618e-01 -5.88386340e-02 -9.07706627e-01 9.27306053e+01] [ 9.09490642e-01 1.05955937e-02 4.15589347e-01 1.02057872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.73, Z:102.06 [[-1.23391304e-02 -9.98197816e-01 5.87270409e-02 1.76255886e+02] [ 4.15884848e-01 -5.85337909e-02 -9.07531591e-01 9.27301664e+01] [ 9.09333569e-01 1.32255359e-02 4.15857603e-01 1.02055690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.73, Z:102.06 [[-1.05669488e-02 -9.98168985e-01 5.95568447e-02 1.76256153e+02] [ 4.15675919e-01 -5.85549783e-02 -9.07625939e-01 9.27314383e+01] [ 9.09451412e-01 1.51655093e-02 4.15533557e-01 1.02058808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.73, Z:102.05 [[-1.00274271e-02 -9.98125122e-01 6.03795686e-02 1.76257049e+02] [ 4.15691670e-01 -5.90786611e-02 -9.07584788e-01 9.27288154e+01] [ 9.09450321e-01 1.59985434e-02 4.15504705e-01 1.02053537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.016875 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:176.26, Y:92.73, Z:102.05 [[-9.70793799e-03 -9.98078700e-01 6.11936594e-02 1.76257421e+02] [ 4.15989530e-01 -5.96807366e-02 -9.07408905e-01 9.27289321e+01] [ 9.09317583e-01 1.66468522e-02 4.15769667e-01 1.02053156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.73, Z:102.05 [[-9.72325007e-03 -9.98028970e-01 6.19970472e-02 1.76257965e+02] [ 4.16589409e-01 -6.04062964e-02 -9.07085632e-01 9.27282731e+01] [ 9.09042751e-01 1.70074928e-02 4.16355644e-01 1.02051314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.07687500000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.26, Y:92.73, Z:102.05 [[-1.00791540e-02 -9.97974128e-01 6.28176008e-02 1.76258718e+02] [ 4.16636441e-01 -6.12993499e-02 -9.07004116e-01 9.27268080e+01] [ 9.09017319e-01 1.70302675e-02 4.16410234e-01 1.02048525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.106875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.26, Y:92.73, Z:102.05 [[-1.07389340e-02 -9.97915494e-01 6.36344437e-02 1.76260333e+02] [ 4.16775703e-01 -6.23138515e-02 -9.06870992e-01 9.27275331e+01] [ 9.08945922e-01 1.67824624e-02 4.16576116e-01 1.02049135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.73, Z:102.04 [[-1.11989289e-02 -9.97857405e-01 6.44607081e-02 1.76261506e+02] [ 4.16651000e-01 -6.32586062e-02 -9.06862885e-01 9.27252085e+01] [ 9.08997540e-01 1.67017256e-02 4.16466715e-01 1.02043635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.73, Z:102.04 [[-1.16108805e-02 -9.97797923e-01 6.53030741e-02 1.76262577e+02] [ 4.16045283e-01 -6.42067814e-02 -9.07074314e-01 9.27253850e+01] [ 9.09269767e-01 1.66371045e-02 4.15874617e-01 1.02044869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.19687500000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:176.27, Y:92.72, Z:102.04 [[-1.15266742e-02 -9.97741733e-01 6.61707689e-02 1.76265435e+02] [ 4.14727662e-01 -6.49852372e-02 -9.07622105e-01 9.27226552e+01] [ 9.09872575e-01 1.69809840e-02 4.14540160e-01 1.02039286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.226875 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:176.27, Y:92.72, Z:102.04 [[-1.13877807e-02 -9.97686384e-01 6.70238577e-02 1.76266292e+02] [ 4.13863815e-01 -6.57202535e-02 -9.07963430e-01 9.27229791e+01] [ 9.10267577e-01 1.73990611e-02 4.13654701e-01 1.02038290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:92.79, Z:102.14 [[-1.92728439e-02 -9.95659590e-01 9.10523892e-02 1.76250105e+02] [ 4.28331931e-01 -9.05111407e-02 -8.99077021e-01 9.27931252e+01] [ 9.03415915e-01 2.16728746e-02 4.28217202e-01 1.02137426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.27, Y:92.72, Z:102.03 [[-1.13947212e-02 -9.98002091e-01 6.21448922e-02 1.76272188e+02] [ 4.11878596e-01 -6.13162314e-02 -9.09173439e-01 9.27204799e+01] [ 9.11167483e-01 1.52363731e-02 4.11754382e-01 1.02034630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.27, Y:92.72, Z:102.03 [[-1.19479911e-02 -9.97547846e-01 6.89604213e-02 1.76271963e+02] [ 4.11584346e-01 -6.77583935e-02 -9.08849342e-01 9.27225726e+01] [ 9.11293351e-01 1.75241061e-02 4.11384655e-01 1.02033074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.346875 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:176.28, Y:92.72, Z:102.03 [[-1.37513139e-02 -9.97466576e-01 6.97949218e-02 1.76276054e+02] [ 4.11157118e-01 -6.92680580e-02 -9.08928909e-01 9.27212248e+01] [ 9.11460765e-01 1.61977121e-02 4.11068009e-01 1.02030949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.72, Z:102.03 [[-1.52709987e-02 -9.97386449e-01 7.06191727e-02 1.76277894e+02] [ 4.11061640e-01 -7.06453282e-02 -9.08866088e-01 9.27206023e+01] [ 9.11479635e-01 1.51495401e-02 4.11066134e-01 1.02029651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.72, Z:102.03 [[-1.69751028e-02 -9.97299375e-01 7.14548962e-02 1.76279555e+02] [ 4.10634326e-01 -7.21138057e-02 -9.08943920e-01 9.27199519e+01] [ 9.11642088e-01 1.39124167e-02 4.10749496e-01 1.02027900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.436875 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:176.28, Y:92.72, Z:102.02 [[-1.95172234e-02 -9.97193438e-01 7.22794895e-02 1.76284237e+02] [ 4.10463218e-01 -7.39116901e-02 -9.08876784e-01 9.27179079e+01] [ 9.11668265e-01 1.19293206e-02 4.10753779e-01 1.02023336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.466875 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:176.29, Y:92.72, Z:102.02 [[-2.08363518e-02 -9.97106401e-01 7.31072627e-02 1.76286936e+02] [ 4.10273873e-01 -7.52101950e-02 -9.08855751e-01 9.27162427e+01] [ 9.11724298e-01 1.10567616e-02 4.10653811e-01 1.02019644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.496875 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:176.29, Y:92.72, Z:102.02 [[-2.12073825e-02 -9.97037926e-01 7.39298458e-02 1.76286780e+02] [ 4.10255013e-01 -7.61125272e-02 -9.08789143e-01 9.27155266e+01] [ 9.11724230e-01 1.10570509e-02 4.10653955e-01 1.02017369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.526875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.29, Y:92.71, Z:102.01 [[-2.21883806e-02 -9.96955686e-01 7.47464769e-02 1.76291358e+02] [ 4.10328425e-01 -7.72588021e-02 -9.08659266e-01 9.27123582e+01] [ 9.11667845e-01 1.05089266e-02 4.10793505e-01 1.02012679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.556875 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:176.29, Y:92.71, Z:102.01 [[-2.21262100e-02 -9.96894977e-01 7.55700725e-02 1.76292847e+02] [ 4.10270276e-01 -7.79846156e-02 -9.08623519e-01 9.27109866e+01] [ 9.11695526e-01 1.08997597e-02 4.10721882e-01 1.02010110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:92.71, Z:102.01 [[-2.20609959e-02 -9.96832993e-01 7.64022064e-02 1.76293681e+02] [ 4.09956286e-01 -7.87201745e-02 -9.08701809e-01 9.27132370e+01] [ 9.11838339e-01 1.12746979e-02 4.10394597e-01 1.02013816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.616875 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:176.30, Y:92.71, Z:102.01 [[-2.17812707e-02 -9.96773211e-01 7.72576392e-02 1.76295199e+02] [ 4.09103643e-01 -7.93962873e-02 -9.09027194e-01 9.27119843e+01] [ 9.12227924e-01 1.18066142e-02 4.09512903e-01 1.02010268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.646875 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:176.28, Y:92.73, Z:101.99 [[-3.12394619e-02 -9.93435729e-01 1.10043389e-01 1.76279111e+02] [ 4.28710090e-01 -1.12773195e-01 -8.96375962e-01 9.27329195e+01] [ 9.02901852e-01 1.91744086e-02 4.29418895e-01 1.01988653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:92.71, Z:102.02 [[-2.00976324e-02 -9.97440397e-01 6.86202514e-02 1.76303000e+02] [ 4.07304657e-01 -7.08486983e-02 -9.10540158e-01 9.27125339e+01] [ 9.13071192e-01 9.64964653e-03 4.07686010e-01 1.02019582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:92.73, Z:101.98 [[-3.01612982e-02 -9.93556418e-01 1.09251729e-01 1.76285439e+02] [ 4.26591819e-01 -1.11642358e-01 -8.97527383e-01 9.27269055e+01] [ 9.03941213e-01 1.95353029e-02 4.27210318e-01 1.01978753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:92.72, Z:101.98 [[-2.82413943e-02 -9.95264544e-01 9.30102789e-02 1.76295655e+02] [ 4.20627391e-01 -9.62407560e-02 -9.02114358e-01 9.27172927e+01] [ 9.06793814e-01 1.36457037e-02 4.21353502e-01 1.01983276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.766875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:176.31, Y:92.71, Z:102.01 [[-2.08955983e-02 -9.97186300e-01 7.19920636e-02 1.76310533e+02] [ 4.04470599e-01 -7.42835353e-02 -9.11529205e-01 9.27055509e+01] [ 9.14312260e-01 1.00717250e-02 4.04884739e-01 1.02007449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.71, Z:102.00 [[-2.16041466e-02 -9.96505107e-01 8.06897273e-02 1.76311257e+02] [ 4.03030589e-01 -8.25407977e-02 -9.11456725e-01 9.27072913e+01] [ 9.14931476e-01 1.28291836e-02 4.03405264e-01 1.02004766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.82687500000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.31, Y:92.70, Z:102.00 [[-2.19929523e-02 -9.96426916e-01 8.15457593e-02 1.76313400e+02] [ 4.02263812e-01 -8.34912808e-02 -9.11708853e-01 9.27043091e+01] [ 9.15259600e-01 1.27517387e-02 4.02662709e-01 1.01999804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.856875 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:176.32, Y:92.70, Z:102.00 [[-2.20925610e-02 -9.96351341e-01 8.24373959e-02 1.76317759e+02] [ 4.00622068e-01 -8.43704128e-02 -9.12350586e-01 9.27016756e+01] [ 9.15977007e-01 1.28700790e-02 4.01024293e-01 1.01999127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:92.70, Z:102.00 [[-2.22160166e-02 -9.96275973e-01 8.33104724e-02 1.76319175e+02] [ 3.99442375e-01 -8.52361781e-02 -9.12787261e-01 9.27003702e+01] [ 9.16489082e-01 1.29992360e-02 3.99848449e-01 1.01998832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.916875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.32, Y:92.70, Z:102.00 [[-2.22931245e-02 -9.96202976e-01 8.41584623e-02 1.76320273e+02] [ 3.98914647e-01 -8.60515489e-02 -9.12941529e-01 9.26986115e+01] [ 9.16717035e-01 1.32197241e-02 3.99318316e-01 1.01995775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:92.70, Z:102.00 [[-2.26539612e-02 -9.96120951e-01 8.50285231e-02 1.76322710e+02] [ 3.97832856e-01 -8.70084893e-02 -9.13322802e-01 9.26974291e+01] [ 9.17178182e-01 1.31367609e-02 3.98260730e-01 1.01999879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.976875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:176.30, Y:92.76, Z:102.06 [[-3.53708177e-02 -9.91971022e-01 1.21418269e-01 1.76299073e+02] [ 4.21615858e-01 -1.24964707e-01 -8.98122425e-01 9.27585349e+01] [ 9.06084419e-01 1.94245430e-02 4.22650817e-01 1.02058488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:92.69, Z:102.00 [[-2.39995113e-02 -9.96828712e-01 7.58718784e-02 1.76330078e+02] [ 3.99257054e-01 -7.91356303e-02 -9.13417405e-01 9.26869951e+01] [ 9.16524865e-01 8.37081137e-03 3.99890112e-01 1.02002752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:92.69, Z:102.00 [[-2.42134499e-02 -9.95933686e-01 8.67744285e-02 1.76327366e+02] [ 4.00546950e-01 -8.91930590e-02 -9.11924744e-01 9.26862090e+01] [ 9.15956249e-01 1.26763886e-02 4.01077872e-01 1.01996777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:92.68, Z:101.99 [[-2.45626242e-02 -9.95864973e-01 8.74621857e-02 1.76327927e+02] [ 4.03851867e-01 -8.99165876e-02 -9.10394792e-01 9.26797633e+01] [ 9.14494586e-01 1.29600818e-02 4.04390515e-01 1.01994382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:92.68, Z:101.99 [[-2.46307828e-02 -9.95796768e-01 8.82163384e-02 1.76327551e+02] [ 4.05511007e-01 -9.06094493e-02 -9.09588231e-01 9.26779411e+01] [ 9.13758255e-01 1.33688261e-02 4.06038332e-01 1.01993862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.126875 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:176.33, Y:92.67, Z:101.99 [[-2.45235520e-02 -9.95731883e-01 8.89753511e-02 1.76327522e+02] [ 4.07029269e-01 -9.12362039e-02 -9.08847143e-01 9.26738887e+01] [ 9.13085850e-01 1.39274119e-02 4.07529456e-01 1.01989651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:92.67, Z:101.99 [[-2.40002015e-02 -9.95683982e-01 8.96515356e-02 1.76326449e+02] [ 4.10400212e-01 -9.15853407e-02 -9.07294765e-01 9.26698569e+01] [ 9.11589632e-01 1.50177520e-02 4.10826984e-01 1.01989854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.186875 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:176.33, Y:92.67, Z:101.99 [[-2.37098349e-02 -9.95623450e-01 9.03979470e-02 1.76325295e+02] [ 4.12089426e-01 -9.21171969e-02 -9.06474891e-01 9.26683564e+01] [ 9.10834864e-01 1.57596681e-02 4.12469979e-01 1.01988189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:92.67, Z:101.99 [[-2.33016714e-02 -9.95569663e-01 9.10937885e-02 1.76322948e+02] [ 4.14860791e-01 -9.25320419e-02 -9.05167579e-01 9.26677040e+01] [ 9.09586475e-01 1.66993237e-02 4.15178969e-01 1.01990166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.246875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.32, Y:92.67, Z:101.99 [[-2.36877123e-02 -9.95491705e-01 9.18431110e-02 1.76322610e+02] [ 4.16373619e-01 -9.33456743e-02 -9.04389073e-01 9.26659287e+01] [ 9.08884977e-01 1.68181403e-02 4.16707629e-01 1.01986672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:92.66, Z:101.98 [[-2.50378282e-02 -9.95389320e-01 9.25916242e-02 1.76322299e+02] [ 4.17788633e-01 -9.45632089e-02 -9.03609682e-01 9.26635489e+01] [ 9.08199188e-01 1.60593041e-02 4.18230001e-01 1.01983548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:92.66, Z:101.98 [[-2.66229190e-02 -9.95279807e-01 9.33237747e-02 1.76322036e+02] [ 4.19469279e-01 -9.58627677e-02 -9.02693666e-01 9.26615402e+01] [ 9.07379052e-01 1.51141161e-02 4.20041449e-01 1.01979953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.67, Z:101.96 [[-3.58733164e-02 -9.92300999e-01 1.18540426e-01 1.76308958e+02] [ 4.36222083e-01 -1.22268104e-01 -8.91493581e-01 9.26744586e+01] [ 8.99123684e-01 1.97291200e-02 4.37249771e-01 1.01957702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.366875 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:176.33, Y:92.65, Z:101.98 [[-3.08095243e-02 -9.96359476e-01 7.94894218e-02 1.76325975e+02] [ 4.22067098e-01 -8.50577538e-02 -9.02565534e-01 9.26543331e+01] [ 9.06040914e-01 5.74225475e-03 4.23151141e-01 1.01978035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.396875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:176.32, Y:92.66, Z:101.97 [[-3.34261546e-02 -9.94925809e-01 9.48964034e-02 1.76318862e+02] [ 4.23860157e-01 -1.00099710e-01 -9.00179213e-01 9.26608259e+01] [ 9.05110634e-01 1.01332748e-02 4.25055358e-01 1.01973935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.426875 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:176.32, Y:92.66, Z:101.97 [[-3.45335241e-02 -9.94813114e-01 9.56781298e-02 1.76318008e+02] [ 4.24394077e-01 -1.01271951e-01 -8.99796455e-01 9.26582347e+01] [ 9.04818824e-01 9.53208900e-03 4.25690070e-01 1.01966123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:92.66, Z:101.97 [[-3.53037638e-02 -9.94708219e-01 9.64842126e-02 1.76316886e+02] [ 4.24439915e-01 -1.02328359e-01 -8.99655304e-01 9.26587936e+01] [ 9.04767596e-01 9.19053261e-03 4.25806448e-01 1.01965760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.66, Z:101.96 [[-3.58674246e-02 -9.94599349e-01 9.73943668e-02 1.76314442e+02] [ 4.22425261e-01 -1.03411407e-01 -9.00479306e-01 9.26606618e+01] [ 9.05687820e-01 8.84396716e-03 4.23852990e-01 1.01963613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.516875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:176.31, Y:92.66, Z:101.96 [[-3.55695218e-02 -9.94519717e-01 9.83124680e-02 1.76313353e+02] [ 4.20384346e-01 -1.04137546e-01 -9.01350305e-01 9.26623644e+01] [ 9.06648670e-01 9.26842325e-03 4.21784644e-01 1.01964569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.66, Z:101.96 [[-3.58171361e-02 -9.94419315e-01 9.92338629e-02 1.76312240e+02] [ 4.18270995e-01 -1.05098717e-01 -9.02221500e-01 9.26596673e+01] [ 9.07615837e-01 9.19165624e-03 4.19701091e-01 1.01955793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.66, Z:101.95 [[-3.46812955e-02 -9.94352560e-01 1.00300517e-01 1.76309494e+02] [ 4.13442103e-01 -1.05645199e-01 -9.04380849e-01 9.26604325e+01] [ 9.09869681e-01 1.01033571e-02 4.14771126e-01 1.01952862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.606875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.31, Y:92.66, Z:101.96 [[-3.44350890e-02 -9.94268228e-01 1.01217172e-01 1.76308070e+02] [ 4.11469942e-01 -1.06399783e-01 -9.05191457e-01 9.26634164e+01] [ 9.10772591e-01 1.04774754e-02 4.12775376e-01 1.01956134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.66, Z:101.95 [[-3.43427006e-02 -9.94178726e-01 1.02123645e-01 1.76307112e+02] [ 4.09742034e-01 -1.07207468e-01 -9.05879697e-01 9.26620016e+01] [ 9.11554740e-01 1.07339947e-02 4.11038607e-01 1.01951842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.66, Z:101.95 [[-3.43682595e-02 -9.94078665e-01 1.03084583e-01 1.76305350e+02] [ 4.06968425e-01 -1.08126831e-01 -9.07020005e-01 9.26594194e+01] [ 9.12795445e-01 1.07794715e-02 4.08274760e-01 1.01947034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:92.66, Z:101.95 [[-3.47329590e-02 -9.93976859e-01 1.03940493e-01 1.76304314e+02] [ 4.06216433e-01 -1.09065476e-01 -9.07244692e-01 9.26587126e+01] [ 9.13116549e-01 1.07110435e-02 4.07557900e-01 1.01945537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:92.66, Z:101.94 [[-3.50477232e-02 -9.93874536e-01 1.04809657e-01 1.76303935e+02] [ 4.05205353e-01 -1.09998896e-01 -9.07584081e-01 9.26565657e+01] [ 9.13553654e-01 1.06606785e-02 4.06578493e-01 1.01942267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.75687500000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.30, Y:92.65, Z:101.94 [[-3.55887346e-02 -9.93764271e-01 1.05669373e-01 1.76303798e+02] [ 4.04357693e-01 -1.11013560e-01 -9.07838557e-01 9.26544227e+01] [ 9.13908255e-01 1.04193982e-02 4.05787060e-01 1.01941191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.786875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.28, Y:92.67, Z:101.90 [[-5.25334350e-02 -9.88113025e-01 1.44474524e-01 1.76281067e+02] [ 4.28487074e-01 -1.52983350e-01 -8.90502623e-01 9.26695895e+01] [ 9.02019438e-01 1.51243043e-02 4.31430400e-01 1.01904332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:92.65, Z:101.94 [[-3.85238181e-02 -9.94144374e-01 1.00959792e-01 1.76304578e+02] [ 4.04413200e-01 -1.07901939e-01 -9.08188932e-01 9.26465112e+01] [ 9.13764674e-01 5.84256725e-03 4.06201902e-01 1.01941700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:92.64, Z:101.94 [[-4.07272577e-02 -9.93398339e-01 1.07242855e-01 1.76300506e+02] [ 4.07304788e-01 -1.14515482e-01 -9.06084441e-01 9.26445793e+01] [ 9.12383746e-01 6.77819385e-03 4.09279802e-01 1.01939183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:92.64, Z:101.94 [[-4.17372657e-02 -9.93280165e-01 1.07946818e-01 1.76299611e+02] [ 4.09318403e-01 -1.15556997e-01 -9.05044212e-01 9.26416902e+01] [ 9.11436474e-01 6.41054822e-03 4.11390883e-01 1.01936810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:92.64, Z:101.93 [[-4.27354222e-02 -9.93163383e-01 1.08628626e-01 1.76298591e+02] [ 4.11684558e-01 -1.16573362e-01 -9.03839851e-01 9.26393421e+01] [ 9.10323848e-01 6.09475016e-03 4.13851840e-01 1.01934615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:92.63, Z:101.93 [[-4.42722069e-02 -9.93033737e-01 1.09196927e-01 1.76296495e+02] [ 4.15980596e-01 -1.17701826e-01 -9.01724140e-01 9.26346766e+01] [ 9.08295170e-01 5.50248510e-03 4.18293686e-01 1.01932364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:92.63, Z:101.93 [[-4.49991002e-02 -9.92921515e-01 1.09917903e-01 1.76295160e+02] [ 4.17524512e-01 -1.18651570e-01 -9.00885723e-01 9.26336252e+01] [ 9.07550749e-01 5.35437198e-03 4.19908285e-01 1.01931503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:92.63, Z:101.93 [[-4.57684717e-02 -9.92807502e-01 1.10627804e-01 1.76292031e+02] [ 4.19220557e-01 -1.19609187e-01 -8.99970982e-01 9.26327472e+01] [ 9.06730044e-01 5.18715328e-03 4.21679643e-01 1.01930103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:92.63, Z:101.92 [[-4.64509026e-02 -9.92688335e-01 1.11409977e-01 1.76290471e+02] [ 4.19639307e-01 -1.20603650e-01 -8.99643047e-01 9.26306315e+01] [ 9.06501608e-01 4.96277421e-03 4.22173194e-01 1.01924627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:92.63, Z:101.93 [[-4.71473818e-02 -9.92568308e-01 1.12184129e-01 1.76288428e+02] [ 4.20175688e-01 -1.21596435e-01 -8.99258972e-01 9.26324224e+01] [ 9.06217146e-01 4.73933754e-03 4.22786025e-01 1.01926282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:92.63, Z:101.92 [[-4.95974655e-02 -9.92357106e-01 1.12993210e-01 1.76285376e+02] [ 4.19887051e-01 -1.23366361e-01 -8.99152715e-01 9.26325142e+01] [ 9.06220148e-01 2.84868993e-03 4.22796557e-01 1.01922875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.63, Z:101.92 [[-5.18487615e-02 -9.92149276e-01 1.13804748e-01 1.76284459e+02] [ 4.19594473e-01 -1.25054078e-01 -8.99056147e-01 9.26309434e+01] [ 9.06229653e-01 1.13689576e-03 4.22784251e-01 1.01916914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.63, Z:101.92 [[-5.44107312e-02 -9.91915701e-01 1.14641678e-01 1.76283836e+02] [ 4.18803808e-01 -1.26895273e-01 -8.99166815e-01 9.26308949e+01] [ 9.06445168e-01 -9.11952723e-04 4.22322537e-01 1.01915739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.176875 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:176.28, Y:92.63, Z:101.91 [[-5.70243981e-02 -9.91669861e-01 1.15495039e-01 1.76283778e+02] [ 4.17717101e-01 -1.28769644e-01 -8.99405805e-01 9.26277980e+01] [ 9.06785885e-01 -3.04382164e-03 4.21580472e-01 1.01907281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.63, Z:101.90 [[-6.15156777e-02 -9.91291656e-01 1.16433130e-01 1.76282223e+02] [ 4.14923452e-01 -1.31494637e-01 -9.00304221e-01 9.26267158e+01] [ 9.07774394e-01 -7.07198790e-03 4.19399138e-01 1.01900774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.75, Z:102.14 [[-6.50977942e-02 -9.90031521e-01 1.24899420e-01 1.76262076e+02] [ 4.18739314e-01 -1.40713754e-01 -8.97138243e-01 9.27465566e+01] [ 9.05770205e-01 -6.10142322e-03 4.23725275e-01 1.02136827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.62, Z:101.90 [[-6.62057619e-02 -9.91452305e-01 1.12423857e-01 1.76280755e+02] [ 4.11090261e-01 -1.29767046e-01 -9.02311094e-01 9.26245902e+01] [ 9.09187326e-01 -1.35218409e-02 4.16167714e-01 1.01896075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.63, Z:101.89 [[-6.74920896e-02 -9.90643071e-01 1.18621764e-01 1.76277584e+02] [ 4.09755280e-01 -1.35925290e-01 -9.02011600e-01 9.26271803e+01] [ 9.09695239e-01 -1.22727537e-02 4.15095111e-01 1.01894937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.63, Z:101.89 [[-6.84034418e-02 -9.90476151e-01 1.19490435e-01 1.76276594e+02] [ 4.08568136e-01 -1.37078226e-01 -9.02375553e-01 9.26259840e+01] [ 9.10161001e-01 -1.29056093e-02 4.14053618e-01 1.01891895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.27, Y:92.62, Z:101.89 [[-6.87228320e-02 -9.90336857e-01 1.20457799e-01 1.76274807e+02] [ 4.05820547e-01 -1.38052708e-01 -9.03466177e-01 9.26244007e+01] [ 9.11365380e-01 -1.32045042e-02 4.11386418e-01 1.01889841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.27, Y:92.62, Z:101.88 [[-6.84611711e-02 -9.90249564e-01 1.21321347e-01 1.76274082e+02] [ 4.04904972e-01 -1.38720014e-01 -9.03774707e-01 9.26218334e+01] [ 9.11792209e-01 -1.27498583e-02 4.10453907e-01 1.01883980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.27, Y:92.62, Z:101.88 [[-6.88218729e-02 -9.90125439e-01 1.22127657e-01 1.76274007e+02] [ 4.04843946e-01 -1.39603256e-01 -9.03666039e-01 9.26210995e+01] [ 9.11792153e-01 -1.27493466e-02 4.10454047e-01 1.01881704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.44687500000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.27, Y:92.62, Z:101.88 [[-6.69088089e-02 -9.90142829e-01 1.23046288e-01 1.76271321e+02] [ 4.03221295e-01 -1.39636829e-01 -9.04386059e-01 9.26196085e+01] [ 9.12653165e-01 -1.08965103e-02 4.08589607e-01 1.01880620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.27, Y:92.62, Z:101.88 [[-6.61173466e-02 -9.90091534e-01 1.23884022e-01 1.76269772e+02] [ 4.02801586e-01 -1.40073868e-01 -9.04505497e-01 9.26208160e+01] [ 9.12896149e-01 -9.90282309e-03 4.08071752e-01 1.01884276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.27, Y:92.62, Z:101.88 [[-6.51543026e-02 -9.90054817e-01 1.24685108e-01 1.76269035e+02] [ 4.03047167e-01 -1.40414840e-01 -9.04343217e-01 9.26185817e+01] [ 9.12856998e-01 -8.66787201e-03 4.08187420e-01 1.01881540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.27, Y:92.61, Z:101.88 [[-6.31832776e-02 -9.90094833e-01 1.25379807e-01 1.76267968e+02] [ 4.05193497e-01 -1.40259829e-01 -9.03407666e-01 9.26146408e+01] [ 9.12045012e-01 -6.27717471e-03 4.10042063e-01 1.01878995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.27, Y:92.61, Z:101.88 [[-6.26907043e-02 -9.90035171e-01 1.26096140e-01 1.76266972e+02] [ 4.06736407e-01 -1.40720565e-01 -9.02642353e-01 9.26147058e+01] [ 9.11391996e-01 -5.29939373e-03 4.11505219e-01 1.01881842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.27, Y:92.61, Z:101.88 [[-6.14999038e-02 -9.90049113e-01 1.26572176e-01 1.76265496e+02] [ 4.12169177e-01 -1.40686055e-01 -9.00179984e-01 9.26111772e+01] [ 9.09029335e-01 -3.19183258e-03 4.16719907e-01 1.01879687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.61, Z:101.88 [[-6.10137842e-02 -9.89999504e-01 1.27193948e-01 1.76264351e+02] [ 4.15126216e-01 -1.41056158e-01 -8.98762140e-01 9.26093416e+01] [ 9.07715563e-01 -2.03533676e-03 4.19581118e-01 1.01876440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.61, Z:101.88 [[-6.00947683e-02 -9.89971550e-01 1.27847364e-01 1.76262945e+02] [ 4.17589469e-01 -1.41265793e-01 -8.97587328e-01 9.26089668e+01] [ 9.06646378e-01 -5.52589633e-04 4.21891029e-01 1.01876991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.61, Z:101.87 [[-5.86435103e-02 -9.89979100e-01 1.28461357e-01 1.76260567e+02] [ 4.20687599e-01 -1.41206108e-01 -8.96148860e-01 9.26075178e+01] [ 9.05308170e-01 1.48878478e-03 4.24752752e-01 1.01873947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.61, Z:101.87 [[-5.81379482e-02 -9.89907773e-01 1.29238461e-01 1.76259547e+02] [ 4.21166822e-01 -1.41693636e-01 -8.95846762e-01 9.26079604e+01] [ 9.05117941e-01 2.34825935e-03 4.25154088e-01 1.01873914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:92.61, Z:101.87 [[-6.02200100e-02 -9.89034378e-01 1.34850101e-01 1.76253932e+02] [ 4.23517601e-01 -1.47648862e-01 -8.93774387e-01 9.26116286e+01] [ 9.03884059e-01 3.28828873e-03 4.27764883e-01 1.01866683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.61, Z:101.87 [[-5.57697805e-02 -9.89454951e-01 1.33673602e-01 1.76255801e+02] [ 4.19714897e-01 -1.44711065e-01 -8.96045821e-01 9.26102571e+01] [ 9.05941023e-01 6.13252320e-03 4.23359487e-01 1.01870494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.61, Z:101.87 [[-5.46863598e-02 -9.89840251e-01 1.31246635e-01 1.76255916e+02] [ 4.18749468e-01 -1.42061070e-01 -8.96921142e-01 9.26094595e+01] [ 9.06453686e-01 5.91010626e-03 4.22263882e-01 1.01868152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:92.61, Z:101.87 [[-5.35177186e-02 -9.89788695e-01 1.32114322e-01 1.76254758e+02] [ 4.18027844e-01 -1.42359912e-01 -8.97210331e-01 9.26098756e+01] [ 9.06856425e-01 7.21081525e-03 4.21378012e-01 1.01867489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:92.61, Z:101.87 [[-5.10792731e-02 -9.89787059e-01 1.33088260e-01 1.76252748e+02] [ 4.15931475e-01 -1.42238469e-01 -8.98203332e-01 9.26107059e+01] [ 9.07960305e-01 9.47602323e-03 4.18949030e-01 1.01865232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:92.61, Z:101.86 [[-5.06357184e-02 -9.89687983e-01 1.33991495e-01 1.76251930e+02] [ 4.14623603e-01 -1.42887036e-01 -8.98704936e-01 9.26111441e+01] [ 9.08583123e-01 1.00494665e-02 4.17583185e-01 1.01864286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:92.63, Z:101.89 [[-5.35005305e-02 -9.88586714e-01 1.40833244e-01 1.76245269e+02] [ 4.17218467e-01 -1.50264910e-01 -8.96297500e-01 9.26299073e+01] [ 9.07230094e-01 1.08058383e-02 4.20495885e-01 1.01889299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:92.61, Z:101.86 [[-4.96737237e-02 -9.89553058e-01 1.35341298e-01 1.76252035e+02] [ 4.11382118e-01 -1.43751353e-01 -9.00055721e-01 9.26102015e+01] [ 9.10108386e-01 1.09678705e-02 4.14225098e-01 1.01861821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:92.61, Z:101.86 [[-5.00229043e-02 -9.89431238e-01 1.36101188e-01 1.76252352e+02] [ 4.10849114e-01 -1.44593468e-01 -9.00164282e-01 9.26088770e+01] [ 9.10330003e-01 1.08882208e-02 4.13739933e-01 1.01859288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:92.61, Z:101.86 [[-4.99439834e-02 -9.89316298e-01 1.36962994e-01 1.76252613e+02] [ 4.10162259e-01 -1.45353380e-01 -9.00355105e-01 9.26074159e+01] [ 9.10644014e-01 1.12097308e-02 4.13039735e-01 1.01857694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:92.61, Z:101.86 [[-4.98040823e-02 -9.89205913e-01 1.37808617e-01 1.76252623e+02] [ 4.09723343e-01 -1.46070827e-01 -9.00438835e-01 9.26062160e+01] [ 9.10849239e-01 1.16178775e-02 4.12575677e-01 1.01857063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:92.60, Z:101.85 [[-4.91659855e-02 -9.89124005e-01 1.38623263e-01 1.76252195e+02] [ 4.09823624e-01 -1.46547932e-01 -9.00315667e-01 9.26034146e+01] [ 9.10838791e-01 1.25461809e-02 4.12571558e-01 1.01854856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:92.60, Z:101.85 [[-4.86055483e-02 -9.89042922e-01 1.39397274e-01 1.76251794e+02] [ 4.10504248e-01 -1.47011381e-01 -8.99929951e-01 9.26010151e+01] [ 9.10562334e-01 1.34815845e-02 4.13151889e-01 1.01854307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:92.60, Z:101.85 [[-4.86727364e-02 -9.88928409e-01 1.40184045e-01 1.76251686e+02] [ 4.10899648e-01 -1.47749010e-01 -8.99628651e-01 9.26004950e+01] [ 9.10380384e-01 1.38141867e-02 4.13541684e-01 1.01854704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:92.60, Z:101.85 [[-4.91771418e-02 -9.88794790e-01 1.40948473e-01 1.76252013e+02] [ 4.11553503e-01 -1.48642986e-01 -8.99182393e-01 9.25978285e+01] [ 9.10057868e-01 1.37886176e-02 4.14251797e-01 1.01850884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:92.60, Z:101.85 [[-4.99326997e-02 -9.88654371e-01 1.41666017e-01 1.76252153e+02] [ 4.12820570e-01 -1.49589458e-01 -8.98444306e-01 9.25970127e+01] [ 9.09442633e-01 1.36208961e-02 4.15606266e-01 1.01851032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:92.59, Z:101.85 [[-5.18194998e-02 -9.88471905e-01 1.42260438e-01 1.76252492e+02] [ 4.15610857e-01 -1.50875358e-01 -8.96941604e-01 9.25936339e+01] [ 9.08065171e-01 1.26459174e-02 4.18637941e-01 1.01848314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:92.59, Z:101.84 [[-5.30749084e-02 -9.88305861e-01 1.42949567e-01 1.76252763e+02] [ 4.17135740e-01 -1.52005893e-01 -8.96042400e-01 9.25912022e+01] [ 9.07293133e-01 1.20720053e-02 4.20325396e-01 1.01843922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:92.59, Z:101.84 [[-5.45307318e-02 -9.88122263e-01 1.43669039e-01 1.76252911e+02] [ 4.18168149e-01 -1.53257119e-01 -8.95347784e-01 9.25899852e+01] [ 9.06731382e-01 1.12538463e-02 4.21558480e-01 1.01842786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:92.59, Z:101.84 [[-5.73694434e-02 -9.87871430e-01 1.44287162e-01 1.76253810e+02] [ 4.20322388e-01 -1.54991911e-01 -8.94039483e-01 9.25873704e+01] [ 9.05559406e-01 9.35657680e-03 4.24116278e-01 1.01837159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:92.59, Z:101.83 [[-5.87221363e-02 -9.87675690e-01 1.45080813e-01 1.76254475e+02] [ 4.20300337e-01 -1.56283870e-01 -8.93824915e-01 9.25860382e+01] [ 9.05482930e-01 8.49020601e-03 4.24297748e-01 1.01834375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.59, Z:101.83 [[-6.02255340e-02 -9.87465070e-01 1.45895927e-01 1.76255229e+02] [ 4.19941980e-01 -1.57662187e-01 -8.93751290e-01 9.25851128e+01] [ 9.05550450e-01 7.44117562e-03 4.24173326e-01 1.01830546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.59, Z:101.83 [[-6.19273497e-02 -9.87227784e-01 1.46786603e-01 1.76256326e+02] [ 4.18534574e-01 -1.59199673e-01 -8.94138845e-01 9.25856543e+01] [ 9.06087090e-01 6.06361929e-03 4.23047774e-01 1.01829054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.58, Z:101.82 [[-6.24444540e-02 -9.87064370e-01 1.47663873e-01 1.76256311e+02] [ 4.17497345e-01 -1.60219635e-01 -8.94441521e-01 9.25849471e+01] [ 9.06530009e-01 5.79636246e-03 4.22101582e-01 1.01824574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.59, Z:101.82 [[-6.25622712e-02 -9.86919561e-01 1.48579076e-01 1.76255989e+02] [ 4.16027557e-01 -1.61108304e-01 -8.94966584e-01 9.25859028e+01] [ 9.07197351e-01 5.82184805e-03 4.20665036e-01 1.01822136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.59, Z:101.82 [[-6.13091446e-02 -9.86831706e-01 1.49680905e-01 1.76255885e+02] [ 4.12300949e-01 -1.61609731e-01 -8.96599254e-01 9.25896714e+01] [ 9.08982462e-01 6.74384596e-03 4.16779803e-01 1.01824074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.59, Z:101.82 [[-6.09516961e-02 -9.86710774e-01 1.50621176e-01 1.76256696e+02] [ 4.10614388e-01 -1.62328681e-01 -8.97243124e-01 9.25883375e+01] [ 9.09769595e-01 7.15873197e-03 4.15051849e-01 1.01819487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.59, Z:101.82 [[-6.01584665e-02 -9.86604896e-01 1.51630267e-01 1.76258645e+02] [ 4.08101682e-01 -1.62939526e-01 -8.98278202e-01 9.25874372e+01] [ 9.10952236e-01 7.84152771e-03 4.12437310e-01 1.01817392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.59, Z:101.82 [[-6.05345236e-02 -9.86451127e-01 1.52478673e-01 1.76259393e+02] [ 4.07537514e-01 -1.63871831e-01 -8.98364735e-01 9.25866485e+01] [ 9.11179865e-01 7.75869822e-03 4.11935744e-01 1.01815625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.59, Z:101.81 [[-6.02467321e-02 -9.86335621e-01 1.53337451e-01 1.76260301e+02] [ 4.06952497e-01 -1.64540778e-01 -8.98507650e-01 9.25853708e+01] [ 9.11460365e-01 8.26890896e-03 4.11304789e-01 1.01813612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.59, Z:101.81 [[-6.03528359e-02 -9.86203664e-01 1.54142362e-01 1.76260740e+02] [ 4.07018406e-01 -1.65317009e-01 -8.98335296e-01 9.25853016e+01] [ 9.11423915e-01 8.52169604e-03 4.11380394e-01 1.01814061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.58, Z:101.81 [[-6.02515297e-02 -9.86088014e-01 1.54919921e-01 1.76261433e+02] [ 4.07488509e-01 -1.65979000e-01 -8.98000048e-01 9.25829211e+01] [ 9.11220538e-01 9.02221092e-03 4.11820023e-01 1.01810227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.58, Z:101.81 [[-5.98601642e-02 -9.86006664e-01 1.55587979e-01 1.76263390e+02] [ 4.09426673e-01 -1.66405406e-01 -8.97039041e-01 9.25808760e+01] [ 9.10377153e-01 1.00049643e-02 4.13658482e-01 1.01808790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.58, Z:101.81 [[-5.94272567e-02 -9.85912284e-01 1.56350151e-01 1.76264183e+02] [ 4.10123342e-01 -1.66911621e-01 -8.96626653e-01 9.25812390e+01] [ 9.10091888e-01 1.08387844e-02 4.14264741e-01 1.01810336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.58, Z:101.81 [[-5.91057832e-02 -9.85811413e-01 1.57106221e-01 1.76264667e+02] [ 4.10885387e-01 -1.67456507e-01 -8.96176053e-01 9.25820195e+01] [ 9.09769040e-01 1.15834627e-02 4.14953151e-01 1.01813748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.27, Y:92.58, Z:101.81 [[-5.84180836e-02 -9.85750633e-01 1.57743520e-01 1.76266220e+02] [ 4.13245842e-01 -1.67717839e-01 -8.95041117e-01 9.25781082e+01] [ 9.08743749e-01 1.29002668e-02 4.17155105e-01 1.01805309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.27, Y:92.58, Z:101.80 [[-5.82955238e-02 -9.85634764e-01 1.58511024e-01 1.76266815e+02] [ 4.13831627e-01 -1.68354998e-01 -8.94650758e-01 9.25766596e+01] [ 9.08485012e-01 1.34427402e-02 4.17701181e-01 1.01803109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.27, Y:92.58, Z:101.81 [[-5.86769981e-02 -9.85509091e-01 1.59150373e-01 1.76268429e+02] [ 4.15896526e-01 -1.69063682e-01 -8.93558924e-01 9.25776791e+01] [ 9.07516991e-01 1.37587319e-02 4.19789957e-01 1.01805598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.27, Y:92.58, Z:101.80 [[-5.95147597e-02 -9.85343193e-01 1.59864900e-01 1.76270180e+02] [ 4.16939208e-01 -1.70047533e-01 -8.92886070e-01 9.25750392e+01] [ 9.06983842e-01 1.35140448e-02 4.20948549e-01 1.01799577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.27, Y:92.57, Z:101.80 [[-6.07879587e-02 -9.85145245e-01 1.60604082e-01 1.76271560e+02] [ 4.17586104e-01 -1.71243843e-01 -8.92354970e-01 9.25734041e+01] [ 9.06601715e-01 1.28215958e-02 4.21792528e-01 1.01795231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.27, Y:92.57, Z:101.79 [[-6.38858987e-02 -9.84828842e-01 1.61340462e-01 1.76273467e+02] [ 4.17909802e-01 -1.73213546e-01 -8.91823113e-01 9.25745484e+01] [ 9.06239477e-01 1.04508393e-02 4.22635529e-01 1.01793940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.27, Y:92.57, Z:101.79 [[-6.59795245e-02 -9.84566750e-01 1.62095702e-01 1.76274301e+02] [ 4.18160621e-01 -1.74779550e-01 -8.91399912e-01 9.25742307e+01] [ 9.05973729e-01 8.96789722e-03 4.23238915e-01 1.01790490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.57, Z:101.79 [[-6.77911593e-02 -9.84310653e-01 1.62901494e-01 1.76275313e+02] [ 4.17840931e-01 -1.76278332e-01 -8.91254681e-01 9.25738693e+01] [ 9.05987481e-01 7.64772392e-03 4.23235392e-01 1.01787073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.57, Z:101.78 [[-7.10322494e-02 -9.83939286e-01 1.63761722e-01 1.76277669e+02] [ 4.16600917e-01 -1.78436055e-01 -8.91405772e-01 9.25726454e+01] [ 9.06310154e-01 4.90472640e-03 4.22584723e-01 1.01779386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.57, Z:101.78 [[-7.27141099e-02 -9.83676513e-01 1.64600051e-01 1.76278457e+02] [ 4.15878282e-01 -1.79909203e-01 -8.91447101e-01 9.25733539e+01] [ 9.06508639e-01 3.63280388e-03 4.22171636e-01 1.01778581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.57, Z:101.77 [[-7.41538861e-02 -9.83420049e-01 1.65487787e-01 1.76279466e+02] [ 4.14597782e-01 -1.81325227e-01 -8.91756604e-01 9.25724486e+01] [ 9.06978434e-01 2.48365178e-03 4.21169741e-01 1.01773402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.57, Z:101.77 [[-7.63168988e-02 -9.83085401e-01 1.66489713e-01 1.76280584e+02] [ 4.11817180e-01 -1.83147215e-01 -8.92672229e-01 9.25724024e+01] [ 9.08065164e-01 4.37348088e-04 4.18828685e-01 1.01769863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.57, Z:101.77 [[-7.72723128e-02 -9.82856926e-01 1.67395499e-01 1.76281229e+02] [ 4.10399160e-01 -1.84369647e-01 -8.93073548e-01 9.25712711e+01] [ 9.08626171e-01 -3.10886471e-04 4.17610326e-01 1.01765914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.57, Z:101.76 [[-7.83262363e-02 -9.82607391e-01 1.68367799e-01 1.76282488e+02] [ 4.08164251e-01 -1.85690753e-01 -8.93823746e-01 9.25702675e+01] [ 9.09542162e-01 -1.28813324e-03 4.15609668e-01 1.01762117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.57, Z:101.76 [[-7.87534606e-02 -9.82427999e-01 1.69213239e-01 1.76282882e+02] [ 4.07555024e-01 -1.86636465e-01 -8.93904767e-01 9.25707554e+01] [ 9.09778432e-01 -1.43438836e-03 4.15091734e-01 1.01762897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.57, Z:101.76 [[-7.90937788e-02 -9.82253260e-01 1.70066772e-01 1.76283361e+02] [ 4.06874367e-01 -1.87553286e-01 -8.94022938e-01 9.25694407e+01] [ 9.10053528e-01 -1.51584200e-03 4.14487972e-01 1.01760945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.57, Z:101.76 [[-7.86657729e-02 -9.82143374e-01 1.70897893e-01 1.76283902e+02] [ 4.06620516e-01 -1.88132112e-01 -8.94016815e-01 9.25685331e+01] [ 9.10204072e-01 -8.37934339e-04 4.14159203e-01 1.01759891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.57, Z:101.76 [[-7.90312155e-02 -9.81973943e-01 1.71701028e-01 1.76283877e+02] [ 4.06549791e-01 -1.89014480e-01 -8.93862850e-01 9.25678109e+01] [ 9.10204007e-01 -8.38050565e-04 4.14159345e-01 1.01757616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.56, Z:101.75 [[-7.73375418e-02 -9.81980894e-01 1.72430941e-01 1.76284607e+02] [ 4.07737040e-01 -1.88976295e-01 -8.93329987e-01 9.25647234e+01] [ 9.09818339e-01 1.21853651e-03 4.15004945e-01 1.01754648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.56, Z:101.75 [[-7.54149513e-02 -9.82012334e-01 1.73102168e-01 1.76284873e+02] [ 4.09634631e-01 -1.88782443e-01 -8.92502470e-01 9.25624918e+01] [ 9.09127084e-01 3.60061229e-03 4.16503279e-01 1.01754690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.56, Z:101.76 [[-7.48220852e-02 -9.81943194e-01 1.73750451e-01 1.76284676e+02] [ 4.11520089e-01 -1.89115282e-01 -8.91564146e-01 9.25624391e+01] [ 9.08324211e-01 4.79311279e-03 4.18239351e-01 1.01755904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.56, Z:101.75 [[-7.42554638e-02 -9.81867124e-01 1.74422124e-01 1.76284898e+02] [ 4.13125293e-01 -1.89478118e-01 -8.90744371e-01 9.25608560e+01] [ 9.07641790e-01 5.91555464e-03 4.19703929e-01 1.01753605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:92.56, Z:101.76 [[-7.33523298e-02 -9.81837691e-01 1.74969097e-01 1.76285228e+02] [ 4.16191944e-01 -1.89570988e-01 -8.89295849e-01 9.25602482e+01] [ 9.06313247e-01 7.58880628e-03 4.22538410e-01 1.01755634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:92.56, Z:101.75 [[-7.31514614e-02 -9.81722743e-01 1.75696670e-01 1.76285492e+02] [ 4.17072177e-01 -1.90137223e-01 -8.88762418e-01 9.25576199e+01] [ 9.05924756e-01 8.26392270e-03 4.23358057e-01 1.01750695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:92.56, Z:101.75 [[-7.29413501e-02 -9.81611660e-01 1.76403257e-01 1.76285431e+02] [ 4.18176999e-01 -1.90677191e-01 -8.88127359e-01 9.25565454e+01] [ 9.05432249e-01 8.98657615e-03 4.24395670e-01 1.01747982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:92.56, Z:101.75 [[-7.24996415e-02 -9.81503145e-01 1.77187410e-01 1.76285081e+02] [ 4.18448569e-01 -1.91196441e-01 -8.87887784e-01 9.25566325e+01] [ 9.05342254e-01 9.77227207e-03 4.24570260e-01 1.01746847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:92.56, Z:101.74 [[-7.10197692e-02 -9.81461926e-01 1.78013148e-01 1.76285052e+02] [ 4.18462810e-01 -1.91315688e-01 -8.87855385e-01 9.25569357e+01] [ 9.05452964e-01 1.14365974e-02 4.24292511e-01 1.01744668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.56, Z:101.74 [[-7.05039328e-02 -9.81338601e-01 1.78895905e-01 1.76284857e+02] [ 4.17670921e-01 -1.91906274e-01 -8.88100774e-01 9.25571318e+01] [ 9.05858818e-01 1.21050201e-02 4.23406744e-01 1.01743137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.56, Z:101.74 [[-7.02645884e-02 -9.81203492e-01 1.79729229e-01 1.76284589e+02] [ 4.17377498e-01 -1.92563276e-01 -8.88096509e-01 9.25575833e+01] [ 9.06012644e-01 1.26132005e-02 4.23062638e-01 1.01741347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.56, Z:101.74 [[-6.94330172e-02 -9.81080666e-01 1.80720180e-01 1.76284806e+02] [ 4.15484774e-01 -1.93137158e-01 -8.88859067e-01 9.25589008e+01] [ 9.06946227e-01 1.33703161e-02 4.21034174e-01 1.01739514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:92.56, Z:101.74 [[-6.93787090e-02 -9.80911260e-01 1.81658181e-01 1.76285107e+02] [ 4.14031189e-01 -1.93986028e-01 -8.89352346e-01 9.25584801e+01] [ 9.07614879e-01 1.35100351e-02 4.19586356e-01 1.01736210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:92.56, Z:101.74 [[-6.97398566e-02 -9.80703201e-01 1.82640589e-01 1.76286017e+02] [ 4.12015770e-01 -1.95057830e-01 -8.90053621e-01 9.25594131e+01] [ 9.08503912e-01 1.31785909e-02 4.17668489e-01 1.01736551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:92.56, Z:101.73 [[-7.03452533e-02 -9.80491135e-01 1.83544763e-01 1.76286991e+02] [ 4.10821814e-01 -1.96147984e-01 -8.90365883e-01 9.25573052e+01] [ 9.08997790e-01 1.27711789e-02 4.16605226e-01 1.01732793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:92.56, Z:101.73 [[-7.08748926e-02 -9.80291703e-01 1.84404246e-01 1.76287976e+02] [ 4.10138673e-01 -1.97158364e-01 -8.90457662e-01 9.25559498e+01] [ 9.09265098e-01 1.25202218e-02 4.16029116e-01 1.01729951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:92.56, Z:101.73 [[-7.17987808e-02 -9.80074830e-01 1.85197900e-01 1.76289040e+02] [ 4.10085123e-01 -1.98264043e-01 -8.90236801e-01 9.25550467e+01] [ 9.09216766e-01 1.20289867e-02 4.16149224e-01 1.01727829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:92.56, Z:101.68 [[-8.82774519e-02 -9.73881503e-01 2.09193475e-01 1.76276518e+02] [ 4.26779136e-01 -2.26739798e-01 -8.75470521e-01 9.25587965e+01] [ 9.00037033e-01 1.19951038e-02 4.35648318e-01 1.01684713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:92.55, Z:101.72 [[-7.53007075e-02 -9.79543274e-01 1.86613979e-01 1.76292984e+02] [ 4.09264796e-01 -2.01015965e-01 -8.89997140e-01 9.25521506e+01] [ 9.09303102e-01 9.35711778e-03 4.16029222e-01 1.01724086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:92.55, Z:101.72 [[-7.91219212e-02 -9.79200588e-01 1.86831289e-01 1.76295928e+02] [ 4.09755874e-01 -2.02800226e-01 -8.89366174e-01 9.25492789e+01] [ 9.08757308e-01 6.18685768e-03 4.17279136e-01 1.01719372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:92.55, Z:101.72 [[-8.12232874e-02 -9.78884563e-01 1.87584089e-01 1.76297162e+02] [ 4.09846207e-01 -2.04360343e-01 -8.88967343e-01 9.25482402e+01] [ 9.08531158e-01 4.67577732e-03 4.17790944e-01 1.01717454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:92.55, Z:101.72 [[-8.32785950e-02 -9.78576825e-01 1.88287208e-01 1.76298064e+02] [ 4.10451191e-01 -2.05855505e-01 -8.88343026e-01 9.25497315e+01] [ 9.08071856e-01 3.30274987e-03 4.18801380e-01 1.01720788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:92.54, Z:101.71 [[-8.76445341e-02 -9.78069276e-01 1.88941595e-01 1.76301674e+02] [ 4.11080838e-01 -2.08279806e-01 -8.87486376e-01 9.25446304e+01] [ 9.07375876e-01 -1.13060934e-04 4.20320124e-01 1.01710084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:92.54, Z:101.71 [[-9.00733343e-02 -9.77707107e-01 1.89672371e-01 1.76303546e+02] [ 4.11283326e-01 -2.09964898e-01 -8.86995359e-01 9.25426069e+01] [ 9.07046206e-01 -1.88554596e-03 4.21026870e-01 1.01705475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.54, Z:101.70 [[-9.40449375e-02 -9.77203153e-01 1.90340610e-01 1.76306868e+02] [ 4.11748425e-01 -2.12248114e-01 -8.86235845e-01 9.25405253e+01] [ 9.06431897e-01 -4.97354828e-03 4.22322720e-01 1.01701243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.54, Z:101.70 [[-9.64838468e-02 -9.76827144e-01 1.91048682e-01 1.76308092e+02] [ 4.12093560e-01 -2.13924125e-01 -8.85672268e-01 9.25390918e+01] [ 9.06018634e-01 -6.72313589e-03 4.23184398e-01 1.01697698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.54, Z:101.70 [[-9.83679882e-02 -9.76497179e-01 1.91773299e-01 1.76308814e+02] [ 4.12359577e-01 -2.15381835e-01 -8.85195032e-01 9.25394426e+01] [ 9.05694937e-01 -7.99529777e-03 4.23854642e-01 1.01697094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.54, Z:101.69 [[-9.98936877e-02 -9.76189306e-01 1.92550489e-01 1.76310123e+02] [ 4.12157202e-01 -2.16731870e-01 -8.84959738e-01 9.25374572e+01] [ 9.05620059e-01 -9.04082066e-03 4.23993599e-01 1.01692070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.54, Z:101.69 [[-1.01049943e-01 -9.75918484e-01 1.93318447e-01 1.76310530e+02] [ 4.12120365e-01 -2.17918562e-01 -8.84685427e-01 9.25383784e+01] [ 9.05508539e-01 -9.72694288e-03 4.24216540e-01 1.01691338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.54, Z:101.69 [[-1.01578688e-01 -9.75692854e-01 1.94178332e-01 1.76311605e+02] [ 4.11281166e-01 -2.18913439e-01 -8.84830328e-01 9.25384412e+01] [ 9.05830874e-01 -1.00180129e-02 4.23521034e-01 1.01688401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.54, Z:101.69 [[-1.01307367e-01 -9.75545332e-01 1.95059282e-01 1.76311695e+02] [ 4.10415142e-01 -2.19588219e-01 -8.85065210e-01 9.25392406e+01] [ 9.06253954e-01 -9.60834374e-03 4.22624480e-01 1.01687484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.54, Z:101.68 [[-9.94750670e-02 -9.75528529e-01 1.96083657e-01 1.76311779e+02] [ 4.08447917e-01 -2.19725883e-01 -8.85940650e-01 9.25390351e+01] [ 9.07345034e-01 -8.03904400e-03 4.20309843e-01 1.01684113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.54, Z:101.68 [[-9.83605188e-02 -9.75466204e-01 1.96954040e-01 1.76311225e+02] [ 4.07895940e-01 -2.20043506e-01 -8.86116108e-01 9.25396703e+01] [ 9.07714774e-01 -6.82208676e-03 4.19532298e-01 1.01683400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.54, Z:101.68 [[-9.46162751e-02 -9.75647542e-01 1.97887934e-01 1.76310783e+02] [ 4.07301506e-01 -2.19319608e-01 -8.86568888e-01 9.25393657e+01] [ 9.08379460e-01 -3.28379242e-03 4.18133918e-01 1.01682351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.54, Z:101.68 [[-9.29430195e-02 -9.75638873e-01 1.98721880e-01 1.76310387e+02] [ 4.07270599e-01 -2.19377845e-01 -8.86568678e-01 9.25390721e+01] [ 9.08566043e-01 -1.46679072e-03 4.17738667e-01 1.01681625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.54, Z:101.68 [[-9.09235217e-02 -9.75661966e-01 1.99541075e-01 1.76310421e+02] [ 4.07478903e-01 -2.19278886e-01 -8.86497441e-01 9.25386665e+01] [ 9.08676981e-01 7.05309211e-04 4.17499277e-01 1.01681605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.54, Z:101.68 [[-8.93427379e-02 -9.75646749e-01 2.00327973e-01 1.76310208e+02] [ 4.07927881e-01 -2.19333047e-01 -8.86277529e-01 9.25376330e+01] [ 9.08632334e-01 2.53690460e-03 4.17589326e-01 1.01680683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.54, Z:101.68 [[-8.61139969e-02 -9.75804620e-01 2.00971946e-01 1.76309604e+02] [ 4.10184812e-01 -2.18556749e-01 -8.85427223e-01 9.25363143e+01] [ 9.07927750e-01 6.18796259e-03 4.19081030e-01 1.01679965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.54, Z:101.68 [[-8.53383427e-02 -9.75741861e-01 2.01606520e-01 1.76308723e+02] [ 4.11972580e-01 -2.18793274e-01 -8.84538352e-01 9.25366188e+01] [ 9.07191248e-01 7.57132123e-03 4.20650347e-01 1.01680462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.53, Z:101.68 [[-8.46251141e-02 -9.75672210e-01 2.02243239e-01 1.76308222e+02] [ 4.13717020e-01 -2.19054046e-01 -8.83659183e-01 9.25346533e+01] [ 9.06463908e-01 8.89171120e-03 4.22189673e-01 1.01677371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.53, Z:101.68 [[-8.27698120e-02 -9.75706303e-01 2.02845675e-01 1.76307533e+02] [ 4.16037520e-01 -2.18789184e-01 -8.82634735e-01 9.25336373e+01] [ 9.05572714e-01 1.13359003e-02 4.24039570e-01 1.01676871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.53, Z:101.68 [[-8.20539928e-02 -9.75600604e-01 2.03643326e-01 1.76307262e+02] [ 4.16192391e-01 -2.19205495e-01 -8.82458410e-01 9.25335515e+01] [ 9.05566693e-01 1.23455670e-02 4.24024234e-01 1.01676093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.53, Z:101.67 [[-8.03095363e-02 -9.75571688e-01 2.04475576e-01 1.76306734e+02] [ 4.16252954e-01 -2.19218899e-01 -8.82426514e-01 9.25328315e+01] [ 9.05695234e-01 1.42462981e-02 4.23689965e-01 1.01673272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.53, Z:101.67 [[-7.93242447e-02 -9.75481637e-01 2.05288189e-01 1.76306389e+02] [ 4.16336969e-01 -2.19535706e-01 -8.82308111e-01 9.25335445e+01] [ 9.05743448e-01 1.54806377e-02 4.23543572e-01 1.01672759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.53, Z:101.67 [[-7.87603597e-02 -9.75354743e-01 2.06106600e-01 1.76305959e+02] [ 4.16276302e-01 -2.20038584e-01 -8.82211461e-01 9.25331784e+01] [ 9.05820537e-01 1.63140016e-02 4.23347384e-01 1.01670112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.54, Z:101.67 [[-7.66958783e-02 -9.75328309e-01 2.07008290e-01 1.76305269e+02] [ 4.15763682e-01 -2.19992447e-01 -8.82464664e-01 9.25352635e+01] [ 9.06233029e-01 1.83851263e-02 4.22378603e-01 1.01670779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.53, Z:101.67 [[-7.59417273e-02 -9.75203468e-01 2.07872678e-01 1.76305455e+02] [ 4.15328984e-01 -2.20465873e-01 -8.82551208e-01 9.25344662e+01] [ 9.06495830e-01 1.93130851e-02 4.21772825e-01 1.01668485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.54, Z:101.67 [[-7.47017476e-02 -9.75099057e-01 2.08809671e-01 1.76305651e+02] [ 4.14320958e-01 -2.20814923e-01 -8.82937661e-01 9.25364844e+01] [ 9.07059972e-01 2.05572369e-02 4.20499236e-01 1.01669856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.54, Z:101.67 [[-7.47716509e-02 -9.74917936e-01 2.09628763e-01 1.76306169e+02] [ 4.14161482e-01 -2.21589591e-01 -8.82818396e-01 9.25369003e+01] [ 9.07127040e-01 2.08103704e-02 4.20342077e-01 1.01668861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.53, Z:101.66 [[-7.58907913e-02 -9.74655830e-01 2.10443819e-01 1.76307979e+02] [ 4.13817126e-01 -2.22804996e-01 -8.82673960e-01 9.25342006e+01] [ 9.07191255e-01 2.00984312e-02 4.20238122e-01 1.01662826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.53, Z:101.66 [[-7.68804139e-02 -9.74401531e-01 2.11260641e-01 1.76308960e+02] [ 4.13475024e-01 -2.23967340e-01 -8.82540104e-01 9.25329368e+01] [ 9.07263912e-01 1.95009499e-02 4.20109398e-01 1.01659387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.866875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.31, Y:92.53, Z:101.66 [[-7.82803432e-02 -9.74114110e-01 2.12070481e-01 1.76309911e+02] [ 4.13084934e-01 -2.25296137e-01 -8.82384546e-01 9.25310779e+01] [ 9.07321897e-01 1.85297558e-02 4.20028122e-01 1.01655440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.53, Z:101.65 [[-7.97864286e-02 -9.73821872e-01 2.12849919e-01 1.76310894e+02] [ 4.12943737e-01 -2.26636697e-01 -8.82107294e-01 9.25305406e+01] [ 9.07254979e-01 1.75148505e-02 4.20216175e-01 1.01653843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.53, Z:101.65 [[-8.25004871e-02 -9.73453153e-01 2.13500888e-01 1.76313504e+02] [ 4.13710949e-01 -2.28352772e-01 -8.81304864e-01 9.25280117e+01] [ 9.06662518e-01 1.56195744e-02 4.21567442e-01 1.01650685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.53, Z:101.65 [[-8.37924164e-02 -9.73178259e-01 2.14249639e-01 1.76314621e+02] [ 4.13878492e-01 -2.29571914e-01 -8.80909377e-01 9.25270240e+01] [ 9.06467553e-01 1.48597924e-02 4.22013936e-01 1.01647512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:92.53, Z:101.65 [[-8.50149199e-02 -9.72898178e-01 2.15038600e-01 1.76314870e+02] [ 4.13674707e-01 -2.30804579e-01 -8.80682964e-01 9.25279748e+01] [ 9.06446744e-01 1.40848383e-02 4.22085201e-01 1.01648901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:92.53, Z:101.64 [[-8.71295527e-02 -9.72566346e-01 2.15692242e-01 1.76316781e+02] [ 4.14508744e-01 -2.32276508e-01 -8.79903475e-01 9.25258331e+01] [ 9.05864748e-01 1.27407241e-02 4.23375403e-01 1.01642636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.046875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:176.32, Y:92.53, Z:101.65 [[-8.83522761e-02 -9.72298261e-01 2.16402326e-01 1.76316740e+02] [ 4.15018117e-01 -2.33429337e-01 -8.79358123e-01 9.25287479e+01] [ 9.05513025e-01 1.21175941e-02 4.24145406e-01 1.01647960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:92.53, Z:101.64 [[-9.08417825e-02 -9.71914197e-01 2.17095747e-01 1.76319718e+02] [ 4.15373059e-01 -2.35107823e-01 -8.78743156e-01 9.25259096e+01] [ 9.05103858e-01 1.03491299e-02 4.25064587e-01 1.01641237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.106875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.32, Y:92.52, Z:101.63 [[-9.24189161e-02 -9.71605125e-01 2.17812364e-01 1.76321824e+02] [ 4.15734573e-01 -2.36421967e-01 -8.78219459e-01 9.25222578e+01] [ 9.04778155e-01 9.38803948e-03 4.25779703e-01 1.01632295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:92.52, Z:101.63 [[-9.37628200e-02 -9.71308620e-01 2.18559143e-01 1.76323243e+02] [ 4.15835359e-01 -2.37667861e-01 -8.77835373e-01 9.25214251e+01] [ 9.04593548e-01 8.57629944e-03 4.26188877e-01 1.01629222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:92.52, Z:101.63 [[-9.62846435e-02 -9.70894035e-01 2.19303537e-01 1.76325260e+02] [ 4.15636162e-01 -2.39416688e-01 -8.77454404e-01 9.25211533e+01] [ 9.04420173e-01 6.66509583e-03 4.26590821e-01 1.01625461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:92.53, Z:101.63 [[-9.73872785e-02 -9.70600643e-01 2.20113857e-01 1.76325113e+02] [ 4.15183735e-01 -2.40622186e-01 -8.77338834e-01 9.25260643e+01] [ 9.04509914e-01 5.94605165e-03 4.26411140e-01 1.01633865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.61, Y:91.82, Z:101.84 [[-1.86612027e-01 9.57307990e-01 -2.20765403e-01 1.75608880e+02] [ 3.92052843e-01 2.78609810e-01 8.76738925e-01 9.18155022e+01] [ 9.00816585e-01 7.70583237e-02 -4.27307260e-01 1.01836680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.25687500000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:175.71, Y:91.76, Z:101.83 [[-2.56687249e-01 8.91023281e-01 -3.74418440e-01 1.75714210e+02] [ 3.57838772e-01 4.47483471e-01 8.19579134e-01 9.17647477e+01] [ 8.97810152e-01 7.63940781e-02 -4.33705978e-01 1.01830102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.82, Y:91.73, Z:101.83 [[-3.20068335e-01 7.96691402e-01 -5.12678331e-01 1.75823934e+02] [ 3.12536501e-01 5.99643418e-01 7.36714807e-01 9.17348025e+01] [ 8.94358539e-01 7.55683901e-02 -4.40922013e-01 1.01828038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.94, Y:91.73, Z:101.83 [[-3.74260439e-01 6.78132510e-01 -6.32507251e-01 1.75935008e+02] [ 2.55605282e-01 7.31094564e-01 6.32587289e-01 9.17278616e+01] [ 8.91400619e-01 7.50802019e-02 -4.46954024e-01 1.01830814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.05, Y:91.74, Z:101.83 [[-4.18619194e-01 5.39853764e-01 -7.30284796e-01 1.76045662e+02] [ 1.89935411e-01 8.38396206e-01 5.10897585e-01 9.17385818e+01] [ 8.88077987e-01 7.51645925e-02 -4.53506090e-01 1.01829930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.15, Y:91.77, Z:101.83 [[-4.50664948e-01 3.86892090e-01 -8.04497119e-01 1.76150132e+02] [ 1.17197551e-01 9.19044370e-01 3.76327226e-01 9.17700313e+01] [ 8.84966575e-01 7.53123977e-02 -4.59523889e-01 1.01833313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.406875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:176.25, Y:91.82, Z:101.83 [[-4.69264904e-01 2.24193054e-01 -8.54124069e-01 1.76248156e+02] [ 3.97012117e-02 9.71613288e-01 2.33219707e-01 9.18186135e+01] [ 8.82164533e-01 7.55320630e-02 -4.64844752e-01 1.01833593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:91.88, Z:101.84 [[-4.74006141e-01 5.67188392e-02 -8.78692865e-01 1.76333886e+02] [-3.99568741e-02 9.95509640e-01 8.58137785e-02 9.18822686e+01] [ 8.79614476e-01 7.57860782e-02 -4.69611376e-01 1.01837517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.41, Y:91.96, Z:101.83 [[-4.65364720e-01 -1.10648685e-01 -8.78175692e-01 1.76408920e+02] [-1.19765756e-01 9.90902607e-01 -6.13855669e-02 9.19578972e+01] [ 8.76978815e-01 7.66086983e-02 -4.74383038e-01 1.01834950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.46, Y:92.04, Z:101.85 [[-4.43728717e-01 -2.72992734e-01 -8.53568857e-01 1.76463593e+02] [-1.96680144e-01 9.58916441e-01 -2.04441143e-01 9.20431240e+01] [ 8.74312156e-01 7.71636398e-02 -4.79191012e-01 1.01847419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.51, Y:92.14, Z:101.84 [[-4.09468759e-01 -4.26663285e-01 -8.06407946e-01 1.76514294e+02] [-2.69716303e-01 9.01007817e-01 -3.39761726e-01 9.21401336e+01] [ 8.71543717e-01 7.83795577e-02 -4.84012597e-01 1.01837681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.54, Y:92.24, Z:101.84 [[-3.63762050e-01 -5.67048087e-01 -7.39008551e-01 1.76542381e+02] [-3.35064547e-01 8.19910699e-01 -4.64196289e-01 9.22402201e+01] [ 8.69142636e-01 7.87585716e-02 -4.88250107e-01 1.01840616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.55, Y:92.34, Z:101.84 [[-3.08144002e-01 -6.91209855e-01 -6.53663683e-01 1.76554973e+02] [-3.91655823e-01 7.18340888e-01 -5.74971378e-01 9.23437042e+01] [ 8.66979233e-01 7.88372066e-02 -4.92068800e-01 1.01841499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.55, Y:92.44, Z:101.85 [[-2.43873124e-01 -7.96583061e-01 -5.53155789e-01 1.76550378e+02] [-4.38809860e-01 5.99286292e-01 -6.69553468e-01 9.24437683e+01] [ 8.64853633e-01 7.94441182e-02 -4.95698322e-01 1.01847145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.53, Y:92.54, Z:101.85 [[-1.73920718e-01 -8.80939854e-01 -4.40109711e-01 1.76530950e+02] [-4.75477080e-01 4.66495492e-01 -7.45857561e-01 9.25446730e+01] [ 8.62364848e-01 7.95419980e-02 -4.99999940e-01 1.01847722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.50, Y:92.64, Z:101.85 [[-9.96559043e-02 -9.42859318e-01 -3.17938685e-01 1.76496319e+02] [-5.01080650e-01 3.23610069e-01 -8.02617409e-01 9.26399363e+01] [ 8.59643462e-01 7.93273593e-02 -5.04698214e-01 1.01848864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.45, Y:92.72, Z:101.86 [[-2.28760500e-02 -9.81521917e-01 -1.89977402e-01 1.76448631e+02] [-5.15771855e-01 1.74372597e-01 -8.38792937e-01 9.27214158e+01] [ 8.56420504e-01 7.87967278e-02 -5.10230336e-01 1.01861746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.39, Y:92.81, Z:101.84 [[ 5.55224242e-02 -9.96676032e-01 -5.96166753e-02 1.76387245e+02] [-5.18236662e-01 2.22693807e-02 -8.54947271e-01 9.28130222e+01] [ 8.53433080e-01 7.83642919e-02 -5.15277610e-01 1.01843659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.43, Y:92.30, Z:101.61 [[ 3.05317057e-02 9.97031824e-01 -7.06778378e-02 1.75430967e+02] [-5.13987892e-01 7.63063319e-02 8.54396741e-01 9.22989299e+01] [ 8.57253908e-01 1.02413630e-02 5.14792048e-01 1.01613713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.35, Y:92.86, Z:101.89 [[ 1.33063001e-01 -9.88592238e-01 7.05664592e-02 1.76348869e+02] [-5.09161092e-01 -1.29270742e-01 -8.50907785e-01 9.28578052e+01] [ 8.50323009e-01 7.72946482e-02 -5.20553856e-01 1.01892738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:92.91, Z:101.92 [[ 2.08772961e-01 -9.57977562e-01 1.96704963e-01 1.76300081e+02] [-4.88126797e-01 -2.76365653e-01 -8.27861254e-01 9.29080268e+01] [ 8.47435001e-01 7.68180820e-02 -5.25312195e-01 1.01917532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.856875 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:176.25, Y:92.95, Z:101.94 [[ 2.80593319e-01 -9.06060933e-01 3.16734864e-01 1.76247047e+02] [-4.55575500e-01 -4.16172941e-01 -7.86925058e-01 9.29504921e+01] [ 8.44818533e-01 7.65092699e-02 -5.29554510e-01 1.01942695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.19, Y:92.98, Z:101.97 [[ 3.47057634e-01 -8.34492054e-01 4.27988330e-01 1.76187281e+02] [-4.13027520e-01 -5.45715593e-01 -7.29110938e-01 9.29845504e+01] [ 8.41997189e-01 7.62725583e-02 -5.34062946e-01 1.01966254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.12, Y:93.01, Z:101.99 [[ 4.06965430e-01 -7.45151446e-01 5.28326093e-01 1.76124717e+02] [-3.60980164e-01 -6.62505573e-01 -6.56338089e-01 9.30098143e+01] [ 8.39090257e-01 7.63916736e-02 -5.38601757e-01 1.01991374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.06, Y:93.03, Z:102.02 [[ 4.59180487e-01 -6.40241617e-01 6.15827860e-01 1.76059887e+02] [-3.00366208e-01 -7.64299517e-01 -5.70636828e-01 9.30261178e+01] [ 8.36022381e-01 7.70514174e-02 -5.43258371e-01 1.02016290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.99, Y:93.03, Z:102.04 [[ 5.01523186e-01 -5.22706869e-01 6.89385250e-01 1.75991553e+02] [-2.32911007e-01 -8.49000571e-01 -4.74289462e-01 9.30272456e+01] [ 8.33202831e-01 7.73017488e-02 -5.47537654e-01 1.02041657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.00687500000004 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:175.92, Y:93.02, Z:102.07 [[ 5.33572336e-01 -3.95082436e-01 7.47803738e-01 1.75923546e+02] [-1.59940416e-01 -9.15366917e-01 -3.69489474e-01 9.30197938e+01] [ 8.30493604e-01 7.75453213e-02 -5.51604113e-01 1.02065283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.86, Y:93.00, Z:102.09 [[ 5.54550822e-01 -2.60351265e-01 7.90373712e-01 1.75858648e+02] [-8.32846079e-02 -9.62392937e-01 -2.58579793e-01 9.30021077e+01] [ 8.27971654e-01 7.75696719e-02 -5.55379047e-01 1.02089552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.80, Y:92.97, Z:102.11 [[ 5.63986450e-01 -1.21055723e-01 8.16862777e-01 1.75797353e+02] [-4.02597924e-03 -9.89587937e-01 -1.43873229e-01 9.29748655e+01] [ 8.25774228e-01 7.78538791e-02 -5.58601556e-01 1.02114195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.74, Y:92.94, Z:102.14 [[ 5.62474170e-01 1.94372090e-02 8.26586355e-01 1.75739807e+02] [ 7.53149473e-02 -9.96771891e-01 -2.78110675e-02 9.29406066e+01] [ 8.23377475e-01 7.78973149e-02 -5.62122355e-01 1.02137281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.69, Y:92.90, Z:102.16 [[ 5.49139456e-01 1.59078141e-01 8.20451097e-01 1.75688117e+02] [ 1.54319997e-01 -9.84136379e-01 8.75267121e-02 9.29025502e+01] [ 8.21359359e-01 7.85476399e-02 -5.64977054e-01 1.02161107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.64, Y:92.85, Z:102.18 [[ 5.25689498e-01 2.94510278e-01 7.98069075e-01 1.75643640e+02] [ 2.30411892e-01 -9.52384637e-01 1.99684409e-01 9.28548330e+01] [ 8.18877837e-01 7.89126085e-02 -5.68517272e-01 1.02184689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.61, Y:92.80, Z:102.21 [[ 4.92111276e-01 4.23241591e-01 7.60718771e-01 1.75606219e+02] [ 3.02190759e-01 -9.02569245e-01 3.06674914e-01 9.28019269e+01] [ 8.16398945e-01 7.89639995e-02 -5.72064200e-01 1.02208642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.58, Y:92.74, Z:102.23 [[ 4.48376303e-01 5.43377254e-01 7.09718149e-01 1.75577107e+02] [ 3.68911026e-01 -8.35722386e-01 4.06783417e-01 9.27432203e+01] [ 8.14164201e-01 7.94308061e-02 -5.75175974e-01 1.02232452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.56, Y:92.68, Z:102.26 [[ 3.97060690e-01 6.52093030e-01 6.45846335e-01 1.75556505e+02] [ 4.28600581e-01 -7.53995145e-01 4.97787970e-01 9.26826080e+01] [ 8.11569067e-01 7.91580801e-02 -5.78869284e-01 1.02255410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.54, Y:92.62, Z:102.28 [[ 3.38231068e-01 7.48168755e-01 5.70826820e-01 1.75543846e+02] [ 4.81019339e-01 -6.58797260e-01 5.78451870e-01 9.26200835e+01] [ 8.08838761e-01 7.89283455e-02 -5.82709341e-01 1.02277594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.54, Y:92.56, Z:102.30 [[ 2.73222351e-01 8.29920429e-01 4.86396576e-01 1.75538097e+02] [ 5.24999636e-01 -5.52340050e-01 6.47530579e-01 9.25581030e+01] [ 8.06055165e-01 7.84381981e-02 -5.86619570e-01 1.02300229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.54, Y:92.50, Z:102.32 [[ 2.03797784e-01 8.96171502e-01 3.94135893e-01 1.75541984e+02] [ 5.60318819e-01 -4.36898892e-01 7.03677610e-01 9.24957671e+01] [ 8.02813356e-01 7.74338206e-02 -5.91180784e-01 1.02323302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.56, Y:92.43, Z:102.35 [[ 1.29617877e-01 9.46257316e-01 2.96304402e-01 1.75555419e+02] [ 5.85700597e-01 -3.14187918e-01 7.47155113e-01 9.24347228e+01] [ 8.00096255e-01 7.67010058e-02 -5.94947846e-01 1.02345756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.58, Y:92.38, Z:102.37 [[ 5.38760571e-02 9.79415676e-01 1.94530983e-01 1.75577010e+02] [ 6.01071564e-01 -1.87375221e-01 7.76919238e-01 9.23759046e+01] [ 7.97377166e-01 7.50696971e-02 -5.98793950e-01 1.02367473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.61, Y:92.32, Z:102.39 [[-2.38119849e-02 9.95594664e-01 9.06876775e-02 1.75605311e+02] [ 6.05991692e-01 -5.77735484e-02 7.93370208e-01 9.23219422e+01] [ 7.95114494e-01 7.38476985e-02 -6.01946392e-01 1.02389494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.67, Y:92.26, Z:102.39 [[-1.02027693e-01 9.94688801e-01 -1.35844989e-02 1.75669908e+02] [ 6.00704933e-01 7.24892181e-02 7.96177679e-01 9.22578577e+01] [ 7.92933751e-01 7.30718965e-02 -6.04910378e-01 1.02390578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.74, Y:92.20, Z:102.39 [[-1.77637218e-01 9.77170295e-01 -1.16547129e-01 1.75742839e+02] [ 5.85066347e-01 2.00093590e-01 7.85913434e-01 9.22031597e+01] [ 7.91291595e-01 7.14196729e-02 -6.07253523e-01 1.02391523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.82, Y:92.16, Z:102.39 [[-2.51618897e-01 9.43316835e-01 -2.16428462e-01 1.75822476e+02] [ 5.60216096e-01 3.24310199e-01 7.62220979e-01 9.21558813e+01] [ 7.89205839e-01 7.05424943e-02 -6.10063849e-01 1.02388834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.91, Y:92.12, Z:102.39 [[-3.21667989e-01 8.94063943e-01 -3.11736059e-01 1.75905042e+02] [ 5.26163953e-01 4.42504596e-01 7.26182606e-01 9.21234866e+01] [ 7.87198323e-01 6.95654217e-02 -6.12763782e-01 1.02391690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.99, Y:92.10, Z:102.39 [[-3.86290770e-01 8.30642446e-01 -4.01014424e-01 1.75992244e+02] [ 4.83658380e-01 5.52608762e-01 6.78747470e-01 9.21010278e+01] [ 7.85400543e-01 6.82398963e-02 -6.15214844e-01 1.02393085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.08, Y:92.09, Z:102.39 [[-4.45784742e-01 7.53875961e-01 -4.82645833e-01 1.76080622e+02] [ 4.33282863e-01 6.53536471e-01 6.20609412e-01 9.20897114e+01] [ 7.83289171e-01 6.75360384e-02 -6.17978121e-01 1.02394155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.17, Y:92.09, Z:102.39 [[-4.98476078e-01 6.65458138e-01 -5.55596136e-01 1.76173581e+02] [ 3.76211718e-01 7.43457876e-01 5.52933205e-01 9.20871405e+01] [ 7.81016225e-01 6.66021980e-02 -6.20949116e-01 1.02389599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:92.10, Z:102.40 [[-5.44577943e-01 5.66331092e-01 -6.18630713e-01 1.76255850e+02] [ 3.12313496e-01 8.21481404e-01 4.77104374e-01 9.21020124e+01] [ 7.78392668e-01 6.66137981e-02 -6.24233496e-01 1.02398818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.35, Y:92.12, Z:102.39 [[-5.82931685e-01 4.58440200e-01 -6.70837710e-01 1.76347295e+02] [ 2.43134750e-01 8.86213108e-01 3.94349871e-01 9.21222813e+01] [ 7.75291006e-01 6.67750757e-02 -6.28064444e-01 1.02393189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.43, Y:92.16, Z:102.39 [[-6.12482759e-01 3.43693094e-01 -7.11856676e-01 1.76428902e+02] [ 1.69285589e-01 9.36669596e-01 3.06581893e-01 9.21554544e+01] [ 7.72144584e-01 6.72690466e-02 -6.31876267e-01 1.02394169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.50, Y:92.20, Z:102.40 [[-6.32413453e-01 2.24152906e-01 -7.41490862e-01 1.76503131e+02] [ 9.23487267e-02 9.72208111e-01 2.15135080e-01 9.21990043e+01] [ 7.69106583e-01 6.75785819e-02 -6.35537724e-01 1.02397853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.57, Y:92.25, Z:102.40 [[-6.42963834e-01 1.00946612e-01 -7.59214916e-01 1.76572556e+02] [ 1.22529404e-02 9.92504961e-01 1.21588516e-01 9.22521028e+01] [ 7.65798520e-01 6.88744037e-02 -6.39381688e-01 1.02400805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.81687500000004 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:176.64, Y:92.30, Z:102.37 [[-6.28563116e-01 3.99670323e-02 -7.76730999e-01 1.76638128e+02] [-5.93857800e-02 9.93297055e-01 9.91679830e-02 9.22987523e+01] [ 7.75488064e-01 1.08460113e-01 -6.21976419e-01 1.02373253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.51, Y:92.28, Z:102.26 [[-6.65139134e-01 2.13339929e-01 -7.15594862e-01 1.76514695e+02] [-1.35341828e-01 9.08002852e-01 3.96501464e-01 9.22803630e+01] [ 7.34351770e-01 3.60578557e-01 -5.75074415e-01 1.02255557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.73, Y:92.44, Z:102.42 [[-6.41987329e-01 -2.48620975e-01 -7.25286068e-01 1.76729689e+02] [-2.17549984e-01 9.66154952e-01 -1.38623997e-01 9.24388392e+01] [ 7.35203560e-01 6.87911228e-02 -6.74346726e-01 1.02421954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.76, Y:92.51, Z:102.42 [[-6.13865044e-01 -3.60406593e-01 -7.02336668e-01 1.76764353e+02] [-2.92455112e-01 9.30218252e-01 -2.21729590e-01 9.25123688e+01] [ 7.33239194e-01 6.92899043e-02 -6.76431219e-01 1.02423093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.79, Y:92.59, Z:102.42 [[-5.77450989e-01 -4.66877595e-01 -6.69757917e-01 1.76791683e+02] [-3.63694816e-01 8.81562847e-01 -3.00953531e-01 9.25900358e+01] [ 7.30942157e-01 6.98015685e-02 -6.78860298e-01 1.02422313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.81, Y:92.67, Z:102.43 [[-5.31340223e-01 -5.67267771e-01 -6.29193804e-01 1.76805579e+02] [-4.30783732e-01 8.20439910e-01 -3.75903884e-01 9.26681340e+01] [ 7.29453867e-01 7.13136012e-02 -6.80302452e-01 1.02426949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.81, Y:92.75, Z:102.43 [[-4.78689966e-01 -6.58933343e-01 -5.80226478e-01 1.76813332e+02] [-4.91245433e-01 7.48747485e-01 -4.45033851e-01 9.27487666e+01] [ 7.27690759e-01 7.20003686e-02 -6.82115903e-01 1.02428092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.81, Y:92.83, Z:102.42 [[-4.18363762e-01 -7.41603440e-01 -5.24400706e-01 1.76814348e+02] [-5.44985967e-01 6.66837531e-01 -5.08249941e-01 9.28329705e+01] [ 7.26609977e-01 7.31576679e-02 -6.83144126e-01 1.02424361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.80, Y:92.91, Z:102.43 [[-3.53938173e-01 -8.13461144e-01 -4.61528695e-01 1.76800133e+02] [-5.91051115e-01 5.76984983e-01 -5.63690438e-01 9.29072582e+01] [ 7.24835395e-01 7.32754861e-02 -6.85014127e-01 1.02431431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.78, Y:92.99, Z:102.43 [[-2.85112800e-01 -8.74124351e-01 -3.93214076e-01 1.76780951e+02] [-6.29308880e-01 4.80150756e-01 -6.11085579e-01 9.29852872e+01] [ 7.22966821e-01 7.32247894e-02 -6.86991343e-01 1.02430774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.75, Y:93.06, Z:102.43 [[-2.12837311e-01 -9.23103542e-01 -3.20281329e-01 1.76752241e+02] [-6.59713338e-01 3.77560157e-01 -6.49789689e-01 9.30578676e+01] [ 7.20748633e-01 7.29943743e-02 -6.89342607e-01 1.02433356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.72, Y:93.13, Z:102.44 [[-1.36996535e-01 -9.60029335e-01 -2.44081188e-01 1.76715145e+02] [-6.81205862e-01 2.70197067e-01 -6.80405848e-01 9.31270847e+01] [ 7.19159595e-01 7.30562924e-02 -6.90993672e-01 1.02435931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.67, Y:93.19, Z:102.44 [[-5.99197042e-02 -9.84426501e-01 -1.65269759e-01 1.76670465e+02] [-6.94630509e-01 1.60024814e-01 -7.01341939e-01 9.31900680e+01] [ 7.16866853e-01 7.27772154e-02 -6.93401321e-01 1.02439778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.62, Y:93.25, Z:102.44 [[ 1.82115220e-02 -9.96206799e-01 -8.50902655e-02 1.76619369e+02] [-6.99410075e-01 4.81229741e-02 -7.13098680e-01 9.32502145e+01] [ 7.14488550e-01 7.24996012e-02 -6.95880679e-01 1.02441733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.56, Y:93.30, Z:102.45 [[ 9.60498417e-02 -9.95365563e-01 -4.67159825e-03 1.76561398e+02] [-6.95626098e-01 -6.37674550e-02 -7.15568336e-01 9.32990789e+01] [ 7.11954184e-01 7.19799111e-02 -6.98527116e-01 1.02449070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.266875 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:175.65, Y:92.80, Z:102.10 [[ 5.16169288e-02 9.95815770e-01 -7.54098480e-02 1.75653185e+02] [-6.96751526e-01 9.00056968e-02 7.11643370e-01 9.28015320e+01] [ 7.15453006e-01 1.58090814e-02 6.98481974e-01 1.02097182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.66, Y:92.78, Z:102.12 [[ 5.22479050e-02 9.95756786e-01 -7.57534127e-02 1.75655931e+02] [-6.96147356e-01 9.07045891e-02 7.12145727e-01 9.27823443e+01] [ 7.15995122e-01 1.55274157e-02 6.97932579e-01 1.02116386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.66, Y:92.76, Z:102.14 [[ 5.33062726e-02 9.95680959e-01 -7.60122921e-02 1.75658593e+02] [-6.95442441e-01 9.16422895e-02 7.12714179e-01 9.27623625e+01] [ 7.16601878e-01 1.48700376e-02 6.97323906e-01 1.02136359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.66, Y:92.74, Z:102.16 [[ 5.40415982e-02 9.95616631e-01 -7.63349862e-02 1.75660963e+02] [-6.95019872e-01 9.23940601e-02 7.13029252e-01 9.27435906e+01] [ 7.16956681e-01 1.45210920e-02 6.96966466e-01 1.02155589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.69, Y:92.70, Z:102.14 [[ 6.27948422e-02 9.90122020e-01 -1.25360251e-01 1.75690143e+02] [-7.04028061e-01 1.32975629e-01 6.97611620e-01 9.27011356e+01] [ 7.07390485e-01 4.44507226e-02 7.05423869e-01 1.02140457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.66, Y:92.71, Z:102.21 [[ 5.59841023e-02 9.97165668e-01 -5.02634243e-02 1.75657491e+02] [-6.94263561e-01 7.50588348e-02 7.15796255e-01 9.27127813e+01] [ 7.17540165e-01 -5.17714687e-03 6.96497889e-01 1.02205551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.54, Y:93.22, Z:102.59 [[ 1.70095034e-01 -9.82509624e-01 7.57794032e-02 1.76537344e+02] [-6.83957977e-01 -1.73069381e-01 -7.08694909e-01 9.32151757e+01] [ 7.09414664e-01 6.87155570e-02 -7.01433537e-01 1.02590709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.50, Y:93.24, Z:102.61 [[ 2.45200136e-01 -9.57157590e-01 1.54033245e-01 1.76501215e+02] [-6.62534068e-01 -2.81432874e-01 -6.94149945e-01 9.32408661e+01] [ 7.07760908e-01 6.81533888e-02 -7.03156891e-01 1.02611440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.46, Y:93.26, Z:102.63 [[ 3.17681300e-01 -9.19936278e-01 2.29773444e-01 1.76462444e+02] [-6.32970457e-01 -3.86175383e-01 -6.70982097e-01 9.32628910e+01] [ 7.05993621e-01 6.77186632e-02 -7.04973184e-01 1.02631852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.42, Y:93.28, Z:102.65 [[ 3.86840618e-01 -8.71321426e-01 3.01916063e-01 1.76423619e+02] [-5.95643977e-01 -4.86040580e-01 -6.39509818e-01 9.32801284e+01] [ 7.03962065e-01 6.75538886e-02 -7.07017598e-01 1.02652612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.38, Y:93.29, Z:102.67 [[ 4.51564689e-01 -8.12008753e-01 3.69771709e-01 1.76383689e+02] [-5.50744392e-01 -5.79727257e-01 -6.00497229e-01 9.32940110e+01] [ 7.01975745e-01 6.75136493e-02 -7.08993625e-01 1.02672471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:93.30, Z:102.69 [[ 5.10908468e-01 -7.42922043e-01 4.32480491e-01 1.76341201e+02] [-4.99044941e-01 -6.65970309e-01 -5.54470643e-01 9.33018530e+01] [ 6.99947630e-01 6.74565458e-02 -7.11001357e-01 1.02693872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:93.31, Z:102.71 [[ 5.64412945e-01 -6.64989185e-01 4.89108793e-01 1.76299683e+02] [-4.41442302e-01 -7.43810065e-01 -5.01871777e-01 9.33061502e+01] [ 6.97543348e-01 6.73496163e-02 -7.13370386e-01 1.02714012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:93.30, Z:102.73 [[ 6.11120701e-01 -5.79241509e-01 5.39454135e-01 1.76257983e+02] [-3.78154623e-01 -8.12374819e-01 -4.43898901e-01 9.33041552e+01] [ 6.95363624e-01 6.72787329e-02 -7.15501923e-01 1.02734795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.22, Y:93.30, Z:102.75 [[ 6.50337467e-01 -4.87039496e-01 5.82969732e-01 1.76217118e+02] [-3.10524676e-01 -8.70819623e-01 -3.81113644e-01 9.32996592e+01] [ 6.93278880e-01 6.68259944e-02 -7.17564409e-01 1.02754255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.18, Y:93.29, Z:102.77 [[ 6.82149374e-01 -3.89346975e-01 6.18935509e-01 1.76177998e+02] [-2.39207218e-01 -9.18699711e-01 -3.14278139e-01 9.32903522e+01] [ 6.90979116e-01 6.63307941e-02 -7.19825039e-01 1.02774787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.14, Y:93.28, Z:102.79 [[ 7.06363029e-01 -2.87221663e-01 6.46958259e-01 1.76140556e+02] [-1.64794420e-01 -9.55590395e-01 -2.44314953e-01 9.32772706e+01] [ 6.88399645e-01 6.59599389e-02 -7.22326253e-01 1.02794280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.10, Y:93.26, Z:102.81 [[ 7.22121142e-01 -1.81829010e-01 6.67442333e-01 1.76104502e+02] [-8.78339985e-02 -9.81128492e-01 -1.72255832e-01 9.32612994e+01] [ 6.86167797e-01 6.57654494e-02 -7.24464395e-01 1.02813726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.07, Y:93.24, Z:102.83 [[ 7.29425617e-01 -7.44128874e-02 6.80000729e-01 1.76071319e+02] [-9.33230980e-03 -9.95055710e-01 -9.88789273e-02 9.32413974e+01] [ 6.83996475e-01 6.57788450e-02 -7.26513569e-01 1.02834349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.04, Y:93.21, Z:102.85 [[ 7.28634302e-01 3.37298663e-02 6.84071890e-01 1.76041541e+02] [ 6.96784131e-02 -9.97255058e-01 -2.50453241e-02 9.32145091e+01] [ 6.81349376e-01 6.59139259e-02 -7.28984487e-01 1.02854030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.02, Y:93.18, Z:102.87 [[ 7.19088472e-01 1.41124331e-01 6.80437868e-01 1.76015073e+02] [ 1.48079969e-01 -9.87791380e-01 4.83788453e-02 9.31812987e+01] [ 6.78958093e-01 6.59705487e-02 -7.31207081e-01 1.02874013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.99, Y:93.15, Z:102.89 [[ 7.00846723e-01 2.46322937e-01 6.69431760e-01 1.75991413e+02] [ 2.24577568e-01 -9.66954338e-01 1.20682324e-01 9.31468531e+01] [ 6.77036770e-01 6.57595457e-02 -7.33005385e-01 1.02893185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.98, Y:93.13, Z:102.89 [[ 6.74784034e-01 2.83750786e-01 6.81287016e-01 1.75981852e+02] [ 2.93938695e-01 -9.50086831e-01 1.04570827e-01 9.31262119e+01] [ 6.76953877e-01 1.29693892e-01 -7.24508760e-01 1.02892179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.10, Y:93.21, Z:102.74 [[ 6.77993751e-01 7.11619380e-02 7.31614961e-01 1.76096416e+02] [ 3.66324443e-01 -8.95611257e-01 -2.52362596e-01 9.32139116e+01] [ 6.37283983e-01 4.39108706e-01 -6.33287193e-01 1.02739082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.73, Y:92.43, Z:102.55 [[ 6.83362071e-01 -4.49228983e-01 -5.75508125e-01 1.76728637e+02] [ 3.35734336e-01 8.93350328e-01 -2.98676492e-01 9.24309981e+01] [ 6.48304509e-01 1.08863481e-02 7.61303324e-01 1.02546118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.75, Y:92.47, Z:102.53 [[ 6.87002578e-01 -4.77966827e-01 -5.47334605e-01 1.76751404e+02] [ 3.46652204e-01 8.77563180e-01 -3.31232722e-01 9.24684793e+01] [ 6.38638949e-01 3.78229867e-02 7.68576421e-01 1.02531834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.76, Y:92.44, Z:102.59 [[ 6.82504116e-01 -4.38668347e-01 -5.84600901e-01 1.76762946e+02] [ 3.37053756e-01 8.98632875e-01 -2.80809047e-01 9.24432853e+01] [ 6.48523629e-01 -5.38859877e-03 7.61175450e-01 1.02589792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.78, Y:92.46, Z:102.60 [[ 6.82371818e-01 -4.51024819e-01 -5.75278467e-01 1.76784045e+02] [ 3.37898323e-01 8.92460060e-01 -2.98897583e-01 9.24624658e+01] [ 6.48223283e-01 9.57365793e-03 7.61390124e-01 1.02600730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.81, Y:92.50, Z:102.59 [[ 6.85726233e-01 -4.73940455e-01 -5.52412870e-01 1.76805985e+02] [ 3.46164943e-01 8.79981718e-01 -3.25272206e-01 9.24953661e+01] [ 6.40272883e-01 3.18217151e-02 7.67488119e-01 1.02591079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.82, Y:92.50, Z:102.61 [[ 6.85698160e-01 -4.68919097e-01 -5.56716188e-01 1.76823871e+02] [ 3.45832447e-01 8.82878484e-01 -3.17687742e-01 9.25033974e+01] [ 6.40482593e-01 2.53073790e-02 7.67555591e-01 1.02609868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.84, Y:92.48, Z:102.66 [[ 6.80797069e-01 -4.37831259e-01 -5.87213028e-01 1.76836074e+02] [ 3.36325905e-01 8.99032949e-01 -2.80400860e-01 9.24849895e+01] [ 6.50692122e-01 -6.59886923e-03 7.59312991e-01 1.02661142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.86, Y:92.50, Z:102.67 [[ 6.80590818e-01 -4.50189102e-01 -5.78036253e-01 1.76856581e+02] [ 3.36435746e-01 8.92885717e-01 -2.99275934e-01 9.25030406e+01] [ 6.50851079e-01 9.21239486e-03 7.59149527e-01 1.02671676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.88, Y:92.54, Z:102.66 [[ 6.83517804e-01 -4.75203281e-01 -5.54062499e-01 1.76880034e+02] [ 3.44701120e-01 8.79227078e-01 -3.28847811e-01 9.25384023e+01] [ 6.43416311e-01 3.37873696e-02 7.64770465e-01 1.02660533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.89, Y:92.52, Z:102.71 [[ 6.79013705e-01 -4.39334510e-01 -5.88154382e-01 1.76891959e+02] [ 3.36769305e-01 8.98300405e-01 -2.82210590e-01 9.25165512e+01] [ 6.52324171e-01 -6.44748440e-03 7.57912664e-01 1.02714985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.91, Y:92.53, Z:102.73 [[ 6.78866636e-01 -4.51256519e-01 -5.79230217e-01 1.76912323e+02] [ 3.37191597e-01 8.92355188e-01 -3.00006743e-01 9.25340857e+01] [ 6.52259088e-01 8.35300678e-03 7.57950070e-01 1.02725812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.93, Y:92.54, Z:102.74 [[ 6.78332413e-01 -4.52118554e-01 -5.79183865e-01 1.76931025e+02] [ 3.38190040e-01 8.91924298e-01 -3.00164194e-01 9.25441330e+01] [ 6.52297964e-01 7.73688777e-03 7.57923154e-01 1.02744915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.95, Y:92.55, Z:102.76 [[ 6.78368835e-01 -4.52706688e-01 -5.78681586e-01 1.76949196e+02] [ 3.38964028e-01 8.91628167e-01 -3.00170950e-01 9.25537073e+01] [ 6.51858199e-01 7.47437615e-03 7.58304044e-01 1.02762225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.97, Y:92.56, Z:102.78 [[ 6.77917123e-01 -4.53299089e-01 -5.78747191e-01 1.76967721e+02] [ 3.39585025e-01 8.91330352e-01 -3.00353481e-01 9.25633852e+01] [ 6.52004897e-01 7.08088853e-03 7.58181690e-01 1.02780718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.99, Y:92.57, Z:102.80 [[ 6.77868763e-01 -4.53863584e-01 -5.78361295e-01 1.76986375e+02] [ 3.40278046e-01 8.91044935e-01 -3.00416004e-01 9.25730735e+01] [ 6.51693786e-01 6.83897415e-03 7.58451341e-01 1.02798498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.01, Y:92.58, Z:102.82 [[ 6.77376537e-01 -4.54897664e-01 -5.78125542e-01 1.77005405e+02] [ 3.41619861e-01 8.90523429e-01 -3.00439500e-01 9.25835197e+01] [ 6.51503567e-01 6.01150074e-03 7.58621753e-01 1.02816837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.02, Y:92.59, Z:102.83 [[ 6.77117733e-01 -4.55682240e-01 -5.77810758e-01 1.77024104e+02] [ 3.42571231e-01 8.90125167e-01 -3.00536417e-01 9.25936611e+01] [ 6.51273005e-01 5.55719468e-03 7.58823161e-01 1.02834784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.04, Y:92.60, Z:102.85 [[ 6.76850651e-01 -4.56148094e-01 -5.77756102e-01 1.77042963e+02] [ 3.42984817e-01 8.89887412e-01 -3.00768698e-01 9.26042732e+01] [ 6.51332950e-01 5.41391791e-03 7.58772744e-01 1.02853279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.06, Y:92.61, Z:102.87 [[ 6.76630246e-01 -4.56192026e-01 -5.77979537e-01 1.77061676e+02] [ 3.42710910e-01 8.89863176e-01 -3.01152387e-01 9.26142199e+01] [ 6.51706024e-01 5.68892090e-03 7.58450324e-01 1.02871802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.09, Y:92.65, Z:102.86 [[ 6.80218957e-01 -4.80121890e-01 -5.53881884e-01 1.77088181e+02] [ 3.49525753e-01 8.76642523e-01 -3.30650320e-01 9.26477071e+01] [ 6.44308869e-01 3.13186331e-02 7.64123828e-01 1.02864426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.10, Y:92.63, Z:102.92 [[ 6.75662212e-01 -4.41564952e-01 -5.90339706e-01 1.77096538e+02] [ 3.41758257e-01 8.97140252e-01 -2.79894019e-01 9.26254147e+01] [ 6.53208901e-01 -1.26396568e-02 7.57072236e-01 1.02917675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.616875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:177.12, Y:92.66, Z:102.91 [[ 6.78951210e-01 -4.76183935e-01 -5.58814920e-01 1.77123750e+02] [ 3.46883832e-01 8.78884053e-01 -3.27466684e-01 9.26649650e+01] [ 6.47067896e-01 2.84900409e-02 7.61899899e-01 1.02905647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.13, Y:92.65, Z:102.95 [[ 6.75018296e-01 -4.42964036e-01 -5.90028104e-01 1.77133799e+02] [ 3.39566202e-01 8.96501298e-01 -2.84570233e-01 9.26482507e+01] [ 6.55015340e-01 -8.26348868e-03 7.55570393e-01 1.02953140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.15, Y:92.67, Z:102.96 [[ 6.75723107e-01 -4.54311174e-01 -5.80516700e-01 1.77154713e+02] [ 3.38489875e-01 8.90804034e-01 -3.03138216e-01 9.26676186e+01] [ 6.54845697e-01 8.33847248e-03 7.55716602e-01 1.02964765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.17, Y:92.68, Z:102.98 [[ 6.76464421e-01 -4.53935668e-01 -5.79946805e-01 1.77172861e+02] [ 3.38020436e-01 8.90988852e-01 -3.03118872e-01 9.26775755e+01] [ 6.54322606e-01 9.01526080e-03 7.56161790e-01 1.02982668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.19, Y:92.69, Z:103.00 [[ 6.76855036e-01 -4.53684557e-01 -5.79687487e-01 1.77191348e+02] [ 3.37677125e-01 8.91112413e-01 -3.03138297e-01 9.26881735e+01] [ 6.54095879e-01 9.43347906e-03 7.56352821e-01 1.03001640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.21, Y:92.70, Z:103.02 [[ 6.77992078e-01 -4.53160318e-01 -5.78768061e-01 1.77209355e+02] [ 3.37181380e-01 8.91370270e-01 -3.02931938e-01 9.26991247e+01] [ 6.53173376e-01 1.02356400e-02 7.57139203e-01 1.03020901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.23, Y:92.71, Z:103.04 [[ 6.78639757e-01 -4.52917323e-01 -5.78198910e-01 1.77227820e+02] [ 3.36890051e-01 8.91487367e-01 -3.02911484e-01 9.27097935e+01] [ 6.52650882e-01 1.07783151e-02 7.57582110e-01 1.03039049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.25, Y:92.72, Z:103.06 [[ 6.79156304e-01 -4.52606684e-01 -5.77835534e-01 1.77245699e+02] [ 3.36411408e-01 8.91637450e-01 -3.03001687e-01 9.27203216e+01] [ 6.52360391e-01 1.13950400e-02 7.57823247e-01 1.03057060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.26, Y:92.73, Z:103.07 [[ 6.79738138e-01 -4.52197322e-01 -5.77471771e-01 1.77262744e+02] [ 3.35912313e-01 8.91837765e-01 -3.02965872e-01 9.27315536e+01] [ 6.52011490e-01 1.19575794e-02 7.58114789e-01 1.03074624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.28, Y:92.74, Z:103.09 [[ 6.79918571e-01 -4.52018728e-01 -5.77399175e-01 1.77281485e+02] [ 3.35580845e-01 8.91923557e-01 -3.03080626e-01 9.27423800e+01] [ 6.51994044e-01 1.23060431e-02 7.58124216e-01 1.03092822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.30, Y:92.75, Z:103.11 [[ 6.80257159e-01 -4.51421586e-01 -5.77467532e-01 1.77298992e+02] [ 3.34527038e-01 8.92213050e-01 -3.03393365e-01 9.27537951e+01] [ 6.52182382e-01 1.32070057e-02 7.57947040e-01 1.03110434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.33, Y:92.78, Z:103.11 [[ 6.83631173e-01 -4.66764122e-01 -5.61052292e-01 1.77325969e+02] [ 3.37097414e-01 8.83776611e-01 -3.24506140e-01 9.27791582e+01] [ 6.47312717e-01 3.27132363e-02 7.61522220e-01 1.03114026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.34, Y:92.78, Z:103.14 [[ 6.82780390e-01 -4.51777149e-01 -5.74202356e-01 1.77341980e+02] [ 3.36209859e-01 8.92033354e-01 -3.02058648e-01 9.27803702e+01] [ 6.48670848e-01 1.31872284e-02 7.60954813e-01 1.03140867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.36, Y:92.80, Z:103.15 [[ 6.84040855e-01 -4.59838587e-01 -5.66247810e-01 1.77363407e+02] [ 3.37156489e-01 8.87689166e-01 -3.13581644e-01 9.27983453e+01] [ 6.46848986e-01 2.35885319e-02 7.62253219e-01 1.03151269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.38, Y:92.81, Z:103.17 [[ 6.83606813e-01 -4.54986876e-01 -5.70673871e-01 1.77382193e+02] [ 3.36859393e-01 8.90332648e-01 -3.06322582e-01 9.28053175e+01] [ 6.47462334e-01 1.71673500e-02 7.61904068e-01 1.03173467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.39, Y:92.80, Z:103.22 [[ 6.77693472e-01 -4.29225856e-01 -5.97073465e-01 1.77388695e+02] [ 3.30771987e-01 9.03118244e-01 -2.73801625e-01 9.27958216e+01] [ 6.56750676e-01 -1.19416024e-02 7.54013228e-01 1.03215911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.41, Y:92.82, Z:103.22 [[ 6.78257265e-01 -4.50129361e-01 -5.80818940e-01 1.77411136e+02] [ 3.30566736e-01 8.92829043e-01 -3.05911643e-01 9.28199075e+01] [ 6.56271831e-01 1.54873727e-02 7.54365578e-01 1.03222366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.43, Y:92.83, Z:103.24 [[ 6.77925634e-01 -4.49990645e-01 -5.81313388e-01 1.77428472e+02] [ 3.29904892e-01 8.92890468e-01 -3.06446365e-01 9.28310655e+01] [ 6.56947180e-01 1.59697157e-02 7.53767451e-01 1.03240668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.45, Y:92.84, Z:103.26 [[ 6.77695237e-01 -4.50104279e-01 -5.81494027e-01 1.77446612e+02] [ 3.29832698e-01 8.92831750e-01 -3.06695055e-01 9.28419411e+01] [ 6.57221087e-01 1.60500340e-02 7.53526934e-01 1.03259161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.46, Y:92.85, Z:103.28 [[ 6.77754122e-01 -4.49898877e-01 -5.81584345e-01 1.77464370e+02] [ 3.29281483e-01 8.92925682e-01 -3.07013731e-01 9.28521666e+01] [ 6.57436731e-01 1.65748661e-02 7.53327431e-01 1.03276981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.48, Y:92.86, Z:103.30 [[ 6.77617067e-01 -4.50004900e-01 -5.81662015e-01 1.77482254e+02] [ 3.29250308e-01 8.92870741e-01 -3.07206893e-01 9.28629390e+01] [ 6.57593602e-01 1.66562360e-02 7.53188705e-01 1.03295888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.50, Y:92.87, Z:103.31 [[ 6.78000626e-01 -4.49850874e-01 -5.81334106e-01 1.77500254e+02] [ 3.28971931e-01 8.92939774e-01 -3.07304458e-01 9.28736122e+01] [ 6.57337523e-01 1.71100117e-02 7.53402036e-01 1.03314984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.52, Y:92.88, Z:103.33 [[ 6.78537650e-01 -4.49959663e-01 -5.80622906e-01 1.77518718e+02] [ 3.29224177e-01 8.92881408e-01 -3.07203895e-01 9.28847164e+01] [ 6.56656758e-01 1.72943108e-02 7.53991252e-01 1.03333821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.54, Y:92.89, Z:103.35 [[ 6.78696990e-01 -4.50177744e-01 -5.80267520e-01 1.77536592e+02] [ 3.29445852e-01 8.92769599e-01 -3.07291188e-01 9.28948604e+01] [ 6.56380855e-01 1.73908766e-02 7.54229230e-01 1.03351376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.55, Y:92.91, Z:103.37 [[ 6.78642682e-01 -4.50553479e-01 -5.80039372e-01 1.77554456e+02] [ 3.29889029e-01 8.92583012e-01 -3.07357766e-01 9.29053559e+01] [ 6.56214400e-01 1.72374737e-02 7.54377578e-01 1.03369480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.57, Y:92.92, Z:103.39 [[ 6.78382980e-01 -4.51019259e-01 -5.79981173e-01 1.77572259e+02] [ 3.30398911e-01 8.92353012e-01 -3.07477905e-01 9.29160314e+01] [ 6.56226403e-01 1.69626292e-02 7.54373368e-01 1.03386538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.59, Y:92.93, Z:103.41 [[ 6.77701474e-01 -4.51636396e-01 -5.80297577e-01 1.77590677e+02] [ 3.30895146e-01 8.92047661e-01 -3.07830103e-01 9.29263329e+01] [ 6.56680375e-01 1.65992633e-02 7.53986306e-01 1.03405089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.62, Y:92.96, Z:103.40 [[ 6.81492580e-01 -4.76839803e-01 -5.55150129e-01 1.77616314e+02] [ 3.39324049e-01 8.78000694e-01 -3.37600312e-01 9.29581680e+01] [ 6.48403465e-01 4.16963177e-02 7.60154171e-01 1.03397387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.63, Y:92.96, Z:103.42 [[ 6.81287391e-01 -4.70008228e-01 -5.61194936e-01 1.77634885e+02] [ 3.41290562e-01 8.82167299e-01 -3.24502094e-01 9.29641180e+01] [ 6.47586475e-01 2.95486502e-02 7.61418830e-01 1.03417438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.64, Y:92.95, Z:103.47 [[ 6.74523459e-01 -4.36091991e-01 -5.95686057e-01 1.77644542e+02] [ 3.33289676e-01 8.99859616e-01 -2.81372820e-01 9.29451920e+01] [ 6.58738259e-01 -8.74344478e-03 7.52321379e-01 1.03470066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.67, Y:92.99, Z:103.46 [[ 6.78224919e-01 -4.76540171e-01 -5.59392908e-01 1.77673467e+02] [ 3.40387603e-01 8.78366002e-01 -3.35573311e-01 9.29864284e+01] [ 6.51265875e-01 3.71837708e-02 7.57938076e-01 1.03455955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.69, Y:92.99, Z:103.48 [[ 6.76146109e-01 -4.67006288e-01 -5.69852233e-01 1.77692166e+02] [ 3.42652768e-01 8.84034574e-01 -3.17918153e-01 9.29892346e+01] [ 6.52238852e-01 1.96976769e-02 7.57757534e-01 1.03480036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.70, Y:92.98, Z:103.52 [[ 6.70375870e-01 -4.42992846e-01 -5.95276013e-01 1.77703102e+02] [ 3.37247263e-01 8.96488379e-01 -2.87354953e-01 9.29769311e+01] [ 6.60954216e-01 -8.11937917e-03 7.50382302e-01 1.03524063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.72, Y:93.00, Z:103.53 [[ 6.69519040e-01 -4.59813411e-01 -5.83365993e-01 1.77724715e+02] [ 3.39557026e-01 8.87963706e-01 -3.10195878e-01 9.29954717e+01] [ 6.60640054e-01 9.59602523e-03 7.50641482e-01 1.03534148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.74, Y:93.01, Z:103.55 [[ 6.68827666e-01 -4.60844130e-01 -5.83345730e-01 1.77743166e+02] [ 3.40683463e-01 8.87436317e-01 -3.10469903e-01 9.30050010e+01] [ 6.60760418e-01 8.91461707e-03 7.50543935e-01 1.03552844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.76, Y:93.01, Z:103.57 [[ 6.68471203e-01 -4.61770984e-01 -5.83021277e-01 1.77761347e+02] [ 3.41823067e-01 8.86960144e-01 -3.10577999e-01 9.30143070e+01] [ 6.60532543e-01 8.32232736e-03 7.50751289e-01 1.03570060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.78, Y:93.02, Z:103.59 [[ 6.68046217e-01 -4.63106672e-01 -5.82448678e-01 1.77780449e+02] [ 3.43733666e-01 8.86273516e-01 -3.10429415e-01 9.30236905e+01] [ 6.59970771e-01 7.17397690e-03 7.51257023e-01 1.03588970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.80, Y:93.03, Z:103.61 [[ 6.67950826e-01 -4.63600391e-01 -5.82165244e-01 1.77799458e+02] [ 3.44281772e-01 8.86016695e-01 -3.10555112e-01 9.30335340e+01] [ 6.59781597e-01 7.00666158e-03 7.51424747e-01 1.03607402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.82, Y:93.04, Z:103.63 [[ 6.67712881e-01 -4.64132076e-01 -5.82014539e-01 1.77817369e+02] [ 3.44814534e-01 8.85739848e-01 -3.10753696e-01 9.30430375e+01] [ 6.59744228e-01 6.80717356e-03 7.51459391e-01 1.03625037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.84, Y:93.05, Z:103.64 [[ 6.68396345e-01 -4.63635111e-01 -5.81626005e-01 1.77835945e+02] [ 3.44174716e-01 8.85994363e-01 -3.10737434e-01 9.30526302e+01] [ 6.59386147e-01 7.51479988e-03 7.51766877e-01 1.03643225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.86, Y:93.09, Z:103.63 [[ 6.73077179e-01 -4.88187097e-01 -5.55554200e-01 1.77860688e+02] [ 3.51400855e-01 8.72075640e-01 -3.40589954e-01 9.30855202e+01] [ 6.50756906e-01 3.40211039e-02 7.58523575e-01 1.03633875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.87, Y:93.06, Z:103.69 [[ 6.68901347e-01 -4.48915473e-01 -5.92491254e-01 1.77869697e+02] [ 3.42381469e-01 8.93533209e-01 -2.90470883e-01 9.30637050e+01] [ 6.59807485e-01 -8.56166067e-03 7.51385906e-01 1.03687723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.89, Y:93.08, Z:103.70 [[ 6.70787140e-01 -4.60192851e-01 -5.81607387e-01 1.77890655e+02] [ 3.39330536e-01 8.87747069e-01 -3.11062581e-01 9.30835293e+01] [ 6.59469029e-01 1.12996329e-02 7.51646804e-01 1.03698498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.91, Y:93.09, Z:103.72 [[ 6.71533286e-01 -4.59250536e-01 -5.81491178e-01 1.77909428e+02] [ 3.37895448e-01 8.88218104e-01 -3.11280045e-01 9.30946009e+01] [ 6.59446519e-01 1.25516895e-02 7.51646688e-01 1.03716822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.93, Y:93.11, Z:103.74 [[ 6.72911834e-01 -4.56843031e-01 -5.81793871e-01 1.77928037e+02] [ 3.34315070e-01 8.89416420e-01 -3.11724023e-01 9.31054401e+01] [ 6.59865970e-01 1.52603258e-02 7.51228344e-01 1.03735212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.95, Y:93.14, Z:103.73 [[ 6.77961331e-01 -4.79639711e-01 -5.57058508e-01 1.77952980e+02] [ 3.40465749e-01 8.76503811e-01 -3.40329462e-01 9.31379725e+01] [ 6.51499430e-01 4.10708729e-02 7.57536584e-01 1.03728504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.97, Y:93.14, Z:103.75 [[ 6.78946441e-01 -4.66759744e-01 -5.66716041e-01 1.77970383e+02] [ 3.38935251e-01 8.83985554e-01 -3.22013099e-01 9.31403828e+01] [ 6.51271546e-01 2.65496042e-02 7.58380177e-01 1.03752789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.98, Y:93.13, Z:103.80 [[ 6.74317561e-01 -4.38940385e-01 -5.93824188e-01 1.77981227e+02] [ 3.30198838e-01 8.98515556e-01 -2.89203256e-01 9.31271084e+01] [ 6.60503258e-01 -1.06522295e-03 7.50822423e-01 1.03798891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.01, Y:93.17, Z:103.79 [[ 6.79741214e-01 -4.74463105e-01 -5.59318018e-01 1.78007986e+02] [ 3.35627392e-01 8.79271842e-01 -3.37987104e-01 9.31677777e+01] [ 6.52154994e-01 4.20213162e-02 7.56920123e-01 1.03785668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.02, Y:93.15, Z:103.83 [[ 6.75249685e-01 -4.41093388e-01 -5.91163671e-01 1.78018875e+02] [ 3.27920633e-01 8.97445058e-01 -2.95060041e-01 9.31502239e+01] [ 6.60685948e-01 5.38443435e-03 7.50643115e-01 1.03833929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.04, Y:93.17, Z:103.85 [[ 6.76029957e-01 -4.52287534e-01 -5.81738330e-01 1.78038818e+02] [ 3.27658350e-01 8.91633814e-01 -3.12456632e-01 9.31674353e+01] [ 6.60017806e-01 2.06186224e-02 7.50966956e-01 1.03845185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.06, Y:93.18, Z:103.86 [[ 6.76423623e-01 -4.52023586e-01 -5.81485821e-01 1.78056746e+02] [ 3.27300768e-01 8.91757653e-01 -3.12477992e-01 9.31774494e+01] [ 6.59791854e-01 2.10467396e-02 7.51153609e-01 1.03863988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.08, Y:93.19, Z:103.88 [[ 6.76768443e-01 -4.51850638e-01 -5.81218956e-01 1.78075487e+02] [ 3.26959635e-01 8.91833641e-01 -3.12618222e-01 9.31879189e+01] [ 6.59607361e-01 2.15350099e-02 7.51301785e-01 1.03882381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.09, Y:93.20, Z:103.90 [[ 6.76858944e-01 -4.51945596e-01 -5.81039713e-01 1.78093788e+02] [ 3.26927847e-01 8.91779902e-01 -3.12804716e-01 9.31983659e+01] [ 6.59530252e-01 2.17666072e-02 7.51362803e-01 1.03899862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.12, Y:93.23, Z:103.89 [[ 6.81248118e-01 -4.74382485e-01 -5.57550231e-01 1.78118008e+02] [ 3.33879278e-01 8.79141997e-01 -3.40049963e-01 9.32301946e+01] [ 6.51479570e-01 4.55039285e-02 7.57300312e-01 1.03893774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.13, Y:93.23, Z:103.92 [[ 6.80228819e-01 -4.62122827e-01 -5.68973855e-01 1.78134595e+02] [ 3.33428472e-01 8.86347363e-01 -3.21269055e-01 9.32312333e+01] [ 6.52774240e-01 2.88243866e-02 7.57003928e-01 1.03920114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.15, Y:93.22, Z:103.96 [[ 6.75760973e-01 -4.40009871e-01 -5.91386862e-01 1.78148257e+02] [ 3.26286153e-01 8.97968856e-01 -2.95278309e-01 9.32215395e+01] [ 6.60972355e-01 6.57621301e-03 7.50381436e-01 1.03962955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.17, Y:93.24, Z:103.97 [[ 6.75932406e-01 -4.52051231e-01 -5.82035280e-01 1.78168312e+02] [ 3.26028314e-01 8.91709578e-01 -3.13941982e-01 9.32394556e+01] [ 6.60924293e-01 2.24435776e-02 7.50116901e-01 1.03974023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.19, Y:93.26, Z:103.98 [[ 6.78781861e-01 -4.67627830e-01 -5.66197313e-01 1.78189673e+02] [ 3.31587071e-01 8.83128819e-01 -3.31863681e-01 9.32645190e+01] [ 6.55213858e-01 3.75193386e-02 7.54511166e-01 1.03975512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.20, Y:93.26, Z:104.02 [[ 6.75617707e-01 -4.45233347e-01 -5.87629118e-01 1.78203926e+02] [ 3.25480454e-01 8.95301716e-01 -3.04133706e-01 9.32560354e+01] [ 6.61515826e-01 1.42163243e-02 7.49796445e-01 1.04015052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.22, Y:93.27, Z:104.03 [[ 6.75885236e-01 -4.51535289e-01 -5.82490370e-01 1.78222416e+02] [ 3.24861486e-01 8.91948500e-01 -3.14472395e-01 9.32708243e+01] [ 6.61546796e-01 2.33185616e-02 7.49541248e-01 1.04029499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.24, Y:93.28, Z:104.05 [[ 6.76134316e-01 -4.51405572e-01 -5.82301809e-01 1.78241372e+02] [ 3.24647325e-01 8.92006178e-01 -3.14529955e-01 9.32812842e+01] [ 6.61397385e-01 2.36217713e-02 7.49663598e-01 1.04047986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.26, Y:93.31, Z:104.05 [[ 6.79557365e-01 -4.69788137e-01 -5.63472177e-01 1.78263491e+02] [ 3.30497048e-01 8.81755965e-01 -3.36568151e-01 9.33082757e+01] [ 6.54960677e-01 4.24914749e-02 7.54467353e-01 1.04047121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.28, Y:93.31, Z:104.07 [[ 6.78932990e-01 -4.57197940e-01 -5.74473705e-01 1.78279803e+02] [ 3.28397119e-01 8.88919200e-01 -3.19339924e-01 9.33104320e+01] [ 6.56662262e-01 2.81549002e-02 7.53659057e-01 1.04073950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.30, Y:93.31, Z:104.11 [[ 6.76364496e-01 -4.42657253e-01 -5.88715232e-01 1.78295170e+02] [ 3.22689438e-01 8.96561477e-01 -3.03395856e-01 9.33082033e+01] [ 6.62119774e-01 1.52339976e-02 7.49243172e-01 1.04108726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.32, Y:93.34, Z:104.11 [[ 6.79554824e-01 -4.64233088e-01 -5.68060632e-01 1.78317931e+02] [ 3.26944663e-01 8.84815119e-01 -3.31978001e-01 9.33363536e+01] [ 6.56743808e-01 3.98728602e-02 7.53058913e-01 1.04108272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.33, Y:93.34, Z:104.13 [[ 6.78740486e-01 -4.54425441e-01 -5.76895893e-01 1.78334347e+02] [ 3.26253200e-01 8.90366789e-01 -3.17499340e-01 9.33398032e+01] [ 6.57928722e-01 2.72855250e-02 7.52585741e-01 1.04133708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.35, Y:93.35, Z:104.15 [[ 6.79220123e-01 -4.58574558e-01 -5.73035252e-01 1.78353184e+02] [ 3.27452201e-01 8.88098946e-01 -3.22576066e-01 9.33523073e+01] [ 6.56837180e-01 3.14585002e-02 7.53375923e-01 1.04149002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.37, Y:93.36, Z:104.17 [[ 6.79018299e-01 -4.59709324e-01 -5.72364820e-01 1.78372393e+02] [ 3.29173535e-01 8.87546559e-01 -3.22344366e-01 9.33627567e+01] [ 6.56185137e-01 3.04703723e-02 7.53984498e-01 1.04167668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.686875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.39, Y:93.36, Z:104.20 [[ 6.75554679e-01 -4.42495343e-01 -5.89765841e-01 1.78386575e+02] [ 3.25434544e-01 8.96706398e-01 -3.00016657e-01 9.33577221e+01] [ 6.61602776e-01 1.07474795e-02 7.49777473e-01 1.04203432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.41, Y:93.39, Z:104.20 [[ 6.77805944e-01 -4.67717153e-01 -5.67291607e-01 1.78410318e+02] [ 3.31159538e-01 8.83084725e-01 -3.32407475e-01 9.33881567e+01] [ 6.56439230e-01 3.74437354e-02 7.53449072e-01 1.04201579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.43, Y:93.40, Z:104.22 [[ 6.76636978e-01 -4.65242269e-01 -5.70711863e-01 1.78428802e+02] [ 3.33530141e-01 8.84672714e-01 -3.25748115e-01 9.33975090e+01] [ 6.56445005e-01 3.00636120e-02 7.53774591e-01 1.04219956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.45, Y:93.40, Z:104.24 [[ 6.75170474e-01 -4.60545726e-01 -5.76231261e-01 1.78447608e+02] [ 3.32983789e-01 8.87324289e-01 -3.19025709e-01 9.34042242e+01] [ 6.58229920e-01 2.35210707e-02 7.52449421e-01 1.04243418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.46, Y:93.40, Z:104.28 [[ 6.71438181e-01 -4.46940585e-01 -5.91113257e-01 1.78461758e+02] [ 3.29774500e-01 8.94530640e-01 -3.01767647e-01 9.34012509e+01] [ 6.63641129e-01 7.68424154e-03 7.48011634e-01 1.04276790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.49, Y:93.43, Z:104.27 [[ 6.73807238e-01 -4.73613787e-01 -5.67162928e-01 1.78486226e+02] [ 3.35663563e-01 8.79993782e-01 -3.36066834e-01 9.34322791e+01] [ 6.58265735e-01 3.60683357e-02 7.51921071e-01 1.04274077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.50, Y:93.42, Z:104.32 [[ 6.68828435e-01 -4.49315435e-01 -5.92270348e-01 1.78498211e+02] [ 3.33105259e-01 8.93362293e-01 -3.01570388e-01 9.34211157e+01] [ 6.64612226e-01 4.41048274e-03 7.47175439e-01 1.04315132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.52, Y:93.44, Z:104.33 [[ 6.68419088e-01 -4.60560977e-01 -5.84037250e-01 1.78518568e+02] [ 3.34748582e-01 8.87480085e-01 -3.16737251e-01 9.34383552e+01] [ 6.64198246e-01 1.62075834e-02 7.47380763e-01 1.04328110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.54, Y:93.45, Z:104.35 [[ 6.68302518e-01 -4.60879819e-01 -5.83919119e-01 1.78537492e+02] [ 3.34981872e-01 8.87314331e-01 -3.16954924e-01 9.34487965e+01] [ 6.64197930e-01 1.62194544e-02 7.47380786e-01 1.04346828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.56, Y:93.46, Z:104.37 [[ 6.67062914e-01 -4.62775257e-01 -5.83837417e-01 1.78555442e+02] [ 3.37306363e-01 8.86354688e-01 -3.17174692e-01 9.34591355e+01] [ 6.64267631e-01 1.46433988e-02 7.47351380e-01 1.04365376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.57, Y:93.47, Z:104.38 [[ 6.66536982e-01 -4.63935331e-01 -5.83517318e-01 1.78573800e+02] [ 3.38757961e-01 8.85761403e-01 -3.17285014e-01 9.34694156e+01] [ 6.64056847e-01 1.38110585e-02 7.47554519e-01 1.04384142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.59, Y:93.48, Z:104.40 [[ 6.66036418e-01 -4.65079213e-01 -5.83178202e-01 1.78591133e+02] [ 3.40199219e-01 8.85173733e-01 -3.17382978e-01 9.34789925e+01] [ 6.63822251e-01 1.29918530e-02 7.47777527e-01 1.04401969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.61, Y:93.49, Z:104.42 [[ 6.65371530e-01 -4.66733155e-01 -5.82615558e-01 1.78609626e+02] [ 3.42541398e-01 8.84323306e-01 -3.17234427e-01 9.34890443e+01] [ 6.63284342e-01 1.15088088e-02 7.48278978e-01 1.04420766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.63, Y:93.50, Z:104.44 [[ 6.64984244e-01 -4.67765090e-01 -5.82230003e-01 1.78626802e+02] [ 3.43852132e-01 8.83786765e-01 -3.17311621e-01 9.34986943e+01] [ 6.62994470e-01 1.08062005e-02 7.48546297e-01 1.04438652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.65, Y:93.53, Z:104.43 [[ 6.68072004e-01 -4.94063048e-01 -5.56400487e-01 1.78651647e+02] [ 3.52511450e-01 8.68663578e-01 -3.48079395e-01 9.35314231e+01] [ 6.55298005e-01 3.64045561e-02 7.54492699e-01 1.04430874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.66, Y:93.51, Z:104.48 [[ 6.63170836e-01 -4.54984357e-01 -5.94300999e-01 1.78661125e+02] [ 3.46981277e-01 8.90432673e-01 -2.94505771e-01 9.35097859e+01] [ 6.63180546e-01 -1.09036810e-02 7.48380033e-01 1.04484508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.68, Y:93.53, Z:104.49 [[ 6.62855671e-01 -4.71011321e-01 -5.82040115e-01 1.78681946e+02] [ 3.48075070e-01 8.82092582e-01 -3.17421521e-01 9.35292351e+01] [ 6.62922398e-01 7.81100201e-03 7.48647369e-01 1.04494948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.70, Y:93.54, Z:104.51 [[ 6.61778015e-01 -4.72760977e-01 -5.81847847e-01 1.78700192e+02] [ 3.50252148e-01 8.81167576e-01 -3.17595869e-01 9.35390964e+01] [ 6.62852390e-01 6.38450503e-03 7.48722877e-01 1.04512646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.226875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.72, Y:93.55, Z:104.53 [[ 6.61395893e-01 -4.73575938e-01 -5.81619552e-01 1.78718701e+02] [ 3.51312715e-01 8.80734244e-01 -3.17626459e-01 9.35491049e+01] [ 6.62672505e-01 5.74649205e-03 7.48887261e-01 1.04531607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.74, Y:93.56, Z:104.55 [[ 6.61168453e-01 -4.74161136e-01 -5.81401319e-01 1.78737622e+02] [ 3.51956253e-01 8.80421029e-01 -3.17782327e-01 9.35594264e+01] [ 6.62557977e-01 5.47982016e-03 7.48990586e-01 1.04550079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.76, Y:93.57, Z:104.57 [[ 6.60226228e-01 -4.74892400e-01 -5.81875018e-01 1.78755927e+02] [ 3.52455173e-01 8.80029237e-01 -3.18314142e-01 9.35699271e+01] [ 6.63231995e-01 5.07448536e-03 7.48396667e-01 1.04567228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.77, Y:93.58, Z:104.59 [[ 6.59851469e-01 -4.75134920e-01 -5.82102093e-01 1.78774367e+02] [ 3.52531102e-01 8.79898672e-01 -3.18590882e-01 9.35801342e+01] [ 6.63564511e-01 5.01356918e-03 7.48102268e-01 1.04585192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.79, Y:93.59, Z:104.60 [[ 6.59426069e-01 -4.75728565e-01 -5.82099297e-01 1.78792750e+02] [ 3.53086119e-01 8.79579412e-01 -3.18857728e-01 9.35903490e+01] [ 6.63692287e-01 4.73191660e-03 7.47990747e-01 1.04603248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.81, Y:93.60, Z:104.62 [[ 6.58940241e-01 -4.76142890e-01 -5.82310662e-01 1.78811528e+02] [ 3.53296321e-01 8.79355721e-01 -3.19241642e-01 9.36006264e+01] [ 6.64062850e-01 4.63295035e-03 7.47662402e-01 1.04622074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.83, Y:93.61, Z:104.64 [[ 6.58890889e-01 -4.76416380e-01 -5.82142791e-01 1.78829706e+02] [ 3.53508259e-01 8.79207397e-01 -3.19415505e-01 9.36097565e+01] [ 6.63999026e-01 4.66768192e-03 7.47718868e-01 1.04640445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.85, Y:93.62, Z:104.66 [[ 6.59214898e-01 -4.76616814e-01 -5.81611667e-01 1.78847892e+02] [ 3.53826932e-01 8.79098377e-01 -3.19362717e-01 9.36198297e+01] [ 6.63507513e-01 4.73878936e-03 7.48154612e-01 1.04658835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.87, Y:93.63, Z:104.68 [[ 6.59504931e-01 -4.76547140e-01 -5.81339892e-01 1.78866158e+02] [ 3.53636772e-01 8.79134056e-01 -3.19475108e-01 9.36298402e+01] [ 6.63320646e-01 5.11224616e-03 7.48317837e-01 1.04677183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.88, Y:93.64, Z:104.70 [[ 6.60103855e-01 -4.76186179e-01 -5.80955785e-01 1.78884486e+02] [ 3.53115981e-01 8.79325525e-01 -3.19524216e-01 9.36400346e+01] [ 6.63002266e-01 5.77439412e-03 7.48595118e-01 1.04695323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.90, Y:93.65, Z:104.71 [[ 6.60458929e-01 -4.76021116e-01 -5.80687437e-01 1.78902752e+02] [ 3.52782400e-01 8.79411546e-01 -3.19655926e-01 9.36501406e+01] [ 6.62826208e-01 6.26330302e-03 7.48747080e-01 1.04713434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.92, Y:93.66, Z:104.73 [[ 6.61449097e-01 -4.75170499e-01 -5.80256917e-01 1.78920060e+02] [ 3.51614643e-01 8.79862288e-01 -3.19702202e-01 9.36595313e+01] [ 6.62459233e-01 7.43990377e-03 7.49061020e-01 1.04731590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.94, Y:93.67, Z:104.75 [[ 6.61908722e-01 -4.74719827e-01 -5.80101654e-01 1.78938655e+02] [ 3.50921686e-01 8.80099557e-01 -3.19810474e-01 9.36699021e+01] [ 6.62367582e-01 8.11509136e-03 7.49135056e-01 1.04749948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.96, Y:93.68, Z:104.77 [[ 6.62537182e-01 -4.74136047e-01 -5.79861614e-01 1.78956281e+02] [ 3.50014117e-01 8.80405308e-01 -3.19963455e-01 9.36800863e+01] [ 6.62219450e-01 9.02793502e-03 7.49255561e-01 1.04767574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.97, Y:93.69, Z:104.78 [[ 6.63222441e-01 -4.72996815e-01 -5.80008626e-01 1.78973767e+02] [ 3.48286580e-01 8.81003269e-01 -3.20202590e-01 9.36906592e+01] [ 6.62444301e-01 1.03563228e-02 7.49039582e-01 1.04784604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.99, Y:93.70, Z:104.80 [[ 6.63472166e-01 -4.72596134e-01 -5.80049635e-01 1.78992606e+02] [ 3.47593134e-01 8.81211161e-01 -3.20383994e-01 9.37013994e+01] [ 6.62558449e-01 1.09445920e-02 7.48930249e-01 1.04803158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.01, Y:93.71, Z:104.82 [[ 6.63461369e-01 -4.72444307e-01 -5.80185650e-01 1.79010944e+02] [ 3.47073022e-01 8.81286378e-01 -3.20740764e-01 9.37118669e+01] [ 6.62841858e-01 1.14323195e-02 7.48672140e-01 1.04821650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.03, Y:93.72, Z:104.84 [[ 6.63751117e-01 -4.72080689e-01 -5.80150220e-01 1.79029019e+02] [ 3.46359333e-01 8.81471953e-01 -3.21002194e-01 9.37217083e+01] [ 6.62925084e-01 1.21251213e-02 7.48587546e-01 1.04839114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.05, Y:93.73, Z:104.86 [[ 6.63928806e-01 -4.71962964e-01 -5.80042672e-01 1.79047381e+02] [ 3.46119365e-01 8.81530844e-01 -3.21099295e-01 9.37316274e+01] [ 6.62872481e-01 1.24230701e-02 7.48629241e-01 1.04857372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.07, Y:93.74, Z:104.88 [[ 6.63884662e-01 -4.72053772e-01 -5.80019303e-01 1.79065847e+02] [ 3.46003114e-01 8.81478815e-01 -3.21367303e-01 9.37419144e+01] [ 6.62977376e-01 1.26623383e-02 7.48532340e-01 1.04876104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.08, Y:93.75, Z:104.89 [[ 6.64182711e-01 -4.71950231e-01 -5.79762284e-01 1.79084229e+02] [ 3.45750358e-01 8.81528091e-01 -3.21504143e-01 9.37523416e+01] [ 6.62810694e-01 1.30844757e-02 7.48672679e-01 1.04894126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.10, Y:93.76, Z:104.91 [[ 6.64581450e-01 -4.71275673e-01 -5.79854064e-01 1.79102219e+02] [ 3.44557456e-01 8.81873340e-01 -3.21837803e-01 9.37626491e+01] [ 6.63032168e-01 1.40943927e-02 7.48458210e-01 1.04911797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.12, Y:93.77, Z:104.93 [[ 6.64555066e-01 -4.71239954e-01 -5.79913329e-01 1.79120499e+02] [ 3.44339417e-01 8.81888813e-01 -3.22028707e-01 9.37730670e+01] [ 6.63171871e-01 1.43187909e-02 7.48330169e-01 1.04930120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.14, Y:93.78, Z:104.95 [[ 6.65016488e-01 -4.70861206e-01 -5.79691983e-01 1.79138289e+02] [ 3.43699058e-01 8.82079388e-01 -3.22190799e-01 9.37826534e+01] [ 6.63041498e-01 1.50226051e-02 7.48431890e-01 1.04947622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.16, Y:93.79, Z:104.97 [[ 6.65137898e-01 -4.70970022e-01 -5.79464248e-01 1.79156830e+02] [ 3.43821074e-01 8.82020131e-01 -3.22222838e-01 9.37927203e+01] [ 6.62856429e-01 1.50906006e-02 7.48594435e-01 1.04965837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.18, Y:93.82, Z:104.96 [[ 6.68858047e-01 -4.92704732e-01 -5.56660543e-01 1.79182879e+02] [ 3.49707656e-01 8.69325189e-01 -3.49253878e-01 9.38224879e+01] [ 6.55998070e-01 3.89328133e-02 7.53757765e-01 1.04964044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.19, Y:93.80, Z:105.01 [[ 6.63652061e-01 -4.56295228e-01 -5.92756786e-01 1.79191532e+02] [ 3.44208577e-01 8.89813196e-01 -2.99587937e-01 9.38029131e+01] [ 6.64143356e-01 -5.20981747e-03 7.47587093e-01 1.05012063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.22, Y:93.84, Z:105.00 [[ 6.67635171e-01 -4.91652577e-01 -5.59053684e-01 1.79219933e+02] [ 3.49777336e-01 8.70029985e-01 -3.47424295e-01 9.38411747e+01] [ 6.57205518e-01 3.64083704e-02 7.52831546e-01 1.05003010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.23, Y:93.82, Z:105.05 [[ 6.63039035e-01 -4.58467651e-01 -5.91765706e-01 1.79229630e+02] [ 3.44670967e-01 8.88704188e-01 -3.02335560e-01 9.38241883e+01] [ 6.64515735e-01 -3.50418005e-03 7.47266056e-01 1.05049335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.25, Y:93.84, Z:105.06 [[ 6.62913708e-01 -4.73026607e-01 -5.80337183e-01 1.79250936e+02] [ 3.45280438e-01 8.80934357e-01 -3.23629538e-01 9.38430995e+01] [ 6.64324345e-01 1.41593807e-02 7.47310295e-01 1.05060822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.28, Y:93.87, Z:105.06 [[ 6.66315148e-01 -4.91978793e-01 -5.60340068e-01 1.79275630e+02] [ 3.50289771e-01 8.69899916e-01 -3.47233656e-01 9.38699374e+01] [ 6.58271373e-01 3.50856514e-02 7.51962630e-01 1.05060665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.29, Y:93.85, Z:105.11 [[ 6.62083808e-01 -4.60317118e-01 -5.91399343e-01 1.79285641e+02] [ 3.45851061e-01 8.87748047e-01 -3.03793430e-01 9.38545859e+01] [ 6.64854928e-01 -3.39937876e-03 7.46964771e-01 1.05105594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.31, Y:93.89, Z:105.10 [[ 6.64596134e-01 -4.89305903e-01 -5.64704978e-01 1.79311590e+02] [ 3.50556235e-01 8.71603948e-01 -3.42661471e-01 9.38868718e+01] [ 6.59865369e-01 2.97706377e-02 7.50793849e-01 1.05101158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.32, Y:93.88, Z:105.14 [[ 6.61063831e-01 -4.64338602e-01 -5.89393141e-01 1.79323118e+02] [ 3.47058276e-01 8.85657535e-01 -3.08482226e-01 9.38764052e+01] [ 6.65240682e-01 -6.27325287e-04 7.46628717e-01 1.05141304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.34, Y:93.89, Z:105.15 [[ 6.60310461e-01 -4.76115398e-01 -5.80778979e-01 1.79343223e+02] [ 3.48554512e-01 8.79302633e-01 -3.24556053e-01 9.38924389e+01] [ 6.65206620e-01 1.18746232e-02 7.46564897e-01 1.05154727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.36, Y:93.90, Z:105.17 [[ 6.59934585e-01 -4.76985912e-01 -5.80491846e-01 1.79361805e+02] [ 3.49606767e-01 8.78837967e-01 -3.24682826e-01 9.39022061e+01] [ 6.65027408e-01 1.13255487e-02 7.46733071e-01 1.05173294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.39, Y:93.92, Z:105.18 [[ 6.61210804e-01 -4.86398537e-01 -5.71153863e-01 1.79385160e+02] [ 3.52935148e-01 8.73505314e-01 -3.35298745e-01 9.39205497e+01] [ 6.61994754e-01 2.01228793e-02 7.49238291e-01 1.05183177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.40, Y:93.93, Z:105.21 [[ 6.60761967e-01 -4.79701074e-01 -5.77304515e-01 1.79402669e+02] [ 3.53698247e-01 8.77374614e-01 -3.24208785e-01 9.39255005e+01] [ 6.62035628e-01 1.00332402e-02 7.49405205e-01 1.05206119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.42, Y:93.93, Z:105.23 [[ 6.59099007e-01 -4.71690034e-01 -5.85744835e-01 1.79416268e+02] [ 3.53394146e-01 8.81763765e-01 -3.12418375e-01 9.39265159e+01] [ 6.63853204e-01 -1.08415502e-03 7.47862118e-01 1.05234053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.44, Y:93.94, Z:105.25 [[ 6.58986413e-01 -4.80215297e-01 -5.78904289e-01 1.79435841e+02] [ 3.54109932e-01 8.77106148e-01 -3.24485687e-01 9.39415002e+01] [ 6.63583501e-01 8.83590045e-03 7.48050041e-01 1.05248523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.45, Y:93.95, Z:105.27 [[ 6.59157302e-01 -4.80757368e-01 -5.78259462e-01 1.79454747e+02] [ 3.54906592e-01 8.76811390e-01 -3.24411924e-01 9.39515742e+01] [ 6.62987906e-01 8.61039397e-03 7.48580589e-01 1.05266833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.47, Y:93.96, Z:105.28 [[ 6.58790569e-01 -4.81534217e-01 -5.78030954e-01 1.79473370e+02] [ 3.55797965e-01 8.76389253e-01 -3.24576163e-01 9.39612186e+01] [ 6.62874645e-01 8.16547803e-03 7.48685869e-01 1.05284596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.49, Y:93.97, Z:105.30 [[ 6.58698721e-01 -4.81979136e-01 -5.77764750e-01 1.79492022e+02] [ 3.56381549e-01 8.76147058e-01 -3.24589778e-01 9.39715578e+01] [ 6.62652387e-01 7.90217501e-03 7.48885418e-01 1.05302735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.51, Y:93.98, Z:105.32 [[ 6.58600990e-01 -4.82358870e-01 -5.77559224e-01 1.79509816e+02] [ 3.56736584e-01 8.75938502e-01 -3.24762606e-01 9.39814534e+01] [ 6.62558485e-01 7.85246862e-03 7.48969020e-01 1.05320210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.53, Y:93.99, Z:105.34 [[ 6.58906826e-01 -4.82243643e-01 -5.77306559e-01 1.79528932e+02] [ 3.56538659e-01 8.75998834e-01 -3.24817222e-01 9.39916161e+01] [ 6.62360913e-01 8.19217846e-03 7.49140113e-01 1.05338107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.55, Y:94.01, Z:105.35 [[ 6.60276141e-01 -4.90810631e-01 -5.68454345e-01 1.79553521e+02] [ 3.57478320e-01 8.71054494e-01 -3.36858011e-01 9.40095354e+01] [ 6.60488205e-01 1.92092033e-02 7.50590659e-01 1.05349347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.56, Y:94.01, Z:105.38 [[ 6.58551313e-01 -4.71917716e-01 -5.86177309e-01 1.79564394e+02] [ 3.56810757e-01 8.81624032e-01 -3.08909616e-01 9.40055958e+01] [ 6.62567923e-01 -5.72153615e-03 7.48979981e-01 1.05381058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.58, Y:94.02, Z:105.39 [[ 6.58499610e-01 -4.82797484e-01 -5.77308283e-01 1.79584783e+02] [ 3.56633382e-01 8.75690951e-01 -3.25542609e-01 9.40225100e+01] [ 6.62714791e-01 8.48227557e-03 7.48823849e-01 1.05393988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.60, Y:94.03, Z:105.41 [[ 6.58328167e-01 -4.83100834e-01 -5.77250040e-01 1.79603063e+02] [ 3.56809422e-01 8.75523314e-01 -3.25800496e-01 9.40326365e+01] [ 6.62790359e-01 8.51539033e-03 7.48756588e-01 1.05412339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.62, Y:94.04, Z:105.43 [[ 6.58155500e-01 -4.83500384e-01 -5.77112395e-01 1.79622004e+02] [ 3.57155878e-01 8.75303388e-01 -3.26011746e-01 9.40432714e+01] [ 6.62775239e-01 8.44733946e-03 7.48770743e-01 1.05430788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.64, Y:94.05, Z:105.45 [[ 6.57912513e-01 -4.84057877e-01 -5.76922089e-01 1.79640264e+02] [ 3.57738049e-01 8.74997366e-01 -3.26194875e-01 9.40533122e+01] [ 6.62702508e-01 8.22070753e-03 7.48837637e-01 1.05448710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.66, Y:94.06, Z:105.47 [[ 6.57697872e-01 -4.84439218e-01 -5.76846733e-01 1.79658542e+02] [ 3.58140351e-01 8.74788120e-01 -3.26314625e-01 9.40634291e+01] [ 6.62698270e-01 8.02434352e-03 7.48843517e-01 1.05466936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.68, Y:94.07, Z:105.49 [[ 6.57377396e-01 -4.85078848e-01 -5.76674492e-01 1.79677173e+02] [ 3.58825086e-01 8.74436413e-01 -3.26505004e-01 9.40736062e+01] [ 6.62645846e-01 7.71173575e-03 7.48893192e-01 1.05485142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.70, Y:94.08, Z:105.50 [[ 6.57050147e-01 -4.85921600e-01 -5.76337838e-01 1.79696663e+02] [ 3.59866092e-01 8.73972840e-01 -3.26600476e-01 9.40832056e+01] [ 6.62405842e-01 7.18844501e-03 7.49110690e-01 1.05503689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.72, Y:94.09, Z:105.52 [[ 6.56965763e-01 -4.86181815e-01 -5.76214568e-01 1.79715345e+02] [ 3.60021572e-01 8.73827533e-01 -3.26817856e-01 9.40939775e+01] [ 6.62405052e-01 7.25846748e-03 7.49110714e-01 1.05522423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.73, Y:94.10, Z:105.54 [[ 6.56452573e-01 -4.86908477e-01 -5.76185868e-01 1.79733862e+02] [ 3.60842953e-01 8.73427022e-01 -3.26982570e-01 9.41040164e+01] [ 6.62466892e-01 6.73593911e-03 7.49060909e-01 1.05541369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.75, Y:94.11, Z:105.56 [[ 6.55994528e-01 -4.87481979e-01 -5.76222613e-01 1.79752841e+02] [ 3.61330983e-01 8.73108888e-01 -3.27293126e-01 9.41130917e+01] [ 6.62654586e-01 6.49541603e-03 7.48896995e-01 1.05559950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.77, Y:94.12, Z:105.58 [[ 6.55735204e-01 -4.87849832e-01 -5.76206459e-01 1.79771690e+02] [ 3.61575430e-01 8.72903685e-01 -3.27570396e-01 9.41231677e+01] [ 6.62777904e-01 6.45734242e-03 7.48788189e-01 1.05578625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.80, Y:94.15, Z:105.58 [[ 6.59652782e-01 -5.06548113e-01 -5.55218170e-01 1.79798680e+02] [ 3.66335692e-01 8.61752954e-01 -3.50970095e-01 9.41504988e+01] [ 6.56244137e-01 2.81221675e-02 7.54024387e-01 1.05577710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.996875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:179.82, Y:94.15, Z:105.61 [[ 6.59329467e-01 -4.87138706e-01 -5.72695848e-01 1.79816015e+02] [ 3.64426945e-01 8.73313280e-01 -3.23290763e-01 9.41454450e+01] [ 6.57630334e-01 4.44932872e-03 7.53327650e-01 1.05609261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.83, Y:94.14, Z:105.64 [[ 6.56907390e-01 -4.74707890e-01 -5.85768811e-01 1.79826621e+02] [ 3.63103255e-01 8.80065949e-01 -3.06006457e-01 9.41444474e+01] [ 6.60778864e-01 -1.16766594e-02 7.50489806e-01 1.05638031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.85, Y:94.16, Z:105.65 [[ 6.57152674e-01 -4.89082982e-01 -5.73540060e-01 1.79848379e+02] [ 3.63433322e-01 8.72211677e-01 -3.27357619e-01 9.41636529e+01] [ 6.60353378e-01 6.68036502e-03 7.50925289e-01 1.05648519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.87, Y:94.17, Z:105.67 [[ 6.56989172e-01 -4.89205974e-01 -5.73622474e-01 1.79867158e+02] [ 3.63297238e-01 8.72141007e-01 -3.27696782e-01 9.41723527e+01] [ 6.60590906e-01 6.89777695e-03 7.50714377e-01 1.05666541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.89, Y:94.18, Z:105.69 [[ 6.56658557e-01 -4.89248882e-01 -5.73964346e-01 1.79886009e+02] [ 3.63034517e-01 8.72115709e-01 -3.28055070e-01 9.41820632e+01] [ 6.61063899e-01 7.05129968e-03 7.50296475e-01 1.05685052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.90, Y:94.19, Z:105.70 [[ 6.56655933e-01 -4.89363665e-01 -5.73869487e-01 1.79904778e+02] [ 3.62980133e-01 8.72049502e-01 -3.28291165e-01 9.41916496e+01] [ 6.61096369e-01 7.27111871e-03 7.50265768e-01 1.05702795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.92, Y:94.20, Z:105.72 [[ 6.56473019e-01 -4.89308852e-01 -5.74125442e-01 1.79924476e+02] [ 3.62599608e-01 8.72077774e-01 -3.28636396e-01 9.42004383e+01] [ 6.61486735e-01 7.56326685e-03 7.49918727e-01 1.05721651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.95, Y:94.22, Z:105.73 [[ 6.58419762e-01 -4.98315244e-01 -5.64061463e-01 1.79949301e+02] [ 3.64718961e-01 8.66805579e-01 -3.40041422e-01 9.42186395e+01] [ 6.58379447e-01 1.81660815e-02 7.52466941e-01 1.05731509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.97, Y:94.23, Z:105.75 [[ 6.59149013e-01 -4.94243267e-01 -5.66785826e-01 1.79967512e+02] [ 3.65538853e-01 8.69237558e-01 -3.32877477e-01 9.42250896e+01] [ 6.57193979e-01 1.22336199e-02 7.53622195e-01 1.05750890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.99, Y:94.24, Z:105.77 [[ 6.59543031e-01 -4.95412813e-01 -5.65304462e-01 1.79986902e+02] [ 3.66444312e-01 8.68561870e-01 -3.33644787e-01 9.42360230e+01] [ 6.56293803e-01 1.29004892e-02 7.54395136e-01 1.05768042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.00, Y:94.23, Z:105.81 [[ 6.56268902e-01 -4.76940214e-01 -5.84670130e-01 1.79998513e+02] [ 3.62186324e-01 8.78898933e-01 -3.10415419e-01 9.42292177e+01] [ 6.61915550e-01 -8.04353869e-03 7.49535261e-01 1.05805419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.02, Y:94.25, Z:105.82 [[ 6.56530564e-01 -4.89557362e-01 -5.73847721e-01 1.80019641e+02] [ 3.62436700e-01 8.71933042e-01 -3.29199649e-01 9.42470307e+01] [ 6.61518901e-01 8.14615686e-03 7.49884247e-01 1.05816586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.04, Y:94.26, Z:105.84 [[ 6.56615741e-01 -4.89893177e-01 -5.73463551e-01 1.80038643e+02] [ 3.62830181e-01 8.71744551e-01 -3.29265391e-01 9.42555012e+01] [ 6.61218594e-01 8.13095487e-03 7.50149224e-01 1.05835307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.06, Y:94.27, Z:105.85 [[ 6.56765016e-01 -4.90226153e-01 -5.73007883e-01 1.80057518e+02] [ 3.63256501e-01 8.71557469e-01 -3.29290590e-01 9.42653684e+01] [ 6.60836159e-01 8.11770127e-03 7.50486292e-01 1.05853542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.08, Y:94.27, Z:105.87 [[ 6.56988766e-01 -4.90315781e-01 -5.72674598e-01 1.80075956e+02] [ 3.63296961e-01 8.71504841e-01 -3.29385231e-01 9.42740833e+01] [ 6.60591462e-01 8.35145529e-03 7.50699123e-01 1.05870971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.09, Y:94.28, Z:105.89 [[ 6.57155662e-01 -4.90353562e-01 -5.72450714e-01 1.80094157e+02] [ 3.63291835e-01 8.71481811e-01 -3.29451810e-01 9.42837093e+01] [ 6.60428254e-01 8.53445208e-03 7.50840652e-01 1.05887936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.11, Y:94.29, Z:105.91 [[ 6.57079178e-01 -4.89942825e-01 -5.72890026e-01 1.80113078e+02] [ 3.62379346e-01 8.71706634e-01 -3.29861719e-01 9.42923360e+01] [ 6.61005419e-01 9.14175426e-03 7.50325439e-01 1.05905363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.13, Y:94.30, Z:105.92 [[ 6.56718937e-01 -4.90004824e-01 -5.73249954e-01 1.80132273e+02] [ 3.62104946e-01 8.71669993e-01 -3.30259643e-01 9.43025078e+01] [ 6.61513602e-01 9.31111831e-03 7.49875362e-01 1.05923544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.15, Y:94.31, Z:105.94 [[ 6.56567974e-01 -4.90012419e-01 -5.73416363e-01 1.80151409e+02] [ 3.61775351e-01 8.71662141e-01 -3.30641357e-01 9.43127194e+01] [ 6.61843706e-01 9.64061956e-03 7.49579860e-01 1.05941828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.17, Y:94.32, Z:105.96 [[ 6.56344037e-01 -4.89990723e-01 -5.73691202e-01 1.80169460e+02] [ 3.61346795e-01 8.71670214e-01 -3.31088404e-01 9.43223390e+01] [ 6.62299780e-01 1.00064226e-02 7.49172125e-01 1.05959081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.19, Y:94.33, Z:105.98 [[ 6.56550279e-01 -4.89816019e-01 -5.73604392e-01 1.80188687e+02] [ 3.61018749e-01 8.71764187e-01 -3.31198830e-01 9.43326197e+01] [ 6.62274259e-01 1.03667443e-02 7.49189786e-01 1.05977546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.21, Y:94.34, Z:106.00 [[ 6.57411160e-01 -4.89249722e-01 -5.73101454e-01 1.80207373e+02] [ 3.60281912e-01 8.72071158e-01 -3.31193056e-01 9.43417428e+01] [ 6.61821359e-01 1.12519234e-02 7.49577136e-01 1.05995945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.23, Y:94.35, Z:106.01 [[ 6.57854337e-01 -4.88902124e-01 -5.72889505e-01 1.80225476e+02] [ 3.59674618e-01 8.72256994e-01 -3.31363706e-01 9.43514138e+01] [ 6.61711297e-01 1.19352374e-02 7.49663731e-01 1.06013373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.24, Y:94.36, Z:106.03 [[ 6.57904862e-01 -4.88720690e-01 -5.72986282e-01 1.80243996e+02] [ 3.59237896e-01 8.72353427e-01 -3.31583523e-01 9.43612942e+01] [ 6.61898275e-01 1.23120260e-02 7.49492553e-01 1.06031669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.26, Y:94.37, Z:106.05 [[ 6.58623170e-01 -4.88056807e-01 -5.72726876e-01 1.80263301e+02] [ 3.58241218e-01 8.72710441e-01 -3.31722349e-01 9.43708722e+01] [ 6.61724074e-01 1.33056510e-02 7.49629381e-01 1.06050085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.28, Y:94.38, Z:106.07 [[ 6.59343274e-01 -4.87364650e-01 -5.72487681e-01 1.80282745e+02] [ 3.57197877e-01 8.73081012e-01 -3.31872301e-01 9.43806868e+01] [ 6.61570952e-01 1.43263850e-02 7.49745711e-01 1.06068355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.30, Y:94.39, Z:106.09 [[ 6.59607426e-01 -4.87117858e-01 -5.72393427e-01 1.80301485e+02] [ 3.56667751e-01 8.73209043e-01 -3.32105529e-01 9.43909054e+01] [ 6.61593651e-01 1.49049973e-02 7.49714400e-01 1.06086531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.32, Y:94.40, Z:106.10 [[ 6.59800454e-01 -4.86799113e-01 -5.72442123e-01 1.80320238e+02] [ 3.55965187e-01 8.73375307e-01 -3.32421959e-01 9.44010289e+01] [ 6.61779530e-01 1.55626920e-02 7.49536962e-01 1.06104588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.34, Y:94.41, Z:106.12 [[ 6.59868350e-01 -4.86730534e-01 -5.72422176e-01 1.80338946e+02] [ 3.55628106e-01 8.73406179e-01 -3.32701513e-01 9.44114556e+01] [ 6.61893051e-01 1.59697844e-02 7.49428152e-01 1.06122665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.36, Y:94.42, Z:106.14 [[ 6.60096131e-01 -4.86341550e-01 -5.72490170e-01 1.80357349e+02] [ 3.54820901e-01 8.73609175e-01 -3.33030236e-01 9.44211691e+01] [ 6.62099106e-01 1.67004921e-02 7.49230183e-01 1.06140127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.38, Y:94.43, Z:106.16 [[ 6.60622887e-01 -4.85375433e-01 -5.72702444e-01 1.80376746e+02] [ 3.53284377e-01 8.74123220e-01 -3.33314784e-01 9.44302625e+01] [ 6.62395313e-01 1.78685492e-02 7.48941363e-01 1.06158355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.40, Y:94.44, Z:106.18 [[ 6.60887775e-01 -4.85173366e-01 -5.72568034e-01 1.80395759e+02] [ 3.52836123e-01 8.74224380e-01 -3.33524217e-01 9.44407497e+01] [ 6.62370002e-01 1.83993920e-02 7.48950895e-01 1.06176860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.42, Y:94.45, Z:106.19 [[ 6.62043830e-01 -4.84238232e-01 -5.72023864e-01 1.80415284e+02] [ 3.51640111e-01 8.74715624e-01 -3.33499341e-01 9.44505716e+01] [ 6.61851342e-01 1.96446459e-02 7.49377668e-01 1.06194691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.43, Y:94.46, Z:106.21 [[ 6.62601029e-01 -4.84015082e-01 -5.71567385e-01 1.80433573e+02] [ 3.51339038e-01 8.74826939e-01 -3.33524672e-01 9.44605449e+01] [ 6.61453518e-01 2.01798555e-02 7.49714624e-01 1.06212927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.45, Y:94.47, Z:106.23 [[ 6.63106173e-01 -4.83794561e-01 -5.71168124e-01 1.80452238e+02] [ 3.51011700e-01 8.74936436e-01 -3.33582102e-01 9.44705790e+01] [ 6.61121010e-01 2.07136568e-02 7.49993303e-01 1.06230910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.47, Y:94.48, Z:106.25 [[ 6.63575679e-01 -4.83622518e-01 -5.70768410e-01 1.80470348e+02] [ 3.50750260e-01 8.75019972e-01 -3.33637982e-01 9.44801262e+01] [ 6.60788599e-01 2.11968826e-02 7.50272697e-01 1.06248906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.49, Y:94.49, Z:106.27 [[ 6.64250555e-01 -4.83208833e-01 -5.70333608e-01 1.80489522e+02] [ 3.50303260e-01 8.75234478e-01 -3.33544952e-01 9.44891324e+01] [ 6.60347504e-01 2.17676977e-02 7.50644617e-01 1.06267111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.51, Y:94.50, Z:106.29 [[ 6.64029440e-01 -4.83503378e-01 -5.70341464e-01 1.80508303e+02] [ 3.50431421e-01 8.75070643e-01 -3.33840066e-01 9.44996235e+01] [ 6.60501871e-01 2.18140623e-02 7.50507445e-01 1.06285728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.53, Y:94.51, Z:106.30 [[ 6.64134237e-01 -4.83567461e-01 -5.70165087e-01 1.80527280e+02] [ 3.50359848e-01 8.75028700e-01 -3.34025075e-01 9.45100498e+01] [ 6.60434472e-01 2.20745353e-02 7.50559140e-01 1.06304383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.55, Y:94.52, Z:106.32 [[ 6.64171630e-01 -4.83612419e-01 -5.70083393e-01 1.80547186e+02] [ 3.50212709e-01 8.74996664e-01 -3.34263214e-01 9.45199632e+01] [ 6.60474909e-01 2.23576947e-02 7.50515175e-01 1.06322197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.19687500000003 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:180.57, Y:94.53, Z:106.34 [[ 6.63821088e-01 -4.84010068e-01 -5.70154205e-01 1.80565385e+02] [ 3.50445514e-01 8.74778226e-01 -3.34590791e-01 9.45300428e+01] [ 6.60703796e-01 2.23004392e-02 7.50315390e-01 1.06339739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.59, Y:94.54, Z:106.36 [[ 6.63372247e-01 -4.84494632e-01 -5.70265038e-01 1.80585053e+02] [ 3.50881809e-01 8.74517257e-01 -3.34815656e-01 9.45397402e+01] [ 6.60923005e-01 2.20117864e-02 7.50130831e-01 1.06357791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.60, Y:94.55, Z:106.38 [[ 6.62877774e-01 -4.85031099e-01 -5.70383984e-01 1.80603941e+02] [ 3.51268321e-01 8.74224592e-01 -3.35174475e-01 9.45499180e+01] [ 6.61213750e-01 2.18218854e-02 7.49880112e-01 1.06376259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.62, Y:94.56, Z:106.39 [[ 6.62800253e-01 -4.85401178e-01 -5.70159207e-01 1.80621884e+02] [ 3.51624663e-01 8.74020281e-01 -3.35333632e-01 9.45594198e+01] [ 6.61102050e-01 2.17771770e-02 7.49979889e-01 1.06393472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.64, Y:94.57, Z:106.41 [[ 6.62363198e-01 -4.85904302e-01 -5.70238549e-01 1.80640758e+02] [ 3.52101341e-01 8.73748299e-01 -3.35542181e-01 9.45697011e+01] [ 6.61286352e-01 2.14690342e-02 7.49826274e-01 1.06412145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.66, Y:94.58, Z:106.43 [[ 6.62092525e-01 -4.86375763e-01 -5.70150950e-01 1.80660439e+02] [ 3.52525017e-01 8.73489625e-01 -3.35770737e-01 9.45794029e+01] [ 6.61331688e-01 2.13188219e-02 7.49790575e-01 1.06430383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.68, Y:94.59, Z:106.45 [[ 6.62018820e-01 -4.86587385e-01 -5.70055961e-01 1.80678194e+02] [ 3.52600411e-01 8.73368785e-01 -3.36005828e-01 9.45886049e+01] [ 6.61365279e-01 2.14402160e-02 7.49757484e-01 1.06448327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.70, Y:94.60, Z:106.47 [[ 6.62131532e-01 -4.86917044e-01 -5.69643420e-01 1.80697948e+02] [ 3.53122506e-01 8.73189146e-01 -3.35924414e-01 9.45985001e+01] [ 6.60973775e-01 2.12722353e-02 7.50107433e-01 1.06466568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.72, Y:94.61, Z:106.48 [[ 6.62072122e-01 -4.87257877e-01 -5.69420993e-01 1.80717140e+02] [ 3.53443973e-01 8.72999537e-01 -3.36079108e-01 9.46091348e+01] [ 6.60861456e-01 2.12501902e-02 7.50207015e-01 1.06484579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.74, Y:94.62, Z:106.50 [[ 6.61631900e-01 -4.87825012e-01 -5.69447089e-01 1.80735940e+02] [ 3.53926207e-01 8.72688395e-01 -3.36379554e-01 9.46196749e+01] [ 6.61044226e-01 2.10171951e-02 7.50052537e-01 1.06502887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.75, Y:94.63, Z:106.52 [[ 6.61250708e-01 -4.88236987e-01 -5.69536781e-01 1.80754742e+02] [ 3.54170299e-01 8.72459827e-01 -3.36715385e-01 9.46299346e+01] [ 6.61294867e-01 2.09402749e-02 7.49833718e-01 1.06520718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.77, Y:94.64, Z:106.54 [[ 6.60408516e-01 -4.89101773e-01 -5.69771926e-01 1.80773487e+02] [ 3.54931801e-01 8.71987720e-01 -3.37136224e-01 9.46384738e+01] [ 6.61728048e-01 2.04174577e-02 7.49465889e-01 1.06538574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.79, Y:94.65, Z:106.56 [[ 6.59990651e-01 -4.89849627e-01 -5.69613626e-01 1.80792289e+02] [ 3.55785031e-01 8.71578617e-01 -3.37294717e-01 9.46486236e+01] [ 6.61686748e-01 1.99513580e-02 7.49514904e-01 1.06557023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.81, Y:94.66, Z:106.58 [[ 6.59875946e-01 -4.91041335e-01 -5.68719741e-01 1.80810900e+02] [ 3.57599043e-01 8.70928134e-01 -3.37056538e-01 9.46575148e+01] [ 6.60822715e-01 1.90418669e-02 7.50300438e-01 1.06575369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.84, Y:94.69, Z:106.57 [[ 6.63943105e-01 -5.16204383e-01 -5.41029194e-01 1.80837032e+02] [ 3.66416447e-01 8.55281832e-01 -3.66376821e-01 9.46922631e+01] [ 6.51857761e-01 4.50113693e-02 7.57004251e-01 1.06566010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.84, Y:94.67, Z:106.62 [[ 6.58965430e-01 -4.76333449e-01 -5.82126281e-01 1.80843980e+02] [ 3.59476201e-01 8.79258498e-01 -3.12540165e-01 9.46657207e+01] [ 6.60712815e-01 -3.30737976e-03 7.50631493e-01 1.06623256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.87, Y:94.69, Z:106.63 [[ 6.58836373e-01 -4.94086736e-01 -5.67285581e-01 1.80866147e+02] [ 3.62091887e-01 8.69259172e-01 -3.36567908e-01 9.46861963e+01] [ 6.59411934e-01 1.63336735e-02 7.51604359e-01 1.06630905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.88, Y:94.70, Z:106.65 [[ 6.58385243e-01 -4.95002659e-01 -5.67010794e-01 1.80884693e+02] [ 3.63223822e-01 8.68749556e-01 -3.36664024e-01 9.46962885e+01] [ 6.59239962e-01 1.57027976e-02 7.51768645e-01 1.06649310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.90, Y:94.71, Z:106.67 [[ 6.58300998e-01 -4.95260347e-01 -5.66883573e-01 1.80903165e+02] [ 3.63379586e-01 8.68601400e-01 -3.36878146e-01 9.47074484e+01] [ 6.59238252e-01 1.57733015e-02 7.51768668e-01 1.06668044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.92, Y:94.72, Z:106.69 [[ 6.57777190e-01 -4.96074617e-01 -5.66779625e-01 1.80921688e+02] [ 3.64352610e-01 8.68147514e-01 -3.36997136e-01 9.47176655e+01] [ 6.59224047e-01 1.51613931e-02 7.51793713e-01 1.06687068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.95, Y:94.75, Z:106.68 [[ 6.61233995e-01 -5.20438123e-01 -5.40290444e-01 1.80949154e+02] [ 3.72269605e-01 8.52921014e-01 -3.65979624e-01 9.47529301e+01] [ 6.51294822e-01 4.08644592e-02 7.57723664e-01 1.06677631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.96, Y:94.73, Z:106.73 [[ 6.56235048e-01 -4.81367718e-01 -5.81068569e-01 1.80955648e+02] [ 3.66105994e-01 8.76486037e-01 -3.12631777e-01 9.47266140e+01] [ 6.59789333e-01 -7.57275692e-03 7.51412463e-01 1.06734262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.98, Y:94.75, Z:106.74 [[ 6.55983190e-01 -4.98598021e-01 -5.66644570e-01 1.80978334e+02] [ 3.67250581e-01 8.66731421e-01 -3.37496155e-01 9.47493207e+01] [ 6.59403568e-01 1.32912568e-02 7.51671655e-01 1.06741927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.00, Y:94.76, Z:106.76 [[ 6.55464187e-01 -4.99319214e-01 -5.66610116e-01 1.80996927e+02] [ 3.67973488e-01 8.66322185e-01 -3.37759359e-01 9.47597038e+01] [ 6.59516651e-01 1.28916627e-02 7.51579399e-01 1.06759664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.02, Y:94.77, Z:106.78 [[ 6.54284970e-01 -5.00697620e-01 -5.66756624e-01 1.81015131e+02] [ 3.69467794e-01 8.65541350e-01 -3.38129740e-01 9.47692840e+01] [ 6.59852050e-01 1.18348872e-02 7.51302341e-01 1.06776835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.04, Y:94.80, Z:106.77 [[ 6.57546713e-01 -5.25243903e-01 -5.40139947e-01 1.81043553e+02] [ 3.77349587e-01 8.50116403e-01 -3.67300137e-01 9.48045792e+01] [ 6.52103987e-01 3.76954117e-02 7.57191816e-01 1.06768336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.05, Y:94.78, Z:106.82 [[ 6.51276251e-01 -4.85160128e-01 -5.83488556e-01 1.81048542e+02] [ 3.71423694e-01 8.74324845e-01 -3.12410794e-01 9.47768139e+01] [ 6.61727803e-01 -1.32557442e-02 7.49626974e-01 1.06824961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.07, Y:94.80, Z:106.83 [[ 6.50548847e-01 -5.04038193e-01 -5.68094797e-01 1.81071020e+02] [ 3.72641413e-01 8.63632556e-01 -3.39524940e-01 9.48000484e+01] [ 6.61758699e-01 9.18191005e-03 7.49660668e-01 1.06831307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.10, Y:94.83, Z:106.83 [[ 6.53112832e-01 -5.25513445e-01 -5.45233205e-01 1.81098915e+02] [ 3.79484868e-01 8.50205509e-01 -3.64886047e-01 9.48320331e+01] [ 6.55312798e-01 3.14040085e-02 7.54704528e-01 1.06827364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.12, Y:94.83, Z:106.85 [[ 6.51440732e-01 -5.14264338e-01 -5.57814631e-01 1.81115535e+02] [ 3.82550229e-01 8.57566120e-01 -3.43854144e-01 9.48318943e+01] [ 6.55194853e-01 1.06084804e-02 7.55385441e-01 1.06854823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.12, Y:94.82, Z:106.90 [[ 6.46761213e-01 -4.90626417e-01 -5.83939767e-01 1.81123439e+02] [ 3.78049990e-01 8.71180692e-01 -3.13244964e-01 9.48180669e+01] [ 6.62403305e-01 -1.81637298e-02 7.48927193e-01 1.06900375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.15, Y:94.84, Z:106.91 [[ 6.46184715e-01 -5.09915644e-01 -5.67830388e-01 1.81146121e+02] [ 3.80011502e-01 8.60215385e-01 -3.40030513e-01 9.48411852e+01] [ 6.61843314e-01 3.94044150e-03 7.49631843e-01 1.06906532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.17, Y:94.87, Z:106.90 [[ 6.48213943e-01 -5.35079375e-01 -5.41764475e-01 1.81174865e+02] [ 3.89915835e-01 8.44372546e-01 -3.67424339e-01 9.48743038e+01] [ 6.54052235e-01 2.69270317e-02 7.55969979e-01 1.06899939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.18, Y:94.85, Z:106.96 [[ 6.43727980e-01 -4.96873716e-01 -5.82005840e-01 1.81180169e+02] [ 3.84616477e-01 8.67571018e-01 -3.15262898e-01 9.48490154e+01] [ 6.61577247e-01 -2.09054868e-02 7.49585557e-01 1.06955883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.21, Y:94.90, Z:106.94 [[ 6.46679925e-01 -5.38503932e-01 -5.40202361e-01 1.81213321e+02] [ 3.92965462e-01 8.42208272e-01 -3.69138689e-01 9.48963345e+01] [ 6.53745532e-01 2.64337093e-02 7.56252628e-01 1.06936390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.22, Y:94.87, Z:106.99 [[ 6.42422753e-01 -4.97189689e-01 -5.83177005e-01 1.81216999e+02] [ 3.87099372e-01 8.67290853e-01 -3.12986665e-01 9.48683149e+01] [ 6.61397825e-01 -2.46776976e-02 7.49629194e-01 1.06994431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.24, Y:94.89, Z:107.00 [[ 6.40928294e-01 -5.16671770e-01 -5.67680547e-01 1.81239730e+02] [ 3.88277498e-01 8.56181352e-01 -3.40872523e-01 9.48911621e+01] [ 6.62156708e-01 -1.94273787e-03 7.49362876e-01 1.06999509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.26, Y:94.90, Z:107.02 [[ 6.40158868e-01 -5.17353513e-01 -5.67927783e-01 1.81258682e+02] [ 3.88830281e-01 8.55768542e-01 -3.41278794e-01 9.49019316e+01] [ 6.62576514e-01 -2.35487356e-03 7.48990533e-01 1.07017507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.28, Y:94.91, Z:107.04 [[ 6.38546973e-01 -5.18357895e-01 -5.68825857e-01 1.81277669e+02] [ 3.89462560e-01 8.55158170e-01 -3.42086858e-01 9.49117930e+01] [ 6.63759503e-01 -3.09784680e-03 7.47939654e-01 1.07035854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.30, Y:94.92, Z:107.05 [[ 6.38276262e-01 -5.18729929e-01 -5.68790536e-01 1.81296012e+02] [ 3.89717372e-01 8.54932371e-01 -3.42360937e-01 9.49217382e+01] [ 6.63870306e-01 -3.14669376e-03 7.47841103e-01 1.07053408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.31, Y:94.93, Z:107.07 [[ 6.37549091e-01 -5.19414072e-01 -5.68981702e-01 1.81313804e+02] [ 3.90298707e-01 8.54515273e-01 -3.42739795e-01 9.49319018e+01] [ 6.64227427e-01 -3.55937805e-03 7.47522077e-01 1.07071286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.33, Y:94.94, Z:107.09 [[ 6.37191375e-01 -5.20192309e-01 -5.68671359e-01 1.81332662e+02] [ 3.91279064e-01 8.54039436e-01 -3.42808017e-01 9.49416653e+01] [ 6.63993860e-01 -4.07488502e-03 7.47726922e-01 1.07089357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.35, Y:94.95, Z:107.11 [[ 6.37076597e-01 -5.20483336e-01 -5.68533645e-01 1.81350795e+02] [ 3.91483304e-01 8.53862251e-01 -3.43016149e-01 9.49518536e+01] [ 6.63983608e-01 -4.04386891e-03 7.47736194e-01 1.07108155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.37, Y:94.96, Z:107.13 [[ 6.37197650e-01 -5.20597924e-01 -5.68293019e-01 1.81369370e+02] [ 3.91506794e-01 8.53793381e-01 -3.43160739e-01 9.49623084e+01] [ 6.63853587e-01 -3.82936160e-03 7.47852761e-01 1.07126772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.39, Y:94.97, Z:107.15 [[ 6.37553021e-01 -5.20461118e-01 -5.68019692e-01 1.81387125e+02] [ 3.91211133e-01 8.53878787e-01 -3.43285403e-01 9.49725940e+01] [ 6.63686670e-01 -3.35298170e-03 7.48003183e-01 1.07145073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.41, Y:94.98, Z:107.16 [[ 6.38555326e-01 -5.19558315e-01 -5.67720225e-01 1.81405380e+02] [ 3.89986627e-01 8.54432197e-01 -3.43301693e-01 9.49830271e+01] [ 6.63443688e-01 -2.18617125e-03 7.48223024e-01 1.07163345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.42, Y:94.99, Z:107.18 [[ 6.39297258e-01 -5.19015164e-01 -5.67381948e-01 1.81422746e+02] [ 3.89186183e-01 8.54764054e-01 -3.43383935e-01 9.49937005e+01] [ 6.63199163e-01 -1.29280677e-03 7.48441847e-01 1.07181039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.44, Y:95.00, Z:107.20 [[ 6.40059013e-01 -5.18332311e-01 -5.67147314e-01 1.81441237e+02] [ 3.88226927e-01 8.55179212e-01 -3.43436121e-01 9.50046029e+01] [ 6.63026631e-01 -3.62474205e-04 7.48595722e-01 1.07199216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.46, Y:95.02, Z:107.22 [[ 6.42111757e-01 -5.16347928e-01 -5.66636840e-01 1.81458868e+02] [ 3.85594179e-01 8.56376513e-01 -3.43418691e-01 9.50152699e+01] [ 6.62578011e-01 2.02131169e-03 7.48990183e-01 1.07217102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.48, Y:95.03, Z:107.24 [[ 6.42672057e-01 -5.15617116e-01 -5.66667113e-01 1.81476956e+02] [ 3.84426904e-01 8.56813848e-01 -3.43636415e-01 9.50264196e+01] [ 6.62713047e-01 3.00343825e-03 7.48867410e-01 1.07235605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.49, Y:95.04, Z:107.25 [[ 6.43505467e-01 -5.14771080e-01 -5.66490468e-01 1.81494180e+02] [ 3.83140212e-01 8.57317368e-01 -3.43817552e-01 9.50369085e+01] [ 6.62649449e-01 4.20319625e-03 7.48917913e-01 1.07253252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.51, Y:95.05, Z:107.27 [[ 6.44652350e-01 -5.13299622e-01 -5.66521708e-01 1.81512760e+02] [ 3.80934210e-01 8.58188396e-01 -3.44095633e-01 9.50486487e+01] [ 6.62806514e-01 6.01455866e-03 7.48766552e-01 1.07271483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.53, Y:95.06, Z:107.29 [[ 6.45238916e-01 -5.12795482e-01 -5.66310459e-01 1.81531492e+02] [ 3.80126322e-01 8.58483424e-01 -3.44253090e-01 9.50599146e+01] [ 6.62699571e-01 6.85597859e-03 7.48853974e-01 1.07289824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.55, Y:95.07, Z:107.31 [[ 6.45294608e-01 -5.12621486e-01 -5.66404520e-01 1.81549549e+02] [ 3.79589223e-01 8.58583113e-01 -3.44596954e-01 9.50711264e+01] [ 6.62953159e-01 7.36550468e-03 7.48624645e-01 1.07307952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.57, Y:95.08, Z:107.33 [[ 6.45870119e-01 -5.11848684e-01 -5.66447450e-01 1.81567815e+02] [ 3.78282495e-01 8.59033665e-01 -3.44910883e-01 9.50821412e+01] [ 6.63139610e-01 8.49047868e-03 7.48447573e-01 1.07325573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.59, Y:95.09, Z:107.34 [[ 6.45833087e-01 -5.11830390e-01 -5.66506202e-01 1.81585248e+02] [ 3.77970318e-01 8.59041024e-01 -3.45234641e-01 9.50931722e+01] [ 6.63353649e-01 8.84142499e-03 7.48253811e-01 1.07343641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.60, Y:95.10, Z:107.36 [[ 6.46215733e-01 -5.11800577e-01 -5.66096631e-01 1.81603838e+02] [ 3.77927959e-01 8.59055458e-01 -3.45245097e-01 9.51046671e+01] [ 6.63005041e-01 9.15906933e-03 7.48558900e-01 1.07361755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.62, Y:95.12, Z:107.38 [[ 6.46184693e-01 -5.12141048e-01 -5.65824080e-01 1.81621503e+02] [ 3.78275834e-01 8.58852790e-01 -3.45368323e-01 9.51156456e+01] [ 6.62836884e-01 9.13414839e-03 7.48708109e-01 1.07379169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.64, Y:95.13, Z:107.40 [[ 6.45986125e-01 -5.12734521e-01 -5.65513252e-01 1.81639491e+02] [ 3.79007204e-01 8.58501955e-01 -3.45438754e-01 9.51268044e+01] [ 6.62612606e-01 8.81504548e-03 7.48910428e-01 1.07397062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.66, Y:95.14, Z:107.42 [[ 6.45436505e-01 -5.13665951e-01 -5.65295505e-01 1.81657886e+02] [ 3.80115474e-01 8.57951285e-01 -3.45589090e-01 9.51381354e+01] [ 6.62513354e-01 8.17824558e-03 7.49005456e-01 1.07415747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.68, Y:95.15, Z:107.43 [[ 6.44796575e-01 -5.14488009e-01 -5.65278220e-01 1.81675424e+02] [ 3.80964886e-01 8.57463349e-01 -3.45864657e-01 9.51485265e+01] [ 6.62648574e-01 7.66119337e-03 7.48891296e-01 1.07433902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.69, Y:95.16, Z:107.45 [[ 6.43453710e-01 -5.16305465e-01 -5.65151298e-01 1.81693661e+02] [ 3.83226217e-01 8.56382902e-01 -3.46043337e-01 9.51597949e+01] [ 6.62649975e-01 6.08207485e-03 7.48904546e-01 1.07452523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.71, Y:95.17, Z:107.47 [[ 6.42766965e-01 -5.17523840e-01 -5.64818292e-01 1.81711804e+02] [ 3.84783717e-01 8.55653341e-01 -3.46119706e-01 9.51711271e+01] [ 6.62413858e-01 5.14143088e-03 7.49120449e-01 1.07471020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.74, Y:95.21, Z:107.46 [[ 6.43206507e-01 -5.41845349e-01 -5.41007401e-01 1.81735253e+02] [ 3.95671230e-01 8.40118955e-01 -3.71004608e-01 9.52055925e+01] [ 6.55537693e-01 2.45715141e-02 7.54762594e-01 1.07462896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.74, Y:95.19, Z:107.52 [[ 6.39536056e-01 -5.09977035e-01 -5.75253906e-01 1.81744844e+02] [ 3.89382245e-01 8.60086635e-01 -3.29594367e-01 9.51853133e+01] [ 6.62853755e-01 -1.32061756e-02 7.48632418e-01 1.07515706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.146875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:181.77, Y:95.21, Z:107.53 [[ 6.38459640e-01 -5.22490522e-01 -5.65130908e-01 1.81765868e+02] [ 3.90893645e-01 8.52644976e-01 -3.46696845e-01 9.52052974e+01] [ 6.63001845e-01 4.45862791e-04 7.48617629e-01 1.07526654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.78, Y:95.22, Z:107.54 [[ 6.37338152e-01 -5.23837938e-01 -5.65149445e-01 1.81783372e+02] [ 3.92424317e-01 8.51817721e-01 -3.47001047e-01 9.52163324e+01] [ 6.63176624e-01 -6.21379257e-04 7.48462677e-01 1.07544147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.206875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:181.80, Y:95.23, Z:107.56 [[ 6.34776270e-01 -5.26590935e-01 -5.65474204e-01 1.81800517e+02] [ 3.95754099e-01 8.50112531e-01 -3.47400889e-01 9.52269634e+01] [ 6.63654866e-01 -3.26689345e-03 7.48031782e-01 1.07561740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.82, Y:95.24, Z:107.58 [[ 6.33565128e-01 -5.28002626e-01 -5.65516096e-01 1.81818760e+02] [ 3.97403681e-01 8.49231004e-01 -3.47673722e-01 9.52379754e+01] [ 6.63826440e-01 -4.46423157e-03 7.47873337e-01 1.07580732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.84, Y:95.25, Z:107.60 [[ 6.32390391e-01 -5.29269551e-01 -5.65646654e-01 1.81836795e+02] [ 3.98783152e-01 8.48436062e-01 -3.48034835e-01 9.52489845e+01] [ 6.64119260e-01 -5.47647030e-03 7.47606592e-01 1.07599812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.85, Y:95.26, Z:107.62 [[ 6.30814185e-01 -5.31346420e-01 -5.65459500e-01 1.81854566e+02] [ 4.01421178e-01 8.47122864e-01 -3.48200936e-01 9.52603942e+01] [ 6.64028992e-01 -7.33732871e-03 7.47670825e-01 1.07617810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.87, Y:95.27, Z:107.64 [[ 6.29704262e-01 -5.33152993e-01 -5.64995955e-01 1.81873207e+02] [ 4.01920679e-01 8.45994189e-01 -3.50362099e-01 9.52730335e+01] [ 6.64779896e-01 -6.45905065e-03 7.47011359e-01 1.07636346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.89, Y:95.28, Z:107.65 [[ 6.29481112e-01 -5.31823715e-01 -5.66495425e-01 1.81889691e+02] [ 4.03316404e-01 8.46794043e-01 -3.46807912e-01 9.52828197e+01] [ 6.64145623e-01 -1.01678677e-02 7.47534083e-01 1.07654877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.91, Y:95.30, Z:107.67 [[ 6.29236746e-01 -5.33508833e-01 -5.65180894e-01 1.81907509e+02] [ 4.03808342e-01 8.45749130e-01 -3.48779633e-01 9.52952220e+01] [ 6.64078264e-01 -8.75979780e-03 7.47611748e-01 1.07672343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.93, Y:95.31, Z:107.69 [[ 6.29063731e-01 -5.33913225e-01 -5.64991584e-01 1.81925508e+02] [ 4.04206015e-01 8.45492780e-01 -3.48940477e-01 9.53067965e+01] [ 6.64000241e-01 -8.86719810e-03 7.47679780e-01 1.07691130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.94, Y:95.32, Z:107.71 [[ 6.28905324e-01 -5.34116064e-01 -5.64976216e-01 1.81943483e+02] [ 4.04225714e-01 8.45365894e-01 -3.49224966e-01 9.53183339e+01] [ 6.64138288e-01 -8.74847374e-03 7.47558559e-01 1.07709912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.96, Y:95.33, Z:107.73 [[ 6.29336655e-01 -5.33751258e-01 -5.64840659e-01 1.81960462e+02] [ 4.03546946e-01 8.45603425e-01 -3.49434842e-01 9.53302356e+01] [ 6.64142483e-01 -8.02756810e-03 7.47562921e-01 1.07727868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.98, Y:95.34, Z:107.75 [[ 6.29657411e-01 -5.33411352e-01 -5.64804280e-01 1.81978208e+02] [ 4.02877148e-01 8.45823850e-01 -3.49674160e-01 9.53420338e+01] [ 6.64245097e-01 -7.37181158e-03 7.47478500e-01 1.07746380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.00, Y:95.35, Z:107.76 [[ 6.30454391e-01 -5.32901389e-01 -5.64396466e-01 1.81995709e+02] [ 4.02159721e-01 8.46152353e-01 -3.49705240e-01 9.53540176e+01] [ 6.63923806e-01 -6.50432120e-03 7.47771940e-01 1.07764388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.01, Y:95.37, Z:107.78 [[ 6.32602713e-01 -5.31000792e-01 -5.63783616e-01 1.82012457e+02] [ 3.99686629e-01 8.47361062e-01 -3.49613830e-01 9.53663271e+01] [ 6.63373504e-01 -4.17011521e-03 7.48276823e-01 1.07782621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.03, Y:95.38, Z:107.80 [[ 6.33460371e-01 -5.30020402e-01 -5.63743144e-01 1.82029396e+02] [ 3.98166500e-01 8.47980103e-01 -3.49847370e-01 9.53775707e+01] [ 6.63469213e-01 -2.84918995e-03 7.48198159e-01 1.07800287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.05, Y:95.39, Z:107.82 [[ 6.33326534e-01 -5.30302575e-01 -5.63628140e-01 1.82047621e+02] [ 3.98379407e-01 8.47803657e-01 -3.50032581e-01 9.53890796e+01] [ 6.63469177e-01 -2.85292291e-03 7.48198177e-01 1.07819106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.07, Y:95.40, Z:107.84 [[ 6.34269436e-01 -5.29394677e-01 -5.63421298e-01 1.82065357e+02] [ 3.97044893e-01 8.48374154e-01 -3.50166601e-01 9.54010931e+01] [ 6.63368402e-01 -1.60357620e-03 7.48291248e-01 1.07838067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.08, Y:95.41, Z:107.86 [[ 6.35224087e-01 -5.28425947e-01 -5.63255162e-01 1.82082692e+02] [ 3.95592611e-01 8.48979354e-01 -3.50343463e-01 9.54127220e+01] [ 6.63322580e-01 -2.72973737e-04 7.48333535e-01 1.07856326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.10, Y:95.43, Z:107.87 [[ 6.37555592e-01 -5.25914294e-01 -5.62971600e-01 1.82100048e+02] [ 3.92146046e-01 8.50533398e-01 -3.50448881e-01 9.54257277e+01] [ 6.63132224e-01 2.66355635e-03 7.48497535e-01 1.07874560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.13, Y:95.47, Z:107.86 [[ 6.41741821e-01 -5.51743597e-01 -5.32678550e-01 1.82125607e+02] [ 3.99443759e-01 8.33385729e-01 -3.81985485e-01 9.54676611e+01] [ 6.54684747e-01 3.23609386e-02 7.55209012e-01 1.07859748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.13, Y:95.44, Z:107.92 [[ 6.39589564e-01 -5.07043439e-01 -5.77782088e-01 1.82132009e+02] [ 3.87084395e-01 8.61806935e-01 -3.27802499e-01 9.54388571e+01] [ 6.64146716e-01 -1.39913722e-02 7.47471324e-01 1.07921270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.15, Y:95.46, Z:107.93 [[ 6.40225071e-01 -5.22035775e-01 -5.63551691e-01 1.82152820e+02] [ 3.86199278e-01 8.52892525e-01 -3.51318172e-01 9.54621069e+01] [ 6.64049679e-01 7.27944524e-03 7.47653017e-01 1.07928343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.18, Y:95.51, Z:107.91 [[ 6.44349540e-01 -5.52260824e-01 -5.28981712e-01 1.82178417e+02] [ 3.96385872e-01 8.32740139e-01 -3.86551551e-01 9.55071246e+01] [ 6.53981583e-01 3.93934370e-02 7.55484114e-01 1.07910220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.18, Y:95.47, Z:107.98 [[ 6.40635727e-01 -5.04052449e-01 -5.79238288e-01 1.82184251e+02] [ 3.84452928e-01 8.63564855e-01 -3.26269349e-01 9.54716867e+01] [ 6.64666692e-01 -1.36700539e-02 7.47014938e-01 1.07977779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.21, Y:95.50, Z:107.98 [[ 6.40761792e-01 -5.21478467e-01 -5.63457660e-01 1.82205890e+02] [ 3.85114476e-01 8.53223452e-01 -3.51705249e-01 9.54962423e+01] [ 6.64162004e-01 8.36358381e-03 7.47541894e-01 1.07984627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.22, Y:95.51, Z:108.00 [[ 6.40608286e-01 -5.21775061e-01 -5.63357622e-01 1.82223259e+02] [ 3.85311462e-01 8.53041937e-01 -3.51929725e-01 9.55074333e+01] [ 6.64195830e-01 8.38094945e-03 7.47511645e-01 1.08002404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.24, Y:95.52, Z:108.02 [[ 6.39899198e-01 -5.23075962e-01 -5.62956973e-01 1.82241247e+02] [ 3.87098503e-01 8.52255276e-01 -3.51874542e-01 9.55194897e+01] [ 6.63840165e-01 7.24443548e-03 7.47839390e-01 1.08020831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.26, Y:95.53, Z:108.04 [[ 6.39033580e-01 -5.24141201e-01 -5.62949452e-01 1.82259197e+02] [ 3.88269738e-01 8.51606861e-01 -3.52153895e-01 9.55308299e+01] [ 6.63989981e-01 6.46192862e-03 7.47713548e-01 1.08038905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.28, Y:95.54, Z:108.06 [[ 6.38292327e-01 -5.25189527e-01 -5.62813349e-01 1.82276734e+02] [ 3.89485034e-01 8.50966187e-01 -3.52360549e-01 9.55418045e+01] [ 6.63991200e-01 5.70165852e-03 7.47718649e-01 1.08056678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.29, Y:95.55, Z:108.07 [[ 6.37592163e-01 -5.26318816e-01 -5.62551986e-01 1.82294456e+02] [ 3.90906130e-01 8.50273646e-01 -3.52458685e-01 9.55528739e+01] [ 6.63828766e-01 4.81987591e-03 7.47869065e-01 1.08074796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.31, Y:95.56, Z:108.09 [[ 6.36178504e-01 -5.28509361e-01 -5.62098537e-01 1.82311919e+02] [ 3.93825467e-01 8.48922649e-01 -3.52465372e-01 9.55645720e+01] [ 6.63459428e-01 2.86217389e-03 7.48206787e-01 1.08092785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.33, Y:95.58, Z:108.11 [[ 6.35615571e-01 -5.29613133e-01 -5.61696338e-01 1.82330115e+02] [ 3.95266328e-01 8.48236866e-01 -3.52503546e-01 9.55762963e+01] [ 6.63142048e-01 2.03709436e-03 7.48490798e-01 1.08111385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.35, Y:95.59, Z:108.13 [[ 6.34964702e-01 -5.30823629e-01 -5.61289679e-01 1.82348314e+02] [ 3.96845856e-01 8.47481591e-01 -3.52545486e-01 9.55879607e+01] [ 6.62822144e-01 1.10845660e-03 7.48776053e-01 1.08130114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.37, Y:95.60, Z:108.15 [[ 6.33784847e-01 -5.32836311e-01 -5.60715823e-01 1.82366022e+02] [ 3.99587050e-01 8.46218078e-01 -3.52484259e-01 9.55992982e+01] [ 6.62304279e-01 -6.55599452e-04 7.49234685e-01 1.08147743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.38, Y:95.61, Z:108.17 [[ 6.33109570e-01 -5.33844949e-01 -5.60519262e-01 1.82383399e+02] [ 4.00808117e-01 8.45581211e-01 -3.52626246e-01 9.56101973e+01] [ 6.62212296e-01 -1.40961899e-03 7.49314946e-01 1.08165699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.40, Y:95.62, Z:108.18 [[ 6.32529518e-01 -5.34834198e-01 -5.60231014e-01 1.82401095e+02] [ 4.02055846e-01 8.44954305e-01 -3.52708548e-01 9.56216144e+01] [ 6.62010200e-01 -2.14558668e-03 7.49491755e-01 1.08183749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.42, Y:95.63, Z:108.20 [[ 6.32189753e-01 -5.35913908e-01 -5.59582344e-01 1.82419159e+02] [ 4.03596936e-01 8.44267517e-01 -3.52593071e-01 9.56339760e+01] [ 6.61396726e-01 -2.93999321e-03 7.50030484e-01 1.08201256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.44, Y:95.65, Z:108.22 [[ 6.32130944e-01 -5.36267943e-01 -5.59309541e-01 1.82436373e+02] [ 4.03961959e-01 8.44042547e-01 -3.52713643e-01 9.56455525e+01] [ 6.61230070e-01 -2.97856930e-03 7.50177261e-01 1.08218545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.45, Y:95.66, Z:108.24 [[ 6.32224343e-01 -5.36270432e-01 -5.59201578e-01 1.82454182e+02] [ 4.03792623e-01 8.44041955e-01 -3.52908907e-01 9.56574150e+01] [ 6.61244205e-01 -2.68386982e-03 7.50165914e-01 1.08236986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.47, Y:95.67, Z:108.25 [[ 6.32874589e-01 -5.35660710e-01 -5.59050408e-01 1.82471102e+02] [ 4.02803342e-01 8.44431562e-01 -3.53107356e-01 9.56696131e+01] [ 6.61225546e-01 -1.71470011e-03 7.50185202e-01 1.08254434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.49, Y:95.68, Z:108.27 [[ 6.33595994e-01 -5.35138709e-01 -5.58733101e-01 1.82488587e+02] [ 4.02106159e-01 8.44763679e-01 -3.53107580e-01 9.56812812e+01] [ 6.60958965e-01 -9.42473663e-04 7.50421454e-01 1.08272661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.51, Y:95.69, Z:108.29 [[ 6.34240680e-01 -5.34744385e-01 -5.58379085e-01 1.82505829e+02] [ 4.01524930e-01 8.45013846e-01 -3.53170400e-01 9.56931665e+01] [ 6.60693946e-01 -2.08088988e-04 7.50655358e-01 1.08290203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.52, Y:95.71, Z:108.31 [[ 6.35606194e-01 -5.33785032e-01 -5.57743943e-01 1.82523511e+02] [ 4.00375338e-01 8.45619523e-01 -3.53025795e-01 9.57058556e+01] [ 6.60079052e-01 1.07846279e-03 7.51195369e-01 1.08308466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.54, Y:95.72, Z:108.33 [[ 6.36109150e-01 -5.33443532e-01 -5.57497218e-01 1.82540834e+02] [ 3.99810234e-01 8.45833869e-01 -3.53152718e-01 9.57177215e+01] [ 6.59937062e-01 1.75058196e-03 7.51318847e-01 1.08326625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.56, Y:95.73, Z:108.34 [[ 6.36446653e-01 -5.33354124e-01 -5.57197485e-01 1.82558135e+02] [ 3.99607253e-01 8.45889292e-01 -3.53249698e-01 9.57297960e+01] [ 6.59734569e-01 2.16443187e-03 7.51495585e-01 1.08344750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.526875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:182.58, Y:95.74, Z:108.36 [[ 6.36696856e-01 -5.33100295e-01 -5.57154547e-01 1.82576033e+02] [ 3.99044637e-01 8.46047593e-01 -3.53506504e-01 9.57418719e+01] [ 6.59833685e-01 2.74694567e-03 7.51406656e-01 1.08363165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.59, Y:95.75, Z:108.38 [[ 6.37452201e-01 -5.32494462e-01 -5.56870128e-01 1.82593578e+02] [ 3.98151069e-01 8.46425441e-01 -3.53609531e-01 9.57543751e+01] [ 6.59644160e-01 3.69073687e-03 7.51568999e-01 1.08381760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.61, Y:95.77, Z:108.40 [[ 6.37554363e-01 -5.32314309e-01 -5.56925409e-01 1.82610195e+02] [ 3.97620148e-01 8.46536316e-01 -3.53941355e-01 9.57657481e+01] [ 6.59865632e-01 4.21209125e-03 7.51371817e-01 1.08399346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.63, Y:95.78, Z:108.42 [[ 6.38051114e-01 -5.31598328e-01 -5.57040388e-01 1.82627449e+02] [ 3.96369267e-01 8.46980276e-01 -3.54282115e-01 9.57784956e+01] [ 6.60138001e-01 5.25640768e-03 7.51125948e-01 1.08417710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.64, Y:95.79, Z:108.44 [[ 6.38423105e-01 -5.31406255e-01 -5.56797388e-01 1.82644756e+02] [ 3.95993364e-01 8.47097364e-01 -3.54422505e-01 9.57905094e+01] [ 6.60003936e-01 5.78344506e-03 7.51239880e-01 1.08435140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.66, Y:95.80, Z:108.45 [[ 6.38416403e-01 -5.31256716e-01 -5.56947752e-01 1.82661875e+02] [ 3.95477136e-01 8.47187925e-01 -3.54782263e-01 9.58022605e+01] [ 6.60319870e-01 6.23871428e-03 7.50958553e-01 1.08453031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.68, Y:95.81, Z:108.47 [[ 6.38548349e-01 -5.31161817e-01 -5.56887000e-01 1.82679492e+02] [ 3.95157322e-01 8.47244464e-01 -3.55003535e-01 9.58140886e+01] [ 6.60383750e-01 6.62894603e-03 7.50899034e-01 1.08471357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.70, Y:95.83, Z:108.49 [[ 6.38583793e-01 -5.31140381e-01 -5.56866802e-01 1.82697220e+02] [ 3.94889566e-01 8.47255144e-01 -3.55275880e-01 9.58260730e+01] [ 6.60509629e-01 6.97252868e-03 7.50785198e-01 1.08489764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.71, Y:95.83, Z:108.51 [[ 6.40133705e-01 -5.25602714e-01 -5.60330820e-01 1.82712294e+02] [ 3.94347809e-01 8.50728870e-01 -3.47491289e-01 9.58325128e+01] [ 6.59331969e-01 1.47565472e-03 7.51850502e-01 1.08509656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.73, Y:95.86, Z:108.52 [[ 6.38571401e-01 -5.41272515e-01 -5.47038052e-01 1.82734521e+02] [ 3.96370411e-01 8.40635783e-01 -3.69082617e-01 9.58567413e+01] [ 6.59634037e-01 1.88559064e-02 7.51350379e-01 1.08520826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.75, Y:95.86, Z:108.55 [[ 6.38294755e-01 -5.32835104e-01 -5.55577680e-01 1.82750728e+02] [ 3.96867707e-01 8.46194230e-01 -3.55599985e-01 9.58610095e+01] [ 6.59602781e-01 6.48676543e-03 7.51586384e-01 1.08545533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.856875 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:182.77, Y:95.87, Z:108.56 [[ 6.38125946e-01 -5.33347025e-01 -5.55280315e-01 1.82769797e+02] [ 3.97467330e-01 8.45873286e-01 -3.55693835e-01 9.58722633e+01] [ 6.59405034e-01 6.27168062e-03 7.51761709e-01 1.08563001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.79, Y:95.88, Z:108.58 [[ 6.37456334e-01 -5.34642686e-01 -5.54803227e-01 1.82787112e+02] [ 3.99197261e-01 8.45061864e-01 -3.55685245e-01 9.58835278e+01] [ 6.59007564e-01 5.25788414e-03 7.52117933e-01 1.08581647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.916875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:182.80, Y:95.89, Z:108.60 [[ 6.37090390e-01 -5.35413361e-01 -5.54480269e-01 1.82804549e+02] [ 4.00143530e-01 8.44576580e-01 -3.55774586e-01 9.58945621e+01] [ 6.58787516e-01 4.78887772e-03 7.52313815e-01 1.08598864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.82, Y:95.91, Z:108.62 [[ 6.36205389e-01 -5.36303012e-01 -5.54636622e-01 1.82822270e+02] [ 4.01000804e-01 8.44015223e-01 -3.56141347e-01 9.59060515e+01] [ 6.59121429e-01 4.16931338e-03 7.52024972e-01 1.08617136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.84, Y:95.92, Z:108.63 [[ 6.35648287e-01 -5.36806089e-01 -5.54788679e-01 1.82839565e+02] [ 4.01320992e-01 8.43696246e-01 -3.56536261e-01 9.59171843e+01] [ 6.59463962e-01 3.98332018e-03 7.51725626e-01 1.08634756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.86, Y:95.93, Z:108.65 [[ 6.34989145e-01 -5.37511884e-01 -5.54860127e-01 1.82857871e+02] [ 4.01983250e-01 8.43248698e-01 -3.56848847e-01 9.59289643e+01] [ 6.59695576e-01 3.55066731e-03 7.51524544e-01 1.08652525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.87, Y:95.94, Z:108.67 [[ 6.33056767e-01 -5.38989085e-01 -5.55634678e-01 1.82874963e+02] [ 4.03248179e-01 8.42309478e-01 -3.57638993e-01 9.59405826e+01] [ 6.60779870e-01 2.34711286e-03 7.50576082e-01 1.08669671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.89, Y:95.95, Z:108.69 [[ 6.31003367e-01 -5.40854742e-01 -5.56157262e-01 1.82893292e+02] [ 4.05203511e-01 8.41115729e-01 -3.58237974e-01 9.59527615e+01] [ 6.61547327e-01 6.92492616e-04 7.49903097e-01 1.08687878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.91, Y:95.96, Z:108.71 [[ 6.28644570e-01 -5.43491571e-01 -5.56257960e-01 1.82910502e+02] [ 4.08401597e-01 8.39412812e-01 -3.58600427e-01 9.59629986e+01] [ 6.61826368e-01 -1.74442774e-03 7.49655131e-01 1.08705962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.93, Y:95.97, Z:108.72 [[ 6.27587174e-01 -5.44596544e-01 -5.56371229e-01 1.82928265e+02] [ 4.09577438e-01 8.38694098e-01 -3.58940848e-01 9.59744518e+01] [ 6.62103211e-01 -2.61042999e-03 7.49408115e-01 1.08724739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.95, Y:95.99, Z:108.74 [[ 6.26635069e-01 -5.45443804e-01 -5.56614361e-01 1.82945790e+02] [ 4.10315063e-01 8.38141358e-01 -3.59389224e-01 9.59865244e+01] [ 6.62548142e-01 -3.18136532e-03 7.49012576e-01 1.08743197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.96, Y:96.00, Z:108.76 [[ 6.25655087e-01 -5.46146971e-01 -5.57027107e-01 1.82962537e+02] [ 4.10756210e-01 8.37681665e-01 -3.59956614e-01 9.59993100e+01] [ 6.63200609e-01 -3.59365684e-03 7.48433055e-01 1.08760458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.98, Y:96.01, Z:108.78 [[ 6.25550505e-01 -5.46194116e-01 -5.57098334e-01 1.82979418e+02] [ 4.10539603e-01 8.37651967e-01 -3.60272697e-01 9.60107972e+01] [ 6.63433343e-01 -3.34216113e-03 7.48227926e-01 1.08777970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.00, Y:96.02, Z:108.80 [[ 6.26071504e-01 -5.45715161e-01 -5.56982437e-01 1.82996573e+02] [ 4.09727302e-01 8.37966910e-01 -3.60464972e-01 9.60222311e+01] [ 6.63444052e-01 -2.53406413e-03 7.48221604e-01 1.08796715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.01, Y:96.03, Z:108.82 [[ 6.26566242e-01 -5.45580572e-01 -5.56557799e-01 1.83013828e+02] [ 4.09528250e-01 8.38055846e-01 -3.60484413e-01 9.60331472e+01] [ 6.63099809e-01 -2.05877765e-03 7.48528159e-01 1.08815023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.03, Y:96.04, Z:108.83 [[ 6.26755399e-01 -5.45644972e-01 -5.56281614e-01 1.83030772e+02] [ 4.09537752e-01 8.38014450e-01 -3.60569842e-01 9.60440806e+01] [ 6.62915152e-01 -1.82922623e-03 7.48692297e-01 1.08833092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.05, Y:96.06, Z:108.85 [[ 6.26619433e-01 -5.45817970e-01 -5.56265072e-01 1.83048614e+02] [ 4.09603062e-01 8.37901867e-01 -3.60757250e-01 9.60554685e+01] [ 6.63003332e-01 -1.79037377e-03 7.48614304e-01 1.08851621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.07, Y:96.07, Z:108.87 [[ 6.26560416e-01 -5.46047048e-01 -5.56106704e-01 1.83066840e+02] [ 4.09748081e-01 8.37752759e-01 -3.60938811e-01 9.60672797e+01] [ 6.62969497e-01 -1.71368301e-03 7.48644448e-01 1.08870255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.08, Y:96.08, Z:108.89 [[ 6.26382168e-01 -5.46245210e-01 -5.56112894e-01 1.83084537e+02] [ 4.09758165e-01 8.37623777e-01 -3.61226597e-01 9.60783437e+01] [ 6.63131681e-01 -1.60590061e-03 7.48501032e-01 1.08888993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.10, Y:96.09, Z:108.91 [[ 6.26616941e-01 -5.46372361e-01 -5.55723360e-01 1.83102450e+02] [ 4.09896839e-01 8.37541184e-01 -3.61260774e-01 9.60887684e+01] [ 6.62824103e-01 -1.41712763e-03 7.48773798e-01 1.08907570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.12, Y:96.10, Z:108.93 [[ 6.26649342e-01 -5.46532114e-01 -5.55529702e-01 1.83119665e+02] [ 4.09957781e-01 8.37437210e-01 -3.61432618e-01 9.60994778e+01] [ 6.62755777e-01 -1.25221174e-03 7.48834570e-01 1.08925383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.14, Y:96.11, Z:108.94 [[ 6.26291464e-01 -5.46883602e-01 -5.55587372e-01 1.83137876e+02] [ 4.10157808e-01 8.37207602e-01 -3.61737478e-01 9.61110207e+01] [ 6.62970267e-01 -1.32540403e-03 7.48644554e-01 1.08944028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.16, Y:96.12, Z:108.96 [[ 6.26104525e-01 -5.47205559e-01 -5.55481053e-01 1.83155218e+02] [ 4.10393387e-01 8.36997176e-01 -3.61957173e-01 9.61226493e+01] [ 6.63001050e-01 -1.34272720e-03 7.48617262e-01 1.08961333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.17, Y:96.13, Z:108.98 [[ 6.25966834e-01 -5.47454293e-01 -5.55391141e-01 1.83173155e+02] [ 4.10603536e-01 8.36834437e-01 -3.62095098e-01 9.61345169e+01] [ 6.63000949e-01 -1.38604420e-03 7.48617272e-01 1.08980200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.19, Y:96.15, Z:109.00 [[ 6.25528702e-01 -5.47499679e-01 -5.55839855e-01 1.83190958e+02] [ 4.10170030e-01 8.36805118e-01 -3.62653749e-01 9.61459689e+01] [ 6.63682446e-01 -1.13852165e-03 7.48013579e-01 1.08998316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.21, Y:96.16, Z:109.02 [[ 6.25400250e-01 -5.47779632e-01 -5.55708558e-01 1.83208398e+02] [ 4.10369189e-01 8.36621912e-01 -3.62851079e-01 9.61572021e+01] [ 6.63680387e-01 -1.11851449e-03 7.48015436e-01 1.09016597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.63687500000003 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:183.23, Y:96.17, Z:109.04 [[ 6.24986009e-01 -5.48015088e-01 -5.55942400e-01 1.83226640e+02] [ 4.10292582e-01 8.36467793e-01 -3.63292758e-01 9.61684278e+01] [ 6.64117825e-01 -1.04615152e-03 7.47627193e-01 1.09035477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.24, Y:96.18, Z:109.05 [[ 6.24235740e-01 -5.48534735e-01 -5.56272762e-01 1.83243191e+02] [ 4.10532360e-01 8.36126808e-01 -3.63806463e-01 9.61795884e+01] [ 6.64675050e-01 -1.26697309e-03 7.47131496e-01 1.09053902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.26, Y:96.19, Z:109.07 [[ 6.24076187e-01 -5.48694603e-01 -5.56294118e-01 1.83260868e+02] [ 4.10553639e-01 8.36021990e-01 -3.64023271e-01 9.61915639e+01] [ 6.64811720e-01 -1.21031977e-03 7.47009982e-01 1.09072082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.28, Y:96.20, Z:109.09 [[ 6.24207463e-01 -5.48719479e-01 -5.56122267e-01 1.83278100e+02] [ 4.10423845e-01 8.36006048e-01 -3.64206198e-01 9.62036238e+01] [ 6.64768614e-01 -9.05612576e-04 7.47048773e-01 1.09090075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.29, Y:96.22, Z:109.11 [[ 6.25096272e-01 -5.47748241e-01 -5.56081393e-01 1.83294244e+02] [ 4.08884374e-01 8.36643087e-01 -3.64474848e-01 9.62159194e+01] [ 6.64882110e-01 4.58876280e-04 7.46948170e-01 1.09107595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.786875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:183.31, Y:96.23, Z:109.13 [[ 6.25464308e-01 -5.47302495e-01 -5.56106446e-01 1.83311577e+02] [ 4.08037620e-01 8.36933969e-01 -3.64755854e-01 9.62281837e+01] [ 6.65056164e-01 1.22941724e-03 7.46792333e-01 1.09125990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.33, Y:96.24, Z:109.14 [[ 6.25844733e-01 -5.47060466e-01 -5.55916555e-01 1.83328733e+02] [ 4.07567256e-01 8.37091135e-01 -3.64921037e-01 9.62406421e+01] [ 6.64986693e-01 1.81052378e-03 7.46853011e-01 1.09144387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.35, Y:96.25, Z:109.16 [[ 6.26759647e-01 -5.45883063e-01 -5.56043187e-01 1.83345478e+02] [ 4.05662359e-01 8.37854539e-01 -3.65291420e-01 9.62537482e+01] [ 6.65289708e-01 3.38413042e-03 7.46577627e-01 1.09163172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.36, Y:96.27, Z:109.18 [[ 6.27292606e-01 -5.45426172e-01 -5.55890526e-01 1.83362295e+02] [ 4.04875127e-01 8.38148329e-01 -3.65490779e-01 9.62660748e+01] [ 6.65266953e-01 4.20341607e-03 7.46593740e-01 1.09180836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.38, Y:96.28, Z:109.20 [[ 6.27876809e-01 -5.45010558e-01 -5.55638556e-01 1.83379477e+02] [ 4.04229014e-01 8.38414607e-01 -3.65595201e-01 9.62786210e+01] [ 6.65108726e-01 4.94352289e-03 7.46730168e-01 1.09199569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.40, Y:96.29, Z:109.22 [[ 6.29313741e-01 -5.43763106e-01 -5.55234996e-01 1.83395525e+02] [ 4.02546688e-01 8.39212946e-01 -3.65619742e-01 9.62919156e+01] [ 6.64770923e-01 6.58151894e-03 7.47018275e-01 1.09217489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.41, Y:96.30, Z:109.24 [[ 6.29854395e-01 -5.43413738e-01 -5.54963919e-01 1.83412495e+02] [ 4.02010093e-01 8.39433804e-01 -3.65703122e-01 9.63046606e+01] [ 6.64583574e-01 7.23862240e-03 7.47178878e-01 1.09235924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.996875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:183.43, Y:96.32, Z:109.25 [[ 6.30565917e-01 -5.42922636e-01 -5.54636489e-01 1.83429351e+02] [ 4.01295394e-01 8.39743913e-01 -3.65776116e-01 9.63169311e+01] [ 6.64340749e-01 8.07288357e-03 7.47386244e-01 1.09254154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.45, Y:96.33, Z:109.27 [[ 6.31436629e-01 -5.41958715e-01 -5.54588618e-01 1.83446228e+02] [ 3.99784306e-01 8.40352417e-01 -3.66033227e-01 9.63299514e+01] [ 6.64424783e-01 9.41096113e-03 7.47295887e-01 1.09273029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.46, Y:96.34, Z:109.29 [[ 6.31803908e-01 -5.41452817e-01 -5.54664465e-01 1.83462986e+02] [ 3.98800695e-01 8.40668284e-01 -3.66380733e-01 9.63422248e+01] [ 6.64666705e-01 1.02802048e-02 7.47069267e-01 1.09290965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.48, Y:96.35, Z:109.31 [[ 6.32083723e-01 -5.40872286e-01 -5.54912009e-01 1.83479733e+02] [ 3.97614791e-01 8.41029730e-01 -3.66839844e-01 9.63546515e+01] [ 6.65111002e-01 1.12322721e-02 7.46660024e-01 1.09309139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.50, Y:96.37, Z:109.33 [[ 6.33026874e-01 -5.39243405e-01 -5.55421937e-01 1.83496646e+02] [ 3.94872554e-01 8.42044943e-01 -3.67472421e-01 9.63683252e+01] [ 6.65847312e-01 1.32990388e-02 7.45969498e-01 1.09327415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.51, Y:96.38, Z:109.34 [[ 6.33481438e-01 -5.38647762e-01 -5.55481643e-01 1.83513186e+02] [ 3.93780940e-01 8.42410371e-01 -3.67806114e-01 9.63804043e+01] [ 6.66061438e-01 1.42602625e-02 7.45760556e-01 1.09344790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.53, Y:96.39, Z:109.36 [[ 6.33719844e-01 -5.38154608e-01 -5.55687662e-01 1.83530803e+02] [ 3.92818436e-01 8.42712380e-01 -3.68143342e-01 9.63931051e+01] [ 6.66402908e-01 1.50153834e-02 7.45440610e-01 1.09363157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.55, Y:96.41, Z:109.38 [[ 6.34188758e-01 -5.37440932e-01 -5.55843380e-01 1.83547881e+02] [ 3.91512283e-01 8.43147635e-01 -3.68537919e-01 9.64055946e+01] [ 6.66725394e-01 1.61030944e-02 7.45129478e-01 1.09380470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.57, Y:96.42, Z:109.40 [[ 6.33891583e-01 -5.37577160e-01 -5.56050590e-01 1.83565446e+02] [ 3.91329735e-01 8.43057634e-01 -3.68937479e-01 9.64176740e+01] [ 6.67115057e-01 1.62672326e-02 7.44777066e-01 1.09399120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.58, Y:96.43, Z:109.42 [[ 6.33717450e-01 -5.37850968e-01 -5.55984289e-01 1.83582834e+02] [ 3.91467649e-01 8.42882079e-01 -3.69192200e-01 9.64294067e+01] [ 6.67199575e-01 1.63136775e-02 7.44700336e-01 1.09417559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.60, Y:96.44, Z:109.44 [[ 6.33085069e-01 -5.39023157e-01 -5.55569376e-01 1.83600035e+02] [ 3.93018995e-01 8.42150249e-01 -3.69214067e-01 9.64406480e+01] [ 6.66887820e-01 1.53945954e-02 7.44999088e-01 1.09436204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.62, Y:96.45, Z:109.45 [[ 6.32246909e-01 -5.39921247e-01 -5.55651773e-01 1.83617485e+02] [ 3.93891433e-01 8.41585515e-01 -3.69571860e-01 9.64519444e+01] [ 6.67168183e-01 1.47941935e-02 7.44760194e-01 1.09454917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.63, Y:96.46, Z:109.47 [[ 6.31489898e-01 -5.40985302e-01 -5.55477644e-01 1.83634577e+02] [ 3.95145739e-01 8.40915450e-01 -3.69758096e-01 9.64629154e+01] [ 6.67143428e-01 1.40038781e-02 7.44797649e-01 1.09472561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.65, Y:96.47, Z:109.49 [[ 6.29973294e-01 -5.43170036e-01 -5.55067529e-01 1.83652508e+02] [ 3.98068016e-01 8.39537228e-01 -3.69755456e-01 9.64738039e+01] [ 6.66839939e-01 1.19814328e-02 7.45104651e-01 1.09490438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.67, Y:96.49, Z:109.51 [[ 6.28627570e-01 -5.44726440e-01 -5.55067999e-01 1.83670320e+02] [ 3.99901325e-01 8.38546352e-01 -3.70025603e-01 9.64854679e+01] [ 6.67012975e-01 1.06358670e-02 7.44970180e-01 1.09509356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.69, Y:96.50, Z:109.53 [[ 6.26973180e-01 -5.47107324e-01 -5.54597339e-01 1.83688274e+02] [ 4.03103225e-01 8.37020074e-01 -3.70007008e-01 9.64963257e+01] [ 6.66642649e-01 8.42449429e-03 7.45329864e-01 1.09527743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.71, Y:96.51, Z:109.55 [[ 6.26021398e-01 -5.48491850e-01 -5.54304879e-01 1.83706090e+02] [ 4.04864621e-01 8.36124227e-01 -3.70109330e-01 9.65081863e+01] [ 6.66469690e-01 7.27792565e-03 7.45496603e-01 1.09546335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.72, Y:96.52, Z:109.57 [[ 6.25063980e-01 -5.49712010e-01 -5.54176621e-01 1.83723726e+02] [ 4.06306944e-01 8.35330418e-01 -3.70321157e-01 9.65198880e+01] [ 6.66490576e-01 6.30860709e-03 7.45486763e-01 1.09565042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.74, Y:96.53, Z:109.58 [[ 6.24401743e-01 -5.50687538e-01 -5.53954600e-01 1.83741681e+02] [ 4.07479706e-01 8.34692703e-01 -3.70470487e-01 9.65317073e+01] [ 6.66395342e-01 5.59716006e-03 7.45577574e-01 1.09583721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.76, Y:96.54, Z:109.60 [[ 6.22845887e-01 -5.52330747e-01 -5.54070164e-01 1.83759832e+02] [ 4.09337012e-01 8.33614577e-01 -3.70850303e-01 9.65433610e+01] [ 6.66712991e-01 4.18116049e-03 7.45302828e-01 1.09602366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.78, Y:96.55, Z:109.62 [[ 6.21982123e-01 -5.53094928e-01 -5.54278125e-01 1.83776542e+02] [ 4.09965876e-01 8.33110022e-01 -3.71289201e-01 9.65544435e+01] [ 6.67132835e-01 3.70012872e-03 7.44929587e-01 1.09620441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.79, Y:96.57, Z:109.64 [[ 6.21312712e-01 -5.53806651e-01 -5.54318236e-01 1.83794340e+02] [ 4.10653371e-01 8.32639001e-01 -3.71585930e-01 9.65667074e+01] [ 6.67333742e-01 3.23840909e-03 7.44751764e-01 1.09639166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.81, Y:96.58, Z:109.66 [[ 6.20597020e-01 -5.54702665e-01 -5.54224045e-01 1.83811206e+02] [ 4.11643927e-01 8.32044560e-01 -3.71821365e-01 9.65786933e+01] [ 6.67389403e-01 2.60826900e-03 7.44704358e-01 1.09657192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.83, Y:96.59, Z:109.68 [[ 6.20222099e-01 -5.55254223e-01 -5.54091416e-01 1.83828561e+02] [ 4.12224205e-01 8.31677462e-01 -3.71999737e-01 9.65906391e+01] [ 6.67379767e-01 2.31256463e-03 7.44713971e-01 1.09675577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.85, Y:96.60, Z:109.69 [[ 6.19709026e-01 -5.56038204e-01 -5.53879264e-01 1.83845909e+02] [ 4.13141473e-01 8.31154797e-01 -3.72150275e-01 9.66028351e+01] [ 6.67289178e-01 1.79438919e-03 7.44796572e-01 1.09694280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.86, Y:96.62, Z:109.71 [[ 6.18844875e-01 -5.57289087e-01 -5.53588198e-01 1.83862271e+02] [ 4.14724852e-01 8.30318169e-01 -3.72256680e-01 9.66151038e+01] [ 6.67108925e-01 7.82355261e-04 7.44959778e-01 1.09712075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.88, Y:96.63, Z:109.73 [[ 6.18640612e-01 -5.57959096e-01 -5.53141430e-01 1.83879219e+02] [ 4.15650985e-01 8.29868374e-01 -3.72226734e-01 9.66273846e+01] [ 6.66721870e-01 3.60793975e-04 7.45306526e-01 1.09730385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.90, Y:96.64, Z:109.75 [[ 6.18289190e-01 -5.58635784e-01 -5.52851280e-01 1.83895329e+02] [ 4.16466187e-01 8.29413081e-01 -3.72330304e-01 9.66393175e+01] [ 6.66539115e-01 -3.60627828e-05 7.45470058e-01 1.09748041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.91, Y:96.65, Z:109.77 [[ 6.17609093e-01 -5.59566460e-01 -5.52670232e-01 1.83911776e+02] [ 4.17583293e-01 8.28785152e-01 -3.72477335e-01 9.66524993e+01] [ 6.66470706e-01 -7.40466289e-04 7.45530851e-01 1.09766824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.93, Y:96.67, Z:109.79 [[ 6.17146051e-01 -5.60265307e-01 -5.52479445e-01 1.83928408e+02] [ 4.18373955e-01 8.28312393e-01 -3.72641669e-01 9.66652013e+01] [ 6.66403770e-01 -1.16867602e-03 7.45590135e-01 1.09785285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.94, Y:96.68, Z:109.80 [[ 6.16941048e-01 -5.60667167e-01 -5.52300708e-01 1.83943771e+02] [ 4.18752350e-01 8.28040288e-01 -3.72821338e-01 9.66783257e+01] [ 6.66355920e-01 -1.26843271e-03 7.45632737e-01 1.09803068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.96, Y:96.69, Z:109.82 [[ 6.17004822e-01 -5.60756398e-01 -5.52138852e-01 1.83960587e+02] [ 4.18727877e-01 8.27980151e-01 -3.72982352e-01 9.66914582e+01] [ 6.66312250e-01 -1.06401932e-03 7.45672081e-01 1.09821759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.98, Y:96.70, Z:109.84 [[ 6.16812790e-01 -5.60752872e-01 -5.52356949e-01 1.83976503e+02] [ 4.18320199e-01 8.27982906e-01 -3.73433419e-01 9.67042462e+01] [ 6.66745974e-01 -7.23559914e-04 7.45284699e-01 1.09839882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.99, Y:96.72, Z:109.86 [[ 6.17317325e-01 -5.60545902e-01 -5.52003272e-01 1.83993077e+02] [ 4.18011894e-01 8.28123332e-01 -3.73467272e-01 9.67173857e+01] [ 6.66472338e-01 -1.96116348e-04 7.45529734e-01 1.09857908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.01, Y:96.73, Z:109.88 [[ 6.18188706e-01 -5.59663895e-01 -5.51923046e-01 1.84008950e+02] [ 4.16605473e-01 8.28718968e-01 -3.73717476e-01 9.67316758e+01] [ 6.66545276e-01 1.09376182e-03 7.45463748e-01 1.09876130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.02, Y:96.74, Z:109.89 [[ 6.18586414e-01 -5.59392319e-01 -5.51752735e-01 1.84024783e+02] [ 4.16071282e-01 8.28901233e-01 -3.73908324e-01 9.67444112e+01] [ 6.66509967e-01 1.72614103e-03 7.45494121e-01 1.09893727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.04, Y:96.76, Z:109.91 [[ 6.18892056e-01 -5.59058982e-01 -5.51747839e-01 1.84041282e+02] [ 4.15440876e-01 8.29124649e-01 -3.74113879e-01 9.67573615e+01] [ 6.66619458e-01 2.31750181e-03 7.45394612e-01 1.09911865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.06, Y:96.77, Z:109.93 [[ 6.20372910e-01 -5.57962530e-01 -5.51194401e-01 1.84056819e+02] [ 4.14043175e-01 8.29857326e-01 -3.74038858e-01 9.67714521e+01] [ 6.66112379e-01 3.82529455e-03 7.45841582e-01 1.09930107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.07, Y:96.78, Z:109.95 [[ 6.21134697e-01 -5.57415697e-01 -5.50889671e-01 1.84073065e+02] [ 4.13229586e-01 8.30219995e-01 -3.74133759e-01 9.67842013e+01] [ 6.65907649e-01 4.74354818e-03 7.46019103e-01 1.09948100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.09, Y:96.80, Z:109.97 [[ 6.21734830e-01 -5.56952164e-01 -5.50681476e-01 1.84089640e+02] [ 4.12496149e-01 8.30526104e-01 -3.74263702e-01 9.67972498e+01] [ 6.65802320e-01 5.53879063e-03 7.46107628e-01 1.09966310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.11, Y:96.81, Z:109.98 [[ 6.22260497e-01 -5.56416559e-01 -5.50629174e-01 1.84106394e+02] [ 4.11548084e-01 8.30878521e-01 -3.74525110e-01 9.68099837e+01] [ 6.65897927e-01 6.44180018e-03 7.46015050e-01 1.09984894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.12, Y:96.82, Z:110.00 [[ 6.23554024e-01 -5.55056361e-01 -5.50538659e-01 1.84122143e+02] [ 4.09518630e-01 8.31772014e-01 -3.74766338e-01 9.68239613e+01] [ 6.65939089e-01 8.23122051e-03 7.45960707e-01 1.10002046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.14, Y:96.84, Z:110.02 [[ 6.24271569e-01 -5.54512943e-01 -5.50273027e-01 1.84139180e+02] [ 4.08716819e-01 8.32125266e-01 -3.74857444e-01 9.68372631e+01] [ 6.65759394e-01 9.10700408e-03 7.46110911e-01 1.10020281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.15, Y:96.85, Z:110.04 [[ 6.25385766e-01 -5.53240777e-01 -5.50288367e-01 1.84154931e+02] [ 4.06740271e-01 8.32951341e-01 -3.75172515e-01 9.68509300e+01] [ 6.65924167e-01 1.08031109e-02 7.45941215e-01 1.10037533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.17, Y:96.86, Z:110.06 [[ 6.25937328e-01 -5.52816229e-01 -5.50087882e-01 1.84172167e+02] [ 4.06115708e-01 8.33224122e-01 -3.75243380e-01 9.68638399e+01] [ 6.65787123e-01 1.14795089e-02 7.46053435e-01 1.10056117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.19, Y:96.88, Z:110.07 [[ 6.26212083e-01 -5.52326235e-01 -5.50267351e-01 1.84189427e+02] [ 4.05088979e-01 8.33536794e-01 -3.75658533e-01 9.68764994e+01] [ 6.66154146e-01 1.23346733e-02 7.45712082e-01 1.10074917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.21, Y:96.89, Z:110.09 [[ 6.26707003e-01 -5.51671267e-01 -5.50360924e-01 1.84205918e+02] [ 4.03888185e-01 8.33954424e-01 -3.76024405e-01 9.68896434e+01] [ 6.66417787e-01 1.33728534e-02 7.45458584e-01 1.10092530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.22, Y:96.90, Z:110.11 [[ 6.26661827e-01 -5.51808511e-01 -5.50274769e-01 1.84223054e+02] [ 4.03940844e-01 8.33862309e-01 -3.76172094e-01 9.69020366e+01] [ 6.66428352e-01 1.34542369e-02 7.45447674e-01 1.10110594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.24, Y:96.91, Z:110.13 [[ 6.26523987e-01 -5.52101683e-01 -5.50137642e-01 1.84240720e+02] [ 4.04155022e-01 8.33668046e-01 -3.76372564e-01 9.69143229e+01] [ 6.66428099e-01 1.34655483e-02 7.45447696e-01 1.10129435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.26, Y:96.93, Z:110.15 [[ 6.26562554e-01 -5.52189801e-01 -5.50005263e-01 1.84258143e+02] [ 4.04109531e-01 8.33606274e-01 -3.76558184e-01 9.69265941e+01] [ 6.66419427e-01 1.36748884e-02 7.45451638e-01 1.10147908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.28, Y:96.94, Z:110.17 [[ 6.26217928e-01 -5.52462355e-01 -5.50124034e-01 1.84275373e+02] [ 4.04126899e-01 8.33424806e-01 -3.76941033e-01 9.69385554e+01] [ 6.66732747e-01 1.37273124e-02 7.45170454e-01 1.10166530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.30, Y:96.99, Z:110.15 [[ 6.30774532e-01 -5.83857158e-01 -5.11110858e-01 1.84299417e+02] [ 4.14539097e-01 8.10356377e-01 -4.14101291e-01 9.69856703e+01] [ 6.55957946e-01 4.93291146e-02 7.53183783e-01 1.10149186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.31, Y:96.95, Z:110.22 [[ 6.25495732e-01 -5.33303208e-01 -5.69510999e-01 1.84308010e+02] [ 4.04732504e-01 8.45822382e-01 -3.47528557e-01 9.69471512e+01] [ 6.67043244e-01 -1.31219834e-02 7.44903433e-01 1.10215614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.33, Y:96.97, Z:110.22 [[ 6.25574999e-01 -5.53678780e-01 -5.49632358e-01 1.84327436e+02] [ 4.05284580e-01 8.32622862e-01 -3.77469971e-01 9.69738447e+01] [ 6.66633580e-01 1.33782575e-02 7.45265518e-01 1.10221465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.35, Y:96.99, Z:110.24 [[ 6.24886177e-01 -5.54866899e-01 -5.49217617e-01 1.84345567e+02] [ 4.06882973e-01 8.31846670e-01 -3.77461738e-01 9.69853340e+01] [ 6.66305870e-01 1.24033256e-02 7.45575379e-01 1.10239567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.36, Y:97.00, Z:110.26 [[ 6.24257174e-01 -5.55694750e-01 -5.49095916e-01 1.84363085e+02] [ 4.07789775e-01 8.31301861e-01 -3.77683354e-01 9.69968105e+01] [ 6.66341114e-01 1.18558434e-02 7.45552787e-01 1.10257690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.38, Y:97.01, Z:110.28 [[ 6.22956502e-01 -5.57429565e-01 -5.48814611e-01 1.84380757e+02] [ 4.10004757e-01 8.30159911e-01 -3.77797065e-01 9.70074670e+01] [ 6.66199142e-01 1.03345370e-02 7.45702287e-01 1.10275448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.40, Y:97.02, Z:110.29 [[ 6.22164058e-01 -5.58691118e-01 -5.48430597e-01 1.84398636e+02] [ 4.11682221e-01 8.29323891e-01 -3.77808990e-01 9.70189640e+01] [ 6.65905123e-01 9.28004817e-03 7.45978718e-01 1.10294044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.42, Y:97.03, Z:110.31 [[ 6.21236018e-01 -5.59977342e-01 -5.48170764e-01 1.84416125e+02] [ 4.13289858e-01 8.28467018e-01 -3.77933715e-01 9.70301904e+01] [ 6.65775716e-01 8.23261873e-03 7.46106507e-01 1.10312537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.43, Y:97.04, Z:110.33 [[ 6.19440438e-01 -5.62304958e-01 -5.47819932e-01 1.84434296e+02] [ 4.16345877e-01 8.26907722e-01 -3.77994351e-01 9.70412292e+01] [ 6.65544630e-01 6.06241679e-03 7.46333433e-01 1.10331133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.45, Y:97.05, Z:110.35 [[ 6.18274225e-01 -5.63620070e-01 -5.47785906e-01 1.84451261e+02] [ 4.17850237e-01 8.26019098e-01 -3.78277185e-01 9.70524512e+01] [ 6.65686234e-01 4.98656277e-03 7.46215098e-01 1.10349077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.47, Y:97.06, Z:110.37 [[ 6.17349019e-01 -5.64905979e-01 -5.47504724e-01 1.84469225e+02] [ 4.19498674e-01 8.25146055e-01 -3.78358098e-01 9.70640026e+01] [ 6.65508115e-01 3.90149527e-03 7.46380417e-01 1.10367627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.49, Y:97.07, Z:110.39 [[ 6.15549107e-01 -5.67042096e-01 -5.47323084e-01 1.84487498e+02] [ 4.22199848e-01 8.23686561e-01 -3.78533669e-01 9.70748633e+01] [ 6.65467194e-01 1.92633876e-03 7.46424613e-01 1.10385942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.51, Y:97.09, Z:110.40 [[ 6.14447836e-01 -5.68168676e-01 -5.47392193e-01 1.84505187e+02] [ 4.23394288e-01 8.22911459e-01 -3.78885217e-01 9.70864313e+01] [ 6.65726020e-01 1.04247426e-03 7.46195537e-01 1.10404042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.52, Y:97.10, Z:110.42 [[ 6.13445297e-01 -5.69162826e-01 -5.47483831e-01 1.84522308e+02] [ 4.24400669e-01 8.22224780e-01 -3.79249895e-01 9.70977397e+01] [ 6.66009715e-01 2.96560059e-04 7.45943008e-01 1.10421859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.54, Y:97.11, Z:110.44 [[ 6.11798040e-01 -5.70722024e-01 -5.47703870e-01 1.84541038e+02] [ 4.26113276e-01 8.21142595e-01 -3.79673959e-01 9.71097578e+01] [ 6.66431268e-01 -1.10010659e-03 7.45565661e-01 1.10439890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.56, Y:97.12, Z:110.46 [[ 6.10801122e-01 -5.71606716e-01 -5.47893924e-01 1.84558630e+02] [ 4.26909850e-01 8.20525914e-01 -3.80112095e-01 9.71216999e+01] [ 6.66835789e-01 -1.72841906e-03 7.45202686e-01 1.10458464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.58, Y:97.13, Z:110.48 [[ 6.09767968e-01 -5.72922007e-01 -5.47670886e-01 1.84575936e+02] [ 4.28538695e-01 8.19605026e-01 -3.80265945e-01 9.71324519e+01] [ 6.66736539e-01 -2.82417425e-03 7.45288140e-01 1.10476293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.59, Y:97.14, Z:110.49 [[ 6.09074182e-01 -5.73650312e-01 -5.47680528e-01 1.84593193e+02] [ 4.29263428e-01 8.19093600e-01 -3.80550371e-01 9.71440795e+01] [ 6.66904454e-01 -3.31581478e-03 7.45135863e-01 1.10494755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.61, Y:97.16, Z:110.51 [[ 6.08564106e-01 -5.74234478e-01 -5.47635366e-01 1.84610815e+02] [ 4.29808752e-01 8.18682855e-01 -3.80818618e-01 9.71557643e+01] [ 6.67018865e-01 -3.62593153e-03 7.45032004e-01 1.10513415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.63, Y:97.17, Z:110.53 [[ 6.08370529e-01 -5.74684892e-01 -5.47377908e-01 1.84627887e+02] [ 4.30302398e-01 8.18366028e-01 -3.80942109e-01 9.71673565e+01] [ 6.66877159e-01 -3.78407464e-03 7.45158061e-01 1.10531645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.64, Y:97.18, Z:110.55 [[ 6.07806637e-01 -5.75491425e-01 -5.47156936e-01 1.84644902e+02] [ 4.31280102e-01 8.17796154e-01 -3.81060262e-01 9.71789276e+01] [ 6.66759751e-01 -4.36694253e-03 7.45259931e-01 1.10550558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.66, Y:97.19, Z:110.57 [[ 6.07924650e-01 -5.75840360e-01 -5.46658485e-01 1.84660958e+02] [ 4.31785603e-01 8.17550259e-01 -3.81015442e-01 9.71906363e+01] [ 6.66324856e-01 -4.41058445e-03 7.45648532e-01 1.10568355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.68, Y:97.20, Z:110.59 [[ 6.08818461e-01 -5.75711799e-01 -5.45798504e-01 1.84677836e+02] [ 4.31899019e-01 8.17643101e-01 -3.80687531e-01 9.72041889e+01] [ 6.65434684e-01 -3.96024185e-03 7.46445576e-01 1.10587032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.69, Y:97.22, Z:110.61 [[ 6.09164380e-01 -5.75589255e-01 -5.45541720e-01 1.84694496e+02] [ 4.31631331e-01 8.17731462e-01 -3.80801327e-01 9.72170013e+01] [ 6.65291780e-01 -3.50229419e-03 7.46575235e-01 1.10605744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.71, Y:97.23, Z:110.62 [[ 6.09589065e-01 -5.75342212e-01 -5.45327893e-01 1.84711036e+02] [ 4.31169014e-01 8.17907626e-01 -3.80946711e-01 9.72300575e+01] [ 6.65202566e-01 -2.90754029e-03 7.46657279e-01 1.10623858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.73, Y:97.24, Z:110.64 [[ 6.10664781e-01 -5.74078850e-01 -5.45455772e-01 1.84726505e+02] [ 4.29127671e-01 8.18799139e-01 -3.81336350e-01 9.72435159e+01] [ 6.65535850e-01 -1.20148676e-03 7.46364917e-01 1.10641431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.74, Y:97.26, Z:110.66 [[ 6.11104676e-01 -5.73636637e-01 -5.45428349e-01 1.84743240e+02] [ 4.28310961e-01 8.19109779e-01 -3.81587331e-01 9.72570607e+01] [ 6.65658167e-01 -4.23137620e-04 7.46256675e-01 1.10659920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.76, Y:97.27, Z:110.68 [[ 6.11666332e-01 -5.72885496e-01 -5.45588222e-01 1.84759191e+02] [ 4.26932994e-01 8.19635088e-01 -3.82003327e-01 9.72698480e+01] [ 6.66027415e-01 7.28960639e-04 7.45926907e-01 1.10677292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.78, Y:97.28, Z:110.70 [[ 6.12129865e-01 -5.72382230e-01 -5.45596564e-01 1.84776078e+02] [ 4.26009540e-01 8.19985424e-01 -3.82282325e-01 9.72834560e+01] [ 6.66192840e-01 1.57708674e-03 7.45777858e-01 1.10695619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.79, Y:97.30, Z:110.71 [[ 6.12844625e-01 -5.70928371e-01 -5.46316997e-01 1.84791716e+02] [ 4.23336569e-01 8.20992422e-01 -3.83089536e-01 9.72972240e+01] [ 6.67238799e-01 3.49839985e-03 7.44835651e-01 1.10713471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.81, Y:97.31, Z:110.73 [[ 6.13175916e-01 -5.70508939e-01 -5.46383424e-01 1.84808242e+02] [ 4.22488766e-01 8.21280366e-01 -3.83408142e-01 9.73104163e+01] [ 6.67471751e-01 4.25578016e-03 7.44622959e-01 1.10731800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.82, Y:97.32, Z:110.75 [[ 6.14237047e-01 -5.69732952e-01 -5.46001111e-01 1.84824250e+02] [ 4.21423680e-01 8.21811975e-01 -3.83441208e-01 9.73241572e+01] [ 6.67169343e-01 5.42599815e-03 7.44886318e-01 1.10749764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.84, Y:97.34, Z:110.77 [[ 6.14882748e-01 -5.69516245e-01 -5.45500186e-01 1.84840272e+02] [ 4.21183337e-01 8.21958285e-01 -3.83391672e-01 9.73365115e+01] [ 6.66726183e-01 5.98533584e-03 7.45278721e-01 1.10767264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.86, Y:97.38, Z:110.75 [[ 6.17629255e-01 -5.95959541e-01 -5.13192292e-01 1.84857837e+02] [ 4.31512619e-01 8.02325404e-01 -4.12396417e-01 9.73787507e+01] [ 6.57518793e-01 3.32591422e-02 7.52703705e-01 1.10753601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.87, Y:97.35, Z:110.81 [[ 6.15362942e-01 -5.58348819e-01 -5.56394685e-01 1.84872951e+02] [ 4.20453541e-01 8.29569513e-01 -3.67468697e-01 9.73531373e+01] [ 6.66743781e-01 -7.81149661e-03 7.45246074e-01 1.10811875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.89, Y:97.38, Z:110.82 [[ 6.15805241e-01 -5.68777283e-01 -5.45230509e-01 1.84890884e+02] [ 4.20156953e-01 8.22461442e-01 -3.83438797e-01 9.73751140e+01] [ 6.66522348e-01 7.04123093e-03 7.45451797e-01 1.10823657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.91, Y:97.42, Z:110.80 [[ 6.18919379e-01 -6.00907151e-01 -5.05815577e-01 1.84908727e+02] [ 4.32576993e-01 7.98289072e-01 -4.19060499e-01 9.74234819e+01] [ 6.55603499e-01 4.05604823e-02 7.54015185e-01 1.10803172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.92, Y:97.39, Z:110.87 [[ 6.16186572e-01 -5.54020051e-01 -5.59799868e-01 1.84922779e+02] [ 4.18618311e-01 8.32435430e-01 -3.63056422e-01 9.73882993e+01] [ 6.67137781e-01 -1.06319835e-02 7.44858471e-01 1.10869753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.94, Y:97.41, Z:110.88 [[ 6.16356115e-01 -5.67810324e-01 -5.45615776e-01 1.84940487e+02] [ 4.18406458e-01 8.23116988e-01 -3.83945909e-01 9.74112860e+01] [ 6.67114065e-01 8.35824467e-03 7.44908695e-01 1.10878973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.96, Y:97.42, Z:110.90 [[ 6.16300538e-01 -5.67771040e-01 -5.45719427e-01 1.84957691e+02] [ 4.18097653e-01 8.23141205e-01 -3.84230282e-01 9.74239584e+01] [ 6.67358974e-01 8.63731803e-03 7.44686106e-01 1.10897860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.97, Y:97.44, Z:110.92 [[ 6.16043753e-01 -5.67865524e-01 -5.45911020e-01 1.84974393e+02] [ 4.17827022e-01 8.23073477e-01 -3.84669509e-01 9.74368668e+01] [ 6.67765433e-01 8.87687238e-03 7.44318834e-01 1.10915812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.99, Y:97.45, Z:110.93 [[ 6.15922688e-01 -5.68082525e-01 -5.45821846e-01 1.84991320e+02] [ 4.17896027e-01 8.22922572e-01 -3.84917331e-01 9.74494121e+01] [ 6.67833926e-01 8.98253655e-03 7.44256113e-01 1.10933383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.01, Y:97.46, Z:110.95 [[ 6.15848429e-01 -5.68298131e-01 -5.45681178e-01 1.85008490e+02] [ 4.18084947e-01 8.22773728e-01 -3.85030349e-01 9.74617440e+01] [ 6.67784164e-01 8.97924915e-03 7.44300801e-01 1.10952102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.03, Y:97.47, Z:110.97 [[ 6.15652347e-01 -5.68476012e-01 -5.45717154e-01 1.85025936e+02] [ 4.18023829e-01 8.22649214e-01 -3.85362621e-01 9.74742841e+01] [ 6.68003193e-01 9.12662787e-03 7.44102439e-01 1.10970556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.04, Y:97.49, Z:110.99 [[ 6.15365813e-01 -5.68593113e-01 -5.45918298e-01 1.85043038e+02] [ 4.17774071e-01 8.22565835e-01 -3.85811189e-01 9.74861051e+01] [ 6.68423326e-01 9.34450610e-03 7.43722353e-01 1.10988842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.06, Y:97.50, Z:111.01 [[ 6.15201189e-01 -5.68889733e-01 -5.45794805e-01 1.85059622e+02] [ 4.17975032e-01 8.22360563e-01 -3.86031057e-01 9.74977393e+01] [ 6.68449228e-01 9.35816437e-03 7.43698900e-01 1.11006554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.08, Y:97.51, Z:111.03 [[ 6.14669672e-01 -5.69270049e-01 -5.45997075e-01 1.85076643e+02] [ 4.18162030e-01 8.22099306e-01 -3.86384844e-01 9.75096919e+01] [ 6.68821136e-01 9.18379973e-03 7.43366630e-01 1.11025314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.09, Y:97.52, Z:111.04 [[ 6.13915811e-01 -5.70164327e-01 -5.45912097e-01 1.85094145e+02] [ 4.19139337e-01 8.21486230e-01 -3.86629786e-01 9.75215500e+01] [ 6.68901782e-01 8.54490422e-03 7.43301682e-01 1.11043751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.11, Y:97.57, Z:111.03 [[ 6.16103530e-01 -5.99857108e-01 -5.10478100e-01 1.85112215e+02] [ 4.31931033e-01 7.99252504e-01 -4.17888762e-01 9.75662083e+01] [ 6.58674443e-01 3.69714082e-02 7.51519190e-01 1.11026344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.13, Y:97.53, Z:111.09 [[ 6.11812592e-01 -5.60644697e-01 -5.57998993e-01 1.85128063e+02] [ 4.21355273e-01 8.28009937e-01 -3.69944967e-01 9.75342066e+01] [ 6.69436395e-01 -8.77882879e-03 7.42817505e-01 1.11088235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.15, Y:97.55, Z:111.10 [[ 6.11071932e-01 -5.72928754e-01 -5.46208510e-01 1.85146775e+02] [ 4.22429677e-01 8.19584641e-01 -3.87084207e-01 9.75546139e+01] [ 6.69435779e-01 5.80160970e-03 7.42847279e-01 1.11099610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.16, Y:97.57, Z:111.12 [[ 6.10297052e-01 -5.73997959e-01 -5.45952242e-01 1.85164199e+02] [ 4.23759614e-01 8.18841730e-01 -3.87202803e-01 9.75661035e+01] [ 6.69302097e-01 4.95621746e-03 7.42973848e-01 1.11117718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.18, Y:97.58, Z:111.14 [[ 6.08715015e-01 -5.76030090e-01 -5.45578011e-01 1.85182606e+02] [ 4.26460330e-01 8.17422804e-01 -3.87235777e-01 9.75778430e+01] [ 6.69027367e-01 3.04885342e-03 7.43231516e-01 1.11136050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.20, Y:97.59, Z:111.15 [[ 6.07748710e-01 -5.77155981e-01 -5.45465379e-01 1.85199335e+02] [ 4.27774596e-01 8.16631125e-01 -3.87456450e-01 9.75891619e+01] [ 6.69066814e-01 2.13992556e-03 7.43199179e-01 1.11153436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.22, Y:97.60, Z:111.17 [[ 6.06986843e-01 -5.78263973e-01 -5.45140119e-01 1.85216341e+02] [ 4.29229437e-01 8.15848823e-01 -3.87495533e-01 9.76005955e+01] [ 6.68826631e-01 1.21450383e-03 7.43417421e-01 1.11171448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.23, Y:97.61, Z:111.19 [[ 6.05743354e-01 -5.80056009e-01 -5.44619147e-01 1.85234307e+02] [ 4.31730930e-01 8.14576459e-01 -3.87393336e-01 9.76115281e+01] [ 6.68343769e-01 -4.67991853e-04 7.43852396e-01 1.11189688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.25, Y:97.66, Z:111.17 [[ 6.07751542e-01 -6.11029333e-01 -5.07228959e-01 1.85253677e+02] [ 4.44165310e-01 7.91024234e-01 -4.20711110e-01 9.76586594e+01] [ 6.58297228e-01 3.03943181e-02 7.52144232e-01 1.11170016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.27, Y:97.62, Z:111.24 [[ 6.04681955e-01 -5.67523625e-01 -5.58817205e-01 1.85267168e+02] [ 4.33972240e-01 8.23089200e-01 -3.66322623e-01 9.76226066e+01] [ 6.67853149e-01 -2.10024739e-02 7.43996685e-01 1.11235698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.29, Y:97.65, Z:111.25 [[ 6.04489840e-01 -5.82249521e-01 -5.43670423e-01 1.85286023e+02] [ 4.34933471e-01 8.13006432e-01 -3.87109051e-01 9.76455008e+01] [ 6.67401611e-01 -2.45697637e-03 7.44693933e-01 1.11245024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.30, Y:97.66, Z:111.26 [[ 6.05033688e-01 -5.82417298e-01 -5.42885189e-01 1.85303418e+02] [ 4.35389490e-01 8.12886679e-01 -3.86847825e-01 9.76564582e+01] [ 6.66611003e-01 -2.31053937e-03 7.45402195e-01 1.11262986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.32, Y:97.67, Z:111.28 [[ 6.05511681e-01 -5.82228601e-01 -5.42554568e-01 1.85320067e+02] [ 4.35106288e-01 8.13023114e-01 -3.86879741e-01 9.76679447e+01] [ 6.66361855e-01 -1.80870198e-03 7.45626318e-01 1.11280569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.34, Y:97.68, Z:111.30 [[ 6.05366226e-01 -5.82496171e-01 -5.42429667e-01 1.85337439e+02] [ 4.35308692e-01 8.12831421e-01 -3.87054808e-01 9.76805397e+01] [ 6.66361820e-01 -1.81444008e-03 7.45626336e-01 1.11299479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.35, Y:97.69, Z:111.32 [[ 6.07372170e-01 -5.80798988e-01 -5.42006995e-01 1.85354724e+02] [ 4.33056550e-01 8.14046936e-01 -3.87026629e-01 9.76927189e+01] [ 6.66003808e-01 3.49524379e-04 7.45948260e-01 1.11317282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.37, Y:97.71, Z:111.34 [[ 6.08746880e-01 -5.79798797e-01 -5.41535401e-01 1.85372020e+02] [ 4.31748109e-01 8.14757761e-01 -3.86992715e-01 9.77054201e+01] [ 6.65598082e-01 1.77372238e-03 7.46308279e-01 1.11335448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.39, Y:97.72, Z:111.35 [[ 6.09782425e-01 -5.78902579e-01 -5.41329104e-01 1.85388445e+02] [ 4.30408840e-01 8.15390880e-01 -3.87151062e-01 9.77178233e+01] [ 6.65517562e-01 3.08508149e-03 7.46375815e-01 1.11352643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.41, Y:97.73, Z:111.37 [[ 6.12436980e-01 -5.76084198e-01 -5.41339027e-01 1.85405234e+02] [ 4.26392143e-01 8.17364864e-01 -3.87433117e-01 9.77301367e+01] [ 6.65665597e-01 6.45566017e-03 7.46222244e-01 1.11369251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.42, Y:97.74, Z:111.39 [[ 6.13647726e-01 -5.74851312e-01 -5.41278521e-01 1.85422343e+02] [ 4.24604070e-01 8.18218606e-01 -3.87594758e-01 9.77425192e+01] [ 6.65693512e-01 8.01757872e-03 7.46182194e-01 1.11387575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.44, Y:97.75, Z:111.41 [[ 6.14908404e-01 -5.73637226e-01 -5.41135831e-01 1.85438823e+02] [ 4.22806903e-01 8.19052460e-01 -3.87798130e-01 9.77545293e+01] [ 6.65674078e-01 9.66436465e-03 7.46180020e-01 1.11405095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.46, Y:97.77, Z:111.42 [[ 6.16028751e-01 -5.72573313e-01 -5.40988335e-01 1.85455140e+02] [ 4.21242637e-01 8.19778225e-01 -3.87966883e-01 9.77666970e+01] [ 6.65629941e-01 1.11114015e-02 7.46199249e-01 1.11422293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.47, Y:97.78, Z:111.44 [[ 6.18093927e-01 -5.70517239e-01 -5.40804935e-01 1.85471823e+02] [ 4.18446524e-01 8.21173875e-01 -3.88041201e-01 9.77792686e+01] [ 6.65479078e-01 1.35479648e-02 7.46293541e-01 1.11438844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.49, Y:97.79, Z:111.46 [[ 6.18779086e-01 -5.69894197e-01 -5.40678321e-01 1.85488821e+02] [ 4.17464445e-01 8.21590010e-01 -3.88218100e-01 9.77917270e+01] [ 6.65459149e-01 1.45072659e-02 7.46293280e-01 1.11457196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.51, Y:97.80, Z:111.48 [[ 6.19935047e-01 -5.68593521e-01 -5.40723538e-01 1.85506431e+02] [ 4.15442467e-01 8.22458405e-01 -3.88548232e-01 9.78045444e+01] [ 6.65648626e-01 1.62351458e-02 7.46088686e-01 1.11475123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.52, Y:97.82, Z:111.49 [[ 6.20320625e-01 -5.68177718e-01 -5.40718414e-01 1.85523598e+02] [ 4.14629849e-01 8.22730093e-01 -3.88840947e-01 9.78169737e+01] [ 6.65796073e-01 1.70080647e-02 7.45939887e-01 1.11493470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.54, Y:97.83, Z:111.51 [[ 6.20575112e-01 -5.67819943e-01 -5.40802222e-01 1.85540132e+02] [ 4.13834386e-01 8.22961956e-01 -3.89197533e-01 9.78287702e+01] [ 6.66053775e-01 1.77237476e-02 7.45693125e-01 1.11511487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.56, Y:97.84, Z:111.53 [[ 6.21190588e-01 -5.67207304e-01 -5.40738502e-01 1.85557584e+02] [ 4.12827619e-01 8.23363393e-01 -3.89417617e-01 9.78414145e+01] [ 6.66104804e-01 1.86707700e-02 7.45624431e-01 1.11529476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.57, Y:97.85, Z:111.55 [[ 6.21066457e-01 -5.67244587e-01 -5.40841969e-01 1.85574239e+02] [ 4.12524769e-01 8.23330501e-01 -3.89807902e-01 9.78534697e+01] [ 6.66408111e-01 1.89859038e-02 7.45345400e-01 1.11547361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.59, Y:97.87, Z:111.57 [[ 6.20956892e-01 -5.67394778e-01 -5.40810229e-01 1.85591379e+02] [ 4.12492293e-01 8.23223543e-01 -3.90068079e-01 9.78655556e+01] [ 6.66530305e-01 1.91354108e-02 7.45232306e-01 1.11565445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.61, Y:97.88, Z:111.58 [[ 6.20135371e-01 -5.68095076e-01 -5.41017659e-01 1.85609229e+02] [ 4.13010649e-01 8.22749797e-01 -3.90518854e-01 9.78767286e+01] [ 6.66974007e-01 1.87285004e-02 7.44845566e-01 1.11583866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.63, Y:97.89, Z:111.60 [[ 6.19389591e-01 -5.68606648e-01 -5.41334475e-01 1.85626779e+02] [ 4.13195159e-01 8.22400578e-01 -3.91058884e-01 9.78884391e+01] [ 6.67552466e-01 1.85410180e-02 7.44331872e-01 1.11602885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.64, Y:97.90, Z:111.62 [[ 6.18913856e-01 -5.69187852e-01 -5.41267797e-01 1.85644251e+02] [ 4.13733888e-01 8.22004871e-01 -3.91321175e-01 9.78999987e+01] [ 6.67660025e-01 1.82532669e-02 7.44242507e-01 1.11620955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.66, Y:97.91, Z:111.64 [[ 6.18027586e-01 -5.69955168e-01 -5.41473000e-01 1.85661273e+02] [ 4.14329594e-01 8.21483266e-01 -3.91785950e-01 9.79115511e+01] [ 6.68111436e-01 1.77862367e-02 7.43848613e-01 1.11639007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.68, Y:97.92, Z:111.66 [[ 6.16187385e-01 -5.71708762e-01 -5.41721513e-01 1.85678812e+02] [ 4.16237591e-01 8.20296395e-01 -3.92250038e-01 9.79216215e+01] [ 6.68624988e-01 1.62146675e-02 7.43422969e-01 1.11657397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.70, Y:97.93, Z:111.68 [[ 6.15191014e-01 -5.72827318e-01 -5.41672300e-01 1.85696602e+02] [ 4.17570212e-01 8.19534555e-01 -3.92426083e-01 9.79328926e+01] [ 6.68711548e-01 1.52307823e-02 7.43365919e-01 1.11676572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.71, Y:97.94, Z:111.70 [[ 6.14306569e-01 -5.74085717e-01 -5.41343726e-01 1.85713914e+02] [ 4.19190788e-01 8.18672275e-01 -3.92498140e-01 9.79443830e+01] [ 6.68510676e-01 1.41878831e-02 7.43567200e-01 1.11695584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.73, Y:97.95, Z:111.71 [[ 6.12703562e-01 -5.76408540e-01 -5.40691724e-01 1.85732214e+02] [ 4.22448268e-01 8.17073975e-01 -3.92336055e-01 9.79549635e+01] [ 6.67930989e-01 1.19714167e-02 7.44126924e-01 1.11714735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.75, Y:97.97, Z:111.73 [[ 6.11664414e-01 -5.77927547e-01 -5.40246605e-01 1.85749717e+02] [ 4.24490130e-01 8.16018661e-01 -3.92328530e-01 9.79666664e+01] [ 6.67588776e-01 1.06440486e-02 7.44454115e-01 1.11733637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.77, Y:97.98, Z:111.75 [[ 6.10389167e-01 -5.79483650e-01 -5.40022004e-01 1.85766396e+02] [ 4.26436431e-01 8.14931033e-01 -3.92478510e-01 9.79778378e+01] [ 6.67515569e-01 9.27957463e-03 7.44538014e-01 1.11752144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.78, Y:97.99, Z:111.77 [[ 6.08071194e-01 -5.82489801e-01 -5.39402499e-01 1.85784025e+02] [ 4.30612567e-01 8.12813763e-01 -3.92309322e-01 9.79889084e+01] [ 6.66949954e-01 6.27850273e-03 7.45076063e-01 1.11770926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.80, Y:98.00, Z:111.79 [[ 6.06232306e-01 -5.84315276e-01 -5.39497961e-01 1.85801302e+02] [ 4.32724310e-01 8.11513711e-01 -3.92676926e-01 9.80007219e+01] [ 6.67257119e-01 4.59955551e-03 7.44813253e-01 1.11789772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.82, Y:98.01, Z:111.81 [[ 6.04579736e-01 -5.86189247e-01 -5.39319488e-01 1.85819057e+02] [ 4.35085218e-01 8.10169125e-01 -3.92844552e-01 9.80127065e+01] [ 6.67221249e-01 2.85591894e-03 7.44854112e-01 1.11808413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.84, Y:98.02, Z:111.83 [[ 6.01065146e-01 -5.89387954e-01 -5.39761549e-01 1.85835869e+02] [ 4.38808820e-01 8.07850060e-01 -3.93478207e-01 9.80232158e+01] [ 6.67957716e-01 -3.46092495e-04 7.44199147e-01 1.11826399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.85, Y:98.04, Z:111.84 [[ 5.99698162e-01 -5.90905987e-01 -5.39622302e-01 1.85853393e+02] [ 4.40689974e-01 8.06738569e-01 -3.93656232e-01 9.80357243e+01] [ 6.67947948e-01 -1.73121983e-03 7.44205981e-01 1.11844810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.87, Y:98.05, Z:111.86 [[ 5.97342165e-01 -5.92996963e-01 -5.39941609e-01 1.85870310e+02] [ 4.43015521e-01 8.05196066e-01 -3.94203684e-01 9.80482906e+01] [ 6.68520446e-01 -3.72803110e-03 7.43684419e-01 1.11862933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.89, Y:98.06, Z:111.88 [[ 5.96328660e-01 -5.93935162e-01 -5.40030696e-01 1.85887481e+02] [ 4.43941033e-01 8.04500652e-01 -3.94582133e-01 9.80609221e+01] [ 6.68811250e-01 -4.44115059e-03 7.43418986e-01 1.11881751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.90, Y:98.07, Z:111.90 [[ 5.95355145e-01 -5.94657473e-01 -5.40309856e-01 1.85903730e+02] [ 4.44453897e-01 8.03964111e-01 -3.95098016e-01 9.80731326e+01] [ 6.69337721e-01 -4.91918498e-03 7.42942001e-01 1.11899842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.92, Y:98.09, Z:111.92 [[ 5.94412101e-01 -5.95375150e-01 -5.40557754e-01 1.85920027e+02] [ 4.45010137e-01 8.03429500e-01 -3.95559120e-01 9.80855716e+01] [ 6.69806116e-01 -5.42855265e-03 7.42516194e-01 1.11917789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.94, Y:98.10, Z:111.94 [[ 5.93117850e-01 -5.96467321e-01 -5.40775325e-01 1.85937191e+02] [ 4.46160567e-01 8.02611500e-01 -3.95923640e-01 9.80980806e+01] [ 6.70188007e-01 -6.44324713e-03 7.42163405e-01 1.11935983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.95, Y:98.11, Z:111.95 [[ 5.92194308e-01 -5.97348084e-01 -5.40815281e-01 1.85953627e+02] [ 4.47050489e-01 8.01950573e-01 -3.96258929e-01 9.81103017e+01] [ 6.70411637e-01 -7.10945330e-03 7.41955318e-01 1.11954685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.97, Y:98.12, Z:111.97 [[ 5.91551354e-01 -5.98135722e-01 -5.40648364e-01 1.85969980e+02] [ 4.47949450e-01 8.01358142e-01 -3.96442200e-01 9.81223426e+01] [ 6.70379210e-01 -7.66721740e-03 7.41979062e-01 1.11972928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.99, Y:98.14, Z:111.99 [[ 5.90907519e-01 -5.99157742e-01 -5.40220607e-01 1.85986977e+02] [ 4.49362824e-01 8.00585695e-01 -3.96403327e-01 9.81352863e+01] [ 6.70001012e-01 -8.51735111e-03 7.42311322e-01 1.11991901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.00, Y:98.15, Z:112.01 [[ 5.90412109e-01 -6.00442993e-01 -5.39334547e-01 1.86002681e+02] [ 4.51405235e-01 7.99609647e-01 -3.96052681e-01 9.81470828e+01] [ 6.69064164e-01 -9.62413911e-03 7.43142329e-01 1.12010052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.03, Y:98.20, Z:111.99 [[ 5.92813134e-01 -6.31904978e-01 -4.99268151e-01 1.86025060e+02] [ 4.62330745e-01 7.74643802e-01 -4.31482633e-01 9.81973774e+01] [ 6.59411003e-01 2.49615560e-02 7.51368119e-01 1.11990933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.04, Y:98.20, Z:112.02 [[ 5.93448585e-01 -6.16548440e-01 -5.17384574e-01 1.86041432e+02] [ 4.61914787e-01 7.87309773e-01 -4.08384684e-01 9.81968818e+01] [ 6.59130872e-01 3.36772807e-03 7.52020713e-01 1.12019294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.05, Y:98.17, Z:112.08 [[ 5.90694325e-01 -5.80020512e-01 -5.60942440e-01 1.86049833e+02] [ 4.52464819e-01 8.13703178e-01 -3.64914683e-01 9.81699144e+01] [ 6.68098647e-01 -3.82536873e-02 7.43088725e-01 1.12078335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.07, Y:98.20, Z:112.08 [[ 5.90930119e-01 -6.00890862e-01 -5.38267375e-01 1.86068209e+02] [ 4.51751772e-01 7.99280802e-01 -3.96321254e-01 9.82001741e+01] [ 6.68372599e-01 -8.96507469e-03 7.43772611e-01 1.12081635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.08, Y:98.21, Z:112.10 [[ 5.92165303e-01 -5.99637069e-01 -5.38308127e-01 1.86083581e+02] [ 4.49751380e-01 8.00239539e-01 -3.96661538e-01 9.82139850e+01] [ 6.68628409e-01 -7.21562295e-03 7.43561689e-01 1.12099468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.10, Y:98.26, Z:112.08 [[ 5.95434913e-01 -6.29111528e-01 -4.99675845e-01 1.86104772e+02] [ 4.59214899e-01 7.76842922e-01 -4.30855836e-01 9.82640641e+01] [ 6.59226017e-01 2.70880144e-02 7.51456784e-01 1.12080212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.11, Y:98.23, Z:112.15 [[ 5.94186296e-01 -5.79423812e-01 -5.57862611e-01 1.86113382e+02] [ 4.45709080e-01 8.14544428e-01 -3.71296097e-01 9.82262160e+01] [ 6.69541681e-01 -2.80253789e-02 7.42245590e-01 1.12148080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.13, Y:98.25, Z:112.16 [[ 5.94856838e-01 -5.96303224e-01 -5.39043419e-01 1.86131938e+02] [ 4.44219488e-01 8.02754356e-01 -3.97812129e-01 9.82539793e+01] [ 6.69936108e-01 -2.81232612e-03 7.42413431e-01 1.12155093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.15, Y:98.27, Z:112.17 [[ 5.95418131e-01 -5.95757775e-01 -5.39026830e-01 1.86148591e+02] [ 4.43220333e-01 8.03161988e-01 -3.98103702e-01 9.82673880e+01] [ 6.70099235e-01 -1.86948901e-03 7.42269169e-01 1.12173899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.16, Y:98.28, Z:112.19 [[ 5.96030746e-01 -5.95070137e-01 -5.39109342e-01 1.86164223e+02] [ 4.41962185e-01 8.03673408e-01 -3.98470175e-01 9.82798912e+01] [ 6.70385544e-01 -7.65467202e-04 7.42012558e-01 1.12191971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.18, Y:98.29, Z:112.21 [[ 5.97859791e-01 -5.93276486e-01 -5.39060925e-01 1.86180124e+02] [ 4.39329684e-01 8.04997279e-01 -3.98708929e-01 9.82932044e+01] [ 6.70487210e-01 1.54657099e-03 7.41919476e-01 1.12210509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.20, Y:98.31, Z:112.23 [[ 5.98501642e-01 -5.92701128e-01 -5.38981594e-01 1.86195763e+02] [ 4.38331319e-01 8.05418527e-01 -3.98956954e-01 9.83058565e+01] [ 6.70567998e-01 2.52387878e-03 7.41843778e-01 1.12228201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.21, Y:98.32, Z:112.25 [[ 5.98998386e-01 -5.92318758e-01 -5.38850093e-01 1.86211405e+02] [ 4.37656163e-01 8.05697166e-01 -3.99135515e-01 9.83185332e+01] [ 6.70565446e-01 3.25046482e-03 7.41843257e-01 1.12245880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.23, Y:98.33, Z:112.26 [[ 5.99490970e-01 -5.92011063e-01 -5.38640398e-01 1.86228260e+02] [ 4.37097653e-01 8.05920222e-01 -3.99297179e-01 9.83318039e+01] [ 6.70489537e-01 3.93659959e-03 7.41908542e-01 1.12264794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.24, Y:98.35, Z:112.28 [[ 5.99708628e-01 -5.91959392e-01 -5.38454863e-01 1.86243987e+02] [ 4.36871463e-01 8.05956151e-01 -3.99472161e-01 9.83452139e+01] [ 6.70442306e-01 4.33133816e-03 7.41949023e-01 1.12282197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.26, Y:98.36, Z:112.30 [[ 5.99608465e-01 -5.92238950e-01 -5.38258966e-01 1.86260559e+02] [ 4.37125709e-01 8.05750798e-01 -3.99608266e-01 9.83581241e+01] [ 6.70366171e-01 4.32166677e-03 7.42017870e-01 1.12300566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.28, Y:98.37, Z:112.32 [[ 5.98881881e-01 -5.92812362e-01 -5.38436622e-01 1.86276985e+02] [ 4.37503335e-01 8.05330630e-01 -4.00041758e-01 9.83710691e+01] [ 6.70769204e-01 4.00994256e-03 7.41655308e-01 1.12319039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.06687500000004 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:186.29, Y:98.38, Z:112.34 [[ 5.98178843e-01 -5.93566750e-01 -5.38387022e-01 1.86293530e+02] [ 4.38270350e-01 8.04777145e-01 -4.00315933e-01 9.83838839e+01] [ 6.70895798e-01 3.50145329e-03 7.41543369e-01 1.12337681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.31, Y:98.40, Z:112.36 [[ 5.97455960e-01 -5.94391417e-01 -5.38279872e-01 1.86310459e+02] [ 4.39170695e-01 8.04170603e-01 -4.00548053e-01 9.83965722e+01] [ 6.70951173e-01 2.91307580e-03 7.41495811e-01 1.12356397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.33, Y:98.41, Z:112.38 [[ 5.95597464e-01 -5.96176360e-01 -5.38365497e-01 1.86327335e+02] [ 4.41233025e-01 8.02852537e-01 -4.00925455e-01 9.84098848e+01] [ 6.71250384e-01 1.24554754e-03 7.41229634e-01 1.12375222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.34, Y:98.42, Z:112.39 [[ 5.94721380e-01 -5.97267719e-01 -5.38124291e-01 1.86344167e+02] [ 4.42584985e-01 8.02041862e-01 -4.01057830e-01 9.84230587e+01] [ 6.71137103e-01 3.51934880e-04 7.41333167e-01 1.12393743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.36, Y:98.44, Z:112.41 [[ 5.93716741e-01 -5.98401439e-01 -5.37974116e-01 1.86359936e+02] [ 4.43936297e-01 8.01196209e-01 -4.01254532e-01 9.84350960e+01] [ 6.71134112e-01 -5.94703642e-04 7.41335720e-01 1.12411631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.38, Y:98.45, Z:112.43 [[ 5.92029173e-01 -6.00344271e-01 -5.37669243e-01 1.86376048e+02] [ 4.46572930e-01 7.99737573e-01 -4.01238624e-01 9.84474480e+01] [ 6.70875604e-01 -2.56355803e-03 7.41565474e-01 1.12430368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.39, Y:98.46, Z:112.45 [[ 5.91871862e-01 -6.00634357e-01 -5.37518435e-01 1.86393155e+02] [ 4.46781375e-01 7.99519767e-01 -4.01440587e-01 9.84604197e+01] [ 6.70875623e-01 -2.55183763e-03 7.41565497e-01 1.12449275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.276875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:186.41, Y:98.47, Z:112.47 [[ 5.90859559e-01 -6.01884310e-01 -5.37233896e-01 1.86410187e+02] [ 4.48393977e-01 7.98574959e-01 -4.01523195e-01 9.84730904e+01] [ 6.70692048e-01 -3.64862600e-03 7.41726948e-01 1.12468075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.43, Y:98.49, Z:112.49 [[ 5.89777080e-01 -6.03102404e-01 -5.37057246e-01 1.86426084e+02] [ 4.49871090e-01 7.97649997e-01 -4.01709454e-01 9.84853394e+01] [ 6.70655648e-01 -4.68750013e-03 7.41754022e-01 1.12486123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.44, Y:98.50, Z:112.50 [[ 5.88959961e-01 -6.04105783e-01 -5.36826199e-01 1.86442343e+02] [ 4.51124335e-01 7.96885031e-01 -4.01822201e-01 9.84976280e+01] [ 6.70531878e-01 -5.51817465e-03 7.41860196e-01 1.12504232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.46, Y:98.51, Z:112.52 [[ 5.87519729e-01 -6.05699607e-01 -5.36608382e-01 1.86459160e+02] [ 4.53172039e-01 7.95662364e-01 -4.01940922e-01 9.85105385e+01] [ 6.70414552e-01 -7.02769328e-03 7.41953462e-01 1.12523415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.48, Y:98.52, Z:112.54 [[ 5.86874708e-01 -6.06501103e-01 -5.36408883e-01 1.86476049e+02] [ 4.54113006e-01 7.95046234e-01 -4.02098077e-01 9.85236957e+01] [ 6.70342789e-01 -7.60905901e-03 7.42012565e-01 1.12542369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.49, Y:98.54, Z:112.56 [[ 5.86336871e-01 -6.07207717e-01 -5.36197596e-01 1.86492325e+02] [ 4.54931823e-01 7.94502042e-01 -4.02248110e-01 9.85360851e+01] [ 6.70258241e-01 -8.08045183e-03 7.42083955e-01 1.12560062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.51, Y:98.55, Z:112.58 [[ 5.85477345e-01 -6.08237489e-01 -5.35969622e-01 1.86508947e+02] [ 4.56287550e-01 7.93703785e-01 -4.02288422e-01 9.85489689e+01] [ 6.70088017e-01 -9.02550819e-03 7.42226778e-01 1.12579311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.53, Y:98.56, Z:112.60 [[ 5.84983482e-01 -6.08956135e-01 -5.35692776e-01 1.86525343e+02] [ 4.57163173e-01 7.93146935e-01 -4.02392559e-01 9.85616668e+01] [ 6.69922502e-01 -9.50600879e-03 7.42370176e-01 1.12597707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.54, Y:98.57, Z:112.62 [[ 5.84745600e-01 -6.09403986e-01 -5.35443149e-01 1.86541725e+02] [ 4.57654290e-01 7.92800804e-01 -4.02516379e-01 9.85744471e+01] [ 6.69794844e-01 -9.67817276e-03 7.42483131e-01 1.12616359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.56, Y:98.59, Z:112.63 [[ 5.84127808e-01 -6.10274325e-01 -5.35126109e-01 1.86558041e+02] [ 4.58763926e-01 7.92122759e-01 -4.02588121e-01 9.85881504e+01] [ 6.69574763e-01 -1.03336380e-02 7.42672776e-01 1.12634579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.57, Y:98.60, Z:112.65 [[ 5.83551102e-01 -6.10883660e-01 -5.35060057e-01 1.86573922e+02] [ 4.59352353e-01 7.91648107e-01 -4.02850706e-01 9.86009849e+01] [ 6.69674195e-01 -1.06971227e-02 7.42577972e-01 1.12652442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.59, Y:98.61, Z:112.67 [[ 5.83291314e-01 -6.11525287e-01 -5.34610200e-01 1.86590467e+02] [ 4.60266113e-01 7.91146777e-01 -4.02792604e-01 9.86141457e+01] [ 6.69272999e-01 -1.11175312e-02 7.42933411e-01 1.12670737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.61, Y:98.63, Z:112.69 [[ 5.83359068e-01 -6.12022932e-01 -5.33966412e-01 1.86606550e+02] [ 4.61085305e-01 7.90758802e-01 -4.02617509e-01 9.86265337e+01] [ 6.68649788e-01 -1.13334912e-02 7.43491098e-01 1.12688947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.62, Y:98.64, Z:112.71 [[ 5.83516922e-01 -6.12273320e-01 -5.33506685e-01 1.86622959e+02] [ 4.61476105e-01 7.90565339e-01 -4.02549686e-01 9.86396560e+01] [ 6.68242326e-01 -1.13060331e-02 7.43857760e-01 1.12707561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.64, Y:98.65, Z:112.73 [[ 5.83677566e-01 -6.12329631e-01 -5.33266277e-01 1.86638979e+02] [ 4.61430170e-01 7.90525628e-01 -4.02680307e-01 9.86527797e+01] [ 6.68133742e-01 -1.10296872e-02 7.43959440e-01 1.12725821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.66, Y:98.67, Z:112.74 [[ 5.84581648e-01 -6.11594841e-01 -5.33119168e-01 1.86655157e+02] [ 4.60280134e-01 7.91109366e-01 -4.02850058e-01 9.86673715e+01] [ 6.68136585e-01 -9.88541105e-03 7.43972972e-01 1.12744280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.67, Y:98.68, Z:112.76 [[ 5.85116761e-01 -6.10995567e-01 -5.33219273e-01 1.86670974e+02] [ 4.59125569e-01 7.91584263e-01 -4.03234505e-01 9.86804786e+01] [ 6.68462480e-01 -8.87533471e-03 7.43692908e-01 1.12762170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.69, Y:98.69, Z:112.78 [[ 5.85759610e-01 -6.10389744e-01 -5.33207314e-01 1.86687171e+02] [ 4.58064484e-01 7.92061960e-01 -4.03503136e-01 9.86942444e+01] [ 6.68627406e-01 -7.88749389e-03 7.43555768e-01 1.12780548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.70, Y:98.71, Z:112.80 [[ 5.87615827e-01 -6.08673064e-01 -5.33127322e-01 1.86703346e+02] [ 4.55515462e-01 7.93401419e-01 -4.03757169e-01 9.87087265e+01] [ 6.68740087e-01 -5.59363533e-03 7.43475223e-01 1.12799237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.72, Y:98.72, Z:112.82 [[ 5.88480455e-01 -6.08052526e-01 -5.32881675e-01 1.86719794e+02] [ 4.54561130e-01 7.93883764e-01 -4.03884573e-01 9.87220472e+01] [ 6.68629145e-01 -4.54911881e-03 7.43582122e-01 1.12817900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.74, Y:98.74, Z:112.84 [[ 5.89619304e-01 -6.07358051e-01 -5.32414571e-01 1.86735941e+02] [ 4.53658065e-01 7.94420859e-01 -4.03843854e-01 9.87354347e+01] [ 6.68239057e-01 -3.42003218e-03 7.43938752e-01 1.12836054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.75, Y:98.75, Z:112.85 [[ 5.90229985e-01 -6.06794953e-01 -5.32379986e-01 1.86751767e+02] [ 4.52638401e-01 7.94854650e-01 -4.04134339e-01 9.87483563e+01] [ 6.68391385e-01 -2.44342072e-03 7.43805745e-01 1.12854595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.77, Y:98.76, Z:112.87 [[ 5.92127158e-01 -6.05540300e-01 -5.31701396e-01 1.86767918e+02] [ 4.51155732e-01 7.95814319e-01 -4.03903548e-01 9.87616967e+01] [ 6.67715459e-01 -7.17872341e-04 7.44416248e-01 1.12872811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.78, Y:98.77, Z:112.89 [[ 5.92900848e-01 -6.05292478e-01 -5.31121079e-01 1.86784446e+02] [ 4.50938624e-01 7.96003144e-01 -4.03773887e-01 9.87747007e+01] [ 6.67175345e-01 -1.05128592e-04 7.44900697e-01 1.12890941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.80, Y:98.79, Z:112.91 [[ 5.94154165e-01 -6.04378704e-01 -5.30760973e-01 1.86800410e+02] [ 4.49677967e-01 7.96696181e-01 -4.03812978e-01 9.87873519e+01] [ 6.66911205e-01 1.25564742e-03 7.45136141e-01 1.12908642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.82, Y:98.80, Z:112.93 [[ 5.94851241e-01 -6.03967382e-01 -5.30448303e-01 1.86817126e+02] [ 4.49088961e-01 7.97006485e-01 -4.03856122e-01 9.88001893e+01] [ 6.66686663e-01 2.01583815e-03 7.45335381e-01 1.12926854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.83, Y:98.81, Z:112.94 [[ 5.95303344e-01 -6.03623940e-01 -5.30332036e-01 1.86833399e+02] [ 4.48430666e-01 7.97264496e-01 -4.04078287e-01 9.88127489e+01] [ 6.66726230e-01 2.73200750e-03 7.45297706e-01 1.12944604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.85, Y:98.83, Z:112.96 [[ 5.95772067e-01 -6.03149747e-01 -5.30345196e-01 1.86850299e+02] [ 4.47535274e-01 7.97620011e-01 -4.04369258e-01 9.88254302e+01] [ 6.66909157e-01 3.56372603e-03 7.45130510e-01 1.12962642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.87, Y:98.84, Z:112.98 [[ 5.95945614e-01 -6.02990131e-01 -5.30331714e-01 1.86866626e+02] [ 4.47048545e-01 7.97738213e-01 -4.04674365e-01 9.88372446e+01] [ 6.67080522e-01 4.07989175e-03 7.44974450e-01 1.12980094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.88, Y:98.85, Z:113.00 [[ 5.95688337e-01 -6.03107189e-01 -5.30487628e-01 1.86882937e+02] [ 4.46843734e-01 7.97648807e-01 -4.05076608e-01 9.88491520e+01] [ 6.67447438e-01 4.25433838e-03 7.44644760e-01 1.12997889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.90, Y:98.86, Z:113.02 [[ 5.95642612e-01 -6.03097784e-01 -5.30549660e-01 1.86900540e+02] [ 4.46535979e-01 7.97654188e-01 -4.05405249e-01 9.88614134e+01] [ 6.67694166e-01 4.56712925e-03 7.44421683e-01 1.13016473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.92, Y:98.87, Z:113.03 [[ 5.94905630e-01 -6.03211514e-01 -5.31246798e-01 1.86919046e+02] [ 4.45929759e-01 7.97566952e-01 -4.06243285e-01 9.88736016e+01] [ 6.68755517e-01 4.77766123e-03 7.43467035e-01 1.13034665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.94, Y:98.89, Z:113.05 [[ 5.94521381e-01 -6.03371820e-01 -5.31494849e-01 1.86936463e+02] [ 4.45692796e-01 7.97444734e-01 -4.06742951e-01 9.88857069e+01] [ 6.69255003e-01 4.93395552e-03 7.43016418e-01 1.13052736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.96, Y:98.90, Z:113.07 [[ 5.93563414e-01 -6.03788469e-01 -5.32092057e-01 1.86955079e+02] [ 4.45555253e-01 7.97130091e-01 -4.07509673e-01 9.88970684e+01] [ 6.70196232e-01 4.80642177e-03 7.42168383e-01 1.13070089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.97, Y:98.91, Z:113.09 [[ 5.93291605e-01 -6.04097290e-01 -5.32044674e-01 1.86972264e+02] [ 4.45715955e-01 7.96896128e-01 -4.07791428e-01 9.89085106e+01] [ 6.70330037e-01 4.79843074e-03 7.42047584e-01 1.13087689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.99, Y:98.92, Z:113.11 [[ 5.92829887e-01 -6.04466774e-01 -5.32139685e-01 1.86990281e+02] [ 4.45887163e-01 7.96616550e-01 -4.08150352e-01 9.89202383e+01] [ 6.70624607e-01 4.68947227e-03 7.41782074e-01 1.13106418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.01, Y:98.93, Z:113.12 [[ 5.92276851e-01 -6.05124332e-01 -5.32008153e-01 1.87009135e+02] [ 4.46591651e-01 7.96119556e-01 -4.08349790e-01 9.89296783e+01] [ 6.70644488e-01 4.26572895e-03 7.41766658e-01 1.13124696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.03, Y:98.94, Z:113.14 [[ 5.91921909e-01 -6.05656151e-01 -5.31797969e-01 1.87026877e+02] [ 4.47173367e-01 7.95716456e-01 -4.08498839e-01 9.89407247e+01] [ 6.70570230e-01 3.99352450e-03 7.41835304e-01 1.13143573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.05, Y:98.95, Z:113.16 [[ 5.91345478e-01 -6.06348123e-01 -5.31650712e-01 1.87045688e+02] [ 4.47923932e-01 7.95191424e-01 -4.08698851e-01 9.89500178e+01] [ 6.70577867e-01 3.54314010e-03 7.41830688e-01 1.13162977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.06, Y:98.96, Z:113.18 [[ 5.91515732e-01 -6.06622771e-01 -5.31147769e-01 1.87063709e+02] [ 4.48363128e-01 7.94981844e-01 -4.08624979e-01 9.89615725e+01] [ 6.70134050e-01 3.56102850e-03 7.42231551e-01 1.13181781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.08, Y:98.97, Z:113.20 [[ 5.91462155e-01 -6.06818299e-01 -5.30984059e-01 1.87081363e+02] [ 4.48454782e-01 7.94832079e-01 -4.08815698e-01 9.89730751e+01] [ 6.70120010e-01 3.67667293e-03 7.42243662e-01 1.13200803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.10, Y:98.99, Z:113.22 [[ 5.91574878e-01 -6.07123435e-01 -5.30509471e-01 1.87098898e+02] [ 4.48911929e-01 7.94599087e-01 -4.08766890e-01 9.89850988e+01] [ 6.69714300e-01 3.66419311e-03 7.42609810e-01 1.13219538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.12, Y:99.00, Z:113.24 [[ 5.91877079e-01 -6.07195097e-01 -5.30090217e-01 1.87116066e+02] [ 4.49015590e-01 7.94543117e-01 -4.08761833e-01 9.89952853e+01] [ 6.69377713e-01 3.91798787e-03 7.42911924e-01 1.13237669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.13, Y:99.01, Z:113.26 [[ 5.91675425e-01 -6.07431798e-01 -5.30044152e-01 1.87132586e+02] [ 4.49170369e-01 7.94362351e-01 -4.08943070e-01 9.90061678e+01] [ 6.69452143e-01 3.88143733e-03 7.42845046e-01 1.13255536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.15, Y:99.02, Z:113.27 [[ 5.91611430e-01 -6.07800779e-01 -5.29692486e-01 1.87149943e+02] [ 4.49659608e-01 7.94080650e-01 -4.08952514e-01 9.90176083e+01] [ 6.69180210e-01 3.75966625e-03 7.43090648e-01 1.13273845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.17, Y:99.03, Z:113.29 [[ 5.90665778e-01 -6.08917261e-01 -5.29465492e-01 1.87167597e+02] [ 4.51027886e-01 7.93228668e-01 -4.09099165e-01 9.90280760e+01] [ 6.69094750e-01 2.83717477e-03 7.43171694e-01 1.13292320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.18, Y:99.04, Z:113.31 [[ 5.90105534e-01 -6.09790479e-01 -5.29085088e-01 1.87184804e+02] [ 4.52206822e-01 7.92559737e-01 -4.09094186e-01 9.90404657e+01] [ 6.68793278e-01 2.15285687e-03 7.43445302e-01 1.13310723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.20, Y:99.05, Z:113.33 [[ 5.89566231e-01 -6.10660306e-01 -5.28682939e-01 1.87201760e+02] [ 4.53375166e-01 7.91891248e-01 -4.09095600e-01 9.90526019e+01] [ 6.68477837e-01 1.49723583e-03 7.43730556e-01 1.13328905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.22, Y:99.06, Z:113.35 [[ 5.87976977e-01 -6.12239705e-01 -5.28626161e-01 1.87219483e+02] [ 4.55254189e-01 7.90672209e-01 -4.09366683e-01 9.90641799e+01] [ 6.68600551e-01 3.89105473e-05 7.43621746e-01 1.13347045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.24, Y:99.08, Z:113.37 [[ 5.87186569e-01 -6.13100767e-01 -5.28506748e-01 1.87236220e+02] [ 4.56210976e-01 7.90004484e-01 -4.09590602e-01 9.90761713e+01] [ 6.68643013e-01 -6.04478802e-04 7.43583322e-01 1.13365262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.25, Y:99.09, Z:113.38 [[ 5.86260624e-01 -6.14042423e-01 -5.28441466e-01 1.87253117e+02] [ 4.57329417e-01 7.89271693e-01 -4.09756023e-01 9.90884891e+01] [ 6.68691472e-01 -1.44800588e-03 7.43538579e-01 1.13384173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.27, Y:99.10, Z:113.40 [[ 5.85282900e-01 -6.15358007e-01 -5.27994744e-01 1.87270728e+02] [ 4.59131678e-01 7.88243410e-01 -4.09719939e-01 9.91005022e+01] [ 6.68312823e-01 -2.61703892e-03 7.43875744e-01 1.13402084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.29, Y:99.11, Z:113.42 [[ 5.84921238e-01 -6.16026496e-01 -5.27615866e-01 1.87287346e+02] [ 4.60010078e-01 7.87719559e-01 -4.09742144e-01 9.91132892e+01] [ 6.68025354e-01 -3.04173357e-03 7.44132296e-01 1.13419844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.30, Y:99.13, Z:113.44 [[ 5.84710413e-01 -6.16459505e-01 -5.27343732e-01 1.87304210e+02] [ 4.60525901e-01 7.87379979e-01 -4.09815401e-01 9.91266552e+01] [ 6.67854496e-01 -3.23211469e-03 7.44284842e-01 1.13438593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.32, Y:99.14, Z:113.46 [[ 5.84513461e-01 -6.16656611e-01 -5.27331620e-01 1.87321142e+02] [ 4.60523266e-01 7.87226028e-01 -4.10114011e-01 9.91398163e+01] [ 6.68028693e-01 -3.13132034e-03 7.44128927e-01 1.13457156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.34, Y:99.15, Z:113.48 [[ 5.84442639e-01 -6.16903610e-01 -5.27121179e-01 1.87337399e+02] [ 4.60723317e-01 7.87032673e-01 -4.10260402e-01 9.91526459e+01] [ 6.67952713e-01 -3.08334589e-03 7.44197330e-01 1.13475363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.35, Y:99.17, Z:113.49 [[ 5.84651643e-01 -6.17089653e-01 -5.26671451e-01 1.87354399e+02] [ 4.60992871e-01 7.86887336e-01 -4.10236388e-01 9.91659657e+01] [ 6.67583725e-01 -2.94640586e-03 7.44528904e-01 1.13493909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.37, Y:99.18, Z:113.51 [[ 5.84838442e-01 -6.17159722e-01 -5.26381871e-01 1.87370646e+02] [ 4.61012560e-01 7.86833269e-01 -4.10317957e-01 9.91792279e+01] [ 6.67406485e-01 -2.69893886e-03 7.44688727e-01 1.13512830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.39, Y:99.19, Z:113.53 [[ 5.85084315e-01 -6.17272574e-01 -5.25976153e-01 1.87386679e+02] [ 4.61166055e-01 7.86745415e-01 -4.10313930e-01 9.91922449e+01] [ 6.67084863e-01 -2.49410326e-03 7.44977561e-01 1.13530406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.40, Y:99.21, Z:113.55 [[ 5.85264720e-01 -6.17457695e-01 -5.25557992e-01 1.87403232e+02] [ 4.61454050e-01 7.86600413e-01 -4.10268144e-01 9.92060800e+01] [ 6.66727356e-01 -2.40539350e-03 7.45297825e-01 1.13548651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.42, Y:99.22, Z:113.57 [[ 5.84852825e-01 -6.17842829e-01 -5.25563899e-01 1.87419392e+02] [ 4.61691303e-01 7.86297588e-01 -4.10581593e-01 9.92195427e+01] [ 6.66924519e-01 -2.51847633e-03 7.45121026e-01 1.13566928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.44, Y:99.23, Z:113.59 [[ 5.84404784e-01 -6.18354884e-01 -5.25460070e-01 1.87436386e+02] [ 4.62174939e-01 7.85894099e-01 -4.10809920e-01 9.92327168e+01] [ 6.66982289e-01 -2.77519331e-03 7.45068402e-01 1.13585306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.45, Y:99.25, Z:113.60 [[ 5.83840812e-01 -6.18768831e-01 -5.25599696e-01 1.87452072e+02] [ 4.62355963e-01 7.85567693e-01 -4.11230305e-01 9.92450981e+01] [ 6.67350635e-01 -2.92111826e-03 7.44737938e-01 1.13603513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.47, Y:99.26, Z:113.62 [[ 5.83683947e-01 -6.19031963e-01 -5.25464061e-01 1.87468874e+02] [ 4.62554034e-01 7.85360343e-01 -4.11403570e-01 9.92584586e+01] [ 6.67350595e-01 -2.92586234e-03 7.44737956e-01 1.13622428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.48, Y:99.27, Z:113.64 [[ 5.82867322e-01 -6.19962698e-01 -5.25273204e-01 1.87484223e+02] [ 4.63681669e-01 7.84622630e-01 -4.11541782e-01 9.92718669e+01] [ 6.67281796e-01 -3.68529972e-03 7.44796229e-01 1.13639935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.50, Y:99.29, Z:113.66 [[ 5.82306137e-01 -6.20665553e-01 -5.25065553e-01 1.87500411e+02] [ 4.64482305e-01 7.84064460e-01 -4.11702697e-01 9.92857801e+01] [ 6.67214921e-01 -4.14665169e-03 7.44853713e-01 1.13658079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.52, Y:99.30, Z:113.68 [[ 5.81429897e-01 -6.21482832e-01 -5.25069866e-01 1.87516001e+02] [ 4.65308812e-01 7.83413289e-01 -4.12008894e-01 9.92990068e+01] [ 6.67403165e-01 -4.76534697e-03 7.44681346e-01 1.13675492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.53, Y:99.31, Z:113.69 [[ 5.79689386e-01 -6.22900820e-01 -5.25313986e-01 1.87532492e+02] [ 4.66764933e-01 7.82277309e-01 -4.12519951e-01 9.93133835e+01] [ 6.67900227e-01 -6.06471018e-03 7.44226112e-01 1.13693487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.55, Y:99.33, Z:113.71 [[ 5.78885912e-01 -6.23778811e-01 -5.25158163e-01 1.87548297e+02] [ 4.67773672e-01 7.81571852e-01 -4.12714467e-01 9.93264496e+01] [ 6.67891378e-01 -6.74057156e-03 7.44228240e-01 1.13711279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.56, Y:99.34, Z:113.73 [[ 5.78092683e-01 -6.24583551e-01 -5.25075459e-01 1.87564594e+02] [ 4.68661684e-01 7.80923234e-01 -4.12934776e-01 9.93396606e+01] [ 6.67955894e-01 -7.36817643e-03 7.44164386e-01 1.13729867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.58, Y:99.35, Z:113.75 [[ 5.77241308e-01 -6.25315830e-01 -5.25140538e-01 1.87580434e+02] [ 4.69322829e-01 7.80331934e-01 -4.13301530e-01 9.93525741e+01] [ 6.68227921e-01 -7.88572739e-03 7.43914821e-01 1.13747995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.60, Y:99.37, Z:113.77 [[ 5.77017670e-01 -6.25915115e-01 -5.24672163e-01 1.87595934e+02] [ 4.70203098e-01 7.79847344e-01 -4.13215641e-01 9.93667306e+01] [ 6.67802108e-01 -8.26975046e-03 7.44292924e-01 1.13766360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.61, Y:99.38, Z:113.78 [[ 5.76961953e-01 -6.26113474e-01 -5.24496732e-01 1.87611530e+02] [ 4.70311871e-01 7.79689185e-01 -4.13390275e-01 9.93804296e+01] [ 6.67773651e-01 -8.16657871e-03 7.44319594e-01 1.13784275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.63, Y:99.39, Z:113.80 [[ 5.77066311e-01 -6.25756730e-01 -5.24807573e-01 1.87627654e+02] [ 4.69318020e-01 7.79983021e-01 -4.13965075e-01 9.93943247e+01] [ 6.68382428e-01 -7.41635247e-03 7.43780833e-01 1.13802763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.64, Y:99.41, Z:113.82 [[ 5.77069192e-01 -6.25654404e-01 -5.24926390e-01 1.87643776e+02] [ 4.68816910e-01 7.80069183e-01 -4.14370335e-01 9.94077866e+01] [ 6.68731525e-01 -6.97401397e-03 7.43471258e-01 1.13821400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.66, Y:99.42, Z:113.84 [[ 5.77060597e-01 -6.25526824e-01 -5.25087859e-01 1.87660042e+02] [ 4.68251150e-01 7.80175562e-01 -4.14809539e-01 9.94216120e+01] [ 6.69135208e-01 -6.50275378e-03 7.43112230e-01 1.13839710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.67, Y:99.44, Z:113.86 [[ 5.77112637e-01 -6.25034075e-01 -5.25617170e-01 1.87674729e+02] [ 4.66925863e-01 7.80577330e-01 -4.15546953e-01 9.94356284e+01] [ 6.70015852e-01 -5.60685275e-03 7.42325617e-01 1.13857484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.586875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:187.69, Y:99.45, Z:113.88 [[ 5.77392203e-01 -6.24853357e-01 -5.25525001e-01 1.87690760e+02] [ 4.66487497e-01 7.80725519e-01 -4.15760845e-01 9.94497738e+01] [ 6.70080338e-01 -5.09377227e-03 7.42271105e-01 1.13875981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.71, Y:99.46, Z:113.89 [[ 5.77798042e-01 -6.24751896e-01 -5.25199477e-01 1.87706448e+02] [ 4.66302377e-01 7.80809498e-01 -4.15810799e-01 9.94634473e+01] [ 6.69859325e-01 -4.64709948e-03 7.42473494e-01 1.13894164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.73, Y:99.51, Z:113.88 [[ 5.81052470e-01 -6.52777219e-01 -4.86065766e-01 1.87728670e+02] [ 4.74647915e-01 7.56944732e-01 -4.49159247e-01 9.95135005e+01] [ 6.61125846e-01 3.02749871e-02 7.49663952e-01 1.13878838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.74, Y:99.47, Z:113.95 [[ 5.78291476e-01 -6.03635850e-01 -5.48819396e-01 1.87735792e+02] [ 4.66575281e-01 7.96546461e-01 -3.84475282e-01 9.94723090e+01] [ 6.69243211e-01 -3.37267855e-02 7.42277595e-01 1.13946292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.75, Y:99.50, Z:113.95 [[ 5.78112914e-01 -6.24960212e-01 -5.24604796e-01 1.87753510e+02] [ 4.66243283e-01 7.80646394e-01 -4.16183143e-01 9.95036872e+01] [ 6.69628748e-01 -3.99261281e-03 7.42685262e-01 1.13950840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.77, Y:99.52, Z:113.97 [[ 5.78349796e-01 -6.25271411e-01 -5.23972496e-01 1.87768822e+02] [ 4.66824751e-01 7.80397065e-01 -4.15998886e-01 9.95170282e+01] [ 6.69018808e-01 -4.01045863e-03 7.43234654e-01 1.13968781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.78, Y:99.53, Z:113.99 [[ 5.78816007e-01 -6.25274742e-01 -5.23453462e-01 1.87783960e+02] [ 4.66939974e-01 7.80395891e-01 -4.15871752e-01 9.95308404e+01] [ 6.68535034e-01 -3.70811894e-03 7.43671405e-01 1.13987770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.80, Y:99.54, Z:114.01 [[ 5.78642120e-01 -6.25472251e-01 -5.23409745e-01 1.87799919e+02] [ 4.66951620e-01 7.80238096e-01 -4.16154656e-01 9.95446116e+01] [ 6.68677412e-01 -3.60241599e-03 7.43543907e-01 1.14006942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.81, Y:99.56, Z:114.02 [[ 5.78834986e-01 -6.25536014e-01 -5.23120210e-01 1.87814989e+02] [ 4.66958228e-01 7.80188142e-01 -4.16240888e-01 9.95576267e+01] [ 6.68505850e-01 -3.34049739e-03 7.43699381e-01 1.14024775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.83, Y:99.57, Z:114.04 [[ 5.79510113e-01 -6.25033351e-01 -5.22973555e-01 1.87830407e+02] [ 4.66129663e-01 7.80594168e-01 -4.16408311e-01 9.95719821e+01] [ 6.68499189e-01 -2.46065898e-03 7.43708800e-01 1.14043681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.85, Y:99.59, Z:114.06 [[ 5.79554469e-01 -6.25124833e-01 -5.22815034e-01 1.87846171e+02] [ 4.66080408e-01 7.80521596e-01 -4.16599437e-01 9.95858235e+01] [ 6.68495079e-01 -2.23177886e-03 7.43713217e-01 1.14061795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.86, Y:99.60, Z:114.08 [[ 5.79705186e-01 -6.25210175e-01 -5.22545820e-01 1.87861418e+02] [ 4.66100606e-01 7.80453882e-01 -4.16703687e-01 9.95996684e+01] [ 6.68350299e-01 -1.99363463e-03 7.43844005e-01 1.14080087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.88, Y:99.61, Z:114.10 [[ 5.79633467e-01 -6.25448707e-01 -5.22339888e-01 1.87877207e+02] [ 4.66310438e-01 7.80262808e-01 -4.16826733e-01 9.96137180e+01] [ 6.68266129e-01 -1.96581775e-03 7.43919697e-01 1.14098872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.89, Y:99.63, Z:114.12 [[ 5.79727944e-01 -6.25734461e-01 -5.21892608e-01 1.87892344e+02] [ 4.66731262e-01 7.80033676e-01 -4.16784590e-01 9.96271111e+01] [ 6.67890290e-01 -1.96192238e-03 7.44257154e-01 1.14116488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.91, Y:99.64, Z:114.14 [[ 5.79422541e-01 -6.26356994e-01 -5.21484837e-01 1.87907476e+02] [ 4.67605698e-01 7.79532715e-01 -4.16741717e-01 9.96410230e+01] [ 6.67543580e-01 -2.37973665e-03 7.44566925e-01 1.14135368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.92, Y:99.65, Z:114.15 [[ 5.79115918e-01 -6.26813648e-01 -5.21276706e-01 1.87923070e+02] [ 4.68093020e-01 7.79164925e-01 -4.16882411e-01 9.96545407e+01] [ 6.67468110e-01 -2.58274750e-03 7.44633904e-01 1.14153793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.94, Y:99.67, Z:114.17 [[ 5.78963502e-01 -6.27045314e-01 -5.21167380e-01 1.87938180e+02] [ 4.68206685e-01 7.78978684e-01 -4.17102758e-01 9.96676383e+01] [ 6.67520609e-01 -2.52677770e-03 7.44587035e-01 1.14171670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.95, Y:99.68, Z:114.19 [[ 5.78087333e-01 -6.27845538e-01 -5.21176570e-01 1.87953416e+02] [ 4.69074481e-01 7.78331325e-01 -4.17336171e-01 9.96826228e+01] [ 6.67670703e-01 -3.21387446e-03 7.44449799e-01 1.14189602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.97, Y:99.70, Z:114.21 [[ 5.77718292e-01 -6.28401131e-01 -5.20916110e-01 1.87968651e+02] [ 4.69714942e-01 7.77881541e-01 -4.17454406e-01 9.96960203e+01] [ 6.67539847e-01 -3.51103421e-03 7.44565796e-01 1.14206986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.98, Y:99.71, Z:114.22 [[ 5.76972954e-01 -6.29049372e-01 -5.20959785e-01 1.87983764e+02] [ 4.70293359e-01 7.77355293e-01 -4.17783323e-01 9.97095776e+01] [ 6.67777183e-01 -3.95424934e-03 7.44350722e-01 1.14224656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.186875 meters Centerline goodness : 0.998585 Centerline is valid? [True, True] Translation: X:188.01, Y:99.75, Z:114.22 [[ 5.78647239e-01 -6.47733350e-01 -4.95589427e-01 1.88007769e+02] [ 4.74135889e-01 7.61586798e-01 -4.41792607e-01 9.97454967e+01] [ 6.63598170e-01 2.06653389e-02 7.47803726e-01 1.14224810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.01, Y:99.72, Z:114.27 [[ 5.74887844e-01 -6.10407802e-01 -5.44891074e-01 1.88013583e+02] [ 4.72554043e-01 7.91336411e-01 -3.87916694e-01 9.97211120e+01] [ 6.67979523e-01 -3.44818877e-02 7.43380358e-01 1.14274458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.03, Y:99.75, Z:114.28 [[ 5.74273817e-01 -6.31616704e-01 -5.20835792e-01 1.88030569e+02] [ 4.72972663e-01 7.75258219e-01 -4.18654457e-01 9.97523934e+01] [ 6.68211377e-01 -5.91879863e-03 7.43947931e-01 1.14278508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.05, Y:99.77, Z:114.30 [[ 5.73188959e-01 -6.32106232e-01 -5.21436601e-01 1.88046217e+02] [ 4.72948360e-01 7.74856910e-01 -4.19424151e-01 9.97673997e+01] [ 6.69159373e-01 -6.20329271e-03 7.43093031e-01 1.14296856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.06, Y:99.78, Z:114.32 [[ 5.72896643e-01 -6.32293530e-01 -5.21530756e-01 1.88062455e+02] [ 4.72852257e-01 7.74704920e-01 -4.19813090e-01 9.97818099e+01] [ 6.69477543e-01 -6.09748481e-03 7.42807270e-01 1.14315337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.08, Y:99.80, Z:114.33 [[ 5.72844836e-01 -6.32347638e-01 -5.21522059e-01 1.88078458e+02] [ 4.72644511e-01 7.74662827e-01 -4.20124591e-01 9.97961757e+01] [ 6.69668545e-01 -5.82833565e-03 7.42637240e-01 1.14334002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.09, Y:99.81, Z:114.35 [[ 5.73077843e-01 -6.32109289e-01 -5.21555014e-01 1.88093346e+02] [ 4.72008759e-01 7.74861697e-01 -4.20472451e-01 9.98104229e+01] [ 6.69917545e-01 -5.21509036e-03 7.42417191e-01 1.14351178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.11, Y:99.82, Z:114.37 [[ 5.73285758e-01 -6.31918183e-01 -5.21558099e-01 1.88108876e+02] [ 4.71487330e-01 7.75020912e-01 -4.20763929e-01 9.98243652e+01] [ 6.70106811e-01 -4.69006749e-03 7.42249867e-01 1.14369571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.12, Y:99.84, Z:114.39 [[ 5.74499515e-01 -6.30905057e-01 -5.21449054e-01 1.88124285e+02] [ 4.69915783e-01 7.75853528e-01 -4.20987482e-01 9.98395350e+01] [ 6.70171220e-01 -3.18003625e-03 7.42199720e-01 1.14387890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.14, Y:99.85, Z:114.41 [[ 5.75346548e-01 -6.30322314e-01 -5.21219849e-01 1.88139737e+02] [ 4.69005779e-01 7.76330535e-01 -4.21122879e-01 9.98529257e+01] [ 6.70082032e-01 -2.16352728e-03 7.42283901e-01 1.14405637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.16, Y:99.90, Z:114.39 [[ 5.78526367e-01 -6.55618990e-01 -4.85253525e-01 1.88156988e+02] [ 4.78434631e-01 7.54585053e-01 -4.49112126e-01 9.98994211e+01] [ 6.60611495e-01 2.76611155e-02 7.50218178e-01 1.14390604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.17, Y:99.87, Z:114.45 [[ 5.77019901e-01 -6.15659038e-01 -5.36667479e-01 1.88171051e+02] [ 4.67075361e-01 7.87784383e-01 -4.01542493e-01 9.98695988e+01] [ 6.69991524e-01 -1.89661471e-02 7.42126434e-01 1.14451966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.19, Y:99.89, Z:114.46 [[ 5.78284684e-01 -6.28098865e-01 -5.20652130e-01 1.88187625e+02] [ 4.65965732e-01 7.78132966e-01 -4.21171015e-01 9.98949094e+01] [ 6.69673622e-01 9.50696842e-04 7.42654924e-01 1.14462224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.20, Y:99.91, Z:114.48 [[ 5.80594239e-01 -6.26552154e-01 -5.19944928e-01 1.88202276e+02] [ 4.64109683e-01 7.79373425e-01 -4.20926675e-01 9.99085336e+01] [ 6.68963775e-01 3.07612665e-03 7.43288642e-01 1.14480795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.22, Y:99.92, Z:114.50 [[ 5.81490613e-01 -6.25906651e-01 -5.19720627e-01 1.88218011e+02] [ 4.63143200e-01 7.79887071e-01 -4.21039824e-01 9.99222838e+01] [ 6.68855024e-01 4.12563100e-03 7.43381420e-01 1.14499586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.23, Y:99.94, Z:114.52 [[ 5.83015167e-01 -6.24352777e-01 -5.19881644e-01 1.88233101e+02] [ 4.60648421e-01 7.81117454e-01 -4.21495619e-01 9.99364651e+01] [ 6.69250586e-01 6.25568028e-03 7.43010444e-01 1.14517591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.25, Y:99.95, Z:114.54 [[ 5.83797344e-01 -6.23682532e-01 -5.19808388e-01 1.88249094e+02] [ 4.59541452e-01 7.81643371e-01 -4.21728935e-01 9.99507628e+01] [ 6.69329751e-01 7.33073091e-03 7.42929300e-01 1.14535856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.27, Y:99.97, Z:114.55 [[ 5.84528377e-01 -6.22996303e-01 -5.19809757e-01 1.88265153e+02] [ 4.58345257e-01 7.82179243e-01 -4.22037033e-01 9.99652202e+01] [ 6.69511913e-01 8.44028547e-03 7.42753364e-01 1.14554164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.28, Y:99.98, Z:114.57 [[ 5.86241537e-01 -6.21327744e-01 -5.19877577e-01 1.88280995e+02] [ 4.55773168e-01 7.83477859e-01 -4.22413617e-01 9.99801632e+01] [ 6.69769870e-01 1.06901578e-02 7.42491779e-01 1.14571853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.30, Y:100.03, Z:114.55 [[ 5.89667378e-01 -6.51225841e-01 -4.77699998e-01 1.88296281e+02] [ 4.66818272e-01 7.57480844e-01 -4.56402752e-01 1.00030658e+02] [ 6.59069864e-01 4.61267262e-02 7.50665864e-01 1.14552993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.31, Y:99.99, Z:114.62 [[ 5.86336701e-01 -6.05190243e-01 -5.38473809e-01 1.88312376e+02] [ 4.54216163e-01 7.96017856e-01 -4.00054059e-01 9.99934946e+01] [ 6.70743580e-01 -1.00171298e-02 7.41621673e-01 1.14619739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.33, Y:100.02, Z:114.63 [[ 5.86697390e-01 -6.20762555e-01 -5.20038482e-01 1.88329127e+02] [ 4.54426349e-01 7.83908431e-01 -4.23065321e-01 1.00019902e+02] [ 6.70285660e-01 1.18921309e-02 7.42007892e-01 1.14628660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.34, Y:100.03, Z:114.65 [[ 5.86253279e-01 -6.21309723e-01 -5.19885873e-01 1.88344756e+02] [ 4.54978576e-01 7.83479137e-01 -4.23266981e-01 1.00033175e+02] [ 6.70299626e-01 1.16047215e-02 7.41999826e-01 1.14646567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.36, Y:100.05, Z:114.67 [[ 5.85699449e-01 -6.21858121e-01 -5.19854434e-01 1.88361295e+02] [ 4.55470826e-01 7.83048607e-01 -4.23534185e-01 1.00047011e+02] [ 6.70449463e-01 1.12852106e-02 7.41869369e-01 1.14665284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.38, Y:100.06, Z:114.68 [[ 5.84527416e-01 -6.22979986e-01 -5.19830393e-01 1.88376959e+02] [ 4.56698385e-01 7.82169453e-01 -4.23836681e-01 1.00060402e+02] [ 6.70637224e-01 1.03384585e-02 7.41713442e-01 1.14682389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.39, Y:100.07, Z:114.70 [[ 5.83481042e-01 -6.23916696e-01 -5.19882516e-01 1.88392767e+02] [ 4.57651066e-01 7.81432261e-01 -4.24168743e-01 1.00073518e+02] [ 6.70898931e-01 9.56963241e-03 7.41487051e-01 1.14699536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.41, Y:100.09, Z:114.72 [[ 5.81151571e-01 -6.25936887e-01 -5.20063328e-01 1.88409514e+02] [ 4.59964261e-01 7.79837193e-01 -4.24601967e-01 1.00086834e+02] [ 6.71338760e-01 7.54755539e-03 7.41112208e-01 1.14717392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.43, Y:100.10, Z:114.74 [[ 5.79583820e-01 -6.27281714e-01 -5.20192510e-01 1.88426004e+02] [ 4.61380875e-01 7.78766678e-01 -4.25029586e-01 1.00099928e+02] [ 6.71721880e-01 6.33339591e-03 7.40776352e-01 1.14736054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.44, Y:100.11, Z:114.75 [[ 5.78149055e-01 -6.28572879e-01 -5.20230532e-01 1.88442664e+02] [ 4.62793589e-01 7.77733461e-01 -4.25385422e-01 1.00112998e+02] [ 6.71986432e-01 5.17682500e-03 7.40545364e-01 1.14754663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.46, Y:100.13, Z:114.77 [[ 5.77987746e-01 -6.28852055e-01 -5.20072359e-01 1.88459155e+02] [ 4.62995199e-01 7.77507668e-01 -4.25578748e-01 1.00126707e+02] [ 6.71986318e-01 5.18829564e-03 7.40545387e-01 1.14773588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.48, Y:100.14, Z:114.79 [[ 5.75568098e-01 -6.31249233e-01 -5.19851681e-01 1.88475329e+02] [ 4.66113409e-01 7.75575310e-01 -4.25700867e-01 1.00139523e+02] [ 6.71907475e-01 2.70999903e-03 7.40630138e-01 1.14791886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.116875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:188.49, Y:100.15, Z:114.81 [[ 5.74191598e-01 -6.32582380e-01 -5.19753347e-01 1.88491430e+02] [ 4.67720395e-01 7.74491714e-01 -4.25911044e-01 1.00152745e+02] [ 6.71968482e-01 1.45530197e-03 7.40578315e-01 1.14810349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.51, Y:100.17, Z:114.83 [[ 5.72942344e-01 -6.33939508e-01 -5.19478365e-01 1.88507387e+02] [ 4.69467144e-01 7.73382610e-01 -4.26004623e-01 1.00165656e+02] [ 6.71816695e-01 1.98062946e-04 7.40717416e-01 1.14829203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.52, Y:100.18, Z:114.85 [[ 5.71557057e-01 -6.35297016e-01 -5.19345965e-01 1.88523940e+02] [ 4.71103754e-01 7.72267173e-01 -4.26221382e-01 1.00179010e+02] [ 6.71851013e-01 -1.05599519e-03 7.40685562e-01 1.14848193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.54, Y:100.19, Z:114.87 [[ 5.69726877e-01 -6.37057323e-01 -5.19200590e-01 1.88539732e+02] [ 4.73298951e-01 7.70811374e-01 -4.26424588e-01 1.00191252e+02] [ 6.71862627e-01 -2.79154582e-03 7.40670519e-01 1.14866503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.56, Y:100.20, Z:114.88 [[ 5.68933291e-01 -6.37983820e-01 -5.18933094e-01 1.88555833e+02] [ 4.74487159e-01 7.70041447e-01 -4.26495142e-01 1.00204157e+02] [ 6.71696990e-01 -3.57980463e-03 7.40817345e-01 1.14884966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.57, Y:100.22, Z:114.90 [[ 5.67735822e-01 -6.39064152e-01 -5.18915259e-01 1.88572322e+02] [ 4.75667167e-01 7.69140171e-01 -4.26806916e-01 1.00216872e+02] [ 6.71875571e-01 -4.51737634e-03 7.40650262e-01 1.14904339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.59, Y:100.23, Z:114.92 [[ 5.67559642e-01 -6.39365643e-01 -5.18736568e-01 1.88588043e+02] [ 4.75911288e-01 7.68889480e-01 -4.26986432e-01 1.00229502e+02] [ 6.71851545e-01 -4.53232183e-03 7.40671965e-01 1.14922402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.60, Y:100.24, Z:114.94 [[ 5.67872537e-01 -6.39339145e-01 -5.18426696e-01 1.88604676e+02] [ 4.75901897e-01 7.68913046e-01 -4.26954462e-01 1.00242589e+02] [ 6.71593751e-01 -4.26453427e-03 7.40907314e-01 1.14941551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.62, Y:100.28, Z:114.93 [[ 5.70283480e-01 -6.61288713e-01 -4.87313032e-01 1.88622729e+02] [ 4.82945337e-01 7.49791113e-01 -4.52301988e-01 1.00283811e+02] [ 6.64485180e-01 2.25947954e-02 7.46959785e-01 1.14932573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.64, Y:100.26, Z:114.99 [[ 5.68717599e-01 -6.24331682e-01 -5.35509331e-01 1.88636079e+02] [ 4.74429223e-01 7.80824051e-01 -4.06485811e-01 1.00256670e+02] [ 6.71920535e-01 -2.28856415e-02 7.40269574e-01 1.14988166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.65, Y:100.32, Z:114.96 [[ 5.72421311e-01 -6.69247637e-01 -4.73752512e-01 1.88654386e+02] [ 4.83381759e-01 7.42128595e-01 -4.64313713e-01 1.00321374e+02] [ 6.62326142e-01 3.67797416e-02 7.48312323e-01 1.14958242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.67, Y:100.32, Z:114.99 [[ 5.73931483e-01 -6.47395159e-01 -5.01479971e-01 1.88671882e+02] [ 4.78984335e-01 7.62091092e-01 -4.35650288e-01 1.00315820e+02] [ 6.64211307e-01 9.83236501e-03 7.47480210e-01 1.14991974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.68, Y:100.29, Z:115.05 [[ 5.71794924e-01 -6.15049325e-01 -5.42922548e-01 1.88683764e+02] [ 4.67736779e-01 7.88088160e-01 -4.00174160e-01 1.00292181e+02] [ 6.73997679e-01 -2.51272898e-02 7.38305999e-01 1.15047091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.70, Y:100.36, Z:115.02 [[ 5.76423359e-01 -6.62819964e-01 -4.77918201e-01 1.88703256e+02] [ 4.77145045e-01 7.47810692e-01 -4.61640310e-01 1.00358946e+02] [ 6.63376754e-01 3.80639564e-02 7.47316812e-01 1.15016941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.72, Y:100.35, Z:115.05 [[ 5.78481698e-01 -6.43093227e-01 -5.01786834e-01 1.88720387e+02] [ 4.73791239e-01 7.65661058e-01 -4.35068968e-01 1.00354134e+02] [ 6.63988545e-01 1.39372293e-02 7.47612845e-01 1.15049299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.73, Y:100.33, Z:115.10 [[ 5.76443332e-01 -6.12346963e-01 -5.41058483e-01 1.88733304e+02] [ 4.62138374e-01 7.90379075e-01 -4.02155495e-01 1.00332226e+02] [ 6.73899999e-01 -1.82240344e-02 7.38597777e-01 1.15103923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.75, Y:100.36, Z:115.11 [[ 5.77437704e-01 -6.29996705e-01 -5.19297458e-01 1.88749807e+02] [ 4.61082716e-01 7.76551248e-01 -4.29384314e-01 1.00360580e+02] [ 6.73771792e-01 8.50361013e-03 7.38890561e-01 1.15110665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.77, Y:100.37, Z:115.13 [[ 5.78663935e-01 -6.28814683e-01 -5.19365136e-01 1.88766570e+02] [ 4.59172360e-01 7.77488373e-01 -4.29735469e-01 1.00372397e+02] [ 6.74024327e-01 1.01943024e-02 7.38638804e-01 1.15129732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.78, Y:100.39, Z:115.15 [[ 5.79001846e-01 -6.28406061e-01 -5.19483094e-01 1.88782983e+02] [ 4.58239215e-01 7.77807529e-01 -4.30153775e-01 1.00385072e+02] [ 6.74369101e-01 1.10123046e-02 7.38312295e-01 1.15148200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.80, Y:100.40, Z:115.17 [[ 5.79080682e-01 -6.28137286e-01 -5.19720226e-01 1.88798744e+02] [ 4.57398437e-01 7.78014933e-01 -4.30673233e-01 1.00397643e+02] [ 6.74872013e-01 1.16753311e-02 7.37842431e-01 1.15165921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.82, Y:100.41, Z:115.18 [[ 5.79650914e-01 -6.27174465e-01 -5.20247065e-01 1.88815482e+02] [ 4.55380664e-01 7.78767272e-01 -4.31451025e-01 1.00410014e+02] [ 6.75746453e-01 1.31805269e-02 7.37016285e-01 1.15184326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.83, Y:100.42, Z:115.20 [[ 5.79739732e-01 -6.27056704e-01 -5.20290048e-01 1.88831814e+02] [ 4.54896039e-01 7.78853885e-01 -4.31805766e-01 1.00422881e+02] [ 6.75996625e-01 1.36570771e-02 7.36778153e-01 1.15202924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.85, Y:100.44, Z:115.22 [[ 5.79995114e-01 -6.26852027e-01 -5.20252058e-01 1.88847968e+02] [ 4.54347972e-01 7.79008135e-01 -4.32104440e-01 1.00435193e+02] [ 6.76146129e-01 1.42429963e-02 7.36629859e-01 1.15221312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.806875 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:188.86, Y:100.45, Z:115.24 [[ 5.80238543e-01 -6.26767280e-01 -5.20082695e-01 1.88864836e+02] [ 4.54159508e-01 7.79070215e-01 -4.32190631e-01 1.00447051e+02] [ 6.76063883e-01 1.45731613e-02 7.36698886e-01 1.15239836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.88, Y:100.50, Z:115.22 [[ 5.83653380e-01 -6.56758298e-01 -4.77511539e-01 1.88884925e+02] [ 4.64769407e-01 7.52408528e-01 -4.66766329e-01 1.00497512e+02] [ 6.65836414e-01 5.04969902e-02 7.44386945e-01 1.15222233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.90, Y:100.45, Z:115.29 [[ 5.79463579e-01 -6.06745498e-01 -5.44134047e-01 1.88896902e+02] [ 4.54081585e-01 7.94777199e-01 -4.02665020e-01 1.00454967e+02] [ 6.76780522e-01 -1.37515369e-02 7.36056398e-01 1.15291671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.91, Y:100.48, Z:115.30 [[ 5.81087991e-01 -6.26733851e-01 -5.19173792e-01 1.88914091e+02] [ 4.54105295e-01 7.79081146e-01 -4.32227890e-01 1.00484561e+02] [ 6.75370363e-01 1.54028685e-02 7.37317858e-01 1.15296895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.93, Y:100.50, Z:115.32 [[ 5.81313804e-01 -6.26726215e-01 -5.18930162e-01 1.88930629e+02] [ 4.54016886e-01 7.79081136e-01 -4.32320774e-01 1.00497493e+02] [ 6.75235462e-01 1.57109775e-02 7.37434903e-01 1.15315297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.95, Y:100.51, Z:115.33 [[ 5.81175878e-01 -6.26899637e-01 -5.18875173e-01 1.88947726e+02] [ 4.53997780e-01 7.78938844e-01 -4.32597149e-01 1.00509800e+02] [ 6.75367022e-01 1.58468512e-02 7.37311510e-01 1.15334506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.96, Y:100.52, Z:115.35 [[ 5.80811461e-01 -6.27508687e-01 -5.18546907e-01 1.88964037e+02] [ 4.54776649e-01 7.78455980e-01 -4.32648226e-01 1.00522461e+02] [ 6.75156461e-01 1.54640229e-02 7.37512453e-01 1.15353169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.98, Y:100.54, Z:115.37 [[ 5.80183286e-01 -6.28167042e-01 -5.18453009e-01 1.88980479e+02] [ 4.55434908e-01 7.77933186e-01 -4.32896064e-01 1.00535218e+02] [ 6.75252841e-01 1.50374629e-02 7.37433031e-01 1.15372273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.00, Y:100.55, Z:115.39 [[ 5.79443220e-01 -6.28953293e-01 -5.18327417e-01 1.88996832e+02] [ 4.56288996e-01 7.77308593e-01 -4.33118579e-01 1.00547924e+02] [ 6.75311711e-01 1.44605271e-02 7.37390660e-01 1.15390722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.01, Y:100.56, Z:115.41 [[ 5.77888686e-01 -6.30540003e-01 -5.18135090e-01 1.89013008e+02] [ 4.58272365e-01 7.76048833e-01 -4.33283565e-01 1.00559460e+02] [ 6.75300753e-01 1.29426770e-02 7.37428898e-01 1.15409189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.03, Y:100.57, Z:115.43 [[ 5.77101759e-01 -6.31605008e-01 -5.17714858e-01 1.89029477e+02] [ 4.59720435e-01 7.75196856e-01 -4.33274689e-01 1.00572208e+02] [ 6.74989393e-01 1.20394854e-02 7.37729198e-01 1.15428030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.05, Y:100.58, Z:115.45 [[ 5.75751307e-01 -6.33631207e-01 -5.16741643e-01 1.89046836e+02] [ 4.62916371e-01 7.73571078e-01 -4.32777333e-01 1.00584336e+02] [ 6.73957614e-01 9.96394909e-03 7.38702819e-01 1.15447084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.06, Y:100.60, Z:115.47 [[ 5.74838982e-01 -6.34664277e-01 -5.16489497e-01 1.89063059e+02] [ 4.64214353e-01 7.72734688e-01 -4.32881204e-01 1.00597013e+02] [ 6.73843586e-01 9.07515246e-03 7.38818288e-01 1.15465686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.08, Y:100.64, Z:115.46 [[ 5.76525453e-01 -6.58919969e-01 -4.83159267e-01 1.89083557e+02] [ 4.73404484e-01 7.51334897e-01 -4.59765231e-01 1.00639445e+02] [ 6.65962910e-01 3.63365946e-02 7.45099359e-01 1.15455941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.10, Y:100.63, Z:115.49 [[ 5.75916644e-01 -6.40276791e-01 -5.08296814e-01 1.89101432e+02] [ 4.73032105e-01 7.68101432e-01 -4.31579446e-01 1.00632189e+02] [ 6.66753813e-01 8.11307407e-03 7.45233877e-01 1.15490067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.11, Y:100.62, Z:115.53 [[ 5.73545132e-01 -6.20952708e-01 -5.34288046e-01 1.89110923e+02] [ 4.69179279e-01 7.83659862e-01 -4.07121633e-01 1.00621733e+02] [ 6.71503377e-01 -1.71742498e-02 7.40802443e-01 1.15529910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.13, Y:100.65, Z:115.54 [[ 5.73772791e-01 -6.37934378e-01 -5.13638505e-01 1.89128454e+02] [ 4.69320250e-01 7.70059905e-01 -4.32141466e-01 1.00649772e+02] [ 6.71210316e-01 6.89006319e-03 7.41234942e-01 1.15537326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.14, Y:100.66, Z:115.56 [[ 5.74027044e-01 -6.37656465e-01 -5.13699509e-01 1.89144631e+02] [ 4.68602685e-01 7.70283787e-01 -4.32520995e-01 1.00662545e+02] [ 6.71494212e-01 7.55777883e-03 7.40971257e-01 1.15555527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.16, Y:100.68, Z:115.57 [[ 5.73796924e-01 -6.37542300e-01 -5.14098148e-01 1.89160682e+02] [ 4.67935200e-01 7.70374474e-01 -4.33081770e-01 1.00675739e+02] [ 6.72156038e-01 7.93636759e-03 7.40366987e-01 1.15573896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.18, Y:100.69, Z:115.59 [[ 5.73541753e-01 -6.37459235e-01 -5.14485744e-01 1.89176403e+02] [ 4.67224634e-01 7.70438462e-01 -4.33734617e-01 1.00688309e+02] [ 6.72867743e-01 8.38449914e-03 7.39715284e-01 1.15591532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.19, Y:100.70, Z:115.61 [[ 5.73465379e-01 -6.37079299e-01 -5.15041189e-01 1.89193627e+02] [ 4.65965633e-01 7.70743289e-01 -4.34546674e-01 1.00701201e+02] [ 6.73805230e-01 9.20597905e-03 7.38851651e-01 1.15610224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.21, Y:100.71, Z:115.63 [[ 5.73282285e-01 -6.37057253e-01 -5.15272237e-01 1.89210241e+02] [ 4.65464158e-01 7.70757063e-01 -4.35059383e-01 1.00714436e+02] [ 6.74307452e-01 9.57107925e-03 7.38388688e-01 1.15629255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.23, Y:100.73, Z:115.65 [[ 5.73169162e-01 -6.37289481e-01 -5.15110890e-01 1.89226432e+02] [ 4.65599725e-01 7.70564204e-01 -4.35255907e-01 1.00727534e+02] [ 6.74310023e-01 9.63977495e-03 7.38385446e-01 1.15647332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.24, Y:100.74, Z:115.67 [[ 5.73515986e-01 -6.37294892e-01 -5.14718014e-01 1.89243011e+02] [ 4.65642087e-01 7.70555989e-01 -4.35225130e-01 1.00739369e+02] [ 6.73985801e-01 9.93419920e-03 7.38677502e-01 1.15666088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.26, Y:100.77, Z:115.67 [[ 5.74508386e-01 -6.50361469e-01 -4.96960837e-01 1.89263425e+02] [ 4.68802825e-01 7.59164603e-01 -4.51545143e-01 1.00768307e+02] [ 6.70942639e-01 2.64398268e-02 7.41037725e-01 1.15672018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.28, Y:100.77, Z:115.70 [[ 5.73341074e-01 -6.39611054e-01 -5.12032921e-01 1.89277994e+02] [ 4.69585821e-01 7.68650700e-01 -4.34356143e-01 1.00770754e+02] [ 6.71393453e-01 8.59081768e-03 7.41051300e-01 1.15699521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.29, Y:100.77, Z:115.74 [[ 5.72247243e-01 -6.25774351e-01 -5.30037314e-01 1.89290545e+02] [ 4.64659268e-01 7.79977866e-01 -4.19197200e-01 1.00765273e+02] [ 6.75740230e-01 -6.40230875e-03 7.37112035e-01 1.15736692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.31, Y:100.79, Z:115.75 [[ 5.72701562e-01 -6.37447970e-01 -5.15434774e-01 1.89307080e+02] [ 4.64948340e-01 7.70426426e-01 -4.36195097e-01 1.00788486e+02] [ 6.75156250e-01 1.01590707e-02 7.37604793e-01 1.15746963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.646875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:189.32, Y:100.80, Z:115.77 [[ 5.72846433e-01 -6.37636736e-01 -5.15040151e-01 1.89323247e+02] [ 4.65203323e-01 7.70268621e-01 -4.36201925e-01 1.00801906e+02] [ 6.74857639e-01 1.02783269e-02 7.37876361e-01 1.15765492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.34, Y:100.81, Z:115.78 [[ 5.72783628e-01 -6.37965198e-01 -5.14703139e-01 1.89338784e+02] [ 4.65615908e-01 7.69997409e-01 -4.36240550e-01 1.00814695e+02] [ 6.74626372e-01 1.02174755e-02 7.38088654e-01 1.15783662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.706875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:189.35, Y:100.83, Z:115.80 [[ 5.72797115e-01 -6.38205253e-01 -5.14390436e-01 1.89354815e+02] [ 4.65873233e-01 7.69797605e-01 -4.36318437e-01 1.00827841e+02] [ 6.74437244e-01 1.02812069e-02 7.38260591e-01 1.15801844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.37, Y:100.84, Z:115.82 [[ 5.72015849e-01 -6.38855041e-01 -5.14453210e-01 1.89370576e+02] [ 4.66389186e-01 7.69263833e-01 -4.36708464e-01 1.00840899e+02] [ 6.74743652e-01 9.86874923e-03 7.37986187e-01 1.15820452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.39, Y:100.85, Z:115.84 [[ 5.71298176e-01 -6.39550316e-01 -5.14386808e-01 1.89386190e+02] [ 4.67080849e-01 7.68691970e-01 -4.36976127e-01 1.00853504e+02] [ 6.74873229e-01 9.38343737e-03 7.37874024e-01 1.15838618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.40, Y:100.87, Z:115.86 [[ 5.69917962e-01 -6.40774632e-01 -5.14394194e-01 1.89402924e+02] [ 4.68410031e-01 7.67684256e-01 -4.37324738e-01 1.00865970e+02] [ 6.75118922e-01 8.29182255e-03 7.37662312e-01 1.15857235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.42, Y:100.88, Z:115.88 [[ 5.69044760e-01 -6.41761355e-01 -5.14130747e-01 1.89418764e+02] [ 4.69649347e-01 7.66868172e-01 -4.37427363e-01 1.00878978e+02] [ 6.74994483e-01 7.45457980e-03 7.37785116e-01 1.15875393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.43, Y:100.89, Z:115.89 [[ 5.66561699e-01 -6.43817503e-01 -5.14302308e-01 1.89434387e+02] [ 4.71973703e-01 7.65160239e-01 -4.37916239e-01 1.00891529e+02] [ 6.75461817e-01 5.36940389e-03 7.37375416e-01 1.15893337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.45, Y:100.93, Z:115.88 [[ 5.67874914e-01 -6.68968844e-01 -4.79581868e-01 1.89453420e+02] [ 4.82298546e-01 7.42574990e-01 -4.64726260e-01 1.00934472e+02] [ 6.67012889e-01 3.26047471e-02 7.44332410e-01 1.15881006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.916875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:189.47, Y:100.93, Z:115.91 [[ 5.66309702e-01 -6.54084757e-01 -5.01464308e-01 1.89469992e+02] [ 4.81971718e-01 7.56370389e-01 -4.42274911e-01 1.00931085e+02] [ 6.68578032e-01 8.77295886e-03 7.43590244e-01 1.15913979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.48, Y:100.92, Z:115.96 [[ 5.61085018e-01 -6.35186173e-01 -5.30775026e-01 1.89482730e+02] [ 4.77951938e-01 7.72132272e-01 -4.18776431e-01 1.00917569e+02] [ 6.75829526e-01 -1.87157714e-02 7.36820312e-01 1.15960117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.50, Y:100.94, Z:115.97 [[ 5.61111812e-01 -6.48519320e-01 -5.14369737e-01 1.89499986e+02] [ 4.77928777e-01 7.61198182e-01 -4.38362192e-01 1.00943279e+02] [ 6.75823659e-01 1.38105013e-04 7.37063337e-01 1.15969724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.52, Y:100.96, Z:115.99 [[ 5.60002601e-01 -6.49753479e-01 -5.14020916e-01 1.89515865e+02] [ 4.79596652e-01 7.60144292e-01 -4.38369371e-01 1.00955747e+02] [ 6.75562090e-01 -1.03472241e-03 7.37302375e-01 1.15988250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.53, Y:100.97, Z:116.01 [[ 5.58671268e-01 -6.51194936e-01 -5.13645373e-01 1.89532066e+02] [ 4.81533010e-01 7.58906645e-01 -4.38390995e-01 1.00968998e+02] [ 6.75286883e-01 -2.42074937e-03 7.37551196e-01 1.16006758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.55, Y:100.98, Z:116.03 [[ 5.56838049e-01 -6.53049280e-01 -5.13281623e-01 1.89548351e+02] [ 4.84045115e-01 7.57303008e-01 -4.38397629e-01 1.00981375e+02] [ 6.75004973e-01 -4.33498184e-03 7.37800444e-01 1.16025627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.56, Y:100.99, Z:116.04 [[ 5.55934467e-01 -6.54027243e-01 -5.13015822e-01 1.89564125e+02] [ 4.85273650e-01 7.56453312e-01 -4.38506409e-01 1.00994597e+02] [ 6.74867656e-01 -5.17223392e-03 7.37920657e-01 1.16043474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.58, Y:101.01, Z:116.06 [[ 5.54981684e-01 -6.54781965e-01 -5.13084699e-01 1.89580263e+02] [ 4.85971005e-01 7.55795714e-01 -4.38867885e-01 1.01008075e+02] [ 6.75149993e-01 -5.78064881e-03 7.37657828e-01 1.16062042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.156875 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:189.60, Y:101.05, Z:116.05 [[ 5.56174371e-01 -6.77419399e-01 -4.81428113e-01 1.89600759e+02] [ 4.94557942e-01 7.35335579e-01 -4.63350869e-01 1.01048800e+02] [ 6.67894087e-01 1.96097810e-02 7.43997947e-01 1.16052886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.62, Y:101.05, Z:116.08 [[ 5.55749171e-01 -6.61456092e-01 -5.03605696e-01 1.89615818e+02] [ 4.94512211e-01 7.49967982e-01 -4.39324140e-01 1.01045498e+02] [ 6.68281776e-01 -4.88513989e-03 7.43892198e-01 1.16084238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.63, Y:101.03, Z:116.13 [[ 5.53551512e-01 -6.42634066e-01 -5.29718964e-01 1.89627837e+02] [ 4.87627521e-01 7.65726680e-01 -4.19382942e-01 1.01034908e+02] [ 6.75129709e-01 -2.61554838e-02 7.37235218e-01 1.16128269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.64, Y:101.06, Z:116.14 [[ 5.53628282e-01 -6.56185483e-01 -5.12753682e-01 1.89644526e+02] [ 4.87150601e-01 7.54572684e-01 -4.39663914e-01 1.01060323e+02] [ 6.75410999e-01 -6.37788692e-03 7.37413930e-01 1.16136321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.66, Y:101.11, Z:116.12 [[ 5.56341554e-01 -6.80265337e-01 -4.77203466e-01 1.89663790e+02] [ 4.95323252e-01 7.32593417e-01 -4.66863751e-01 1.01105341e+02] [ 6.67187344e-01 2.33657324e-02 7.44523398e-01 1.16121978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.68, Y:101.07, Z:116.19 [[ 5.55607855e-01 -6.39409729e-01 -5.31465060e-01 1.89675029e+02] [ 4.84424044e-01 7.68454645e-01 -4.18103820e-01 1.01073094e+02] [ 6.75746444e-01 -2.51526872e-02 7.36704884e-01 1.16185831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.69, Y:101.10, Z:116.19 [[ 5.56788003e-01 -6.53474829e-01 -5.12794080e-01 1.89691586e+02] [ 4.83222079e-01 7.56942887e-01 -4.39924866e-01 1.01099432e+02] [ 6.75635658e-01 -2.84853393e-03 7.37230184e-01 1.16193023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.71, Y:101.11, Z:116.21 [[ 5.58086547e-01 -6.52807152e-01 -5.12232591e-01 1.89707376e+02] [ 4.82476681e-01 7.57522178e-01 -4.39745839e-01 1.01113298e+02] [ 6.75096777e-01 -1.72404372e-03 7.37727165e-01 1.16211510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.72, Y:101.13, Z:116.23 [[ 5.59287798e-01 -6.52156809e-01 -5.11750580e-01 1.89722951e+02] [ 4.81675762e-01 7.58083855e-01 -4.39655921e-01 1.01127088e+02] [ 6.74674455e-01 -6.03658797e-04 7.38115178e-01 1.16230001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.74, Y:101.14, Z:116.25 [[ 5.61544253e-01 -6.50651986e-01 -5.11194724e-01 1.89738126e+02] [ 4.79767596e-01 7.59374469e-01 -4.39515039e-01 1.01141416e+02] [ 6.74159555e-01 1.55248059e-03 7.38584108e-01 1.16247892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.75, Y:101.16, Z:116.27 [[ 5.62503735e-01 -6.50122460e-01 -5.10813405e-01 1.89753923e+02] [ 4.79029984e-01 7.59825173e-01 -4.39540648e-01 1.01155816e+02] [ 6.73884131e-01 2.54831932e-03 7.38832650e-01 1.16266401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.77, Y:101.17, Z:116.28 [[ 5.63265411e-01 -6.49646174e-01 -5.10579989e-01 1.89769387e+02] [ 4.78272022e-01 7.60228861e-01 -4.39668003e-01 1.01169511e+02] [ 6.73786279e-01 3.45365475e-03 7.38918211e-01 1.16284625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.516875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:189.78, Y:101.18, Z:116.30 [[ 5.63743927e-01 -6.49274689e-01 -5.10524400e-01 1.89784986e+02] [ 4.77499570e-01 7.60542104e-01 -4.39965760e-01 1.01183429e+02] [ 6.73933933e-01 4.25284366e-03 7.38779377e-01 1.16302913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.80, Y:101.20, Z:116.32 [[ 5.64256950e-01 -6.48778229e-01 -5.10588782e-01 1.89800646e+02] [ 4.76480551e-01 7.60959879e-01 -4.40347984e-01 1.01197326e+02] [ 6.74225763e-01 5.18378585e-03 7.38507108e-01 1.16321152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.82, Y:101.21, Z:116.34 [[ 5.63961817e-01 -6.48981349e-01 -5.10656711e-01 1.89816023e+02] [ 4.76397322e-01 7.60785966e-01 -4.40738364e-01 1.01210629e+02] [ 6.74531438e-01 5.28411935e-03 7.38227213e-01 1.16339077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.83, Y:101.22, Z:116.36 [[ 5.63858934e-01 -6.49248302e-01 -5.10430940e-01 1.89832409e+02] [ 4.76618602e-01 7.60557911e-01 -4.40892699e-01 1.01224701e+02] [ 6.74461126e-01 5.32040661e-03 7.38291191e-01 1.16357433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.85, Y:101.24, Z:116.38 [[ 5.63675106e-01 -6.49669733e-01 -5.10097651e-01 1.89848443e+02] [ 4.77152273e-01 7.60199133e-01 -4.40934220e-01 1.01238505e+02] [ 6.74237409e-01 5.14938937e-03 7.38496716e-01 1.16375804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.86, Y:101.25, Z:116.39 [[ 5.63279691e-01 -6.50254380e-01 -5.09789399e-01 1.89864229e+02] [ 4.77880103e-01 7.59701451e-01 -4.41003756e-01 1.01252077e+02] [ 6.74052370e-01 4.79024914e-03 7.38668029e-01 1.16393966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.88, Y:101.26, Z:116.41 [[ 5.62386313e-01 -6.51357995e-01 -5.09366662e-01 1.89880155e+02] [ 4.79399068e-01 7.58761004e-01 -4.40974231e-01 1.01264408e+02] [ 6.73719651e-01 3.80796856e-03 7.38977220e-01 1.16412128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.726875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:189.90, Y:101.28, Z:116.43 [[ 5.61583434e-01 -6.52177655e-01 -5.09203645e-01 1.89896395e+02] [ 4.80311760e-01 7.58059462e-01 -4.41187562e-01 1.01277488e+02] [ 6.73739311e-01 3.18712718e-03 7.38962234e-01 1.16431014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.91, Y:101.29, Z:116.45 [[ 5.60202759e-01 -6.53347474e-01 -5.09224849e-01 1.89913189e+02] [ 4.81568398e-01 7.57055187e-01 -4.41541982e-01 1.01289904e+02] [ 6.73991652e-01 2.12644196e-03 7.38735901e-01 1.16449700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.93, Y:101.30, Z:116.47 [[ 5.59879886e-01 -6.53896189e-01 -5.08875512e-01 1.89928840e+02] [ 4.82282404e-01 7.56582124e-01 -4.41573518e-01 1.01302812e+02] [ 6.73749357e-01 1.80642574e-03 7.38957740e-01 1.16467314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.95, Y:101.32, Z:116.49 [[ 5.59771482e-01 -6.54137042e-01 -5.08685185e-01 1.89945309e+02] [ 4.82438523e-01 7.56373726e-01 -4.41759956e-01 1.01316406e+02] [ 6.73727660e-01 1.87529651e-03 7.38977350e-01 1.16486116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.96, Y:101.33, Z:116.50 [[ 5.59644941e-01 -6.54364461e-01 -5.08531900e-01 1.89961316e+02] [ 4.82574569e-01 7.56176850e-01 -4.41948363e-01 1.01330106e+02] [ 6.73735353e-01 1.92960292e-03 7.38970196e-01 1.16504716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.98, Y:101.34, Z:116.52 [[ 5.60107900e-01 -6.54110322e-01 -5.08349119e-01 1.89977501e+02] [ 4.82083038e-01 7.56394813e-01 -4.42111786e-01 1.01343380e+02] [ 6.73702520e-01 2.56381587e-03 7.38998201e-01 1.16522918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.906875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:190.00, Y:101.37, Z:116.52 [[ 5.61899944e-01 -6.67212361e-01 -4.88974558e-01 1.89996865e+02] [ 4.86115714e-01 7.44616724e-01 -4.57424800e-01 1.01374507e+02] [ 6.69298114e-01 1.93287529e-02 7.42742508e-01 1.16524937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.01, Y:101.36, Z:116.57 [[ 5.60284719e-01 -6.43530495e-01 -5.21487810e-01 1.90007974e+02] [ 4.81515754e-01 7.65329395e-01 -4.27098931e-01 1.01360676e+02] [ 6.73961136e-01 -1.18075917e-02 7.38672436e-01 1.16567446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.03, Y:101.38, Z:116.58 [[ 5.61035097e-01 -6.53605505e-01 -5.07975850e-01 1.90025035e+02] [ 4.80941819e-01 7.56824749e-01 -4.42618646e-01 1.01384013e+02] [ 6.73746678e-01 4.01776551e-03 7.38951467e-01 1.16578391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.04, Y:101.40, Z:116.60 [[ 5.61621337e-01 -6.53074436e-01 -5.08011078e-01 1.90041419e+02] [ 4.79900895e-01 7.57277289e-01 -4.42974309e-01 1.01397411e+02] [ 6.74000449e-01 4.98885234e-03 7.38714090e-01 1.16597180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.06, Y:101.41, Z:116.62 [[ 5.61746417e-01 -6.53025001e-01 -5.07936326e-01 1.90057090e+02] [ 4.79594236e-01 7.57317212e-01 -4.43238096e-01 1.01410779e+02] [ 6.74114480e-01 5.38407809e-03 7.38607257e-01 1.16615992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.07, Y:101.42, Z:116.63 [[ 5.62174824e-01 -6.52828089e-01 -5.07715425e-01 1.90072264e+02] [ 4.79210858e-01 7.57482739e-01 -4.43369884e-01 1.01423531e+02] [ 6.74029985e-01 5.94864181e-03 7.38680034e-01 1.16634785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.09, Y:101.44, Z:116.65 [[ 5.62203716e-01 -6.53094396e-01 -5.07340805e-01 1.90087912e+02] [ 4.79654522e-01 7.57253788e-01 -4.43281220e-01 1.01437517e+02] [ 6.73690227e-01 5.86603771e-03 7.38990574e-01 1.16653531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.116875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:190.10, Y:101.45, Z:116.67 [[ 5.61961637e-01 -6.53516119e-01 -5.07065874e-01 1.90103598e+02] [ 4.80150602e-01 7.56891248e-01 -4.43363325e-01 1.01451923e+02] [ 6.73538802e-01 5.68519497e-03 7.39130003e-01 1.16672495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.12, Y:101.47, Z:116.69 [[ 5.61292898e-01 -6.54299937e-01 -5.06795694e-01 1.90118526e+02] [ 4.81127274e-01 7.56218122e-01 -4.43453152e-01 1.01465616e+02] [ 6.73399457e-01 5.07387425e-03 7.39261406e-01 1.16690151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.13, Y:101.48, Z:116.71 [[ 5.61172833e-01 -6.54798789e-01 -5.06284107e-01 1.90134258e+02] [ 4.81899216e-01 7.55787894e-01 -4.43348401e-01 1.01479221e+02] [ 6.72947395e-01 4.81716363e-03 7.39674657e-01 1.16708199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.15, Y:101.49, Z:116.73 [[ 5.60737351e-01 -6.55301966e-01 -5.06115557e-01 1.90150165e+02] [ 4.82403380e-01 7.55353267e-01 -4.43540778e-01 1.01492851e+02] [ 6.72949183e-01 4.55802516e-03 7.39674673e-01 1.16727144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.17, Y:101.51, Z:116.75 [[ 5.60317956e-01 -6.55782822e-01 -5.05957191e-01 1.90165621e+02] [ 4.82888662e-01 7.54937327e-01 -4.43720827e-01 1.01505951e+02] [ 6.72950466e-01 4.30375600e-03 7.39675029e-01 1.16746008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.18, Y:101.52, Z:116.76 [[ 5.59946212e-01 -6.56098311e-01 -5.05959728e-01 1.90180398e+02] [ 4.83011145e-01 7.54663397e-01 -4.44053364e-01 1.01519440e+02] [ 6.73171949e-01 4.26181183e-03 7.39473707e-01 1.16763794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.20, Y:101.53, Z:116.78 [[ 5.59550501e-01 -6.56491811e-01 -5.05887081e-01 1.90196091e+02] [ 4.83380978e-01 7.54322369e-01 -4.44230339e-01 1.01533503e+02] [ 6.73235521e-01 4.03311712e-03 7.39417113e-01 1.16782788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.21, Y:101.55, Z:116.80 [[ 5.58957505e-01 -6.57137336e-01 -5.05704488e-01 1.90211025e+02] [ 4.84102389e-01 7.53762341e-01 -4.44395332e-01 1.01547411e+02] [ 6.73209763e-01 3.58535524e-03 7.39442872e-01 1.16801429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.23, Y:101.56, Z:116.82 [[ 5.58394468e-01 -6.57691907e-01 -5.05605552e-01 1.90225500e+02] [ 4.84631329e-01 7.53280022e-01 -4.44636575e-01 1.01561116e+02] [ 6.73296438e-01 3.25031322e-03 7.39365500e-01 1.16819338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.24, Y:101.58, Z:116.84 [[ 5.57738237e-01 -6.58413949e-01 -5.05390078e-01 1.90240963e+02] [ 4.85464377e-01 7.52651064e-01 -4.44792890e-01 1.01575765e+02] [ 6.73240224e-01 2.72912295e-03 7.39418794e-01 1.16838234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.26, Y:101.59, Z:116.86 [[ 5.54279441e-01 -6.61121697e-01 -5.05660364e-01 1.90256067e+02] [ 4.88608984e-01 7.50278651e-01 -4.45357392e-01 1.01590613e+02] [ 6.73821610e-01 -2.17750669e-04 7.38894032e-01 1.16856303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.27, Y:101.61, Z:116.87 [[ 5.48284449e-01 -6.65736349e-01 -5.06141558e-01 1.90270752e+02] [ 4.94181849e-01 7.46166578e-01 -4.46116284e-01 1.01608598e+02] [ 6.74661740e-01 -5.52735014e-03 7.38106351e-01 1.16873558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.29, Y:101.62, Z:116.89 [[ 5.46694672e-01 -6.67745886e-01 -5.05213190e-01 1.90285198e+02] [ 4.97349339e-01 7.44350057e-01 -4.45630595e-01 1.01620641e+02] [ 6.73623464e-01 -7.64357436e-03 7.39035185e-01 1.16892894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.30, Y:101.63, Z:116.91 [[ 5.45008075e-01 -6.69642062e-01 -5.04525229e-01 1.90300320e+02] [ 5.00253511e-01 7.42620417e-01 -4.45265473e-01 1.01634115e+02] [ 6.72839225e-01 -9.71723906e-03 7.39724917e-01 1.16912676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.31, Y:101.65, Z:116.93 [[ 5.40271343e-01 -6.73074294e-01 -5.05052344e-01 1.90314209e+02] [ 5.04226729e-01 7.39448594e-01 -4.46061861e-01 1.01650290e+02] [ 6.73693018e-01 -1.36664508e-02 7.38884934e-01 1.16931083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.33, Y:101.70, Z:116.92 [[ 5.39357822e-01 -6.97444330e-01 -4.71873443e-01 1.90332468e+02] [ 5.13872350e-01 7.16539567e-01 -4.71705688e-01 1.01696945e+02] [ 6.67104451e-01 1.19354375e-02 7.44868577e-01 1.16917411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.34, Y:101.67, Z:116.98 [[ 5.34657064e-01 -6.61021538e-01 -5.26490598e-01 1.90341318e+02] [ 5.07669259e-01 7.49303562e-01 -4.25224759e-01 1.01669873e+02] [ 6.75584005e-01 -3.99336709e-02 7.36200757e-01 1.16977330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.36, Y:101.70, Z:116.98 [[ 5.33987012e-01 -6.76927576e-01 -5.06583584e-01 1.90356438e+02] [ 5.08080352e-01 7.35821416e-01 -4.47684263e-01 1.01698569e+02] [ 6.75804873e-01 -1.83275833e-02 7.36852681e-01 1.16983824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.37, Y:101.71, Z:117.00 [[ 5.34083606e-01 -6.77247871e-01 -5.06053379e-01 1.90370483e+02] [ 5.08648759e-01 7.35525137e-01 -4.47525656e-01 1.01712402e+02] [ 6.75300779e-01 -1.83873074e-02 7.37313207e-01 1.17002140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.38, Y:101.73, Z:117.02 [[ 5.34384918e-01 -6.77316520e-01 -5.05643246e-01 1.90384798e+02] [ 5.08738020e-01 7.35469195e-01 -4.47516135e-01 1.01726589e+02] [ 6.74995102e-01 -1.80940708e-02 7.37600310e-01 1.17021401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.40, Y:101.74, Z:117.04 [[ 5.35697559e-01 -6.76551036e-01 -5.05278953e-01 1.90397052e+02] [ 5.07668896e-01 7.36204577e-01 -4.47521075e-01 1.01742541e+02] [ 6.74759525e-01 -1.67784606e-02 7.37846913e-01 1.17039937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.41, Y:101.76, Z:117.06 [[ 5.36085271e-01 -6.76070061e-01 -5.05511478e-01 1.90410840e+02] [ 5.06509954e-01 7.36667038e-01 -4.48072919e-01 1.01759003e+02] [ 6.75322329e-01 -1.58413030e-02 7.37352565e-01 1.17058065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.42, Y:101.78, Z:117.08 [[ 5.37305346e-01 -6.75256563e-01 -5.05303413e-01 1.90424535e+02] [ 5.05257320e-01 7.37440775e-01 -4.48214396e-01 1.01775728e+02] [ 6.75291053e-01 -1.44802572e-02 7.37409192e-01 1.17075324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.806875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:190.44, Y:101.79, Z:117.09 [[ 5.40483403e-01 -6.73084298e-01 -5.04812062e-01 1.90437489e+02] [ 5.02448847e-01 7.39476414e-01 -4.48017622e-01 1.01793229e+02] [ 6.74850240e-01 -1.14961499e-02 7.37865159e-01 1.17094211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.45, Y:101.81, Z:117.11 [[ 5.41902173e-01 -6.72075720e-01 -5.04634781e-01 1.90451702e+02] [ 5.00911463e-01 7.40416194e-01 -4.48186977e-01 1.01808084e+02] [ 6.74855349e-01 -9.90384924e-03 7.37883576e-01 1.17113874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.47, Y:101.82, Z:117.13 [[ 5.41728269e-01 -6.72340281e-01 -5.04469057e-01 1.90467537e+02] [ 5.01099342e-01 7.40176117e-01 -4.48373466e-01 1.01822376e+02] [ 6.74855490e-01 -9.89253038e-03 7.37883599e-01 1.17132937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.48, Y:101.84, Z:117.15 [[ 5.43315009e-01 -6.71274219e-01 -5.04182233e-01 1.90481374e+02] [ 4.99585508e-01 7.41163267e-01 -4.48432082e-01 1.01837087e+02] [ 6.74702246e-01 -8.24225588e-03 7.38043999e-01 1.17151689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.49, Y:101.86, Z:117.17 [[ 5.46380430e-01 -6.68835048e-01 -5.04111202e-01 1.90494329e+02] [ 4.95996814e-01 7.43394923e-01 -4.48721683e-01 1.01855398e+02] [ 6.74874496e-01 -4.86480393e-03 7.37916491e-01 1.17170139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.51, Y:101.91, Z:117.15 [[ 5.49828132e-01 -6.96806980e-01 -4.60596416e-01 1.90510827e+02] [ 5.04527625e-01 7.16523128e-01 -4.81712033e-01 1.01909907e+02] [ 6.65688291e-01 3.24752115e-02 7.45522944e-01 1.17149936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.52, Y:101.87, Z:117.22 [[ 5.48978197e-01 -6.47106794e-01 -5.29032832e-01 1.90521153e+02] [ 4.91591814e-01 7.61865728e-01 -4.21779684e-01 1.01870380e+02] [ 6.75988482e-01 -2.85203586e-02 7.36360076e-01 1.17219082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.53, Y:101.90, Z:117.22 [[ 5.52371481e-01 -6.63535963e-01 -5.04584753e-01 1.90534539e+02] [ 4.87816257e-01 7.48140815e-01 -4.49800646e-01 1.01903995e+02] [ 6.75959353e-01 2.31240321e-03 7.36935280e-01 1.17224158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.55, Y:101.92, Z:117.24 [[ 5.53637851e-01 -6.62747873e-01 -5.04232473e-01 1.90548827e+02] [ 4.86814517e-01 7.48834334e-01 -4.49731883e-01 1.01919159e+02] [ 6.75645437e-01 3.52090598e-03 7.37218317e-01 1.17243286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.07687500000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:190.56, Y:101.93, Z:117.26 [[ 5.54392518e-01 -6.62209759e-01 -5.04110277e-01 1.90562534e+02] [ 4.85875531e-01 7.49304872e-01 -4.49963530e-01 1.01933881e+02] [ 6.75702527e-01 4.52156527e-03 7.37160532e-01 1.17261655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.58, Y:101.95, Z:117.28 [[ 5.55417075e-01 -6.61600949e-01 -5.03781756e-01 1.90575663e+02] [ 4.84995972e-01 7.49835035e-01 -4.50029253e-01 1.01951641e+02] [ 6.75492991e-01 5.62180906e-03 7.37344977e-01 1.17279752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.59, Y:101.97, Z:117.30 [[ 5.55486686e-01 -6.61735126e-01 -5.03528713e-01 1.90590063e+02] [ 4.85078363e-01 7.49715300e-01 -4.50139923e-01 1.01967395e+02] [ 6.75376579e-01 5.79585013e-03 7.37450259e-01 1.17298118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.60, Y:101.98, Z:117.32 [[ 5.55418416e-01 -6.62225953e-01 -5.02958419e-01 1.90604631e+02] [ 4.85904267e-01 7.49283791e-01 -4.49967604e-01 1.01982460e+02] [ 6.74838816e-01 5.53065177e-03 7.37944432e-01 1.17316564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.62, Y:102.00, Z:117.33 [[ 5.54975038e-01 -6.62827999e-01 -5.02654704e-01 1.90618778e+02] [ 4.86659033e-01 7.48754075e-01 -4.50033689e-01 1.01996354e+02] [ 6.74659687e-01 5.13601162e-03 7.38111054e-01 1.17334743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.63, Y:102.01, Z:117.35 [[ 5.54516062e-01 -6.63612667e-01 -5.02125647e-01 1.90633357e+02] [ 4.87829637e-01 7.48062612e-01 -4.49916185e-01 1.02010497e+02] [ 6.74191503e-01 4.53397861e-03 7.38542660e-01 1.17353784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.65, Y:102.02, Z:117.37 [[ 5.53949438e-01 -6.64237356e-01 -5.01925050e-01 1.90648052e+02] [ 4.88525630e-01 7.47510388e-01 -4.50078803e-01 1.02024798e+02] [ 6.74153343e-01 4.11764865e-03 7.38579932e-01 1.17371993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.66, Y:102.04, Z:117.39 [[ 5.52543735e-01 -6.65163551e-01 -5.02247818e-01 1.90661984e+02] [ 4.89295798e-01 7.46690711e-01 -4.50602490e-01 1.02039546e+02] [ 6.74748133e-01 3.22983633e-03 7.38041005e-01 1.17390070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.68, Y:102.05, Z:117.41 [[ 5.51861881e-01 -6.65702644e-01 -5.02283241e-01 1.90677479e+02] [ 4.89667598e-01 7.46211353e-01 -4.50992528e-01 1.02054408e+02] [ 6.75036375e-01 2.93375685e-03 7.37778615e-01 1.17408849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.69, Y:102.07, Z:117.43 [[ 5.51479926e-01 -6.66015984e-01 -5.02287369e-01 1.90692789e+02] [ 4.89773166e-01 7.45931840e-01 -4.51340155e-01 1.02069079e+02] [ 6.75271899e-01 2.89816015e-03 7.37563193e-01 1.17427709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.71, Y:102.08, Z:117.45 [[ 5.51229357e-01 -6.66270270e-01 -5.02225172e-01 1.90707531e+02] [ 4.89854688e-01 7.45704584e-01 -4.51627123e-01 1.02083112e+02] [ 6.75417338e-01 2.93277412e-03 7.37429873e-01 1.17446041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.72, Y:102.10, Z:117.47 [[ 5.51317966e-01 -6.66354592e-01 -5.02015994e-01 1.90722630e+02] [ 4.89860077e-01 7.45628397e-01 -4.51747051e-01 1.02096784e+02] [ 6.75341103e-01 3.13867156e-03 7.37498843e-01 1.17465720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.74, Y:102.11, Z:117.48 [[ 5.51019248e-01 -6.66693529e-01 -5.01893940e-01 1.90737482e+02] [ 4.90104976e-01 7.45325645e-01 -4.51980969e-01 1.02110626e+02] [ 6.75407212e-01 3.06949609e-03 7.37438592e-01 1.17483977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.75, Y:102.12, Z:117.50 [[ 5.50668014e-01 -6.66962281e-01 -5.01922359e-01 1.90752867e+02] [ 4.90161264e-01 7.45085226e-01 -4.52316196e-01 1.02124814e+02] [ 6.75652776e-01 3.05316330e-03 7.37213677e-01 1.17503351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.77, Y:102.14, Z:117.52 [[ 5.49785020e-01 -6.67820228e-01 -5.01749514e-01 1.90767584e+02] [ 4.91152849e-01 7.44318918e-01 -4.52502184e-01 1.02139069e+02] [ 6.75651768e-01 2.34321877e-03 7.37217199e-01 1.17521202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.78, Y:102.15, Z:117.54 [[ 5.48947643e-01 -6.68623442e-01 -5.01596630e-01 1.90783004e+02] [ 4.92085890e-01 7.43599303e-01 -4.52671574e-01 1.02153096e+02] [ 6.75653730e-01 1.66436946e-03 7.37217245e-01 1.17539967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.80, Y:102.17, Z:117.56 [[ 5.47446894e-01 -6.69640596e-01 -5.01879837e-01 1.90798072e+02] [ 4.92912238e-01 7.42684923e-01 -4.53273242e-01 1.02165502e+02] [ 6.76268752e-01 7.60315178e-04 7.36654599e-01 1.17558316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.81, Y:102.18, Z:117.58 [[ 5.46703065e-01 -6.70254319e-01 -5.01871405e-01 1.90813170e+02] [ 4.93466180e-01 7.42131422e-01 -4.53576985e-01 1.02178897e+02] [ 6.76466473e-01 3.15363125e-04 7.36473361e-01 1.17576629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.83, Y:102.19, Z:117.60 [[ 5.46044582e-01 -6.70843558e-01 -5.01800991e-01 1.90828760e+02] [ 4.93993772e-01 7.41598893e-01 -4.53873590e-01 1.02193211e+02] [ 6.76613233e-01 -5.13499065e-05 7.36338597e-01 1.17595837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.646875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:190.84, Y:102.21, Z:117.61 [[ 5.45754214e-01 -6.71176741e-01 -5.01671327e-01 1.90843942e+02] [ 4.94237581e-01 7.41297355e-01 -4.54100699e-01 1.02207182e+02] [ 6.76669455e-01 -1.17452302e-04 7.36286924e-01 1.17614078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.86, Y:102.22, Z:117.63 [[ 5.44857387e-01 -6.71539290e-01 -5.02160742e-01 1.90859317e+02] [ 4.94037313e-01 7.40968904e-01 -4.54854060e-01 1.02221273e+02] [ 6.77537867e-01 -2.55549204e-04 7.35487847e-01 1.17632397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.87, Y:102.24, Z:117.65 [[ 5.44438275e-01 -6.71816460e-01 -5.02244570e-01 1.90874904e+02] [ 4.94029248e-01 7.40717610e-01 -4.55271923e-01 1.02235503e+02] [ 6.77880570e-01 -2.56046739e-04 7.35171999e-01 1.17651565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.89, Y:102.25, Z:117.67 [[ 5.43973292e-01 -6.72113438e-01 -5.02351056e-01 1.90889878e+02] [ 4.94026963e-01 7.40448140e-01 -4.55712532e-01 1.02248798e+02] [ 6.78255422e-01 -2.79519949e-04 7.34826173e-01 1.17669422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.91, Y:102.26, Z:117.69 [[ 5.43274737e-01 -6.72517774e-01 -5.02565821e-01 1.90905873e+02] [ 4.94062545e-01 7.40080853e-01 -4.56270241e-01 1.02261328e+02] [ 6.78789188e-01 -4.18853140e-04 7.34333073e-01 1.17688566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.92, Y:102.27, Z:117.71 [[ 5.42517200e-01 -6.73041388e-01 -5.02683178e-01 1.90921640e+02] [ 4.94366451e-01 7.39604455e-01 -4.56713326e-01 1.02274809e+02] [ 6.79173689e-01 -7.34864302e-04 7.33977220e-01 1.17707653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.94, Y:102.29, Z:117.73 [[ 5.42105580e-01 -6.73415197e-01 -5.02626613e-01 1.90937180e+02] [ 4.94604297e-01 7.39263986e-01 -4.57006946e-01 1.02288082e+02] [ 6.79329176e-01 -8.55267176e-04 7.33833182e-01 1.17726897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.856875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:190.95, Y:102.30, Z:117.75 [[ 5.42887831e-01 -6.73295160e-01 -5.01942657e-01 1.90951789e+02] [ 4.94696231e-01 7.39373722e-01 -4.56729831e-01 1.02300862e+02] [ 6.78637195e-01 -3.56073590e-04 7.34473574e-01 1.17745551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.97, Y:102.31, Z:117.76 [[ 5.43340774e-01 -6.73071677e-01 -5.01752251e-01 1.90966464e+02] [ 4.94215878e-01 7.39577200e-01 -4.56920378e-01 1.02313299e+02] [ 6.78624689e-01 2.89542954e-04 7.34485158e-01 1.17764045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.98, Y:102.35, Z:117.76 [[ 5.45276205e-01 -6.90445335e-01 -4.75351553e-01 1.90981264e+02] [ 5.00017601e-01 7.23043252e-01 -4.76645419e-01 1.02349331e+02] [ 6.72797339e-01 2.22192622e-02 7.39493100e-01 1.17760212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.00, Y:102.36, Z:117.78 [[ 5.47064508e-01 -6.82331455e-01 -4.84916703e-01 1.90997648e+02] [ 4.98369516e-01 7.30920161e-01 -4.66244082e-01 1.02357869e+02] [ 6.72568398e-01 1.33978871e-02 7.39913675e-01 1.17783828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.01, Y:102.34, Z:117.83 [[ 5.45372989e-01 -6.58607802e-01 -5.18463176e-01 1.91011554e+02] [ 4.90501620e-01 7.52347093e-01 -4.39752217e-01 1.02344240e+02] [ 6.79688505e-01 -1.44780468e-02 7.33357977e-01 1.17830702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.03, Y:102.39, Z:117.82 [[ 5.48069541e-01 -6.89234130e-01 -4.73894601e-01 1.91027827e+02] [ 4.96078935e-01 7.24013180e-01 -4.79281342e-01 1.02392683e+02] [ 6.73442996e-01 2.75903762e-02 7.38724104e-01 1.17818202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.04, Y:102.40, Z:117.84 [[ 5.47933522e-01 -6.77317286e-01 -4.90927846e-01 1.91043366e+02] [ 4.95727938e-01 7.35628693e-01 -4.61632146e-01 1.02395209e+02] [ 6.73812042e-01 9.57707861e-03 7.38840722e-01 1.17844721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.06, Y:102.38, Z:117.89 [[ 5.45493477e-01 -6.57802175e-01 -5.19358417e-01 1.91055469e+02] [ 4.89106312e-01 7.53061387e-01 -4.40083587e-01 1.02384112e+02] [ 6.80596710e-01 -1.39587538e-02 7.32525270e-01 1.17887768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.07, Y:102.41, Z:117.90 [[ 5.45390342e-01 -6.70762208e-01 -5.02620568e-01 1.91071416e+02] [ 4.88933663e-01 7.41657526e-01 -4.59225421e-01 1.02409180e+02] [ 6.80803384e-01 4.70899404e-03 7.32451075e-01 1.17898600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.09, Y:102.42, Z:117.92 [[ 5.44711993e-01 -6.71014198e-01 -5.03019673e-01 1.91086885e+02] [ 4.88610535e-01 7.41429267e-01 -4.59937373e-01 1.02421611e+02] [ 6.81578015e-01 4.75269112e-03 7.31730020e-01 1.17917627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.10, Y:102.43, Z:117.94 [[ 5.44328906e-01 -6.71212781e-01 -5.03169399e-01 1.91102089e+02] [ 4.88529352e-01 7.41249520e-01 -4.60313176e-01 1.02434911e+02] [ 6.81942164e-01 4.74874677e-03 7.31390686e-01 1.17936580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.186875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:191.12, Y:102.45, Z:117.96 [[ 5.43895129e-01 -6.71489937e-01 -5.03268669e-01 1.91117485e+02] [ 4.88505686e-01 7.40998475e-01 -4.60742286e-01 1.02448741e+02] [ 6.82305125e-01 4.74587902e-03 7.31052113e-01 1.17955073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.13, Y:102.46, Z:117.97 [[ 5.43380423e-01 -6.71917438e-01 -5.03254083e-01 1.91132743e+02] [ 4.88786670e-01 7.40612080e-01 -4.61065438e-01 1.02462291e+02] [ 6.82513961e-01 4.55004580e-03 7.30858392e-01 1.17973987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.15, Y:102.48, Z:117.99 [[ 5.43155951e-01 -6.72197470e-01 -5.03122425e-01 1.91149183e+02] [ 4.88962597e-01 7.40357971e-01 -4.61286953e-01 1.02475295e+02] [ 6.82566621e-01 4.54270533e-03 7.30809258e-01 1.17993492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.276875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:191.17, Y:102.51, Z:117.99 [[ 5.45039883e-01 -6.87263602e-01 -4.80208567e-01 1.91168648e+02] [ 4.93404992e-01 7.26006521e-01 -4.79026142e-01 1.02507372e+02] [ 6.77851783e-01 2.41510481e-02 7.34801801e-01 1.17994987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.18, Y:102.49, Z:118.04 [[ 5.42298803e-01 -6.60744440e-01 -5.18968972e-01 1.91180776e+02] [ 4.89773418e-01 7.50488673e-01 -4.43721479e-01 1.02491478e+02] [ 6.82666835e-01 -1.35475797e-02 7.30604172e-01 1.18040998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.20, Y:102.51, Z:118.05 [[ 5.42695344e-01 -6.73090033e-01 -5.02425688e-01 1.91196355e+02] [ 4.90007416e-01 7.39548344e-01 -4.61476954e-01 1.02513401e+02] [ 6.82183623e-01 4.24908107e-03 7.31168551e-01 1.18051809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.22, Y:102.55, Z:118.05 [[ 5.45182057e-01 -6.92343301e-01 -4.72691527e-01 1.91215025e+02] [ 4.97578369e-01 7.21036826e-01 -4.82205000e-01 1.02551643e+02] [ 6.74679399e-01 2.76884346e-02 7.37591390e-01 1.18045623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.23, Y:102.56, Z:118.07 [[ 5.45228744e-01 -6.82680931e-01 -4.86489838e-01 1.91232060e+02] [ 4.97886235e-01 7.30608990e-01 -4.67247045e-01 1.02556782e+02] [ 6.74414497e-01 1.25399255e-02 7.38246461e-01 1.18071500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.24, Y:102.54, Z:118.12 [[ 5.42305909e-01 -6.57719631e-01 -5.22789813e-01 1.91244751e+02] [ 4.89302694e-01 7.53064959e-01 -4.39859115e-01 1.02539905e+02] [ 6.82998664e-01 -1.72642672e-02 7.30215564e-01 1.18121038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.26, Y:102.57, Z:118.13 [[ 5.42895029e-01 -6.72800597e-01 -5.02597597e-01 1.91260697e+02] [ 4.88919505e-01 7.39805552e-01 -4.62217983e-01 1.02566260e+02] [ 6.82805028e-01 5.20607707e-03 7.30582091e-01 1.18128779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.28, Y:102.58, Z:118.15 [[ 5.42692920e-01 -6.72630366e-01 -5.03043522e-01 1.91277278e+02] [ 4.88001776e-01 7.39956291e-01 -4.62945952e-01 1.02578465e+02] [ 6.83621724e-01 5.75135862e-03 7.29813853e-01 1.18147871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.29, Y:102.59, Z:118.17 [[ 5.42930100e-01 -6.72433412e-01 -5.03050905e-01 1.91292574e+02] [ 4.87400031e-01 7.40130355e-01 -4.63301487e-01 1.02591100e+02] [ 6.83862644e-01 6.35329619e-03 7.29583113e-01 1.18165631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.31, Y:102.63, Z:118.16 [[ 5.45725016e-01 -6.92887533e-01 -4.71265396e-01 1.91312135e+02] [ 4.94536629e-01 7.20318398e-01 -4.86389687e-01 1.02632357e+02] [ 6.76474486e-01 3.23770187e-02 7.35754034e-01 1.18157108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.32, Y:102.60, Z:118.21 [[ 5.43652774e-01 -6.56612999e-01 -5.22782010e-01 1.91323721e+02] [ 4.86173522e-01 7.54095713e-01 -4.41559694e-01 1.02604769e+02] [ 6.84161507e-01 -1.41076185e-02 7.29194080e-01 1.18212764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.34, Y:102.66, Z:118.20 [[ 5.46949140e-01 -6.89534906e-01 -4.74750725e-01 1.91343767e+02] [ 4.92216963e-01 7.23589658e-01 -4.83880635e-01 1.02655664e+02] [ 6.77177303e-01 3.09777367e-02 7.35167518e-01 1.18197235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.63687500000003 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:191.35, Y:102.63, Z:118.25 [[ 5.44809566e-01 -6.57441026e-01 -5.20532261e-01 1.91354873e+02] [ 4.85587724e-01 7.53422422e-01 -4.43349993e-01 1.02631927e+02] [ 6.83657151e-01 -1.12227586e-02 7.29717034e-01 1.18249280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.37, Y:102.66, Z:118.26 [[ 5.45569183e-01 -6.71165770e-01 -5.01887215e-01 1.91370718e+02] [ 4.85541471e-01 7.41250659e-01 -4.63461908e-01 1.02656671e+02] [ 6.83083997e-01 9.16347811e-03 7.30282331e-01 1.18258312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.39, Y:102.67, Z:118.28 [[ 5.45764212e-01 -6.71154360e-01 -5.01690393e-01 1.91386454e+02] [ 4.85466768e-01 7.41257731e-01 -4.63528849e-01 1.02669696e+02] [ 6.82981290e-01 9.42344303e-03 7.30375079e-01 1.18276747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.40, Y:102.68, Z:118.30 [[ 5.45613987e-01 -6.71226878e-01 -5.01756769e-01 1.91403086e+02] [ 4.85274111e-01 7.41189962e-01 -4.63838849e-01 1.02681968e+02] [ 6.83238183e-01 9.58739349e-03 7.30132637e-01 1.18295383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.75687500000004 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:191.42, Y:102.70, Z:118.31 [[ 5.45831406e-01 -6.71373897e-01 -5.01323416e-01 1.91419253e+02] [ 4.85538745e-01 7.41054903e-01 -4.63777702e-01 1.02695494e+02] [ 6.82876418e-01 9.73249321e-03 7.30469079e-01 1.18313822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.786875 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:191.43, Y:102.71, Z:118.33 [[ 5.45722629e-01 -6.71588065e-01 -5.01154950e-01 1.91434719e+02] [ 4.85662418e-01 7.40859911e-01 -4.63959705e-01 1.02710047e+02] [ 6.82875412e-01 9.80118567e-03 7.30469102e-01 1.18332937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.45, Y:102.72, Z:118.35 [[ 5.45513264e-01 -6.71973151e-01 -5.00866612e-01 1.91451151e+02] [ 4.86240391e-01 7.40514248e-01 -4.63906166e-01 1.02722698e+02] [ 6.82631350e-01 9.52538939e-03 7.30700833e-01 1.18351497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.47, Y:102.74, Z:118.37 [[ 5.44967816e-01 -6.72396555e-01 -5.00892157e-01 1.91467032e+02] [ 4.86475042e-01 7.40132169e-01 -4.64269755e-01 1.02735623e+02] [ 6.82899783e-01 9.34054117e-03 7.30452354e-01 1.18370165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.48, Y:102.75, Z:118.39 [[ 5.44434124e-01 -6.72980251e-01 -5.00688592e-01 1.91482816e+02] [ 4.87117553e-01 7.39606183e-01 -4.64434262e-01 1.02748383e+02] [ 6.82867465e-01 8.95965883e-03 7.30487337e-01 1.18388649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.50, Y:102.76, Z:118.41 [[ 5.43723654e-01 -6.73770643e-01 -5.00397551e-01 1.91498809e+02] [ 4.88099767e-01 7.38893518e-01 -4.64537389e-01 1.02761634e+02] [ 6.82732162e-01 8.33603894e-03 7.30621178e-01 1.18407223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.936875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:191.52, Y:102.77, Z:118.43 [[ 5.42673667e-01 -6.74802715e-01 -5.00146566e-01 1.91515830e+02] [ 4.89399765e-01 7.37961242e-01 -4.64651564e-01 1.02773979e+02] [ 6.82636918e-01 7.38255583e-03 7.30720423e-01 1.18426601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.53, Y:102.79, Z:118.45 [[ 5.42200487e-01 -6.75388618e-01 -4.99868829e-01 1.91532279e+02] [ 4.90118705e-01 7.37428913e-01 -4.64738909e-01 1.02787293e+02] [ 6.82497097e-01 6.98659919e-03 7.30854911e-01 1.18445683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.55, Y:102.80, Z:118.46 [[ 5.41601939e-01 -6.75998058e-01 -4.99693872e-01 1.91548426e+02] [ 4.90781306e-01 7.36874196e-01 -4.64919486e-01 1.02800659e+02] [ 6.82496190e-01 6.56088364e-03 7.30859703e-01 1.18464648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.57, Y:102.81, Z:118.48 [[ 5.41093450e-01 -6.76569404e-01 -4.99471440e-01 1.91565539e+02] [ 4.91435400e-01 7.36352938e-01 -4.65054404e-01 1.02813044e+02] [ 6.82428843e-01 6.17994471e-03 7.30925908e-01 1.18483722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.58, Y:102.84, Z:118.49 [[ 5.42509624e-01 -6.84609570e-01 -4.86819315e-01 1.91584405e+02] [ 4.94180937e-01 7.28720555e-01 -4.74079692e-01 1.02837510e+02] [ 6.79314735e-01 1.66159700e-02 7.33658913e-01 1.18492178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.60, Y:102.83, Z:118.53 [[ 5.41379813e-01 -6.69897044e-01 -5.08080553e-01 1.91597982e+02] [ 4.91942285e-01 7.42444430e-01 -4.54718658e-01 1.02832279e+02] [ 6.81836261e-01 -3.77080629e-03 7.31495109e-01 1.18526812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.61, Y:102.85, Z:118.54 [[ 5.41530740e-01 -6.76995258e-01 -4.98419380e-01 1.91614343e+02] [ 4.92205697e-01 7.35959442e-01 -4.64862616e-01 1.02851975e+02] [ 6.81526236e-01 6.41253807e-03 7.31765583e-01 1.18540639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.63, Y:102.88, Z:118.55 [[ 5.42040557e-01 -6.86140598e-01 -4.85183589e-01 1.91632704e+02] [ 4.94565340e-01 7.27245641e-01 -4.75940019e-01 1.02877604e+02] [ 6.79409419e-01 1.80238057e-02 7.33537991e-01 1.18548172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.176875 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:191.65, Y:102.89, Z:118.57 [[ 5.41933451e-01 -6.84222119e-01 -4.88004330e-01 1.91649008e+02] [ 4.95623430e-01 7.29141504e-01 -4.71921692e-01 1.02889757e+02] [ 6.78723471e-01 1.38837713e-02 7.34262685e-01 1.18567659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.206875 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:191.67, Y:102.89, Z:118.59 [[ 5.41195196e-01 -6.78308243e-01 -4.96996668e-01 1.91665866e+02] [ 4.96196097e-01 7.34768181e-01 -4.62498815e-01 1.02894849e+02] [ 6.78894096e-01 3.69432955e-03 7.34226912e-01 1.18591285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.236875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:191.68, Y:102.91, Z:118.61 [[ 5.40293791e-01 -6.78972194e-01 -4.97070800e-01 1.91682076e+02] [ 4.98431061e-01 7.34162747e-01 -4.61054811e-01 1.02908586e+02] [ 6.77974260e-01 1.34952564e-03 7.35084404e-01 1.18611817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.69, Y:102.91, Z:118.64 [[ 5.37520586e-01 -6.70804933e-01 -5.10971977e-01 1.91694021e+02] [ 4.96025250e-01 7.41557420e-01 -4.51720649e-01 1.02909553e+02] [ 6.81931501e-01 -1.06458547e-02 7.31338563e-01 1.18643200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.296875 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:191.71, Y:102.94, Z:118.65 [[ 5.35928687e-01 -6.90159582e-01 -4.86271728e-01 1.91711997e+02] [ 4.97180462e-01 7.23503873e-01 -4.78908899e-01 1.02942310e+02] [ 6.82343044e-01 1.48962152e-02 7.30880341e-01 1.18647114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.32687500000003 meters Centerline goodness : 0.998665 Centerline is valid? [True, True] Translation: X:191.73, Y:102.95, Z:118.67 [[ 5.35261114e-01 -6.81053977e-01 -4.99660906e-01 1.91727494e+02] [ 4.97169382e-01 7.32232852e-01 -4.65464989e-01 1.02947427e+02] [ 6.82874912e-01 7.29204915e-04 7.30534957e-01 1.18673815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.74, Y:102.95, Z:118.70 [[ 5.34290535e-01 -6.73608552e-01 -5.10671268e-01 1.91738922e+02] [ 4.98884633e-01 7.38976770e-01 -4.52799577e-01 1.02952633e+02] [ 6.82383871e-01 -1.28395203e-02 7.30881249e-01 1.18698434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.76, Y:102.99, Z:118.70 [[ 5.34249655e-01 -6.93561357e-01 -4.83270059e-01 1.91758081e+02] [ 5.00782900e-01 7.20252506e-01 -4.80055012e-01 1.02989925e+02] [ 6.81024076e-01 1.44558427e-02 7.32118321e-01 1.18699188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.416875 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:191.77, Y:102.99, Z:118.73 [[ 5.32767108e-01 -6.84138420e-01 -4.98110260e-01 1.91771695e+02] [ 5.01413038e-01 7.29350002e-01 -4.65439084e-01 1.02993430e+02] [ 6.81721478e-01 -1.78834376e-03 7.31609614e-01 1.18726277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.79, Y:103.01, Z:118.74 [[ 5.30688239e-01 -6.86267310e-01 -4.97400414e-01 1.91786379e+02] [ 5.06028029e-01 7.27327333e-01 -4.63606066e-01 1.03009964e+02] [ 6.79930604e-01 -5.66826432e-03 7.33254556e-01 1.18744719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.80, Y:103.01, Z:118.77 [[ 5.27563805e-01 -6.80183270e-01 -5.08947100e-01 1.91797367e+02] [ 5.05907992e-01 7.32834440e-01 -4.54984380e-01 1.03014573e+02] [ 6.82446727e-01 -1.74471146e-02 7.30727078e-01 1.18772743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.82, Y:103.05, Z:118.78 [[ 5.26490081e-01 -6.98096874e-01 -4.85251429e-01 1.91815655e+02] [ 5.07520109e-01 7.15977241e-01 -4.79374518e-01 1.03047023e+02] [ 6.82078832e-01 6.11107075e-03 7.31253117e-01 1.18777141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.83, Y:103.04, Z:118.81 [[ 5.21694683e-01 -6.84757221e-01 -5.08863642e-01 1.91825506e+02] [ 5.13383161e-01 7.28359343e-01 -4.53795546e-01 1.03043559e+02] [ 6.81375365e-01 -2.44993019e-02 7.31524023e-01 1.18811020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.84, Y:103.08, Z:118.81 [[ 5.21030730e-01 -7.05576293e-01 -4.80301024e-01 1.91844564e+02] [ 5.17058418e-01 7.08631676e-01 -4.80095553e-01 1.03080164e+02] [ 6.79100560e-01 1.80084831e-03 7.34043041e-01 1.18812368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.86, Y:103.08, Z:118.84 [[ 5.18328940e-01 -6.92321196e-01 -5.02022382e-01 1.91856812e+02] [ 5.18853473e-01 7.21235380e-01 -4.58923305e-01 1.03079831e+02] [ 6.79798634e-01 -2.26028266e-02 7.33050427e-01 1.18844490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.87, Y:103.10, Z:118.86 [[ 5.15182898e-01 -6.99203871e-01 -4.95681883e-01 1.91869824e+02] [ 5.22667089e-01 7.14653835e-01 -4.64853751e-01 1.03100972e+02] [ 6.79268501e-01 -1.95919043e-02 7.33628286e-01 1.18859564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.88, Y:103.11, Z:118.88 [[ 5.13598628e-01 -6.94460978e-01 -5.03924994e-01 1.91880702e+02] [ 5.23578821e-01 7.18943571e-01 -4.57149167e-01 1.03108754e+02] [ 6.79765892e-01 -2.90532689e-02 7.32853491e-01 1.18884972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.90, Y:103.13, Z:118.90 [[ 5.12798576e-01 -7.02216337e-01 -4.93892535e-01 1.91895240e+02] [ 5.24994813e-01 7.11684742e-01 -4.66781828e-01 1.03131148e+02] [ 6.79277607e-01 -1.99259625e-02 7.33610857e-01 1.18898371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.91, Y:103.15, Z:118.92 [[ 5.12214262e-01 -7.02870901e-01 -4.93567672e-01 1.91908944e+02] [ 5.25856316e-01 7.11023867e-01 -4.66819232e-01 1.03146407e+02] [ 6.79052049e-01 -2.04342093e-02 7.33805668e-01 1.18916064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.92, Y:103.16, Z:118.93 [[ 5.10688750e-01 -7.04025924e-01 -4.93502279e-01 1.91921950e+02] [ 5.27179108e-01 7.09845385e-01 -4.67120667e-01 1.03164091e+02] [ 6.79175374e-01 -2.16108211e-02 7.33657811e-01 1.18934074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.94, Y:103.19, Z:118.94 [[ 5.11181204e-01 -7.12759037e-01 -4.80279431e-01 1.91939284e+02] [ 5.26599824e-01 7.01370467e-01 -4.80387441e-01 1.03190122e+02] [ 6.79254299e-01 -7.35003356e-03 7.33866183e-01 1.18944194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.95, Y:103.19, Z:118.98 [[ 5.10243679e-01 -6.94853906e-01 -5.06783422e-01 1.91949879e+02] [ 5.27689254e-01 7.18247907e-01 -4.53501924e-01 1.03186187e+02] [ 6.79113716e-01 -3.60276753e-02 7.33148394e-01 1.18978601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.97, Y:103.22, Z:118.98 [[ 5.10790848e-01 -7.10819714e-01 -4.83557695e-01 1.91967218e+02] [ 5.27800948e-01 7.03272770e-01 -4.76270480e-01 1.03217930e+02] [ 6.78615406e-01 -1.19476072e-02 7.34396613e-01 1.18983701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.98, Y:103.22, Z:119.01 [[ 5.11711238e-01 -6.96518650e-01 -5.03004353e-01 1.91976908e+02] [ 5.27112912e-01 7.16842447e-01 -4.56386771e-01 1.03219777e+02] [ 6.78456769e-01 -3.16018499e-02 7.33960309e-01 1.19014288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.99, Y:103.24, Z:119.03 [[ 5.12575367e-01 -7.03641081e-01 -4.92093206e-01 1.91991433e+02] [ 5.26557129e-01 7.10283479e-01 -4.67156258e-01 1.03242465e+02] [ 6.78236009e-01 -1.96623957e-02 7.34581042e-01 1.19027999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.00, Y:103.26, Z:119.05 [[ 5.13691811e-01 -7.03182809e-01 -4.91583829e-01 1.92004717e+02] [ 5.26043422e-01 7.10763207e-01 -4.67005334e-01 1.03257487e+02] [ 6.77789821e-01 -1.86976239e-02 7.35017930e-01 1.19046005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.02, Y:103.27, Z:119.06 [[ 5.16407979e-01 -7.01840677e-01 -4.90655137e-01 1.92018035e+02] [ 5.24648400e-01 7.12142121e-01 -4.66473639e-01 1.03274376e+02] [ 6.76806365e-01 -1.65307234e-02 7.35975462e-01 1.19064908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.03, Y:103.29, Z:119.08 [[ 5.17835112e-01 -7.01140364e-01 -4.90152004e-01 1.92032261e+02] [ 5.23785935e-01 7.12860293e-01 -4.66345899e-01 1.03290232e+02] [ 6.76383834e-01 -1.52444442e-02 7.36391550e-01 1.19083936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.05, Y:103.31, Z:119.10 [[ 5.19162431e-01 -7.00444311e-01 -4.89742929e-01 1.92046277e+02] [ 5.22854865e-01 7.13570197e-01 -4.66305012e-01 1.03305792e+02] [ 6.76086652e-01 -1.39764292e-02 7.36689554e-01 1.19102834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.06, Y:103.34, Z:119.11 [[ 5.23315704e-01 -7.10034095e-01 -4.71160543e-01 1.92062619e+02] [ 5.24293427e-01 7.04158337e-01 -4.78829238e-01 1.03337043e+02] [ 6.71756709e-01 3.55248361e-03 7.40763325e-01 1.19108973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.08, Y:103.34, Z:119.14 [[ 5.25557587e-01 -6.98732033e-01 -4.85348091e-01 1.92078512e+02] [ 5.22358485e-01 7.15319425e-01 -4.64176403e-01 1.03343383e+02] [ 6.71513839e-01 -9.57426272e-03 7.40930157e-01 1.19136079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.09, Y:103.35, Z:119.17 [[ 5.25358110e-01 -6.86992320e-01 -5.02036263e-01 1.92088660e+02] [ 5.19445187e-01 7.26260293e-01 -4.50247360e-01 1.03346033e+02] [ 6.73925482e-01 -2.42392188e-02 7.38401588e-01 1.19165614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.10, Y:103.37, Z:119.18 [[ 5.26603850e-01 -6.96083625e-01 -4.88012267e-01 1.92102031e+02] [ 5.17154042e-01 7.17926656e-01 -4.65975335e-01 1.03372096e+02] [ 6.74714815e-01 -6.99311064e-03 7.38045401e-01 1.19176246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.12, Y:103.39, Z:119.19 [[ 5.26832049e-01 -6.95808543e-01 -4.88158236e-01 1.92116225e+02] [ 5.16310098e-01 7.18199863e-01 -4.66489915e-01 1.03387546e+02] [ 6.75182846e-01 -6.27918904e-03 7.37623682e-01 1.19193977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.13, Y:103.40, Z:119.21 [[ 5.27165693e-01 -6.95549341e-01 -4.88167436e-01 1.92131205e+02] [ 5.15609688e-01 7.18456613e-01 -4.66869087e-01 1.03403486e+02] [ 6.75457609e-01 -5.58649388e-03 7.37377658e-01 1.19212463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.14, Y:103.42, Z:119.23 [[ 5.27570523e-01 -6.95046977e-01 -4.88445538e-01 1.92144448e+02] [ 5.14365279e-01 7.18949548e-01 -4.67482520e-01 1.03419353e+02] [ 6.76090011e-01 -4.60942810e-03 7.36804622e-01 1.19230185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.16, Y:103.43, Z:119.25 [[ 5.27992200e-01 -6.94746027e-01 -4.88418054e-01 1.92159467e+02] [ 5.13643104e-01 7.19244751e-01 -4.67822348e-01 1.03434547e+02] [ 6.76309839e-01 -3.86601399e-03 7.36607124e-01 1.19248999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.17, Y:103.45, Z:119.27 [[ 5.27833276e-01 -6.94834267e-01 -4.88464301e-01 1.92173806e+02] [ 5.13409228e-01 7.19160654e-01 -4.68208200e-01 1.03449446e+02] [ 6.76611408e-01 -3.64621181e-03 7.36331249e-01 1.19267810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.19, Y:103.47, Z:119.29 [[ 5.28574648e-01 -6.94494784e-01 -4.88145302e-01 1.92188265e+02] [ 5.12912675e-01 7.19491996e-01 -4.68243372e-01 1.03465090e+02] [ 6.76409217e-01 -2.87433652e-03 7.36520406e-01 1.19286756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.20, Y:103.48, Z:119.31 [[ 5.28972979e-01 -6.94386112e-01 -4.87868339e-01 1.92202986e+02] [ 5.12681422e-01 7.19598664e-01 -4.68332705e-01 1.03480205e+02] [ 6.76273130e-01 -2.38568755e-03 7.36647108e-01 1.19305943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.376875 meters Centerline goodness : 0.998179 Centerline is valid? [True, True] Translation: X:192.22, Y:103.49, Z:119.33 [[ 5.30324139e-01 -6.92228820e-01 -4.89464573e-01 1.92222160e+02] [ 5.10522887e-01 7.21675427e-01 -4.67494343e-01 1.03493626e+02] [ 6.76847612e-01 -1.95933162e-03 7.36120555e-01 1.19328886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.23, Y:103.50, Z:119.35 [[ 5.29979191e-01 -6.88465605e-01 -4.95113288e-01 1.92231330e+02] [ 5.12458158e-01 7.25199934e-01 -4.59860514e-01 1.03504328e+02] [ 6.75654271e-01 -1.00083409e-02 7.37150690e-01 1.19346267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.25, Y:103.53, Z:119.36 [[ 5.31546212e-01 -6.93174264e-01 -4.86793658e-01 1.92249523e+02] [ 5.10698955e-01 7.20769839e-01 -4.68697576e-01 1.03525386e+02] [ 6.75755283e-01 5.29408537e-04 7.37125849e-01 1.19363421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.26, Y:103.54, Z:119.38 [[ 5.31425006e-01 -6.89166262e-01 -4.92582304e-01 1.92260579e+02] [ 5.12289688e-01 7.24566133e-01 -4.61045762e-01 1.03536262e+02] [ 6.74645640e-01 -7.33358766e-03 7.38105331e-01 1.19382328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.28, Y:103.56, Z:119.40 [[ 5.31521659e-01 -6.93859762e-01 -4.85842934e-01 1.92275120e+02] [ 5.12450557e-01 7.20110078e-01 -4.67798997e-01 1.03555083e+02] [ 6.74447294e-01 -3.25183307e-04 7.38322925e-01 1.19398091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.29, Y:103.57, Z:119.42 [[ 5.31910007e-01 -6.93911102e-01 -4.85344338e-01 1.92289667e+02] [ 5.12641088e-01 7.20060678e-01 -4.67666265e-01 1.03568722e+02] [ 6.73996186e-01 -5.10830970e-05 7.38734823e-01 1.19416946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.30, Y:103.58, Z:119.44 [[ 5.31862087e-01 -6.94238833e-01 -4.84927998e-01 1.92304605e+02] [ 5.13116452e-01 7.19744698e-01 -4.67631346e-01 1.03583127e+02] [ 6.73672196e-01 -1.09149752e-04 7.39030284e-01 1.19436230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.32, Y:103.60, Z:119.45 [[ 5.31790090e-01 -6.94518703e-01 -4.84606100e-01 1.92319092e+02] [ 5.13462649e-01 7.19474639e-01 -4.67666925e-01 1.03597174e+02] [ 6.73465225e-01 -1.26496244e-04 7.39218895e-01 1.19454699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.33, Y:103.61, Z:119.47 [[ 5.31332312e-01 -6.94985278e-01 -4.84439302e-01 1.92334003e+02] [ 5.13907830e-01 7.19023874e-01 -4.67871147e-01 1.03611673e+02] [ 6.73486983e-01 -3.62092098e-04 7.39198994e-01 1.19473528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.35, Y:103.63, Z:119.49 [[ 5.30569313e-01 -6.95409319e-01 -4.84666982e-01 1.92349069e+02] [ 5.13970816e-01 7.18613634e-01 -4.68431901e-01 1.03626246e+02] [ 6.74040210e-01 -5.69092159e-04 7.38694437e-01 1.19491816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.36, Y:103.64, Z:119.51 [[ 5.30394109e-01 -6.95661711e-01 -4.84496515e-01 1.92364205e+02] [ 5.14151635e-01 7.18369315e-01 -4.68608176e-01 1.03641120e+02] [ 6.74040195e-01 -5.57659303e-04 7.38694459e-01 1.19510988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.38, Y:103.66, Z:119.53 [[ 5.30179010e-01 -6.95913433e-01 -4.84370428e-01 1.92379404e+02] [ 5.14311990e-01 7.18125457e-01 -4.68805935e-01 1.03655678e+02] [ 6.74087083e-01 -5.66452015e-04 7.38651666e-01 1.19529225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.39, Y:103.67, Z:119.55 [[ 5.29479438e-01 -6.96314566e-01 -4.84559130e-01 1.92394447e+02] [ 5.14377477e-01 7.17736350e-01 -4.69329674e-01 1.03670191e+02] [ 6.74586790e-01 -7.45890397e-04 7.38195169e-01 1.19547396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.41, Y:103.68, Z:119.57 [[ 5.29073751e-01 -6.96636533e-01 -4.84539480e-01 1.92409795e+02] [ 5.14520949e-01 7.17423765e-01 -4.69650225e-01 1.03684664e+02] [ 6.74795643e-01 -8.26106515e-04 7.38004172e-01 1.19566439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.42, Y:103.70, Z:119.59 [[ 5.28697492e-01 -6.96863898e-01 -4.84623225e-01 1.92424488e+02] [ 5.14433842e-01 7.17202975e-01 -4.70082668e-01 1.03698148e+02] [ 6.75156859e-01 -7.75059840e-04 7.37673787e-01 1.19585149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.44, Y:103.70, Z:119.61 [[ 5.27096653e-01 -6.89926830e-01 -4.96155307e-01 1.92439414e+02] [ 5.11860447e-01 7.23809066e-01 -4.62708677e-01 1.03703156e+02] [ 6.78356839e-01 -1.00700822e-02 7.34663591e-01 1.19613535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.46, Y:103.72, Z:119.63 [[ 5.27484420e-01 -6.92909156e-01 -4.91565956e-01 1.92455573e+02] [ 5.10241567e-01 7.21016286e-01 -4.68816658e-01 1.03719233e+02] [ 6.79274414e-01 -3.52390097e-03 7.33875911e-01 1.19632151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.47, Y:103.74, Z:119.64 [[ 5.27961250e-01 -7.00944781e-01 -4.79513643e-01 1.92470046e+02] [ 5.13327459e-01 7.13191396e-01 -4.77339452e-01 1.03744161e+02] [ 6.76573602e-01 5.86921350e-03 7.36351624e-01 1.19640783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.49, Y:103.75, Z:119.66 [[ 5.28118663e-01 -6.96711887e-01 -4.85472168e-01 1.92485145e+02] [ 5.12822485e-01 7.17351055e-01 -4.71614846e-01 1.03754324e+02] [ 6.76833641e-01 1.07558050e-04 7.36136001e-01 1.19662730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.50, Y:103.77, Z:119.68 [[ 5.28968517e-01 -6.96085772e-01 -4.85445060e-01 1.92500008e+02] [ 5.11673047e-01 7.17957541e-01 -4.71940318e-01 1.03768777e+02] [ 6.77039882e-01 1.25241727e-03 7.35945263e-01 1.19680885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.51, Y:103.77, Z:119.71 [[ 5.27829690e-01 -6.86159601e-01 -5.00580484e-01 1.92513206e+02] [ 5.09003876e-01 7.27354659e-01 -4.60293662e-01 1.03770924e+02] [ 6.79934463e-01 -1.18407456e-02 7.33177280e-01 1.19712449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.00687500000004 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:192.53, Y:103.81, Z:119.71 [[ 5.30092875e-01 -7.03217951e-01 -4.73799597e-01 1.92529649e+02] [ 5.10007918e-01 7.10813300e-01 -4.84392791e-01 1.03805737e+02] [ 6.77416761e-01 1.51316213e-02 7.35443789e-01 1.19712127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.55, Y:103.81, Z:119.74 [[ 5.29982916e-01 -6.95398198e-01 -4.85324072e-01 1.92545046e+02] [ 5.10057383e-01 7.18618481e-01 -4.72682710e-01 1.03813413e+02] [ 6.77465552e-01 2.97063517e-03 7.35548504e-01 1.19736440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.56, Y:103.83, Z:119.75 [[ 5.29889733e-01 -6.95473945e-01 -4.85317281e-01 1.92559375e+02] [ 5.09833985e-01 7.18544073e-01 -4.73036704e-01 1.03827273e+02] [ 6.77706558e-01 3.22604924e-03 7.35325380e-01 1.19754322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.57, Y:103.84, Z:119.77 [[ 5.29621135e-01 -6.95645991e-01 -4.85363894e-01 1.92573703e+02] [ 5.09673119e-01 7.18376805e-01 -4.73463913e-01 1.03840926e+02] [ 6.78037436e-01 3.37956531e-03 7.35019601e-01 1.19772407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.59, Y:103.85, Z:119.79 [[ 5.29024106e-01 -6.95980414e-01 -4.85535538e-01 1.92589423e+02] [ 5.09633455e-01 7.18053133e-01 -4.73997299e-01 1.03854545e+02] [ 6.78533150e-01 3.31084342e-03 7.34562320e-01 1.19790978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.60, Y:103.87, Z:119.81 [[ 5.28434897e-01 -6.96420186e-01 -4.85546583e-01 1.92604104e+02] [ 5.09894991e-01 7.17627600e-01 -4.74360334e-01 1.03868066e+02] [ 6.78795740e-01 3.09078359e-03 7.34320632e-01 1.19808705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.62, Y:103.88, Z:119.83 [[ 5.28091805e-01 -6.96751474e-01 -4.85444569e-01 1.92619590e+02] [ 5.10094647e-01 7.17306228e-01 -4.74631675e-01 1.03882421e+02] [ 6.78912732e-01 3.02642211e-03 7.34212737e-01 1.19827454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.63, Y:103.90, Z:119.85 [[ 5.27469338e-01 -6.97234308e-01 -4.85428077e-01 1.92634716e+02] [ 5.10441686e-01 7.16838038e-01 -4.74965800e-01 1.03896932e+02] [ 6.79135761e-01 2.74717048e-03 7.34007541e-01 1.19845478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.65, Y:103.91, Z:119.86 [[ 5.27240718e-01 -6.97493979e-01 -4.85303384e-01 1.92650044e+02] [ 5.10573910e-01 7.16585312e-01 -4.75204981e-01 1.03910187e+02] [ 6.79213889e-01 2.76416924e-03 7.33935182e-01 1.19862766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.67, Y:103.92, Z:119.88 [[ 5.27226311e-01 -6.97656032e-01 -4.85086052e-01 1.92665711e+02] [ 5.10747415e-01 7.16427357e-01 -4.75256689e-01 1.03924783e+02] [ 6.79094614e-01 2.81138395e-03 7.34045367e-01 1.19881458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.68, Y:103.94, Z:119.90 [[ 5.27294996e-01 -6.97745719e-01 -4.84882356e-01 1.92681087e+02] [ 5.10724106e-01 7.16339063e-01 -4.75414802e-01 1.03938893e+02] [ 6.79058816e-01 3.04273834e-03 7.34077562e-01 1.19900147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.70, Y:103.95, Z:119.92 [[ 5.28265977e-01 -6.97066649e-01 -4.84802171e-01 1.92696793e+02] [ 5.09545957e-01 7.16993664e-01 -4.75692131e-01 1.03952305e+02] [ 6.79189205e-01 4.26298252e-03 7.33950851e-01 1.19918172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.71, Y:103.97, Z:119.94 [[ 5.28711879e-01 -6.96764929e-01 -4.84749815e-01 1.92711828e+02] [ 5.08837440e-01 7.17282002e-01 -4.76015745e-01 1.03966587e+02] [ 6.79373394e-01 5.01632434e-03 7.33775598e-01 1.19937079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.73, Y:103.98, Z:119.96 [[ 5.29364627e-01 -6.96421347e-01 -4.84531112e-01 1.92726618e+02] [ 5.08246352e-01 7.17609710e-01 -4.76153284e-01 1.03980857e+02] [ 6.79307542e-01 5.79753497e-03 7.33830806e-01 1.19955263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.74, Y:104.00, Z:119.97 [[ 5.29969082e-01 -6.96253855e-01 -4.84110878e-01 1.92741552e+02] [ 5.08062959e-01 7.17767407e-01 -4.76111309e-01 1.03995852e+02] [ 6.78973344e-01 6.36546854e-03 7.34135328e-01 1.19973503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.76, Y:104.00, Z:120.00 [[ 5.30969869e-01 -6.85217759e-01 -4.98545506e-01 1.92755922e+02] [ 5.06567063e-01 7.28299528e-01 -4.61486304e-01 1.03997497e+02] [ 6.79309068e-01 -7.51141037e-03 7.33813852e-01 1.20004533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.77, Y:104.03, Z:120.00 [[ 5.30824659e-01 -7.04540474e-01 -4.71007327e-01 1.92772148e+02] [ 5.07889467e-01 7.09376332e-01 -4.88705953e-01 1.04033078e+02] [ 6.78434574e-01 2.01975100e-02 7.34383136e-01 1.20003965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.79, Y:104.04, Z:120.03 [[ 5.30150882e-01 -6.96640951e-01 -4.83354351e-01 1.92787718e+02] [ 5.08382937e-01 7.17387686e-01 -4.76341997e-01 1.04038897e+02] [ 6.78591800e-01 6.80402540e-03 7.34484087e-01 1.20028188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.80, Y:104.05, Z:120.05 [[ 5.28868518e-01 -6.97464876e-01 -4.83570923e-01 1.92803038e+02] [ 5.08951789e-01 7.16592842e-01 -4.76930577e-01 1.04052677e+02] [ 6.79165788e-01 6.11928081e-03 7.33959391e-01 1.20046368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.57687500000003 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:192.82, Y:104.07, Z:120.06 [[ 5.26782616e-01 -6.98984713e-01 -4.83653230e-01 1.92819527e+02] [ 5.10592329e-01 7.15122275e-01 -4.77384127e-01 1.04066396e+02] [ 6.79555405e-01 4.52802968e-03 7.33610215e-01 1.20064715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.83, Y:104.08, Z:120.08 [[ 5.25343801e-01 -7.00029743e-01 -4.83706780e-01 1.92834708e+02] [ 5.11631735e-01 7.14104981e-01 -4.77793935e-01 1.04080580e+02] [ 6.79887387e-01 3.52634259e-03 7.33308057e-01 1.20082722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.85, Y:104.10, Z:120.10 [[ 5.24260447e-01 -7.00949918e-01 -4.83549579e-01 1.92850564e+02] [ 5.12679184e-01 7.13205391e-01 -4.78014774e-01 1.04095254e+02] [ 6.79934584e-01 2.69843574e-03 7.33267810e-01 1.20101068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.87, Y:104.11, Z:120.12 [[ 5.22440940e-01 -7.02342660e-01 -4.83497934e-01 1.92867018e+02] [ 5.14293795e-01 7.11837950e-01 -4.78318540e-01 1.04109244e+02] [ 6.80115694e-01 1.23319987e-03 7.33103760e-01 1.20119539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.88, Y:104.12, Z:120.14 [[ 5.21581788e-01 -7.03067441e-01 -4.83372125e-01 1.92882498e+02] [ 5.15070313e-01 7.11122898e-01 -4.78546547e-01 1.04123913e+02] [ 6.80187483e-01 6.30531917e-04 7.33037919e-01 1.20137547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.90, Y:104.14, Z:120.16 [[ 5.20671574e-01 -7.03752414e-01 -4.83356651e-01 1.92897177e+02] [ 5.15692207e-01 7.10445307e-01 -4.78883090e-01 1.04137716e+02] [ 6.80413595e-01 7.75543213e-05 7.32828311e-01 1.20155068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.91, Y:104.17, Z:120.15 [[ 5.19461189e-01 -7.20399066e-01 -4.59548974e-01 1.92910803e+02] [ 5.23743166e-01 6.93365833e-01 -4.94911020e-01 1.04170880e+02] [ 6.75168994e-01 1.64014325e-02 7.37480727e-01 1.20151761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.93, Y:104.16, Z:120.20 [[ 5.17809393e-01 -6.99965289e-01 -4.91855698e-01 1.92928892e+02] [ 5.18076602e-01 7.14091762e-01 -4.70818001e-01 1.04158520e+02] [ 6.80786360e-01 -1.10249452e-02 7.32399060e-01 1.20196145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.94, Y:104.18, Z:120.21 [[ 5.16865050e-01 -7.06771583e-01 -4.83036696e-01 1.92944721e+02] [ 5.19310164e-01 7.07435265e-01 -4.79429140e-01 1.04178580e+02] [ 6.80564085e-01 -3.04569959e-03 7.32682230e-01 1.20210694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.96, Y:104.19, Z:120.23 [[ 5.14588621e-01 -7.08806543e-01 -4.82485063e-01 1.92960867e+02] [ 5.22273138e-01 7.05382407e-01 -4.79235254e-01 1.04190990e+02] [ 6.80021559e-01 -5.37997963e-03 7.33172378e-01 1.20228836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.98, Y:104.20, Z:120.25 [[ 5.13420544e-01 -7.09986644e-01 -4.81994098e-01 1.92976577e+02] [ 5.23992373e-01 7.04184483e-01 -4.79120242e-01 1.04204765e+02] [ 6.79581738e-01 -6.57105657e-03 7.33570367e-01 1.20247186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.99, Y:104.22, Z:120.27 [[ 5.12087188e-01 -7.11178783e-01 -4.81654909e-01 1.92991959e+02] [ 5.25610623e-01 7.02967873e-01 -4.79134264e-01 1.04218164e+02] [ 6.79338049e-01 -7.80441877e-03 7.33783964e-01 1.20265616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.01, Y:104.23, Z:120.28 [[ 5.09711800e-01 -7.13255203e-01 -4.81103832e-01 1.93008892e+02] [ 5.28723418e-01 7.00828758e-01 -4.78842980e-01 1.04231186e+02] [ 6.78708648e-01 -1.02989450e-02 7.34335416e-01 1.20283460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.02, Y:104.24, Z:120.30 [[ 5.09869517e-01 -7.11585017e-01 -4.83404427e-01 1.93023775e+02] [ 5.29352609e-01 7.02473495e-01 -4.75727657e-01 1.04242525e+02] [ 6.78099470e-01 -1.33323640e-02 7.34849207e-01 1.20303055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.04, Y:104.30, Z:120.28 [[ 5.08752259e-01 -7.42134382e-01 -4.36357304e-01 1.93037749e+02] [ 5.39577623e-01 6.69818987e-01 -5.10096573e-01 1.04296497e+02] [ 6.70840613e-01 2.40641474e-02 7.41211029e-01 1.20284941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.06, Y:104.30, Z:120.31 [[ 5.09196245e-01 -7.32586638e-01 -4.51703445e-01 1.93055155e+02] [ 5.41848173e-01 6.80644478e-01 -4.93075706e-01 1.04301329e+02] [ 6.68670129e-01 6.31761125e-03 7.43532344e-01 1.20309388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.07, Y:104.31, Z:120.34 [[ 5.09146577e-01 -7.25208426e-01 -4.63511059e-01 1.93071308e+02] [ 5.40015972e-01 6.88518693e-01 -4.84071028e-01 1.04307159e+02] [ 6.70188417e-01 -3.84026841e-03 7.42181069e-01 1.20336870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.09, Y:104.33, Z:120.35 [[ 5.09424872e-01 -7.31810266e-01 -4.52703030e-01 1.93086096e+02] [ 5.41511657e-01 6.81485108e-01 -4.92283631e-01 1.04330324e+02] [ 6.68768588e-01 5.63755795e-03 7.43449254e-01 1.20347351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.10, Y:104.34, Z:120.37 [[ 5.09286146e-01 -7.28305608e-01 -4.58474169e-01 1.93100860e+02] [ 5.41321690e-01 6.85252464e-01 -4.87236994e-01 1.04340941e+02] [ 6.69027989e-01 -3.89608487e-05 7.43237209e-01 1.20368916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.12, Y:104.35, Z:120.39 [[ 5.10193215e-01 -7.26316633e-01 -4.60615927e-01 1.93116244e+02] [ 5.39804339e-01 6.87359905e-01 -4.85950241e-01 1.04353533e+02] [ 6.69562663e-01 -7.13960124e-04 7.42755230e-01 1.20390391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.13, Y:104.37, Z:120.41 [[ 5.10450910e-01 -7.26964524e-01 -4.59306486e-01 1.93131078e+02] [ 5.39716750e-01 6.86674659e-01 -4.87015135e-01 1.04370142e+02] [ 6.69436851e-01 7.01914701e-04 7.42868636e-01 1.20408438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.14, Y:104.34, Z:120.47 [[ 5.09532440e-01 -6.92905132e-01 -5.10156026e-01 1.93143679e+02] [ 5.27115906e-01 7.19978736e-01 -4.51419363e-01 1.04339700e+02] [ 6.80092284e-01 -3.88985461e-02 7.32093838e-01 1.20471833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.16, Y:104.37, Z:120.48 [[ 5.10450236e-01 -7.11970187e-01 -4.82222987e-01 1.93158210e+02] [ 5.26162292e-01 7.02153880e-01 -4.79721973e-01 1.04373832e+02] [ 6.80142484e-01 -8.85335794e-03 7.33026479e-01 1.20476397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.17, Y:104.43, Z:120.46 [[ 5.10785356e-01 -7.38013608e-01 -4.40946975e-01 1.93169731e+02] [ 5.37687743e-01 6.74447881e-01 -5.05976232e-01 1.04425084e+02] [ 6.70813097e-01 2.13534661e-02 7.41318972e-01 1.20456775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.19, Y:104.43, Z:120.48 [[ 5.11708615e-01 -7.27439604e-01 -4.57149773e-01 1.93185592e+02] [ 5.37066179e-01 6.86149176e-01 -4.90672220e-01 1.04429099e+02] [ 6.70607346e-01 5.56151987e-03 7.41791654e-01 1.20483967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.20, Y:104.41, Z:120.54 [[ 5.11936343e-01 -6.98793483e-01 -4.99608696e-01 1.93200440e+02] [ 5.26141361e-01 7.14812584e-01 -4.60671508e-01 1.04405700e+02] [ 6.79040831e-01 -2.70303124e-02 7.33602694e-01 1.20540852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.21, Y:104.43, Z:120.55 [[ 5.12194657e-01 -7.11711818e-01 -4.80752454e-01 1.93214519e+02] [ 5.25952713e-01 7.02434302e-01 -4.79541233e-01 1.04433645e+02] [ 6.78992177e-01 -7.23460033e-03 7.34109858e-01 1.20550478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.23, Y:104.45, Z:120.57 [[ 5.11991266e-01 -7.12005774e-01 -4.80533788e-01 1.93227978e+02] [ 5.26216748e-01 7.02135988e-01 -4.79688429e-01 1.04448565e+02] [ 6.78940997e-01 -7.26864099e-03 7.34156856e-01 1.20569021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.24, Y:104.46, Z:120.59 [[ 5.11827397e-01 -7.12264786e-01 -4.80324464e-01 1.93241889e+02] [ 5.26405942e-01 7.01873558e-01 -4.79864870e-01 1.04464211e+02] [ 6.78917889e-01 -7.23766473e-03 7.34178531e-01 1.20588068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.26, Y:104.48, Z:120.61 [[ 5.11554044e-01 -7.12509608e-01 -4.80252558e-01 1.93255638e+02] [ 5.26485164e-01 7.01625128e-01 -4.80141180e-01 1.04479717e+02] [ 6.79062466e-01 -7.22768463e-03 7.34044909e-01 1.20606772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.27, Y:104.50, Z:120.62 [[ 5.11723468e-01 -7.12440090e-01 -4.80175188e-01 1.93268101e+02] [ 5.26129684e-01 7.01700073e-01 -4.80421235e-01 1.04495110e+02] [ 6.79210312e-01 -6.79159884e-03 7.33912274e-01 1.20624881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.28, Y:104.51, Z:120.64 [[ 5.11783403e-01 -7.12580956e-01 -4.79902209e-01 1.93281983e+02] [ 5.26330086e-01 7.01557700e-01 -4.80409652e-01 1.04510627e+02] [ 6.79009859e-01 -6.72128457e-03 7.34098383e-01 1.20644378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.29, Y:104.53, Z:120.66 [[ 5.12468886e-01 -7.12312196e-01 -4.79569574e-01 1.93294852e+02] [ 5.25940058e-01 7.01836944e-01 -4.80428934e-01 1.04527886e+02] [ 6.78795033e-01 -6.01996888e-03 7.34303114e-01 1.20663334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.31, Y:104.54, Z:120.68 [[ 5.12540341e-01 -7.12299579e-01 -4.79511949e-01 1.93308558e+02] [ 5.25649342e-01 7.01852706e-01 -4.80723983e-01 1.04543825e+02] [ 6.78966249e-01 -5.66470634e-03 7.34147630e-01 1.20681928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.32, Y:104.56, Z:120.70 [[ 5.12638005e-01 -7.12361098e-01 -4.79316120e-01 1.93321972e+02] [ 5.25582292e-01 7.01792353e-01 -4.80885378e-01 1.04559333e+02] [ 6.78944423e-01 -5.39994390e-03 7.34169810e-01 1.20699872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.34, Y:104.57, Z:120.72 [[ 5.12458939e-01 -7.12617050e-01 -4.79127099e-01 1.93336741e+02] [ 5.25756657e-01 7.01532653e-01 -4.81073669e-01 1.04574424e+02] [ 6.78944603e-01 -5.37376010e-03 7.34169837e-01 1.20719169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.35, Y:104.59, Z:120.74 [[ 5.12585770e-01 -7.12596628e-01 -4.79021789e-01 1.93350926e+02] [ 5.25522361e-01 7.01555936e-01 -4.81295664e-01 1.04589977e+02] [ 6.79030247e-01 -5.03135328e-03 7.34093053e-01 1.20738526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.36, Y:104.61, Z:120.76 [[ 5.13270271e-01 -7.12416657e-01 -4.78556303e-01 1.93364684e+02] [ 5.25377010e-01 7.01742645e-01 -4.81182146e-01 1.04605843e+02] [ 6.78625542e-01 -4.44598928e-03 7.34470971e-01 1.20757776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.38, Y:104.62, Z:120.78 [[ 5.12997295e-01 -7.12592336e-01 -4.78587440e-01 1.93378387e+02] [ 5.25261143e-01 7.01564910e-01 -4.81567658e-01 1.04621111e+02] [ 6.78921577e-01 -4.34048049e-03 7.34197966e-01 1.20776445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.39, Y:104.64, Z:120.80 [[ 5.12667444e-01 -7.12644998e-01 -4.78862400e-01 1.93392333e+02] [ 5.24752015e-01 7.01512998e-01 -4.82197923e-01 1.04636581e+02] [ 6.79564136e-01 -4.07683287e-03 7.33604774e-01 1.20795122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.41, Y:104.65, Z:120.81 [[ 5.12074545e-01 -7.12605127e-01 -4.79555621e-01 1.93406175e+02] [ 5.23715594e-01 7.01555668e-01 -4.83261442e-01 1.04653196e+02] [ 6.80809545e-01 -3.68487395e-03 7.32451217e-01 1.20813731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.42, Y:104.67, Z:120.83 [[ 5.11894587e-01 -7.12843511e-01 -4.79393430e-01 1.93420422e+02] [ 5.23853144e-01 7.01313633e-01 -4.83463620e-01 1.04668177e+02] [ 6.80839052e-01 -3.64934521e-03 7.32423967e-01 1.20832138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.43, Y:104.68, Z:120.85 [[ 5.11558247e-01 -7.13075332e-01 -4.79407687e-01 1.93434832e+02] [ 5.23819532e-01 7.01078126e-01 -4.83841462e-01 1.04682916e+02] [ 6.81117654e-01 -3.61002032e-03 7.32165083e-01 1.20851819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.45, Y:104.70, Z:120.87 [[ 5.11383809e-01 -7.13191691e-01 -4.79420705e-01 1.93448393e+02] [ 5.23629633e-01 7.00960718e-01 -4.84216975e-01 1.04697444e+02] [ 6.81394604e-01 -3.41816671e-03 7.31908266e-01 1.20870214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.46, Y:104.71, Z:120.89 [[ 5.11193202e-01 -7.13188741e-01 -4.79628325e-01 1.93461916e+02] [ 5.23183699e-01 7.00964922e-01 -4.84692682e-01 1.04711926e+02] [ 6.81879995e-01 -3.16211761e-03 7.31457226e-01 1.20888588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.926875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:193.48, Y:104.75, Z:120.89 [[ 5.12663873e-01 -7.30315917e-01 -4.51458099e-01 1.93477685e+02] [ 5.29528940e-01 6.82846149e-01 -5.03309287e-01 1.04750415e+02] [ 6.75851208e-01 1.89683598e-02 7.36793965e-01 1.20885362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.49, Y:104.73, Z:120.93 [[ 5.11488851e-01 -7.01163372e-01 -4.96738444e-01 1.93491031e+02] [ 5.22547406e-01 7.12714023e-01 -4.67956120e-01 1.04730626e+02] [ 6.82146145e-01 -2.02150474e-02 7.30936378e-01 1.20934427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.986875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:193.51, Y:104.78, Z:120.92 [[ 5.12585531e-01 -7.30140348e-01 -4.51830882e-01 1.93505231e+02] [ 5.28628551e-01 6.83018813e-01 -5.04020989e-01 1.04779978e+02] [ 6.76615053e-01 1.95031617e-02 7.36078595e-01 1.20922628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.52, Y:104.76, Z:120.97 [[ 5.11632725e-01 -7.01935653e-01 -4.95498026e-01 1.93519701e+02] [ 5.21871714e-01 7.12007023e-01 -4.69782836e-01 1.04760821e+02] [ 6.82555396e-01 -1.82301315e-02 7.30606456e-01 1.20972239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.046875 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:193.54, Y:104.80, Z:120.97 [[ 5.12715479e-01 -7.24600939e-01 -4.60517444e-01 1.93536898e+02] [ 5.24595474e-01 6.89009626e-01 -5.00065319e-01 1.04802300e+02] [ 6.79648752e-01 1.48058628e-02 7.33388274e-01 1.20970590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.55, Y:104.79, Z:121.01 [[ 5.11638077e-01 -7.00951261e-01 -4.96884099e-01 1.93547315e+02] [ 5.21772676e-01 7.12940610e-01 -4.68475145e-01 1.04788147e+02] [ 6.82627096e-01 -1.95708234e-02 7.30504778e-01 1.21010943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.56, Y:104.81, Z:121.02 [[ 5.11589333e-01 -7.13230246e-01 -4.79143997e-01 1.93561105e+02] [ 5.21790629e-01 7.00928698e-01 -4.86244281e-01 1.04814446e+02] [ 6.82649906e-01 -1.25546035e-03 7.30744504e-01 1.21021610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.58, Y:104.83, Z:121.04 [[ 5.11808025e-01 -7.13455615e-01 -4.78574583e-01 1.93575429e+02] [ 5.22302732e-01 7.00699382e-01 -4.86024930e-01 1.04829684e+02] [ 6.82094129e-01 -1.20935265e-03 7.31263384e-01 1.21040217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.59, Y:104.84, Z:121.06 [[ 5.12230684e-01 -7.13352733e-01 -4.78275658e-01 1.93589297e+02] [ 5.22112419e-01 7.00804784e-01 -4.86077439e-01 1.04844751e+02] [ 6.81922539e-01 -7.29881463e-04 7.31424035e-01 1.21060118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.60, Y:104.86, Z:121.08 [[ 5.12851723e-01 -7.13265647e-01 -4.77739707e-01 1.93603784e+02] [ 5.22167346e-01 7.00893747e-01 -4.85890130e-01 1.04859683e+02] [ 6.81413511e-01 -2.70484570e-04 7.31898595e-01 1.21079366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.62, Y:104.87, Z:121.10 [[ 5.13180395e-01 -7.13247185e-01 -4.77414218e-01 1.93617345e+02] [ 5.22104657e-01 7.00912577e-01 -4.85930331e-01 1.04874002e+02] [ 6.81214070e-01 1.09732467e-04 7.32084270e-01 1.21097697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.63, Y:104.89, Z:121.12 [[ 5.13260989e-01 -7.13474297e-01 -4.76988035e-01 1.93631569e+02] [ 5.22454648e-01 7.00681379e-01 -4.85887586e-01 1.04888920e+02] [ 6.80884938e-01 1.82527310e-04 7.32390380e-01 1.21116632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.65, Y:104.90, Z:121.14 [[ 5.11791577e-01 -7.14450679e-01 -4.77105449e-01 1.93646236e+02] [ 5.23344212e-01 6.99685380e-01 -4.86365301e-01 1.04903824e+02] [ 6.81307726e-01 -7.72710532e-04 7.31996711e-01 1.21135681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.66, Y:104.92, Z:121.15 [[ 5.10509730e-01 -7.15241277e-01 -4.77294176e-01 1.93661338e+02] [ 5.23908223e-01 6.98876043e-01 -4.86921400e-01 1.04918358e+02] [ 6.81835750e-01 -1.48023085e-03 7.31503807e-01 1.21154861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.68, Y:104.93, Z:121.17 [[ 5.07828482e-01 -7.17019892e-01 -4.77485819e-01 1.93676509e+02] [ 5.25826918e-01 6.97043822e-01 -4.87479191e-01 1.04931979e+02] [ 6.82360818e-01 -3.51907873e-03 7.31007066e-01 1.21173395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.69, Y:104.95, Z:121.19 [[ 5.06466113e-01 -7.17955741e-01 -4.77526576e-01 1.93690927e+02] [ 5.26717391e-01 6.96074750e-01 -4.87902380e-01 1.04946057e+02] [ 6.82686507e-01 -4.41552988e-03 7.30698048e-01 1.21191776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.71, Y:104.96, Z:121.21 [[ 5.05161419e-01 -7.18729042e-01 -4.77745229e-01 1.93705650e+02] [ 5.27223729e-01 6.95271517e-01 -4.88500417e-01 1.04960245e+02] [ 6.83262087e-01 -5.10705718e-03 7.30155352e-01 1.21211249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.72, Y:104.97, Z:121.23 [[ 5.03612980e-01 -7.19848225e-01 -4.77694986e-01 1.93720272e+02] [ 5.28482281e-01 6.94103030e-01 -4.88802069e-01 1.04974292e+02] [ 6.83432839e-01 -6.28626925e-03 7.29986327e-01 1.21230007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.73, Y:105.01, Z:121.23 [[ 5.03709352e-01 -7.36753115e-01 -4.51078415e-01 1.93734481e+02] [ 5.35754092e-01 6.76033675e-01 -5.05911083e-01 1.05011645e+02] [ 6.77675765e-01 1.31650369e-02 7.35242980e-01 1.21226307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.75, Y:104.99, Z:121.27 [[ 5.02903045e-01 -7.11053341e-01 -4.91418024e-01 1.93749475e+02] [ 5.30332059e-01 7.02788976e-01 -4.74168285e-01 1.04993261e+02] [ 6.82522113e-01 -2.21540582e-02 7.30529098e-01 1.21274916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.76, Y:105.02, Z:121.29 [[ 5.01893919e-01 -7.21947690e-01 -4.76333946e-01 1.93763762e+02] [ 5.31862253e-01 6.91897996e-01 -4.88261925e-01 1.05016379e+02] [ 6.82074071e-01 -8.28835461e-03 7.31236121e-01 1.21287508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.78, Y:105.05, Z:121.28 [[ 5.02101546e-01 -7.38786111e-01 -4.49543234e-01 1.93777702e+02] [ 5.39409648e-01 6.73849488e-01 -5.04939699e-01 1.05053123e+02] [ 6.75966915e-01 1.10430455e-02 7.36849226e-01 1.21284297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.79, Y:105.06, Z:121.31 [[ 5.02173968e-01 -7.30735531e-01 -4.62435822e-01 1.93793650e+02] [ 5.39559608e-01 6.82657619e-01 -4.92802196e-01 1.05059613e+02] [ 6.75793412e-01 -2.03925704e-03 7.37088262e-01 1.21309978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.81, Y:105.05, Z:121.35 [[ 5.00837923e-01 -7.13332257e-01 -4.90222874e-01 1.93808540e+02] [ 5.32304089e-01 7.00453630e-01 -4.75412526e-01 1.05050509e+02] [ 6.82505481e-01 -2.28430180e-02 7.30523418e-01 1.21351840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.82, Y:105.07, Z:121.36 [[ 5.00550352e-01 -7.22784999e-01 -4.76477902e-01 1.93822691e+02] [ 5.32150837e-01 6.91018294e-01 -4.89192400e-01 1.05074567e+02] [ 6.82835875e-01 -8.69268596e-03 7.30520092e-01 1.21363630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.84, Y:105.09, Z:121.38 [[ 5.00150546e-01 -7.23024596e-01 -4.76534223e-01 1.93836867e+02] [ 5.32076323e-01 6.90767938e-01 -4.89626840e-01 1.05089682e+02] [ 6.83186811e-01 -8.66544553e-03 7.30192229e-01 1.21381830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.85, Y:105.10, Z:121.40 [[ 4.99992509e-01 -7.23122798e-01 -4.76551058e-01 1.93851085e+02] [ 5.31824718e-01 6.90668112e-01 -4.90040844e-01 1.05104704e+02] [ 6.83498325e-01 -8.42488103e-03 7.29903460e-01 1.21400501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.87, Y:105.15, Z:121.39 [[ 5.00479586e-01 -7.41924549e-01 -4.46170536e-01 1.93865147e+02] [ 5.38459453e-01 6.70308387e-01 -5.10634982e-01 1.05145550e+02] [ 6.77924481e-01 1.53176413e-02 7.34971951e-01 1.21393061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.88, Y:105.15, Z:121.42 [[ 5.00175726e-01 -7.30091359e-01 -4.65608044e-01 1.93880670e+02] [ 5.37254739e-01 6.83343482e-01 -4.94367304e-01 1.05146943e+02] [ 6.79103519e-01 -2.87960274e-03 7.34036865e-01 1.21421972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.89, Y:105.14, Z:121.46 [[ 4.98710514e-01 -7.12914337e-01 -4.92991858e-01 1.93894761e+02] [ 5.29981820e-01 7.00867395e-01 -4.77393093e-01 1.05137999e+02] [ 6.85862300e-01 -2.31957671e-02 7.27361576e-01 1.21464874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.91, Y:105.16, Z:121.48 [[ 4.97610431e-01 -7.23821313e-01 -4.77981763e-01 1.93909042e+02] [ 5.30619468e-01 6.89933686e-01 -4.92376370e-01 1.05162188e+02] [ 6.86168230e-01 -8.61481133e-03 7.27391879e-01 1.21476376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.92, Y:105.20, Z:121.47 [[ 4.97370238e-01 -7.40339338e-01 -4.52239440e-01 1.93923116e+02] [ 5.37875247e-01 6.72161623e-01 -5.08811331e-01 1.05199251e+02] [ 6.80671040e-01 9.81921215e-03 7.32523391e-01 1.21473458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.94, Y:105.18, Z:121.52 [[ 4.96290867e-01 -7.16108387e-01 -4.90799505e-01 1.93937886e+02] [ 5.32934599e-01 6.97580427e-01 -4.78917802e-01 1.05182583e+02] [ 6.85329183e-01 -2.38815067e-02 7.27841731e-01 1.21521637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.95, Y:105.21, Z:121.53 [[ 4.95518594e-01 -7.26043839e-01 -4.76782620e-01 1.93951293e+02] [ 5.34138832e-01 6.87561578e-01 -4.91888996e-01 1.05205529e+02] [ 6.84950386e-01 -1.09279681e-02 7.28507755e-01 1.21533996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.97, Y:105.25, Z:121.53 [[ 4.94713838e-01 -7.46522297e-01 -4.44929971e-01 1.93965285e+02] [ 5.44204977e-01 6.65273892e-01 -5.11127764e-01 1.05245395e+02] [ 6.77568566e-01 1.07288739e-02 7.35381350e-01 1.21528580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.98, Y:105.22, Z:121.58 [[ 4.92747106e-01 -7.16803657e-01 -4.93348566e-01 1.93979273e+02] [ 5.38746633e-01 6.96528080e-01 -4.73920563e-01 1.05221779e+02] [ 6.83339122e-01 -3.22668936e-02 7.29387752e-01 1.21582580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.99, Y:105.25, Z:121.59 [[ 4.89934679e-01 -7.30628923e-01 -4.75547461e-01 1.93992392e+02] [ 5.41094205e-01 6.82571904e-01 -4.91235847e-01 1.05248656e+02] [ 6.83506453e-01 -1.66424986e-02 7.29754723e-01 1.21592504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.01, Y:105.26, Z:121.61 [[ 4.88279163e-01 -7.31677447e-01 -4.75638069e-01 1.94006011e+02] [ 5.42109144e-01 6.81419800e-01 -4.91716109e-01 1.05264090e+02] [ 6.83886785e-01 -1.77530162e-02 7.29372124e-01 1.21611665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.02, Y:105.30, Z:121.61 [[ 4.87141859e-01 -7.49102591e-01 -4.48929968e-01 1.94019827e+02] [ 5.49314399e-01 6.62452285e-01 -5.09323729e-01 1.05302883e+02] [ 6.78930409e-01 1.50921248e-03 7.34201078e-01 1.21607556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.03, Y:105.29, Z:121.66 [[ 4.83978477e-01 -7.24377833e-01 -4.90959865e-01 1.94032426e+02] [ 5.45440638e-01 6.88440651e-01 -4.78062737e-01 1.05285387e+02] [ 6.84294778e-01 -3.64173868e-02 7.28295565e-01 1.21656138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.05, Y:105.31, Z:121.67 [[ 4.82142851e-01 -7.35486979e-01 -4.76022242e-01 1.94045738e+02] [ 5.46227917e-01 6.77171510e-01 -4.93025161e-01 1.05310498e+02] [ 6.84962287e-01 -2.23080807e-02 7.28236923e-01 1.21667313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.06, Y:105.33, Z:121.69 [[ 4.80527031e-01 -7.36499844e-01 -4.76090068e-01 1.94059195e+02] [ 5.47241111e-01 6.76032406e-01 -4.93464642e-01 1.05325643e+02] [ 6.85288946e-01 -2.34129581e-02 7.27894837e-01 1.21685454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.07, Y:105.33, Z:121.71 [[ 4.79790333e-01 -7.30207252e-01 -4.86414027e-01 1.94071855e+02] [ 5.51467276e-01 6.82174737e-01 -4.80126516e-01 1.05332885e+02] [ 6.82411225e-01 -3.78813580e-02 7.29986249e-01 1.21709320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.08, Y:105.40, Z:121.68 [[ 4.74962814e-01 -7.72890442e-01 -4.20773917e-01 1.94082262e+02] [ 5.60189209e-01 6.34302662e-01 -5.32774045e-01 1.05399846e+02] [ 6.78673984e-01 1.73348517e-02 7.34235063e-01 1.21681125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.10, Y:105.38, Z:121.72 [[ 4.76913705e-01 -7.46606122e-01 -4.63823908e-01 1.94098692e+02] [ 5.62902100e-01 6.64725277e-01 -4.91204165e-01 1.05384873e+02] [ 6.75051512e-01 -2.68254538e-02 7.37282749e-01 1.21719847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.11, Y:105.38, Z:121.76 [[ 4.72695444e-01 -7.37350442e-01 -4.82569521e-01 1.94113043e+02] [ 5.54033009e-01 6.74511947e-01 -4.87935506e-01 1.05381663e+02] [ 6.85278368e-01 -3.67145531e-02 7.27355209e-01 1.21764584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.13, Y:105.40, Z:121.78 [[ 4.71792003e-01 -7.42829295e-01 -4.74991522e-01 1.94125384e+02] [ 5.54728551e-01 6.68809255e-01 -4.94944862e-01 1.05402547e+02] [ 6.85338268e-01 -2.99803307e-02 7.27607475e-01 1.21779898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.14, Y:105.42, Z:121.80 [[ 4.71977179e-01 -7.42897491e-01 -4.74700812e-01 1.94138788e+02] [ 5.54750209e-01 6.68745630e-01 -4.95006553e-01 1.05418770e+02] [ 6.85193220e-01 -2.97085780e-02 7.27755214e-01 1.21798789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.15, Y:105.43, Z:121.82 [[ 4.72281402e-01 -7.42855670e-01 -4.74463626e-01 1.94151756e+02] [ 5.54565576e-01 6.68810867e-01 -4.95125283e-01 1.05434882e+02] [ 6.85133052e-01 -2.92827313e-02 7.27829116e-01 1.21817597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.396875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:194.16, Y:105.48, Z:121.81 [[ 4.73060439e-01 -7.63796779e-01 -4.39122194e-01 1.94160121e+02] [ 5.63306664e-01 6.45448153e-01 -5.15831644e-01 1.05481414e+02] [ 6.77421157e-01 -3.34091416e-03 7.35587802e-01 1.21805080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.426875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:194.18, Y:105.46, Z:121.86 [[ 4.75116843e-01 -7.32960545e-01 -4.86860170e-01 1.94176870e+02] [ 5.52679800e-01 6.79119307e-01 -4.83054868e-01 1.05458767e+02] [ 6.84696301e-01 -3.95702780e-02 7.27753508e-01 1.21861748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.19, Y:105.48, Z:121.87 [[ 4.75965068e-01 -7.40711031e-01 -4.74135447e-01 1.94189158e+02] [ 5.51378638e-01 6.71332178e-01 -4.95272353e-01 1.05482835e+02] [ 6.85156078e-01 -2.56958181e-02 7.27942906e-01 1.21874821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.20, Y:105.50, Z:121.89 [[ 4.75777904e-01 -7.40945834e-01 -4.73956387e-01 1.94203603e+02] [ 5.51539655e-01 6.71073448e-01 -4.95443677e-01 1.05498183e+02] [ 6.85156475e-01 -2.56845877e-02 7.27942928e-01 1.21894154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.22, Y:105.51, Z:121.92 [[ 4.79657544e-01 -7.36323883e-01 -4.77237656e-01 1.94215686e+02] [ 5.50348155e-01 6.76064579e-01 -4.89952644e-01 1.05513130e+02] [ 6.83407309e-01 -2.76373815e-02 7.29513965e-01 1.21915375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.23, Y:105.54, Z:121.93 [[ 4.79714448e-01 -7.41743993e-01 -4.68710888e-01 1.94228262e+02] [ 5.48350472e-01 6.70461003e-01 -4.99793761e-01 1.05535581e+02] [ 6.84971392e-01 -1.72595486e-02 7.28365499e-01 1.21930188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.24, Y:105.55, Z:121.95 [[ 4.81009339e-01 -7.38107958e-01 -4.73103221e-01 1.94241652e+02] [ 5.47355005e-01 6.74369200e-01 -4.95609403e-01 1.05548968e+02] [ 6.84859485e-01 -2.05626652e-02 7.28384968e-01 1.21951059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.25, Y:105.57, Z:121.97 [[ 4.83088316e-01 -7.36512801e-01 -4.73470774e-01 1.94253933e+02] [ 5.44430178e-01 6.76184403e-01 -4.96357164e-01 1.05566600e+02] [ 6.85726958e-01 -1.79874315e-02 7.27636580e-01 1.21969892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.27, Y:105.58, Z:121.99 [[ 4.84022422e-01 -7.36030162e-01 -4.73267256e-01 1.94266971e+02] [ 5.43207320e-01 6.76746246e-01 -4.96930907e-01 1.05583271e+02] [ 6.86037975e-01 -1.65565361e-02 7.27377329e-01 1.21988128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.28, Y:105.60, Z:122.01 [[ 4.85232791e-01 -7.35189070e-01 -4.73335156e-01 1.94279806e+02] [ 5.41366236e-01 6.77701015e-01 -4.97638356e-01 1.05599276e+02] [ 6.86637996e-01 -1.47772231e-02 7.26849294e-01 1.22005886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.69687500000003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:194.29, Y:105.62, Z:122.02 [[ 4.86357507e-01 -7.35922401e-01 -4.71035663e-01 1.94292842e+02] [ 5.38533527e-01 6.76996617e-01 -5.01654483e-01 1.05618974e+02] [ 6.88068322e-01 -9.68507261e-03 7.25581273e-01 1.22023524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.31, Y:105.63, Z:122.05 [[ 4.87953219e-01 -7.30497220e-01 -4.77781820e-01 1.94305809e+02] [ 5.38122683e-01 6.82729986e-01 -4.94270922e-01 1.05629056e+02] [ 6.87259510e-01 -1.59241475e-02 7.26237419e-01 1.22045246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.32, Y:105.65, Z:122.06 [[ 4.88794484e-01 -7.32715499e-01 -4.73506019e-01 1.94319093e+02] [ 5.37517122e-01 6.80445110e-01 -4.98066055e-01 1.05647144e+02] [ 6.87135574e-01 -1.10656518e-02 7.26444943e-01 1.22061905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.33, Y:105.71, Z:122.04 [[ 4.90442852e-01 -7.66576543e-01 -4.14519254e-01 1.94327778e+02] [ 5.51102967e-01 6.41283707e-01 -5.33892056e-01 1.05709546e+02] [ 6.75093570e-01 3.34007520e-02 7.36975618e-01 1.22036440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.35, Y:105.66, Z:122.11 [[ 4.90286615e-01 -7.12516745e-01 -5.01935179e-01 1.94347130e+02] [ 5.37189547e-01 7.00552073e-01 -4.69738421e-01 1.05659390e+02] [ 6.86328221e-01 -3.93278705e-02 7.26227851e-01 1.22114825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.36, Y:105.70, Z:122.12 [[ 4.89711351e-01 -7.34618083e-01 -4.69594574e-01 1.94359810e+02] [ 5.36319784e-01 6.78454413e-01 -5.02056470e-01 1.05695712e+02] [ 6.87418273e-01 -5.99010838e-03 7.26237039e-01 1.22119797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.37, Y:105.71, Z:122.14 [[ 4.91658066e-01 -7.28769046e-01 -4.76621467e-01 1.94372787e+02] [ 5.37010960e-01 6.84623849e-01 -4.92858412e-01 1.05705554e+02] [ 6.85486378e-01 -1.36331384e-02 7.27957803e-01 1.22142693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.39, Y:105.72, Z:122.16 [[ 4.91897404e-01 -7.31794323e-01 -4.71713909e-01 1.94385782e+02] [ 5.37013681e-01 6.81469481e-01 -4.97207857e-01 1.05723708e+02] [ 6.85312520e-01 -8.74156821e-03 7.28196632e-01 1.22159371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.40, Y:105.74, Z:122.18 [[ 4.92008674e-01 -7.31850938e-01 -4.71509988e-01 1.94399314e+02] [ 5.36918799e-01 6.81412443e-01 -4.97388465e-01 1.05739221e+02] [ 6.85306988e-01 -8.44313715e-03 7.28205359e-01 1.22178513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.41, Y:105.75, Z:122.20 [[ 4.92446818e-01 -7.31694057e-01 -4.71296019e-01 1.94412633e+02] [ 5.36560759e-01 6.81587761e-01 -4.97534599e-01 1.05754480e+02] [ 6.85272707e-01 -7.86961937e-03 7.28244043e-01 1.22196916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.43, Y:105.77, Z:122.22 [[ 4.93497560e-01 -7.31018870e-01 -4.71244703e-01 1.94425711e+02] [ 5.35419998e-01 6.82324610e-01 -4.97753505e-01 1.05771025e+02] [ 6.85409063e-01 -6.67369801e-03 7.28127652e-01 1.22215627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.44, Y:105.79, Z:122.23 [[ 4.93871716e-01 -7.30904722e-01 -4.71029739e-01 1.94439508e+02] [ 5.35126180e-01 6.82451678e-01 -4.97895250e-01 1.05786869e+02] [ 6.85369025e-01 -6.16396365e-03 7.28169833e-01 1.22234771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.45, Y:105.80, Z:122.25 [[ 4.94093051e-01 -7.30803719e-01 -4.70954331e-01 1.94453256e+02] [ 5.34706938e-01 6.82564122e-01 -4.98191440e-01 1.05802767e+02] [ 6.85536686e-01 -5.66961927e-03 7.28016008e-01 1.22253604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.47, Y:105.82, Z:122.27 [[ 4.93959563e-01 -7.30845423e-01 -4.71029637e-01 1.94466499e+02] [ 5.34336055e-01 6.82521839e-01 -4.98647089e-01 1.05817892e+02] [ 6.85921956e-01 -5.37661962e-03 7.27655249e-01 1.22272039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.116875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:194.48, Y:105.83, Z:122.29 [[ 4.93959459e-01 -7.30965114e-01 -4.70843981e-01 1.94480562e+02] [ 5.34311864e-01 6.82395264e-01 -4.98846204e-01 1.05833616e+02] [ 6.85940876e-01 -5.16772385e-03 7.27638928e-01 1.22290920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.146875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:194.49, Y:105.85, Z:122.31 [[ 4.93273769e-01 -7.31457443e-01 -4.70798257e-01 1.94494403e+02] [ 5.34676692e-01 6.81864975e-01 -4.99180319e-01 1.05848728e+02] [ 6.86150001e-01 -5.49229697e-03 7.27439352e-01 1.22309667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.51, Y:105.86, Z:122.33 [[ 4.92565730e-01 -7.31968134e-01 -4.70745847e-01 1.94507930e+02] [ 5.35073113e-01 6.81313813e-01 -4.99508010e-01 1.05863123e+02] [ 6.86349594e-01 -5.84291778e-03 7.27248304e-01 1.22327955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.52, Y:105.88, Z:122.35 [[ 4.91993575e-01 -7.32445374e-01 -4.70601846e-01 1.94522301e+02] [ 5.35494914e-01 6.80798236e-01 -4.99758901e-01 1.05877272e+02] [ 6.86431001e-01 -6.12672651e-03 7.27169130e-01 1.22347330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.54, Y:105.89, Z:122.37 [[ 4.91729792e-01 -7.32791775e-01 -4.70338203e-01 1.94536012e+02] [ 5.35881349e-01 6.80424222e-01 -4.99854036e-01 1.05891246e+02] [ 6.86318433e-01 -6.25234918e-03 7.27274307e-01 1.22365905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.266875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:194.55, Y:105.91, Z:122.39 [[ 4.91795023e-01 -7.32943135e-01 -4.70034058e-01 1.94550535e+02] [ 5.36019414e-01 6.80262682e-01 -4.99925866e-01 1.05905946e+02] [ 6.86163861e-01 -6.08632731e-03 7.27421551e-01 1.22385289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.56, Y:105.92, Z:122.40 [[ 4.92016121e-01 -7.33185269e-01 -4.69424646e-01 1.94564273e+02] [ 5.36597512e-01 6.80002018e-01 -4.99660251e-01 1.05920467e+02] [ 6.85553242e-01 -6.05119843e-03 7.27997346e-01 1.22403302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.58, Y:105.94, Z:122.42 [[ 4.92797217e-01 -7.33074144e-01 -4.68778415e-01 1.94578927e+02] [ 5.36705207e-01 6.80126454e-01 -4.99375138e-01 1.05935051e+02] [ 6.84907603e-01 -5.50513865e-03 7.28609133e-01 1.22422205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.59, Y:105.95, Z:122.44 [[ 4.93212987e-01 -7.33072292e-01 -4.68343853e-01 1.94593101e+02] [ 5.36772676e-01 6.80131346e-01 -4.99295951e-01 1.05949045e+02] [ 6.84555362e-01 -5.13493615e-03 7.28942788e-01 1.22440399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.61, Y:105.96, Z:122.46 [[ 4.93379985e-01 -7.33117022e-01 -4.68097877e-01 1.94607740e+02] [ 5.36814151e-01 6.80084650e-01 -4.99314966e-01 1.05963359e+02] [ 6.84402482e-01 -4.92955394e-03 7.29087746e-01 1.22459859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.62, Y:105.98, Z:122.48 [[ 4.94294824e-01 -7.32720845e-01 -4.67752916e-01 1.94623264e+02] [ 5.36270514e-01 6.80517358e-01 -4.99309585e-01 1.05976705e+02] [ 6.84168519e-01 -4.03595255e-03 7.29312792e-01 1.22478517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.64, Y:105.99, Z:122.50 [[ 4.94565106e-01 -7.32615974e-01 -4.67631468e-01 1.94637580e+02] [ 5.35902586e-01 6.80632983e-01 -4.99546956e-01 1.05990306e+02] [ 6.84261481e-01 -3.54641987e-03 7.29228119e-01 1.22496863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.65, Y:106.00, Z:122.52 [[ 4.94669964e-01 -7.32486610e-01 -4.67723201e-01 1.94652492e+02] [ 5.35267990e-01 6.80774803e-01 -5.00033845e-01 1.06004773e+02] [ 6.84682266e-01 -3.00553322e-03 7.28835483e-01 1.22515597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.67, Y:106.02, Z:122.53 [[ 4.95529798e-01 -7.31809975e-01 -4.67872184e-01 1.94668267e+02] [ 5.33840857e-01 6.81506554e-01 -5.00562441e-01 1.06018035e+02] [ 6.85174547e-01 -1.72568233e-03 7.28376869e-01 1.22533905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.68, Y:106.03, Z:122.55 [[ 4.96053716e-01 -7.31440680e-01 -4.67894479e-01 1.94683556e+02] [ 5.32943863e-01 6.81904545e-01 -5.00976077e-01 1.06032319e+02] [ 6.85493654e-01 -8.50446034e-04 7.28078105e-01 1.22553240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.70, Y:106.04, Z:122.57 [[ 4.97165082e-01 -7.30621002e-01 -4.67995549e-01 1.94699435e+02] [ 5.31356177e-01 6.82782941e-01 -5.01465921e-01 1.06044527e+02] [ 6.85920910e-01 6.39019985e-04 7.27675819e-01 1.22571331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.72, Y:106.06, Z:122.59 [[ 4.97705171e-01 -7.30350583e-01 -4.67843551e-01 1.94715048e+02] [ 5.30759877e-01 6.83071078e-01 -5.01704948e-01 1.06058599e+02] [ 6.85990900e-01 1.38856105e-03 7.27608794e-01 1.22590725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.73, Y:106.07, Z:122.61 [[ 4.98034081e-01 -7.30251383e-01 -4.67648343e-01 1.94730013e+02] [ 5.30470123e-01 6.83175969e-01 -5.01868552e-01 1.06072255e+02] [ 6.85976314e-01 1.87416890e-03 7.27621457e-01 1.22608968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.75, Y:106.09, Z:122.63 [[ 4.98043007e-01 -7.30349216e-01 -4.67486028e-01 1.94745585e+02] [ 5.30510900e-01 6.83071037e-01 -5.01968270e-01 1.06086526e+02] [ 6.85938298e-01 1.99535326e-03 7.27656973e-01 1.22628202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.76, Y:106.10, Z:122.65 [[ 4.98172815e-01 -7.30384635e-01 -4.67292341e-01 1.94762466e+02] [ 5.30414772e-01 6.83032257e-01 -5.02122600e-01 1.06098960e+02] [ 6.85918374e-01 2.28506897e-03 7.27674902e-01 1.22647657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.78, Y:106.11, Z:122.67 [[ 4.98189474e-01 -7.30565835e-01 -4.66991230e-01 1.94777862e+02] [ 5.30618452e-01 6.82838110e-01 -5.02171458e-01 1.06113200e+02] [ 6.85748719e-01 2.38237117e-03 7.27834472e-01 1.22666827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.79, Y:106.13, Z:122.69 [[ 4.98206193e-01 -7.30740434e-01 -4.66700127e-01 1.94792295e+02] [ 5.30803950e-01 6.82650884e-01 -5.02229964e-01 1.06126211e+02] [ 6.85592996e-01 2.48780738e-03 7.27980807e-01 1.22685363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.81, Y:106.14, Z:122.70 [[ 4.98518859e-01 -7.30861864e-01 -4.66175808e-01 1.94808735e+02] [ 5.31135583e-01 6.82520140e-01 -5.02057019e-01 1.06138554e+02] [ 6.85108707e-01 2.68233234e-03 7.28435903e-01 1.22704684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.82, Y:106.15, Z:122.72 [[ 4.98269402e-01 -7.31270227e-01 -4.65801952e-01 1.94823503e+02] [ 5.31731321e-01 6.82083430e-01 -5.02019917e-01 1.06152466e+02] [ 6.84828012e-01 2.45967594e-03 7.28700586e-01 1.22723719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.84, Y:106.17, Z:122.74 [[ 4.97861610e-01 -7.31688989e-01 -4.65580326e-01 1.94837871e+02] [ 5.32183490e-01 6.81634993e-01 -5.02149848e-01 1.06166083e+02] [ 6.84773357e-01 2.22696879e-03 7.28752695e-01 1.22742196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.85, Y:106.18, Z:122.76 [[ 4.96255187e-01 -7.32776010e-01 -4.65585770e-01 1.94853803e+02] [ 5.33302563e-01 6.80469050e-01 -5.02543778e-01 1.06179585e+02] [ 6.85068731e-01 1.09187190e-03 7.28477619e-01 1.22760633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.87, Y:106.19, Z:122.78 [[ 4.95259567e-01 -7.33532098e-01 -4.65455285e-01 1.94869267e+02] [ 5.34125513e-01 6.79654698e-01 -5.02771745e-01 1.06194198e+02] [ 6.85148084e-01 3.90973968e-04 7.28403700e-01 1.22779588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.88, Y:106.21, Z:122.80 [[ 4.94281005e-01 -7.34326027e-01 -4.65243565e-01 1.94884048e+02] [ 5.35065721e-01 6.78796852e-01 -5.02930918e-01 1.06207854e+02] [ 6.85121130e-01 -3.46684270e-04 7.28429075e-01 1.22797132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.90, Y:106.22, Z:122.82 [[ 4.91443095e-01 -7.36061307e-01 -4.65507719e-01 1.94900343e+02] [ 5.36798147e-01 6.76910694e-01 -5.03626510e-01 1.06219921e+02] [ 6.85807140e-01 -2.37991003e-03 7.27779432e-01 1.22815074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.92, Y:106.23, Z:122.83 [[ 4.90184690e-01 -7.36926594e-01 -4.65465536e-01 1.94915937e+02] [ 5.37661021e-01 6.75965101e-01 -5.03976000e-01 1.06234338e+02] [ 6.86031775e-01 -3.22135568e-03 7.27564448e-01 1.22834107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.93, Y:106.27, Z:122.83 [[ 4.90140376e-01 -7.55535478e-01 -4.34659123e-01 1.94931902e+02] [ 5.44855228e-01 6.54805184e-01 -5.23796670e-01 1.06273537e+02] [ 6.80364015e-01 1.99076010e-02 7.32603914e-01 1.22830252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.95, Y:106.26, Z:122.87 [[ 4.87089310e-01 -7.34543642e-01 -4.72429510e-01 1.94946585e+02] [ 5.37780477e-01 6.78483295e-01 -5.00452373e-01 1.06257596e+02] [ 6.88139639e-01 -1.02983663e-02 7.25505190e-01 1.22874680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.96, Y:106.28, Z:122.88 [[ 4.89813642e-01 -7.41774596e-01 -4.58097200e-01 1.94963467e+02] [ 5.44407397e-01 6.70644223e-01 -5.03842150e-01 1.06283307e+02] [ 6.80957548e-01 -2.60274634e-03 7.32318267e-01 1.22882791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.98, Y:106.29, Z:122.91 [[ 4.90154844e-01 -7.39504990e-01 -4.61389857e-01 1.94979145e+02] [ 5.43088755e-01 6.73135713e-01 -5.01939155e-01 1.06294740e+02] [ 6.81764500e-01 -4.54773502e-03 7.31557575e-01 1.22905891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.99, Y:106.30, Z:122.93 [[ 4.88528983e-01 -7.34793107e-01 -4.70551297e-01 1.94990107e+02] [ 5.39196415e-01 6.78220431e-01 -4.99283760e-01 1.06300191e+02] [ 6.86007768e-01 -9.80498472e-03 7.27528147e-01 1.22932194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.01, Y:106.31, Z:122.95 [[ 4.91683777e-01 -7.30909914e-01 -4.73305146e-01 1.95005264e+02] [ 5.41256304e-01 6.82318592e-01 -4.91409150e-01 1.06310093e+02] [ 6.82120720e-01 -1.45614871e-02 7.31094581e-01 1.22953524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.02, Y:106.33, Z:122.97 [[ 4.92203120e-01 -7.38043654e-01 -4.61549188e-01 1.95019884e+02] [ 5.41128547e-01 6.74747465e-01 -5.01892174e-01 1.06332478e+02] [ 6.81847479e-01 -2.72454750e-03 7.31489297e-01 1.22967009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.03, Y:106.35, Z:122.99 [[ 4.92695131e-01 -7.37867679e-01 -4.61305534e-01 1.95034660e+02] [ 5.40792552e-01 6.74942000e-01 -5.01992742e-01 1.06347108e+02] [ 6.81758699e-01 -2.14121694e-03 7.31573982e-01 1.22986165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.05, Y:106.38, Z:122.99 [[ 4.94223194e-01 -7.51927897e-01 -4.36288748e-01 1.95052312e+02] [ 5.45024952e-01 6.58988809e-01 -5.18345012e-01 1.06381764e+02] [ 6.77267478e-01 1.83898738e-02 7.35507020e-01 1.22986779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.07, Y:106.36, Z:123.03 [[ 4.93878437e-01 -7.25127834e-01 -4.79868434e-01 1.95065111e+02] [ 5.39816019e-01 6.88331656e-01 -4.84559797e-01 1.06363247e+02] [ 6.81676430e-01 -1.97270326e-02 7.31387783e-01 1.23033499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.08, Y:106.39, Z:123.04 [[ 4.94250164e-01 -7.37016481e-01 -4.61002692e-01 1.95079493e+02] [ 5.39013165e-01 6.75874769e-01 -5.02651075e-01 1.06390387e+02] [ 6.82042215e-01 -5.11438662e-05 7.31312802e-01 1.23043051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.09, Y:106.41, Z:123.06 [[ 4.94579440e-01 -7.36781843e-01 -4.61024613e-01 1.95094037e+02] [ 5.38321236e-01 6.76130264e-01 -5.03048818e-01 1.06405372e+02] [ 6.82349928e-01 6.18263586e-04 7.31025440e-01 1.23062135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.11, Y:106.42, Z:123.08 [[ 4.95613692e-01 -7.36139051e-01 -4.60940740e-01 1.95108935e+02] [ 5.37181234e-01 6.76827808e-01 -5.03329355e-01 1.06420348e+02] [ 6.82497905e-01 1.84820497e-03 7.30885213e-01 1.23080687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.13, Y:106.45, Z:123.09 [[ 4.96416625e-01 -7.45615664e-01 -4.44553502e-01 1.95125514e+02] [ 5.39635056e-01 6.66192659e-01 -5.14763390e-01 1.06449769e+02] [ 6.79973926e-01 1.56404507e-02 7.33069462e-01 1.23087323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.14, Y:106.46, Z:123.11 [[ 4.96119526e-01 -7.37663330e-01 -4.57950026e-01 1.95139674e+02] [ 5.39607113e-01 6.75164393e-01 -5.02968394e-01 1.06456058e+02] [ 6.80212892e-01 2.41934981e-03 7.33010619e-01 1.23112766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.15, Y:106.46, Z:123.14 [[ 4.95925751e-01 -7.27286255e-01 -4.74460065e-01 1.95151709e+02] [ 5.35891171e-01 6.86256061e-01 -4.91806133e-01 1.06456515e+02] [ 6.83284935e-01 -1.03596342e-02 7.30078335e-01 1.23143848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.17, Y:106.48, Z:123.16 [[ 4.96131834e-01 -7.35828832e-01 -4.60878653e-01 1.95165789e+02] [ 5.35543675e-01 6.77158318e-01 -5.04628165e-01 1.06480404e+02] [ 6.83407767e-01 3.54144951e-03 7.30028275e-01 1.23155979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.18, Y:106.49, Z:123.18 [[ 4.96188400e-01 -7.35887357e-01 -4.60724288e-01 1.95181053e+02] [ 5.35434979e-01 6.77093297e-01 -5.04830714e-01 1.06494800e+02] [ 6.83451867e-01 3.80324514e-03 7.29985672e-01 1.23175307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.20, Y:106.51, Z:123.19 [[ 4.95694923e-01 -7.36354451e-01 -4.60509139e-01 1.95195417e+02] [ 5.35947890e-01 6.76586930e-01 -5.04965331e-01 1.06509920e+02] [ 6.83407933e-01 3.49984948e-03 7.30028320e-01 1.23194617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.21, Y:106.54, Z:123.20 [[ 4.94391886e-01 -7.45599396e-01 -4.46831292e-01 1.95210672e+02] [ 5.40365646e-01 6.66275105e-01 -5.13889535e-01 1.06535969e+02] [ 6.80868293e-01 1.26105367e-02 7.32297305e-01 1.23202246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.22, Y:106.53, Z:123.24 [[ 4.93591652e-01 -7.32243834e-01 -4.69240076e-01 1.95224970e+02] [ 5.38168526e-01 6.81002213e-01 -4.96599057e-01 1.06532498e+02] [ 6.83185128e-01 -7.41309095e-03 7.30207592e-01 1.23237781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.24, Y:106.55, Z:123.25 [[ 4.92402264e-01 -7.38955402e-01 -4.59874901e-01 1.95238706e+02] [ 5.39439081e-01 6.73754069e-01 -5.05035575e-01 1.06552770e+02] [ 6.83041352e-01 6.06166926e-04 7.30379452e-01 1.23251343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.25, Y:106.57, Z:123.27 [[ 4.89516861e-01 -7.40837956e-01 -4.59926479e-01 1.95253224e+02] [ 5.41578541e-01 6.71681813e-01 -5.05505911e-01 1.06567151e+02] [ 6.83422217e-01 -1.63264454e-03 7.30021512e-01 1.23270690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.27, Y:106.58, Z:123.29 [[ 4.88714192e-01 -7.41612787e-01 -4.59531188e-01 1.95267160e+02] [ 5.42693399e-01 6.70824034e-01 -5.05449296e-01 1.06582715e+02] [ 6.83112226e-01 -2.36429781e-03 7.30309589e-01 1.23288916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.28, Y:106.60, Z:123.31 [[ 4.87601715e-01 -7.42372380e-01 -4.59486470e-01 1.95281085e+02] [ 5.43425074e-01 6.69980437e-01 -5.05781973e-01 1.06598381e+02] [ 6.83325513e-01 -3.07631174e-03 7.30107375e-01 1.23307879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.29, Y:106.61, Z:123.33 [[ 4.85680625e-01 -7.43505658e-01 -4.59688663e-01 1.95294598e+02] [ 5.44420921e-01 6.68715671e-01 -5.06384452e-01 1.06612773e+02] [ 6.83900718e-01 -4.32300826e-03 7.29562280e-01 1.23326549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.31, Y:106.63, Z:123.35 [[ 4.84658382e-01 -7.44221958e-01 -4.59608453e-01 1.95308354e+02] [ 5.45114052e-01 6.67913943e-01 -5.06696788e-01 1.06628287e+02] [ 6.84073770e-01 -4.96418061e-03 7.29395938e-01 1.23345772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.32, Y:106.64, Z:123.36 [[ 4.84059470e-01 -7.44742116e-01 -4.59397007e-01 1.95321182e+02] [ 5.45696213e-01 6.67330910e-01 -5.06838336e-01 1.06643648e+02] [ 6.84033678e-01 -5.35131073e-03 7.29430799e-01 1.23364006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.33, Y:106.66, Z:123.38 [[ 4.82999309e-01 -7.45493438e-01 -4.59294242e-01 1.95333880e+02] [ 5.46580215e-01 6.66484493e-01 -5.06999497e-01 1.06660553e+02] [ 6.84077288e-01 -6.16073875e-03 7.29383513e-01 1.23382828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.35, Y:106.68, Z:123.40 [[ 4.82117379e-01 -7.46097238e-01 -4.59240399e-01 1.95346954e+02] [ 5.47120214e-01 6.65803532e-01 -5.07311669e-01 1.06676796e+02] [ 6.84267715e-01 -6.67593353e-03 7.29200334e-01 1.23401745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.36, Y:106.69, Z:123.42 [[ 4.81494317e-01 -7.46635174e-01 -4.59019761e-01 1.95360168e+02] [ 5.47728448e-01 6.65196025e-01 -5.07452260e-01 1.06693298e+02] [ 6.84219826e-01 -7.08280196e-03 7.29241430e-01 1.23420194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.37, Y:106.72, Z:123.44 [[ 4.78551190e-01 -7.52797336e-01 -4.51978905e-01 1.95372494e+02] [ 5.47434756e-01 6.58252346e-01 -5.16738848e-01 1.06716042e+02] [ 6.86515802e-01 -1.42970813e-04 7.27114869e-01 1.23435817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.39, Y:106.72, Z:123.46 [[ 4.79697504e-01 -7.42281646e-01 -4.67876332e-01 1.95385274e+02] [ 5.49868956e-01 6.69848169e-01 -4.98946452e-01 1.06719447e+02] [ 6.83764898e-01 -1.79273024e-02 7.29482129e-01 1.23462690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.40, Y:106.74, Z:123.48 [[ 4.79497756e-01 -7.48603487e-01 -4.57902523e-01 1.95398059e+02] [ 5.50459455e-01 6.62960241e-01 -5.07423006e-01 1.06741135e+02] [ 6.83429799e-01 -8.74858033e-03 7.29963816e-01 1.23477714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.41, Y:106.76, Z:123.50 [[ 4.79359674e-01 -7.49101072e-01 -4.57232858e-01 1.95411036e+02] [ 5.51484113e-01 6.62393258e-01 -5.07050732e-01 1.06757107e+02] [ 6.82700209e-01 -9.09698362e-03 7.30641957e-01 1.23497418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.42, Y:106.77, Z:123.52 [[ 4.79890064e-01 -7.49326373e-01 -4.56306380e-01 1.95423268e+02] [ 5.52395523e-01 6.62139022e-01 -5.06390266e-01 1.06773885e+02] [ 6.81589841e-01 -9.04994441e-03 7.31678472e-01 1.23517185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.44, Y:106.79, Z:123.54 [[ 4.79994702e-01 -7.49437095e-01 -4.56014392e-01 1.95436411e+02] [ 5.52493684e-01 6.62016338e-01 -5.06443577e-01 1.06790345e+02] [ 6.81436581e-01 -8.85483782e-03 7.31823597e-01 1.23536528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.45, Y:106.81, Z:123.55 [[ 4.80352658e-01 -7.49393479e-01 -4.55709049e-01 1.95448692e+02] [ 5.52384639e-01 6.62071225e-01 -5.06490774e-01 1.06806062e+02] [ 6.81272732e-01 -8.43248906e-03 7.31981119e-01 1.23554715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.46, Y:106.82, Z:123.57 [[ 4.81713894e-01 -7.48729165e-01 -4.55363989e-01 1.95461271e+02] [ 5.51558887e-01 6.62836658e-01 -5.06389533e-01 1.06824193e+02] [ 6.80980557e-01 -7.22518110e-03 7.32265852e-01 1.23572686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.47, Y:106.84, Z:123.59 [[ 4.82483285e-01 -7.48344406e-01 -4.55181864e-01 1.95474005e+02] [ 5.50863944e-01 6.63280130e-01 -5.06565282e-01 1.06840577e+02] [ 6.80998381e-01 -6.33399526e-03 7.32257527e-01 1.23591339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.216875 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:195.49, Y:106.86, Z:123.61 [[ 4.84386206e-01 -7.46994094e-01 -4.55378774e-01 1.95486212e+02] [ 5.48454957e-01 6.64818080e-01 -5.07162776e-01 1.06857915e+02] [ 6.81591640e-01 -4.09209261e-03 7.31721320e-01 1.23609712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.50, Y:106.87, Z:123.63 [[ 4.85084289e-01 -7.46508054e-01 -4.55432715e-01 1.95498648e+02] [ 5.47380427e-01 6.65369315e-01 -5.07600574e-01 1.06874418e+02] [ 6.81958871e-01 -3.06589017e-03 7.31384098e-01 1.23627786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.51, Y:106.89, Z:123.65 [[ 4.86248007e-01 -7.45837068e-01 -4.55291054e-01 1.95511564e+02] [ 5.46235278e-01 6.66126094e-01 -5.07841558e-01 1.06890822e+02] [ 6.82048310e-01 -1.75909005e-03 7.31305004e-01 1.23646439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.52, Y:106.91, Z:123.66 [[ 4.88554124e-01 -7.44351310e-01 -4.55253771e-01 1.95522961e+02] [ 5.43876398e-01 6.67787892e-01 -5.08190707e-01 1.06907592e+02] [ 6.82285375e-01 6.76884784e-04 7.31085638e-01 1.23664983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.54, Y:106.92, Z:123.68 [[ 4.89535615e-01 -7.43833743e-01 -4.55045322e-01 1.95535275e+02] [ 5.43001935e-01 6.68362336e-01 -5.08370619e-01 1.06923822e+02] [ 6.82278375e-01 1.77503321e-03 7.31090328e-01 1.23683831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.55, Y:106.94, Z:123.70 [[ 4.90420967e-01 -7.43367144e-01 -4.54854444e-01 1.95547502e+02] [ 5.42204817e-01 6.68877854e-01 -5.08543365e-01 1.06939987e+02] [ 6.82276493e-01 2.77605810e-03 7.31088969e-01 1.23701875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.56, Y:106.96, Z:123.72 [[ 4.91724496e-01 -7.42632191e-01 -4.54647610e-01 1.95559047e+02] [ 5.41041799e-01 6.69686551e-01 -5.08717697e-01 1.06957190e+02] [ 6.82261528e-01 4.16559233e-03 7.31096338e-01 1.23720449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.57, Y:106.97, Z:123.74 [[ 4.91801838e-01 -7.42538304e-01 -4.54717296e-01 1.95572013e+02] [ 5.40488240e-01 6.69787512e-01 -5.09173007e-01 1.06973116e+02] [ 6.82644428e-01 4.64286989e-03 7.30735951e-01 1.23739969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.59, Y:106.99, Z:123.76 [[ 4.92003949e-01 -7.42602535e-01 -4.54393650e-01 1.95585052e+02] [ 5.40566546e-01 6.69714528e-01 -5.09185881e-01 1.06989223e+02] [ 6.82436754e-01 4.89145864e-03 7.30928280e-01 1.23758391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.60, Y:107.01, Z:123.78 [[ 4.91954310e-01 -7.42820178e-01 -4.54091555e-01 1.95597559e+02] [ 5.40820331e-01 6.69472777e-01 -5.09234299e-01 1.07005045e+02] [ 6.82271447e-01 4.93806271e-03 7.31082272e-01 1.23776474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.61, Y:107.02, Z:123.80 [[ 4.91597311e-01 -7.43152263e-01 -4.53934794e-01 1.95610893e+02] [ 5.41056157e-01 6.69104779e-01 -5.09467399e-01 1.07021619e+02] [ 6.82341790e-01 4.84858834e-03 7.31017218e-01 1.23795275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.62, Y:107.04, Z:123.81 [[ 4.90197953e-01 -7.44113376e-01 -4.53873606e-01 1.95623455e+02] [ 5.42063319e-01 6.68042143e-01 -5.09791186e-01 1.07037672e+02] [ 6.82549137e-01 3.87036269e-03 7.30829457e-01 1.23813759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.64, Y:107.05, Z:123.83 [[ 4.89110993e-01 -7.44816893e-01 -4.53892314e-01 1.95636767e+02] [ 5.42615865e-01 6.67260905e-01 -5.10226330e-01 1.07053242e+02] [ 6.82889786e-01 3.26813618e-03 7.30514106e-01 1.23832413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.65, Y:107.07, Z:123.85 [[ 4.87858828e-01 -7.45672916e-01 -4.53834404e-01 1.95649797e+02] [ 5.43483950e-01 6.66307758e-01 -5.10547909e-01 1.07068550e+02] [ 6.83095133e-01 2.42359042e-03 7.30325384e-01 1.23850730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.66, Y:107.08, Z:123.87 [[ 4.85686418e-01 -7.47068031e-01 -4.53870093e-01 1.95663728e+02] [ 5.45088452e-01 6.64747195e-01 -5.10871556e-01 1.07084373e+02] [ 6.83364678e-01 7.24030136e-04 7.30076840e-01 1.23869564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.68, Y:107.10, Z:123.89 [[ 4.84382415e-01 -7.47866843e-01 -4.53948082e-01 1.95676561e+02] [ 5.45747841e-01 6.63848764e-01 -5.11335617e-01 1.07099055e+02] [ 6.83763827e-01 -5.92049622e-05 7.29703382e-01 1.23887754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.69, Y:107.11, Z:123.91 [[ 4.83174071e-01 -7.48723128e-01 -4.53824298e-01 1.95689982e+02] [ 5.46681576e-01 6.62882229e-01 -5.11592030e-01 1.07114685e+02] [ 6.83872848e-01 -9.09378622e-04 7.29600645e-01 1.23906776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.70, Y:107.13, Z:123.93 [[ 4.81230281e-01 -7.50209785e-01 -4.53434333e-01 1.95703737e+02] [ 5.48783007e-01 6.61194466e-01 -5.11526235e-01 1.07130470e+02] [ 6.83560259e-01 -2.67514274e-03 7.29889181e-01 1.23925464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.72, Y:107.15, Z:123.94 [[ 4.79907397e-01 -7.51230024e-01 -4.53147152e-01 1.95717088e+02] [ 5.50126528e-01 6.60029704e-01 -5.11587326e-01 1.07145592e+02] [ 6.83410340e-01 -3.77372714e-03 7.30024703e-01 1.23944588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.786875 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:195.73, Y:107.16, Z:123.96 [[ 4.78292828e-01 -7.53876731e-01 -4.50450713e-01 1.95730893e+02] [ 5.51102062e-01 6.57012190e-01 -5.14413744e-01 1.07162461e+02] [ 6.83756161e-01 -2.20391261e-03 7.29707240e-01 1.23962758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.74, Y:107.17, Z:123.98 [[ 4.77219447e-01 -7.51463265e-01 -4.55592539e-01 1.95744304e+02] [ 5.54058253e-01 6.59697429e-01 -5.07758559e-01 1.07171611e+02] [ 6.82115131e-01 -1.01125471e-02 7.31174866e-01 1.23983977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.76, Y:107.19, Z:124.00 [[ 4.76349883e-01 -7.54526545e-01 -4.51420516e-01 1.95757349e+02] [ 5.55457137e-01 6.56227080e-01 -5.10718502e-01 1.07188600e+02] [ 6.81585034e-01 -7.46404852e-03 7.31700847e-01 1.24000291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.77, Y:107.20, Z:124.02 [[ 4.75892937e-01 -7.55164133e-01 -4.50835940e-01 1.95771407e+02] [ 5.56571133e-01 6.55486945e-01 -5.10456109e-01 1.07203745e+02] [ 6.80995218e-01 -7.99981333e-03 7.32244165e-01 1.24019085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.79, Y:107.22, Z:124.04 [[ 4.75679144e-01 -7.55348519e-01 -4.50752667e-01 1.95785236e+02] [ 5.56544573e-01 6.55275577e-01 -5.10756358e-01 1.07219167e+02] [ 6.81166272e-01 -7.90780343e-03 7.32086044e-01 1.24038305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.80, Y:107.23, Z:124.06 [[ 4.75490043e-01 -7.55577452e-01 -4.50568456e-01 1.95798599e+02] [ 5.56683052e-01 6.55011981e-01 -5.10943524e-01 1.07234402e+02] [ 6.81185143e-01 -7.87526516e-03 7.32068836e-01 1.24056227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.81, Y:107.25, Z:124.08 [[ 4.75518716e-01 -7.55524500e-01 -4.50626985e-01 1.95812443e+02] [ 5.56278704e-01 6.55076987e-01 -5.11300445e-01 1.07249442e+02] [ 6.81495381e-01 -7.54126412e-03 7.31783558e-01 1.24075197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.83, Y:107.26, Z:124.09 [[ 4.76269378e-01 -7.55168851e-01 -4.50430334e-01 1.95826198e+02] [ 5.55624135e-01 6.55496388e-01 -5.11474640e-01 1.07264543e+02] [ 6.81505173e-01 -6.67025596e-03 7.31782896e-01 1.24093783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.84, Y:107.28, Z:124.11 [[ 4.76882518e-01 -7.54892735e-01 -4.50244403e-01 1.95839750e+02] [ 5.55047377e-01 6.55821789e-01 -5.11683682e-01 1.07280264e+02] [ 6.81546384e-01 -5.89397202e-03 7.31751179e-01 1.24112324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.85, Y:107.30, Z:124.13 [[ 4.77212637e-01 -7.54636441e-01 -4.50324263e-01 1.95853110e+02] [ 5.54250692e-01 6.56122688e-01 -5.12161291e-01 1.07296135e+02] [ 6.81963540e-01 -5.18269394e-03 7.31367808e-01 1.24131272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.87, Y:107.31, Z:124.15 [[ 4.78809841e-01 -7.53499266e-01 -4.50533009e-01 1.95866425e+02] [ 5.52108969e-01 6.57440875e-01 -5.12783759e-01 1.07312333e+02] [ 6.82581001e-01 -3.21740468e-03 7.30802863e-01 1.24149526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.88, Y:107.33, Z:124.17 [[ 4.79583501e-01 -7.53110372e-01 -4.50360336e-01 1.95879245e+02] [ 5.51397173e-01 6.57890123e-01 -5.12973434e-01 1.07327594e+02] [ 6.82613231e-01 -2.31382036e-03 7.30776179e-01 1.24167197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.89, Y:107.34, Z:124.19 [[ 4.80471668e-01 -7.52654242e-01 -4.50176152e-01 1.95892657e+02] [ 5.50702679e-01 6.58414464e-01 -5.13046736e-01 1.07343251e+02] [ 6.82549292e-01 -1.40879193e-03 7.30838203e-01 1.24186055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.91, Y:107.36, Z:124.20 [[ 4.81140827e-01 -7.52308577e-01 -4.50039232e-01 1.95905599e+02] [ 5.50020760e-01 6.58810651e-01 -5.13269608e-01 1.07358741e+02] [ 6.82627767e-01 -5.75956834e-04 7.30766036e-01 1.24204753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.92, Y:107.37, Z:124.22 [[ 4.83179843e-01 -7.51326636e-01 -4.49494744e-01 1.95919087e+02] [ 5.48885355e-01 6.59929473e-01 -5.13047716e-01 1.07374660e+02] [ 6.82101244e-01 1.17323237e-03 7.31256806e-01 1.24224113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.93, Y:107.39, Z:124.24 [[ 4.84058482e-01 -7.51084509e-01 -4.48953724e-01 1.95931952e+02] [ 5.48765412e-01 6.60203436e-01 -5.12823503e-01 1.07390343e+02] [ 6.81574580e-01 1.86629108e-03 7.31746274e-01 1.24242766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.95, Y:107.41, Z:124.26 [[ 4.85295393e-01 -7.50488231e-01 -4.48615422e-01 1.95945224e+02] [ 5.48046059e-01 6.60877180e-01 -5.12724946e-01 1.07406337e+02] [ 6.81273733e-01 2.96114004e-03 7.32022768e-01 1.24262241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.96, Y:107.42, Z:124.28 [[ 4.85106191e-01 -7.50723373e-01 -4.48426582e-01 1.95958977e+02] [ 5.48213632e-01 6.60610006e-01 -5.12890079e-01 1.07422331e+02] [ 6.81273658e-01 2.97258755e-03 7.32022791e-01 1.24281564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.97, Y:107.44, Z:124.30 [[ 4.87559217e-01 -7.49390362e-01 -4.47995641e-01 1.95970583e+02] [ 5.46530361e-01 6.62108384e-01 -5.12754379e-01 1.07438390e+02] [ 6.80874860e-01 5.15490452e-03 7.32381630e-01 1.24299823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.98, Y:107.45, Z:124.32 [[ 4.88671424e-01 -7.48761704e-01 -4.47834958e-01 1.95983720e+02] [ 5.45475771e-01 6.62808458e-01 -5.12972837e-01 1.07454755e+02] [ 6.80923214e-01 6.39204746e-03 7.32326921e-01 1.24318850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.00, Y:107.47, Z:124.34 [[ 4.89445128e-01 -7.48380203e-01 -4.47627679e-01 1.95997014e+02] [ 5.44829673e-01 6.63230245e-01 -5.13114285e-01 1.07471358e+02] [ 6.80884788e-01 7.26044541e-03 7.32354553e-01 1.24337629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.01, Y:107.49, Z:124.36 [[ 4.90605198e-01 -7.47540389e-01 -4.47760992e-01 1.96009777e+02] [ 5.43193415e-01 6.64158353e-01 -5.13648319e-01 1.07488126e+02] [ 6.81357067e-01 8.77771311e-03 7.31898558e-01 1.24356228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.02, Y:107.50, Z:124.37 [[ 4.90621417e-01 -7.47509122e-01 -4.47795420e-01 1.96022557e+02] [ 5.42752971e-01 6.64188189e-01 -5.14075151e-01 1.07504499e+02] [ 6.81696294e-01 9.17398420e-03 7.31577747e-01 1.24374105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.04, Y:107.52, Z:124.39 [[ 4.90475774e-01 -7.47510035e-01 -4.47953415e-01 1.96035721e+02] [ 5.42317137e-01 6.64183475e-01 -5.14540994e-01 1.07520491e+02] [ 6.82147813e-01 9.43707861e-03 7.31153406e-01 1.24392567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.50687500000004 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:196.05, Y:107.54, Z:124.41 [[ 4.88996074e-01 -7.50857594e-01 -4.43954629e-01 1.96048224e+02] [ 5.41621460e-01 6.60317229e-01 -5.20218561e-01 1.07538658e+02] [ 6.83760948e-01 1.39294793e-02 7.29573119e-01 1.24408804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.06, Y:107.55, Z:124.43 [[ 4.89467893e-01 -7.44702189e-01 -4.53695747e-01 1.96061417e+02] [ 5.42807424e-01 6.67388819e-01 -5.09855140e-01 1.07545836e+02] [ 6.82481708e-01 3.28830086e-03 7.30895277e-01 1.24430464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.07, Y:107.57, Z:124.45 [[ 4.88332301e-01 -7.50157982e-01 -4.45863842e-01 1.96074836e+02] [ 5.44225007e-01 6.61190204e-01 -5.16378405e-01 1.07566200e+02] [ 6.82166187e-01 9.51400188e-03 7.31135266e-01 1.24446416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.09, Y:107.58, Z:124.47 [[ 4.86480761e-01 -7.50655066e-01 -4.47049709e-01 1.96088751e+02] [ 5.46453008e-01 6.60666180e-01 -5.14693412e-01 1.07580332e+02] [ 6.81707841e-01 6.09678465e-03 7.31599104e-01 1.24466265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.10, Y:107.60, Z:124.49 [[ 4.85517999e-01 -7.51535005e-01 -4.46617744e-01 1.96102939e+02] [ 5.47755756e-01 6.59672705e-01 -5.14582894e-01 1.07595931e+02] [ 6.81348593e-01 5.20181740e-03 7.31940596e-01 1.24485597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.12, Y:107.61, Z:124.50 [[ 4.84264318e-01 -7.52509508e-01 -4.46337888e-01 1.96116708e+02] [ 5.49015883e-01 6.58568104e-01 -5.14654847e-01 1.07610997e+02] [ 6.81226563e-01 4.18238865e-03 7.32060706e-01 1.24504305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.13, Y:107.63, Z:124.52 [[ 4.82769458e-01 -7.53565421e-01 -4.46175758e-01 1.96130407e+02] [ 5.50262719e-01 6.57365868e-01 -5.14860229e-01 1.07626130e+02] [ 6.81281580e-01 3.04490772e-03 7.32015121e-01 1.24523006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.14, Y:107.64, Z:124.54 [[ 4.80973626e-01 -7.54876838e-01 -4.45898341e-01 1.96144717e+02] [ 5.51984977e-01 6.55864766e-01 -5.14931058e-01 1.07640368e+02] [ 6.81158540e-01 1.53907279e-03 7.32134329e-01 1.24541754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.16, Y:107.66, Z:124.56 [[ 4.80345347e-01 -7.55421704e-01 -4.45652775e-01 1.96158283e+02] [ 5.52609641e-01 6.55237943e-01 -5.15059048e-01 1.07655919e+02] [ 6.81095392e-01 1.13419746e-03 7.32193814e-01 1.24560388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.17, Y:107.67, Z:124.58 [[ 4.79405506e-01 -7.55963182e-01 -4.45746596e-01 1.96171588e+02] [ 5.52890833e-01 6.54613752e-01 -5.15550737e-01 1.07670789e+02] [ 6.81529227e-01 7.08655307e-04 7.31790551e-01 1.24578349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.19, Y:107.69, Z:124.60 [[ 4.79107737e-01 -7.56165350e-01 -4.45723838e-01 1.96185271e+02] [ 5.52815413e-01 6.54380128e-01 -5.15928064e-01 1.07686521e+02] [ 6.81799747e-01 7.82119200e-04 7.31538443e-01 1.24597118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.20, Y:107.70, Z:124.62 [[ 4.78919225e-01 -7.56334334e-01 -4.45639711e-01 1.96198826e+02] [ 5.52772663e-01 6.54184669e-01 -5.16221659e-01 1.07702438e+02] [ 6.81966831e-01 8.91027206e-04 7.31382559e-01 1.24615883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.21, Y:107.72, Z:124.63 [[ 4.78101860e-01 -7.56001350e-01 -4.47080048e-01 1.96212840e+02] [ 5.52392899e-01 6.54570027e-01 -5.16139676e-01 1.07717701e+02] [ 6.82847491e-01 -1.96504673e-04 7.30560925e-01 1.24634444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.23, Y:107.73, Z:124.65 [[ 4.78382310e-01 -7.55185840e-01 -4.48157019e-01 1.96225518e+02] [ 5.51404237e-01 6.55510698e-01 -5.16002997e-01 1.07732166e+02] [ 6.83449876e-01 -2.68973651e-04 7.29997393e-01 1.24652856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.24, Y:107.75, Z:124.67 [[ 4.78231215e-01 -7.56364467e-01 -4.46326896e-01 1.96239081e+02] [ 5.51113205e-01 6.54148053e-01 -5.18039149e-01 1.07749287e+02] [ 6.83790275e-01 1.76584570e-03 7.29676464e-01 1.24670954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.25, Y:107.76, Z:124.69 [[ 4.77961992e-01 -7.56462981e-01 -4.46448309e-01 1.96252626e+02] [ 5.50745972e-01 6.54033517e-01 -5.18574038e-01 1.07764852e+02] [ 6.84274220e-01 1.97907194e-03 7.29222102e-01 1.24689344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.27, Y:107.78, Z:124.71 [[ 4.77500822e-01 -7.56820318e-01 -4.46336163e-01 1.96265979e+02] [ 5.50980002e-01 6.53620431e-01 -5.18846191e-01 1.07780097e+02] [ 6.84407775e-01 1.82718236e-03 7.29097154e-01 1.24707802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.28, Y:107.80, Z:124.73 [[ 4.77024864e-01 -7.57245148e-01 -4.46124495e-01 1.96279424e+02] [ 5.51394968e-01 6.53128805e-01 -5.19024424e-01 1.07795016e+02] [ 6.84405485e-01 1.59675313e-03 7.29099844e-01 1.24726273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.29, Y:107.81, Z:124.75 [[ 4.76461820e-01 -7.57688980e-01 -4.45972583e-01 1.96293266e+02] [ 5.51779524e-01 6.52614465e-01 -5.19262666e-01 1.07810615e+02] [ 6.84487758e-01 1.33029540e-03 7.29023141e-01 1.24745529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.31, Y:107.83, Z:124.76 [[ 4.75339076e-01 -7.58649298e-01 -4.45537884e-01 1.96307823e+02] [ 5.53210439e-01 6.51499161e-01 -5.19140687e-01 1.07825456e+02] [ 6.84113276e-01 2.91646524e-04 7.29375720e-01 1.24764490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.32, Y:107.84, Z:124.78 [[ 4.74410670e-01 -7.59323453e-01 -4.45378951e-01 1.96322006e+02] [ 5.53944787e-01 6.50713288e-01 -5.19343230e-01 1.07840611e+02] [ 6.84163496e-01 -3.33378164e-04 7.29328595e-01 1.24783516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.34, Y:107.85, Z:124.80 [[ 4.72960652e-01 -7.60261081e-01 -4.45321582e-01 1.96335386e+02] [ 5.54919985e-01 6.49616283e-01 -5.19675375e-01 1.07855000e+02] [ 6.84377113e-01 -1.33184139e-03 7.29127008e-01 1.24801774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.35, Y:107.87, Z:124.82 [[ 4.70608669e-01 -7.61769431e-01 -4.45235685e-01 1.96349651e+02] [ 5.56694742e-01 6.47840592e-01 -5.19993781e-01 1.07869314e+02] [ 6.84557116e-01 -3.14678328e-03 7.28952436e-01 1.24819768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.36, Y:107.89, Z:124.84 [[ 4.69558812e-01 -7.62463242e-01 -4.45156519e-01 1.96363732e+02] [ 5.57465595e-01 6.47019781e-01 -5.20189882e-01 1.07885176e+02] [ 6.84650737e-01 -3.89970055e-03 7.28860865e-01 1.24838876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.38, Y:107.90, Z:124.86 [[ 4.68547639e-01 -7.63186565e-01 -4.44982444e-01 1.96376933e+02] [ 5.58276167e-01 6.46161848e-01 -5.20386960e-01 1.07900650e+02] [ 6.84683015e-01 -4.59701167e-03 7.28826479e-01 1.24857270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.39, Y:107.92, Z:124.88 [[ 4.67757027e-01 -7.63951929e-01 -4.44500634e-01 1.96389976e+02] [ 5.59580425e-01 6.45250183e-01 -5.20117246e-01 1.07916097e+02] [ 6.84158689e-01 -5.44535700e-03 7.29312852e-01 1.24876262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.40, Y:107.93, Z:124.90 [[ 4.67294695e-01 -7.64354799e-01 -4.44294282e-01 1.96403167e+02] [ 5.59990875e-01 6.44770860e-01 -5.20269889e-01 1.07932361e+02] [ 6.84138793e-01 -5.68138524e-03 7.29329716e-01 1.24895693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.42, Y:107.95, Z:124.92 [[ 4.67010573e-01 -7.64846245e-01 -4.43746940e-01 1.96415537e+02] [ 5.60890327e-01 6.44184599e-01 -5.20027156e-01 1.07949143e+02] [ 6.83595762e-01 -6.03518599e-03 7.29835879e-01 1.24915261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.43, Y:107.97, Z:124.93 [[ 4.66579961e-01 -7.65283584e-01 -4.43445798e-01 1.96428188e+02] [ 5.61444779e-01 6.43662315e-01 -5.20075557e-01 1.07965457e+02] [ 6.83434635e-01 -6.31349508e-03 7.29984410e-01 1.24934607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.44, Y:107.98, Z:124.95 [[ 4.65946830e-01 -7.65802871e-01 -4.43214975e-01 1.96440507e+02] [ 5.62034647e-01 6.43040355e-01 -5.20207802e-01 1.07981553e+02] [ 6.83381743e-01 -6.71299581e-03 7.30030361e-01 1.24953213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.45, Y:108.00, Z:124.97 [[ 4.65076416e-01 -7.66467601e-01 -4.42980073e-01 1.96451789e+02] [ 5.62808374e-01 6.42241412e-01 -5.20358244e-01 1.07997773e+02] [ 6.83337882e-01 -7.30654738e-03 7.30065718e-01 1.24971539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.46, Y:108.01, Z:124.99 [[ 4.64552953e-01 -7.66895137e-01 -4.42789345e-01 1.96464066e+02] [ 5.63228400e-01 6.41727730e-01 -5.20537501e-01 1.08014186e+02] [ 6.83347879e-01 -7.57430151e-03 7.30053633e-01 1.24990315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.48, Y:108.03, Z:125.01 [[ 4.63998673e-01 -7.67286003e-01 -4.42693371e-01 1.96476345e+02] [ 5.63506325e-01 6.41257600e-01 -5.20816007e-01 1.08030671e+02] [ 6.83495321e-01 -7.80257875e-03 7.29913191e-01 1.25009014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.49, Y:108.05, Z:125.03 [[ 4.63651090e-01 -7.67669256e-01 -4.42393016e-01 1.96488851e+02] [ 5.63988174e-01 6.40796237e-01 -5.20862287e-01 1.08047446e+02] [ 6.83333744e-01 -8.00606180e-03 7.30062256e-01 1.25027789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.50, Y:108.06, Z:125.05 [[ 4.63287180e-01 -7.68119804e-01 -4.41992032e-01 1.96499728e+02] [ 5.64664854e-01 6.40252376e-01 -5.20797943e-01 1.08063663e+02] [ 6.83021662e-01 -8.29835611e-03 7.30350975e-01 1.25047031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.51, Y:108.08, Z:125.07 [[ 4.63176594e-01 -7.68387656e-01 -4.41642223e-01 1.96511729e+02] [ 5.65013012e-01 6.39930820e-01 -5.20815555e-01 1.08079954e+02] [ 6.82808713e-01 -8.30402772e-03 7.30550001e-01 1.25065754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.52, Y:108.10, Z:125.09 [[ 4.63406833e-01 -7.68464363e-01 -4.41267073e-01 1.96524198e+02] [ 5.65130488e-01 6.39842168e-01 -5.20797016e-01 1.08097007e+02] [ 6.82555228e-01 -8.03258030e-03 7.30789873e-01 1.25085063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.54, Y:108.11, Z:125.10 [[ 4.63739347e-01 -7.68376925e-01 -4.41069972e-01 1.96535990e+02] [ 5.64853833e-01 6.39953045e-01 -5.20960889e-01 1.08113084e+02] [ 6.82558397e-01 -7.55000164e-03 7.30792058e-01 1.25103490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.55, Y:108.13, Z:125.12 [[ 4.64756214e-01 -7.67926124e-01 -4.40784675e-01 1.96547089e+02] [ 5.64152854e-01 6.40505312e-01 -5.21041747e-01 1.08131809e+02] [ 6.82446495e-01 -6.51254244e-03 7.30906539e-01 1.25122142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.56, Y:108.15, Z:125.14 [[ 4.65215748e-01 -7.67745593e-01 -4.40614358e-01 1.96559055e+02] [ 5.63724144e-01 6.40727634e-01 -5.21232375e-01 1.08149035e+02] [ 6.82487654e-01 -5.89944266e-03 7.30873313e-01 1.25140834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.57, Y:108.17, Z:125.16 [[ 4.66298972e-01 -7.67152336e-01 -4.40502625e-01 1.96569294e+02] [ 5.62664452e-01 6.41447856e-01 -5.21491479e-01 1.08166610e+02] [ 6.82622870e-01 -4.68422730e-03 7.30755825e-01 1.25158670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.58, Y:108.18, Z:125.18 [[ 4.66590770e-01 -7.67112325e-01 -4.40263256e-01 1.96581054e+02] [ 5.62486040e-01 6.41498674e-01 -5.21621420e-01 1.08182796e+02] [ 6.82570515e-01 -4.25819560e-03 7.30807334e-01 1.25176544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.59, Y:108.20, Z:125.20 [[ 4.66940766e-01 -7.66967106e-01 -4.40145180e-01 1.96593224e+02] [ 5.62035491e-01 6.41675831e-01 -5.21889102e-01 1.08199254e+02] [ 6.82702298e-01 -3.68591550e-03 7.30687338e-01 1.25195507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.60, Y:108.22, Z:125.21 [[ 4.68277544e-01 -7.66125198e-01 -4.40191234e-01 1.96604061e+02] [ 5.60472454e-01 6.42687853e-01 -5.22324566e-01 1.08216624e+02] [ 6.83071571e-01 -2.12219669e-03 7.30348359e-01 1.25214326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.62, Y:108.23, Z:125.23 [[ 4.69372193e-01 -7.65559970e-01 -4.40008724e-01 1.96616269e+02] [ 5.59534109e-01 6.43363834e-01 -5.22498381e-01 1.08233482e+02] [ 6.83089545e-01 -9.53678449e-04 7.30334009e-01 1.25233349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.856875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:196.63, Y:108.25, Z:125.25 [[ 4.70671098e-01 -7.64853918e-01 -4.39849068e-01 1.96628142e+02] [ 5.58367784e-01 6.44203619e-01 -5.22711312e-01 1.08249721e+02] [ 6.83150156e-01 4.27557402e-04 7.30277811e-01 1.25252242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.64, Y:108.27, Z:125.27 [[ 4.73413096e-01 -7.63367842e-01 -4.39487859e-01 1.96639372e+02] [ 5.56463522e-01 6.45957812e-01 -5.22577127e-01 1.08267897e+02] [ 6.82809190e-01 2.83589382e-03 7.30591246e-01 1.25271251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.65, Y:108.28, Z:125.29 [[ 4.74707592e-01 -7.62720324e-01 -4.39215676e-01 1.96651558e+02] [ 5.55506422e-01 6.46715324e-01 -5.22658497e-01 1.08284867e+02] [ 6.82689766e-01 4.12282839e-03 7.30696712e-01 1.25289860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.94687500000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:196.66, Y:108.30, Z:125.31 [[ 4.76001760e-01 -7.61965088e-01 -4.39125870e-01 1.96663242e+02] [ 5.54201787e-01 6.47594206e-01 -5.22955184e-01 1.08301494e+02] [ 6.82848962e-01 5.56324664e-03 7.30538395e-01 1.25307627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.67, Y:108.32, Z:125.33 [[ 4.78368937e-01 -7.60465764e-01 -4.39152572e-01 1.96674788e+02] [ 5.51736076e-01 6.49327656e-01 -5.23412741e-01 1.08319510e+02] [ 6.83191380e-01 8.08808022e-03 7.30194578e-01 1.25326166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.69, Y:108.34, Z:125.34 [[ 4.78746988e-01 -7.60099822e-01 -4.39374081e-01 1.96686981e+02] [ 5.50606213e-01 6.49744245e-01 -5.24085121e-01 1.08335839e+02] [ 6.83837788e-01 8.98207398e-03 7.29578784e-01 1.25344836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.70, Y:108.35, Z:125.36 [[ 4.79480152e-01 -7.59832885e-01 -4.39036184e-01 1.96699861e+02] [ 5.50224958e-01 6.50045586e-01 -5.24111850e-01 1.08352704e+02] [ 6.83630953e-01 9.73256344e-03 7.29762974e-01 1.25363357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.71, Y:108.37, Z:125.38 [[ 4.79888963e-01 -7.59608551e-01 -4.38977713e-01 1.96712688e+02] [ 5.49609995e-01 6.50297245e-01 -5.24444798e-01 1.08369318e+02] [ 6.83838751e-01 1.04087317e-02 7.29558922e-01 1.25382669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.73, Y:108.39, Z:125.40 [[ 4.80551098e-01 -7.59327089e-01 -4.38740259e-01 1.96725310e+02] [ 5.49124096e-01 6.50613496e-01 -5.24561537e-01 1.08385480e+02] [ 6.83764119e-01 1.11557744e-02 7.29617830e-01 1.25402192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.74, Y:108.40, Z:125.42 [[ 4.80632856e-01 -7.59396315e-01 -4.38530836e-01 1.96738442e+02] [ 5.49082090e-01 6.50528390e-01 -5.24711036e-01 1.08401177e+02] [ 6.83740386e-01 1.14039356e-02 7.29636234e-01 1.25421350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.75, Y:108.42, Z:125.44 [[ 4.80372000e-01 -7.59629908e-01 -4.38412072e-01 1.96751514e+02] [ 5.49160716e-01 6.50255309e-01 -5.24967180e-01 1.08417179e+02] [ 6.83860548e-01 1.14208467e-02 7.29523348e-01 1.25440507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.76, Y:108.46, Z:125.43 [[ 4.79958983e-01 -7.76776566e-01 -4.07746908e-01 1.96759608e+02] [ 5.58700529e-01 6.28980351e-01 -5.40589897e-01 1.08457374e+02] [ 6.76382358e-01 3.16525636e-02 7.35870248e-01 1.25433974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.78, Y:108.44, Z:125.48 [[ 4.78831756e-01 -7.53763300e-01 -4.50067814e-01 1.96779096e+02] [ 5.50316453e-01 6.57145193e-01 -5.15084457e-01 1.08441131e+02] [ 6.84011660e-01 -1.04092820e-03 7.29470332e-01 1.25483835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.79, Y:108.46, Z:125.50 [[ 4.78823612e-01 -7.60887936e-01 -4.37924077e-01 1.96791396e+02] [ 5.50544249e-01 6.48799339e-01 -5.25319377e-01 1.08464507e+02] [ 6.83834028e-01 1.04387390e-02 7.29562921e-01 1.25498027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.276875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:196.80, Y:108.48, Z:125.52 [[ 4.77728773e-01 -7.61721247e-01 -4.37671065e-01 1.96804657e+02] [ 5.51602039e-01 6.47834073e-01 -5.25400994e-01 1.08479536e+02] [ 6.83747329e-01 9.57892005e-03 7.29655970e-01 1.25515994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.81, Y:108.52, Z:125.51 [[ 4.75022020e-01 -7.82455777e-01 -4.02637600e-01 1.96813189e+02] [ 5.63181667e-01 6.21898149e-01 -5.44122323e-01 1.08522019e+02] [ 6.76151234e-01 3.17119702e-02 7.36080064e-01 1.25506610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.336875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:196.83, Y:108.53, Z:125.53 [[ 4.73294611e-01 -7.74752247e-01 -4.19226869e-01 1.96829035e+02] [ 5.63647524e-01 6.32077666e-01 -5.31769962e-01 1.08527070e+02] [ 6.76973913e-01 1.53876706e-02 7.35846139e-01 1.25532680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.85, Y:108.51, Z:125.58 [[ 4.70980909e-01 -7.56949852e-01 -4.52994377e-01 1.96847279e+02] [ 5.55242069e-01 6.53408521e-01 -5.14551794e-01 1.08514937e+02] [ 6.85480290e-01 -9.17746344e-03 7.28033341e-01 1.25579238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.86, Y:108.54, Z:125.59 [[ 4.67724781e-01 -7.67273615e-01 -4.38776399e-01 1.96861025e+02] [ 5.57062851e-01 6.41315545e-01 -5.27631834e-01 1.08538924e+02] [ 6.86232110e-01 2.36045244e-03 7.27378800e-01 1.25591341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.87, Y:108.55, Z:125.61 [[ 4.65962337e-01 -7.68255950e-01 -4.38932678e-01 1.96874538e+02] [ 5.57842949e-01 6.40141510e-01 -5.28232989e-01 1.08553632e+02] [ 6.86797164e-01 1.28117824e-03 7.26847999e-01 1.25609460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.89, Y:108.57, Z:125.63 [[ 4.62816121e-01 -7.70074606e-01 -4.39074412e-01 1.96889516e+02] [ 5.59772288e-01 6.37953014e-01 -5.28839237e-01 1.08568204e+02] [ 6.87354511e-01 -1.02636427e-03 7.26321363e-01 1.25627887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.486875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:196.90, Y:108.58, Z:125.65 [[ 4.61190314e-01 -7.71165997e-01 -4.38869571e-01 1.96903772e+02] [ 5.61127604e-01 6.36629991e-01 -5.28997227e-01 1.08583718e+02] [ 6.87342205e-01 -2.29343344e-03 7.26330114e-01 1.25646929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.91, Y:108.63, Z:125.63 [[ 4.59192144e-01 -7.93442291e-01 -3.99489556e-01 1.96911618e+02] [ 5.73663677e-01 6.08220280e-01 -5.48614689e-01 1.08630271e+02] [ 6.78271745e-01 2.27469080e-02 7.34458997e-01 1.25633199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.546875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:196.93, Y:108.63, Z:125.66 [[ 4.58291320e-01 -7.82351628e-01 -4.21776002e-01 1.96928878e+02] [ 5.72627131e-01 6.22830761e-01 -5.33085370e-01 1.08630481e+02] [ 6.79755276e-01 2.78801610e-03 7.33433700e-01 1.25664732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.95, Y:108.62, Z:125.71 [[ 4.55222014e-01 -7.66625417e-01 -4.52833732e-01 1.96947344e+02] [ 5.67043787e-01 6.41727487e-01 -5.16378907e-01 1.08618267e+02] [ 6.86465047e-01 -2.17095083e-02 7.26838659e-01 1.25711540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.96, Y:108.64, Z:125.72 [[ 4.54396849e-01 -7.75819381e-01 -4.37753118e-01 1.96959839e+02] [ 5.68168946e-01 6.30895944e-01 -5.28350600e-01 1.08642371e+02] [ 6.86081302e-01 -8.63687957e-03 7.27473609e-01 1.25723917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.97, Y:108.66, Z:125.74 [[ 4.53811903e-01 -7.76287074e-01 -4.37530726e-01 1.96973288e+02] [ 5.68699520e-01 6.30315354e-01 -5.28472714e-01 1.08657736e+02] [ 6.86028871e-01 -8.99630555e-03 7.27518697e-01 1.25743036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.99, Y:108.67, Z:125.76 [[ 4.53719197e-01 -7.76570248e-01 -4.37124171e-01 1.96986441e+02] [ 5.69181429e-01 6.29965373e-01 -5.28371205e-01 1.08673509e+02] [ 6.85690449e-01 -9.07080146e-03 7.27836746e-01 1.25761184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.99, Y:108.72, Z:125.75 [[ 4.55340197e-01 -7.96539011e-01 -3.97732209e-01 1.96994890e+02] [ 5.76551938e-01 6.04217872e-01 -5.50007841e-01 1.08721889e+02] [ 6.78419611e-01 2.11274028e-02 7.34370795e-01 1.25746762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.01, Y:108.69, Z:125.81 [[ 4.55754555e-01 -7.63003633e-01 -4.58381110e-01 1.97013234e+02] [ 5.67561124e-01 6.45812706e-01 -5.10686126e-01 1.08691951e+02] [ 6.85683715e-01 -2.74117694e-02 7.27383282e-01 1.25806923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.02, Y:108.72, Z:125.82 [[ 4.56908726e-01 -7.74946991e-01 -4.36682468e-01 1.97023558e+02] [ 5.66548645e-01 6.31999606e-01 -5.28771340e-01 1.08720461e+02] [ 6.85752907e-01 -5.80162124e-03 7.27811303e-01 1.25815191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.04, Y:108.74, Z:125.83 [[ 4.59610071e-01 -7.73343592e-01 -4.36690132e-01 1.97035436e+02] [ 5.63901432e-01 6.33979987e-01 -5.29230149e-01 1.08736226e+02] [ 6.86129549e-01 -3.01068435e-03 7.27473146e-01 1.25833988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.05, Y:108.75, Z:125.85 [[ 4.60929304e-01 -7.72771944e-01 -4.36311470e-01 1.97047865e+02] [ 5.63138702e-01 6.34681303e-01 -5.29201707e-01 1.08752358e+02] [ 6.85870964e-01 -1.77930072e-03 7.27721001e-01 1.25852306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.06, Y:108.77, Z:125.87 [[ 4.61792559e-01 -7.72389510e-01 -4.36075771e-01 1.97059743e+02] [ 5.62472668e-01 6.35148609e-01 -5.29349359e-01 1.08768280e+02] [ 6.85836811e-01 -8.31107332e-04 7.27754889e-01 1.25869859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.07, Y:108.78, Z:125.89 [[ 4.63368019e-01 -7.71591721e-01 -4.35816814e-01 1.97071130e+02] [ 5.61244637e-01 6.36117643e-01 -5.29489190e-01 1.08784055e+02] [ 6.85780240e-01 7.48507562e-04 7.27808287e-01 1.25887352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.08, Y:108.80, Z:125.91 [[ 4.63939139e-01 -7.71518265e-01 -4.35338997e-01 1.97082935e+02] [ 5.61267659e-01 6.36205947e-01 -5.29358676e-01 1.08799203e+02] [ 6.85375146e-01 1.24850852e-03 7.28189090e-01 1.25905123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.09, Y:108.81, Z:125.92 [[ 4.63958888e-01 -7.71743502e-01 -4.34918519e-01 1.97094785e+02] [ 5.61638674e-01 6.35932598e-01 -5.29293616e-01 1.08814638e+02] [ 6.85057772e-01 1.30341712e-03 7.28487578e-01 1.25923097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.11, Y:108.83, Z:125.94 [[ 4.63146650e-01 -7.72290030e-01 -4.34814086e-01 1.97107485e+02] [ 5.62092375e-01 6.35269497e-01 -5.29608184e-01 1.08830455e+02] [ 6.85235247e-01 8.80574070e-04 7.28321276e-01 1.25941961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.996875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:197.12, Y:108.87, Z:125.94 [[ 4.62941772e-01 -7.85764618e-01 -4.10193712e-01 1.97121166e+02] [ 5.67454011e-01 6.18233461e-01 -5.43859663e-01 1.08866661e+02] [ 6.80941159e-01 1.90092887e-02 7.32091378e-01 1.25944494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.14, Y:108.87, Z:125.97 [[ 4.61733783e-01 -7.76718259e-01 -4.28381442e-01 1.97135369e+02] [ 5.68089140e-01 6.29847020e-01 -5.29686190e-01 1.08871482e+02] [ 6.81231710e-01 1.21516341e-03 7.32066855e-01 1.25971395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.056875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:197.15, Y:108.89, Z:125.99 [[ 4.60060463e-01 -7.77074375e-01 -4.29534382e-01 1.97149500e+02] [ 5.68508794e-01 6.29408604e-01 -5.29757076e-01 1.08887386e+02] [ 6.82013285e-01 -4.73787508e-04 7.31339630e-01 1.25991953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.16, Y:108.88, Z:126.03 [[ 4.58628001e-01 -7.64399451e-01 -4.53159835e-01 1.97161071e+02] [ 5.65253296e-01 6.44433596e-01 -5.14969952e-01 1.08884060e+02] [ 6.85674171e-01 -1.99704511e-02 7.27634601e-01 1.26026219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.17, Y:108.91, Z:126.04 [[ 4.58215296e-01 -7.75614074e-01 -4.34121586e-01 1.97172155e+02] [ 5.65530099e-01 6.31203289e-01 -5.30808926e-01 1.08911568e+02] [ 6.85721846e-01 -2.28405487e-03 7.27860105e-01 1.26036520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.18, Y:108.93, Z:126.05 [[ 4.57711806e-01 -7.76017918e-01 -4.33930978e-01 1.97184903e+02] [ 5.65917032e-01 6.30705789e-01 -5.30987872e-01 1.08927722e+02] [ 6.85738883e-01 -2.52951367e-03 7.27843243e-01 1.26054861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.176875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:197.20, Y:108.94, Z:126.07 [[ 4.57187954e-01 -7.76452562e-01 -4.33705653e-01 1.97197357e+02] [ 5.66366016e-01 6.30169472e-01 -5.31145906e-01 1.08943735e+02] [ 6.85717662e-01 -2.80263286e-03 7.27862235e-01 1.26073720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.21, Y:108.96, Z:126.09 [[ 4.57436202e-01 -7.76602335e-01 -4.33175409e-01 1.97210447e+02] [ 5.66792671e-01 6.29985491e-01 -5.30908984e-01 1.08960162e+02] [ 6.85199379e-01 -2.66365770e-03 7.28350682e-01 1.26092886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.22, Y:108.98, Z:126.11 [[ 4.57450200e-01 -7.76778070e-01 -4.32845406e-01 1.97222546e+02] [ 5.67022713e-01 6.29769210e-01 -5.30919943e-01 1.08975599e+02] [ 6.84999677e-01 -2.56374240e-03 7.28538859e-01 1.26110912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.24, Y:108.99, Z:126.13 [[ 4.58179510e-01 -7.76640873e-01 -4.32319894e-01 1.97235050e+02] [ 5.67025959e-01 6.29940517e-01 -5.30713206e-01 1.08991821e+02] [ 6.84509385e-01 -1.97468570e-03 7.29001374e-01 1.26129680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.25, Y:109.01, Z:126.15 [[ 4.58578973e-01 -7.76586312e-01 -4.31994243e-01 1.97247591e+02] [ 5.66952700e-01 6.30008972e-01 -5.30710215e-01 1.09007772e+02] [ 6.84302537e-01 -1.54775682e-03 7.29196573e-01 1.26148761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.26, Y:109.02, Z:126.17 [[ 4.60101871e-01 -7.75995631e-01 -4.31436031e-01 1.97259363e+02] [ 5.66401016e-01 6.30738205e-01 -5.30433037e-01 1.09023431e+02] [ 6.83736907e-01 -3.12573117e-04 7.29728542e-01 1.26167340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.27, Y:109.04, Z:126.19 [[ 4.61089227e-01 -7.75665080e-01 -4.30976111e-01 1.97271878e+02] [ 5.66074419e-01 6.31144501e-01 -5.30298379e-01 1.09039471e+02] [ 6.83342137e-01 5.50318471e-04 7.30098090e-01 1.26186167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.28, Y:109.06, Z:126.21 [[ 4.61912960e-01 -7.75336167e-01 -4.30685785e-01 1.97284325e+02] [ 5.65581775e-01 6.31547235e-01 -5.30344554e-01 1.09055851e+02] [ 6.83193730e-01 1.38499148e-03 7.30235858e-01 1.26205224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.30, Y:109.07, Z:126.22 [[ 4.63718861e-01 -7.74384659e-01 -4.30456986e-01 1.97296922e+02] [ 5.64161615e-01 6.32707291e-01 -5.30474463e-01 1.09072061e+02] [ 6.83144560e-01 3.14370498e-03 7.30276405e-01 1.26223805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.31, Y:109.09, Z:126.24 [[ 4.64556484e-01 -7.74072064e-01 -4.30115930e-01 1.97309464e+02] [ 5.63743816e-01 6.33085130e-01 -5.30467839e-01 1.09088001e+02] [ 6.82920335e-01 3.95707842e-03 7.30482141e-01 1.26242192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.32, Y:109.10, Z:126.26 [[ 4.65195653e-01 -7.73772861e-01 -4.29963444e-01 1.97322595e+02] [ 5.63104827e-01 6.33445169e-01 -5.30716659e-01 1.09104611e+02] [ 6.83012414e-01 4.77259199e-03 7.30391172e-01 1.26260938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.34, Y:109.12, Z:126.28 [[ 4.66335926e-01 -7.73246360e-01 -4.29675310e-01 1.97336002e+02] [ 5.62343415e-01 6.34078357e-01 -5.30767859e-01 1.09120569e+02] [ 6.82862129e-01 5.89103984e-03 7.30523516e-01 1.26279942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.35, Y:109.14, Z:126.30 [[ 4.66494223e-01 -7.73222210e-01 -4.29546917e-01 1.97349254e+02] [ 5.62078902e-01 6.34104101e-01 -5.31017229e-01 1.09136141e+02] [ 6.82971777e-01 6.27720997e-03 7.30417790e-01 1.26298450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.56687500000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:197.36, Y:109.15, Z:126.32 [[ 4.66561492e-01 -7.73206461e-01 -4.29502203e-01 1.97361890e+02] [ 5.61708696e-01 6.34119281e-01 -5.31390703e-01 1.09151362e+02] [ 6.83230353e-01 6.67131722e-03 7.30172431e-01 1.26316394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.38, Y:109.17, Z:126.33 [[ 4.66795384e-01 -7.73146467e-01 -4.29356041e-01 1.97375072e+02] [ 5.61401786e-01 6.34187516e-01 -5.31633548e-01 1.09167340e+02] [ 6.83322840e-01 7.12283805e-03 7.30081613e-01 1.26334968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.39, Y:109.18, Z:126.35 [[ 4.67029065e-01 -7.72793663e-01 -4.29736904e-01 1.97388580e+02] [ 5.60092467e-01 6.34606842e-01 -5.32513460e-01 1.09182454e+02] [ 6.84237007e-01 8.00686060e-03 7.29215749e-01 1.26352463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.40, Y:109.20, Z:126.37 [[ 4.66956460e-01 -7.72844762e-01 -4.29723910e-01 1.97402251e+02] [ 5.59897246e-01 6.34542259e-01 -5.32795641e-01 1.09198437e+02] [ 6.84446301e-01 8.19113306e-03 7.29017261e-01 1.26371143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.42, Y:109.21, Z:126.39 [[ 4.67010263e-01 -7.72928372e-01 -4.29515012e-01 1.97415868e+02] [ 5.59888628e-01 6.34437643e-01 -5.32929265e-01 1.09213952e+02] [ 6.84416641e-01 8.40286551e-03 7.29042696e-01 1.26389569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.43, Y:109.23, Z:126.41 [[ 4.66425812e-01 -7.73400624e-01 -4.29299938e-01 1.97430623e+02] [ 5.60371538e-01 6.33866001e-01 -5.33101897e-01 1.09228571e+02] [ 6.84419974e-01 8.08501839e-03 7.29043162e-01 1.26408726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.44, Y:109.24, Z:126.43 [[ 4.66039962e-01 -7.73714527e-01 -4.29153335e-01 1.97444765e+02] [ 5.60598909e-01 6.33484339e-01 -5.33316469e-01 1.09243748e+02] [ 6.84496616e-01 7.96389546e-03 7.28972537e-01 1.26428060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.46, Y:109.26, Z:126.45 [[ 4.65529590e-01 -7.74101907e-01 -4.29008670e-01 1.97458558e+02] [ 5.60925272e-01 6.33013773e-01 -5.33532007e-01 1.09258570e+02] [ 6.84576540e-01 7.73313166e-03 7.28899965e-01 1.26446965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.47, Y:109.27, Z:126.47 [[ 4.64690732e-01 -7.74744984e-01 -4.28757197e-01 1.97473514e+02] [ 5.61682753e-01 6.32233282e-01 -5.33660532e-01 1.09272589e+02] [ 6.84525389e-01 7.16158067e-03 7.28953841e-01 1.26465258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.49, Y:109.29, Z:126.48 [[ 4.64292851e-01 -7.75100633e-01 -4.28545397e-01 1.97487340e+02] [ 5.62003963e-01 6.31798888e-01 -5.33836783e-01 1.09287409e+02] [ 6.84531734e-01 7.01239022e-03 7.28949334e-01 1.26483503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.50, Y:109.30, Z:126.50 [[ 4.63857164e-01 -7.75423086e-01 -4.28433857e-01 1.97500817e+02] [ 5.62162932e-01 6.31404185e-01 -5.34136306e-01 1.09301954e+02] [ 6.84696553e-01 6.91331933e-03 7.28795470e-01 1.26501510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.52, Y:109.32, Z:126.52 [[ 4.63690645e-01 -7.75615731e-01 -4.28265365e-01 1.97516479e+02] [ 5.62192683e-01 6.31166322e-01 -5.34386059e-01 1.09316684e+02] [ 6.84784909e-01 7.02216206e-03 7.28711409e-01 1.26520415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.53, Y:109.33, Z:126.54 [[ 4.63800484e-01 -7.75665442e-01 -4.28056345e-01 1.97530444e+02] [ 5.62130352e-01 6.31102187e-01 -5.34527358e-01 1.09331822e+02] [ 6.84761695e-01 7.29058356e-03 7.28730587e-01 1.26538845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.55, Y:109.35, Z:126.56 [[ 4.64004434e-01 -7.75644675e-01 -4.27872906e-01 1.97545572e+02] [ 5.61922404e-01 6.31123071e-01 -5.34721312e-01 1.09346125e+02] [ 6.84794200e-01 7.68168723e-03 7.28696024e-01 1.26558295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.56, Y:109.36, Z:126.58 [[ 4.64183845e-01 -7.75666055e-01 -4.27639485e-01 1.97559823e+02] [ 5.61845425e-01 6.31092892e-01 -5.34837807e-01 1.09361388e+02] [ 6.84735771e-01 7.99578141e-03 7.28747550e-01 1.26577754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.57, Y:109.38, Z:126.60 [[ 4.64275242e-01 -7.75776135e-01 -4.27340483e-01 1.97573707e+02] [ 5.61964971e-01 6.30955227e-01 -5.34874633e-01 1.09376450e+02] [ 6.84575687e-01 8.17866728e-03 7.28895904e-01 1.26597144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.59, Y:109.39, Z:126.62 [[ 4.64114747e-01 -7.76108787e-01 -4.26910591e-01 1.97587729e+02] [ 5.62546787e-01 6.30547976e-01 -5.34743267e-01 1.09391803e+02] [ 6.84206558e-01 8.02505486e-03 7.29244119e-01 1.26616617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.60, Y:109.41, Z:126.64 [[ 4.63091755e-01 -7.77070897e-01 -4.26270862e-01 1.97602403e+02] [ 5.64235612e-01 6.29374882e-01 -5.34345799e-01 1.09405536e+02] [ 6.83508742e-01 6.93393343e-03 7.29909391e-01 1.26635901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.62, Y:109.42, Z:126.66 [[ 4.62963387e-01 -7.77255199e-01 -4.26074239e-01 1.97615363e+02] [ 5.64341834e-01 6.29146489e-01 -5.34502562e-01 1.09422088e+02] [ 6.83508007e-01 7.00359914e-03 7.29909415e-01 1.26655253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.63, Y:109.44, Z:126.67 [[ 4.62309163e-01 -7.77879061e-01 -4.25645867e-01 1.97629243e+02] [ 5.65462889e-01 6.28382567e-01 -5.34216315e-01 1.09437367e+02] [ 6.83024128e-01 6.28615572e-03 7.30368760e-01 1.26674289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.64, Y:109.45, Z:126.69 [[ 4.61019929e-01 -7.78730245e-01 -4.25487756e-01 1.97643050e+02] [ 5.66428231e-01 6.27335915e-01 -5.34423716e-01 1.09452906e+02] [ 6.83095663e-01 5.37170632e-03 7.30309154e-01 1.26693736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.66, Y:109.47, Z:126.71 [[ 4.60228210e-01 -7.79399195e-01 -4.25119853e-01 1.97656678e+02] [ 5.67381501e-01 6.26509776e-01 -5.34381637e-01 1.09468131e+02] [ 6.82838361e-01 4.73236437e-03 7.30554158e-01 1.26712534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.67, Y:109.48, Z:126.73 [[ 4.58537284e-01 -7.80475930e-01 -4.24971626e-01 1.97670848e+02] [ 5.68629779e-01 6.25176089e-01 -5.34616716e-01 1.09482369e+02] [ 6.82937577e-01 3.49017544e-03 7.30468401e-01 1.26730919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.68, Y:109.50, Z:126.75 [[ 4.57238669e-01 -7.81228003e-01 -4.24988949e-01 1.97684328e+02] [ 5.69347904e-01 6.24240244e-01 -5.34945867e-01 1.09497698e+02] [ 6.83209897e-01 2.63136914e-03 7.30217305e-01 1.26749957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.70, Y:109.51, Z:126.77 [[ 4.54253358e-01 -7.82842721e-01 -4.25218957e-01 1.97698314e+02] [ 5.70906910e-01 6.22219388e-01 -5.35638249e-01 1.09512782e+02] [ 6.83899984e-01 5.55032439e-04 7.29575565e-01 1.26768894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.71, Y:109.53, Z:126.79 [[ 4.52423613e-01 -7.83835125e-01 -4.25341477e-01 1.97710809e+02] [ 5.71730791e-01 6.20968722e-01 -5.36210546e-01 1.09527823e+02] [ 6.84424413e-01 -5.86506077e-04 7.29083588e-01 1.26787020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.72, Y:109.54, Z:126.81 [[ 4.50840260e-01 -7.84758116e-01 -4.25320773e-01 1.97724060e+02] [ 5.72609833e-01 6.19800052e-01 -5.36624519e-01 1.09543985e+02] [ 6.84734284e-01 -1.61091929e-03 7.28791030e-01 1.26805828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.74, Y:109.56, Z:126.82 [[ 4.47854169e-01 -7.86477592e-01 -4.25299473e-01 1.97737205e+02] [ 5.74614356e-01 6.17606620e-01 -5.37010619e-01 1.09560075e+02] [ 6.85014588e-01 -3.88073844e-03 7.28519014e-01 1.26824422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.75, Y:109.58, Z:126.84 [[ 4.46503546e-01 -7.87339081e-01 -4.25125574e-01 1.97750075e+02] [ 5.75621245e-01 6.16501146e-01 -5.37202494e-01 1.09576376e+02] [ 6.85050922e-01 -4.84849377e-03 7.28479050e-01 1.26843493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.76, Y:109.59, Z:126.86 [[ 4.44964154e-01 -7.88242062e-01 -4.25066293e-01 1.97762270e+02] [ 5.76549920e-01 6.15337154e-01 -5.37541046e-01 1.09592404e+02] [ 6.85271546e-01 -5.88544077e-03 7.28263874e-01 1.26862213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.77, Y:109.61, Z:126.88 [[ 4.43627782e-01 -7.89004779e-01 -4.25048056e-01 1.97773830e+02] [ 5.77216768e-01 6.14350595e-01 -5.37953669e-01 1.09609136e+02] [ 6.85576542e-01 -6.69367197e-03 7.27969780e-01 1.26881581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.79, Y:109.63, Z:126.90 [[ 4.43319802e-01 -7.89338777e-01 -4.24749159e-01 1.97785987e+02] [ 5.77650590e-01 6.13919575e-01 -5.37980066e-01 1.09625595e+02] [ 6.85410351e-01 -6.85938566e-03 7.28124715e-01 1.26900513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.80, Y:109.64, Z:126.92 [[ 4.43081383e-01 -7.89567914e-01 -4.24572017e-01 1.97797558e+02] [ 5.77779107e-01 6.13624933e-01 -5.38178172e-01 1.09641765e+02] [ 6.85456192e-01 -6.85211188e-03 7.28081628e-01 1.26918986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.81, Y:109.66, Z:126.94 [[ 4.43019477e-01 -7.89653931e-01 -4.24476633e-01 1.97808876e+02] [ 5.77719764e-01 6.13515678e-01 -5.38366406e-01 1.09657517e+02] [ 6.85546218e-01 -6.72173666e-03 7.27998078e-01 1.26937263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.82, Y:109.68, Z:126.96 [[ 4.43753774e-01 -7.89329589e-01 -4.24312841e-01 1.97820263e+02] [ 5.77054764e-01 6.13941847e-01 -5.38593732e-01 1.09675372e+02] [ 6.85631379e-01 -5.84874532e-03 7.27925412e-01 1.26956262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.83, Y:109.69, Z:126.97 [[ 4.43992167e-01 -7.89299486e-01 -4.24119413e-01 1.97832134e+02] [ 5.76854299e-01 6.13984218e-01 -5.38760148e-01 1.09692796e+02] [ 6.85645735e-01 -5.44982042e-03 7.27914986e-01 1.26974816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.84, Y:109.71, Z:126.99 [[ 4.45084761e-01 -7.88686203e-01 -4.24115112e-01 1.97843401e+02] [ 5.75623494e-01 6.14781915e-01 -5.39166756e-01 1.09710708e+02] [ 6.85971682e-01 -4.15571602e-03 7.27616369e-01 1.26993746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.85, Y:109.73, Z:127.01 [[ 4.45853801e-01 -7.88397766e-01 -4.23843545e-01 1.97854774e+02] [ 5.75150796e-01 6.15156679e-01 -5.39243750e-01 1.09727030e+02] [ 6.85868755e-01 -3.35007638e-03 7.27717546e-01 1.27011730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.87, Y:109.74, Z:127.03 [[ 4.46393225e-01 -7.88066265e-01 -4.23892264e-01 1.97866788e+02] [ 5.74344064e-01 6.15585013e-01 -5.39614667e-01 1.09743814e+02] [ 6.86193840e-01 -2.57967464e-03 7.27414160e-01 1.27031373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.88, Y:109.76, Z:127.05 [[ 4.47877987e-01 -7.87308147e-01 -4.23734811e-01 1.97877677e+02] [ 5.73101080e-01 6.16558790e-01 -5.39824425e-01 1.09760935e+02] [ 6.86265591e-01 -1.06740118e-03 7.27350259e-01 1.27051243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.89, Y:109.78, Z:127.07 [[ 4.48354578e-01 -7.87163834e-01 -4.23498844e-01 1.97888842e+02] [ 5.72784624e-01 6.16743758e-01 -5.39948990e-01 1.09777170e+02] [ 6.86218585e-01 -4.85024582e-04 7.27395228e-01 1.27069292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.90, Y:109.79, Z:127.09 [[ 4.48979537e-01 -7.86884306e-01 -4.23356191e-01 1.97900525e+02] [ 5.72149088e-01 6.17100465e-01 -5.40215176e-01 1.09794219e+02] [ 6.86340147e-01 3.22701209e-04 7.27280619e-01 1.27087774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.91, Y:109.81, Z:127.11 [[ 4.49444873e-01 -7.86576511e-01 -4.23434409e-01 1.97911729e+02] [ 5.71240217e-01 6.17491766e-01 -5.40729631e-01 1.09810700e+02] [ 6.86792488e-01 1.14539648e-03 7.26852645e-01 1.27105895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.92, Y:109.83, Z:127.12 [[ 4.50424928e-01 -7.86115429e-01 -4.23249237e-01 1.97922588e+02] [ 5.70419002e-01 6.18075732e-01 -5.40929341e-01 1.09828609e+02] [ 6.86832983e-01 2.21865229e-03 7.26811896e-01 1.27123811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.93, Y:109.85, Z:127.14 [[ 4.50835343e-01 -7.85955956e-01 -4.23108413e-01 1.97934606e+02] [ 5.70086565e-01 6.18276522e-01 -5.41050321e-01 1.09845634e+02] [ 6.86839720e-01 2.71618544e-03 7.26803839e-01 1.27143268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.95, Y:109.86, Z:127.16 [[ 4.51282166e-01 -7.85855857e-01 -4.22817903e-01 1.97946433e+02] [ 5.69905151e-01 6.18401318e-01 -5.41098817e-01 1.09862593e+02] [ 6.86696823e-01 3.22214486e-03 7.26936786e-01 1.27162592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.96, Y:109.88, Z:127.18 [[ 4.52574177e-01 -7.85426957e-01 -4.22233477e-01 1.97957195e+02] [ 5.69626540e-01 6.18939929e-01 -5.40776265e-01 1.09878726e+02] [ 6.86077415e-01 4.22597843e-03 7.27516269e-01 1.27181067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.97, Y:109.90, Z:127.20 [[ 4.52696622e-01 -7.85510895e-01 -4.21945970e-01 1.97969271e+02] [ 5.69668561e-01 6.18831653e-01 -5.40855911e-01 1.09895386e+02] [ 6.85961733e-01 4.47429004e-03 7.27623860e-01 1.27200385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.98, Y:109.91, Z:127.22 [[ 4.52939462e-01 -7.85509372e-01 -4.21688120e-01 1.97980584e+02] [ 5.69590766e-01 6.18830969e-01 -5.40938621e-01 1.09912260e+02] [ 6.85866024e-01 4.82278907e-03 7.27711851e-01 1.27219153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.99, Y:109.93, Z:127.24 [[ 4.52767568e-01 -7.85777713e-01 -4.21372656e-01 1.97991860e+02] [ 5.69948778e-01 6.18490654e-01 -5.40950738e-01 1.09928592e+02] [ 6.85682084e-01 4.76411917e-03 7.27885557e-01 1.27237281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.00, Y:109.95, Z:127.26 [[ 4.52682877e-01 -7.86023025e-01 -4.21005959e-01 1.98003902e+02] [ 5.70316838e-01 6.18178910e-01 -5.40919162e-01 1.09945620e+02] [ 6.85431920e-01 4.75805528e-03 7.28121174e-01 1.27255842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.02, Y:109.96, Z:127.27 [[ 4.52120685e-01 -7.86639163e-01 -4.20458931e-01 1.98015506e+02] [ 5.71428367e-01 6.17398923e-01 -5.40636839e-01 1.09962416e+02] [ 6.84877002e-01 4.17093714e-03 7.28646756e-01 1.27274113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.03, Y:109.98, Z:127.29 [[ 4.51433213e-01 -7.87208902e-01 -4.20131169e-01 1.98027966e+02] [ 5.72187452e-01 6.16675456e-01 -5.40659692e-01 1.09978976e+02] [ 6.84696702e-01 3.67795927e-03 7.28818838e-01 1.27292801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.04, Y:109.99, Z:127.31 [[ 4.50483393e-01 -7.87797705e-01 -4.20047008e-01 1.98040055e+02] [ 5.72708345e-01 6.15926114e-01 -5.40962266e-01 1.09994892e+02] [ 6.84886753e-01 3.13009048e-03 7.28642806e-01 1.27311741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.05, Y:110.01, Z:127.33 [[ 4.49285431e-01 -7.88720700e-01 -4.19597734e-01 1.98051889e+02] [ 5.74110243e-01 6.14748166e-01 -5.40816162e-01 1.10010675e+02] [ 6.84499840e-01 2.08546496e-03 7.29010028e-01 1.27329910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.06, Y:110.03, Z:127.35 [[ 4.48455507e-01 -7.89335327e-01 -4.19329703e-01 1.98064504e+02] [ 5.74873536e-01 6.13960477e-01 -5.40900130e-01 1.10026992e+02] [ 6.84403446e-01 1.50809264e-03 7.29101947e-01 1.27348443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.08, Y:110.04, Z:127.37 [[ 4.47260219e-01 -7.90127113e-01 -4.19115070e-01 1.98077167e+02] [ 5.75836423e-01 6.12942686e-01 -5.41030201e-01 1.10043774e+02] [ 6.84376147e-01 6.39563742e-04 7.29128851e-01 1.27367836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.09, Y:110.06, Z:127.39 [[ 4.44977707e-01 -7.91552797e-01 -4.18854402e-01 1.98089700e+02] [ 5.77721118e-01 6.11099606e-01 -5.41105888e-01 1.10060369e+02] [ 6.84275639e-01 -1.20097609e-03 7.29222468e-01 1.27387092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.10, Y:110.08, Z:127.41 [[ 4.44129237e-01 -7.92331371e-01 -4.18282464e-01 1.98102304e+02] [ 5.79090195e-01 6.10087548e-01 -5.40784365e-01 1.10077582e+02] [ 6.83669340e-01 -2.04512627e-03 7.29789046e-01 1.27405777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.11, Y:110.09, Z:127.42 [[ 4.43347059e-01 -7.93031831e-01 -4.17784515e-01 1.98114729e+02] [ 5.80264677e-01 6.09173893e-01 -5.40555337e-01 1.10093997e+02] [ 6.83181008e-01 -2.77197797e-03 7.30243813e-01 1.27424928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.13, Y:110.11, Z:127.44 [[ 4.42327349e-01 -7.93854622e-01 -4.17302474e-01 1.98126696e+02] [ 5.81590833e-01 6.08096389e-01 -5.40343303e-01 1.10110110e+02] [ 6.82714156e-01 -3.69067250e-03 7.30676235e-01 1.27443365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.14, Y:110.13, Z:127.46 [[ 4.41099180e-01 -7.94872121e-01 -4.16665123e-01 1.98139146e+02] [ 5.83350793e-01 6.06757284e-01 -5.39951341e-01 1.10126802e+02] [ 6.82006866e-01 -4.88983584e-03 7.31329423e-01 1.27462473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.15, Y:110.14, Z:127.48 [[ 4.40406999e-01 -7.95374961e-01 -4.16437687e-01 1.98150826e+02] [ 5.83914395e-01 6.06094479e-01 -5.40086533e-01 1.10142730e+02] [ 6.81971888e-01 -5.30607100e-03 7.31359139e-01 1.27480359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.16, Y:110.16, Z:127.50 [[ 4.39844605e-01 -7.95810144e-01 -4.16200599e-01 1.98162547e+02] [ 5.84374769e-01 6.05520330e-01 -5.40232599e-01 1.10158827e+02] [ 6.81940506e-01 -5.59873455e-03 7.31386219e-01 1.27498324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.17, Y:110.18, Z:127.52 [[ 4.39505104e-01 -7.96006766e-01 -4.16183243e-01 1.98174741e+02] [ 5.84244116e-01 6.05262474e-01 -5.40662696e-01 1.10176150e+02] [ 6.82271264e-01 -5.52859622e-03 7.31078216e-01 1.27516847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.19, Y:110.19, Z:127.54 [[ 4.39226796e-01 -7.96159878e-01 -4.16184177e-01 1.98187018e+02] [ 5.84073118e-01 6.05061961e-01 -5.41071730e-01 1.10193164e+02] [ 6.82596817e-01 -5.42878789e-03 7.30775009e-01 1.27535547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.20, Y:110.21, Z:127.55 [[ 4.39338463e-01 -7.96188228e-01 -4.16012043e-01 1.98199082e+02] [ 5.83926245e-01 6.05027346e-01 -5.41268927e-01 1.10210050e+02] [ 6.82650610e-01 -5.12009180e-03 7.30726987e-01 1.27553424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.21, Y:110.23, Z:127.57 [[ 4.38731745e-01 -7.99280900e-01 -4.10687837e-01 1.98210401e+02] [ 5.81946766e-01 6.00956019e-01 -5.47895816e-01 1.10231362e+02] [ 6.84727988e-01 1.38082914e-03 7.28797417e-01 1.27568833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.22, Y:110.24, Z:127.59 [[ 4.39417612e-01 -7.93456970e-01 -4.21115422e-01 1.98224200e+02] [ 5.83244276e-01 6.08556967e-01 -5.38037668e-01 1.10241095e+02] [ 6.83182462e-01 -9.18993183e-03 7.30189886e-01 1.27593419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.24, Y:110.26, Z:127.61 [[ 4.39607088e-01 -7.96117912e-01 -4.15862811e-01 1.98235865e+02] [ 5.82959904e-01 6.05127791e-01 -5.42197479e-01 1.10260491e+02] [ 6.83303270e-01 -4.07748920e-03 7.30123288e-01 1.27610481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.666875 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:198.25, Y:110.28, Z:127.63 [[ 4.39831765e-01 -7.96145638e-01 -4.15572066e-01 1.98247537e+02] [ 5.82948253e-01 6.05093377e-01 -5.42248411e-01 1.10276295e+02] [ 6.83168612e-01 -3.75893408e-03 7.30250997e-01 1.27628799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.26, Y:110.29, Z:127.65 [[ 4.40002331e-01 -7.96287132e-01 -4.15120165e-01 1.98260133e+02] [ 5.83267262e-01 6.04908155e-01 -5.42112004e-01 1.10293384e+02] [ 6.82786386e-01 -3.59545686e-03 7.30609214e-01 1.27647900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.27, Y:110.31, Z:127.67 [[ 4.40001926e-01 -7.96435142e-01 -4.14836558e-01 1.98272161e+02] [ 5.83413738e-01 6.04714030e-01 -5.42170962e-01 1.10309456e+02] [ 6.82661494e-01 -3.46507922e-03 7.30726541e-01 1.27665960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.28, Y:110.33, Z:127.68 [[ 4.40764090e-01 -7.96340820e-01 -4.14208057e-01 1.98284989e+02] [ 5.83625542e-01 6.04841036e-01 -5.41801207e-01 1.10325418e+02] [ 6.81988448e-01 -2.93588587e-03 7.31357052e-01 1.27684771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.30, Y:110.34, Z:127.70 [[ 4.40877350e-01 -7.96499912e-01 -4.13781407e-01 1.98297126e+02] [ 5.83975394e-01 6.04632004e-01 -5.41657528e-01 1.10341394e+02] [ 6.81615655e-01 -2.83362432e-03 7.31704906e-01 1.27702705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.81687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.31, Y:110.36, Z:127.72 [[ 4.41007932e-01 -7.96511961e-01 -4.13619027e-01 1.98309702e+02] [ 5.83781974e-01 6.04617648e-01 -5.41882004e-01 1.10357962e+02] [ 6.81696861e-01 -2.48907052e-03 7.31630504e-01 1.27721908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.32, Y:110.37, Z:127.74 [[ 4.41884095e-01 -7.96216692e-01 -4.13252255e-01 1.98323057e+02] [ 5.83435771e-01 6.05009206e-01 -5.41817831e-01 1.10374660e+02] [ 6.81425820e-01 -1.68546638e-03 7.31885245e-01 1.27740596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.34, Y:110.39, Z:127.76 [[ 4.41983073e-01 -7.96310916e-01 -4.12964755e-01 1.98335552e+02] [ 5.83523379e-01 6.04885718e-01 -5.41861360e-01 1.10390871e+02] [ 6.81286598e-01 -1.48104000e-03 7.32015285e-01 1.27758623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.35, Y:110.41, Z:127.78 [[ 4.42410606e-01 -7.96134686e-01 -4.12846723e-01 1.98349402e+02] [ 5.83013735e-01 6.05118874e-01 -5.42149549e-01 1.10406814e+02] [ 6.81445405e-01 -8.42598926e-04 7.31868465e-01 1.27777271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.36, Y:110.42, Z:127.80 [[ 4.42186449e-01 -7.96255012e-01 -4.12854817e-01 1.98362573e+02] [ 5.82762105e-01 6.04960751e-01 -5.42596368e-01 1.10422211e+02] [ 6.81806038e-01 -6.67381136e-04 7.31532693e-01 1.27795542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.38, Y:110.44, Z:127.81 [[ 4.41829301e-01 -7.96461311e-01 -4.12839253e-01 1.98376350e+02] [ 5.82634646e-01 6.04689188e-01 -5.43035777e-01 1.10438227e+02] [ 6.82146420e-01 -6.05333659e-04 7.31215355e-01 1.27814608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.39, Y:110.45, Z:127.83 [[ 4.41338265e-01 -7.96659876e-01 -4.12981328e-01 1.98389943e+02] [ 5.82338288e-01 6.04427600e-01 -5.43644548e-01 1.10454322e+02] [ 6.82717112e-01 -5.63697845e-04 7.30682576e-01 1.27833927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.40, Y:110.47, Z:127.85 [[ 4.41914100e-01 -7.96272051e-01 -4.13113482e-01 1.98403767e+02] [ 5.81246842e-01 6.04938568e-01 -5.44243915e-01 1.10470080e+02] [ 6.83274496e-01 3.88153048e-04 7.30161497e-01 1.27851657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.42, Y:110.49, Z:127.87 [[ 4.41781141e-01 -7.96457621e-01 -4.12897906e-01 1.98416320e+02] [ 5.81348000e-01 6.04694167e-01 -5.44407447e-01 1.10486946e+02] [ 6.83274415e-01 4.71571868e-04 7.30161524e-01 1.27871004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.43, Y:110.50, Z:127.89 [[ 4.42467246e-01 -7.96126204e-01 -4.12802379e-01 1.98429311e+02] [ 5.80769116e-01 6.05129433e-01 -5.44541645e-01 1.10503420e+02] [ 6.83322742e-01 1.19896930e-03 7.30115465e-01 1.27889201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.44, Y:110.52, Z:127.91 [[ 4.43173289e-01 -7.95783590e-01 -4.12705601e-01 1.98441954e+02] [ 5.80013933e-01 6.05577510e-01 -5.44848343e-01 1.10519503e+02] [ 6.83506601e-01 2.08723288e-03 7.29941347e-01 1.27907716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.46, Y:110.54, Z:127.93 [[ 4.45774105e-01 -7.94498866e-01 -4.12379679e-01 1.98455191e+02] [ 5.78237027e-01 6.07249415e-01 -5.44876215e-01 1.10535961e+02] [ 6.83320853e-01 4.43850718e-03 7.30104726e-01 1.27926425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.47, Y:110.55, Z:127.95 [[ 4.46408729e-01 -7.94232320e-01 -4.12206585e-01 1.98467776e+02] [ 5.77693927e-01 6.07591997e-01 -5.45070355e-01 1.10552150e+02] [ 6.83365915e-01 5.19492388e-03 7.30057559e-01 1.27945288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.48, Y:110.57, Z:127.96 [[ 4.47009662e-01 -7.94046404e-01 -4.11913425e-01 1.98480932e+02] [ 5.77406200e-01 6.07829201e-01 -5.45110761e-01 1.10568316e+02] [ 6.83216248e-01 5.82841138e-03 7.30192843e-01 1.27964775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.49, Y:110.58, Z:127.98 [[ 4.48385840e-01 -7.93599801e-01 -4.11277880e-01 1.98493952e+02] [ 5.77194838e-01 6.08401579e-01 -5.44695913e-01 1.10583552e+02] [ 6.82492680e-01 6.84646559e-03 7.30860361e-01 1.27983132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.51, Y:110.60, Z:128.00 [[ 4.48715270e-01 -7.93547488e-01 -4.11019454e-01 1.98506584e+02] [ 5.77026697e-01 6.08464628e-01 -5.44803622e-01 1.10600271e+02] [ 6.82418345e-01 7.29250669e-03 7.30925456e-01 1.28002195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.52, Y:110.62, Z:128.02 [[ 4.49886893e-01 -7.93112674e-01 -4.10577727e-01 1.98519171e+02] [ 5.76596315e-01 6.09018538e-01 -5.44640348e-01 1.10616719e+02] [ 6.82010610e-01 8.28894952e-03 7.31295303e-01 1.28020994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.53, Y:110.66, Z:128.01 [[ 4.50278312e-01 -8.08988298e-01 -3.77872168e-01 1.98527461e+02] [ 5.86843888e-01 5.87092528e-01 -5.57616907e-01 1.10659514e+02] [ 6.72951479e-01 2.93308278e-02 7.39104870e-01 1.28013523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.55, Y:110.64, Z:128.07 [[ 4.50414889e-01 -7.84376594e-01 -4.26473664e-01 1.98545715e+02] [ 5.75451892e-01 6.20262030e-01 -5.33038586e-01 1.10639625e+02] [ 6.82628411e-01 -5.32656089e-03 7.30746249e-01 1.28065731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.56, Y:110.67, Z:128.08 [[ 4.51279593e-01 -7.92163573e-01 -4.10881493e-01 1.98556433e+02] [ 5.74154782e-01 6.10219668e-01 -5.45873835e-01 1.10665837e+02] [ 6.83149336e-01 1.04321478e-02 7.30204187e-01 1.28077305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.57, Y:110.68, Z:128.10 [[ 4.51568796e-01 -7.92091207e-01 -4.10703229e-01 1.98568833e+02] [ 5.73889009e-01 6.10305704e-01 -5.46057097e-01 1.10682753e+02] [ 6.83181549e-01 1.08842770e-02 7.30167449e-01 1.28096335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.58, Y:110.70, Z:128.12 [[ 4.51442595e-01 -7.92343616e-01 -4.10354941e-01 1.98580853e+02] [ 5.74277638e-01 6.09978828e-01 -5.46013758e-01 1.10699576e+02] [ 6.82938342e-01 1.08362019e-02 7.30395645e-01 1.28115243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.59, Y:110.72, Z:128.13 [[ 4.51388288e-01 -7.92527019e-01 -4.10060408e-01 1.98592402e+02] [ 5.74490000e-01 6.09739229e-01 -5.46057975e-01 1.10716012e+02] [ 6.82795616e-01 1.09085704e-02 7.30527994e-01 1.28133570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.60, Y:110.73, Z:128.15 [[ 4.51275144e-01 -7.92733185e-01 -4.09786336e-01 1.98604667e+02] [ 5.74687358e-01 6.09470148e-01 -5.46150693e-01 1.10732750e+02] [ 6.82704317e-01 1.09652065e-02 7.30612469e-01 1.28152319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.62, Y:110.75, Z:128.17 [[ 4.50421992e-01 -7.93221135e-01 -4.09780747e-01 1.98616636e+02] [ 5.74949328e-01 6.08841650e-01 -5.46575809e-01 1.10748961e+02] [ 6.83047070e-01 1.05865989e-02 7.30297627e-01 1.28170904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.56687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.63, Y:110.77, Z:128.19 [[ 4.49700077e-01 -7.93629634e-01 -4.09782680e-01 1.98629241e+02] [ 5.75072533e-01 6.08313201e-01 -5.47034397e-01 1.10765544e+02] [ 6.83418922e-01 1.03466469e-02 7.29953097e-01 1.28190305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.64, Y:110.78, Z:128.21 [[ 4.48082878e-01 -7.94640088e-01 -4.09595978e-01 1.98641191e+02] [ 5.76274434e-01 6.07011746e-01 -5.47215238e-01 1.10781928e+02] [ 6.83468735e-01 9.15808869e-03 7.29922337e-01 1.28208345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.65, Y:110.80, Z:128.23 [[ 4.47182549e-01 -7.95274636e-01 -4.09348288e-01 1.98653450e+02] [ 5.77024889e-01 6.06188965e-01 -5.47336474e-01 1.10798431e+02] [ 6.83425230e-01 8.55516901e-03 7.29970386e-01 1.28227436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.66, Y:110.84, Z:128.22 [[ 4.45389710e-01 -8.11898389e-01 -3.77424180e-01 1.98660130e+02] [ 5.87101297e-01 5.83102275e-01 -5.61519194e-01 1.10840636e+02] [ 6.75973427e-01 2.85086455e-02 7.36374350e-01 1.28220243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.68, Y:110.82, Z:128.27 [[ 4.43580229e-01 -7.90184294e-01 -4.22901125e-01 1.98679879e+02] [ 5.80178066e-01 6.12824934e-01 -5.36506302e-01 1.10822042e+02] [ 6.83103208e-01 -7.37436868e-03 7.30284620e-01 1.28272582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.69, Y:110.85, Z:128.29 [[ 4.42353704e-01 -7.98412900e-01 -4.08485057e-01 1.98690981e+02] [ 5.81579028e-01 6.02094121e-01 -5.47036108e-01 1.10847226e+02] [ 6.82707136e-01 4.41710600e-03 7.30678763e-01 1.28285441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.70, Y:110.86, Z:128.30 [[ 4.40687683e-01 -7.99486418e-01 -4.08186028e-01 1.98703155e+02] [ 5.83019618e-01 6.00676152e-01 -5.47061500e-01 1.10862945e+02] [ 6.82555852e-01 3.10280317e-03 7.30826848e-01 1.28303991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.71, Y:110.91, Z:128.29 [[ 4.35741104e-01 -8.19529642e-01 -3.72157032e-01 1.98708539e+02] [ 5.96333473e-01 5.72565654e-01 -5.62632172e-01 1.10907804e+02] [ 6.74178077e-01 2.32322685e-02 7.38203348e-01 1.28292429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.73, Y:110.89, Z:128.35 [[ 4.35412239e-01 -7.96101412e-01 -4.20284099e-01 1.98730013e+02] [ 5.87570430e-01 6.05023737e-01 -5.37314868e-01 1.10887599e+02] [ 6.82038981e-01 -1.29930397e-02 7.31200389e-01 1.28347245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.74, Y:110.91, Z:128.36 [[ 4.33495603e-01 -8.03741426e-01 -4.07530714e-01 1.98741112e+02] [ 5.88800193e-01 5.94972228e-01 -5.47103629e-01 1.10911416e+02] [ 6.82199308e-01 -2.78714587e-03 7.31160951e-01 1.28360559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.75, Y:110.93, Z:128.38 [[ 4.30000185e-01 -8.05674785e-01 -4.07416226e-01 1.98753748e+02] [ 5.91193596e-01 5.92332718e-01 -5.47386594e-01 1.10926644e+02] [ 6.82341537e-01 -5.48552701e-03 7.31012952e-01 1.28378803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.77, Y:110.94, Z:128.40 [[ 4.28690210e-01 -8.06502507e-01 -4.07158949e-01 1.98766197e+02] [ 5.92224412e-01 5.91195803e-01 -5.47501387e-01 1.10942667e+02] [ 6.82271903e-01 -6.42098459e-03 7.31070326e-01 1.28397551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.78, Y:110.96, Z:128.42 [[ 4.27612554e-01 -8.07211082e-01 -4.06887912e-01 1.98778161e+02] [ 5.93139236e-01 5.90219021e-01 -5.47564931e-01 1.10958719e+02] [ 6.82153466e-01 -7.19554725e-03 7.31173627e-01 1.28415966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.79, Y:110.98, Z:128.43 [[ 4.27346416e-01 -8.07537715e-01 -4.06519225e-01 1.98790221e+02] [ 5.93626530e-01 5.89770267e-01 -5.47520388e-01 1.10975705e+02] [ 6.81896315e-01 -7.33972221e-03 7.31412021e-01 1.28434534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.80, Y:110.99, Z:128.45 [[ 4.27975033e-01 -8.07314148e-01 -4.06301904e-01 1.98801573e+02] [ 5.93181492e-01 5.90084727e-01 -5.47663886e-01 1.10992327e+02] [ 6.81889352e-01 -6.62429989e-03 7.31425342e-01 1.28453339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.81, Y:111.01, Z:128.47 [[ 4.28997107e-01 -8.06817178e-01 -4.06211182e-01 1.98813049e+02] [ 5.92312448e-01 5.90774897e-01 -5.47860370e-01 1.11009852e+02] [ 6.82002527e-01 -5.57342567e-03 7.31328579e-01 1.28472362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.82, Y:111.03, Z:128.49 [[ 4.30558453e-01 -8.06130256e-01 -4.05922934e-01 1.98824014e+02] [ 5.91329853e-01 5.91723697e-01 -5.47897866e-01 1.11026968e+02] [ 6.81871266e-01 -4.13229087e-03 7.31460526e-01 1.28490387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.84, Y:111.04, Z:128.51 [[ 4.32220885e-01 -8.05263613e-01 -4.05876360e-01 1.98835054e+02] [ 5.89907378e-01 5.92911645e-01 -5.48146939e-01 1.11043971e+02] [ 6.82051605e-01 -2.50890387e-03 7.31299743e-01 1.28508651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.85, Y:111.06, Z:128.53 [[ 4.35368346e-01 -8.03514917e-01 -4.05978054e-01 1.98845996e+02] [ 5.86943548e-01 5.95284291e-01 -5.48756672e-01 1.11062418e+02] [ 6.82606530e-01 6.25084928e-04 7.30785834e-01 1.28527422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.86, Y:111.08, Z:128.55 [[ 4.36502656e-01 -8.02917296e-01 -4.05942418e-01 1.98857664e+02] [ 5.85775821e-01 5.96087393e-01 -5.49132504e-01 1.11080140e+02] [ 6.82885143e-01 1.90654335e-03 7.30523269e-01 1.28546123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.87, Y:111.10, Z:128.57 [[ 4.37836232e-01 -8.02004206e-01 -4.06311072e-01 1.98868875e+02] [ 5.83658500e-01 5.97306989e-01 -5.50061011e-01 1.11097522e+02] [ 6.83843688e-01 3.68972968e-03 7.29619214e-01 1.28565014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.88, Y:111.14, Z:128.56 [[ 4.38173558e-01 -8.16152823e-01 -3.76694177e-01 1.98876785e+02] [ 5.90508569e-01 5.77309819e-01 -5.63926416e-01 1.11138540e+02] [ 6.77719384e-01 2.46565045e-02 7.34907133e-01 1.28560886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.89, Y:111.15, Z:128.59 [[ 4.37994945e-01 -8.09352003e-01 -3.91292426e-01 1.98890775e+02] [ 5.90658936e-01 5.87215445e-01 -5.53443803e-01 1.11147577e+02] [ 6.77703807e-01 1.12852203e-02 7.35248389e-01 1.28586098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.91, Y:111.14, Z:128.63 [[ 4.37260812e-01 -7.92910719e-01 -4.24376689e-01 1.98905912e+02] [ 5.83229489e-01 6.09208335e-01 -5.37316078e-01 1.11137357e+02] [ 6.84577494e-01 -1.25617350e-02 7.28831845e-01 1.28630602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.92, Y:111.17, Z:128.64 [[ 4.36014399e-01 -8.03154251e-01 -4.05998390e-01 1.98915438e+02] [ 5.84623962e-01 5.95764744e-01 -5.50707901e-01 1.11165875e+02] [ 6.84182919e-01 2.76018741e-03 7.29305227e-01 1.28640951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.31687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.93, Y:111.18, Z:128.66 [[ 4.34906262e-01 -8.03877083e-01 -4.05756305e-01 1.98926572e+02] [ 5.85502078e-01 5.94792139e-01 -5.50826314e-01 1.11181993e+02] [ 6.84137311e-01 1.98665344e-03 7.29350528e-01 1.28659528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.94, Y:111.20, Z:128.68 [[ 4.32234744e-01 -8.05486911e-01 -4.05418257e-01 1.98938303e+02] [ 5.87696327e-01 5.92613540e-01 -5.50837744e-01 1.11199686e+02] [ 6.83948941e-01 -1.71609511e-04 7.29529861e-01 1.28678076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.95, Y:111.22, Z:128.70 [[ 4.30306720e-01 -8.06564975e-01 -4.05325878e-01 1.98949764e+02] [ 5.88875219e-01 5.91143496e-01 -5.51158184e-01 1.11216363e+02] [ 6.84150644e-01 -1.51929455e-03 7.29339145e-01 1.28696381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.96, Y:111.23, Z:128.72 [[ 4.28533767e-01 -8.07586326e-01 -4.05170503e-01 1.98961619e+02] [ 5.90037762e-01 5.89742890e-01 -5.51415236e-01 1.11233493e+02] [ 6.84261828e-01 -2.76584835e-03 7.29231171e-01 1.28715375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.97, Y:111.25, Z:128.73 [[ 4.24967325e-01 -8.09350062e-01 -4.05407510e-01 1.98972817e+02] [ 5.91760626e-01 5.87303095e-01 -5.52172470e-01 1.11250771e+02] [ 6.84997908e-01 -5.24894477e-03 7.28526125e-01 1.28734843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.98, Y:111.27, Z:128.75 [[ 4.22964651e-01 -8.10360905e-01 -4.05482561e-01 1.98983817e+02] [ 5.92648572e-01 5.85894676e-01 -5.52716110e-01 1.11266881e+02] [ 6.85469601e-01 -6.52928386e-03 7.28071971e-01 1.28752978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.99, Y:111.28, Z:128.77 [[ 4.20854655e-01 -8.11413525e-01 -4.05572992e-01 1.98994919e+02] [ 5.93689096e-01 5.84417968e-01 -5.53162631e-01 1.11283197e+02] [ 6.85867783e-01 -7.98319478e-03 7.27682384e-01 1.28771493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.01, Y:111.30, Z:128.79 [[ 4.16964999e-01 -8.13145837e-01 -4.06120718e-01 1.99006311e+02] [ 5.94952964e-01 5.81965971e-01 -5.54388472e-01 1.11301207e+02] [ 6.87147117e-01 -1.04621362e-02 7.26442967e-01 1.28790041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.02, Y:111.32, Z:128.81 [[ 4.15337522e-01 -8.14063079e-01 -4.05950793e-01 1.99017772e+02] [ 5.96045350e-01 5.80660101e-01 -5.54584338e-01 1.11318284e+02] [ 6.87186062e-01 -1.16253974e-02 7.26388440e-01 1.28808960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.03, Y:111.34, Z:128.83 [[ 4.14238818e-01 -8.14832162e-01 -4.05530208e-01 1.99029076e+02] [ 5.97251319e-01 5.79561416e-01 -5.54436134e-01 1.11335172e+02] [ 6.86802055e-01 -1.25344829e-02 7.26736420e-01 1.28827897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.04, Y:111.35, Z:128.85 [[ 4.13481874e-01 -8.15429958e-01 -4.05100881e-01 1.99039979e+02] [ 5.98215119e-01 5.78706402e-01 -5.54290152e-01 1.11351375e+02] [ 6.86419268e-01 -1.31485411e-02 7.27087137e-01 1.28846794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.05, Y:111.37, Z:128.87 [[ 4.13196208e-01 -8.15935453e-01 -4.04373875e-01 1.99050221e+02] [ 5.99404151e-01 5.77983681e-01 -5.53759450e-01 1.11367902e+02] [ 6.85553468e-01 -1.35720742e-02 7.27895762e-01 1.28866830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.06, Y:111.38, Z:128.89 [[ 4.13388581e-01 -8.16113752e-01 -4.03817068e-01 1.99061064e+02] [ 5.99951626e-01 5.77733812e-01 -5.53427221e-01 1.11383996e+02] [ 6.84958340e-01 -1.34902126e-02 7.28457333e-01 1.28885606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.07, Y:111.40, Z:128.90 [[ 4.13835216e-01 -8.16110082e-01 -4.03366767e-01 1.99072247e+02] [ 6.00088665e-01 5.77748072e-01 -5.53263735e-01 1.11400808e+02] [ 6.84568483e-01 -1.30958069e-02 7.28830907e-01 1.28904973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.08, Y:111.42, Z:128.92 [[ 4.15360679e-01 -8.15628280e-01 -4.02772907e-01 1.99082613e+02] [ 5.99761945e-01 5.78453415e-01 -5.52880871e-01 1.11418530e+02] [ 6.83930637e-01 -1.19228885e-02 7.29449606e-01 1.28924557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.09, Y:111.44, Z:128.94 [[ 4.16289566e-01 -8.15405273e-01 -4.02265134e-01 1.99093739e+02] [ 5.99690627e-01 5.78782417e-01 -5.52613848e-01 1.11436326e+02] [ 6.83428232e-01 -1.11872511e-02 7.29931981e-01 1.28943651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.10, Y:111.45, Z:128.96 [[ 4.18680501e-01 -8.14546539e-01 -4.01522819e-01 1.99103816e+02] [ 5.99038121e-01 5.80021938e-01 -5.52021631e-01 1.11454403e+02] [ 6.82539353e-01 -9.40678213e-03 7.30788304e-01 1.28963266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.11, Y:111.47, Z:128.98 [[ 4.19813936e-01 -8.14104440e-01 -4.01235865e-01 1.99114556e+02] [ 5.98374944e-01 5.80658850e-01 -5.52071305e-01 1.11471811e+02] [ 6.82424857e-01 -8.32226067e-03 7.30908377e-01 1.28981888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.13, Y:111.49, Z:129.00 [[ 4.20707709e-01 -8.13743571e-01 -4.01031700e-01 1.99125434e+02] [ 5.97721344e-01 5.81177247e-01 -5.52233830e-01 1.11489239e+02] [ 6.82447228e-01 -7.37617752e-03 7.30897649e-01 1.29000428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.14, Y:111.51, Z:129.02 [[ 4.21472558e-01 -8.13352988e-01 -4.01020947e-01 1.99136474e+02] [ 5.96781183e-01 5.81735413e-01 -5.52662762e-01 1.11505981e+02] [ 6.82797995e-01 -6.38956732e-03 7.30579271e-01 1.29019438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.15, Y:111.52, Z:129.04 [[ 4.21257502e-01 -8.13569116e-01 -4.00808447e-01 1.99148669e+02] [ 5.96932909e-01 5.81433248e-01 -5.52816860e-01 1.11523087e+02] [ 6.82798081e-01 -6.37750225e-03 7.30579296e-01 1.29038855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.16, Y:111.54, Z:129.06 [[ 4.23411382e-01 -8.12529026e-01 -4.00648703e-01 1.99158830e+02] [ 5.95311636e-01 5.82904446e-01 -5.53015790e-01 1.11540037e+02] [ 6.82881292e-01 -4.35765520e-03 7.30516360e-01 1.29058231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.17, Y:111.56, Z:129.08 [[ 4.24645998e-01 -8.12091398e-01 -4.00229106e-01 1.99169874e+02] [ 5.94807275e-01 5.83521101e-01 -5.52908158e-01 1.11558023e+02] [ 6.82554087e-01 -3.26894725e-03 7.30827772e-01 1.29077370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.18, Y:111.58, Z:129.10 [[ 4.27506043e-01 -8.10962013e-01 -3.99473650e-01 1.99179220e+02] [ 5.93810758e-01 5.85097783e-01 -5.52312745e-01 1.11576982e+02] [ 6.81635802e-01 -1.09471439e-03 7.31690806e-01 1.29095950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.19, Y:111.59, Z:129.12 [[ 4.28649105e-01 -8.10470108e-01 -3.99246977e-01 1.99190235e+02] [ 5.93014697e-01 5.85779995e-01 -5.52444899e-01 1.11594831e+02] [ 6.81610969e-01 4.56866656e-05 7.31714756e-01 1.29115201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.06687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.20, Y:111.61, Z:129.13 [[ 4.29429715e-01 -8.10079861e-01 -3.99200123e-01 1.99201680e+02] [ 5.92126066e-01 5.86318660e-01 -5.52826510e-01 1.11612733e+02] [ 6.81892104e-01 1.02333243e-03 7.31452057e-01 1.29134248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.21, Y:111.63, Z:129.15 [[ 4.30079877e-01 -8.09765575e-01 -3.99137838e-01 1.99212854e+02] [ 5.91355523e-01 5.86750510e-01 -5.53192990e-01 1.11629983e+02] [ 6.82150970e-01 1.88480842e-03 7.31208932e-01 1.29152725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.22, Y:111.65, Z:129.17 [[ 4.30895156e-01 -8.09221873e-01 -3.99361147e-01 1.99223779e+02] [ 5.89902991e-01 5.87494919e-01 -5.53953231e-01 1.11648167e+02] [ 6.82893715e-01 3.11142859e-03 7.30511118e-01 1.29170911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.24, Y:111.67, Z:129.19 [[ 4.31095064e-01 -8.09103251e-01 -3.99385747e-01 1.99235287e+02] [ 5.89288222e-01 5.87655103e-01 -5.54437437e-01 1.11665422e+02] [ 6.83298205e-01 3.66192622e-03 7.30130230e-01 1.29189982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.25, Y:111.68, Z:129.21 [[ 4.31215185e-01 -8.09089579e-01 -3.99283756e-01 1.99246503e+02] [ 5.88982964e-01 5.87671429e-01 -5.54744410e-01 1.11682210e+02] [ 6.83485576e-01 4.04288317e-03 7.29952822e-01 1.29208093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.26, Y:111.70, Z:129.23 [[ 4.31656389e-01 -8.08964511e-01 -3.99060374e-01 1.99257677e+02] [ 5.88662906e-01 5.87839354e-01 -5.54906188e-01 1.11699504e+02] [ 6.83482805e-01 4.61676224e-03 7.29952013e-01 1.29226600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.27, Y:111.72, Z:129.24 [[ 4.32534749e-01 -8.08544372e-01 -3.98960761e-01 1.99268753e+02] [ 5.87814216e-01 5.88408281e-01 -5.55202794e-01 1.11717784e+02] [ 6.83657911e-01 5.62969417e-03 7.29780904e-01 1.29244795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.276875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:199.28, Y:111.73, Z:129.26 [[ 4.32680883e-01 -8.08486428e-01 -3.98919728e-01 1.99280597e+02] [ 5.87381563e-01 5.88483506e-01 -5.55580833e-01 1.11734921e+02] [ 6.83937243e-01 6.07111175e-03 7.29515585e-01 1.29263877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.29, Y:111.75, Z:129.28 [[ 4.32375832e-01 -8.08625420e-01 -3.98968758e-01 1.99292211e+02] [ 5.87093629e-01 5.88291084e-01 -5.56088726e-01 1.11751449e+02] [ 6.84377243e-01 6.20730984e-03 7.29101680e-01 1.29282701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.30, Y:111.77, Z:129.30 [[ 4.31782685e-01 -8.08972750e-01 -3.98907011e-01 1.99303967e+02] [ 5.87237501e-01 5.87815443e-01 -5.56439684e-01 1.11767620e+02] [ 6.84628243e-01 6.00786456e-03 7.28867666e-01 1.29301355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.32, Y:111.78, Z:129.32 [[ 4.30932904e-01 -8.09606212e-01 -3.98540606e-01 1.99315680e+02] [ 5.88151920e-01 5.86948901e-01 -5.56388629e-01 1.11784668e+02] [ 6.84378660e-01 5.36374486e-03 7.29107043e-01 1.29320494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.33, Y:111.80, Z:129.34 [[ 4.29344228e-01 -8.10798451e-01 -3.97830876e-01 1.99326803e+02] [ 5.90296734e-01 5.85313050e-01 -5.55840264e-01 1.11801021e+02] [ 6.83530029e-01 3.80854223e-03 7.29912457e-01 1.29338959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.34, Y:111.82, Z:129.36 [[ 4.28333149e-01 -8.11624497e-01 -3.97235936e-01 1.99338958e+02] [ 5.91766223e-01 5.84172495e-01 -5.55477482e-01 1.11817957e+02] [ 6.82893440e-01 2.85860980e-03 7.30512408e-01 1.29358457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.35, Y:111.83, Z:129.38 [[ 4.27111425e-01 -8.12480735e-01 -3.96800813e-01 1.99351045e+02] [ 5.93095088e-01 5.82985144e-01 -5.55307607e-01 1.11834520e+02] [ 6.82505712e-01 1.83761034e-03 7.30877949e-01 1.29377884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.36, Y:111.85, Z:129.40 [[ 4.25121791e-01 -8.13794069e-01 -3.96245727e-01 1.99363056e+02] [ 5.95195641e-01 5.81153341e-01 -5.54980129e-01 1.11850041e+02] [ 6.81919065e-01 9.04170841e-05 7.31427632e-01 1.29396879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.38, Y:111.87, Z:129.42 [[ 4.24219798e-01 -8.14434867e-01 -3.95895706e-01 1.99375100e+02] [ 5.96086653e-01 5.80254714e-01 -5.54964116e-01 1.11867417e+02] [ 6.81702475e-01 -5.61381362e-04 7.31629291e-01 1.29415899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.39, Y:111.88, Z:129.43 [[ 4.23609793e-01 -8.14793728e-01 -3.95810464e-01 1.99386879e+02] [ 5.96277129e-01 5.79750428e-01 -5.55286436e-01 1.11884808e+02] [ 6.81915192e-01 -7.87955285e-04 7.31430824e-01 1.29434928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.40, Y:111.90, Z:129.45 [[ 4.23409301e-01 -8.14890786e-01 -3.95825176e-01 1.99398665e+02] [ 5.95975437e-01 5.79614231e-01 -5.55752302e-01 1.11901965e+02] [ 6.82303336e-01 -5.91388696e-04 7.31068949e-01 1.29453817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.41, Y:111.92, Z:129.47 [[ 4.24137945e-01 -8.14462551e-01 -3.95926453e-01 1.99410362e+02] [ 5.94841242e-01 5.80215951e-01 -5.56339238e-01 1.11919504e+02] [ 6.82840318e-01 4.51198161e-04 7.30567516e-01 1.29471839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.42, Y:111.94, Z:129.49 [[ 4.24598279e-01 -8.14250019e-01 -3.95870191e-01 1.99421905e+02] [ 5.94206288e-01 5.80513210e-01 -5.56707554e-01 1.11935745e+02] [ 6.83107012e-01 1.14851310e-03 7.30317391e-01 1.29489746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.666875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:199.43, Y:111.95, Z:129.51 [[ 4.24924452e-01 -8.14021875e-01 -3.95989391e-01 1.99433985e+02] [ 5.93295784e-01 5.80831137e-01 -5.57346662e-01 1.11952419e+02] [ 6.83695343e-01 1.89138838e-03 7.29765099e-01 1.29508771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.45, Y:111.97, Z:129.53 [[ 4.25934084e-01 -8.13348275e-01 -3.96288709e-01 1.99445886e+02] [ 5.91567122e-01 5.81767573e-01 -5.58206799e-01 1.11968233e+02] [ 6.84564457e-01 3.32793038e-03 7.28944736e-01 1.29528296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.46, Y:111.98, Z:129.55 [[ 4.26308545e-01 -8.13200970e-01 -3.96188348e-01 1.99457473e+02] [ 5.91077868e-01 5.81969764e-01 -5.58514232e-01 1.11984990e+02] [ 6.84753955e-01 3.92122540e-03 7.28763779e-01 1.29547718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.47, Y:112.00, Z:129.57 [[ 4.26951379e-01 -8.13031956e-01 -3.95842847e-01 1.99468844e+02] [ 5.90878567e-01 5.82201283e-01 -5.58483828e-01 1.12001723e+02] [ 6.84525412e-01 4.55038648e-03 7.28974797e-01 1.29566433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.48, Y:112.02, Z:129.59 [[ 4.27474728e-01 -8.12957111e-01 -3.95431528e-01 1.99480648e+02] [ 5.90873698e-01 5.82301712e-01 -5.58384267e-01 1.12018830e+02] [ 6.84202915e-01 5.04507338e-03 7.29274240e-01 1.29585391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.49, Y:112.03, Z:129.60 [[ 4.27821338e-01 -8.12827214e-01 -3.95323695e-01 1.99492490e+02] [ 5.90425292e-01 5.82477911e-01 -5.58674733e-01 1.12034373e+02] [ 6.84373347e-01 5.60386374e-03 7.29110224e-01 1.29604131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.50, Y:112.05, Z:129.62 [[ 4.27861116e-01 -8.12950397e-01 -3.95027236e-01 1.99504737e+02] [ 5.90551589e-01 5.82304338e-01 -5.58722185e-01 1.12051141e+02] [ 6.84239495e-01 5.77153566e-03 7.29234532e-01 1.29622852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.52, Y:112.07, Z:129.64 [[ 4.27670498e-01 -8.13191111e-01 -3.94738092e-01 1.99516656e+02] [ 5.90852225e-01 5.81968534e-01 -5.58754216e-01 1.12065689e+02] [ 6.84099110e-01 5.73081430e-03 7.29366550e-01 1.29641789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.53, Y:112.08, Z:129.66 [[ 4.27562335e-01 -8.13350706e-01 -3.94526399e-01 1.99528787e+02] [ 5.90916447e-01 5.81744371e-01 -5.58919707e-01 1.12081771e+02] [ 6.84111250e-01 5.84087713e-03 7.29354291e-01 1.29661449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.54, Y:112.10, Z:129.68 [[ 4.27076465e-01 -8.13780369e-01 -3.94166468e-01 1.99540456e+02] [ 5.91565487e-01 5.81146520e-01 -5.58855077e-01 1.12098084e+02] [ 6.83853762e-01 5.49857179e-03 7.29598382e-01 1.29679961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.55, Y:112.11, Z:129.70 [[ 4.25790239e-01 -8.14394596e-01 -3.94289380e-01 1.99553184e+02] [ 5.91796053e-01 5.80290897e-01 -5.59499694e-01 1.12114779e+02] [ 6.84456065e-01 4.89061000e-03 7.29037706e-01 1.29699277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.56, Y:112.13, Z:129.72 [[ 4.24969641e-01 -8.14769874e-01 -3.94399362e-01 1.99564949e+02] [ 5.91747830e-01 5.79765935e-01 -5.60094604e-01 1.12130538e+02] [ 6.85007525e-01 4.63823649e-03 7.28521226e-01 1.29717785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.58, Y:112.15, Z:129.74 [[ 4.23841082e-01 -8.15274072e-01 -3.94571824e-01 1.99576377e+02] [ 5.91740802e-01 5.79059914e-01 -5.60831918e-01 1.12146432e+02] [ 6.85712448e-01 4.21935915e-03 7.27860313e-01 1.29736024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.056875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:199.59, Y:112.16, Z:129.75 [[ 4.22241200e-01 -8.15911032e-01 -3.94970323e-01 1.99588946e+02] [ 5.91586724e-01 5.78166234e-01 -5.61915433e-01 1.12163265e+02] [ 6.86831505e-01 3.60464740e-03 7.26807739e-01 1.29754214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.60, Y:112.18, Z:129.77 [[ 4.21126554e-01 -8.16453260e-01 -3.95039871e-01 1.99601247e+02] [ 5.91814840e-01 5.77403335e-01 -5.62459406e-01 1.12179755e+02] [ 6.87319155e-01 3.07613348e-03 7.26349033e-01 1.29772949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.61, Y:112.20, Z:129.79 [[ 4.19864452e-01 -8.17019489e-01 -3.95212597e-01 1.99613855e+02] [ 5.91933475e-01 5.76604598e-01 -5.63153530e-01 1.12196290e+02] [ 6.87988810e-01 2.50858232e-03 7.25716959e-01 1.29792368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.146875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:199.63, Y:112.21, Z:129.81 [[ 4.18464159e-01 -8.17612157e-01 -3.95472007e-01 1.99626323e+02] [ 5.91962599e-01 5.75766226e-01 -5.63980083e-01 1.12212745e+02] [ 6.88816397e-01 1.90081390e-03 7.24933347e-01 1.29811806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.64, Y:112.23, Z:129.83 [[ 4.16682441e-01 -8.18675295e-01 -3.95153773e-01 1.99638612e+02] [ 5.93421192e-01 5.74256476e-01 -5.63986515e-01 1.12228325e+02] [ 6.88641439e-01 5.10654658e-04 7.25101860e-01 1.29830726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.65, Y:112.24, Z:129.85 [[ 4.16125401e-01 -8.19238272e-01 -3.94573573e-01 1.99650802e+02] [ 5.94522997e-01 5.73453269e-01 -5.63643286e-01 1.12244794e+02] [ 6.88027657e-01 -3.67748146e-05 7.25684465e-01 1.29850312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.236875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:199.66, Y:112.26, Z:129.87 [[ 4.15647411e-01 -8.19673360e-01 -3.94173582e-01 1.99663179e+02] [ 5.95234749e-01 5.72831061e-01 -5.63524773e-01 1.12260728e+02] [ 6.87701115e-01 -3.98200235e-04 7.25993814e-01 1.29869974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.266875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:199.68, Y:112.28, Z:129.89 [[ 4.14872270e-01 -8.20320603e-01 -3.93643375e-01 1.99675304e+02] [ 5.96418561e-01 5.71902848e-01 -5.63215795e-01 1.12277259e+02] [ 6.87143289e-01 -1.11360009e-03 7.26521067e-01 1.29889210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.69, Y:112.29, Z:129.91 [[ 4.13953279e-01 -8.20927641e-01 -3.93345256e-01 1.99687792e+02] [ 5.97225291e-01 5.71029525e-01 -5.63247046e-01 1.12292487e+02] [ 6.86996823e-01 -1.75777361e-03 7.26658293e-01 1.29907898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.70, Y:112.31, Z:129.93 [[ 4.13519378e-01 -8.21208357e-01 -3.93215663e-01 1.99699941e+02] [ 5.97330782e-01 5.70625478e-01 -5.63544586e-01 1.12309360e+02] [ 6.87166400e-01 -1.84321232e-03 7.26497723e-01 1.29926369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.71, Y:112.33, Z:129.95 [[ 4.13402590e-01 -8.21060943e-01 -3.93646066e-01 1.99712866e+02] [ 5.96114598e-01 5.70839187e-01 -5.64614920e-01 1.12326220e+02] [ 6.88291860e-01 -1.24489594e-03 7.25432813e-01 1.29945195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.38687500000003 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:199.73, Y:112.34, Z:129.96 [[ 4.13467459e-01 -8.20990672e-01 -3.93724495e-01 1.99725355e+02] [ 5.95475725e-01 5.70941090e-01 -5.65185750e-01 1.12342949e+02] [ 6.88805721e-01 -7.67463377e-04 7.24945577e-01 1.29964513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.74, Y:112.36, Z:129.98 [[ 4.13682214e-01 -8.20851354e-01 -3.93789387e-01 1.99737497e+02] [ 5.94758433e-01 5.71141861e-01 -5.65737908e-01 1.12359029e+02] [ 6.89296331e-01 -1.73848598e-04 7.24479494e-01 1.29983073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.75, Y:112.37, Z:130.00 [[ 4.14587704e-01 -8.20419929e-01 -3.93736176e-01 1.99750558e+02] [ 5.93775488e-01 5.71760686e-01 -5.66145199e-01 1.12373967e+02] [ 6.89599670e-01 9.25948060e-04 7.24190194e-01 1.30002080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.76, Y:112.39, Z:130.02 [[ 4.15140481e-01 -8.20293465e-01 -3.93417098e-01 1.99762363e+02] [ 5.93582861e-01 5.71940857e-01 -5.66165208e-01 1.12389777e+02] [ 6.89432933e-01 1.51245009e-03 7.24347944e-01 1.30020408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.78, Y:112.41, Z:130.04 [[ 4.16417332e-01 -8.19685759e-01 -3.93334287e-01 1.99775303e+02] [ 5.92385266e-01 5.72806047e-01 -5.66544729e-01 1.12406260e+02] [ 6.89692905e-01 2.91360854e-03 7.24096132e-01 1.30039587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.79, Y:112.42, Z:130.06 [[ 4.16977991e-01 -8.19429824e-01 -3.93273593e-01 1.99787298e+02] [ 5.91673621e-01 5.73167549e-01 -5.66922646e-01 1.12422381e+02] [ 6.89964985e-01 3.70465526e-03 7.23833264e-01 1.30058163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.80, Y:112.44, Z:130.08 [[ 4.17437577e-01 -8.19299008e-01 -3.93058526e-01 1.99799745e+02] [ 5.91323729e-01 5.73350330e-01 -5.67102854e-01 1.12439418e+02] [ 6.89987041e-01 4.30520763e-03 7.23808917e-01 1.30076936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.81, Y:112.46, Z:130.10 [[ 4.18174783e-01 -8.19045596e-01 -3.92802956e-01 1.99811692e+02] [ 5.90887435e-01 5.73705890e-01 -5.67198018e-01 1.12455259e+02] [ 6.89914408e-01 5.08557671e-03 7.23873087e-01 1.30095833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.82, Y:112.47, Z:130.12 [[ 4.20111681e-01 -8.18321688e-01 -3.92244555e-01 1.99824614e+02] [ 5.90205569e-01 5.74722041e-01 -5.66879143e-01 1.12470613e+02] [ 6.89321088e-01 6.64762915e-03 7.24425460e-01 1.30115917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.84, Y:112.49, Z:130.13 [[ 4.21170539e-01 -8.18023075e-01 -3.91731574e-01 1.99835925e+02] [ 5.90071924e-01 5.75136707e-01 -5.66597646e-01 1.12486419e+02] [ 6.88789157e-01 7.48443245e-03 7.24923086e-01 1.30134655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.85, Y:112.50, Z:130.15 [[ 4.21895568e-01 -8.17869180e-01 -3.91272455e-01 1.99847538e+02] [ 5.90039302e-01 5.75347151e-01 -5.66417936e-01 1.12503059e+02] [ 6.88373265e-01 8.10309052e-03 7.25311373e-01 1.30153432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.86, Y:112.52, Z:130.17 [[ 4.22533478e-01 -8.17680059e-01 -3.90979259e-01 1.99859373e+02] [ 5.89709998e-01 5.75605663e-01 -5.66498225e-01 1.12519487e+02] [ 6.88264178e-01 8.80008715e-03 7.25406768e-01 1.30172410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.87, Y:112.54, Z:130.19 [[ 4.23549313e-01 -8.17143874e-01 -3.91001112e-01 1.99871731e+02] [ 5.88509801e-01 5.76346300e-01 -5.66993084e-01 1.12535215e+02] [ 6.88666969e-01 1.00415447e-02 7.25008258e-01 1.30190620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.88, Y:112.55, Z:130.21 [[ 4.23487415e-01 -8.17195983e-01 -3.90959250e-01 1.99883519e+02] [ 5.88175006e-01 5.76267078e-01 -5.67420846e-01 1.12551860e+02] [ 6.88990981e-01 1.03431288e-02 7.24696107e-01 1.30208546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.89, Y:112.60, Z:130.19 [[ 4.21894601e-01 -8.37196389e-01 -3.48004529e-01 1.99886310e+02] [ 5.99335534e-01 5.45539754e-01 -5.85818483e-01 1.12602830e+02] [ 6.80295423e-01 3.85821744e-02 7.31921822e-01 1.30192520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.91, Y:112.57, Z:130.25 [[ 4.20920813e-01 -8.08456444e-01 -4.11368264e-01 1.99910732e+02] [ 5.87128781e-01 5.88507342e-01 -5.55822725e-01 1.12573666e+02] [ 6.91451707e-01 -7.56879395e-03 7.22383035e-01 1.30254417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.92, Y:112.60, Z:130.26 [[ 4.21132425e-01 -8.18032684e-01 -3.91752484e-01 1.99919496e+02] [ 5.87267807e-01 5.75088357e-01 -5.69552373e-01 1.12601816e+02] [ 6.91204748e-01 9.79335011e-03 7.22592615e-01 1.30264919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.93, Y:112.62, Z:130.28 [[ 4.20478606e-01 -8.18414968e-01 -3.91656331e-01 1.99931429e+02] [ 5.87590754e-01 5.74550119e-01 -5.69762465e-01 1.12618225e+02] [ 6.91328321e-01 9.43928797e-03 7.22479102e-01 1.30283782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.94, Y:112.63, Z:130.30 [[ 4.19008673e-01 -8.19259031e-01 -3.91466950e-01 1.99944200e+02] [ 5.88561193e-01 5.73361865e-01 -5.69957800e-01 1.12634171e+02] [ 6.91395296e-01 8.41500642e-03 7.22427666e-01 1.30302094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.96, Y:112.65, Z:130.32 [[ 4.17723332e-01 -8.19973959e-01 -3.91343743e-01 1.99955362e+02] [ 5.89237459e-01 5.72350063e-01 -5.70275918e-01 1.12649416e+02] [ 6.91597018e-01 7.62316329e-03 7.22243347e-01 1.30320022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.97, Y:112.67, Z:130.34 [[ 4.16746079e-01 -8.20585781e-01 -3.91103159e-01 1.99967350e+02] [ 5.89901658e-01 5.71480202e-01 -5.70461579e-01 1.12666021e+02] [ 6.91620373e-01 7.02522467e-03 7.22227046e-01 1.30338805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.98, Y:112.68, Z:130.36 [[ 4.15084115e-01 -8.21629215e-01 -3.90679677e-01 1.99979651e+02] [ 5.91448742e-01 5.69994061e-01 -5.70346523e-01 1.12681623e+02] [ 6.91298462e-01 5.67477871e-03 7.22547046e-01 1.30358172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.99, Y:112.70, Z:130.38 [[ 4.14284185e-01 -8.22297639e-01 -3.90122042e-01 1.99990897e+02] [ 5.92666873e-01 5.69036146e-01 -5.70038457e-01 1.12697104e+02] [ 6.90734820e-01 4.94550657e-03 7.23091246e-01 1.30376528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.00, Y:112.71, Z:130.40 [[ 4.13399115e-01 -8.23029405e-01 -3.89517355e-01 2.00002440e+02] [ 5.94145612e-01 5.67984537e-01 -5.69547678e-01 1.12713428e+02] [ 6.89994321e-01 4.02047895e-03 7.23803615e-01 1.30395391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.01, Y:112.73, Z:130.41 [[ 4.12274806e-01 -8.23847660e-01 -3.88978814e-01 2.00013175e+02] [ 5.95539773e-01 5.66803119e-01 -5.69268481e-01 1.12729182e+02] [ 6.89464911e-01 3.04269785e-03 7.24312694e-01 1.30412939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.03, Y:112.75, Z:130.43 [[ 4.10217306e-01 -8.25204563e-01 -3.88277209e-01 2.00025019e+02] [ 5.97882453e-01 5.64832760e-01 -5.68771066e-01 1.12745115e+02] [ 6.88664167e-01 1.17560341e-03 7.25079502e-01 1.30431501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.03, Y:112.79, Z:130.42 [[ 4.07934904e-01 -8.40870881e-01 -3.55703917e-01 2.00029497e+02] [ 6.08018586e-01 5.40835052e-01 -5.81214974e-01 1.12787082e+02] [ 6.81103894e-01 2.08232822e-02 7.31890618e-01 1.30422538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.05, Y:112.77, Z:130.47 [[ 4.08251118e-01 -8.20252578e-01 -4.00645396e-01 2.00049823e+02] [ 5.99498691e-01 5.71884183e-01 -5.59955178e-01 1.12769428e+02] [ 6.88427443e-01 -1.15840629e-02 7.25212704e-01 1.30474793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.06, Y:112.79, Z:130.49 [[ 4.07631653e-01 -8.26779347e-01 -3.87649774e-01 2.00059931e+02] [ 6.00180417e-01 5.62525700e-01 -5.68637234e-01 1.12794180e+02] [ 6.88200481e-01 -8.65267152e-04 7.25520054e-01 1.30488619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.07, Y:112.81, Z:130.51 [[ 4.06095177e-01 -8.28852284e-01 -3.84825413e-01 2.00071391e+02] [ 5.99978962e-01 5.59465897e-01 -5.71859384e-01 1.12813320e+02] [ 6.89283652e-01 1.34218544e-03 7.24490336e-01 1.30506521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.08, Y:112.82, Z:130.53 [[ 4.06407952e-01 -8.25122508e-01 -3.92435249e-01 2.00082698e+02] [ 6.00438902e-01 5.64925940e-01 -5.65978628e-01 1.12824262e+02] [ 6.88698557e-01 -5.61517497e-03 7.25026046e-01 1.30527738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.09, Y:112.85, Z:130.54 [[ 4.05511387e-01 -8.27795687e-01 -3.87704548e-01 2.00093379e+02] [ 6.00443301e-01 5.61027048e-01 -5.69839008e-01 1.12845624e+02] [ 6.89223010e-01 -1.71839230e-03 7.24547230e-01 1.30544165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.10, Y:112.86, Z:130.56 [[ 4.05029767e-01 -8.27991327e-01 -3.87790215e-01 2.00104259e+02] [ 6.00157896e-01 5.60738338e-01 -5.70423541e-01 1.12862573e+02] [ 6.89754585e-01 -1.69684612e-03 7.24041251e-01 1.30561855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.12, Y:112.88, Z:130.58 [[ 4.04206895e-01 -8.28400118e-01 -3.87775749e-01 2.00115472e+02] [ 6.00231402e-01 5.60133320e-01 -5.70940389e-01 1.12879847e+02] [ 6.90173203e-01 -1.97714019e-03 7.23641514e-01 1.30580609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.13, Y:112.90, Z:130.60 [[ 4.03211702e-01 -8.28819577e-01 -3.87915496e-01 2.00126987e+02] [ 6.00176341e-01 5.59511072e-01 -5.71608013e-01 1.12897043e+02] [ 6.90802926e-01 -2.33866351e-03 7.23039313e-01 1.30599767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.14, Y:112.91, Z:130.62 [[ 4.01223069e-01 -8.29705542e-01 -3.88083448e-01 2.00137761e+02] [ 6.00719994e-01 5.58190357e-01 -5.72327716e-01 1.12913676e+02] [ 6.91487916e-01 -3.49840386e-03 7.22379556e-01 1.30617681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.14, Y:112.95, Z:130.62 [[ 3.99238023e-01 -8.40771423e-01 -3.65667081e-01 2.00144167e+02] [ 6.07057478e-01 5.41292402e-01 -5.81793567e-01 1.12948700e+02] [ 6.87088218e-01 1.02931771e-02 7.26501088e-01 1.30617806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.16, Y:112.94, Z:130.66 [[ 3.99085181e-01 -8.25983397e-01 -3.98098540e-01 2.00161373e+02] [ 6.01957912e-01 5.63524244e-01 -5.65762405e-01 1.12940745e+02] [ 6.91648532e-01 -1.38511736e-02 7.22101415e-01 1.30659897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.17, Y:112.96, Z:130.67 [[ 3.96979340e-01 -8.32023409e-01 -3.87484775e-01 2.00171036e+02] [ 6.03970803e-01 5.54698381e-01 -5.72301473e-01 1.12963527e+02] [ 6.91105400e-01 -6.83763004e-03 7.22721643e-01 1.30674370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.18, Y:112.98, Z:130.69 [[ 3.95846598e-01 -8.32681064e-01 -3.87230832e-01 2.00182256e+02] [ 6.04756098e-01 5.53700958e-01 -5.72438041e-01 1.12980381e+02] [ 6.91068400e-01 -7.58255587e-03 7.22749591e-01 1.30693333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.19, Y:113.00, Z:130.71 [[ 3.95105078e-01 -8.33159072e-01 -3.86959866e-01 2.00193345e+02] [ 6.05315022e-01 5.52975324e-01 -5.72548702e-01 1.12997289e+02] [ 6.91003402e-01 -8.01571986e-03 7.22807060e-01 1.30712376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.20, Y:113.01, Z:130.73 [[ 3.94765778e-01 -8.33424134e-01 -3.86735301e-01 2.00203071e+02] [ 6.05561279e-01 5.52574240e-01 -5.72675516e-01 1.13013907e+02] [ 6.90981561e-01 -8.11922852e-03 7.22826785e-01 1.30730140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.21, Y:113.03, Z:130.75 [[ 3.94858064e-01 -8.33457595e-01 -3.86568942e-01 2.00213977e+02] [ 6.05325303e-01 5.52528950e-01 -5.72968618e-01 1.13031677e+02] [ 6.91135578e-01 -7.75868268e-03 7.22683483e-01 1.30749389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.22, Y:113.05, Z:130.77 [[ 3.95174738e-01 -8.33348135e-01 -3.86481322e-01 2.00224609e+02] [ 6.04840818e-01 5.52701581e-01 -5.73313655e-01 1.13048953e+02] [ 6.91378703e-01 -7.20060575e-03 7.22456670e-01 1.30768394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.23, Y:113.07, Z:130.79 [[ 3.96308348e-01 -8.32798594e-01 -3.86505105e-01 2.00234375e+02] [ 6.03587433e-01 5.53544878e-01 -5.73820772e-01 1.13066939e+02] [ 6.91825053e-01 -5.87966164e-03 7.22041222e-01 1.30787045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.25, Y:113.08, Z:130.81 [[ 3.96778621e-01 -8.32640304e-01 -3.86363624e-01 2.00245509e+02] [ 6.03115770e-01 5.53789380e-01 -5.74080736e-01 1.13084488e+02] [ 6.91966830e-01 -5.23903197e-03 7.21910284e-01 1.30805967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.26, Y:113.10, Z:130.83 [[ 3.97056970e-01 -8.32482809e-01 -3.86417049e-01 2.00256816e+02] [ 6.02370259e-01 5.54031734e-01 -5.74629367e-01 1.13101978e+02] [ 6.92456377e-01 -4.60554273e-03 7.21445046e-01 1.30825460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.27, Y:113.12, Z:130.84 [[ 3.97807616e-01 -8.31984550e-01 -3.86717996e-01 2.00267468e+02] [ 6.00793785e-01 5.54788503e-01 -5.75548907e-01 1.13119387e+02] [ 6.93394497e-01 -3.38003002e-03 7.20550239e-01 1.30844595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.28, Y:113.14, Z:130.86 [[ 3.98227260e-01 -8.31841431e-01 -3.86593951e-01 2.00278323e+02] [ 6.00313383e-01 5.55006489e-01 -5.75839943e-01 1.13137152e+02] [ 6.93569674e-01 -2.76236021e-03 7.20384257e-01 1.30863141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.29, Y:113.16, Z:130.88 [[ 3.98502110e-01 -8.31814165e-01 -3.86369336e-01 2.00289230e+02] [ 6.00142016e-01 5.55049260e-01 -5.75977326e-01 1.13155150e+02] [ 6.93560112e-01 -2.34829215e-03 7.20394931e-01 1.30881758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.30, Y:113.17, Z:130.90 [[ 3.99478801e-01 -8.31527834e-01 -3.85976876e-01 2.00300050e+02] [ 5.99850803e-01 5.55481108e-01 -5.75864352e-01 1.13172596e+02] [ 6.93250101e-01 -1.48293824e-03 7.20695566e-01 1.30900244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.31, Y:113.19, Z:130.92 [[ 3.99375695e-01 -8.31717095e-01 -3.85675677e-01 2.00309988e+02] [ 6.00068000e-01 5.55197837e-01 -5.75911241e-01 1.13188552e+02] [ 6.93121526e-01 -1.42667953e-03 7.20819336e-01 1.30918215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.32, Y:113.21, Z:130.94 [[ 3.99479072e-01 -8.31944845e-01 -3.85076936e-01 2.00320312e+02] [ 6.00851405e-01 5.54856298e-01 -5.75423390e-01 1.13205360e+02] [ 6.92382886e-01 -1.50441656e-03 7.21528708e-01 1.30936841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.33, Y:113.22, Z:130.96 [[ 3.99294067e-01 -8.32184239e-01 -3.84751400e-01 2.00330584e+02] [ 6.01155690e-01 5.54497140e-01 -5.75451786e-01 1.13221890e+02] [ 6.92225457e-01 -1.52100911e-03 7.21679709e-01 1.30955755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.34, Y:113.24, Z:130.97 [[ 4.00193284e-01 -8.32023166e-01 -3.84165052e-01 2.00339299e+02] [ 6.01274691e-01 5.54740250e-01 -5.75093037e-01 1.13238049e+02] [ 6.91602546e-01 -8.40351437e-04 7.22277794e-01 1.30974010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.35, Y:113.26, Z:130.99 [[ 4.00576463e-01 -8.32010245e-01 -3.83793499e-01 2.00349218e+02] [ 6.01403341e-01 5.54760033e-01 -5.74939411e-01 1.13256105e+02] [ 6.91268775e-01 -5.07496573e-04 7.22597553e-01 1.30992845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.36, Y:113.27, Z:131.01 [[ 4.00975442e-01 -8.32002040e-01 -3.83394445e-01 2.00358737e+02] [ 6.01520588e-01 5.54772554e-01 -5.74804659e-01 1.13274131e+02] [ 6.90935365e-01 -1.37099845e-04 7.22916526e-01 1.31011655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.37, Y:113.29, Z:131.03 [[ 4.01199338e-01 -8.32017139e-01 -3.83127357e-01 2.00366952e+02] [ 6.01426003e-01 5.54749875e-01 -5.74925507e-01 1.13292724e+02] [ 6.90887729e-01 2.36977699e-04 7.22962025e-01 1.31029505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.38, Y:113.31, Z:131.05 [[ 4.00227306e-01 -8.32455657e-01 -3.83191445e-01 2.00377024e+02] [ 6.01445181e-01 5.54091658e-01 -5.75539859e-01 1.13311260e+02] [ 6.91434594e-01 -1.21880841e-04 7.22439054e-01 1.31048550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.39, Y:113.33, Z:131.07 [[ 3.98168565e-01 -8.33500930e-01 -3.83063954e-01 2.00385605e+02] [ 6.02624106e-01 5.52515824e-01 -5.75821545e-01 1.13330000e+02] [ 6.91596690e-01 -1.56953510e-03 7.22282186e-01 1.31066081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.40, Y:113.35, Z:131.08 [[ 3.96639844e-01 -8.34154230e-01 -3.83227811e-01 2.00395432e+02] [ 6.02961071e-01 5.51525848e-01 -5.76417545e-01 1.13347142e+02] [ 6.92181177e-01 -2.44128601e-03 7.21719654e-01 1.31084217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.41, Y:113.36, Z:131.10 [[ 3.95074494e-01 -8.34963443e-01 -3.83082490e-01 2.00405311e+02] [ 6.03803486e-01 5.50294524e-01 -5.76712483e-01 1.13364822e+02] [ 6.92342036e-01 -3.46215051e-03 7.21561168e-01 1.31102516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.41, Y:113.38, Z:131.12 [[ 3.93714617e-01 -8.35668219e-01 -3.82945724e-01 2.00414605e+02] [ 6.04486856e-01 5.49217725e-01 -5.77022990e-01 1.13381877e+02] [ 6.92520354e-01 -4.30327149e-03 7.21385501e-01 1.31120571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.42, Y:113.40, Z:131.14 [[ 3.91102408e-01 -8.36961454e-01 -3.82798159e-01 2.00423107e+02] [ 6.05987204e-01 5.47227043e-01 -5.77340517e-01 1.13401492e+02] [ 6.92689264e-01 -6.17151990e-03 7.21209745e-01 1.31139646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.43, Y:113.42, Z:131.16 [[ 3.89847673e-01 -8.37592889e-01 -3.82696936e-01 2.00433128e+02] [ 6.06566740e-01 5.46250933e-01 -5.77656220e-01 1.13419638e+02] [ 6.92889300e-01 -6.93329973e-03 7.21010643e-01 1.31158467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.44, Y:113.44, Z:131.18 [[ 3.88801281e-01 -8.38175181e-01 -3.82486509e-01 2.00442811e+02] [ 6.07226568e-01 5.45348145e-01 -5.77815970e-01 1.13437135e+02] [ 6.92899314e-01 -7.60038085e-03 7.20994296e-01 1.31176995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.45, Y:113.46, Z:131.20 [[ 3.88241253e-01 -8.38562876e-01 -3.82205485e-01 2.00450748e+02] [ 6.07836521e-01 5.44745872e-01 -5.77742761e-01 1.13455111e+02] [ 6.92678492e-01 -8.01487879e-03 7.21201961e-01 1.31196184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.46, Y:113.47, Z:131.21 [[ 3.88537531e-01 -8.38680351e-01 -3.81646243e-01 2.00459848e+02] [ 6.08310900e-01 5.44567916e-01 -5.77411148e-01 1.13472846e+02] [ 6.92095684e-01 -7.81366789e-03 7.21763473e-01 1.31214869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.47, Y:113.49, Z:131.23 [[ 3.89204574e-01 -8.38745309e-01 -3.80822933e-01 2.00468745e+02] [ 6.09084212e-01 5.44472211e-01 -5.76685732e-01 1.13490850e+02] [ 6.91039957e-01 -7.50451163e-03 7.22777600e-01 1.31233290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.48, Y:113.51, Z:131.25 [[ 3.89921792e-01 -8.38679760e-01 -3.80233161e-01 2.00478013e+02] [ 6.09341580e-01 5.44580209e-01 -5.76311751e-01 1.13509252e+02] [ 6.90408455e-01 -6.97536476e-03 7.23386141e-01 1.31253126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.49, Y:113.53, Z:131.27 [[ 3.91450168e-01 -8.38450525e-01 -3.79166827e-01 2.00485406e+02] [ 6.10104187e-01 5.44942631e-01 -5.75161204e-01 1.13528422e+02] [ 6.88868382e-01 -6.18431878e-03 7.24860060e-01 1.31272839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.49, Y:113.55, Z:131.29 [[ 3.92346927e-01 -8.38359095e-01 -3.78441431e-01 2.00494705e+02] [ 6.10555772e-01 5.45089189e-01 -5.74542797e-01 1.13545838e+02] [ 6.87957512e-01 -5.63949978e-03 7.25729052e-01 1.31291096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.50, Y:113.56, Z:131.31 [[ 3.93064872e-01 -8.38310718e-01 -3.77803053e-01 2.00503838e+02] [ 6.11065347e-01 5.45167265e-01 -5.73926646e-01 1.13562938e+02] [ 6.87094716e-01 -5.27194999e-03 7.26548731e-01 1.31309970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.51, Y:113.58, Z:131.33 [[ 3.94044987e-01 -8.38264556e-01 -3.76883380e-01 2.00512121e+02] [ 6.11826392e-01 5.45242757e-01 -5.73043456e-01 1.13581201e+02] [ 6.85854951e-01 -4.78229751e-03 7.27722554e-01 1.31329347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.52, Y:113.60, Z:131.35 [[ 3.94393345e-01 -8.38280238e-01 -3.76483906e-01 2.00521483e+02] [ 6.11960952e-01 5.45221560e-01 -5.72919928e-01 1.13598664e+02] [ 6.85534597e-01 -4.43764274e-03 7.28026527e-01 1.31347651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.53, Y:113.62, Z:131.37 [[ 3.94096718e-01 -8.38541063e-01 -3.76213586e-01 2.00531034e+02] [ 6.12226109e-01 5.44819795e-01 -5.73018833e-01 1.13617199e+02] [ 6.85468430e-01 -4.50293817e-03 7.28088425e-01 1.31366234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.54, Y:113.67, Z:131.36 [[ 3.94459487e-01 -8.57248352e-01 -3.30948601e-01 2.00535031e+02] [ 6.20665841e-01 5.14135667e-01 -5.91978403e-01 1.13670833e+02] [ 6.77624990e-01 2.81030047e-02 7.34870461e-01 1.31355684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.56, Y:113.64, Z:131.42 [[ 3.92624760e-01 -8.23650010e-01 -4.09202223e-01 2.00555831e+02] [ 6.12097396e-01 5.66097239e-01 -5.52150969e-01 1.13638062e+02] [ 6.86427400e-01 -3.36834733e-02 7.26417819e-01 1.31415875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.56, Y:113.67, Z:131.42 [[ 3.92477029e-01 -8.39264944e-01 -3.76292618e-01 2.00561809e+02] [ 6.11968353e-01 5.43700978e-01 -5.74355274e-01 1.13673110e+02] [ 6.86626912e-01 -4.85792183e-03 7.26993731e-01 1.31422878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.57, Y:113.71, Z:131.42 [[ 3.92668101e-01 -8.52930239e-01 -3.43979315e-01 2.00570412e+02] [ 6.16768416e-01 5.21667817e-01 -5.89456877e-01 1.13714750e+02] [ 6.82208533e-01 1.93053352e-02 7.30902744e-01 1.31421645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.59, Y:113.69, Z:131.47 [[ 3.89105376e-01 -8.27441957e-01 -4.04891114e-01 2.00586399e+02] [ 6.12262962e-01 5.60695400e-01 -5.57453796e-01 1.13693711e+02] [ 6.88281245e-01 -3.09915636e-02 7.24781657e-01 1.31470161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.816875 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:200.59, Y:113.75, Z:131.46 [[ 3.89905951e-01 -8.53640022e-01 -3.45357876e-01 2.00591536e+02] [ 6.17771167e-01 5.20603984e-01 -5.89347331e-01 1.13749338e+02] [ 6.82885155e-01 1.64378935e-02 7.30340784e-01 1.31461198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.846875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:200.61, Y:113.73, Z:131.51 [[ 3.86231795e-01 -8.29447376e-01 -4.03536927e-01 2.00608441e+02] [ 6.14806536e-01 5.57627861e-01 -5.57731200e-01 1.13728483e+02] [ 6.87632114e-01 -3.26836182e-02 7.25323278e-01 1.31509006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.876875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:200.61, Y:113.76, Z:131.52 [[ 3.85398270e-01 -8.42772233e-01 -3.75770058e-01 2.00614129e+02] [ 6.15427334e-01 5.38189509e-01 -5.75848287e-01 1.13759420e+02] [ 6.87544450e-01 -9.32823135e-03 7.26082374e-01 1.31517361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.62, Y:113.78, Z:131.54 [[ 3.84647638e-01 -8.43272674e-01 -3.75416291e-01 2.00624444e+02] [ 6.16298955e-01 5.37394025e-01 -5.75658979e-01 1.13776552e+02] [ 6.87183958e-01 -9.94280139e-03 7.26415410e-01 1.31536042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.64, Y:113.79, Z:131.56 [[ 3.84200736e-01 -8.43672912e-01 -3.74974416e-01 2.00635404e+02] [ 6.17014337e-01 5.36759434e-01 -5.75484681e-01 1.13794669e+02] [ 6.86791891e-01 -1.02629527e-02 7.26781652e-01 1.31555046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.65, Y:113.81, Z:131.57 [[ 3.83501098e-01 -8.44095707e-01 -3.74739035e-01 2.00645791e+02] [ 6.17486927e-01 5.36086733e-01 -5.75604821e-01 1.13812016e+02] [ 6.86758184e-01 -1.06513747e-02 7.26807915e-01 1.31573332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.996875 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:200.66, Y:113.83, Z:131.59 [[ 3.83050681e-01 -8.44332210e-01 -3.74666914e-01 2.00656810e+02] [ 6.17587284e-01 5.35710970e-01 -5.75846944e-01 1.13829835e+02] [ 6.86919298e-01 -1.08109577e-02 7.26653288e-01 1.31592591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.67, Y:113.85, Z:131.61 [[ 3.82863890e-01 -8.44485075e-01 -3.74513284e-01 2.00667472e+02] [ 6.17561164e-01 5.35471832e-01 -5.76097323e-01 1.13847484e+02] [ 6.87046905e-01 -1.07179971e-02 7.26534015e-01 1.31611232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.68, Y:113.86, Z:131.63 [[ 3.83052448e-01 -8.44449945e-01 -3.74399670e-01 2.00677734e+02] [ 6.17213120e-01 5.35535649e-01 -5.76410907e-01 1.13863992e+02] [ 6.87254529e-01 -1.02887794e-02 7.26343826e-01 1.31629801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.086875 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:200.69, Y:113.88, Z:131.65 [[ 3.85112496e-01 -8.43599033e-01 -3.74204539e-01 2.00687956e+02] [ 6.15819468e-01 5.36908275e-01 -5.76624563e-01 1.13881312e+02] [ 6.87353437e-01 -8.37711495e-03 7.26274794e-01 1.31649386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.116875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:200.70, Y:113.90, Z:131.67 [[ 3.86534497e-01 -8.43061091e-01 -3.73950639e-01 2.00697547e+02] [ 6.14970310e-01 5.37771680e-01 -5.76726224e-01 1.13898274e+02] [ 6.87315503e-01 -7.04395932e-03 7.26324846e-01 1.31667545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.146875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:200.71, Y:113.92, Z:131.69 [[ 3.88280717e-01 -8.42398631e-01 -3.73634354e-01 2.00707673e+02] [ 6.14016203e-01 5.38827046e-01 -5.76757763e-01 1.13916284e+02] [ 6.87184246e-01 -5.47362915e-03 7.26462561e-01 1.31685936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.176875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:200.72, Y:113.93, Z:131.70 [[ 3.91655389e-01 -8.40858342e-01 -3.73581724e-01 2.00716783e+02] [ 6.11497000e-01 5.41249957e-01 -5.77165403e-01 1.13934901e+02] [ 6.87515436e-01 -2.39416370e-03 7.26165816e-01 1.31703351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.73, Y:113.95, Z:131.72 [[ 3.92730058e-01 -8.41449127e-01 -3.71115168e-01 2.00727000e+02] [ 6.09594350e-01 5.40334079e-01 -5.80029148e-01 1.13954156e+02] [ 6.88591193e-01 1.56517194e-03 7.25148068e-01 1.31720744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.74, Y:113.97, Z:131.74 [[ 3.94228964e-01 -8.39013163e-01 -3.75020580e-01 2.00738866e+02] [ 6.09370460e-01 5.44109874e-01 -5.76725313e-01 1.13969280e+02] [ 6.87932530e-01 -1.16464106e-03 7.25773710e-01 1.31741912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.266875 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:200.75, Y:113.99, Z:131.76 [[ 3.95039813e-01 -8.39362785e-01 -3.73381388e-01 2.00749589e+02] [ 6.08359818e-01 5.43570071e-01 -5.78299152e-01 1.13987239e+02] [ 6.88361735e-01 1.30095584e-03 7.25366411e-01 1.31760687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.76, Y:114.00, Z:131.78 [[ 3.97460007e-01 -8.38433251e-01 -3.72901096e-01 2.00760137e+02] [ 6.07331348e-01 5.44994469e-01 -5.78039499e-01 1.14003818e+02] [ 6.87876571e-01 3.27305796e-03 7.25820302e-01 1.31778915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.77, Y:114.02, Z:131.80 [[ 3.98301407e-01 -8.38149929e-01 -3.72640156e-01 2.00770843e+02] [ 6.06844409e-01 5.45424187e-01 -5.78145587e-01 1.14020871e+02] [ 6.87819637e-01 4.14160572e-03 7.25869819e-01 1.31798183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.356875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:200.78, Y:114.04, Z:131.82 [[ 3.99310907e-01 -8.37865809e-01 -3.72198449e-01 2.00781783e+02] [ 6.06651239e-01 5.45853499e-01 -5.77943105e-01 1.14037896e+02] [ 6.87404593e-01 4.98433491e-03 7.26257587e-01 1.31817320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.79, Y:114.05, Z:131.84 [[ 4.00336460e-01 -8.37641582e-01 -3.71600994e-01 2.00792380e+02] [ 6.06771735e-01 5.46190352e-01 -5.77498191e-01 1.14054789e+02] [ 6.86701376e-01 5.71660128e-03 7.26917148e-01 1.31836193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.80, Y:114.07, Z:131.85 [[ 4.02618203e-01 -8.36783926e-01 -3.71067708e-01 2.00803120e+02] [ 6.05912272e-01 5.47481223e-01 -5.77178160e-01 1.14072173e+02] [ 6.86126010e-01 7.54795513e-03 7.27443556e-01 1.31854973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.81, Y:114.09, Z:131.87 [[ 4.03307979e-01 -8.36518349e-01 -3.70917410e-01 2.00813605e+02] [ 6.05318330e-01 5.47875164e-01 -5.77427506e-01 1.14089454e+02] [ 6.86245141e-01 8.35801337e-03 7.27322315e-01 1.31872777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.476875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:200.82, Y:114.11, Z:131.89 [[ 4.03868768e-01 -8.36302541e-01 -3.70793849e-01 2.00824963e+02] [ 6.04727946e-01 5.48192652e-01 -5.77744691e-01 1.14107552e+02] [ 6.86435816e-01 9.10363343e-03 7.27133409e-01 1.31891086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.84, Y:114.12, Z:131.91 [[ 4.03839389e-01 -8.36082345e-01 -3.71322045e-01 2.00836994e+02] [ 6.03172678e-01 5.48515045e-01 -5.79063006e-01 1.14124892e+02] [ 6.87820084e-01 9.87713802e-03 7.25814008e-01 1.31909340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.85, Y:114.14, Z:131.93 [[ 4.03480696e-01 -8.36195464e-01 -3.71457230e-01 2.00848231e+02] [ 6.02656920e-01 5.48339201e-01 -5.79766124e-01 1.14141472e+02] [ 6.88482364e-01 1.00631693e-02 7.25183265e-01 1.31927695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.566875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:200.86, Y:114.16, Z:131.95 [[ 4.02851847e-01 -8.36457207e-01 -3.71550442e-01 2.00859765e+02] [ 6.02529132e-01 5.47942922e-01 -5.80273384e-01 1.14158271e+02] [ 6.88962288e-01 9.89423927e-03 7.24729653e-01 1.31946360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.596875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:200.87, Y:114.17, Z:131.97 [[ 4.00995393e-01 -8.37185242e-01 -3.71918761e-01 2.00872793e+02] [ 6.02495660e-01 5.46844779e-01 -5.81343072e-01 1.14174239e+02] [ 6.90073673e-01 9.03645419e-03 7.23682712e-01 1.31966004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.88, Y:114.19, Z:131.99 [[ 3.99440739e-01 -8.37938354e-01 -3.71895700e-01 2.00884612e+02] [ 6.03090628e-01 5.45704679e-01 -5.81797300e-01 1.14190866e+02] [ 6.90455495e-01 8.10673199e-03 7.23329448e-01 1.31985050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.90, Y:114.21, Z:132.00 [[ 3.97358377e-01 -8.38945553e-01 -3.71855724e-01 2.00896566e+02] [ 6.04060920e-01 5.44173769e-01 -5.82224454e-01 1.14207178e+02] [ 6.90808747e-01 6.72825363e-03 7.23006228e-01 1.32003482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.686875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:200.91, Y:114.22, Z:132.02 [[ 3.93074714e-01 -8.40977234e-01 -3.71819259e-01 2.00910247e+02] [ 6.06412045e-01 5.41058778e-01 -5.82683302e-01 1.14222601e+02] [ 6.91199466e-01 3.56239562e-03 7.22655248e-01 1.32022938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.92, Y:114.24, Z:132.04 [[ 3.90676373e-01 -8.42243129e-01 -3.71481470e-01 2.00922479e+02] [ 6.08199892e-01 5.39095224e-01 -5.82639881e-01 1.14238976e+02] [ 6.90988323e-01 1.68864570e-03 7.22863947e-01 1.32041909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.94, Y:114.25, Z:132.06 [[ 3.85947873e-01 -8.44577392e-01 -3.71124330e-01 2.00935934e+02] [ 6.11499881e-01 5.35429368e-01 -5.82566122e-01 1.14254393e+02] [ 6.90733042e-01 -2.10232811e-03 7.23106801e-01 1.32061371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.95, Y:114.27, Z:132.08 [[ 3.84078115e-01 -8.45614423e-01 -3.70702373e-01 2.00948648e+02] [ 6.13107853e-01 5.33782073e-01 -5.82387723e-01 1.14270799e+02] [ 6.90349739e-01 -3.59815656e-03 7.23466856e-01 1.32080714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.806875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:200.96, Y:114.29, Z:132.10 [[ 3.82070110e-01 -8.46647573e-01 -3.70419111e-01 2.00960647e+02] [ 6.14491764e-01 5.32129701e-01 -5.82441288e-01 1.14286712e+02] [ 6.90233514e-01 -5.08608572e-03 7.23568814e-01 1.32100044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.836875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:200.97, Y:114.30, Z:132.12 [[ 3.80722803e-01 -8.47427912e-01 -3.70021731e-01 2.00972856e+02] [ 6.15698627e-01 5.30875172e-01 -5.82311560e-01 1.14303205e+02] [ 6.89902419e-01 -6.12258293e-03 7.23876485e-01 1.32119384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.98, Y:114.32, Z:132.14 [[ 3.79039212e-01 -8.48297029e-01 -3.69758604e-01 2.00984838e+02] [ 6.16826379e-01 5.29470007e-01 -5.82397398e-01 1.14318598e+02] [ 6.89822074e-01 -7.32541001e-03 7.23941879e-01 1.32138387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.00, Y:114.34, Z:132.16 [[ 3.78746072e-01 -8.48594508e-01 -3.69376195e-01 2.00995925e+02] [ 6.17309106e-01 5.28991113e-01 -5.82321105e-01 1.14335834e+02] [ 6.89551216e-01 -7.46745770e-03 7.24198424e-01 1.32156788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.01, Y:114.35, Z:132.18 [[ 3.78873846e-01 -8.48616134e-01 -3.69195431e-01 2.01007025e+02] [ 6.17114754e-01 5.28961193e-01 -5.82554235e-01 1.14352973e+02] [ 6.89654978e-01 -7.12138414e-03 7.24103098e-01 1.32175416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.956875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:201.02, Y:114.37, Z:132.19 [[ 3.79079072e-01 -8.48593949e-01 -3.69035726e-01 2.01018396e+02] [ 6.16859500e-01 5.29002025e-01 -5.82787452e-01 1.14370754e+02] [ 6.89770552e-01 -6.72066709e-03 7.23996836e-01 1.32194584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.03, Y:114.39, Z:132.21 [[ 3.79907579e-01 -8.48163690e-01 -3.69172842e-01 2.01029771e+02] [ 6.15584993e-01 5.29704814e-01 -5.83496294e-01 1.14387266e+02] [ 6.90453002e-01 -5.58259709e-03 7.23355713e-01 1.32212767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.04, Y:114.41, Z:132.23 [[ 3.78967369e-01 -8.49982597e-01 -3.65941686e-01 2.01041174e+02] [ 6.15105150e-01 5.26803419e-01 -5.86620671e-01 1.14407018e+02] [ 6.91396693e-01 -2.78252311e-03 7.22469979e-01 1.32231234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.046875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:201.05, Y:114.44, Z:132.23 [[ 3.81905814e-01 -8.59460390e-01 -3.39817285e-01 2.01049974e+02] [ 6.21507038e-01 5.10964520e-01 -5.93838582e-01 1.14444507e+02] [ 6.84015315e-01 1.55915728e-02 7.29301002e-01 1.32230094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.07, Y:114.42, Z:132.28 [[ 3.83028928e-01 -8.33988970e-01 -3.97179101e-01 2.01068604e+02] [ 6.12836739e-01 5.51144161e-01 -5.66278416e-01 1.14423150e+02] [ 6.91172896e-01 -2.65049305e-02 7.22203238e-01 1.32280188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.08, Y:114.46, Z:132.29 [[ 3.82513237e-01 -8.49442226e-01 -3.63499008e-01 2.01075062e+02] [ 6.11809509e-01 5.27673019e-01 -5.89279484e-01 1.14460108e+02] [ 6.92367495e-01 3.01505317e-03 7.21538746e-01 1.32287822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.09, Y:114.47, Z:132.31 [[ 3.86028863e-01 -8.40972989e-01 -3.79138693e-01 2.01087564e+02] [ 6.11459368e-01 5.41003558e-01 -5.77436224e-01 1.14465727e+02] [ 6.90723649e-01 -8.92085638e-03 7.23063800e-01 1.32310304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.10, Y:114.49, Z:132.32 [[ 3.88776395e-01 -8.44852873e-01 -3.67527601e-01 2.01097543e+02] [ 6.10070517e-01 5.34990254e-01 -5.84465048e-01 1.14487444e+02] [ 6.90410660e-01 3.00846086e-03 7.23411411e-01 1.32324537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.19687500000003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:201.10, Y:114.52, Z:132.33 [[ 3.89307550e-01 -8.54835023e-01 -3.43069550e-01 2.01103641e+02] [ 6.15993475e-01 5.18531848e-01 -5.93023408e-01 1.14520865e+02] [ 6.84829666e-01 1.95398855e-02 7.28441159e-01 1.32325023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.12, Y:114.52, Z:132.37 [[ 3.90549721e-01 -8.40684215e-01 -3.75127932e-01 2.01122453e+02] [ 6.08889134e-01 5.41521885e-01 -5.79662032e-01 1.14516048e+02] [ 6.90452705e-01 -2.02447643e-03 7.23374705e-01 1.32365714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.14, Y:114.54, Z:132.38 [[ 3.93082558e-01 -8.45140396e-01 -3.62248277e-01 2.01135040e+02] [ 6.09634638e-01 5.34463982e-01 -5.85400599e-01 1.14541268e+02] [ 6.88354350e-01 9.27166712e-03 7.25315328e-01 1.32379113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.15, Y:114.55, Z:132.40 [[ 3.92891744e-01 -8.40824216e-01 -3.72358316e-01 2.01146270e+02] [ 6.09074695e-01 5.41307427e-01 -5.79667392e-01 1.14551038e+02] [ 6.88958702e-01 9.52505065e-04 7.24799972e-01 1.32402073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.16, Y:114.57, Z:132.42 [[ 3.93670172e-01 -8.43336056e-01 -3.65797885e-01 2.01156872e+02] [ 6.09093744e-01 5.37343110e-01 -5.83324261e-01 1.14571552e+02] [ 6.88497355e-01 6.83215846e-03 7.25206670e-01 1.32419043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.17, Y:114.59, Z:132.44 [[ 3.94011008e-01 -8.43262992e-01 -3.65599304e-01 2.01169144e+02] [ 6.08830933e-01 5.37451384e-01 -5.83498847e-01 1.14587370e+02] [ 6.88534836e-01 7.31680357e-03 7.25166356e-01 1.32437493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.18, Y:114.60, Z:132.46 [[ 3.93826117e-01 -8.43369659e-01 -3.65552469e-01 2.01181068e+02] [ 6.08555706e-01 5.37281282e-01 -5.83942442e-01 1.14604619e+02] [ 6.88883838e-01 7.51274362e-03 7.24832820e-01 1.32456711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.19, Y:114.62, Z:132.47 [[ 3.93836473e-01 -8.43520769e-01 -3.65192477e-01 2.01191951e+02] [ 6.08850455e-01 5.37042847e-01 -5.83854523e-01 1.14620316e+02] [ 6.88617424e-01 7.59559999e-03 7.25085064e-01 1.32474087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.20, Y:114.64, Z:132.49 [[ 3.93565824e-01 -8.43714938e-01 -3.65035678e-01 2.01203059e+02] [ 6.08810586e-01 5.36736623e-01 -5.84177600e-01 1.14637385e+02] [ 6.88807385e-01 7.67475345e-03 7.24903776e-01 1.32492678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.21, Y:114.66, Z:132.51 [[ 3.92888694e-01 -8.44093741e-01 -3.64889339e-01 2.01214870e+02] [ 6.09035361e-01 5.36144458e-01 -5.84486996e-01 1.14655775e+02] [ 6.88995212e-01 7.40782225e-03 7.24728033e-01 1.32510882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.23, Y:114.67, Z:132.53 [[ 3.92299398e-01 -8.44392464e-01 -3.64832221e-01 2.01225675e+02] [ 6.09046979e-01 5.35675922e-01 -5.84904337e-01 1.14673310e+02] [ 6.89320651e-01 7.25765685e-03 7.24420021e-01 1.32529276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.24, Y:114.69, Z:132.55 [[ 3.90881717e-01 -8.45034496e-01 -3.64867352e-01 2.01237118e+02] [ 6.09359964e-01 5.34671987e-01 -5.85496627e-01 1.14690824e+02] [ 6.89849199e-01 6.52436999e-03 7.23923694e-01 1.32547897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.25, Y:114.71, Z:132.57 [[ 3.89783504e-01 -8.45620923e-01 -3.64683527e-01 2.01248472e+02] [ 6.09970990e-01 5.33751848e-01 -5.85699886e-01 1.14708307e+02] [ 6.89930584e-01 5.84978174e-03 7.23851897e-01 1.32567232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.26, Y:114.72, Z:132.59 [[ 3.88357956e-01 -8.46402570e-01 -3.64390982e-01 2.01259325e+02] [ 6.11005029e-01 5.32521675e-01 -5.85741855e-01 1.14724505e+02] [ 6.89819507e-01 4.83278667e-03 7.23965256e-01 1.32585930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.27, Y:114.74, Z:132.61 [[ 3.87100330e-01 -8.47129628e-01 -3.64039459e-01 2.01270716e+02] [ 6.12030651e-01 5.31371781e-01 -5.85715385e-01 1.14741506e+02] [ 6.89617152e-01 3.92731221e-03 7.24163490e-01 1.32605926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.28, Y:114.76, Z:132.63 [[ 3.84629259e-01 -8.48590486e-01 -3.63255448e-01 2.01281944e+02] [ 6.14763340e-01 5.29047616e-01 -5.84956969e-01 1.14758037e+02] [ 6.88568347e-01 1.67543312e-03 7.25169514e-01 1.32625530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.29, Y:114.78, Z:132.64 [[ 3.84482885e-01 -8.48752716e-01 -3.63031317e-01 2.01292829e+02] [ 6.14855126e-01 5.28787076e-01 -5.85096062e-01 1.14775923e+02] [ 6.88568141e-01 1.74775542e-03 7.25169539e-01 1.32644970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.30, Y:114.79, Z:132.66 [[ 3.83207987e-01 -8.49479562e-01 -3.62679077e-01 2.01303330e+02] [ 6.16098420e-01 5.27621100e-01 -5.84840757e-01 1.14792662e+02] [ 6.88167404e-01 6.69642570e-04 7.25551636e-01 1.32663873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.31, Y:114.81, Z:132.68 [[ 3.82100157e-01 -8.50091433e-01 -3.62414164e-01 2.01313930e+02] [ 6.16998955e-01 5.26635101e-01 -5.84780096e-01 1.14809987e+02] [ 6.87976569e-01 -1.64594030e-04 7.25732880e-01 1.32682823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.32, Y:114.83, Z:132.70 [[ 3.81002537e-01 -8.50662807e-01 -3.62229011e-01 2.01324149e+02] [ 6.17600111e-01 5.25711034e-01 -5.84976932e-01 1.14826598e+02] [ 6.88045907e-01 -8.34982510e-04 7.25666682e-01 1.32700949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.34, Y:114.84, Z:132.72 [[ 3.79641875e-01 -8.51280763e-01 -3.62205895e-01 2.01335253e+02] [ 6.17993163e-01 5.24708093e-01 -5.85462097e-01 1.14844509e+02] [ 6.88444985e-01 -1.57483818e-03 7.25286856e-01 1.32720027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.35, Y:114.86, Z:132.74 [[ 3.79189757e-01 -8.51448318e-01 -3.62285647e-01 2.01346339e+02] [ 6.17631361e-01 5.24436316e-01 -5.86087069e-01 1.14862280e+02] [ 6.89018599e-01 -1.52076384e-03 7.24742062e-01 1.32739431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.35, Y:114.90, Z:132.73 [[ 3.77949619e-01 -8.65545631e-01 -3.28610477e-01 2.01347674e+02] [ 6.26314679e-01 5.00426356e-01 -5.97748597e-01 1.14903259e+02] [ 6.81824030e-01 2.01052887e-02 7.31239885e-01 1.32733291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.37, Y:114.89, Z:132.78 [[ 3.80587598e-01 -8.45413195e-01 -3.74739390e-01 2.01368518e+02] [ 6.16322725e-01 5.34005962e-01 -5.78777964e-01 1.14890484e+02] [ 6.89419596e-01 -1.06846868e-02 7.24283410e-01 1.32782903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.38, Y:114.91, Z:132.80 [[ 3.81941944e-01 -8.50434319e-01 -3.61775926e-01 2.01375666e+02] [ 6.15963217e-01 5.26080049e-01 -5.86369420e-01 1.14914800e+02] [ 6.88991775e-01 1.11841363e-03 7.24768296e-01 1.32795966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.39, Y:114.93, Z:132.82 [[ 3.83215470e-01 -8.50007552e-01 -3.61431965e-01 2.01385508e+02] [ 6.15397386e-01 5.26765597e-01 -5.86348074e-01 1.14932834e+02] [ 6.88790215e-01 2.27336585e-03 7.24957151e-01 1.32815389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.39, Y:114.95, Z:132.83 [[ 3.86288392e-01 -8.48929988e-01 -3.60692603e-01 2.01394364e+02] [ 6.14591711e-01 5.28485744e-01 -5.85644813e-01 1.14950214e+02] [ 6.87792343e-01 4.54910899e-03 7.25893242e-01 1.32834072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.00687500000004 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:201.40, Y:114.97, Z:132.85 [[ 3.87404748e-01 -8.48559440e-01 -3.60367088e-01 2.01404425e+02] [ 6.14244337e-01 5.29071846e-01 -5.85480039e-01 1.14968659e+02] [ 6.87474694e-01 5.46430422e-03 7.26187776e-01 1.32853478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.41, Y:114.99, Z:132.87 [[ 3.88123938e-01 -8.48347712e-01 -3.60091611e-01 2.01413472e+02] [ 6.13914816e-01 5.29403277e-01 -5.85526061e-01 1.14985745e+02] [ 6.87363373e-01 6.19110583e-03 7.26287315e-01 1.32871342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.42, Y:115.00, Z:132.89 [[ 3.89145690e-01 -8.47958261e-01 -3.59906127e-01 2.01422695e+02] [ 6.13121772e-01 5.30012769e-01 -5.85805562e-01 1.15004092e+02] [ 6.87493509e-01 7.29742716e-03 7.26153856e-01 1.32889999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.42, Y:115.04, Z:132.89 [[ 3.88062522e-01 -8.59321427e-01 -3.33127848e-01 2.01424101e+02] [ 6.20454937e-01 5.10862266e-01 -5.95025559e-01 1.15039879e+02] [ 6.81500660e-01 2.42163007e-02 7.31416722e-01 1.32888150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.44, Y:115.03, Z:132.93 [[ 3.88656947e-01 -8.44856150e-01 -3.67646384e-01 2.01443092e+02] [ 6.13047257e-01 5.34993249e-01 -5.81339216e-01 1.15034675e+02] [ 6.87836346e-01 5.56917605e-04 7.25865588e-01 1.32930433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.45, Y:115.06, Z:132.95 [[ 3.88092955e-01 -8.48536183e-01 -3.59680699e-01 2.01451564e+02] [ 6.13102774e-01 5.29088952e-01 -5.86659927e-01 1.15056125e+02] [ 6.88105259e-01 7.15734983e-03 7.25575582e-01 1.32945738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.46, Y:115.07, Z:132.96 [[ 3.87439496e-01 -8.48907396e-01 -3.59509206e-01 2.01462136e+02] [ 6.13368315e-01 5.28496791e-01 -5.86916052e-01 1.15073752e+02] [ 6.88236839e-01 6.88290336e-03 7.25453430e-01 1.32964757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.47, Y:115.09, Z:132.98 [[ 3.85961887e-01 -8.49499553e-01 -3.59699779e-01 2.01472213e+02] [ 6.13408189e-01 5.27552955e-01 -5.87722957e-01 1.15091583e+02] [ 6.89031070e-01 6.19587157e-03 7.24705316e-01 1.32983464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.48, Y:115.11, Z:133.00 [[ 3.85041345e-01 -8.49918390e-01 -3.59696946e-01 2.01482194e+02] [ 6.13498870e-01 5.26882214e-01 -5.88229776e-01 1.15109033e+02] [ 6.89465228e-01 5.81911407e-03 7.24295408e-01 1.33001412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.49, Y:115.13, Z:133.02 [[ 3.83734098e-01 -8.50561175e-01 -3.59574512e-01 2.01492757e+02] [ 6.14057789e-01 5.25851825e-01 -5.88568509e-01 1.15127881e+02] [ 6.89696436e-01 5.05427625e-03 7.24080990e-01 1.33020033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.50, Y:115.15, Z:133.04 [[ 3.81693880e-01 -8.51298501e-01 -3.60000894e-01 2.01503137e+02] [ 6.13909751e-01 5.24665599e-01 -5.89780321e-01 1.15145465e+02] [ 6.90959188e-01 4.10748027e-03 7.22882099e-01 1.33037959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.51, Y:115.16, Z:133.06 [[ 3.80839039e-01 -8.51706355e-01 -3.59941540e-01 2.01513586e+02] [ 6.14046136e-01 5.24005867e-01 -5.90224699e-01 1.15162819e+02] [ 6.91309605e-01 3.75989507e-03 7.22548886e-01 1.33056184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.52, Y:115.18, Z:133.07 [[ 3.80135719e-01 -8.52173913e-01 -3.59578166e-01 2.01524095e+02] [ 6.14751209e-01 5.23248309e-01 -5.90162824e-01 1.15180215e+02] [ 6.91070030e-01 3.29085679e-03 7.22780315e-01 1.33074952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.396875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:201.53, Y:115.20, Z:133.09 [[ 3.78995266e-01 -8.52642626e-01 -3.59670877e-01 2.01534304e+02] [ 6.14763292e-01 5.22487006e-01 -5.90824360e-01 1.15196582e+02] [ 6.91685394e-01 2.80718320e-03 7.22193489e-01 1.33093628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.55, Y:115.21, Z:133.11 [[ 3.77177104e-01 -8.53521275e-01 -3.59498074e-01 2.01545503e+02] [ 6.15734106e-01 5.21055581e-01 -5.91077483e-01 1.15213674e+02] [ 6.91815685e-01 1.58566844e-03 7.22072395e-01 1.33113051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.56, Y:115.23, Z:133.13 [[ 3.76164431e-01 -8.54098735e-01 -3.59187516e-01 2.01555993e+02] [ 6.16538349e-01 5.20110146e-01 -5.91071823e-01 1.15231374e+02] [ 6.91650768e-01 8.87318107e-04 7.22231561e-01 1.33132031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.57, Y:115.25, Z:133.15 [[ 3.75320084e-01 -8.54601316e-01 -3.58875224e-01 2.01565975e+02] [ 6.17241708e-01 5.19284590e-01 -5.91063608e-01 1.15248753e+02] [ 6.91482110e-01 3.25286917e-04 7.22393512e-01 1.33150331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.58, Y:115.27, Z:133.17 [[ 3.74335462e-01 -8.55305562e-01 -3.58225290e-01 2.01576867e+02] [ 6.18730884e-01 5.18123584e-01 -5.90525228e-01 1.15266655e+02] [ 6.90684483e-01 -5.90516403e-04 7.23155997e-01 1.33169534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.59, Y:115.28, Z:133.19 [[ 3.73825968e-01 -8.55636976e-01 -3.57965795e-01 2.01587772e+02] [ 6.19111481e-01 5.17575758e-01 -5.90606730e-01 1.15284251e+02] [ 6.90619374e-01 -8.36601055e-04 7.23217934e-01 1.33189220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.60, Y:115.30, Z:133.21 [[ 3.73284275e-01 -8.55984489e-01 -3.57700159e-01 2.01597664e+02] [ 6.19523801e-01 5.17000305e-01 -5.90678376e-01 1.15301008e+02] [ 6.90542620e-01 -1.11281302e-03 7.23290849e-01 1.33207381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.61, Y:115.32, Z:133.23 [[ 3.72296138e-01 -8.56426622e-01 -3.57671674e-01 2.01607793e+02] [ 6.19667431e-01 5.16266449e-01 -5.91169374e-01 1.15319432e+02] [ 6.90947075e-01 -1.54741230e-03 7.22903690e-01 1.33225753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.62, Y:115.34, Z:133.24 [[ 3.71623525e-01 -8.56772589e-01 -3.57542566e-01 2.01617980e+02] [ 6.19855443e-01 5.15691208e-01 -5.91474266e-01 1.15336642e+02] [ 6.91140496e-01 -1.81895425e-03 7.22718137e-01 1.33243691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.63, Y:115.35, Z:133.26 [[ 3.70835772e-01 -8.57162757e-01 -3.57425290e-01 2.01627646e+02] [ 6.20058638e-01 5.15041133e-01 -5.91827608e-01 1.15352891e+02] [ 6.91381310e-01 -2.15379058e-03 7.22486848e-01 1.33261505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.69687500000003 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:201.64, Y:115.37, Z:133.28 [[ 3.70389473e-01 -8.57407193e-01 -3.57301754e-01 2.01637685e+02] [ 6.20025102e-01 5.14633977e-01 -5.92216803e-01 1.15369486e+02] [ 6.91650570e-01 -2.18518680e-03 7.22228990e-01 1.33280642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.726875 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:201.65, Y:115.39, Z:133.30 [[ 3.69993429e-01 -8.57657070e-01 -3.57112325e-01 2.01647955e+02] [ 6.20139974e-01 5.14217143e-01 -5.92458557e-01 1.15386642e+02] [ 6.91759550e-01 -2.25385501e-03 7.22124397e-01 1.33300063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.66, Y:115.40, Z:133.32 [[ 3.69726288e-01 -8.57957798e-01 -3.56666356e-01 2.01658242e+02] [ 6.20768770e-01 5.13714370e-01 -5.92236170e-01 1.15403597e+02] [ 6.91338272e-01 -2.44205418e-03 7.22527114e-01 1.33318764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.786875 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:201.67, Y:115.42, Z:133.34 [[ 3.69207198e-01 -8.58270332e-01 -3.56452076e-01 2.01668727e+02] [ 6.21020801e-01 5.13191082e-01 -5.92425588e-01 1.15421206e+02] [ 6.91389333e-01 -2.63636249e-03 7.22477571e-01 1.33338257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.68, Y:115.44, Z:133.36 [[ 3.68817233e-01 -8.58560786e-01 -3.56156181e-01 2.01678380e+02] [ 6.21401851e-01 5.12704081e-01 -5.92447690e-01 1.15438268e+02] [ 6.91255082e-01 -2.81119245e-03 7.22605362e-01 1.33356421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.69, Y:115.46, Z:133.38 [[ 3.68212925e-01 -8.58884200e-01 -3.56001648e-01 2.01688499e+02] [ 6.21735790e-01 5.12160153e-01 -5.92567790e-01 1.15456527e+02] [ 6.91276970e-01 -3.14784655e-03 7.22583034e-01 1.33375199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.876875 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:201.70, Y:115.47, Z:133.39 [[ 3.67818670e-01 -8.59191911e-01 -3.55666538e-01 2.01698880e+02] [ 6.22203704e-01 5.11642453e-01 -5.92523882e-01 1.15474186e+02] [ 6.91065827e-01 -3.35569101e-03 7.22784036e-01 1.33393905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.71, Y:115.49, Z:133.41 [[ 3.66768996e-01 -8.59900679e-01 -3.55037076e-01 2.01708800e+02] [ 6.23691078e-01 5.10443200e-01 -5.91994239e-01 1.15490813e+02] [ 6.90282509e-01 -4.30832339e-03 7.23527122e-01 1.33412354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.72, Y:115.51, Z:133.43 [[ 3.66134292e-01 -8.60321751e-01 -3.54671912e-01 2.01719243e+02] [ 6.24492701e-01 5.09728563e-01 -5.91764867e-01 1.15508502e+02] [ 6.89894591e-01 -4.82460936e-03 7.23893761e-01 1.33431613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.966875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:201.73, Y:115.53, Z:133.45 [[ 3.65228309e-01 -8.60820195e-01 -3.54396492e-01 2.01729459e+02] [ 6.25131387e-01 5.08880622e-01 -5.91820295e-01 1.15525967e+02] [ 6.89796369e-01 -5.39484524e-03 7.23983332e-01 1.33450918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.996875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:201.74, Y:115.54, Z:133.47 [[ 3.65127065e-01 -8.61065899e-01 -3.53903581e-01 2.01739177e+02] [ 6.25766033e-01 5.08463793e-01 -5.91507771e-01 1.15543206e+02] [ 6.89274328e-01 -5.48534347e-03 7.24479684e-01 1.33468879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.026875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:201.75, Y:115.56, Z:133.49 [[ 3.64932745e-01 -8.61286509e-01 -3.53567026e-01 2.01748820e+02] [ 6.26247795e-01 5.08088448e-01 -5.91320410e-01 1.15562385e+02] [ 6.88939613e-01 -5.62839020e-03 7.24796889e-01 1.33487818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.056875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:201.76, Y:115.58, Z:133.51 [[ 3.65287655e-01 -8.61239723e-01 -3.53314404e-01 2.01758668e+02] [ 6.26086623e-01 5.08172644e-01 -5.91418722e-01 1.15580638e+02] [ 6.88898012e-01 -5.16746443e-03 7.24839863e-01 1.33506381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.77, Y:115.60, Z:133.52 [[ 3.65448179e-01 -8.61223414e-01 -3.53188136e-01 2.01768456e+02] [ 6.25769333e-01 5.08204182e-01 -5.91727345e-01 1.15598395e+02] [ 6.89101132e-01 -4.76862323e-03 7.24649495e-01 1.33524393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.78, Y:115.62, Z:133.54 [[ 3.65888903e-01 -8.61075805e-01 -3.53091730e-01 2.01777832e+02] [ 6.25195305e-01 5.08460050e-01 -5.92114185e-01 1.15617534e+02] [ 6.89388237e-01 -4.10328211e-03 7.24380440e-01 1.33542280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.79, Y:115.64, Z:133.56 [[ 3.65867585e-01 -8.61162246e-01 -3.52902955e-01 2.01787779e+02] [ 6.25124503e-01 5.08315232e-01 -5.92313246e-01 1.15635599e+02] [ 6.89463753e-01 -3.90006731e-03 7.24309688e-01 1.33560646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.80, Y:115.65, Z:133.58 [[ 3.66196065e-01 -8.61068012e-01 -3.52792179e-01 2.01797861e+02] [ 6.24652071e-01 5.08478843e-01 -5.92671120e-01 1.15653971e+02] [ 6.89717502e-01 -3.33853347e-03 7.24070868e-01 1.33579893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.81, Y:115.67, Z:133.60 [[ 3.66023622e-01 -8.61196713e-01 -3.52656959e-01 2.01807790e+02] [ 6.24558970e-01 5.08261604e-01 -5.92955509e-01 1.15672069e+02] [ 6.89893326e-01 -3.21934404e-03 7.23903885e-01 1.33598915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.82, Y:115.69, Z:133.62 [[ 3.66161771e-01 -8.61251893e-01 -3.52378680e-01 2.01817488e+02] [ 6.24589560e-01 5.08169687e-01 -5.93002066e-01 1.15689753e+02] [ 6.89792316e-01 -2.95735766e-03 7.24001254e-01 1.33617365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.83, Y:115.71, Z:133.64 [[ 3.66282492e-01 -8.61392563e-01 -3.51909062e-01 2.01827320e+02] [ 6.25175511e-01 5.07931244e-01 -5.92588754e-01 1.15707722e+02] [ 6.89197153e-01 -2.95004232e-03 7.24567858e-01 1.33636392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.84, Y:115.73, Z:133.66 [[ 3.66052183e-01 -8.61633976e-01 -3.51557521e-01 2.01837434e+02] [ 6.25586201e-01 5.07521076e-01 -5.92506761e-01 1.15725492e+02] [ 6.88946808e-01 -3.04114047e-03 7.24805524e-01 1.33655427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.85, Y:115.74, Z:133.67 [[ 3.65867215e-01 -8.61851618e-01 -3.51216414e-01 2.01847683e+02] [ 6.25940383e-01 5.07151146e-01 -5.92449451e-01 1.15743586e+02] [ 6.88723325e-01 -3.08270638e-03 7.25017709e-01 1.33674487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.86, Y:115.76, Z:133.69 [[ 3.65392201e-01 -8.62115964e-01 -3.51062109e-01 2.01857845e+02] [ 6.26063139e-01 5.06700813e-01 -5.92705013e-01 1.15761598e+02] [ 6.88863910e-01 -3.21725704e-03 7.24883552e-01 1.33693938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.87, Y:115.78, Z:133.71 [[ 3.64827678e-01 -8.62298377e-01 -3.51201189e-01 2.01868786e+02] [ 6.25603925e-01 5.06390406e-01 -5.93454704e-01 1.15779296e+02] [ 6.89579941e-01 -3.20414079e-03 7.24202485e-01 1.33713307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.88, Y:115.80, Z:133.73 [[ 3.64389734e-01 -8.62495956e-01 -3.51170681e-01 2.01879152e+02] [ 6.25427615e-01 5.06053768e-01 -5.93927506e-01 1.15796613e+02] [ 6.89971319e-01 -3.21075536e-03 7.23829586e-01 1.33732441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.89, Y:115.81, Z:133.75 [[ 3.64435623e-01 -8.62504527e-01 -3.51102005e-01 2.01888978e+02] [ 6.25047185e-01 5.06041281e-01 -5.94338489e-01 1.15813397e+02] [ 6.90291745e-01 -2.85720238e-03 7.23525496e-01 1.33751033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.476875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:201.90, Y:115.83, Z:133.77 [[ 3.64463250e-01 -8.62614970e-01 -3.50801871e-01 2.01898601e+02] [ 6.25153403e-01 5.05853999e-01 -5.94386200e-01 1.15830466e+02] [ 6.90180963e-01 -2.67305710e-03 7.23631877e-01 1.33768794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.91, Y:115.85, Z:133.79 [[ 3.64999092e-01 -8.62562534e-01 -3.50373427e-01 2.01908889e+02] [ 6.25199646e-01 5.05945903e-01 -5.94259326e-01 1.15847928e+02] [ 6.89855830e-01 -2.14922841e-03 7.23943585e-01 1.33786850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.92, Y:115.87, Z:133.81 [[ 3.64749609e-01 -8.62769896e-01 -3.50122592e-01 2.01919027e+02] [ 6.25345226e-01 5.05592264e-01 -5.94407109e-01 1.15865578e+02] [ 6.89855834e-01 -2.13773105e-03 7.23943616e-01 1.33805755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.93, Y:115.88, Z:133.82 [[ 3.64560414e-01 -8.62930261e-01 -3.49924376e-01 2.01929534e+02] [ 6.25370420e-01 5.05318831e-01 -5.94613081e-01 1.15883152e+02] [ 6.89932998e-01 -2.05996327e-03 7.23870302e-01 1.33824535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.94, Y:115.90, Z:133.84 [[ 3.64400495e-01 -8.63081958e-01 -3.49716762e-01 2.01940167e+02] [ 6.25421670e-01 5.05060000e-01 -5.94779061e-01 1.15900789e+02] [ 6.89971024e-01 -1.98265710e-03 7.23834273e-01 1.33843334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.95, Y:115.92, Z:133.86 [[ 3.64250940e-01 -8.63119515e-01 -3.49779868e-01 2.01951023e+02] [ 6.24872180e-01 5.04996882e-01 -5.95409865e-01 1.15917718e+02] [ 6.90547617e-01 -1.68910588e-03 7.23284962e-01 1.33861252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.656875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:201.96, Y:115.93, Z:133.88 [[ 3.63874704e-01 -8.63305789e-01 -3.49711759e-01 2.01961225e+02] [ 6.24713851e-01 5.04678482e-01 -5.95845814e-01 1.15934875e+02] [ 6.90889140e-01 -1.65656038e-03 7.22958818e-01 1.33879266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.97, Y:115.95, Z:133.90 [[ 3.63742115e-01 -8.63410943e-01 -3.49590070e-01 2.01971096e+02] [ 6.24534096e-01 5.04499132e-01 -5.96186035e-01 1.15951638e+02] [ 6.91121434e-01 -1.47294899e-03 7.22737154e-01 1.33897474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.98, Y:115.97, Z:133.92 [[ 3.63762296e-01 -8.63523712e-01 -3.49290412e-01 2.01981237e+02] [ 6.24610354e-01 5.04306639e-01 -5.96268999e-01 1.15968655e+02] [ 6.91041893e-01 -1.27022777e-03 7.22813592e-01 1.33915243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.99, Y:115.99, Z:133.93 [[ 3.63007815e-01 -8.64037186e-01 -3.48805200e-01 2.01991915e+02] [ 6.25549841e-01 5.03424658e-01 -5.96029370e-01 1.15985240e+02] [ 6.90588678e-01 -1.83171799e-03 7.23245410e-01 1.33934649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.00, Y:116.00, Z:133.95 [[ 3.62480119e-01 -8.64522665e-01 -3.48150434e-01 2.02002323e+02] [ 6.26784330e-01 5.02588194e-01 -5.95438083e-01 1.16002191e+02] [ 6.89746017e-01 -2.38076973e-03 7.24047488e-01 1.33953670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.806875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:202.01, Y:116.02, Z:133.97 [[ 3.61529194e-01 -8.65220405e-01 -3.47405084e-01 2.02012537e+02] [ 6.28433618e-01 5.01380765e-01 -5.94717173e-01 1.16018857e+02] [ 6.88743660e-01 -3.31341323e-03 7.24997374e-01 1.33972759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.02, Y:116.05, Z:133.98 [[ 3.60910859e-01 -8.72438505e-01 -3.29536654e-01 2.02019250e+02] [ 6.32337341e-01 4.88648576e-01 -6.01142294e-01 1.16048456e+02] [ 6.85487300e-01 8.58045059e-03 7.28034022e-01 1.33980343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.866875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:202.03, Y:116.05, Z:134.01 [[ 3.60736803e-01 -8.60906826e-01 -3.58759523e-01 2.02034433e+02] [ 6.29762065e-01 5.08566618e-01 -5.87162445e-01 1.16047125e+02] [ 6.87945274e-01 -1.41220349e-02 7.25625156e-01 1.34014467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.04, Y:116.07, Z:134.03 [[ 3.60545592e-01 -8.66064815e-01 -3.46321546e-01 2.02041710e+02] [ 6.29833048e-01 4.99917353e-01 -5.94468647e-01 1.16070467e+02] [ 6.87980529e-01 -3.79170446e-03 7.25719240e-01 1.34028228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.05, Y:116.09, Z:134.05 [[ 3.59939175e-01 -8.66392267e-01 -3.46133255e-01 2.02051860e+02] [ 6.30048389e-01 4.99347870e-01 -5.94719036e-01 1.16088371e+02] [ 6.88100878e-01 -4.01802017e-03 7.25603913e-01 1.34047173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.06, Y:116.11, Z:134.07 [[ 3.59259306e-01 -8.66774624e-01 -3.45882209e-01 2.02061688e+02] [ 6.30494151e-01 4.98680765e-01 -5.94806372e-01 1.16106538e+02] [ 6.88047874e-01 -4.38698499e-03 7.25652036e-01 1.34065644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.07, Y:116.12, Z:134.08 [[ 3.57978730e-01 -8.67385625e-01 -3.45678184e-01 2.02071113e+02] [ 6.31124679e-01 4.97609877e-01 -5.95034494e-01 1.16123631e+02] [ 6.88137245e-01 -5.15634088e-03 7.25562226e-01 1.34083539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.016875 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:202.08, Y:116.14, Z:134.10 [[ 3.57073771e-01 -8.67858488e-01 -3.45427223e-01 2.02080999e+02] [ 6.31614557e-01 4.96779423e-01 -5.95208582e-01 1.16141141e+02] [ 6.88157957e-01 -5.64348986e-03 7.25538957e-01 1.34102020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.09, Y:116.16, Z:134.12 [[ 3.56284296e-01 -8.68265597e-01 -3.45219285e-01 2.02090156e+02] [ 6.31977538e-01 4.96062972e-01 -5.95420792e-01 1.16158070e+02] [ 6.88233893e-01 -6.03175638e-03 7.25463801e-01 1.34120158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.10, Y:116.18, Z:134.14 [[ 3.55701475e-01 -8.68706051e-01 -3.44711847e-01 2.02099182e+02] [ 6.32848477e-01 4.95285878e-01 -5.95142591e-01 1.16177355e+02] [ 6.87734880e-01 -6.45726975e-03 7.25933219e-01 1.34139196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.11, Y:116.20, Z:134.16 [[ 3.55796601e-01 -8.68866330e-01 -3.44209354e-01 2.02108318e+02] [ 6.33383738e-01 4.95005569e-01 -5.94806294e-01 1.16195089e+02] [ 6.87192708e-01 -6.38655005e-03 7.26447103e-01 1.34157312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.12, Y:116.21, Z:134.18 [[ 3.55636050e-01 -8.69060280e-01 -3.43885489e-01 2.02118013e+02] [ 6.33810951e-01 4.94663704e-01 -5.94635601e-01 1.16213114e+02] [ 6.86881852e-01 -6.48453252e-03 7.26740168e-01 1.34176728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.13, Y:116.23, Z:134.20 [[ 3.55211239e-01 -8.69333972e-01 -3.43632682e-01 2.02128287e+02] [ 6.34103193e-01 4.94180418e-01 -5.94725866e-01 1.16231207e+02] [ 6.86831942e-01 -6.64526911e-03 7.26785886e-01 1.34196089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.14, Y:116.25, Z:134.22 [[ 3.54802413e-01 -8.69565088e-01 -3.43470241e-01 2.02138331e+02] [ 6.34191228e-01 4.93772501e-01 -5.94970759e-01 1.16248369e+02] [ 6.86961960e-01 -6.72875305e-03 7.26662225e-01 1.34215208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.15, Y:116.27, Z:134.23 [[ 3.54823983e-01 -8.69689879e-01 -3.43131835e-01 2.02148187e+02] [ 6.34389311e-01 4.93554675e-01 -5.94940321e-01 1.16266550e+02] [ 6.86767897e-01 -6.58007375e-03 7.26846998e-01 1.34234191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.16, Y:116.28, Z:134.25 [[ 3.55105874e-01 -8.69756008e-01 -3.42672299e-01 2.02157586e+02] [ 6.34730279e-01 4.93441357e-01 -5.94670581e-01 1.16284719e+02] [ 6.86306995e-01 -6.33346769e-03 7.27284399e-01 1.34252711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.17, Y:116.30, Z:134.28 [[ 3.57536634e-01 -8.64729209e-01 -3.52719365e-01 2.02168994e+02] [ 6.36601803e-01 5.02007425e-01 -5.85428637e-01 1.16296308e+02] [ 6.83304983e-01 -1.52295995e-02 7.29974219e-01 1.34275419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.316875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:202.17, Y:116.33, Z:134.29 [[ 3.57684807e-01 -8.73138505e-01 -3.31195909e-01 2.02173973e+02] [ 6.34433270e-01 4.87451849e-01 -5.99904260e-01 1.16325411e+02] [ 6.85241567e-01 4.45493540e-03 7.28302237e-01 1.34286014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.346875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:202.19, Y:116.34, Z:134.31 [[ 3.57982588e-01 -8.69078582e-01 -3.41395497e-01 2.02185820e+02] [ 6.34194615e-01 4.94659555e-01 -5.94229850e-01 1.16338252e+02] [ 6.85306980e-01 -3.78724647e-03 7.28244465e-01 1.34308798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.20, Y:116.36, Z:134.33 [[ 3.58690536e-01 -8.68818900e-01 -3.41313373e-01 2.02195388e+02] [ 6.33473396e-01 4.95121331e-01 -5.94614434e-01 1.16355771e+02] [ 6.85603790e-01 -2.93037145e-03 7.27968994e-01 1.34327029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.21, Y:116.37, Z:134.35 [[ 3.59936402e-01 -8.67032373e-01 -3.44529608e-01 2.02205974e+02] [ 6.34269631e-01 4.98218725e-01 -5.91168451e-01 1.16371312e+02] [ 6.84213287e-01 -5.74162217e-03 7.29259358e-01 1.34346670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.21, Y:116.40, Z:134.36 [[ 3.59477903e-01 -8.70757862e-01 -3.35494236e-01 2.02214313e+02] [ 6.33690959e-01 4.91707639e-01 -5.97209650e-01 1.16395420e+02] [ 6.84990077e-01 2.08400833e-03 7.28549416e-01 1.34362552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.22, Y:116.41, Z:134.38 [[ 3.60328151e-01 -8.68499071e-01 -3.40401216e-01 2.02224805e+02] [ 6.33112078e-01 4.95689123e-01 -5.94526189e-01 1.16411705e+02] [ 6.85078623e-01 -1.28759903e-03 7.28467997e-01 1.34382013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.23, Y:116.43, Z:134.40 [[ 3.60141609e-01 -8.68573422e-01 -3.40408919e-01 2.02234500e+02] [ 6.32834048e-01 4.95559136e-01 -5.94930425e-01 1.16429421e+02] [ 6.85433505e-01 -1.16315329e-03 7.28134299e-01 1.34400231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.24, Y:116.45, Z:134.42 [[ 3.59755960e-01 -8.68750035e-01 -3.40366018e-01 2.02244510e+02] [ 6.32620365e-01 4.95249560e-01 -5.95415273e-01 1.16447006e+02] [ 6.85833159e-01 -1.11828139e-03 7.27757945e-01 1.34419030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.25, Y:116.46, Z:134.44 [[ 3.59148909e-01 -8.69038562e-01 -3.40270538e-01 2.02254648e+02] [ 6.32679668e-01 4.94742620e-01 -5.95773596e-01 1.16464333e+02] [ 6.86096566e-01 -1.31081402e-03 7.27509302e-01 1.34437906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.26, Y:116.48, Z:134.46 [[ 3.58312606e-01 -8.69435507e-01 -3.40138172e-01 2.02264516e+02] [ 6.32922750e-01 4.94043555e-01 -5.96095427e-01 1.16482014e+02] [ 6.86309602e-01 -1.69268161e-03 7.27307545e-01 1.34456237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.27, Y:116.50, Z:134.48 [[ 3.57456701e-01 -8.69934299e-01 -3.39763184e-01 2.02274702e+02] [ 6.33676085e-01 4.93162515e-01 -5.96024624e-01 1.16500801e+02] [ 6.86060731e-01 -2.24680831e-03 7.27540807e-01 1.34475239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.28, Y:116.52, Z:134.49 [[ 3.56547295e-01 -8.70462251e-01 -3.39366317e-01 2.02284882e+02] [ 6.34563132e-01 4.92226640e-01 -5.95854484e-01 1.16519624e+02] [ 6.85713977e-01 -2.89904844e-03 7.27865329e-01 1.34493839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.30, Y:116.54, Z:134.51 [[ 3.54808485e-01 -8.71250345e-01 -3.39166296e-01 2.02295002e+02] [ 6.35479733e-01 4.90822165e-01 -5.96036167e-01 1.16537776e+02] [ 6.85767051e-01 -4.05461802e-03 7.27809804e-01 1.34512018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.31, Y:116.56, Z:134.53 [[ 3.54134851e-01 -8.71700105e-01 -3.38714385e-01 2.02305557e+02] [ 6.36317153e-01 4.90018736e-01 -5.95803759e-01 1.16555998e+02] [ 6.85338594e-01 -4.53489753e-03 7.28210441e-01 1.34530572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.32, Y:116.57, Z:134.55 [[ 3.53081431e-01 -8.71852101e-01 -3.39422182e-01 2.02316077e+02] [ 6.36979185e-01 4.89732439e-01 -5.95331551e-01 1.16573311e+02] [ 6.85267117e-01 -6.00434884e-03 7.28267071e-01 1.34550495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.32, Y:116.61, Z:134.55 [[ 3.50728406e-01 -8.80970245e-01 -3.17617716e-01 2.02320007e+02] [ 6.42088987e-01 4.73110120e-01 -6.03231752e-01 1.16606448e+02] [ 6.81697380e-01 7.63167294e-03 7.31594450e-01 1.34552440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.34, Y:116.60, Z:134.59 [[ 3.52352994e-01 -8.67552763e-01 -3.50997963e-01 2.02338436e+02] [ 6.37707182e-01 4.97071411e-01 -5.88429743e-01 1.16601969e+02] [ 6.84964903e-01 -1.64989402e-02 7.28389228e-01 1.34592324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.35, Y:116.63, Z:134.61 [[ 3.52076063e-01 -8.72894982e-01 -3.37782173e-01 2.02345862e+02] [ 6.38188996e-01 4.87872639e-01 -5.95562838e-01 1.16626524e+02] [ 6.84658493e-01 -5.88544657e-03 7.28840250e-01 1.34606561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.856875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:202.36, Y:116.64, Z:134.63 [[ 3.51834014e-01 -8.73123127e-01 -3.37444560e-01 2.02356296e+02] [ 6.38563587e-01 4.87463267e-01 -5.95496523e-01 1.16644605e+02] [ 6.84433614e-01 -5.96387716e-03 7.29050794e-01 1.34625907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.37, Y:116.66, Z:134.64 [[ 3.50148024e-01 -8.73824468e-01 -3.37382809e-01 2.02367302e+02] [ 6.39138030e-01 4.86191486e-01 -5.95919808e-01 1.16662692e+02] [ 6.84761959e-01 -6.97404097e-03 7.28733437e-01 1.34644634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.38, Y:116.68, Z:134.66 [[ 3.48791804e-01 -8.74394347e-01 -3.37311137e-01 2.02377743e+02] [ 6.39541575e-01 4.85154400e-01 -5.96331940e-01 1.16680581e+02] [ 6.85077259e-01 -7.72880252e-03 7.28429416e-01 1.34662962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.39, Y:116.70, Z:134.68 [[ 3.46473660e-01 -8.75152338e-01 -3.37734197e-01 2.02388689e+02] [ 6.39393278e-01 4.83765873e-01 -5.97617617e-01 1.16698824e+02] [ 6.86390734e-01 -8.88621143e-03 7.27178655e-01 1.34680439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.976875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:202.40, Y:116.72, Z:134.70 [[ 3.45492530e-01 -8.75499989e-01 -3.37838246e-01 2.02398428e+02] [ 6.39171395e-01 4.83130461e-01 -5.98368520e-01 1.16716360e+02] [ 6.87091580e-01 -9.20468851e-03 7.26512515e-01 1.34697955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.41, Y:116.73, Z:134.72 [[ 3.44943989e-01 -8.75730663e-01 -3.37800903e-01 2.02408573e+02] [ 6.39022834e-01 4.82710629e-01 -5.98865817e-01 1.16734538e+02] [ 6.87505245e-01 -9.28732717e-03 7.26120020e-01 1.34716839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.42, Y:116.75, Z:134.74 [[ 3.44960998e-01 -8.75804055e-01 -3.37593198e-01 2.02418498e+02] [ 6.38960175e-01 4.82581698e-01 -5.99036560e-01 1.16751886e+02] [ 6.87554947e-01 -9.06435950e-03 7.26075776e-01 1.34735508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.066875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.43, Y:116.77, Z:134.76 [[ 3.45228883e-01 -8.75807316e-01 -3.37310780e-01 2.02428621e+02] [ 6.39061225e-01 4.82580772e-01 -5.98929502e-01 1.16768859e+02] [ 6.87326537e-01 -8.79447751e-03 7.26295318e-01 1.34755125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.096875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:202.43, Y:116.79, Z:134.77 [[ 3.44751134e-01 -8.78726540e-01 -3.30130766e-01 2.02433211e+02] [ 6.41300266e-01 4.77303376e-01 -6.00762395e-01 1.16790219e+02] [ 6.85478391e-01 -4.59943092e-03 7.28078445e-01 1.34768489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.45, Y:116.81, Z:134.79 [[ 3.48348667e-01 -8.76011493e-01 -3.33552200e-01 2.02446566e+02] [ 6.38890245e-01 4.82270911e-01 -5.99361346e-01 1.16805263e+02] [ 6.85909951e-01 -4.31652035e-03 7.27673627e-01 1.34793000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.46, Y:116.82, Z:134.81 [[ 3.49583443e-01 -8.74659332e-01 -3.35801235e-01 2.02456337e+02] [ 6.38805954e-01 4.84705302e-01 -5.97484496e-01 1.16822742e+02] [ 6.85360029e-01 -5.64114097e-03 7.28182538e-01 1.34813008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.47, Y:116.84, Z:134.83 [[ 3.50694383e-01 -8.74384181e-01 -3.35359141e-01 2.02465775e+02] [ 6.38652570e-01 4.85211222e-01 -5.97237779e-01 1.16840994e+02] [ 6.84935285e-01 -4.73004342e-03 7.28588555e-01 1.34832455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.216875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:202.47, Y:116.86, Z:134.85 [[ 3.52333728e-01 -8.73888001e-01 -3.34933883e-01 2.02474868e+02] [ 6.38170698e-01 4.86115451e-01 -5.97017528e-01 1.16858655e+02] [ 6.84542990e-01 -3.39557845e-03 7.28964584e-01 1.34852103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.48, Y:116.88, Z:134.87 [[ 3.52786362e-01 -8.73747791e-01 -3.34823207e-01 2.02483891e+02] [ 6.37652462e-01 4.86371445e-01 -5.97362666e-01 1.16876536e+02] [ 6.84792757e-01 -2.75944000e-03 7.28732643e-01 1.34870614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.49, Y:116.89, Z:134.89 [[ 3.54310616e-01 -8.73030115e-01 -3.35085668e-01 2.02492490e+02] [ 6.35851044e-01 4.87665043e-01 -5.98227595e-01 1.16894887e+02] [ 6.85680273e-01 -1.10618450e-03 7.27902012e-01 1.34888867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.306875 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:202.50, Y:116.91, Z:134.91 [[ 3.54977943e-01 -8.72715468e-01 -3.35199005e-01 2.02501297e+02] [ 6.34856875e-01 4.88229104e-01 -5.98823088e-01 1.16911627e+02] [ 6.86256081e-01 -2.34404571e-04 7.27359977e-01 1.34906665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.51, Y:116.93, Z:134.93 [[ 3.55569610e-01 -8.72493451e-01 -3.35149863e-01 2.02510654e+02] [ 6.34200217e-01 4.88625546e-01 -5.99195428e-01 1.16930066e+02] [ 6.86556871e-01 5.03569150e-04 7.27075931e-01 1.34925224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.52, Y:116.95, Z:134.94 [[ 3.55755232e-01 -8.72397895e-01 -3.35201622e-01 2.02519492e+02] [ 6.33422959e-01 4.88795187e-01 -5.99878838e-01 1.16948053e+02] [ 6.87177975e-01 1.08563171e-03 7.26488301e-01 1.34943471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.53, Y:116.97, Z:134.96 [[ 3.56239639e-01 -8.72264578e-01 -3.35034067e-01 2.02529027e+02] [ 6.32967655e-01 4.89031172e-01 -6.00167028e-01 1.16967189e+02] [ 6.87346542e-01 1.73755746e-03 7.26327552e-01 1.34962323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.54, Y:116.98, Z:134.98 [[ 3.57113893e-01 -8.71942091e-01 -3.34942768e-01 2.02537691e+02] [ 6.32173324e-01 4.89601468e-01 -6.00539167e-01 1.16984313e+02] [ 6.87623847e-01 2.71899708e-03 7.26062017e-01 1.34980240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.55, Y:117.00, Z:135.00 [[ 3.57335927e-01 -8.71987133e-01 -3.34588516e-01 2.02547610e+02] [ 6.32242444e-01 4.89519285e-01 -6.00533397e-01 1.17002034e+02] [ 6.87444926e-01 3.05109708e-03 7.26230104e-01 1.34999942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.56, Y:117.02, Z:135.02 [[ 3.57107071e-01 -8.72169932e-01 -3.34356321e-01 2.02557645e+02] [ 6.32371825e-01 4.89193444e-01 -6.00662675e-01 1.17020423e+02] [ 6.87444845e-01 3.06337134e-03 7.26230130e-01 1.35019413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.57, Y:117.04, Z:135.04 [[ 3.57145758e-01 -8.72369719e-01 -3.33793321e-01 2.02567203e+02] [ 6.32567112e-01 4.88834795e-01 -6.00749025e-01 1.17038012e+02] [ 6.87245048e-01 3.40828865e-03 7.26417667e-01 1.35038414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.57, Y:117.07, Z:135.04 [[ 3.56798437e-01 -8.80637070e-01 -3.11726206e-01 2.02569193e+02] [ 6.37921928e-01 4.73455061e-01 -6.07368026e-01 1.17070739e+02] [ 6.82459148e-01 1.78509800e-02 7.30705723e-01 1.35041946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.59, Y:117.07, Z:135.08 [[ 3.58999181e-01 -8.67135649e-01 -3.45246803e-01 2.02587355e+02] [ 6.32848088e-01 4.98039894e-01 -5.92840250e-01 1.17066157e+02] [ 6.86019596e-01 -5.65961497e-03 7.27561051e-01 1.35081190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.59, Y:117.09, Z:135.10 [[ 3.59967979e-01 -8.71733381e-01 -3.32421369e-01 2.02594055e+02] [ 6.33384152e-01 4.89954386e-01 -5.98973468e-01 1.17090406e+02] [ 6.85016474e-01 5.06084178e-03 7.28509998e-01 1.35095504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.60, Y:117.11, Z:135.11 [[ 3.61350909e-01 -8.71432259e-01 -3.31709721e-01 2.02602415e+02] [ 6.33675476e-01 4.90479459e-01 -5.98235147e-01 1.17107921e+02] [ 6.84018210e-01 5.97649895e-03 7.29440450e-01 1.35114633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.61, Y:117.13, Z:135.13 [[ 3.61300910e-01 -8.71594371e-01 -3.31338053e-01 2.02611491e+02] [ 6.33990371e-01 4.90190511e-01 -5.98138338e-01 1.17126551e+02] [ 6.83752778e-01 6.04279090e-03 7.29688717e-01 1.35133270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.62, Y:117.14, Z:135.15 [[ 3.61209236e-01 -8.71737945e-01 -3.31060181e-01 2.02620854e+02] [ 6.34148862e-01 4.89934095e-01 -5.98180411e-01 1.17144903e+02] [ 6.83654232e-01 6.12685227e-03 7.29780346e-01 1.35152312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.63, Y:117.16, Z:135.17 [[ 3.60387447e-01 -8.72115698e-01 -3.30960869e-01 2.02628904e+02] [ 6.34313164e-01 4.89265594e-01 -5.98553247e-01 1.17163832e+02] [ 6.83935449e-01 5.77824083e-03 7.29519646e-01 1.35169569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.64, Y:117.18, Z:135.19 [[ 3.59641587e-01 -8.72429639e-01 -3.30944789e-01 2.02637905e+02] [ 6.34388010e-01 4.88709320e-01 -5.98928254e-01 1.17182560e+02] [ 6.84258563e-01 5.45210232e-03 7.29219098e-01 1.35187989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.65, Y:117.20, Z:135.21 [[ 3.58141422e-01 -8.73059767e-01 -3.30909906e-01 2.02646798e+02] [ 6.34796523e-01 4.87591402e-01 -5.99406372e-01 1.17201768e+02] [ 6.84666413e-01 4.61179300e-03 7.28841982e-01 1.35206821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.66, Y:117.22, Z:135.23 [[ 3.55303055e-01 -8.74206353e-01 -3.30942580e-01 2.02655769e+02] [ 6.35795473e-01 4.85546666e-01 -6.00007126e-01 1.17220863e+02] [ 6.85218108e-01 2.77257061e-03 7.28332656e-01 1.35225580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.66, Y:117.24, Z:135.24 [[ 3.52864114e-01 -8.75208836e-01 -3.30902419e-01 2.02664985e+02] [ 6.36728375e-01 4.83743812e-01 -6.00473897e-01 1.17239390e+02] [ 6.85612058e-01 1.19072962e-03 7.27966131e-01 1.35244518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.67, Y:117.26, Z:135.26 [[ 3.50374790e-01 -8.76261455e-01 -3.30761801e-01 2.02674574e+02] [ 6.37907894e-01 4.81835664e-01 -6.00756118e-01 1.17258364e+02] [ 6.85792262e-01 -5.05765256e-04 7.27797168e-01 1.35263626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.68, Y:117.28, Z:135.28 [[ 3.47984311e-01 -8.77284088e-01 -3.30574572e-01 2.02683891e+02] [ 6.39114995e-01 4.79966684e-01 -6.00969222e-01 1.17276995e+02] [ 6.85885517e-01 -2.14730527e-03 7.27706291e-01 1.35283062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.936875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:202.69, Y:117.30, Z:135.30 [[ 3.43757339e-01 -8.79081611e-01 -3.30221764e-01 2.02692508e+02] [ 6.41681299e-01 4.76641383e-01 -6.00881105e-01 1.17295630e+02] [ 6.85620888e-01 -5.33984071e-03 7.27939203e-01 1.35303025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.966875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:202.70, Y:117.31, Z:135.32 [[ 3.41976804e-01 -8.79959763e-01 -3.29731224e-01 2.02701819e+02] [ 6.43217465e-01 4.75000707e-01 -6.00537777e-01 1.17313458e+02] [ 6.85071644e-01 -6.71889248e-03 7.28444712e-01 1.35321935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.71, Y:117.35, Z:135.33 [[ 3.39056481e-01 -8.88329476e-01 -3.09695731e-01 2.02706525e+02] [ 6.48069197e-01 4.59176030e-01 -6.07588422e-01 1.17345254e+02] [ 6.81943560e-01 5.30252848e-03 7.31385578e-01 1.35329107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.72, Y:117.34, Z:135.37 [[ 3.37563451e-01 -8.76406471e-01 -3.43456859e-01 2.02721705e+02] [ 6.46688730e-01 4.81055684e-01 -5.91928303e-01 1.17342966e+02] [ 6.83991669e-01 -2.22963195e-02 7.29149004e-01 1.35365272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.73, Y:117.37, Z:135.38 [[ 3.36578313e-01 -8.82412732e-01 -3.28729083e-01 2.02727114e+02] [ 6.47281225e-01 4.70350062e-01 -5.99831506e-01 1.17368580e+02] [ 6.83916702e-01 -1.08898871e-02 7.29478824e-01 1.35378921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.086875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:202.74, Y:117.39, Z:135.40 [[ 3.36266513e-01 -8.82680014e-01 -3.28330361e-01 2.02736186e+02] [ 6.47818823e-01 4.69844369e-01 -5.99647431e-01 1.17387327e+02] [ 6.83560974e-01 -1.10572366e-02 7.29809655e-01 1.35398522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.74, Y:117.41, Z:135.42 [[ 3.36346848e-01 -8.82807141e-01 -3.27906007e-01 2.02743158e+02] [ 6.48204724e-01 4.69608235e-01 -5.99415333e-01 1.17405915e+02] [ 6.83155498e-01 -1.09387648e-02 7.30191009e-01 1.35417591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.146875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:202.75, Y:117.42, Z:135.44 [[ 3.36979557e-01 -8.82680655e-01 -3.27596765e-01 2.02751478e+02] [ 6.48015902e-01 4.69860484e-01 -5.99421819e-01 1.17424692e+02] [ 6.83022818e-01 -1.02950142e-02 7.30324478e-01 1.35436671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.176875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:202.76, Y:117.44, Z:135.46 [[ 3.38068422e-01 -8.82371361e-01 -3.27307994e-01 2.02759413e+02] [ 6.47567369e-01 4.70461707e-01 -5.99434972e-01 1.17442958e+02] [ 6.82910130e-01 -9.30394098e-03 7.30443147e-01 1.35455302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.77, Y:117.46, Z:135.47 [[ 3.39509432e-01 -8.81846285e-01 -3.27231531e-01 2.02767019e+02] [ 6.46431519e-01 4.71471272e-01 -5.99867595e-01 1.17460286e+02] [ 6.83271276e-01 -7.87206880e-03 7.30122177e-01 1.35473406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.236875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:202.77, Y:117.48, Z:135.49 [[ 3.43184680e-01 -8.80384431e-01 -3.27333972e-01 2.02773471e+02] [ 6.43797404e-01 4.74237969e-01 -6.00519151e-01 1.17479426e+02] [ 6.83921909e-01 -4.64778877e-03 7.29540417e-01 1.35492656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.78, Y:117.50, Z:135.51 [[ 3.44842346e-01 -8.79799231e-01 -3.27165202e-01 2.02781547e+02] [ 6.42769161e-01 4.75335184e-01 -6.00753084e-01 1.17499137e+02] [ 6.84055234e-01 -3.12659976e-03 7.29423513e-01 1.35511710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.296875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:202.79, Y:117.52, Z:135.53 [[ 3.46317334e-01 -8.79179161e-01 -3.27274055e-01 2.02789528e+02] [ 6.41219043e-01 4.76488838e-01 -6.01495243e-01 1.17518341e+02] [ 6.84764517e-01 -1.54612750e-03 7.28762764e-01 1.35530605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.80, Y:117.54, Z:135.55 [[ 3.47557725e-01 -8.78725653e-01 -3.27177100e-01 2.02797794e+02] [ 6.40247510e-01 4.77327081e-01 -6.01865421e-01 1.17536513e+02] [ 6.85045075e-01 -2.91347013e-04 7.28500625e-01 1.35548721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.356875 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:202.81, Y:117.56, Z:135.57 [[ 3.49377145e-01 -8.77940137e-01 -3.27348020e-01 2.02805412e+02] [ 6.38495986e-01 4.78768015e-01 -6.02581169e-01 1.17555264e+02] [ 6.85753955e-01 1.51769147e-03 7.27831855e-01 1.35567922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.38687500000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:202.81, Y:117.57, Z:135.59 [[ 3.50041768e-01 -8.77713639e-01 -3.27245365e-01 2.02813892e+02] [ 6.37842795e-01 4.79179885e-01 -6.02945443e-01 1.17573608e+02] [ 6.86022835e-01 2.32499000e-03 7.27576294e-01 1.35587021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.416875 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:202.82, Y:117.59, Z:135.61 [[ 3.50855589e-01 -8.77495808e-01 -3.26957892e-01 2.02822384e+02] [ 6.37527362e-01 4.79574228e-01 -6.02965524e-01 1.17592589e+02] [ 6.85900298e-01 3.10922186e-03 7.27688885e-01 1.35606620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.44687500000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:202.83, Y:117.61, Z:135.63 [[ 3.53754307e-01 -8.76523966e-01 -3.26440849e-01 2.02829532e+02] [ 6.36585638e-01 4.81328472e-01 -6.02562550e-01 1.17611473e+02] [ 6.85285791e-01 5.35154115e-03 7.28254588e-01 1.35626597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.476875 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:202.84, Y:117.63, Z:135.65 [[ 3.54883746e-01 -8.76168261e-01 -3.26169749e-01 2.02838092e+02] [ 6.36053741e-01 4.81962914e-01 -6.02617116e-01 1.17629919e+02] [ 6.85195713e-01 6.39753087e-03 7.28330904e-01 1.35646424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.50687500000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:202.85, Y:117.65, Z:135.67 [[ 3.56275607e-01 -8.75707603e-01 -3.25889378e-01 2.02846798e+02] [ 6.35399203e-01 4.82781334e-01 -6.02652500e-01 1.17648227e+02] [ 6.85080685e-01 7.64053382e-03 7.28427126e-01 1.35666254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.85, Y:117.67, Z:135.68 [[ 3.58732950e-01 -8.74758071e-01 -3.25743745e-01 2.02853787e+02] [ 6.33845996e-01 4.84460338e-01 -6.02940656e-01 1.17666274e+02] [ 6.85237130e-01 9.82331158e-03 7.28253787e-01 1.35684873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.86, Y:117.68, Z:135.70 [[ 3.59883169e-01 -8.74388148e-01 -3.25468081e-01 2.02861971e+02] [ 6.33278891e-01 4.85104593e-01 -6.03018557e-01 1.17684790e+02] [ 6.85158340e-01 1.09041642e-02 7.28312535e-01 1.35703153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.596875 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:202.87, Y:117.70, Z:135.72 [[ 3.60845967e-01 -8.74025011e-01 -3.25377424e-01 2.02870597e+02] [ 6.32399687e-01 4.85733255e-01 -6.03435035e-01 1.17703596e+02] [ 6.85463949e-01 1.19785175e-02 7.28008029e-01 1.35722477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.626875 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:202.88, Y:117.72, Z:135.74 [[ 3.61728503e-01 -8.73714912e-01 -3.25230292e-01 2.02879627e+02] [ 6.31723576e-01 4.86266597e-01 -6.03713608e-01 1.17722299e+02] [ 6.85622209e-01 1.29247767e-02 7.27842796e-01 1.35741182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.89, Y:117.74, Z:135.76 [[ 3.61786541e-01 -8.73573341e-01 -3.25545876e-01 2.02888728e+02] [ 6.30449163e-01 4.86502809e-01 -6.04854421e-01 1.17740353e+02] [ 6.86763680e-01 1.35880642e-02 7.26753750e-01 1.35759787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.686875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:202.90, Y:117.76, Z:135.78 [[ 3.61153652e-01 -8.73821837e-01 -3.25581690e-01 2.02898821e+02] [ 6.30166530e-01 4.86058514e-01 -6.05505793e-01 1.17758866e+02] [ 6.87355937e-01 1.35099443e-02 7.26195082e-01 1.35779065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.716875 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:202.91, Y:117.78, Z:135.80 [[ 3.60252550e-01 -8.74226643e-01 -3.25493282e-01 2.02908667e+02] [ 6.30346215e-01 4.85341250e-01 -6.05893984e-01 1.17776748e+02] [ 6.87663981e-01 1.31013947e-02 7.25910878e-01 1.35797464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.746875 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:202.92, Y:117.79, Z:135.82 [[ 3.59281236e-01 -8.74637262e-01 -3.25463753e-01 2.02918491e+02] [ 6.30399525e-01 4.84611462e-01 -6.06422436e-01 1.17793995e+02] [ 6.88123124e-01 1.27040070e-02 7.25482719e-01 1.35816314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.93, Y:117.81, Z:135.84 [[ 3.56126445e-01 -8.76002644e-01 -3.25258856e-01 2.02929564e+02] [ 6.32037479e-01 4.82192717e-01 -6.06645538e-01 1.17812028e+02] [ 6.88260547e-01 1.04667318e-02 7.25388081e-01 1.35835531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.94, Y:117.83, Z:135.85 [[ 3.54090233e-01 -8.76921413e-01 -3.25006066e-01 2.02939663e+02] [ 6.33200294e-01 4.80548653e-01 -6.06737488e-01 1.17829399e+02] [ 6.88242322e-01 9.04588197e-03 7.25424481e-01 1.35854079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.95, Y:117.84, Z:135.87 [[ 3.50146020e-01 -8.78645119e-01 -3.24623660e-01 2.02950898e+02] [ 6.35664506e-01 4.77437031e-01 -6.06617274e-01 1.17844930e+02] [ 6.87988663e-01 6.05288545e-03 7.25696191e-01 1.35872861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.96, Y:117.86, Z:135.89 [[ 3.48062636e-01 -8.79569758e-01 -3.24360051e-01 2.02961642e+02] [ 6.36798901e-01 4.75747352e-01 -6.06754990e-01 1.17862273e+02] [ 6.87996774e-01 4.63661729e-03 7.25698932e-01 1.35892449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.97, Y:117.88, Z:135.91 [[ 3.46326254e-01 -8.80368353e-01 -3.24051984e-01 2.02972323e+02] [ 6.37909904e-01 4.74278306e-01 -6.06738035e-01 1.17880052e+02] [ 6.87843791e-01 3.41334074e-03 7.25850721e-01 1.35911893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.926875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:202.98, Y:117.90, Z:135.93 [[ 3.44528986e-01 -8.81193605e-01 -3.23724588e-01 2.02982362e+02] [ 6.39085118e-01 4.72750747e-01 -6.06693450e-01 1.17897421e+02] [ 6.87655429e-01 2.13591267e-03 7.26034055e-01 1.35930642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.99, Y:117.91, Z:135.95 [[ 3.42453319e-01 -8.82070632e-01 -3.23538445e-01 2.02993863e+02] [ 6.40053261e-01 4.71116558e-01 -6.06943995e-01 1.17914410e+02] [ 6.87791791e-01 7.68149410e-04 7.25907613e-01 1.35950603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.00, Y:117.93, Z:135.97 [[ 3.41993674e-01 -8.82283426e-01 -3.23444404e-01 2.03003870e+02] [ 6.39978040e-01 4.70718022e-01 -6.07332407e-01 1.17931509e+02] [ 6.88090427e-01 7.06525918e-04 7.25624604e-01 1.35969005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.01, Y:117.95, Z:135.99 [[ 3.41559014e-01 -8.82517446e-01 -3.23265212e-01 2.03013845e+02] [ 6.40055003e-01 4.70279249e-01 -6.07591163e-01 1.17950082e+02] [ 6.88234722e-01 6.20722282e-04 7.25487823e-01 1.35988256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.02, Y:117.97, Z:136.01 [[ 3.41834738e-01 -8.82495927e-01 -3.23032431e-01 2.03024665e+02] [ 6.39907542e-01 4.70318917e-01 -6.07715767e-01 1.17967793e+02] [ 6.88234952e-01 1.02747140e-03 7.25487143e-01 1.36007857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.03, Y:117.99, Z:136.03 [[ 3.41942474e-01 -8.82519947e-01 -3.22852734e-01 2.03034831e+02] [ 6.39718722e-01 4.70273031e-01 -6.07950025e-01 1.17985295e+02] [ 6.88356958e-01 1.34899750e-03 7.25370856e-01 1.36027355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.106875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:203.04, Y:118.00, Z:136.05 [[ 3.42777110e-01 -8.82305614e-01 -3.22553340e-01 2.03044565e+02] [ 6.39420254e-01 4.70672071e-01 -6.07955212e-01 1.18002426e+02] [ 6.88219145e-01 2.14599233e-03 7.25499692e-01 1.36045995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.05, Y:118.02, Z:136.07 [[ 3.44169978e-01 -8.81732006e-01 -3.22638647e-01 2.03054406e+02] [ 6.38083609e-01 4.71737146e-01 -6.08533790e-01 1.18020471e+02] [ 6.88764353e-01 3.56862929e-03 7.24976503e-01 1.36065557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.166875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:203.06, Y:118.04, Z:136.08 [[ 3.44393823e-01 -8.81672896e-01 -3.22561311e-01 2.03063617e+02] [ 6.37603059e-01 4.71843690e-01 -6.08954737e-01 1.18038229e+02] [ 6.89097405e-01 4.05417163e-03 7.24657388e-01 1.36084330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.07, Y:118.06, Z:136.10 [[ 3.44743969e-01 -8.81546543e-01 -3.22532618e-01 2.03073239e+02] [ 6.36912493e-01 4.72073766e-01 -6.09498840e-01 1.18056221e+02] [ 6.89560783e-01 4.69599544e-03 7.24212590e-01 1.36103369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.226875 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:203.08, Y:118.07, Z:136.12 [[ 3.44540147e-01 -8.81655218e-01 -3.22453352e-01 2.03083088e+02] [ 6.36671496e-01 4.71869304e-01 -6.09908818e-01 1.18073557e+02] [ 6.89885131e-01 4.84121596e-03 7.23902665e-01 1.36121353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.25687500000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:203.09, Y:118.09, Z:136.14 [[ 3.43880669e-01 -8.81995527e-01 -3.22226592e-01 2.03093069e+02] [ 6.36953460e-01 4.71235716e-01 -6.10104245e-01 1.18091205e+02] [ 6.89953893e-01 4.55971350e-03 7.23838956e-01 1.36140769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.286875 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:203.10, Y:118.11, Z:136.16 [[ 3.43235181e-01 -8.82347092e-01 -3.21952201e-01 2.03103456e+02] [ 6.37384935e-01 4.70580274e-01 -6.10159529e-01 1.18108676e+02] [ 6.89876841e-01 4.22073399e-03 7.23914449e-01 1.36159468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.316875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:203.12, Y:118.13, Z:136.18 [[ 3.41273785e-01 -8.83208215e-01 -3.21676007e-01 2.03115030e+02] [ 6.38490043e-01 4.68972278e-01 -6.10242139e-01 1.18125660e+02] [ 6.89828000e-01 2.87271699e-03 7.23967595e-01 1.36179073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.346875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:203.13, Y:118.14, Z:136.20 [[ 3.40139891e-01 -8.83774144e-01 -3.21322450e-01 2.03125447e+02] [ 6.39361985e-01 4.67909051e-01 -6.10145370e-01 1.18143871e+02] [ 6.89580384e-01 2.09341990e-03 7.24206125e-01 1.36198365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.376875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:203.14, Y:118.16, Z:136.22 [[ 3.39986383e-01 -8.83918894e-01 -3.21086669e-01 2.03135021e+02] [ 6.39443900e-01 4.67635217e-01 -6.10269451e-01 1.18162459e+02] [ 6.89580132e-01 2.16639144e-03 7.24206150e-01 1.36217825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.14, Y:118.18, Z:136.24 [[ 3.39073761e-01 -8.84363891e-01 -3.20826267e-01 2.03144567e+02] [ 6.40187884e-01 4.66795765e-01 -6.10132106e-01 1.18180051e+02] [ 6.89339146e-01 1.49069925e-03 7.24437243e-01 1.36236186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.15, Y:118.20, Z:136.26 [[ 3.38574100e-01 -8.84659864e-01 -3.20537835e-01 2.03154522e+02] [ 6.40718953e-01 4.66235549e-01 -6.10002981e-01 1.18198369e+02] [ 6.89091288e-01 1.15654439e-03 7.24673623e-01 1.36255005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.466875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:203.17, Y:118.21, Z:136.27 [[ 3.37791280e-01 -8.84981129e-01 -3.20476913e-01 2.03165165e+02] [ 6.40729227e-01 4.65626080e-01 -6.10457543e-01 1.18214592e+02] [ 6.89465815e-01 8.68309717e-04 7.24317704e-01 1.36273813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.496875 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:203.17, Y:118.23, Z:136.29 [[ 3.38044895e-01 -8.84964285e-01 -3.20255933e-01 2.03174900e+02] [ 6.40535316e-01 4.65657123e-01 -6.10637333e-01 1.18231637e+02] [ 6.89521688e-01 1.28759751e-03 7.24263892e-01 1.36292665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.526875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:203.18, Y:118.25, Z:136.31 [[ 3.38356117e-01 -8.84930699e-01 -3.20019994e-01 2.03184306e+02] [ 6.40317814e-01 4.65719404e-01 -6.10817922e-01 1.18249721e+02] [ 6.89571051e-01 1.75947719e-03 7.24215900e-01 1.36311463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.556875 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:203.19, Y:118.27, Z:136.33 [[ 3.38980924e-01 -8.84799145e-01 -3.19722390e-01 2.03193104e+02] [ 6.40081749e-01 4.65966288e-01 -6.10877052e-01 1.18267837e+02] [ 6.89483349e-01 2.42720047e-03 7.24297467e-01 1.36329446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.586875 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:203.20, Y:118.29, Z:136.35 [[ 3.40641481e-01 -8.84183485e-01 -3.19660673e-01 2.03201797e+02] [ 6.38751375e-01 4.67121952e-01 -6.11386755e-01 1.18285718e+02] [ 6.89898589e-01 4.07999540e-03 7.23894530e-01 1.36347316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.21, Y:118.30, Z:136.37 [[ 3.41344168e-01 -8.83935426e-01 -3.19597126e-01 2.03211102e+02] [ 6.37900567e-01 4.67582198e-01 -6.11922998e-01 1.18303992e+02] [ 6.90338342e-01 5.00515860e-03 7.23469365e-01 1.36366032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.22, Y:118.32, Z:136.38 [[ 3.41842000e-01 -8.83816746e-01 -3.19393187e-01 2.03219946e+02] [ 6.37515069e-01 4.67799220e-01 -6.12158825e-01 1.18321409e+02] [ 6.90448104e-01 5.64362768e-03 7.23359914e-01 1.36383805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.676875 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:203.23, Y:118.34, Z:136.40 [[ 3.42326877e-01 -8.83681365e-01 -3.19248422e-01 2.03230231e+02] [ 6.36969700e-01 4.68046038e-01 -6.12537760e-01 1.18339126e+02] [ 6.90711163e-01 6.33656709e-03 7.23102993e-01 1.36402465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.24, Y:118.36, Z:136.42 [[ 3.42017261e-01 -8.83856702e-01 -3.19094849e-01 2.03239749e+02] [ 6.36905739e-01 4.67714331e-01 -6.12857556e-01 1.18356084e+02] [ 6.90923493e-01 6.37452190e-03 7.22899781e-01 1.36421229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.736875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.25, Y:118.37, Z:136.44 [[ 3.42163739e-01 -8.83921570e-01 -3.18757955e-01 2.03249549e+02] [ 6.37033674e-01 4.67588238e-01 -6.12820804e-01 1.18373553e+02] [ 6.90732997e-01 6.62550615e-03 7.23079545e-01 1.36440271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.766875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:203.26, Y:118.39, Z:136.46 [[ 3.43056397e-01 -8.83795445e-01 -3.18147639e-01 2.03257938e+02] [ 6.37404010e-01 4.67817304e-01 -6.12260646e-01 1.18390512e+02] [ 6.89948140e-01 7.25134989e-03 7.23822479e-01 1.36457785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.26, Y:118.43, Z:136.45 [[ 3.43097819e-01 -8.95838124e-01 -2.82414489e-01 2.03256019e+02] [ 6.45308440e-01 4.43282794e-01 -6.22155432e-01 1.18433783e+02] [ 6.82540039e-01 3.12157185e-02 7.30181261e-01 1.36448773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.28, Y:118.42, Z:136.50 [[ 3.44251940e-01 -8.77264318e-01 -3.34511463e-01 2.03280005e+02] [ 6.36220381e-01 4.79982734e-01 -6.04020034e-01 1.18417466e+02] [ 6.90444950e-01 -4.88794180e-03 7.23368426e-01 1.36501134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.856875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:203.29, Y:118.44, Z:136.51 [[ 3.45245261e-01 -8.83109415e-01 -3.17684546e-01 2.03285670e+02] [ 6.36060456e-01 4.69071619e-01 -6.12698060e-01 1.18443502e+02] [ 6.90096230e-01 9.46452444e-03 7.23655730e-01 1.36514168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.28, Y:118.49, Z:136.50 [[ 3.45509529e-01 -8.98389607e-01 -2.71144389e-01 2.03281451e+02] [ 6.46605690e-01 4.37316185e-01 -6.25024508e-01 1.18493539e+02] [ 6.80091352e-01 4.06284190e-02 7.32000741e-01 1.36500630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.31, Y:118.47, Z:136.56 [[ 3.47055744e-01 -8.73529356e-01 -3.41319167e-01 2.03309332e+02] [ 6.35378309e-01 4.86691926e-01 -5.99520954e-01 1.18467589e+02] [ 6.89816436e-01 -8.79960425e-03 7.23930833e-01 1.36559651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.31, Y:118.50, Z:136.57 [[ 3.47153362e-01 -8.82665017e-01 -3.16839092e-01 2.03313041e+02] [ 6.35527326e-01 4.69866261e-01 -6.12642404e-01 1.18497537e+02] [ 6.89630017e-01 1.13209692e-02 7.24073391e-01 1.36570290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.976875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:203.32, Y:118.51, Z:136.59 [[ 3.46972395e-01 -8.82824416e-01 -3.16593127e-01 2.03322098e+02] [ 6.35647937e-01 4.69565643e-01 -6.12747752e-01 1.18514908e+02] [ 6.89609931e-01 1.13647870e-02 7.24091834e-01 1.36588663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.33, Y:118.53, Z:136.61 [[ 3.46703756e-01 -8.83042730e-01 -3.16278426e-01 2.03331013e+02] [ 6.35947300e-01 4.69156371e-01 -6.12750627e-01 1.18532545e+02] [ 6.89469025e-01 1.13065329e-02 7.24226916e-01 1.36608241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.036875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:203.34, Y:118.55, Z:136.63 [[ 3.46471144e-01 -8.83313189e-01 -3.15777701e-01 2.03339856e+02] [ 6.36702133e-01 4.68651749e-01 -6.12352783e-01 1.18550105e+02] [ 6.88889062e-01 1.11062334e-02 7.24781700e-01 1.36626194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.066875 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:203.35, Y:118.57, Z:136.65 [[ 3.46284153e-01 -8.83550393e-01 -3.15318868e-01 2.03348703e+02] [ 6.37238712e-01 4.68205973e-01 -6.12135598e-01 1.18567913e+02] [ 6.88486825e-01 1.10394679e-02 7.25164824e-01 1.36645389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.36, Y:118.59, Z:136.66 [[ 3.45361041e-01 -8.86642133e-01 -3.07557278e-01 2.03355655e+02] [ 6.37180150e-01 4.62141972e-01 -6.16787042e-01 1.18590156e+02] [ 6.89004505e-01 1.70448225e-02 7.24556600e-01 1.36661306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.126875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:203.36, Y:118.62, Z:136.66 [[ 3.44562413e-01 -8.92801759e-01 -2.90140936e-01 2.03359900e+02] [ 6.45966556e-01 4.49749514e-01 -6.16808385e-01 1.18622354e+02] [ 6.81178356e-01 2.51076439e-02 7.31686855e-01 1.36663498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.156875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.37, Y:118.63, Z:136.68 [[ 3.42557399e-01 -8.89677336e-01 -3.01875249e-01 2.03369668e+02] [ 6.46813517e-01 4.56373407e-01 -6.11028303e-01 1.18633881e+02] [ 6.81385869e-01 1.40552745e-02 7.31789414e-01 1.36684990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.186875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.39, Y:118.63, Z:136.73 [[ 3.43576216e-01 -8.78852186e-01 -3.31019969e-01 2.03388102e+02] [ 6.37785305e-01 4.77082253e-01 -6.04667204e-01 1.18630233e+02] [ 6.89336847e-01 -3.37040229e-03 7.24433125e-01 1.36728203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.216875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:203.38, Y:118.68, Z:136.72 [[ 3.39164087e-01 -8.95958551e-01 -2.86750759e-01 2.03384945e+02] [ 6.47008924e-01 4.43442277e-01 -6.20272843e-01 1.18676382e+02] [ 6.82896167e-01 2.48439718e-02 7.30092873e-01 1.36719908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.246875 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:203.41, Y:118.67, Z:136.77 [[ 3.39383936e-01 -8.81152344e-01 -3.29224984e-01 2.03406257e+02] [ 6.39151180e-01 4.72810464e-01 -6.06577310e-01 1.18666142e+02] [ 6.90148037e-01 -4.56194204e-03 7.23653837e-01 1.36765108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.41, Y:118.69, Z:136.78 [[ 3.37215265e-01 -8.86803385e-01 -3.16015224e-01 2.03411429e+02] [ 6.40284398e-01 4.62124323e-01 -6.13577216e-01 1.18690133e+02] [ 6.90160673e-01 4.56798625e-03 7.23641747e-01 1.36778116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.42, Y:118.71, Z:136.80 [[ 3.35293731e-01 -8.87576972e-01 -3.15888007e-01 2.03420054e+02] [ 6.40937506e-01 4.60646833e-01 -6.14006196e-01 1.18708006e+02] [ 6.90490570e-01 3.40795730e-03 7.23333366e-01 1.36796289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.43, Y:118.73, Z:136.81 [[ 3.31320245e-01 -8.88993443e-01 -3.16097380e-01 2.03428100e+02] [ 6.41889948e-01 4.57919082e-01 -6.15050737e-01 1.18726376e+02] [ 6.91523094e-01 8.79030181e-04 7.22353817e-01 1.36814349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.44, Y:118.74, Z:136.83 [[ 3.29284410e-01 -8.89773931e-01 -3.16028683e-01 2.03436780e+02] [ 6.42487692e-01 4.56401388e-01 -6.15554497e-01 1.18744684e+02] [ 6.91940274e-01 -3.52039827e-04 7.21954662e-01 1.36832905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.44, Y:118.76, Z:136.85 [[ 3.24979953e-01 -8.91309578e-01 -3.16157027e-01 2.03444792e+02] [ 6.43769565e-01 4.53383937e-01 -6.16444444e-01 1.18762868e+02] [ 6.92783355e-01 -3.20018513e-03 7.21138671e-01 1.36850948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.45, Y:118.78, Z:136.87 [[ 3.23000252e-01 -8.92029158e-01 -3.16156320e-01 2.03453387e+02] [ 6.44160410e-01 4.51957045e-01 -6.17083622e-01 1.18780802e+02] [ 6.93345660e-01 -4.33721929e-03 7.20592107e-01 1.36870260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.456875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:203.46, Y:118.80, Z:136.89 [[ 3.21288124e-01 -8.92681690e-01 -3.16059079e-01 2.03461580e+02] [ 6.44692823e-01 4.50655677e-01 -6.17479251e-01 1.18798718e+02] [ 6.93646239e-01 -5.37226999e-03 7.20295796e-01 1.36888846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.486875 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:203.47, Y:118.82, Z:136.91 [[ 3.18599561e-01 -8.93576300e-01 -3.16252613e-01 2.03468127e+02] [ 6.44992096e-01 4.48857783e-01 -6.18475453e-01 1.18818254e+02] [ 6.94607454e-01 -6.93442784e-03 7.19355544e-01 1.36908148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.48, Y:118.84, Z:136.93 [[ 3.17558390e-01 -8.93973935e-01 -3.16176014e-01 2.03476162e+02] [ 6.45134559e-01 4.48057246e-01 -6.18907186e-01 1.18836803e+02] [ 6.94951847e-01 -7.43690336e-03 7.19017819e-01 1.36927091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.48, Y:118.86, Z:136.95 [[ 3.16697183e-01 -8.94277075e-01 -3.16182553e-01 2.03484346e+02] [ 6.44980668e-01 4.47446851e-01 -6.19508881e-01 1.18855133e+02] [ 6.95487478e-01 -7.73491670e-03 7.18496583e-01 1.36946733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.49, Y:118.87, Z:136.97 [[ 3.15949854e-01 -8.94371718e-01 -3.16662154e-01 2.03490961e+02] [ 6.43634283e-01 4.47260019e-01 -6.21042177e-01 1.18874138e+02] [ 6.97072880e-01 -7.59643352e-03 7.16960037e-01 1.36966480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.50, Y:118.89, Z:136.99 [[ 3.15937345e-01 -8.94372137e-01 -3.16673451e-01 2.03499122e+02] [ 6.43033490e-01 4.47265321e-01 -6.21660408e-01 1.18893131e+02] [ 6.97632801e-01 -7.22589530e-03 7.16419055e-01 1.36985807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.63687500000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:203.51, Y:118.91, Z:137.00 [[ 3.15680773e-01 -8.94434836e-01 -3.16752227e-01 2.03506803e+02] [ 6.42385553e-01 4.47143643e-01 -6.22417355e-01 1.18911449e+02] [ 6.98345510e-01 -6.99186252e-03 7.15726667e-01 1.37004494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.51, Y:118.93, Z:137.02 [[ 3.16300216e-01 -8.94064091e-01 -3.17180665e-01 2.03513300e+02] [ 6.40420695e-01 4.47901627e-01 -6.23895397e-01 1.18930524e+02] [ 6.99868206e-01 -5.79081283e-03 7.14248528e-01 1.37024830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.69687500000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:203.52, Y:118.95, Z:137.05 [[ 3.17093956e-01 -8.93752723e-01 -3.17265650e-01 2.03521148e+02] [ 6.39233554e-01 4.48535038e-01 -6.24657333e-01 1.18949061e+02] [ 7.00593953e-01 -4.73178448e-03 7.13544479e-01 1.37045011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.53, Y:118.97, Z:137.06 [[ 3.18089155e-01 -8.93320567e-01 -3.17486463e-01 2.03528572e+02] [ 6.37609059e-01 4.49407116e-01 -6.25689964e-01 1.18966467e+02] [ 7.01622389e-01 -3.40705273e-03 7.12540816e-01 1.37064183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.75687500000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:203.54, Y:118.98, Z:137.08 [[ 3.18896585e-01 -8.92953834e-01 -3.17708073e-01 2.03536470e+02] [ 6.36225243e-01 4.50142260e-01 -6.26569537e-01 1.18984999e+02] [ 7.02511500e-01 -2.32301037e-03 7.11668600e-01 1.37084162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.786875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:203.54, Y:119.03, Z:137.08 [[ 3.21626086e-01 -9.04205227e-01 -2.81015246e-01 2.03535251e+02] [ 6.40156563e-01 4.26326930e-01 -6.39096960e-01 1.19027304e+02] [ 6.97679179e-01 2.56564999e-02 7.15950772e-01 1.37083386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.816875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:203.56, Y:119.01, Z:137.13 [[ 3.20939714e-01 -8.82115371e-01 -3.44775538e-01 2.03556429e+02] [ 6.31966614e-01 4.70597247e-01 -6.15756795e-01 1.19007900e+02] [ 7.05418953e-01 -2.02658194e-02 7.08500810e-01 1.37134052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.846875 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:203.56, Y:119.04, Z:137.15 [[ 3.22812419e-01 -8.91266473e-01 -3.18490528e-01 2.03558067e+02] [ 6.30654116e-01 4.53473357e-01 -6.29791474e-01 1.19038183e+02] [ 7.05738994e-01 2.44714668e-03 7.08467701e-01 1.37145857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.56, Y:119.05, Z:137.17 [[ 3.26181165e-01 -8.90202848e-01 -3.18032603e-01 2.03563727e+02] [ 6.29460604e-01 4.55535353e-01 -6.29497331e-01 1.19054442e+02] [ 7.05255411e-01 5.14117814e-03 7.08934675e-01 1.37167051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.57, Y:119.07, Z:137.19 [[ 3.27942861e-01 -8.89802127e-01 -3.17341544e-01 2.03571152e+02] [ 6.29630252e-01 4.56301763e-01 -6.28772174e-01 1.19071198e+02] [ 7.04286323e-01 6.39350961e-03 7.09887243e-01 1.37188067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.58, Y:119.09, Z:137.21 [[ 3.30004119e-01 -8.89316116e-01 -3.16566150e-01 2.03578366e+02] [ 6.29880297e-01 4.57226528e-01 -6.27849276e-01 1.19087259e+02] [ 7.03098921e-01 7.79406683e-03 7.11049337e-01 1.37208412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.58, Y:119.10, Z:137.23 [[ 3.34808429e-01 -8.88174116e-01 -3.14722187e-01 2.03584473e+02] [ 6.31307498e-01 4.59386795e-01 -6.24831670e-01 1.19102907e+02] [ 6.99538533e-01 1.05124328e-02 7.14517550e-01 1.37232026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.996875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:203.59, Y:119.12, Z:137.25 [[ 3.37376155e-01 -8.87589075e-01 -3.13628704e-01 2.03591791e+02] [ 6.32061534e-01 4.60478699e-01 -6.23263656e-01 1.19119434e+02] [ 6.97621350e-01 1.20416560e-02 7.16365445e-01 1.37252698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.60, Y:119.14, Z:137.27 [[ 3.39896741e-01 -8.86974641e-01 -3.12643874e-01 2.03599459e+02] [ 6.32533689e-01 4.61616713e-01 -6.21941430e-01 1.19136870e+02] [ 6.95967914e-01 1.36380825e-02 7.17943358e-01 1.37273678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.056875 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:203.61, Y:119.15, Z:137.30 [[ 3.45696273e-01 -8.85260796e-01 -3.11138893e-01 2.03605883e+02] [ 6.32571719e-01 4.64770932e-01 -6.19549031e-01 1.19152714e+02] [ 6.93070781e-01 1.73581261e-02 7.20660522e-01 1.37295265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.086875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:203.61, Y:119.17, Z:137.32 [[ 3.48504824e-01 -8.84462110e-01 -3.10275949e-01 2.03613933e+02] [ 6.32570765e-01 4.66214093e-01 -6.18464750e-01 1.19170496e+02] [ 6.91663658e-01 1.92664548e-02 7.21962734e-01 1.37315410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.116875 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:203.62, Y:119.19, Z:137.33 [[ 3.50952700e-01 -8.83745151e-01 -3.09558897e-01 2.03621985e+02] [ 6.32432779e-01 4.67497699e-01 -6.17636367e-01 1.19187619e+02] [ 6.90551216e-01 2.09859571e-02 7.22978981e-01 1.37334637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.146875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:203.63, Y:119.21, Z:137.35 [[ 3.52879799e-01 -8.83186675e-01 -3.08961396e-01 2.03630570e+02] [ 6.32247156e-01 4.68485752e-01 -6.17077494e-01 1.19205840e+02] [ 6.89738632e-01 2.24142179e-02 7.23711422e-01 1.37354325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.64, Y:119.22, Z:137.37 [[ 3.55143976e-01 -8.82494193e-01 -3.08345190e-01 2.03639058e+02] [ 6.31964474e-01 4.69707426e-01 -6.16438024e-01 1.19223878e+02] [ 6.88835002e-01 2.40610448e-02 7.24518741e-01 1.37374217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.65, Y:119.24, Z:137.39 [[ 3.55559142e-01 -8.82487238e-01 -3.07886295e-01 2.03647921e+02] [ 6.32287657e-01 4.69703491e-01 -6.16109527e-01 1.19241391e+02] [ 6.88324063e-01 2.43906710e-02 7.24993159e-01 1.37392601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.236875 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:203.66, Y:119.26, Z:137.41 [[ 3.56447624e-01 -8.83362584e-01 -3.04328173e-01 2.03660113e+02] [ 6.31957495e-01 4.67858589e-01 -6.17849549e-01 1.19262879e+02] [ 6.88167724e-01 2.79085335e-02 7.25014688e-01 1.37412232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.266875 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:203.67, Y:119.29, Z:137.42 [[ 3.55011586e-01 -8.89102268e-01 -2.88901248e-01 2.03668089e+02] [ 6.38244139e-01 4.56312312e-01 -6.20018946e-01 1.19292337e+02] [ 6.83089448e-01 3.57243815e-02 7.29460469e-01 1.37421648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.296875 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:203.68, Y:119.30, Z:137.45 [[ 3.54533151e-01 -8.82859868e-01 -3.08001135e-01 2.03681383e+02] [ 6.37584065e-01 4.69199818e-01 -6.11013986e-01 1.19302545e+02] [ 6.83953803e-01 2.02480981e-02 7.29244273e-01 1.37447362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.32687500000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:203.69, Y:119.30, Z:137.48 [[ 3.52282348e-01 -8.73512236e-01 -3.35966548e-01 2.03692255e+02] [ 6.33495217e-01 4.86801240e-01 -6.01421951e-01 1.19301657e+02] [ 6.88898365e-01 -9.62864208e-04 7.24857307e-01 1.37479696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.70, Y:119.33, Z:137.49 [[ 3.50462441e-01 -8.84827664e-01 -3.07011535e-01 2.03695971e+02] [ 6.34598600e-01 4.65426793e-01 -6.16978538e-01 1.19333803e+02] [ 6.88811073e-01 2.13987140e-02 7.24625007e-01 1.37488856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.38687500000003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:203.71, Y:119.35, Z:137.51 [[ 3.50022674e-01 -8.85377687e-01 -3.05925612e-01 2.03708121e+02] [ 6.33753842e-01 4.64319305e-01 -6.18678956e-01 1.19354187e+02] [ 6.89811710e-01 2.26701304e-02 7.23633795e-01 1.37508597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.416875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:203.72, Y:119.37, Z:137.53 [[ 3.47677146e-01 -8.82982874e-01 -3.15375721e-01 2.03716136e+02] [ 6.34396888e-01 4.69210756e-01 -6.14314134e-01 1.19367133e+02] [ 6.90406540e-01 1.35096086e-02 7.23295444e-01 1.37528443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.44687500000003 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:203.73, Y:119.39, Z:137.55 [[ 3.47020158e-01 -8.86437267e-01 -3.06277622e-01 2.03726444e+02] [ 6.33926560e-01 4.62372998e-01 -6.19958327e-01 1.19390711e+02] [ 6.91168668e-01 2.09805169e-02 7.22388878e-01 1.37545053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.73, Y:119.40, Z:137.56 [[ 3.42949512e-01 -8.84630941e-01 -3.15933112e-01 2.03734497e+02] [ 6.33692266e-01 4.66149524e-01 -6.17364345e-01 1.19403158e+02] [ 6.93411670e-01 1.15204315e-02 7.20449537e-01 1.37564655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.50687500000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:203.74, Y:119.42, Z:137.58 [[ 3.41287381e-01 -8.87902049e-01 -3.08468597e-01 2.03741680e+02] [ 6.33273694e-01 4.59713149e-01 -6.22597984e-01 1.19424078e+02] [ 6.94613095e-01 1.71397874e-02 7.19179307e-01 1.37580720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.75, Y:119.45, Z:137.60 [[ 3.38603556e-01 -8.91501590e-01 -3.00952733e-01 2.03748858e+02] [ 6.31866140e-01 4.52436942e-01 -6.29321853e-01 1.19446268e+02] [ 6.97203566e-01 2.29287761e-02 7.16506426e-01 1.37597072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.566875 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:203.76, Y:119.46, Z:137.62 [[ 3.36175160e-01 -8.87636384e-01 -3.14782324e-01 2.03759797e+02] [ 6.31667859e-01 4.60417424e-01 -6.23707874e-01 1.19457749e+02] [ 6.98557069e-01 1.08372179e-02 7.15472275e-01 1.37620138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.596875 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:203.77, Y:119.47, Z:137.64 [[ 3.34042392e-01 -8.87731129e-01 -3.16779296e-01 2.03768476e+02] [ 6.32210271e-01 4.60294154e-01 -6.23249120e-01 1.19473128e+02] [ 6.99089303e-01 7.92050242e-03 7.14990498e-01 1.37639987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.78, Y:119.49, Z:137.66 [[ 3.32869457e-01 -8.90813925e-01 -3.09270878e-01 2.03775877e+02] [ 6.32661600e-01 4.54178448e-01 -6.27264886e-01 1.19494051e+02] [ 6.99240463e-01 1.31335133e-02 7.14765896e-01 1.37657342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.656875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:203.78, Y:119.51, Z:137.68 [[ 3.31947973e-01 -8.91224151e-01 -3.09079367e-01 2.03784401e+02] [ 6.33005940e-01 4.53386828e-01 -6.27490130e-01 1.19511426e+02] [ 6.99366873e-01 1.26450016e-02 7.14651020e-01 1.37677538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.686875 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:203.79, Y:119.53, Z:137.70 [[ 3.31492318e-01 -8.91650216e-01 -3.08338670e-01 2.03791454e+02] [ 6.34476361e-01 4.52563797e-01 -6.26598562e-01 1.19527552e+02] [ 6.98249662e-01 1.20790122e-02 7.15752406e-01 1.37698020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.716875 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:203.80, Y:119.55, Z:137.72 [[ 3.31573972e-01 -8.91848532e-01 -3.07676610e-01 2.03799406e+02] [ 6.35633787e-01 4.52177672e-01 -6.25703638e-01 1.19545421e+02] [ 6.97157364e-01 1.18973920e-02 7.16819407e-01 1.37718486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.746875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:203.81, Y:119.56, Z:137.74 [[ 3.31810020e-01 -8.92026296e-01 -3.06905845e-01 2.03806742e+02] [ 6.36822705e-01 4.51828069e-01 -6.24746539e-01 1.19562473e+02] [ 6.95959017e-01 1.18525510e-02 7.17983680e-01 1.37737815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.776875 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:203.81, Y:119.58, Z:137.76 [[ 3.31934895e-01 -8.92242305e-01 -3.06141952e-01 2.03814377e+02] [ 6.38205124e-01 4.51407244e-01 -6.23639094e-01 1.19581132e+02] [ 6.94631878e-01 1.16262149e-02 7.19271427e-01 1.37758057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.82, Y:119.60, Z:137.78 [[ 3.31648139e-01 -8.92700201e-01 -3.05116146e-01 2.03821240e+02] [ 6.40275630e-01 4.50517264e-01 -6.22158591e-01 1.19599425e+02] [ 6.92861191e-01 1.09793064e-02 7.20987396e-01 1.37779051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.83, Y:119.62, Z:137.80 [[ 3.31040906e-01 -8.93095743e-01 -3.04617649e-01 2.03829110e+02] [ 6.41216416e-01 4.49744122e-01 -6.21748931e-01 1.19617741e+02] [ 6.92281320e-01 1.04984920e-02 7.21551353e-01 1.37798972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.84, Y:119.64, Z:137.82 [[ 3.30410871e-01 -8.93444396e-01 -3.04279096e-01 2.03836505e+02] [ 6.41772677e-01 4.49059602e-01 -6.21669772e-01 1.19635244e+02] [ 6.92066823e-01 1.01284409e-02 7.21762376e-01 1.37818397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.896875 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:203.84, Y:119.66, Z:137.84 [[ 3.29242770e-01 -8.94913914e-01 -3.01211363e-01 2.03843855e+02] [ 6.42950367e-01 4.46095267e-01 -6.22586410e-01 1.19656915e+02] [ 6.91530205e-01 1.13181181e-02 7.22258871e-01 1.37837975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.85, Y:119.67, Z:137.86 [[ 3.28239027e-01 -8.91544893e-01 -3.12100697e-01 2.03850352e+02] [ 6.43518681e-01 4.52929170e-01 -6.17040415e-01 1.19668603e+02] [ 6.91478741e-01 1.69411684e-03 7.22394823e-01 1.37858342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.956875 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:203.86, Y:119.69, Z:137.87 [[ 3.27329945e-01 -8.94905244e-01 -3.03314543e-01 2.03855593e+02] [ 6.44205010e-01 4.46185421e-01 -6.21223370e-01 1.19691260e+02] [ 6.91270578e-01 7.94826357e-03 7.22552291e-01 1.37874233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.986875 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:203.86, Y:119.71, Z:137.89 [[ 3.26083419e-01 -8.95375804e-01 -3.03268483e-01 2.03862674e+02] [ 6.44332187e-01 4.45250811e-01 -6.21761810e-01 1.19710483e+02] [ 6.91741019e-01 7.34057206e-03 7.22108357e-01 1.37893130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.016875 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:203.87, Y:119.73, Z:137.91 [[ 3.22806151e-01 -8.96516547e-01 -3.03404465e-01 2.03868202e+02] [ 6.45053297e-01 4.42978797e-01 -6.22636354e-01 1.19731090e+02] [ 6.92605539e-01 5.27879389e-03 7.21297235e-01 1.37911423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.046875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:203.88, Y:119.75, Z:137.93 [[ 3.20831315e-01 -8.97194419e-01 -3.03495373e-01 2.03875657e+02] [ 6.45215459e-01 4.41615842e-01 -6.23436011e-01 1.19750075e+02] [ 6.93371674e-01 4.19788910e-03 7.20567901e-01 1.37929847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.07687500000003 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:203.88, Y:119.77, Z:137.95 [[ 3.16470141e-01 -8.98612035e-01 -3.03880009e-01 2.03882040e+02] [ 6.45785460e-01 4.38741521e-01 -6.24873602e-01 1.19769881e+02] [ 6.94843716e-01 1.51254544e-03 7.19159177e-01 1.37948313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.89, Y:119.79, Z:137.96 [[ 3.12885206e-01 -9.02602009e-01 -2.95655985e-01 2.03887340e+02] [ 6.44550345e-01 4.30416704e-01 -6.31898974e-01 1.19792034e+02] [ 6.97608558e-01 7.14667348e-03 7.16443455e-01 1.37964183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.90, Y:119.80, Z:137.99 [[ 3.11582200e-01 -8.96908142e-01 -3.13802991e-01 2.03898224e+02] [ 6.47194502e-01 4.42112892e-01 -6.21027751e-01 1.19802065e+02] [ 6.95741194e-01 -9.59037722e-03 7.18228526e-01 1.37988713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.166875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:203.90, Y:119.82, Z:138.00 [[ 3.09397124e-01 -9.01135438e-01 -3.03691196e-01 2.03902782e+02] [ 6.48204395e-01 4.33526103e-01 -6.26008132e-01 1.19823259e+02] [ 6.95776173e-01 -3.16885213e-03 7.18251680e-01 1.38004150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.19687500000003 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:203.91, Y:119.84, Z:138.02 [[ 3.05538015e-01 -9.02609181e-01 -3.03221350e-01 2.03909056e+02] [ 6.50706533e-01 4.30416679e-01 -6.25557744e-01 1.19841776e+02] [ 6.95145689e-01 -6.17644251e-03 7.18842349e-01 1.38024716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.91, Y:119.86, Z:138.04 [[ 3.02478577e-01 -9.05388470e-01 -2.97957091e-01 2.03914913e+02] [ 6.54383867e-01 4.24545810e-01 -6.25733657e-01 1.19864469e+02] [ 6.93028474e-01 -5.70728705e-03 7.20887621e-01 1.38039696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.25687500000004 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:203.92, Y:119.88, Z:138.06 [[ 3.01144054e-01 -9.04127692e-01 -3.03093013e-01 2.03922973e+02] [ 6.55113228e-01 4.27123701e-01 -6.23211043e-01 1.19878870e+02] [ 6.92920571e-01 -1.08839419e-02 7.20931774e-01 1.38063914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.286875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:203.93, Y:119.90, Z:138.08 [[ 3.00017824e-01 -9.05080963e-01 -3.01359845e-01 2.03929899e+02] [ 6.56162230e-01 4.25105060e-01 -6.23487623e-01 1.19897570e+02] [ 6.92416373e-01 -1.06835484e-02 7.21419038e-01 1.38081764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.316875 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:203.94, Y:119.92, Z:138.10 [[ 2.99058855e-01 -9.05494480e-01 -3.01070670e-01 2.03937251e+02] [ 6.56695103e-01 4.24209225e-01 -6.23536747e-01 1.19916380e+02] [ 6.92326038e-01 -1.12374484e-02 7.21497316e-01 1.38101177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.94, Y:119.94, Z:138.12 [[ 2.98609468e-01 -9.05733753e-01 -3.00796867e-01 2.03944569e+02] [ 6.56980321e-01 4.23693535e-01 -6.23586919e-01 1.19935040e+02] [ 6.92249409e-01 -1.14086645e-02 7.21568153e-01 1.38119994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.376875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:203.95, Y:119.95, Z:138.14 [[ 2.98995962e-01 -9.05703025e-01 -3.00505315e-01 2.03950129e+02] [ 6.56885683e-01 4.23771735e-01 -6.23633479e-01 1.19953556e+02] [ 6.92172387e-01 -1.09337472e-02 7.21649388e-01 1.38137429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.96, Y:119.97, Z:138.16 [[ 2.99727384e-01 -9.05598181e-01 -3.00092370e-01 2.03957820e+02] [ 6.56874883e-01 4.24012850e-01 -6.23480948e-01 1.19972815e+02] [ 6.91866233e-01 -1.02488267e-02 7.21952961e-01 1.38156820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.436875 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:203.96, Y:119.99, Z:138.18 [[ 3.00637845e-01 -9.05423631e-01 -2.99708083e-01 2.03964887e+02] [ 6.56798027e-01 4.24403737e-01 -6.23295933e-01 1.19991206e+02] [ 6.91544097e-01 -9.46133170e-03 7.22272279e-01 1.38175090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.466875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:203.97, Y:120.02, Z:138.19 [[ 3.00385666e-01 -9.08792945e-01 -2.89592533e-01 2.03968556e+02] [ 6.59703612e-01 4.17234460e-01 -6.25065236e-01 1.20016588e+02] [ 6.88882861e-01 -3.28460316e-03 7.24865240e-01 1.38186453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.496875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:203.98, Y:120.03, Z:138.21 [[ 3.04936664e-01 -9.03336312e-01 -3.01657320e-01 2.03979147e+02] [ 6.55092976e-01 4.28859657e-01 -6.22039056e-01 1.20028840e+02] [ 6.91279121e-01 -7.93107729e-03 7.22544306e-01 1.38213380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.526875 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:203.99, Y:120.05, Z:138.23 [[ 3.06179213e-01 -9.03649208e-01 -2.99453501e-01 2.03986382e+02] [ 6.53559030e-01 4.28248344e-01 -6.24070469e-01 1.20049078e+02] [ 6.92181250e-01 -4.63313440e-03 7.21708841e-01 1.38231847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.556875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:203.99, Y:120.07, Z:138.25 [[ 3.07609969e-01 -9.03096288e-01 -2.99655139e-01 2.03993996e+02] [ 6.51797254e-01 4.29427449e-01 -6.25101916e-01 1.20068006e+02] [ 6.93207362e-01 -3.02681573e-03 7.20731845e-01 1.38250570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.586875 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:204.00, Y:120.09, Z:138.27 [[ 3.10727871e-01 -9.01766415e-01 -3.00442212e-01 2.03999604e+02] [ 6.47748337e-01 4.32223578e-01 -6.27379367e-01 1.20088071e+02] [ 6.95607851e-01 3.33311426e-04 7.18421608e-01 1.38268830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.01, Y:120.11, Z:138.29 [[ 3.12576776e-01 -9.01104690e-01 -3.00509728e-01 2.04006827e+02] [ 6.46043858e-01 4.33595931e-01 -6.28189383e-01 1.20107367e+02] [ 6.96364195e-01 2.21494771e-03 7.17685169e-01 1.38288085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.646875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:204.01, Y:120.13, Z:138.31 [[ 3.14336687e-01 -9.00500993e-01 -3.00483624e-01 2.04013911e+02] [ 6.44656932e-01 4.34836173e-01 -6.28756665e-01 1.20126837e+02] [ 6.96857150e-01 3.93243559e-03 7.17199169e-01 1.38307421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.676875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:204.02, Y:120.15, Z:138.33 [[ 3.18374158e-01 -8.99212042e-01 -3.00092653e-01 2.04019173e+02] [ 6.43068852e-01 4.37454841e-01 -6.28566396e-01 1.20145548e+02] [ 6.96491456e-01 7.13905905e-03 7.17529572e-01 1.38326779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.03, Y:120.16, Z:138.35 [[ 3.19901888e-01 -8.98880590e-01 -2.99460292e-01 2.04026347e+02] [ 6.43267087e-01 4.38116288e-01 -6.27902519e-01 1.20164667e+02] [ 6.95607818e-01 8.23425139e-03 7.18374527e-01 1.38346767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.736875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:204.03, Y:120.18, Z:138.37 [[ 3.22846704e-01 -8.98184101e-01 -2.98387880e-01 2.04032287e+02] [ 6.43899358e-01 4.39504367e-01 -6.26282307e-01 1.20182008e+02] [ 6.93659587e-01 1.00614141e-02 7.20232702e-01 1.38366822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.04, Y:120.20, Z:138.39 [[ 3.23909017e-01 -8.98005969e-01 -2.97772109e-01 2.04039763e+02] [ 6.44275219e-01 4.39850524e-01 -6.25652427e-01 1.20200151e+02] [ 6.92814831e-01 1.08072722e-02 7.21034543e-01 1.38386893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.796875 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:204.05, Y:120.22, Z:138.41 [[ 3.24844254e-01 -8.97876038e-01 -2.97144461e-01 2.04047409e+02] [ 6.44784805e-01 4.40100281e-01 -6.24951436e-01 1.20219419e+02] [ 6.91902280e-01 1.14176496e-02 7.21900874e-01 1.38406597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.05, Y:120.24, Z:138.43 [[ 3.26721540e-01 -8.97480724e-01 -2.96279234e-01 2.04052880e+02] [ 6.45398662e-01 4.40874201e-01 -6.23771196e-01 1.20237973e+02] [ 6.90444496e-01 1.25812645e-02 7.23275957e-01 1.38425323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.06, Y:120.26, Z:138.44 [[ 3.27608491e-01 -8.97326432e-01 -2.95766719e-01 2.04060249e+02] [ 6.45588693e-01 4.41167776e-01 -6.23366853e-01 1.20257092e+02] [ 6.89846300e-01 1.32766243e-02 7.23834107e-01 1.38444914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.88687500000003 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:204.07, Y:120.28, Z:138.46 [[ 3.28539402e-01 -8.97163256e-01 -2.95228644e-01 2.04067418e+02] [ 6.45871733e-01 4.41478688e-01 -6.22853331e-01 1.20275837e+02] [ 6.89138277e-01 1.39520247e-02 7.24495532e-01 1.38464141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.07, Y:120.29, Z:138.48 [[ 3.29466786e-01 -8.97025633e-01 -2.94612712e-01 2.04074616e+02] [ 6.46347354e-01 4.41738502e-01 -6.22175372e-01 1.20294303e+02] [ 6.88249035e-01 1.45639738e-02 7.25328309e-01 1.38482865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.94687500000003 meters Centerline goodness : 0.999939 Centerline is valid? [True, True] Translation: X:204.08, Y:120.31, Z:138.50 [[ 3.31125872e-01 -8.96668550e-01 -2.93838676e-01 2.04080673e+02] [ 6.46820194e-01 4.42426410e-01 -6.21194421e-01 1.20314357e+02] [ 6.87007491e-01 1.56327546e-02 7.26482157e-01 1.38501656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.09, Y:120.33, Z:138.52 [[ 3.31828187e-01 -8.96522588e-01 -2.93491573e-01 2.04087809e+02] [ 6.46736241e-01 4.42698677e-01 -6.21087849e-01 1.20333303e+02] [ 6.86747617e-01 1.62828186e-02 7.26713548e-01 1.38519953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.10, Y:120.35, Z:138.54 [[ 3.32181148e-01 -8.96413289e-01 -2.93426143e-01 2.04095220e+02] [ 6.46096557e-01 4.42896596e-01 -6.21612295e-01 1.20353310e+02] [ 6.87178961e-01 1.69062647e-02 7.26291439e-01 1.38538961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.036875 meters Centerline goodness : 0.999939 Centerline is valid? [True, True] Translation: X:204.10, Y:120.37, Z:138.56 [[ 3.31937057e-01 -8.96283415e-01 -2.94098334e-01 2.04101521e+02] [ 6.43956374e-01 4.43131150e-01 -6.23662547e-01 1.20374109e+02] [ 6.89302531e-01 1.76302138e-02 7.24259068e-01 1.38557199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.066875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:204.11, Y:120.39, Z:138.58 [[ 3.31068052e-01 -8.96555364e-01 -2.94248915e-01 2.04108807e+02] [ 6.43413649e-01 4.42587264e-01 -6.24608190e-01 1.20392911e+02] [ 6.90226645e-01 1.74640485e-02 7.23382461e-01 1.38575033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.096875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.12, Y:120.41, Z:138.59 [[ 3.30506620e-01 -8.96772019e-01 -2.94219851e-01 2.04116678e+02] [ 6.43132175e-01 4.42150129e-01 -6.25207380e-01 1.20412318e+02] [ 6.90757830e-01 1.74129255e-02 7.22876484e-01 1.38594168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.126875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.12, Y:120.43, Z:138.61 [[ 3.29938239e-01 -8.96966428e-01 -2.94265162e-01 2.04123944e+02] [ 6.42689673e-01 4.41756096e-01 -6.25940521e-01 1.20430479e+02] [ 6.91441062e-01 1.74005321e-02 7.22223289e-01 1.38612655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.156875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:204.13, Y:120.45, Z:138.63 [[ 3.29625844e-01 -8.97248817e-01 -2.93753916e-01 2.04129423e+02] [ 6.43483328e-01 4.41191565e-01 -6.25523150e-01 1.20449794e+02] [ 6.90851656e-01 1.71628491e-02 7.22792796e-01 1.38631935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.186875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:204.14, Y:120.47, Z:138.65 [[ 3.29370991e-01 -8.97428301e-01 -2.93491388e-01 2.04137805e+02] [ 6.43614159e-01 4.40825906e-01 -6.25646334e-01 1.20468176e+02] [ 6.90851333e-01 1.71745399e-02 7.22792827e-01 1.38650939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.14, Y:120.49, Z:138.67 [[ 3.29192662e-01 -8.97679828e-01 -2.92921694e-01 2.04144846e+02] [ 6.44513901e-01 4.40321100e-01 -6.25075324e-01 1.20487187e+02] [ 6.90097111e-01 1.69781061e-02 7.23517602e-01 1.38670754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.246875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.15, Y:120.51, Z:138.69 [[ 3.28956104e-01 -8.97886318e-01 -2.92554341e-01 2.04152204e+02] [ 6.44949216e-01 4.39903321e-01 -6.24920456e-01 1.20506322e+02] [ 6.89803154e-01 1.68887055e-02 7.23799959e-01 1.38690526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.16, Y:120.53, Z:138.71 [[ 3.28063776e-01 -8.98417033e-01 -2.91926350e-01 2.04158372e+02] [ 6.46358568e-01 4.38848427e-01 -6.24205623e-01 1.20525222e+02] [ 6.88908383e-01 1.60901557e-02 7.24669819e-01 1.38709250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.17, Y:120.54, Z:138.73 [[ 3.27135727e-01 -8.98839132e-01 -2.91668359e-01 2.04166261e+02] [ 6.47019228e-01 4.38006133e-01 -6.24112767e-01 1.20544159e+02] [ 6.88729508e-01 1.54545475e-02 7.24853656e-01 1.38728554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.17, Y:120.58, Z:138.73 [[ 3.24453937e-01 -9.06955216e-01 -2.68629633e-01 2.04166564e+02] [ 6.53906265e-01 4.20264525e-01 -6.29113920e-01 1.20575906e+02] [ 6.83473657e-01 2.84598882e-02 7.29420178e-01 1.38733422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.18, Y:120.58, Z:138.77 [[ 3.23904500e-01 -8.96951427e-01 -3.00938552e-01 2.04183978e+02] [ 6.48197063e-01 4.42091676e-01 -6.19996384e-01 1.20577480e+02] [ 6.89149071e-01 5.75213344e-03 7.24596765e-01 1.38769645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.19, Y:120.60, Z:138.79 [[ 3.23208372e-01 -9.00393720e-01 -2.91251605e-01 2.04189659e+02] [ 6.48714618e-01 4.34884267e-01 -6.24535843e-01 1.20599300e+02] [ 6.88988892e-01 1.29160399e-02 7.24656804e-01 1.38787380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.20, Y:120.62, Z:138.81 [[ 3.22626601e-01 -9.00822788e-01 -2.90569065e-01 2.04196859e+02] [ 6.50093428e-01 4.34011899e-01 -6.23708431e-01 1.20617689e+02] [ 6.87961199e-01 1.23278913e-02 7.25642758e-01 1.38805845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.20, Y:120.64, Z:138.82 [[ 3.22035685e-01 -9.01154182e-01 -2.90196758e-01 2.04204643e+02] [ 6.50864807e-01 4.33336186e-01 -6.23373687e-01 1.20635590e+02] [ 6.87508561e-01 1.18697155e-02 7.26079258e-01 1.38824406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.21, Y:120.65, Z:138.84 [[ 3.21355781e-01 -9.01491902e-01 -2.89901384e-01 2.04212801e+02] [ 6.51304245e-01 4.32642676e-01 -6.23396419e-01 1.20654431e+02] [ 6.87410534e-01 1.15180402e-02 7.26177728e-01 1.38843108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.22, Y:120.67, Z:138.86 [[ 3.20606198e-01 -9.01762089e-01 -2.89891016e-01 2.04221466e+02] [ 6.51111665e-01 4.32084952e-01 -6.23984129e-01 1.20673626e+02] [ 6.87942777e-01 1.13017577e-02 7.25676929e-01 1.38862126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.23, Y:120.69, Z:138.88 [[ 3.18595929e-01 -9.02218675e-01 -2.90685563e-01 2.04230461e+02] [ 6.49476210e-01 4.31144765e-01 -6.26334451e-01 1.20691966e+02] [ 6.90418197e-01 1.07542480e-02 7.23330532e-01 1.38880161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.24, Y:120.71, Z:138.90 [[ 3.17299685e-01 -9.02559480e-01 -2.91045177e-01 2.04239137e+02] [ 6.48544071e-01 4.30438600e-01 -6.27784358e-01 1.20709985e+02] [ 6.91889802e-01 1.04401549e-02 7.21927631e-01 1.38898963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.25, Y:120.73, Z:138.92 [[ 3.16013228e-01 -9.02994709e-01 -2.91094823e-01 2.04247815e+02] [ 6.48398341e-01 4.29537938e-01 -6.28551311e-01 1.20728745e+02] [ 6.92614778e-01 9.88512862e-03 7.21239942e-01 1.38918262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.26, Y:120.75, Z:138.94 [[ 3.15034660e-01 -9.03323700e-01 -2.91134773e-01 2.04256071e+02] [ 6.48143275e-01 4.28853262e-01 -6.29281475e-01 1.20746502e+02] [ 6.93298968e-01 9.54843088e-03 7.20586823e-01 1.38937073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.26, Y:120.76, Z:138.96 [[ 3.14492187e-01 -9.03689901e-01 -2.90584284e-01 2.04263984e+02] [ 6.49144579e-01 4.28090576e-01 -6.28768458e-01 1.20763381e+02] [ 6.92608100e-01 9.11155445e-03 7.21256542e-01 1.38956458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.27, Y:120.78, Z:138.98 [[ 3.14155703e-01 -9.03972992e-01 -2.90067277e-01 2.04272359e+02] [ 6.49969074e-01 4.27497849e-01 -6.28319817e-01 1.20781075e+02] [ 6.91987281e-01 8.85549445e-03 7.21855375e-01 1.38976339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.28, Y:120.81, Z:138.99 [[ 3.12786814e-01 -9.08496075e-01 -2.77126849e-01 2.04275878e+02] [ 6.54696480e-01 4.17600532e-01 -6.30065325e-01 1.20806745e+02] [ 6.88140195e-01 1.56421531e-02 7.25409123e-01 1.38986580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.29, Y:120.81, Z:139.02 [[ 3.15108511e-01 -9.03199386e-01 -2.91440380e-01 2.04290619e+02] [ 6.51095756e-01 4.29155559e-01 -6.26019028e-01 1.20814538e+02] [ 6.90493261e-01 7.50832872e-03 7.23299856e-01 1.39017225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.30, Y:120.83, Z:139.04 [[ 3.15563118e-01 -9.03922630e-01 -2.88693258e-01 2.04298760e+02] [ 6.51473417e-01 4.27586290e-01 -6.26699570e-01 1.20833941e+02] [ 6.89929203e-01 9.68728676e-03 7.23812028e-01 1.39036545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.31, Y:120.85, Z:139.06 [[ 3.16456062e-01 -9.03764114e-01 -2.88211706e-01 2.04307592e+02] [ 6.51659981e-01 4.27905075e-01 -6.26287886e-01 1.20852751e+02] [ 6.89343768e-01 1.03765629e-02 7.24360060e-01 1.39056121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.32, Y:120.87, Z:139.07 [[ 3.17278266e-01 -9.03596489e-01 -2.87833089e-01 2.04315638e+02] [ 6.51611473e-01 4.28240911e-01 -6.26108784e-01 1.20870439e+02] [ 6.89011604e-01 1.10953660e-02 7.24665373e-01 1.39074492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.32, Y:120.89, Z:139.09 [[ 3.19397745e-01 -9.02960751e-01 -2.87483849e-01 2.04324124e+02] [ 6.50839418e-01 4.29530976e-01 -6.26028108e-01 1.20889490e+02] [ 6.88762029e-01 1.28461456e-02 7.24873675e-01 1.39093503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.906875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:204.33, Y:120.91, Z:139.11 [[ 3.20290039e-01 -9.02702751e-01 -2.87301295e-01 2.04332346e+02] [ 6.50270940e-01 4.30044555e-01 -6.26266226e-01 1.20907409e+02] [ 6.88884603e-01 1.37631506e-02 7.24740353e-01 1.39111626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.34, Y:120.93, Z:139.13 [[ 3.20736639e-01 -9.02580684e-01 -2.87186555e-01 2.04340938e+02] [ 6.49709464e-01 4.30279386e-01 -6.26687532e-01 1.20925425e+02] [ 6.89206515e-01 1.44138299e-02 7.24421577e-01 1.39130079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.35, Y:120.94, Z:139.15 [[ 3.21274039e-01 -9.02289763e-01 -2.87499872e-01 2.04350623e+02] [ 6.47992957e-01 4.30851959e-01 -6.28069835e-01 1.20943849e+02] [ 6.90570865e-01 1.54846409e-02 7.23098961e-01 1.39149536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.36, Y:120.96, Z:139.17 [[ 3.20959916e-01 -9.02330043e-01 -2.87724219e-01 2.04359569e+02] [ 6.46955645e-01 4.30755978e-01 -6.29204006e-01 1.20962712e+02] [ 6.91688605e-01 1.58044570e-02 7.22022917e-01 1.39168421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.37, Y:120.98, Z:139.19 [[ 3.20588980e-01 -9.02445211e-01 -2.87776557e-01 2.04368547e+02] [ 6.46383914e-01 4.30509499e-01 -6.29959845e-01 1.20981432e+02] [ 6.92394787e-01 1.59440469e-02 7.21342669e-01 1.39187892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.38, Y:121.00, Z:139.21 [[ 3.20171943e-01 -9.02594530e-01 -2.87772552e-01 2.04377449e+02] [ 6.45965542e-01 4.30193880e-01 -6.30604269e-01 1.21000043e+02] [ 6.92977954e-01 1.60106415e-02 7.20780975e-01 1.39207007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.39, Y:121.02, Z:139.23 [[ 3.19231077e-01 -9.02927356e-01 -2.87773712e-01 2.04386386e+02] [ 6.45782621e-01 4.29507135e-01 -6.31259398e-01 1.21017935e+02] [ 6.93582242e-01 1.56783557e-02 7.20206820e-01 1.39226148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.39, Y:121.04, Z:139.25 [[ 3.18565877e-01 -9.03261728e-01 -2.87461358e-01 2.04394734e+02] [ 6.46272558e-01 4.28816840e-01 -6.31227296e-01 1.21035564e+02] [ 6.93431730e-01 1.53090901e-02 7.20359680e-01 1.39245037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.40, Y:121.05, Z:139.26 [[ 3.17844877e-01 -9.03623728e-01 -2.87121564e-01 2.04403470e+02] [ 6.47027036e-01 4.28072366e-01 -6.30959638e-01 1.21053266e+02] [ 6.93058908e-01 1.47718740e-02 7.20729590e-01 1.39264549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.41, Y:121.07, Z:139.29 [[ 3.15984786e-01 -9.04515879e-01 -2.86364523e-01 2.04413220e+02] [ 6.49231960e-01 4.26237662e-01 -6.29935963e-01 1.21070371e+02] [ 6.91846426e-01 1.31331798e-02 7.21925233e-01 1.39285338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.42, Y:121.09, Z:139.30 [[ 3.14745405e-01 -9.05109179e-01 -2.85854342e-01 2.04422265e+02] [ 6.50510307e-01 4.25005156e-01 -6.29449726e-01 1.21087853e+02] [ 6.91210294e-01 1.21652133e-02 7.22551270e-01 1.39304962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.43, Y:121.11, Z:139.32 [[ 3.13373104e-01 -9.05696353e-01 -2.85502037e-01 2.04431249e+02] [ 6.51449117e-01 4.23778579e-01 -6.29305780e-01 1.21105266e+02] [ 6.90949598e-01 1.12174552e-02 7.22815898e-01 1.39324390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.44, Y:121.12, Z:139.34 [[ 3.11477751e-01 -9.06487967e-01 -2.85063461e-01 2.04440849e+02] [ 6.52851835e-01 4.22117780e-01 -6.28968252e-01 1.21123020e+02] [ 6.90482507e-01 9.80541257e-03 7.23282629e-01 1.39344361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.296875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.45, Y:121.14, Z:139.36 [[ 3.10711277e-01 -9.06828564e-01 -2.84816536e-01 2.04449175e+02] [ 6.53216912e-01 4.21394522e-01 -6.29074179e-01 1.21140430e+02] [ 6.90482562e-01 9.41346357e-03 7.23287784e-01 1.39362725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.46, Y:121.16, Z:139.38 [[ 3.10094972e-01 -9.07091433e-01 -2.84651085e-01 2.04458494e+02] [ 6.53269832e-01 4.20832692e-01 -6.29395243e-01 1.21159008e+02] [ 6.90709516e-01 9.21833374e-03 7.23073570e-01 1.39382070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.356875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.47, Y:121.18, Z:139.40 [[ 3.09699070e-01 -9.07262599e-01 -2.84536573e-01 2.04467572e+02] [ 6.53144019e-01 4.20464030e-01 -6.29772094e-01 1.21177894e+02] [ 6.91006061e-01 9.19647111e-03 7.22790459e-01 1.39401493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.48, Y:121.20, Z:139.42 [[ 3.09093963e-01 -9.07473734e-01 -2.84521256e-01 2.04476242e+02] [ 6.52860826e-01 4.20010466e-01 -6.30368107e-01 1.21195839e+02] [ 6.91544405e-01 9.09019415e-03 7.22276750e-01 1.39420652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.49, Y:121.21, Z:139.44 [[ 3.08241982e-01 -9.07607032e-01 -2.85019920e-01 2.04486250e+02] [ 6.51357180e-01 4.19720069e-01 -6.32114616e-01 1.21213360e+02] [ 6.93340252e-01 9.19449064e-03 7.20551703e-01 1.39439672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.50, Y:121.23, Z:139.46 [[ 3.07709399e-01 -9.07748923e-01 -2.85143506e-01 2.04495179e+02] [ 6.50643406e-01 4.19411448e-01 -6.33053864e-01 1.21231232e+02] [ 6.94246414e-01 9.26988240e-03 7.19677696e-01 1.39458522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.50, Y:121.25, Z:139.48 [[ 3.07356609e-01 -9.07886135e-01 -2.85087145e-01 2.04503677e+02] [ 6.50274947e-01 4.19112221e-01 -6.33630365e-01 1.21249094e+02] [ 6.94747730e-01 9.36545258e-03 7.19192519e-01 1.39477071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.50687500000004 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:204.51, Y:121.27, Z:139.50 [[ 3.07325463e-01 -9.07938974e-01 -2.84952415e-01 2.04512448e+02] [ 6.49966862e-01 4.18991451e-01 -6.34026216e-01 1.21267464e+02] [ 6.95049738e-01 9.64277415e-03 7.18896987e-01 1.39497023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.536875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:204.52, Y:121.28, Z:139.52 [[ 3.08178004e-01 -9.07795599e-01 -2.84488083e-01 2.04520598e+02] [ 6.50141829e-01 4.19285879e-01 -6.33652076e-01 1.21284072e+02] [ 6.94508402e-01 1.03200294e-02 7.19410576e-01 1.39516211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.53, Y:121.30, Z:139.54 [[ 3.08712532e-01 -9.07795238e-01 -2.83909103e-01 2.04528911e+02] [ 6.50727523e-01 4.19277521e-01 -6.33056121e-01 1.21302491e+02] [ 6.93722037e-01 1.06848905e-02 7.20163571e-01 1.39536415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.54, Y:121.32, Z:139.56 [[ 3.09182539e-01 -9.07815942e-01 -2.83330856e-01 2.04536843e+02] [ 6.51375147e-01 4.19225067e-01 -6.32424510e-01 1.21319895e+02] [ 6.92904449e-01 1.09799377e-02 7.20945813e-01 1.39555922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.626875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.55, Y:121.34, Z:139.58 [[ 3.10354847e-01 -9.07679495e-01 -2.82485049e-01 2.04545227e+02] [ 6.52355773e-01 4.19503059e-01 -6.31228270e-01 1.21337616e+02] [ 6.91456300e-01 1.16240006e-02 7.22324766e-01 1.39575653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.656875 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:204.55, Y:121.36, Z:139.59 [[ 3.10448648e-01 -9.07771169e-01 -2.82087116e-01 2.04553864e+02] [ 6.52715018e-01 4.19300633e-01 -6.30991351e-01 1.21356087e+02] [ 6.91075063e-01 1.17679149e-02 7.22687189e-01 1.39594968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.686875 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:204.56, Y:121.37, Z:139.61 [[ 3.10038563e-01 -9.07995136e-01 -2.81817179e-01 2.04562317e+02] [ 6.52978677e-01 4.18819387e-01 -6.31038167e-01 1.21374298e+02] [ 6.91010084e-01 1.16255578e-02 7.22751624e-01 1.39614406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.716875 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:204.57, Y:121.39, Z:139.63 [[ 3.09299857e-01 -9.08283066e-01 -2.81701032e-01 2.04570733e+02] [ 6.52997192e-01 4.18202146e-01 -6.31428248e-01 1.21393043e+02] [ 6.91323561e-01 1.13506840e-02 7.22456155e-01 1.39633558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.746875 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:204.58, Y:121.41, Z:139.65 [[ 3.07759852e-01 -9.08694724e-01 -2.82059874e-01 2.04579375e+02] [ 6.52142128e-01 4.17320594e-01 -6.32893488e-01 1.21412668e+02] [ 6.92816367e-01 1.08360800e-02 7.21032635e-01 1.39652043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.776875 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:204.59, Y:121.43, Z:139.67 [[ 3.07024313e-01 -9.08919354e-01 -2.82137694e-01 2.04587577e+02] [ 6.51642369e-01 4.16834201e-01 -6.33728232e-01 1.21431014e+02] [ 6.93612496e-01 1.07170998e-02 7.20268595e-01 1.39670461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.60, Y:121.45, Z:139.69 [[ 3.05992636e-01 -9.09245409e-01 -2.82207891e-01 2.04595874e+02] [ 6.51260309e-01 4.16130870e-01 -6.34582626e-01 1.21450195e+02] [ 6.94426754e-01 1.03868126e-02 7.19488428e-01 1.39689740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.836875 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:204.60, Y:121.47, Z:139.71 [[ 3.05218157e-01 -9.09496002e-01 -2.82239080e-01 2.04604273e+02] [ 6.50891301e-01 4.15587433e-01 -6.35316929e-01 1.21468944e+02] [ 6.95113222e-01 1.02033007e-02 7.18827866e-01 1.39708916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.866875 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:204.61, Y:121.49, Z:139.73 [[ 3.04790928e-01 -9.09634900e-01 -2.82253148e-01 2.04612473e+02] [ 6.50398659e-01 4.15281525e-01 -6.36021100e-01 1.21487486e+02] [ 6.95761507e-01 1.02763921e-02 7.18199360e-01 1.39728477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.896875 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:204.62, Y:121.51, Z:139.75 [[ 3.04439552e-01 -9.09812545e-01 -2.82059732e-01 2.04620068e+02] [ 6.50413647e-01 4.14892917e-01 -6.36259346e-01 1.21506030e+02] [ 6.95901320e-01 1.02470115e-02 7.18064309e-01 1.39747332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.926875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.63, Y:121.52, Z:139.77 [[ 3.04480261e-01 -9.09899943e-01 -2.81733676e-01 2.04627434e+02] [ 6.50563797e-01 4.14696523e-01 -6.36233872e-01 1.21524935e+02] [ 6.95743140e-01 1.04349249e-02 7.18214867e-01 1.39766972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.956875 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:204.64, Y:121.54, Z:139.79 [[ 3.04527085e-01 -9.10015080e-01 -2.81310876e-01 2.04635023e+02] [ 6.51004135e-01 4.14441417e-01 -6.35949627e-01 1.21543366e+02] [ 6.95310629e-01 1.05293426e-02 7.18632216e-01 1.39785629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.986875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:204.64, Y:121.56, Z:139.80 [[ 3.04077694e-01 -9.10279022e-01 -2.80942804e-01 2.04642727e+02] [ 6.51698950e-01 4.13869998e-01 -6.35610025e-01 1.21561631e+02] [ 6.94856269e-01 1.01847000e-02 7.19076517e-01 1.39804816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.016875 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:204.65, Y:121.58, Z:139.82 [[ 3.02782022e-01 -9.10916334e-01 -2.80275722e-01 2.04650497e+02] [ 6.53394713e-01 4.12491534e-01 -6.34764589e-01 1.21578747e+02] [ 6.93828794e-01 9.06463125e-03 7.20082937e-01 1.39823664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.66, Y:121.60, Z:139.84 [[ 3.01830091e-01 -9.11416085e-01 -2.79677165e-01 2.04658572e+02] [ 6.54717479e-01 4.11402610e-01 -6.34107969e-01 1.21597526e+02] [ 6.92996118e-01 8.28333760e-03 7.20893728e-01 1.39843075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.67, Y:121.62, Z:139.86 [[ 3.00581506e-01 -9.11969095e-01 -2.79218782e-01 2.04666400e+02] [ 6.55840994e-01 4.10192800e-01 -6.33730588e-01 1.21616075e+02] [ 6.92476245e-01 7.36457091e-03 7.21403087e-01 1.39862499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.67, Y:121.64, Z:139.88 [[ 3.00343908e-01 -9.12122465e-01 -2.78973378e-01 2.04674632e+02] [ 6.55950004e-01 4.09851423e-01 -6.33838626e-01 1.21635176e+02] [ 6.92476086e-01 7.37698154e-03 7.21403113e-01 1.39882083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.13687500000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.68, Y:121.65, Z:139.90 [[ 2.99394935e-01 -9.12608762e-01 -2.78402444e-01 2.04682408e+02] [ 6.57268584e-01 4.08781043e-01 -6.33163539e-01 1.21653386e+02] [ 6.91636235e-01 6.58077613e-03 7.22216043e-01 1.39900475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.69, Y:121.67, Z:139.92 [[ 2.97137723e-01 -9.13510007e-01 -2.77864429e-01 2.04690426e+02] [ 6.59007956e-01 4.06787153e-01 -6.32639492e-01 1.21672701e+02] [ 6.90954187e-01 4.86618936e-03 7.22882170e-01 1.39919544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.70, Y:121.69, Z:139.94 [[ 2.95778518e-01 -9.14028415e-01 -2.77609663e-01 2.04698382e+02] [ 6.59649968e-01 4.05630268e-01 -6.32713210e-01 1.21691921e+02] [ 6.90924734e-01 4.01777035e-03 7.22915534e-01 1.39937919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.226875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:204.71, Y:121.71, Z:139.96 [[ 2.94258062e-01 -9.14535134e-01 -2.77556626e-01 2.04706805e+02] [ 6.59823521e-01 4.04493791e-01 -6.33259580e-01 1.21711045e+02] [ 6.91408066e-01 3.20334655e-03 7.22457351e-01 1.39957008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.72, Y:121.73, Z:139.98 [[ 2.90394459e-01 -9.15689840e-01 -2.77818600e-01 2.04715915e+02] [ 6.60194377e-01 4.01884800e-01 -6.34532893e-01 1.21730456e+02] [ 6.92686396e-01 8.50559023e-04 7.21238403e-01 1.39975921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.286875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.72, Y:121.75, Z:139.99 [[ 2.88259712e-01 -9.16336444e-01 -2.77909805e-01 2.04724343e+02] [ 6.60237189e-01 4.00409064e-01 -6.35420676e-01 1.21748724e+02] [ 6.93536728e-01 -3.20207002e-04 7.20421199e-01 1.39993723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.316875 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:204.73, Y:121.77, Z:140.01 [[ 2.85924730e-01 -9.17012926e-01 -2.78090528e-01 2.04732664e+02] [ 6.60299493e-01 3.98853948e-01 -6.36333331e-01 1.21767055e+02] [ 6.94443394e-01 -1.67959895e-03 7.19545378e-01 1.40012805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.74, Y:121.79, Z:140.03 [[ 2.82156535e-01 -9.18229713e-01 -2.77924240e-01 2.04741709e+02] [ 6.61675571e-01 3.96025365e-01 -6.36670519e-01 1.21785157e+02] [ 6.94674837e-01 -4.25493256e-03 7.19311314e-01 1.40032013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.75, Y:121.80, Z:140.05 [[ 2.80584207e-01 -9.18788626e-01 -2.77668801e-01 2.04750254e+02] [ 6.62382424e-01 3.94714809e-01 -6.36749357e-01 1.21803586e+02] [ 6.94638055e-01 -5.26112024e-03 7.19340179e-01 1.40051926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.76, Y:121.82, Z:140.07 [[ 2.79168171e-01 -9.19368984e-01 -2.77174680e-01 2.04758106e+02] [ 6.63644068e-01 3.93345632e-01 -6.36282771e-01 1.21820876e+02] [ 6.94004094e-01 -6.31543455e-03 7.19943353e-01 1.40070947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.436875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:204.77, Y:121.84, Z:140.09 [[ 2.77845087e-01 -9.20064981e-01 -2.76192935e-01 2.04766492e+02] [ 6.66105858e-01 3.91691721e-01 -6.34728747e-01 1.21838734e+02] [ 6.92174179e-01 -7.61746792e-03 7.21690294e-01 1.40090660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.466875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.77, Y:121.86, Z:140.11 [[ 2.77623252e-01 -9.20327785e-01 -2.75539648e-01 2.04774416e+02] [ 6.67254463e-01 3.91068871e-01 -6.33905844e-01 1.21855850e+02] [ 6.91156141e-01 -7.86805785e-03 7.22662634e-01 1.40109577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.78, Y:121.87, Z:140.13 [[ 2.77384339e-01 -9.20633614e-01 -2.74757488e-01 2.04782369e+02] [ 6.68709927e-01 3.90341553e-01 -6.32819489e-01 1.21874083e+02] [ 6.89844158e-01 -8.19884440e-03 7.23911470e-01 1.40128746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.526875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:204.79, Y:121.89, Z:140.15 [[ 2.77504888e-01 -9.20745584e-01 -2.74260107e-01 2.04790153e+02] [ 6.69306796e-01 3.90079758e-01 -6.32349741e-01 1.21891977e+02] [ 6.89216548e-01 -8.08400940e-03 7.24510316e-01 1.40147474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.556875 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:204.80, Y:121.91, Z:140.17 [[ 2.78648509e-01 -9.20514256e-01 -2.73876821e-01 2.04798790e+02] [ 6.69138579e-01 3.90644356e-01 -6.32179206e-01 1.21911397e+02] [ 6.88918406e-01 -7.10575357e-03 7.24804069e-01 1.40166378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.81, Y:121.93, Z:140.19 [[ 2.78997365e-01 -9.20420028e-01 -2.73838352e-01 2.04806861e+02] [ 6.68443498e-01 3.90876795e-01 -6.32770592e-01 1.21930077e+02] [ 6.89451783e-01 -6.50413860e-03 7.24302378e-01 1.40185070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.616875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:204.81, Y:121.95, Z:140.20 [[ 2.79539253e-01 -9.20260132e-01 -2.73823111e-01 2.04814892e+02] [ 6.67602541e-01 3.91265057e-01 -6.33418110e-01 1.21948561e+02] [ 6.90046848e-01 -5.73977975e-03 7.23741944e-01 1.40203112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.82, Y:121.97, Z:140.22 [[ 2.81323004e-01 -9.19552705e-01 -2.74372358e-01 2.04823050e+02] [ 6.64712077e-01 3.92949996e-01 -6.35411800e-01 1.21967800e+02] [ 6.92109257e-01 -3.62266343e-03 7.21783661e-01 1.40221464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.676875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:204.83, Y:121.99, Z:140.24 [[ 2.82251906e-01 -9.19243054e-01 -2.74455951e-01 2.04830872e+02] [ 6.63447048e-01 3.93682586e-01 -6.36279841e-01 1.21986756e+02] [ 6.92944353e-01 -2.49579237e-03 7.20986751e-01 1.40239964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.706875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:204.84, Y:122.00, Z:140.26 [[ 2.84536697e-01 -9.18511951e-01 -2.74544467e-01 2.04838768e+02] [ 6.61582731e-01 3.95393073e-01 -6.37159798e-01 1.22004179e+02] [ 6.93791869e-01 -3.38534158e-04 7.20175484e-01 1.40258505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.736875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:204.85, Y:122.02, Z:140.28 [[ 2.85497696e-01 -9.18287641e-01 -2.74297055e-01 2.04846615e+02] [ 6.61140256e-01 3.95913439e-01 -6.37295936e-01 1.22021708e+02] [ 6.93818872e-01 5.97696282e-04 7.20149301e-01 1.40276906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.85, Y:122.04, Z:140.30 [[ 2.87618638e-01 -9.17753279e-01 -2.73869381e-01 2.04854660e+02] [ 6.60679922e-01 3.97144485e-01 -6.37007299e-01 1.22038428e+02] [ 6.93381252e-01 2.27517007e-03 7.20567320e-01 1.40296928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.86, Y:122.06, Z:140.32 [[ 2.87355620e-01 -9.17915841e-01 -2.73600543e-01 2.04862442e+02] [ 6.60794436e-01 3.96768545e-01 -6.37122779e-01 1.22057077e+02] [ 6.93381181e-01 2.28709510e-03 7.20567351e-01 1.40315938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.82687500000003 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:204.87, Y:122.07, Z:140.33 [[ 2.89147188e-01 -9.17517621e-01 -2.73048197e-01 2.04870295e+02] [ 6.60813349e-01 3.97678665e-01 -6.36535464e-01 1.22074084e+02] [ 6.92617948e-01 3.61854628e-03 7.21295560e-01 1.40334469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.856875 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:204.88, Y:122.10, Z:140.35 [[ 2.88718917e-01 -9.20059415e-01 -2.64824584e-01 2.04876672e+02] [ 6.59640376e-01 3.91637646e-01 -6.41478393e-01 1.22095816e+02] [ 6.93913512e-01 1.05179587e-02 7.19981535e-01 1.40351843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.88687500000003 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:204.89, Y:122.10, Z:140.38 [[ 2.90138526e-01 -9.14129111e-01 -2.83174159e-01 2.04889021e+02] [ 6.60478193e-01 4.05406630e-01 -6.31992105e-01 1.22104961e+02] [ 6.92523062e-01 -3.66509876e-03 7.21386426e-01 1.40375057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.916875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.89, Y:122.13, Z:140.39 [[ 2.90077483e-01 -9.18446735e-01 -2.68906395e-01 2.04894567e+02] [ 6.61308271e-01 3.95481628e-01 -6.37389718e-01 1.22129488e+02] [ 6.91756044e-01 7.06238245e-03 7.22096737e-01 1.40389658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.90, Y:122.14, Z:140.41 [[ 2.90812195e-01 -9.16455202e-01 -2.74842011e-01 2.04904565e+02] [ 6.60289236e-01 4.00123287e-01 -6.35546600e-01 1.22142943e+02] [ 6.92420676e-01 3.34948038e-03 7.21486236e-01 1.40412078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.976875 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:204.91, Y:122.16, Z:140.43 [[ 2.91135715e-01 -9.17267839e-01 -2.71771423e-01 2.04912097e+02] [ 6.60332499e-01 3.98227136e-01 -6.36691557e-01 1.22161657e+02] [ 6.92243444e-01 5.90414906e-03 7.21639907e-01 1.40430063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.00687500000004 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:204.92, Y:122.18, Z:140.45 [[ 2.91257165e-01 -9.17312179e-01 -2.71491492e-01 2.04919918e+02] [ 6.60344100e-01 3.98120819e-01 -6.36746012e-01 1.22179204e+02] [ 6.92181287e-01 6.17903362e-03 7.21697226e-01 1.40448716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.93, Y:122.20, Z:140.47 [[ 2.91679733e-01 -9.17287929e-01 -2.71119510e-01 2.04927967e+02] [ 6.60475361e-01 3.98169775e-01 -6.36579239e-01 1.22197414e+02] [ 6.91878046e-01 6.60950625e-03 7.21984130e-01 1.40467631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.066875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.94, Y:122.22, Z:140.49 [[ 2.92342542e-01 -9.17109081e-01 -2.71010648e-01 2.04936080e+02] [ 6.59803853e-01 3.98567353e-01 -6.37026641e-01 1.22215572e+02] [ 6.92238914e-01 7.41611753e-03 7.21630299e-01 1.40487076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.096875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:204.94, Y:122.23, Z:140.51 [[ 2.92861334e-01 -9.16989423e-01 -2.70855380e-01 2.04944265e+02] [ 6.59351356e-01 3.98830069e-01 -6.37330656e-01 1.22234074e+02] [ 6.92450741e-01 8.06064433e-03 7.21420126e-01 1.40506252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.126875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:204.95, Y:122.25, Z:140.52 [[ 2.93203200e-01 -9.16915723e-01 -2.70735002e-01 2.04952107e+02] [ 6.58862060e-01 3.98988008e-01 -6.37737685e-01 1.22252668e+02] [ 6.92771730e-01 8.60970874e-03 7.21105543e-01 1.40524852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.156875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:204.96, Y:122.27, Z:140.54 [[ 2.94455564e-01 -9.16568277e-01 -2.70552240e-01 2.04959838e+02] [ 6.58106208e-01 3.99757599e-01 -6.38036112e-01 1.22271378e+02] [ 6.92958974e-01 9.82117447e-03 7.20910123e-01 1.40544017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.186875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:204.97, Y:122.29, Z:140.56 [[ 2.94758423e-01 -9.16490709e-01 -2.70485217e-01 2.04967467e+02] [ 6.57498085e-01 3.99921353e-01 -6.38560240e-01 1.22290085e+02] [ 6.93407341e-01 1.03774971e-02 7.20471073e-01 1.40563221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.216875 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:204.98, Y:122.31, Z:140.58 [[ 2.95129377e-01 -9.16423911e-01 -2.70306985e-01 2.04975161e+02] [ 6.57151420e-01 4.00060370e-01 -6.38829955e-01 1.22308024e+02] [ 6.93578158e-01 1.09048678e-02 7.20298842e-01 1.40581757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.246875 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:204.98, Y:122.33, Z:140.60 [[ 2.95238137e-01 -9.16398370e-01 -2.70274806e-01 2.04982765e+02] [ 6.56487506e-01 4.00105983e-01 -6.39483664e-01 1.22325662e+02] [ 6.94160354e-01 1.13679323e-02 7.19730625e-01 1.40601077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.276875 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:204.99, Y:122.34, Z:140.62 [[ 2.95197280e-01 -9.16371440e-01 -2.70410705e-01 2.04989966e+02] [ 6.55405687e-01 4.00153266e-01 -6.40562838e-01 1.22343074e+02] [ 6.95199217e-01 1.18636942e-02 7.18719209e-01 1.40620249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.306875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:205.00, Y:122.36, Z:140.64 [[ 2.94970170e-01 -9.16500538e-01 -2.70220953e-01 2.04997658e+02] [ 6.55292455e-01 3.99854557e-01 -6.40865143e-01 1.22362234e+02] [ 6.95402328e-01 1.19623485e-02 7.18521054e-01 1.40639933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.336875 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:205.01, Y:122.38, Z:140.66 [[ 2.95712969e-01 -9.15704166e-01 -2.72102407e-01 2.05005078e+02] [ 6.54807702e-01 4.01698541e-01 -6.40207119e-01 1.22378288e+02] [ 6.95543466e-01 1.11427960e-02 7.18397609e-01 1.40658368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.366875 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:205.01, Y:122.40, Z:140.68 [[ 2.94410247e-01 -9.18231943e-01 -2.64901311e-01 2.05010722e+02] [ 6.55150181e-01 3.95722815e-01 -6.43569494e-01 1.22399870e+02] [ 6.95773560e-01 1.59233118e-02 7.18084676e-01 1.40676489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.396875 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:205.02, Y:122.42, Z:140.70 [[ 2.93714137e-01 -9.17208567e-01 -2.69184787e-01 2.05018263e+02] [ 6.56386598e-01 3.98241144e-01 -6.40750049e-01 1.22416106e+02] [ 6.94901892e-01 1.15080608e-02 7.19012465e-01 1.40697284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.426875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:205.03, Y:122.43, Z:140.72 [[ 2.93246554e-01 -9.17511757e-01 -2.68660816e-01 2.05025214e+02] [ 6.57313488e-01 3.97552325e-01 -6.40227404e-01 1.22433993e+02] [ 6.94222902e-01 1.11501021e-02 7.19673702e-01 1.40716314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.456875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:205.03, Y:122.45, Z:140.74 [[ 2.93128265e-01 -9.17870589e-01 -2.67561961e-01 2.05031323e+02] [ 6.59645407e-01 3.96737776e-01 -6.38331477e-01 1.22451831e+02] [ 6.92057626e-01 1.06169797e-02 7.21764173e-01 1.40736191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.486875 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:205.04, Y:122.47, Z:140.76 [[ 2.92968623e-01 -9.18097935e-01 -2.66956116e-01 2.05038345e+02] [ 6.60629845e-01 3.96215863e-01 -6.37637200e-01 1.22470369e+02] [ 6.91185644e-01 1.04485148e-02 7.22601712e-01 1.40755612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.516875 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:205.04, Y:122.49, Z:140.77 [[ 2.92959035e-01 -9.18228012e-01 -2.66518895e-01 2.05044978e+02] [ 6.61146457e-01 3.95913174e-01 -6.37289669e-01 1.22488596e+02] [ 6.90695567e-01 1.04917436e-02 7.23069538e-01 1.40774473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.546875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:205.05, Y:122.51, Z:140.79 [[ 2.93825481e-01 -9.18058616e-01 -2.66148388e-01 2.05050671e+02] [ 6.61069855e-01 3.96284598e-01 -6.37138261e-01 1.22507956e+02] [ 6.90400778e-01 1.12647799e-02 7.23339389e-01 1.40793401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.57687500000003 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:205.06, Y:122.53, Z:140.81 [[ 2.94064180e-01 -9.18020045e-01 -2.66017773e-01 2.05057409e+02] [ 6.60641127e-01 3.96360325e-01 -6.37535719e-01 1.22527679e+02] [ 6.90709461e-01 1.17341370e-02 7.23037171e-01 1.40812253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.606875 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:205.06, Y:122.55, Z:140.83 [[ 2.94145346e-01 -9.17914271e-01 -2.66292896e-01 2.05063251e+02] [ 6.59178491e-01 3.96585042e-01 -6.38908462e-01 1.22547505e+02] [ 6.92070974e-01 1.23974017e-02 7.21722988e-01 1.40829536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.63687500000003 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:205.07, Y:122.57, Z:140.85 [[ 2.93443652e-01 -9.18144641e-01 -2.66272869e-01 2.05070168e+02] [ 6.58814570e-01 3.96055517e-01 -6.39611906e-01 1.22566840e+02] [ 6.92715082e-01 1.22656081e-02 7.21107045e-01 1.40848047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.08, Y:122.59, Z:140.87 [[ 2.92482110e-01 -9.18459912e-01 -2.66243507e-01 2.05077645e+02] [ 6.58642560e-01 3.95335088e-01 -6.40234446e-01 1.22586312e+02] [ 6.93285074e-01 1.18978162e-02 7.20565228e-01 1.40867208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.69687500000003 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:205.09, Y:122.61, Z:140.89 [[ 2.91016918e-01 -9.18942367e-01 -2.66184298e-01 2.05085008e+02] [ 6.58763667e-01 3.94234832e-01 -6.40788052e-01 1.22605757e+02] [ 6.93786411e-01 1.11276194e-02 7.20094849e-01 1.40886196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.09, Y:122.63, Z:140.90 [[ 2.88382884e-01 -9.23210744e-01 -2.54002432e-01 2.05089237e+02] [ 6.62252872e-01 3.83902252e-01 -6.43459551e-01 1.22633387e+02] [ 6.91560876e-01 1.73488809e-02 7.22109805e-01 1.40897556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.75687500000004 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:205.10, Y:122.64, Z:140.93 [[ 2.86632946e-01 -9.18465848e-01 -2.72510624e-01 2.05100676e+02] [ 6.59699950e-01 3.95485701e-01 -6.39051670e-01 1.22641906e+02] [ 6.94721189e-01 3.39801813e-03 7.19271106e-01 1.40926655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.11, Y:122.66, Z:140.94 [[ 2.85111539e-01 -9.20820108e-01 -2.66085962e-01 2.05106293e+02] [ 6.59999201e-01 3.89916052e-01 -6.42157712e-01 1.22663015e+02] [ 6.95062921e-01 7.47005092e-03 7.18910101e-01 1.40944960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.11, Y:122.68, Z:140.96 [[ 2.83604152e-01 -9.21352041e-01 -2.65855415e-01 2.05113076e+02] [ 6.60587091e-01 3.88674215e-01 -6.42306041e-01 1.22681475e+02] [ 6.95121127e-01 6.54000517e-03 7.18862885e-01 1.40964001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.846875 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:205.12, Y:122.70, Z:140.98 [[ 2.81079930e-01 -9.22241307e-01 -2.65452528e-01 2.05119989e+02] [ 6.62036442e-01 3.86585763e-01 -6.42074137e-01 1.22700020e+02] [ 6.94767459e-01 4.73490572e-03 7.19218853e-01 1.40984077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.13, Y:122.72, Z:141.00 [[ 2.79902634e-01 -9.22729196e-01 -2.65000654e-01 2.05127187e+02] [ 6.63096594e-01 3.85429285e-01 -6.41675286e-01 1.22718411e+02] [ 6.94231534e-01 3.88557165e-03 7.19741259e-01 1.41003349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.13, Y:122.74, Z:141.02 [[ 2.78676356e-01 -9.23190267e-01 -2.64687022e-01 2.05133818e+02] [ 6.63787552e-01 3.84330677e-01 -6.41619838e-01 1.22736371e+02] [ 6.94064532e-01 3.10832830e-03 7.19906080e-01 1.41022036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.14, Y:122.76, Z:141.04 [[ 2.76835224e-01 -9.23845417e-01 -2.64332943e-01 2.05140328e+02] [ 6.64805650e-01 3.82761262e-01 -6.41503908e-01 1.22755817e+02] [ 6.93826856e-01 1.86084354e-03 7.20139453e-01 1.41041843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.966875 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:205.15, Y:122.77, Z:141.06 [[ 2.75918478e-01 -9.24213991e-01 -2.64002825e-01 2.05147355e+02] [ 6.65400273e-01 3.81872726e-01 -6.41416946e-01 1.22774408e+02] [ 6.93621994e-01 1.31123606e-03 7.20337984e-01 1.41060048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.996875 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:205.16, Y:122.79, Z:141.08 [[ 2.75675895e-01 -9.24339059e-01 -2.63818317e-01 2.05155136e+02] [ 6.65500753e-01 3.81570025e-01 -6.41492840e-01 1.22793679e+02] [ 6.93622050e-01 1.27282423e-03 7.20337998e-01 1.41079650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.16, Y:122.81, Z:141.10 [[ 2.74273848e-01 -9.24840967e-01 -2.63520476e-01 2.05162272e+02] [ 6.66254851e-01 3.80353860e-01 -6.41432316e-01 1.22812214e+02] [ 6.93453913e-01 3.56313918e-04 7.20500897e-01 1.41098799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.17, Y:122.83, Z:141.12 [[ 2.72715281e-01 -9.25383761e-01 -2.63232351e-01 2.05169699e+02] [ 6.67000824e-01 3.79030972e-01 -6.41440116e-01 1.22831093e+02] [ 6.93351481e-01 -6.45673211e-04 7.20599269e-01 1.41117893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.17, Y:122.86, Z:141.13 [[ 2.69362595e-01 -9.30113961e-01 -2.49663397e-01 2.05174267e+02] [ 6.71537651e-01 3.67226885e-01 -6.43569420e-01 1.22858557e+02] [ 6.90276014e-01 5.69515832e-03 7.23523731e-01 1.41129234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.19, Y:122.87, Z:141.16 [[ 2.68527825e-01 -9.24235247e-01 -2.71444313e-01 2.05186467e+02] [ 6.69379325e-01 3.81677890e-01 -6.37380034e-01 1.22865536e+02] [ 6.92693386e-01 -1.05449367e-02 7.21155100e-01 1.41158874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.19, Y:122.89, Z:141.18 [[ 2.67446160e-01 -9.27193984e-01 -2.62266785e-01 2.05192269e+02] [ 6.70123436e-01 3.74556053e-01 -6.40813814e-01 1.22887857e+02] [ 6.92392325e-01 -4.36792544e-03 7.21507997e-01 1.41176146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.20, Y:122.91, Z:141.19 [[ 2.66268312e-01 -9.27635297e-01 -2.61904452e-01 2.05198752e+02] [ 6.70884051e-01 3.73452201e-01 -6.40662192e-01 1.22906939e+02] [ 6.92109657e-01 -5.11947927e-03 7.21774213e-01 1.41194245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.21, Y:122.93, Z:141.21 [[ 2.65997234e-01 -9.27755852e-01 -2.61752844e-01 2.05205718e+02] [ 6.70665219e-01 3.73153868e-01 -6.41065017e-01 1.22926497e+02] [ 6.92425907e-01 -5.02700662e-03 7.21471478e-01 1.41213767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.21, Y:122.95, Z:141.23 [[ 2.67285670e-01 -9.27430736e-01 -2.61592433e-01 2.05211807e+02] [ 6.69881514e-01 3.73975681e-01 -6.41405447e-01 1.22945880e+02] [ 6.92688334e-01 -3.79745067e-03 7.21227045e-01 1.41231948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.266875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.22, Y:122.96, Z:141.25 [[ 2.68101699e-01 -9.27207486e-01 -2.61548765e-01 2.05218505e+02] [ 6.69154780e-01 3.74536566e-01 -6.41836616e-01 1.22964712e+02] [ 6.93075292e-01 -2.93911908e-03 7.20859211e-01 1.41251196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.22, Y:122.98, Z:141.27 [[ 2.68792293e-01 -9.27064050e-01 -2.61348331e-01 2.05224949e+02] [ 6.68739397e-01 3.74896567e-01 -6.42059330e-01 1.22983381e+02] [ 6.93208715e-01 -2.19332547e-03 7.20733561e-01 1.41269092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.23, Y:123.00, Z:141.29 [[ 2.69916971e-01 -9.26771341e-01 -2.61227316e-01 2.05231791e+02] [ 6.67891305e-01 3.75624532e-01 -6.42516471e-01 1.23002235e+02] [ 6.93589240e-01 -1.04535275e-03 7.20369956e-01 1.41288175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.356875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:205.24, Y:123.02, Z:141.31 [[ 2.72526362e-01 -9.26074197e-01 -2.60990353e-01 2.05238030e+02] [ 6.66784681e-01 3.77339812e-01 -6.42660763e-01 1.23020974e+02] [ 6.93633601e-01 1.11763030e-03 7.20327133e-01 1.41307145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.25, Y:123.04, Z:141.33 [[ 2.73840112e-01 -9.25787433e-01 -2.60632351e-01 2.05245063e+02] [ 6.66500782e-01 3.78037827e-01 -6.42545025e-01 1.23040086e+02] [ 6.93388997e-01 2.24293611e-03 7.20559969e-01 1.41326671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.25, Y:123.06, Z:141.34 [[ 2.77130806e-01 -9.26687646e-01 -2.53867136e-01 2.05249502e+02] [ 6.64513277e-01 3.75690692e-01 -6.45971059e-01 1.23060139e+02] [ 6.93988920e-01 1.03203980e-02 7.19911709e-01 1.41342755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.26, Y:123.07, Z:141.36 [[ 2.78301709e-01 -9.23394743e-01 -2.64367749e-01 2.05258424e+02] [ 6.65994637e-01 3.83846826e-01 -6.39619229e-01 1.23074952e+02] [ 6.92097755e-01 1.93962146e-03 7.21801175e-01 1.41363962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.26, Y:123.09, Z:141.38 [[ 2.79734731e-01 -9.24376117e-01 -2.59378633e-01 2.05264716e+02] [ 6.65594314e-01 3.81421676e-01 -6.41483993e-01 1.23094822e+02] [ 6.91905116e-01 6.80440856e-03 7.21956377e-01 1.41381831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.50687500000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:205.27, Y:123.11, Z:141.40 [[ 2.82531989e-01 -9.23622688e-01 -2.59030511e-01 2.05272758e+02] [ 6.64686752e-01 3.83196479e-01 -6.41367274e-01 1.23113940e+02] [ 6.91640945e-01 9.03262251e-03 7.22185028e-01 1.41400830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.28, Y:123.13, Z:141.42 [[ 2.83745349e-01 -9.23300401e-01 -2.58853136e-01 2.05280658e+02] [ 6.63994128e-01 3.83943536e-01 -6.41637872e-01 1.23132684e+02] [ 6.91809493e-01 1.01847993e-02 7.22008238e-01 1.41419800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.29, Y:123.15, Z:141.44 [[ 2.84669330e-01 -9.23020074e-01 -2.58838396e-01 2.05288520e+02] [ 6.62968934e-01 3.84587440e-01 -6.42311991e-01 1.23151399e+02] [ 6.92412858e-01 1.12447085e-02 7.21413884e-01 1.41439189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.30, Y:123.17, Z:141.46 [[ 2.86749501e-01 -9.22372318e-01 -2.58851368e-01 2.05296864e+02] [ 6.61371978e-01 3.86076456e-01 -6.43064597e-01 1.23170507e+02] [ 6.93081402e-01 1.32014110e-02 7.20738436e-01 1.41458058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.30, Y:123.19, Z:141.48 [[ 2.87745271e-01 -9.22111693e-01 -2.58674864e-01 2.05304960e+02] [ 6.60747088e-01 3.86663012e-01 -6.43354490e-01 1.23189670e+02] [ 6.93264700e-01 1.42035489e-02 7.20543069e-01 1.41477400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.31, Y:123.21, Z:141.50 [[ 2.88578800e-01 -9.21895061e-01 -2.58518418e-01 2.05313181e+02] [ 6.60134644e-01 3.87145335e-01 -6.43693050e-01 1.23208075e+02] [ 6.93501643e-01 1.50992041e-02 7.20296804e-01 1.41497091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.32, Y:123.23, Z:141.52 [[ 2.90586333e-01 -9.21396676e-01 -2.58046021e-01 2.05322414e+02] [ 6.59911096e-01 3.88267396e-01 -6.43246278e-01 1.23225720e+02] [ 6.92875839e-01 1.66311447e-02 7.20865089e-01 1.41516745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.33, Y:123.24, Z:141.54 [[ 2.91504511e-01 -9.21196481e-01 -2.57724977e-01 2.05330484e+02] [ 6.59718259e-01 3.88705620e-01 -6.43179415e-01 1.23243145e+02] [ 6.92673761e-01 1.74638277e-02 7.21039580e-01 1.41535991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.746875 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:205.34, Y:123.26, Z:141.56 [[ 2.92430174e-01 -9.21039013e-01 -2.57238662e-01 2.05338686e+02] [ 6.59947470e-01 3.89045215e-01 -6.42738795e-01 1.23261139e+02] [ 6.92064976e-01 1.81922134e-02 7.21605926e-01 1.41555005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.35, Y:123.28, Z:141.58 [[ 2.94343900e-01 -9.20573209e-01 -2.56722877e-01 2.05347952e+02] [ 6.59826131e-01 3.90075607e-01 -6.42238661e-01 1.23279153e+02] [ 6.91369037e-01 1.96465695e-02 7.22234635e-01 1.41575042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.36, Y:123.30, Z:141.59 [[ 2.95119692e-01 -9.20422194e-01 -2.56373462e-01 2.05355629e+02] [ 6.59764403e-01 3.90395645e-01 -6.42107602e-01 1.23296875e+02] [ 6.91097171e-01 2.03525138e-02 7.22475242e-01 1.41593777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.36, Y:123.32, Z:141.61 [[ 2.95995943e-01 -9.20235166e-01 -2.56034452e-01 2.05363988e+02] [ 6.59592491e-01 3.90793223e-01 -6.42042368e-01 1.23315946e+02] [ 6.90886494e-01 2.11635340e-02 7.22653415e-01 1.41613193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.37, Y:123.33, Z:141.63 [[ 2.98240269e-01 -9.19604231e-01 -2.55696696e-01 2.05373090e+02] [ 6.58885597e-01 3.92173788e-01 -6.41926390e-01 1.23333829e+02] [ 6.90595767e-01 2.29734288e-02 7.22875998e-01 1.41631938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.896875 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:205.38, Y:123.35, Z:141.65 [[ 2.99037728e-01 -9.19402336e-01 -2.55491255e-01 2.05381310e+02] [ 6.58385002e-01 3.92596122e-01 -6.42181808e-01 1.23352196e+02] [ 6.90728330e-01 2.38249787e-02 7.22721761e-01 1.41651198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.926875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:205.39, Y:123.37, Z:141.67 [[ 2.99918136e-01 -9.19167597e-01 -2.55303821e-01 2.05389577e+02] [ 6.57841298e-01 3.93089556e-01 -6.42437100e-01 1.23370687e+02] [ 6.90864631e-01 2.47291402e-02 7.22561092e-01 1.41670298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.40, Y:123.39, Z:141.69 [[ 3.01922819e-01 -9.18522666e-01 -2.55262070e-01 2.05398261e+02] [ 6.56405180e-01 3.94472598e-01 -6.43058014e-01 1.23388286e+02] [ 6.91357253e-01 2.65985431e-02 7.22023315e-01 1.41689242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.986875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:205.41, Y:123.41, Z:141.71 [[ 3.02871782e-01 -9.18276938e-01 -2.55021861e-01 2.05406348e+02] [ 6.56166799e-01 3.94989161e-01 -6.42984210e-01 1.23407350e+02] [ 6.91168442e-01 2.74048949e-02 7.22173910e-01 1.41708771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.41, Y:123.43, Z:141.73 [[ 3.03966940e-01 -9.17973695e-01 -2.54810506e-01 2.05414303e+02] [ 6.55592440e-01 3.95619313e-01 -6.43182643e-01 1.23425672e+02] [ 6.91232705e-01 2.84544182e-02 7.22071807e-01 1.41727957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.046875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:205.42, Y:123.44, Z:141.75 [[ 3.05329583e-01 -9.16066354e-01 -2.59992847e-01 2.05422069e+02] [ 6.54666689e-01 4.00209168e-01 -6.41283205e-01 1.23440828e+02] [ 6.91509488e-01 2.55940769e-02 7.21913825e-01 1.41747748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.07687500000003 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:205.43, Y:123.47, Z:141.76 [[ 3.08231955e-01 -9.19567167e-01 -2.43699176e-01 2.05428909e+02] [ 6.54444522e-01 3.90890614e-01 -6.47230172e-01 1.23465506e+02] [ 6.90431336e-01 4.00094300e-02 7.22290673e-01 1.41763906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.106875 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:205.44, Y:123.48, Z:141.79 [[ 3.09220384e-01 -9.16424868e-01 -2.54063410e-01 2.05439286e+02] [ 6.53771506e-01 3.98865420e-01 -6.43031255e-01 1.23480698e+02] [ 6.90626941e-01 3.27389530e-02 7.22469784e-01 1.41786134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.13687500000003 meters Centerline goodness : 0.999939 Centerline is valid? [True, True] Translation: X:205.45, Y:123.50, Z:141.80 [[ 3.11560748e-01 -9.15771260e-01 -2.53560445e-01 2.05447700e+02] [ 6.53474678e-01 4.00217590e-01 -6.42492588e-01 1.23498729e+02] [ 6.89855597e-01 3.44801410e-02 7.23125421e-01 1.41804995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.166875 meters Centerline goodness : 0.999939 Centerline is valid? [True, True] Translation: X:205.45, Y:123.52, Z:141.82 [[ 3.10822062e-01 -9.15848705e-01 -2.54186535e-01 2.05453306e+02] [ 6.54299734e-01 4.00153756e-01 -6.41692161e-01 1.23515608e+02] [ 6.89406632e-01 3.31378986e-02 7.23616180e-01 1.41822098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.19687500000003 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:205.46, Y:123.54, Z:141.84 [[ 3.12160347e-01 -9.19350568e-01 -2.39479544e-01 2.05459183e+02] [ 6.56185650e-01 3.90933144e-01 -6.45439130e-01 1.23541017e+02] [ 6.87005321e-01 4.43374624e-02 7.25298475e-01 1.41837206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.226875 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:205.47, Y:123.55, Z:141.86 [[ 3.12422409e-01 -9.14326999e-01 -2.57678827e-01 2.05471834e+02] [ 6.54221448e-01 4.03771867e-01 -6.39501819e-01 1.23551340e+02] [ 6.88757240e-01 3.12156839e-02 7.24319712e-01 1.41864001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.25687500000004 meters Centerline goodness : 0.999939 Centerline is valid? [True, True] Translation: X:205.48, Y:123.58, Z:141.88 [[ 3.14357325e-01 -9.18508429e-01 -2.39836899e-01 2.05478756e+02] [ 6.55225640e-01 3.92750261e-01 -6.45311238e-01 1.23577094e+02] [ 6.86919816e-01 4.57110286e-02 7.25294195e-01 1.41879123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.286875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:205.49, Y:123.59, Z:141.90 [[ 3.14089262e-01 -9.15322875e-01 -2.52055492e-01 2.05489542e+02] [ 6.54711055e-01 4.01089645e-01 -6.40687545e-01 1.23590988e+02] [ 6.87532813e-01 3.62095614e-02 7.25249956e-01 1.41900280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.316875 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:205.50, Y:123.61, Z:141.92 [[ 3.14069560e-01 -9.15354487e-01 -2.51965226e-01 2.05497205e+02] [ 6.54223929e-01 4.00986123e-01 -6.41249701e-01 1.23609928e+02] [ 6.88005351e-01 3.65553316e-02 7.24784344e-01 1.41919057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.346875 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:205.50, Y:123.63, Z:141.94 [[ 3.14119119e-01 -9.15349424e-01 -2.51921834e-01 2.05504430e+02] [ 6.53633260e-01 4.00960731e-01 -6.41867629e-01 1.23628157e+02] [ 6.88543927e-01 3.69584046e-02 7.24252260e-01 1.41937196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.376875 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:205.51, Y:123.65, Z:141.96 [[ 3.14059517e-01 -9.15351739e-01 -2.51987726e-01 2.05512116e+02] [ 6.52964444e-01 4.00926985e-01 -6.42569052e-01 1.23647774e+02] [ 6.89205379e-01 3.72659009e-02 7.23607075e-01 1.41956438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.406875 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:205.52, Y:123.66, Z:141.97 [[ 3.13124042e-01 -9.14061403e-01 -2.57769443e-01 2.05517876e+02] [ 6.52054966e-01 4.04250517e-01 -6.41409261e-01 1.23664996e+02] [ 6.90490880e-01 3.27608147e-02 7.22598833e-01 1.41974579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.436875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:205.52, Y:123.69, Z:141.99 [[ 3.14955061e-01 -9.18138667e-01 -2.40467664e-01 2.05524485e+02] [ 6.51732052e-01 3.93400723e-01 -6.48445221e-01 1.23691575e+02] [ 6.89962783e-01 4.75106204e-02 7.22283946e-01 1.41990593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.466875 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:205.53, Y:123.71, Z:142.01 [[ 3.14736459e-01 -9.15133202e-01 -2.51936867e-01 2.05534054e+02] [ 6.50880323e-01 4.01274816e-01 -6.44463596e-01 1.23706258e+02] [ 6.90865954e-01 3.88554407e-02 7.21938008e-01 1.42011564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.54, Y:123.73, Z:142.03 [[ 3.14199168e-01 -9.15321287e-01 -2.51924244e-01 2.05541678e+02] [ 6.50396770e-01 4.00843532e-01 -6.45219733e-01 1.23725306e+02] [ 6.91565560e-01 3.88767885e-02 7.21266713e-01 1.42030678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.526875 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:205.55, Y:123.74, Z:142.05 [[ 3.13422298e-01 -9.15660531e-01 -2.51659004e-01 2.05548970e+02] [ 6.50769903e-01 4.00106373e-01 -6.45301033e-01 1.23743668e+02] [ 6.91567058e-01 3.84796272e-02 7.21286574e-01 1.42049257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.556875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:205.56, Y:123.76, Z:142.07 [[ 3.11429897e-01 -9.16428506e-01 -2.51336850e-01 2.05556594e+02] [ 6.51796851e-01 3.98471559e-01 -6.45276128e-01 1.23761977e+02] [ 6.91500025e-01 3.71377109e-02 7.21421171e-01 1.42069132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.586875 meters Centerline goodness : 0.999878 Centerline is valid? [True, True] Translation: X:205.56, Y:123.78, Z:142.09 [[ 3.09915990e-01 -9.17083465e-01 -2.50818653e-01 2.05563754e+02] [ 6.53224588e-01 3.97070205e-01 -6.44695967e-01 1.23780069e+02] [ 6.90832626e-01 3.59606778e-02 7.22119874e-01 1.42087878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.616875 meters Centerline goodness : 0.999939 Centerline is valid? [True, True] Translation: X:205.57, Y:123.80, Z:142.11 [[ 3.08047686e-01 -9.17870491e-01 -2.50240653e-01 2.05570768e+02] [ 6.54934903e-01 3.95378431e-01 -6.44000131e-01 1.23798572e+02] [ 6.90048474e-01 3.44914121e-02 7.22940832e-01 1.42107234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.646875 meters Centerline goodness : 0.999939 Centerline is valid? [True, True] Translation: X:205.58, Y:123.82, Z:142.12 [[ 3.04847175e-01 -9.19293505e-01 -2.48933025e-01 2.05575078e+02] [ 6.58562814e-01 3.92283286e-01 -6.42190660e-01 1.23817899e+02] [ 6.88013968e-01 3.18319756e-02 7.24998969e-01 1.42123046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.676875 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:205.58, Y:123.84, Z:142.14 [[ 3.03331946e-01 -9.21818998e-01 -2.41328545e-01 2.05583469e+02] [ 6.60322243e-01 3.85939720e-01 -6.44224392e-01 1.23838277e+02] [ 6.86996554e-01 3.60592324e-02 7.25765435e-01 1.42143485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.706875 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:205.59, Y:123.85, Z:142.16 [[ 3.01617398e-01 -9.20533592e-01 -2.48283810e-01 2.05592250e+02] [ 6.61402740e-01 3.89578380e-01 -6.40917391e-01 1.23854642e+02] [ 6.86711993e-01 2.90962438e-02 7.26347057e-01 1.42164994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.736875 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:205.59, Y:123.88, Z:142.17 [[ 2.98645178e-01 -9.24552653e-01 -2.36671608e-01 2.05594120e+02] [ 6.66776413e-01 3.79558310e-01 -6.41361602e-01 1.23879589e+02] [ 6.82803246e-01 3.37325036e-02 7.29823160e-01 1.42174845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.61, Y:123.89, Z:142.20 [[ 2.97985498e-01 -9.21811561e-01 -2.47927589e-01 2.05606152e+02] [ 6.62212382e-01 3.86691597e-01 -6.41828926e-01 1.23893085e+02] [ 6.87516839e-01 2.70749930e-02 7.25663517e-01 1.42202410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.61, Y:123.91, Z:142.22 [[ 2.96873372e-01 -9.22050611e-01 -2.48372447e-01 2.05613061e+02] [ 6.61627491e-01 3.86162137e-01 -6.42750238e-01 1.23912575e+02] [ 6.88560284e-01 2.64853913e-02 7.24695287e-01 1.42221791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.62, Y:123.93, Z:142.24 [[ 2.95514482e-01 -9.22364918e-01 -2.48825539e-01 2.05619860e+02] [ 6.60200106e-01 3.85428232e-01 -6.44655642e-01 1.23932598e+02] [ 6.90512136e-01 2.62304310e-02 7.22845041e-01 1.42240218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.856875 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:205.63, Y:123.95, Z:142.26 [[ 2.94861809e-01 -9.22582612e-01 -2.48792762e-01 2.05626997e+02] [ 6.59854515e-01 3.84914913e-01 -6.45315836e-01 1.23951669e+02] [ 6.91121214e-01 2.61119680e-02 7.22267010e-01 1.42258956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.88687500000003 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:205.63, Y:123.97, Z:142.28 [[ 2.92910058e-01 -9.23251827e-01 -2.48615692e-01 2.05634136e+02] [ 6.60464261e-01 3.83387517e-01 -6.45601248e-01 1.23970762e+02] [ 6.91368684e-01 2.49013199e-02 7.22072896e-01 1.42277999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.916875 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:205.64, Y:123.99, Z:142.30 [[ 2.92668739e-01 -9.23396209e-01 -2.48363546e-01 2.05641457e+02] [ 6.60571729e-01 3.83038832e-01 -6.45698261e-01 1.23990235e+02] [ 6.91368209e-01 2.49137591e-02 7.22072922e-01 1.42297586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.94687500000003 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:205.65, Y:124.01, Z:142.32 [[ 2.91157454e-01 -9.23962967e-01 -2.48031799e-01 2.05648693e+02] [ 6.61479826e-01 3.81735380e-01 -6.45540502e-01 1.24008542e+02] [ 6.91138030e-01 2.38858981e-02 7.22327964e-01 1.42316662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.976875 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:205.66, Y:124.03, Z:142.34 [[ 2.89250840e-01 -9.24667697e-01 -2.47636026e-01 2.05655531e+02] [ 6.62648440e-01 3.80106231e-01 -6.45303261e-01 1.24026459e+02] [ 6.90819077e-01 2.25588840e-02 7.22675653e-01 1.42335119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.00687500000004 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:205.66, Y:124.05, Z:142.35 [[ 2.87563430e-01 -9.25357558e-01 -2.47023608e-01 2.05662928e+02] [ 6.64353763e-01 3.78501039e-01 -6.44492855e-01 1.24045500e+02] [ 6.89885028e-01 2.12215121e-02 7.23607833e-01 1.42354903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.036875 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:205.67, Y:124.06, Z:142.37 [[ 2.84535082e-01 -9.26565303e-01 -2.46001071e-01 2.05669486e+02] [ 6.67796293e-01 3.75675773e-01 -6.42585266e-01 1.24062837e+02] [ 6.87813854e-01 1.85594483e-02 7.25649812e-01 1.42374622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.066875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:205.68, Y:124.08, Z:142.39 [[ 2.83660912e-01 -9.27000768e-01 -2.45369241e-01 2.05676173e+02] [ 6.69195176e-01 3.74635105e-01 -6.41736982e-01 1.24082007e+02] [ 6.86814606e-01 1.78357852e-02 7.26613777e-01 1.42394330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.096875 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:205.68, Y:124.10, Z:142.41 [[ 2.83426454e-01 -9.27193068e-01 -2.44913166e-01 2.05682293e+02] [ 6.69862289e-01 3.74165011e-01 -6.41315101e-01 1.24100572e+02] [ 6.86260854e-01 1.77075709e-02 7.27139934e-01 1.42413135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.126875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:205.69, Y:124.12, Z:142.43 [[ 2.83473124e-01 -9.27277437e-01 -2.44539452e-01 2.05688408e+02] [ 6.70141146e-01 3.73948009e-01 -6.41150318e-01 1.24120433e+02] [ 6.85969265e-01 1.78729355e-02 7.27410975e-01 1.42432544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.156875 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:205.69, Y:124.14, Z:142.45 [[ 2.84932188e-01 -9.26797437e-01 -2.44663359e-01 2.05692615e+02] [ 6.68480233e-01 3.75058085e-01 -6.42234856e-01 1.24140817e+02] [ 6.86984589e-01 1.94407635e-02 7.26411888e-01 1.42450552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.186875 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:205.70, Y:124.16, Z:142.47 [[ 2.85971544e-01 -9.26437377e-01 -2.44814345e-01 2.05698555e+02] [ 6.66865152e-01 3.75876846e-01 -6.43434119e-01 1.24160894e+02] [ 6.88121461e-01 2.07456933e-02 7.25298884e-01 1.42468670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.216875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:205.70, Y:124.18, Z:142.49 [[ 2.88089466e-01 -9.25588830e-01 -2.45539768e-01 2.05703220e+02] [ 6.63176663e-01 3.77812665e-01 -6.46107037e-01 1.24181132e+02] [ 6.90797491e-01 2.33003874e-02 7.22672760e-01 1.42486037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.246875 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:205.71, Y:124.20, Z:142.50 [[ 2.87757719e-01 -9.27421024e-01 -2.38926220e-01 2.05705574e+02] [ 6.64219684e-01 3.72990404e-01 -6.47835141e-01 1.24204295e+02] [ 6.89933117e-01 2.77200636e-02 7.23342168e-01 1.42498188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.276875 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:205.72, Y:124.22, Z:142.52 [[ 2.89815094e-01 -9.25556806e-01 -2.43622269e-01 2.05715401e+02] [ 6.60189375e-01 3.77620950e-01 -6.49270674e-01 1.24220774e+02] [ 6.92933764e-01 2.73316077e-02 7.20483020e-01 1.42523581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.306875 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:205.72, Y:124.24, Z:142.54 [[ 2.91020039e-01 -9.24678447e-01 -2.45513965e-01 2.05721414e+02] [ 6.60472374e-01 3.79837116e-01 -6.47688203e-01 1.24238253e+02] [ 6.92158638e-01 2.63350546e-02 7.21264782e-01 1.42543020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.336875 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:205.73, Y:124.26, Z:142.56 [[ 2.91243455e-01 -9.24814734e-01 -2.44734464e-01 2.05727657e+02] [ 6.61888023e-01 3.79508780e-01 -6.46434321e-01 1.24257049e+02] [ 6.90710862e-01 2.62829551e-02 7.22653244e-01 1.42562641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.366875 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:205.73, Y:124.28, Z:142.58 [[ 2.91057177e-01 -9.25083359e-01 -2.43939539e-01 2.05733827e+02] [ 6.63564284e-01 3.78880816e-01 -6.45082761e-01 1.24276037e+02] [ 6.89179339e-01 2.58864015e-02 7.24128258e-01 1.42582681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.396875 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:205.74, Y:124.29, Z:142.60 [[ 2.90930249e-01 -9.25337421e-01 -2.43125992e-01 2.05740149e+02] [ 6.65271535e-01 3.78284863e-01 -6.43672547e-01 1.24294767e+02] [ 6.87585177e-01 2.55190125e-02 7.25655156e-01 1.42602474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.426875 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:205.75, Y:124.31, Z:142.62 [[ 2.90748215e-01 -9.25649683e-01 -2.42153132e-01 2.05745229e+02] [ 6.67449777e-01 3.77555531e-01 -6.41843140e-01 1.24314163e+02] [ 6.85548153e-01 2.49896938e-02 7.27598272e-01 1.42622152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.456875 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:205.75, Y:124.33, Z:142.64 [[ 2.92405675e-01 -9.23984800e-01 -2.46477202e-01 2.05753387e+02] [ 6.68715948e-01 3.81811310e-01 -6.37996163e-01 1.24331987e+02] [ 6.83606541e-01 2.17304631e-02 7.29527165e-01 1.42643120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.486875 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:205.75, Y:124.36, Z:142.66 [[ 2.91099337e-01 -9.26552233e-01 -2.38248056e-01 2.05754622e+02] [ 6.65239050e-01 3.75011764e-01 -6.45618451e-01 1.24356369e+02] [ 6.87545041e-01 2.94471921e-02 7.25544402e-01 1.42657334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.516875 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:205.76, Y:124.37, Z:142.68 [[ 2.90929713e-01 -9.25399743e-01 -2.42889312e-01 2.05760965e+02] [ 6.63541732e-01 3.78054046e-01 -6.45590821e-01 1.24374917e+02] [ 6.89254867e-01 2.66543575e-02 7.24028504e-01 1.42676417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.546875 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:205.77, Y:124.39, Z:142.69 [[ 2.91145173e-01 -9.25260739e-01 -2.43160551e-01 2.05766960e+02] [ 6.61882094e-01 3.78336190e-01 -6.47127360e-01 1.24394850e+02] [ 6.90757976e-01 2.74643926e-02 7.22564271e-01 1.42694968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.57687500000003 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:205.77, Y:124.41, Z:142.71 [[ 2.91724868e-01 -9.25548052e-01 -2.41365707e-01 2.05771239e+02] [ 6.59072109e-01 3.77383341e-01 -6.50542673e-01 1.24414757e+02] [ 6.93195901e-01 3.07020700e-02 7.20095012e-01 1.42712089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.606875 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:205.78, Y:124.43, Z:142.73 [[ 2.90210162e-01 -9.25646271e-01 -2.42810714e-01 2.05778433e+02] [ 6.59859517e-01 3.77326390e-01 -6.49777049e-01 1.24434083e+02] [ 6.93082592e-01 2.83509421e-02 7.20300454e-01 1.42732628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.63687500000003 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:205.79, Y:124.45, Z:142.75 [[ 2.87575708e-01 -9.26313140e-01 -2.43401270e-01 2.05785087e+02] [ 6.60757822e-01 3.75855379e-01 -6.49716734e-01 1.24451918e+02] [ 6.93324825e-01 2.60134573e-02 7.20155530e-01 1.42751996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.79, Y:124.47, Z:142.77 [[ 2.85706248e-01 -9.27005927e-01 -2.42964918e-01 2.05792195e+02] [ 6.62032913e-01 3.74234168e-01 -6.49354456e-01 1.24470638e+02] [ 6.92881203e-01 2.46738522e-02 7.20629474e-01 1.42771148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.80, Y:124.49, Z:142.79 [[ 2.83257046e-01 -9.27850051e-01 -2.42610239e-01 2.05799155e+02] [ 6.63338749e-01 3.72246818e-01 -6.49164086e-01 1.24489367e+02] [ 6.92637820e-01 2.29475291e-02 7.20920427e-01 1.42790809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.81, Y:124.51, Z:142.81 [[ 2.80728279e-01 -9.28713085e-01 -2.42247061e-01 2.05806293e+02] [ 6.64697017e-01 3.70195057e-01 -6.48947992e-01 1.24507958e+02] [ 6.92365157e-01 2.11571538e-02 7.21237038e-01 1.42809972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.81, Y:124.53, Z:142.83 [[ 2.76082302e-01 -9.30240858e-01 -2.41724034e-01 2.05813288e+02] [ 6.67357117e-01 3.66523911e-01 -6.48301397e-01 1.24526873e+02] [ 6.91674086e-01 1.76682876e-02 7.21993622e-01 1.42830090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.786875 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:205.82, Y:124.55, Z:142.85 [[ 2.74369384e-01 -9.30841704e-01 -2.41361064e-01 2.05819944e+02] [ 6.68378732e-01 3.65050283e-01 -6.48080366e-01 1.24545824e+02] [ 6.91369157e-01 1.64928094e-02 7.22313419e-01 1.42849802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.82, Y:124.56, Z:142.87 [[ 2.72404869e-01 -9.31478007e-01 -2.41131312e-01 2.05824835e+02] [ 6.69103191e-01 3.63478473e-01 -6.48216260e-01 1.24564255e+02] [ 6.91445231e-01 1.52355348e-02 7.22268213e-01 1.42868368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.846875 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:205.83, Y:124.58, Z:142.89 [[ 2.71831152e-01 -9.31656362e-01 -2.41089708e-01 2.05830397e+02] [ 6.68598698e-01 3.63021555e-01 -6.48992397e-01 1.24582980e+02] [ 6.92158657e-01 1.52240856e-02 7.21584798e-01 1.42886948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.84, Y:124.60, Z:142.91 [[ 2.71756616e-01 -9.31677541e-01 -2.41091893e-01 2.05836448e+02] [ 6.67824231e-01 3.62951745e-01 -6.49828306e-01 1.24602642e+02] [ 6.92935162e-01 1.55881338e-02 7.20831375e-01 1.42906430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.906875 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:205.84, Y:124.62, Z:142.93 [[ 2.73376714e-01 -9.29259951e-01 -2.48477598e-01 2.05843915e+02] [ 6.66670308e-01 3.69252184e-01 -6.47459284e-01 1.24620009e+02] [ 6.93408878e-01 1.13476543e-02 7.20454966e-01 1.42929091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.85, Y:124.64, Z:142.94 [[ 2.73368527e-01 -9.32284714e-01 -2.36885753e-01 2.05846605e+02] [ 6.64024607e-01 3.61074454e-01 -6.54749235e-01 1.24643079e+02] [ 6.95946097e-01 2.16898651e-02 7.17766382e-01 1.42943785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.85, Y:124.66, Z:142.96 [[ 2.73855887e-01 -9.30877398e-01 -2.41806167e-01 2.05853327e+02] [ 6.62932096e-01 3.64850997e-01 -6.53762025e-01 1.24660024e+02] [ 6.96795515e-01 1.87355097e-02 7.17025098e-01 1.42963196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.86, Y:124.68, Z:142.98 [[ 2.74517743e-01 -9.30702799e-01 -2.41727759e-01 2.05859404e+02] [ 6.62347515e-01 3.65258186e-01 -6.54127073e-01 1.24679006e+02] [ 6.97090940e-01 1.94617071e-02 7.16718538e-01 1.42982597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.86, Y:124.70, Z:143.00 [[ 2.76329775e-01 -9.30306282e-01 -2.41188882e-01 2.05864716e+02] [ 6.62500097e-01 3.66194520e-01 -6.53448694e-01 1.24697747e+02] [ 6.96229472e-01 2.07796729e-02 7.17518451e-01 1.43003048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.87, Y:124.72, Z:143.02 [[ 2.76929099e-01 -9.31282963e-01 -2.36690338e-01 2.05870281e+02] [ 6.65170866e-01 3.63558725e-01 -6.52206082e-01 1.24719994e+02] [ 6.93439250e-01 2.31753254e-02 7.20142285e-01 1.43020916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.086875 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:205.88, Y:124.73, Z:143.04 [[ 2.78328466e-01 -9.28905209e-01 -2.44271115e-01 2.05877915e+02] [ 6.64054028e-01 3.69847675e-01 -6.49803774e-01 1.24733980e+02] [ 6.93949214e-01 1.86496697e-02 7.19782382e-01 1.43043634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.88, Y:124.75, Z:143.06 [[ 2.80728505e-01 -9.29598186e-01 -2.38827801e-01 2.05882205e+02] [ 6.66138903e-01 3.67853456e-01 -6.48801045e-01 1.24754090e+02] [ 6.90977907e-01 2.30444577e-02 7.22508467e-01 1.43063376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.146875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.89, Y:124.77, Z:143.08 [[ 2.81643064e-01 -9.29478149e-01 -2.38217454e-01 2.05888101e+02] [ 6.66861474e-01 3.68120151e-01 -6.47906882e-01 1.24773659e+02] [ 6.89907935e-01 2.36204371e-02 7.23511656e-01 1.43083147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.89, Y:124.80, Z:143.10 [[ 2.85141059e-01 -9.31074715e-01 -2.27583944e-01 2.05890811e+02] [ 6.69037413e-01 3.63368413e-01 -6.48345846e-01 1.24799102e+02] [ 6.86355240e-01 3.26078478e-02 7.26535073e-01 1.43097147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.90, Y:124.81, Z:143.12 [[ 2.86862013e-01 -9.25819892e-01 -2.46105086e-01 2.05900074e+02] [ 6.65622636e-01 3.77387858e-01 -6.43836090e-01 1.24810272e+02] [ 6.88953331e-01 2.08790008e-02 7.24504917e-01 1.43122964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.236875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.90, Y:124.83, Z:143.14 [[ 2.88746943e-01 -9.27463536e-01 -2.37563870e-01 2.05903138e+02] [ 6.64235342e-01 3.72764255e-01 -6.47949243e-01 1.24832188e+02] [ 6.89504615e-01 2.92950449e-02 7.23688598e-01 1.43138837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.266875 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:205.91, Y:124.86, Z:143.15 [[ 2.92173116e-01 -9.27361881e-01 -2.33740906e-01 2.05905703e+02] [ 6.62268247e-01 3.72511541e-01 -6.50104546e-01 1.24856850e+02] [ 6.89953360e-01 3.51438911e-02 7.23000185e-01 1.43153231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.91, Y:124.88, Z:143.17 [[ 2.93111678e-01 -9.26463341e-01 -2.36116967e-01 2.05910879e+02] [ 6.59677502e-01 3.74736453e-01 -6.51458506e-01 1.24876271e+02] [ 6.92034058e-01 3.51890443e-02 7.21006653e-01 1.43171981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.92, Y:124.90, Z:143.19 [[ 2.94128907e-01 -9.25516550e-01 -2.38552515e-01 2.05916874e+02] [ 6.57163228e-01 3.77068087e-01 -6.52653162e-01 1.24895096e+02] [ 6.93991843e-01 3.51962206e-02 7.19122067e-01 1.43191621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.92, Y:124.91, Z:143.21 [[ 2.95643798e-01 -9.24812565e-01 -2.39408572e-01 2.05921754e+02] [ 6.53306424e-01 3.78577210e-01 -6.55644730e-01 1.24914855e+02] [ 6.96983114e-01 3.74301400e-02 7.16109994e-01 1.43211553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.93, Y:124.93, Z:143.23 [[ 2.95733976e-01 -9.23681948e-01 -2.43624863e-01 2.05928861e+02] [ 6.51031390e-01 3.81516249e-01 -6.56203841e-01 1.24930303e+02] [ 6.99070486e-01 3.54543383e-02 7.14173260e-01 1.43233582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.93, Y:124.95, Z:143.25 [[ 2.95835577e-01 -9.25318818e-01 -2.37205389e-01 2.05933916e+02] [ 6.50368599e-01 3.76986046e-01 -6.59471157e-01 1.24950882e+02] [ 6.99644194e-01 4.08240935e-02 7.13324187e-01 1.43251971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.94, Y:124.97, Z:143.27 [[ 2.94905638e-01 -9.24283241e-01 -2.42345115e-01 2.05940095e+02] [ 6.52017184e-01 3.80056094e-01 -6.56072372e-01 1.24965569e+02] [ 6.98501437e-01 3.54662622e-02 7.14729241e-01 1.43272610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.95, Y:124.98, Z:143.29 [[ 2.94092743e-01 -9.25493584e-01 -2.38686165e-01 2.05945235e+02] [ 6.53285462e-01 3.76934596e-01 -6.56611313e-01 1.24984001e+02] [ 6.97658630e-01 3.71744202e-02 7.15465232e-01 1.43291358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.95, Y:125.00, Z:143.31 [[ 2.92797323e-01 -9.26178616e-01 -2.37619229e-01 2.05951002e+02] [ 6.56279761e-01 3.75392053e-01 -6.54505678e-01 1.25002668e+02] [ 6.95389533e-01 3.56928195e-02 7.17746069e-01 1.43312032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.96, Y:125.02, Z:143.33 [[ 2.92174778e-01 -9.26509071e-01 -2.37096689e-01 2.05956747e+02] [ 6.57377301e-01 3.74624729e-01 -6.53843556e-01 1.25020584e+02] [ 6.94614269e-01 3.51746139e-02 7.18521930e-01 1.43331270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.96, Y:125.04, Z:143.35 [[ 2.91630952e-01 -9.26755696e-01 -2.36802169e-01 2.05962873e+02] [ 6.57945655e-01 3.74048547e-01 -6.53601714e-01 1.25039867e+02] [ 6.94304618e-01 3.48075317e-02 7.18839017e-01 1.43351084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.596875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:205.97, Y:125.06, Z:143.37 [[ 2.92042116e-01 -9.27558576e-01 -2.33123337e-01 2.05967706e+02] [ 6.58178249e-01 3.71765657e-01 -6.54669144e-01 1.25060315e+02] [ 6.93911230e-01 3.77542521e-02 7.19070109e-01 1.43368861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.626875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.97, Y:125.08, Z:143.39 [[ 2.90805260e-01 -9.26609214e-01 -2.38385538e-01 2.05973643e+02] [ 6.59128716e-01 3.74618452e-01 -6.52081552e-01 1.25077260e+02] [ 6.93528396e-01 3.25019918e-02 7.19695758e-01 1.43389720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.656875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.98, Y:125.10, Z:143.41 [[ 2.90482537e-01 -9.27430971e-01 -2.35566742e-01 2.05977633e+02] [ 6.60100499e-01 3.72446012e-01 -6.52342931e-01 1.25097135e+02] [ 6.92738931e-01 3.39965060e-02 7.20386710e-01 1.43407310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.686875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.98, Y:125.12, Z:143.43 [[ 2.90101330e-01 -9.27670175e-01 -2.35094162e-01 2.05983964e+02] [ 6.60815334e-01 3.71869808e-01 -6.51947804e-01 1.25116355e+02] [ 6.92216955e-01 3.37770981e-02 7.20898603e-01 1.43425882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.716875 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:205.99, Y:125.14, Z:143.45 [[ 2.89332972e-01 -9.27977203e-01 -2.34829175e-01 2.05990452e+02] [ 6.61108155e-01 3.71135512e-01 -6.52069351e-01 1.25136195e+02] [ 6.92258939e-01 3.34176810e-02 7.20875038e-01 1.43445344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.746875 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:206.00, Y:125.16, Z:143.46 [[ 2.87400253e-01 -9.28657206e-01 -2.34514154e-01 2.05997044e+02] [ 6.62090042e-01 3.69546808e-01 -6.51975408e-01 1.25156309e+02] [ 6.92125618e-01 3.21084111e-02 7.21062534e-01 1.43463313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.00, Y:125.18, Z:143.48 [[ 2.86360791e-01 -9.29599737e-01 -2.32038416e-01 2.06003317e+02] [ 6.62399266e-01 3.67062373e-01 -6.53063876e-01 1.25177129e+02] [ 6.92260579e-01 3.33098112e-02 7.20878455e-01 1.43480216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.01, Y:125.20, Z:143.50 [[ 2.86069684e-01 -9.29542348e-01 -2.32626651e-01 2.06010085e+02] [ 6.62467058e-01 3.67265878e-01 -6.52880672e-01 1.25195920e+02] [ 6.92316064e-01 3.26618747e-02 7.20854819e-01 1.43499467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.02, Y:125.21, Z:143.52 [[ 2.83686448e-01 -9.29744910e-01 -2.34726226e-01 2.06016957e+02] [ 6.63052802e-01 3.67024879e-01 -6.52421428e-01 1.25214043e+02] [ 6.92735867e-01 2.94472361e-02 7.20589952e-01 1.43517921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.02, Y:125.23, Z:143.54 [[ 2.81886563e-01 -9.30517247e-01 -2.33832461e-01 2.06023845e+02] [ 6.63066682e-01 3.65085007e-01 -6.53494845e-01 1.25234165e+02] [ 6.93456950e-01 2.91649017e-02 7.19907541e-01 1.43536793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.896875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.03, Y:125.25, Z:143.55 [[ 2.79113499e-01 -9.31354491e-01 -2.33825720e-01 2.06030818e+02] [ 6.63371070e-01 3.63072820e-01 -6.54306466e-01 1.25253742e+02] [ 6.94287029e-01 2.75125485e-02 7.19172150e-01 1.43554906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.04, Y:125.27, Z:143.57 [[ 2.77744727e-01 -9.31817584e-01 -2.33610481e-01 2.06037431e+02] [ 6.63722244e-01 3.61939579e-01 -6.54578126e-01 1.25272881e+02] [ 6.94500287e-01 2.67531503e-02 7.18994868e-01 1.43573558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.04, Y:125.29, Z:143.59 [[ 2.76232518e-01 -9.32273562e-01 -2.33584248e-01 2.06043830e+02] [ 6.63565796e-01 3.60816196e-01 -6.55356474e-01 1.25292305e+02] [ 6.95252494e-01 2.60322518e-02 7.18294015e-01 1.43592388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.986875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.05, Y:125.31, Z:143.61 [[ 2.75729376e-01 -9.33320394e-01 -2.29970330e-01 2.06049519e+02] [ 6.63822007e-01 3.57919039e-01 -6.56684326e-01 1.25313653e+02] [ 6.95207634e-01 2.84077938e-02 7.18247411e-01 1.43610162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.06, Y:125.33, Z:143.63 [[ 2.75126348e-01 -9.32432156e-01 -2.34255774e-01 2.06056622e+02] [ 6.63200093e-01 3.60472193e-01 -6.55915722e-01 1.25331378e+02] [ 6.96039603e-01 2.51012459e-02 7.17564491e-01 1.43630938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.06, Y:125.35, Z:143.65 [[ 2.74523082e-01 -9.32414125e-01 -2.35033992e-01 2.06062751e+02] [ 6.63800039e-01 3.60602974e-01 -6.55236601e-01 1.25349289e+02] [ 6.95705818e-01 2.38619981e-02 7.17930373e-01 1.43650210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.07, Y:125.37, Z:143.67 [[ 2.74473693e-01 -9.33301052e-01 -2.31545541e-01 2.06069518e+02] [ 6.64682717e-01 3.58147691e-01 -6.55688277e-01 1.25369766e+02] [ 6.94882060e-01 2.60648631e-02 7.18651199e-01 1.43668936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.106875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:206.08, Y:125.39, Z:143.69 [[ 2.73636631e-01 -9.32975426e-01 -2.33837227e-01 2.06076218e+02] [ 6.64877067e-01 3.59156171e-01 -6.54939181e-01 1.25387523e+02] [ 6.95026244e-01 2.37423414e-02 7.18592250e-01 1.43688906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.08, Y:125.41, Z:143.71 [[ 2.72982221e-01 -9.33494020e-01 -2.32528754e-01 2.06082267e+02] [ 6.65082497e-01 3.57769617e-01 -6.55489262e-01 1.25406231e+02] [ 6.95087030e-01 2.42861101e-02 7.18515279e-01 1.43707596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.09, Y:125.42, Z:143.73 [[ 2.72949306e-01 -9.33446620e-01 -2.32757567e-01 2.06088931e+02] [ 6.64918280e-01 3.57900691e-01 -6.55584301e-01 1.25424459e+02] [ 6.95257044e-01 2.41765190e-02 7.18354466e-01 1.43725583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.10, Y:125.44, Z:143.75 [[ 2.72592984e-01 -9.33818372e-01 -2.31681493e-01 2.06096042e+02] [ 6.64783060e-01 3.56881366e-01 -6.56276751e-01 1.25443803e+02] [ 6.95526095e-01 2.48785060e-02 7.18069991e-01 1.43745954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.10, Y:125.46, Z:143.77 [[ 2.72537590e-01 -9.33956144e-01 -2.31190794e-01 2.06103708e+02] [ 6.65306308e-01 3.56515167e-01 -6.55945465e-01 1.25463925e+02] [ 6.95047322e-01 2.49571026e-02 7.18530698e-01 1.43765411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.25687500000004 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:206.11, Y:125.48, Z:143.78 [[ 2.69705789e-01 -9.34922346e-01 -2.30605714e-01 2.06110583e+02] [ 6.66552112e-01 3.54092218e-01 -6.55993127e-01 1.25483093e+02] [ 6.94958322e-01 2.32144182e-02 7.18675185e-01 1.43783493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.286875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:206.12, Y:125.50, Z:143.80 [[ 2.67896685e-01 -9.35393310e-01 -2.30804511e-01 2.06118012e+02] [ 6.67786461e-01 3.52958622e-01 -6.55348345e-01 1.25501573e+02] [ 6.94472900e-01 2.14375209e-02 7.19199433e-01 1.43802562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.13, Y:125.52, Z:143.82 [[ 2.64482378e-01 -9.36515838e-01 -2.30189393e-01 2.06126662e+02] [ 6.70199260e-01 3.50120559e-01 -6.54407019e-01 1.25520138e+02] [ 6.93456577e-01 1.88063641e-02 7.20252940e-01 1.43822067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.346875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:206.13, Y:125.54, Z:143.84 [[ 2.62552381e-01 -9.37163805e-01 -2.29761291e-01 2.06134070e+02] [ 6.71467207e-01 3.48453952e-01 -6.53996662e-01 1.25539385e+02] [ 6.92963230e-01 1.74312087e-02 7.20762177e-01 1.43841116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.14, Y:125.56, Z:143.86 [[ 2.61863171e-01 -9.37542382e-01 -2.29002100e-01 2.06142390e+02] [ 6.72828957e-01 3.47457856e-01 -6.53126506e-01 1.25559008e+02] [ 6.91902359e-01 1.69505335e-02 7.21792079e-01 1.43860529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.15, Y:125.58, Z:143.88 [[ 2.58390566e-01 -9.37767471e-01 -2.32005355e-01 2.06149421e+02] [ 6.72769488e-01 3.47029683e-01 -6.53415346e-01 1.25576539e+02] [ 6.93264402e-01 1.27502371e-02 7.20570538e-01 1.43879042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.16, Y:125.60, Z:143.90 [[ 2.58000523e-01 -9.38568613e-01 -2.29182655e-01 2.06155738e+02] [ 6.72936746e-01 3.44782924e-01 -6.54431717e-01 1.25596772e+02] [ 6.93247334e-01 1.46182956e-02 7.20551483e-01 1.43896971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.16, Y:125.62, Z:143.92 [[ 2.56826030e-01 -9.38906027e-01 -2.29119755e-01 2.06162674e+02] [ 6.72793692e-01 3.43885329e-01 -6.55050784e-01 1.25615138e+02] [ 6.93822051e-01 1.40837665e-02 7.20008756e-01 1.43915333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.17, Y:125.63, Z:143.94 [[ 2.57204380e-01 -9.38467667e-01 -2.30487189e-01 2.06172938e+02] [ 6.73929592e-01 3.45134261e-01 -6.53223734e-01 1.25634076e+02] [ 6.92578379e-01 1.26798683e-02 7.21231176e-01 1.43935914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.18, Y:125.65, Z:143.95 [[ 2.55882964e-01 -9.38959456e-01 -2.29954451e-01 2.06179535e+02] [ 6.73237064e-01 3.43793391e-01 -6.54643384e-01 1.25651826e+02] [ 6.93740416e-01 1.26982302e-02 7.20113179e-01 1.43954094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.19, Y:125.67, Z:143.97 [[ 2.54336943e-01 -9.39881022e-01 -2.27895557e-01 2.06187533e+02] [ 6.74932126e-01 3.41270370e-01 -6.54217976e-01 1.25671460e+02] [ 6.92661061e-01 1.25777673e-02 7.21153559e-01 1.43971665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.20, Y:125.69, Z:143.99 [[ 2.53598818e-01 -9.40218860e-01 -2.27323856e-01 2.06195301e+02] [ 6.76043142e-01 3.40357321e-01 -6.53546146e-01 1.25690416e+02] [ 6.91847751e-01 1.20577963e-02 7.21942726e-01 1.43990787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.616875 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:206.20, Y:125.71, Z:144.01 [[ 2.53112713e-01 -9.40447953e-01 -2.26917609e-01 2.06202905e+02] [ 6.76675916e-01 3.39733278e-01 -6.53215895e-01 1.25708795e+02] [ 6.91407014e-01 1.17875668e-02 7.22369292e-01 1.44009362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.646875 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:206.21, Y:125.73, Z:144.03 [[ 2.52714104e-01 -9.40650170e-01 -2.26523375e-01 2.06211769e+02] [ 6.77196459e-01 3.39179021e-01 -6.52964430e-01 1.25727094e+02] [ 6.91043079e-01 1.16124935e-02 7.22720287e-01 1.44028051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.22, Y:125.75, Z:144.05 [[ 2.52772608e-01 -9.40694565e-01 -2.26273606e-01 2.06219318e+02] [ 6.77116426e-01 3.39046737e-01 -6.53116113e-01 1.25746421e+02] [ 6.91100105e-01 1.18762873e-02 7.22661469e-01 1.44046610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.23, Y:125.77, Z:144.07 [[ 2.53196318e-01 -9.40578543e-01 -2.26282189e-01 2.06226692e+02] [ 6.76141000e-01 3.39342939e-01 -6.53972261e-01 1.25765546e+02] [ 6.91899540e-01 1.25847030e-02 7.21884099e-01 1.44065891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.736875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:206.23, Y:125.78, Z:144.08 [[ 2.54144051e-01 -9.40326361e-01 -2.26267841e-01 2.06233843e+02] [ 6.75049438e-01 3.39999578e-01 -6.54758386e-01 1.25784518e+02] [ 6.92617541e-01 1.36609699e-02 7.21175651e-01 1.44084099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.24, Y:125.80, Z:144.10 [[ 2.56875040e-01 -9.39478179e-01 -2.26706783e-01 2.06241048e+02] [ 6.72093887e-01 3.42220496e-01 -6.56639125e-01 1.25803942e+02] [ 6.94481837e-01 1.63059583e-02 7.19325444e-01 1.44102474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.25, Y:125.82, Z:144.12 [[ 2.58152615e-01 -9.39141854e-01 -2.26649080e-01 2.06248094e+02] [ 6.70941840e-01 3.43076725e-01 -6.57370069e-01 1.25823274e+02] [ 6.95121770e-01 1.76334516e-02 7.18675717e-01 1.44121365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.82687500000003 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:206.26, Y:125.84, Z:144.14 [[ 2.62534464e-01 -9.37064289e-01 -2.30187256e-01 2.06258946e+02] [ 6.71232433e-01 3.48732377e-01 -6.54089253e-01 1.25841699e+02] [ 6.93197430e-01 1.72118194e-02 7.20542210e-01 1.44142724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.26, Y:125.86, Z:144.16 [[ 2.63048848e-01 -9.37870286e-01 -2.26284401e-01 2.06264330e+02] [ 6.68909606e-01 3.46309641e-01 -6.57745826e-01 1.25860420e+02] [ 6.95244735e-01 2.16554724e-02 7.18446796e-01 1.44159407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.27, Y:125.88, Z:144.18 [[ 2.64993950e-01 -9.38297668e-01 -2.22206419e-01 2.06272378e+02] [ 6.69270433e-01 3.44873542e-01 -6.58133214e-01 1.25878642e+02] [ 6.94157975e-01 2.56851334e-02 7.19364289e-01 1.44178140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.916875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:206.28, Y:125.89, Z:144.20 [[ 2.62797656e-01 -9.34878992e-01 -2.38618237e-01 2.06280171e+02] [ 6.71646341e-01 3.54806681e-01 -6.50387125e-01 1.25891708e+02] [ 6.92696604e-01 1.06531462e-02 7.21150418e-01 1.44198987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.94687500000003 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:206.29, Y:125.92, Z:144.21 [[ 2.66960332e-01 -9.41817435e-01 -2.04235406e-01 2.06285404e+02] [ 6.72198876e-01 3.33839508e-01 -6.60832697e-01 1.25921982e+02] [ 6.90565603e-01 3.91293057e-02 7.22210527e-01 1.44212849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.976875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:206.30, Y:125.93, Z:144.24 [[ 2.66955222e-01 -9.37085813e-01 -2.24955746e-01 2.06298335e+02] [ 6.71925591e-01 3.48318808e-01 -6.53597742e-01 1.25934273e+02] [ 6.90833489e-01 2.33278077e-02 7.22637463e-01 1.44236913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.00687500000004 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:206.31, Y:125.95, Z:144.26 [[ 2.67630965e-01 -9.35333117e-01 -2.31356060e-01 2.06310379e+02] [ 6.71865584e-01 3.53269038e-01 -6.50997407e-01 1.25951139e+02] [ 6.90630367e-01 1.87868897e-02 7.22963865e-01 1.44259631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.036875 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:206.31, Y:125.99, Z:144.26 [[ 2.63609965e-01 -9.44152433e-01 -1.97701721e-01 2.06307024e+02] [ 6.77953494e-01 3.27132567e-01 -6.58303382e-01 1.25985434e+02] [ 6.86213411e-01 3.95027593e-02 7.26326845e-01 1.44257292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.066875 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:206.33, Y:125.99, Z:144.30 [[ 2.67289750e-01 -9.35582708e-01 -2.30740517e-01 2.06328306e+02] [ 6.66632802e-01 3.52437930e-01 -6.56801502e-01 1.25989080e+02] [ 6.95813838e-01 2.17371115e-02 7.17893168e-01 1.44295624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.096875 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:206.32, Y:126.03, Z:144.29 [[ 2.63850587e-01 -9.45933966e-01 -1.88657891e-01 2.06320735e+02] [ 6.78872018e-01 3.21058259e-01 -6.60344136e-01 1.26028142e+02] [ 6.85212122e-01 4.61576246e-02 7.26879510e-01 1.44288707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.126875 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:206.35, Y:126.01, Z:144.34 [[ 2.68275274e-01 -9.24701934e-01 -2.70101298e-01 2.06353713e+02] [ 6.67547247e-01 3.80594217e-01 -6.39944307e-01 1.26012380e+02] [ 6.94556730e-01 -8.62414321e-03 7.19386248e-01 1.44344147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.156875 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:206.33, Y:126.07, Z:144.32 [[ 2.63666070e-01 -9.52454892e-01 -1.52675742e-01 2.06329756e+02] [ 6.79143194e-01 2.95694993e-01 -6.71810236e-01 1.26074677e+02] [ 6.85014398e-01 7.34448732e-02 7.24817995e-01 1.44319204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.186875 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:206.35, Y:126.08, Z:144.35 [[ 2.64815092e-01 -9.42775889e-01 -2.02599580e-01 2.06351813e+02] [ 6.76695165e-01 3.31366413e-01 -6.57480002e-01 1.26077373e+02] [ 6.86990990e-01 3.70124710e-02 7.25722713e-01 1.44353057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.216875 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:206.36, Y:126.09, Z:144.37 [[ 2.65274021e-01 -9.42612961e-01 -2.02757242e-01 2.06362517e+02] [ 6.78148178e-01 3.31892429e-01 -6.55715231e-01 1.26092468e+02] [ 6.85379269e-01 3.64447615e-02 7.27273702e-01 1.44373357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.246875 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:206.38, Y:126.10, Z:144.41 [[ 2.67742921e-01 -9.36941549e-01 -2.24620262e-01 2.06379167e+02] [ 6.72583705e-01 3.48682467e-01 -6.52726357e-01 1.26099555e+02] [ 6.89887591e-01 2.36869331e-02 7.23528881e-01 1.44406507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.276875 meters Centerline goodness : 0.999980 Centerline is valid? [True, True] Translation: X:206.38, Y:126.13, Z:144.41 [[ 2.65286166e-01 -9.44068874e-01 -1.95849973e-01 2.06377336e+02] [ 6.78706036e-01 3.27125260e-01 -6.57531126e-01 1.26129758e+02] [ 6.84822143e-01 4.15093521e-02 7.27527048e-01 1.44409346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.306875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:206.40, Y:126.12, Z:144.46 [[ 2.69973778e-01 -9.31937254e-01 -2.42089063e-01 2.06403918e+02] [ 6.65466412e-01 3.62305744e-01 -6.52601718e-01 1.26123536e+02] [ 6.95894111e-01 1.50832112e-02 7.17985990e-01 1.44455971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.336875 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:206.40, Y:126.16, Z:144.45 [[ 2.66671629e-01 -9.42192630e-01 -2.02877525e-01 2.06398427e+02] [ 6.74803014e-01 3.32823394e-01 -6.58687696e-01 1.26160066e+02] [ 6.88133079e-01 3.87509551e-02 7.24548983e-01 1.44453250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.366875 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:206.42, Y:126.16, Z:144.49 [[ 2.71198282e-01 -9.34351807e-01 -2.31167024e-01 2.06421498e+02] [ 6.63819980e-01 3.55473999e-01 -6.58013123e-01 1.26162713e+02] [ 6.96989617e-01 2.49987390e-02 7.16645335e-01 1.44491521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.396875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:206.42, Y:126.20, Z:144.49 [[ 2.67845509e-01 -9.41440546e-01 -2.04813286e-01 2.06420223e+02] [ 6.71379513e-01 3.34847903e-01 -6.61155376e-01 1.26195925e+02] [ 6.91019778e-01 3.95800539e-02 7.21751402e-01 1.44493272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.426875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:206.44, Y:126.20, Z:144.53 [[ 2.71305521e-01 -9.36231318e-01 -2.23303007e-01 2.06437611e+02] [ 6.65708902e-01 3.50089874e-01 -6.58990696e-01 1.26204327e+02] [ 6.95143850e-01 3.01330147e-02 7.18238838e-01 1.44525678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.45, Y:126.22, Z:144.55 [[ 2.72859659e-01 -9.33464805e-01 -2.32789744e-01 2.06450803e+02] [ 6.64223188e-01 3.57833976e-01 -6.56324922e-01 1.26215936e+02] [ 6.95956294e-01 2.44602484e-02 7.17667425e-01 1.44550097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.46, Y:126.24, Z:144.56 [[ 2.72977655e-01 -9.36225259e-01 -2.21281415e-01 2.06456940e+02] [ 6.66915900e-01 3.49940196e-01 -6.57848798e-01 1.26240650e+02] [ 6.93329923e-01 3.20019280e-02 7.19909366e-01 1.44564159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.516875 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:206.46, Y:126.27, Z:144.57 [[ 2.69635477e-01 -9.41529414e-01 -2.02037302e-01 2.06456594e+02] [ 6.72391235e-01 3.34274617e-01 -6.60416919e-01 1.26269479e+02] [ 6.89337897e-01 4.22237195e-02 7.23208422e-01 1.44569865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.546875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:206.48, Y:126.27, Z:144.61 [[ 2.73532602e-01 -9.32330751e-01 -2.36514876e-01 2.06479802e+02] [ 6.63518497e-01 3.60916695e-01 -6.55349024e-01 1.26269057e+02] [ 6.96364215e-01 2.23273283e-02 7.17341182e-01 1.44608939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.57687500000003 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:206.49, Y:126.29, Z:144.62 [[ 2.73908993e-01 -9.34924828e-01 -2.25586854e-01 2.06485950e+02] [ 6.63241128e-01 3.53482955e-01 -6.59667346e-01 1.26290569e+02] [ 6.96480488e-01 3.10703390e-02 7.16902758e-01 1.44624149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.606875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:206.49, Y:126.31, Z:144.64 [[ 2.73622956e-01 -9.35033888e-01 -2.25481943e-01 2.06494360e+02] [ 6.62741432e-01 3.53178891e-01 -6.60332087e-01 1.26309255e+02] [ 6.97068341e-01 3.12457917e-02 7.16323550e-01 1.44643570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.63687500000003 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:206.50, Y:126.33, Z:144.66 [[ 2.73567036e-01 -9.35050618e-01 -2.25480420e-01 2.06502961e+02] [ 6.61955327e-01 3.53101826e-01 -6.61161285e-01 1.26327802e+02] [ 6.97836816e-01 3.16139681e-02 7.15558758e-01 1.44663298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.666875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:206.51, Y:126.35, Z:144.68 [[ 2.74217515e-01 -9.36292809e-01 -2.19455078e-01 2.06511283e+02] [ 6.62923654e-01 3.49360347e-01 -6.62177905e-01 1.26349696e+02] [ 6.96661312e-01 3.60988173e-02 7.16491376e-01 1.44676859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.69687500000003 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:206.52, Y:126.36, Z:144.70 [[ 2.74818263e-01 -9.34055297e-01 -2.28069341e-01 2.06521590e+02] [ 6.61283302e-01 3.55809311e-01 -6.60381806e-01 1.26363082e+02] [ 6.97982319e-01 3.06665341e-02 7.15458068e-01 1.44701799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.726875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:206.53, Y:126.38, Z:144.72 [[ 2.74631557e-01 -9.34863760e-01 -2.24960571e-01 2.06527520e+02] [ 6.61469839e-01 3.53483700e-01 -6.61443064e-01 1.26383769e+02] [ 6.97879044e-01 3.28485061e-02 7.15461959e-01 1.44720682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.52, Y:126.43, Z:144.71 [[ 2.72511253e-01 -9.45188218e-01 -1.79880098e-01 2.06522496e+02] [ 6.73179024e-01 3.20878904e-01 -6.66233241e-01 1.26425872e+02] [ 6.87435538e-01 6.04645469e-02 7.23723994e-01 1.44712076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.55, Y:126.41, Z:144.77 [[ 2.76583993e-01 -9.28945978e-01 -2.46090766e-01 2.06550672e+02] [ 6.63029600e-01 3.69831580e-01 -6.50858166e-01 1.26411213e+02] [ 6.95624212e-01 1.68514888e-02 7.18208175e-01 1.44765532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.55, Y:126.44, Z:144.78 [[ 2.77635886e-01 -9.34431105e-01 -2.23062380e-01 2.06554338e+02] [ 6.64713068e-01 3.54487130e-01 -6.57643834e-01 1.26438152e+02] [ 6.93595597e-01 3.43130492e-02 7.19546915e-01 1.44778246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.846875 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:206.56, Y:126.46, Z:144.80 [[ 2.78909069e-01 -9.34248462e-01 -2.22237583e-01 2.06564424e+02] [ 6.66057688e-01 3.54905379e-01 -6.56055888e-01 1.26457163e+02] [ 6.91792518e-01 3.49568861e-02 7.21249699e-01 1.44797221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.876875 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:206.57, Y:126.48, Z:144.82 [[ 2.79001462e-01 -9.34307855e-01 -2.21871622e-01 2.06572582e+02] [ 6.66370395e-01 3.54731948e-01 -6.55832099e-01 1.26476154e+02] [ 6.91454034e-01 3.51294342e-02 7.21565826e-01 1.44815397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.58, Y:126.50, Z:144.83 [[ 2.78655433e-01 -9.34455191e-01 -2.21685919e-01 2.06580678e+02] [ 6.66228531e-01 3.54340939e-01 -6.56187507e-01 1.26495639e+02] [ 6.91730218e-01 3.51567298e-02 7.21299736e-01 1.44834428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.936875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:206.59, Y:126.51, Z:144.85 [[ 2.77428470e-01 -9.34781839e-01 -2.21847600e-01 2.06591129e+02] [ 6.65340818e-01 3.53512200e-01 -6.57533817e-01 1.26514584e+02] [ 6.93076504e-01 3.48143373e-02 7.20022862e-01 1.44851441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.966875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:206.60, Y:126.53, Z:144.87 [[ 2.76420777e-01 -9.35071788e-01 -2.21883540e-01 2.06599549e+02] [ 6.64722982e-01 3.52770778e-01 -6.58556099e-01 1.26532663e+02] [ 6.94071258e-01 3.45475005e-02 7.19076880e-01 1.44868563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.996875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:206.61, Y:126.55, Z:144.89 [[ 2.74780974e-01 -9.35561476e-01 -2.21856128e-01 2.06607855e+02] [ 6.64484577e-01 3.51544174e-01 -6.59452000e-01 1.26551565e+02] [ 6.94950115e-01 3.37848877e-02 7.18263823e-01 1.44886827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.026875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.62, Y:126.57, Z:144.91 [[ 2.71803754e-01 -9.36471349e-01 -2.21684758e-01 2.06618190e+02] [ 6.65246944e-01 3.49292002e-01 -6.59879990e-01 1.26570862e+02] [ 6.95391417e-01 3.18827508e-02 7.17923580e-01 1.44905511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.63, Y:126.59, Z:144.92 [[ 2.70343679e-01 -9.36946213e-01 -2.21463517e-01 2.06626310e+02] [ 6.65665975e-01 3.48093224e-01 -6.60090840e-01 1.26589269e+02] [ 6.95559562e-01 3.10306583e-02 7.17798017e-01 1.44923974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.086875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.63, Y:126.61, Z:144.94 [[ 2.68446994e-01 -9.37579875e-01 -2.21088647e-01 2.06634100e+02] [ 6.66699676e-01 3.46495596e-01 -6.59888130e-01 1.26608479e+02] [ 6.95304073e-01 2.97452550e-02 7.18099900e-01 1.44942786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.64, Y:126.63, Z:144.96 [[ 2.66642622e-01 -9.38184309e-01 -2.20707759e-01 2.06642044e+02] [ 6.67772660e-01 3.44961066e-01 -6.59607108e-01 1.26627265e+02] [ 6.94968623e-01 2.84967613e-02 7.18475155e-01 1.44961962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.146875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:206.65, Y:126.65, Z:144.98 [[ 2.63268850e-01 -9.39272974e-01 -2.20126765e-01 2.06652250e+02] [ 6.70067947e-01 3.42190558e-01 -6.58721921e-01 1.26645039e+02] [ 6.94044998e-01 2.59210732e-02 7.19464828e-01 1.44981103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.176875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.66, Y:126.66, Z:145.00 [[ 2.61390398e-01 -9.39868856e-01 -2.19821731e-01 2.06660482e+02] [ 6.70909111e-01 3.40642008e-01 -6.58668344e-01 1.26663308e+02] [ 6.93942379e-01 2.46891788e-02 7.19607129e-01 1.45000810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.206875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.67, Y:126.68, Z:145.02 [[ 2.58677708e-01 -9.40725171e-01 -2.19367264e-01 2.06670255e+02] [ 6.72529654e-01 3.38407825e-01 -6.58167158e-01 1.26680760e+02] [ 6.93390011e-01 2.27221817e-02 7.20204134e-01 1.45020339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.236875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:206.67, Y:126.71, Z:145.02 [[ 2.54797503e-01 -9.47001144e-01 -1.95619699e-01 2.06668443e+02] [ 6.78929681e-01 3.19245772e-01 -6.61163085e-01 1.26712482e+02] [ 6.88572959e-01 3.56506830e-02 7.24290210e-01 1.45023638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.266875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:206.68, Y:126.73, Z:145.05 [[ 2.53458809e-01 -9.45801561e-01 -2.03022264e-01 2.06677621e+02] [ 6.79432583e-01 3.23448792e-01 -6.58598697e-01 1.26727805e+02] [ 6.88570982e-01 2.89877001e-02 7.24589343e-01 1.45045067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.296875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.70, Y:126.73, Z:145.08 [[ 2.55150791e-01 -9.40313256e-01 -2.25186712e-01 2.06696838e+02] [ 6.74600447e-01 3.39967212e-01 -6.55237767e-01 1.26733056e+02] [ 6.92684857e-01 1.52733777e-02 7.21078645e-01 1.45081698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.32687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.70, Y:126.75, Z:145.10 [[ 2.54794433e-01 -9.41938680e-01 -2.18703727e-01 2.06703264e+02] [ 6.75416244e-01 3.35209794e-01 -6.56846475e-01 1.26754513e+02] [ 6.92020733e-01 1.96447752e-02 7.21610274e-01 1.45099633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.356875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.71, Y:126.77, Z:145.12 [[ 2.54211204e-01 -9.42140742e-01 -2.18511982e-01 2.06710141e+02] [ 6.75411252e-01 3.34651911e-01 -6.57136012e-01 1.26772756e+02] [ 6.92240062e-01 1.94658857e-02 7.21404724e-01 1.45118378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.38687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.72, Y:126.79, Z:145.14 [[ 2.54081562e-01 -9.42070708e-01 -2.18964247e-01 2.06717535e+02] [ 6.75477919e-01 3.34874956e-01 -6.56953837e-01 1.26792042e+02] [ 6.92222609e-01 1.90143433e-02 7.21433513e-01 1.45137873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.416875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.72, Y:126.81, Z:145.16 [[ 2.54307023e-01 -9.42452715e-01 -2.17050268e-01 2.06724226e+02] [ 6.74790902e-01 3.33683213e-01 -6.58264956e-01 1.26812896e+02] [ 6.92809625e-01 2.09378557e-02 7.20816502e-01 1.45156678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.44687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.73, Y:126.83, Z:145.18 [[ 2.54209075e-01 -9.42199950e-01 -2.18259023e-01 2.06730773e+02] [ 6.74359673e-01 3.34443694e-01 -6.58320930e-01 1.26831268e+02] [ 6.93265302e-01 2.01660710e-02 7.20400272e-01 1.45175774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.476875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.74, Y:126.85, Z:145.20 [[ 2.54704141e-01 -9.40707677e-01 -2.24042112e-01 2.06738625e+02] [ 6.75081954e-01 3.38856412e-01 -6.55317242e-01 1.26847780e+02] [ 6.92380066e-01 1.56652282e-02 7.21362908e-01 1.45197659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.50687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.74, Y:126.87, Z:145.21 [[ 2.53898795e-01 -9.43958948e-01 -2.10895487e-01 2.06742570e+02] [ 6.74064439e-01 3.29056582e-01 -6.61331157e-01 1.26870651e+02] [ 6.93666011e-01 2.57540357e-02 7.19836228e-01 1.45212688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.536875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.74, Y:126.90, Z:145.21 [[ 2.49416287e-01 -9.50817987e-01 -1.83675453e-01 2.06738260e+02] [ 6.82260072e-01 3.07135008e-01 -6.63467619e-01 1.26904976e+02] [ 6.87250107e-01 4.01652023e-02 7.25309621e-01 1.45210991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.566875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.74, Y:126.92, Z:145.23 [[ 2.47496289e-01 -9.51712259e-01 -1.81629742e-01 2.06743635e+02] [ 6.82399275e-01 3.04301723e-01 -6.64628987e-01 1.26924914e+02] [ 6.87805798e-01 4.05492042e-02 7.24761303e-01 1.45225960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.596875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.75, Y:126.94, Z:145.25 [[ 2.46871019e-01 -9.51168934e-01 -1.85289935e-01 2.06750929e+02] [ 6.82295269e-01 3.06391212e-01 -6.63775257e-01 1.26943292e+02] [ 6.88133611e-01 3.74444278e-02 7.24617174e-01 1.45245858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.626875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:206.78, Y:126.93, Z:145.30 [[ 2.50832889e-01 -9.37460965e-01 -2.41349957e-01 2.06775463e+02] [ 6.71051057e-01 3.48083197e-01 -6.54620934e-01 1.26932377e+02] [ 6.97691437e-01 2.24231684e-03 7.16394885e-01 1.45300977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.656875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:206.76, Y:126.98, Z:145.28 [[ 2.44234233e-01 -9.52860180e-01 -1.80019767e-01 2.06762889e+02] [ 6.81786848e-01 3.00743079e-01 -6.66873522e-01 1.26982963e+02] [ 6.89576923e-01 4.01382334e-02 7.23099294e-01 1.45283341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.686875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:206.77, Y:127.00, Z:145.30 [[ 2.42980564e-01 -9.51733323e-01 -1.87521007e-01 2.06771061e+02] [ 6.82738490e-01 3.05115625e-01 -6.63907079e-01 1.27000528e+02] [ 6.89078079e-01 3.32887075e-02 7.23922138e-01 1.45303167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.716875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.78, Y:127.01, Z:145.33 [[ 2.42995699e-01 -9.48889968e-01 -2.01397417e-01 2.06782640e+02] [ 6.79511334e-01 3.14678347e-01 -6.62753261e-01 1.27011353e+02] [ 6.92255327e-01 2.41943649e-02 7.21246973e-01 1.45331930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.746875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.80, Y:127.01, Z:145.38 [[ 2.44567517e-01 -9.40644825e-01 -2.35316897e-01 2.06802021e+02] [ 6.70598448e-01 3.39374279e-01 -6.59638402e-01 1.27008582e+02] [ 7.00345951e-01 3.52298052e-03 7.13794885e-01 1.45377569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.776875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.79, Y:127.05, Z:145.37 [[ 2.40144063e-01 -9.52836005e-01 -1.85565021e-01 2.06792684e+02] [ 6.80134215e-01 3.01546318e-01 -6.68197028e-01 1.27053618e+02] [ 6.92638635e-01 3.42544290e-02 7.20470926e-01 1.45366852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.806875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.82, Y:127.05, Z:145.42 [[ 2.42022683e-01 -9.41589938e-01 -2.34165345e-01 2.06815008e+02] [ 6.72169701e-01 3.36754521e-01 -6.59381745e-01 1.27045717e+02] [ 6.99723455e-01 2.18648867e-03 7.14410460e-01 1.45417524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.836875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.82, Y:127.07, Z:145.43 [[ 2.41017577e-01 -9.45091700e-01 -2.20708419e-01 2.06818593e+02] [ 6.72784965e-01 3.26602537e-01 -6.63845745e-01 1.27069698e+02] [ 6.99479033e-01 1.15091868e-02 7.14560439e-01 1.45432708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.866875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.82, Y:127.09, Z:145.45 [[ 2.40113087e-01 -9.45374832e-01 -2.20481591e-01 2.06824891e+02] [ 6.72968404e-01 3.25797259e-01 -6.64055475e-01 1.27088051e+02] [ 6.99613631e-01 1.10712657e-02 7.14435577e-01 1.45451094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.896875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:206.83, Y:127.11, Z:145.47 [[ 2.37745560e-01 -9.45917248e-01 -2.20720656e-01 2.06831457e+02] [ 6.72068240e-01 3.24255925e-01 -6.65719442e-01 1.27107985e+02] [ 7.01285483e-01 9.93249911e-03 7.12811347e-01 1.45470099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.926875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.84, Y:127.13, Z:145.49 [[ 2.35977341e-01 -9.46308507e-01 -2.20940952e-01 2.06837564e+02] [ 6.71062249e-01 3.23134056e-01 -6.67277932e-01 1.27126637e+02] [ 7.02844330e-01 9.19733985e-03 7.11284231e-01 1.45488132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.956875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.84, Y:127.15, Z:145.51 [[ 2.34045399e-01 -9.46739096e-01 -2.21151161e-01 2.06844166e+02] [ 6.70370211e-01 3.21896680e-01 -6.68570346e-01 1.27146623e+02] [ 7.04149509e-01 8.22266331e-03 7.10004124e-01 1.45507424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.986875 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:206.85, Y:127.16, Z:145.53 [[ 2.30946236e-01 -9.47411129e-01 -2.21531011e-01 2.06851231e+02] [ 6.69256761e-01 3.19950607e-01 -6.70616878e-01 1.27164676e+02] [ 7.06228875e-01 6.61531685e-03 7.07952692e-01 1.45526874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.016875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.86, Y:127.18, Z:145.55 [[ 2.29548569e-01 -9.47798421e-01 -2.21326927e-01 2.06857733e+02] [ 6.69471306e-01 3.18816602e-01 -6.70942728e-01 1.27182844e+02] [ 7.06481157e-01 5.84191616e-03 7.07707742e-01 1.45546981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.046875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.86, Y:127.20, Z:145.57 [[ 2.27836555e-01 -9.48387488e-01 -2.20571250e-01 2.06864450e+02] [ 6.71710218e-01 3.17083534e-01 -6.69524768e-01 1.27200466e+02] [ 7.04908424e-01 4.38225425e-03 7.09284787e-01 1.45568620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.07687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.87, Y:127.22, Z:145.59 [[ 2.27277798e-01 -9.48708623e-01 -2.19765220e-01 2.06870337e+02] [ 6.73698790e-01 3.16129416e-01 -6.67976147e-01 1.27218033e+02] [ 7.03188981e-01 3.76058455e-03 7.10993049e-01 1.45588041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.106875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.87, Y:127.25, Z:145.59 [[ 2.23570091e-01 -9.56364552e-01 -1.88104383e-01 2.06866672e+02] [ 6.82515691e-01 2.91386224e-01 -6.70273377e-01 1.27254852e+02] [ 6.95836724e-01 2.14688867e-02 7.17879057e-01 1.45586874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.13687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.89, Y:127.25, Z:145.63 [[ 2.25874747e-01 -9.46015846e-01 -2.32453474e-01 2.06885628e+02] [ 6.77523568e-01 3.24012782e-01 -6.60285947e-01 1.27248684e+02] [ 6.99958865e-01 -8.35078572e-03 7.14134337e-01 1.45632651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.166875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.89, Y:127.27, Z:145.65 [[ 2.25508619e-01 -9.49612331e-01 -2.17674719e-01 2.06889505e+02] [ 6.79265790e-01 3.13421795e-01 -6.63599853e-01 1.27273554e+02] [ 6.98386604e-01 1.78849644e-03 7.15718487e-01 1.45648094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.19687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.88, Y:127.31, Z:145.64 [[ 2.21545240e-01 -9.58486621e-01 -1.79502378e-01 2.06884166e+02] [ 6.87791862e-01 2.84079994e-01 -6.68012658e-01 1.27313880e+02] [ 6.91274230e-01 2.45347502e-02 7.22175869e-01 1.45642365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.226875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.90, Y:127.30, Z:145.69 [[ 2.23990502e-01 -9.45560208e-01 -2.36101985e-01 2.06904741e+02] [ 6.79598513e-01 3.25180864e-01 -6.57573774e-01 1.27304165e+02] [ 6.98551442e-01 -1.31642786e-02 7.15438736e-01 1.45691399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.25687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.90, Y:127.35, Z:145.68 [[ 2.20894352e-01 -9.57610508e-01 -1.84899435e-01 2.06897897e+02] [ 6.84364411e-01 2.87262878e-01 -6.70168182e-01 1.27350654e+02] [ 6.94874836e-01 2.14977734e-02 7.18809298e-01 1.45682647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.286875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:206.91, Y:127.36, Z:145.71 [[ 2.19088525e-01 -9.54212579e-01 -2.03662888e-01 2.06907170e+02] [ 6.80375986e-01 2.99021755e-01 -6.69084829e-01 1.27363149e+02] [ 6.99348794e-01 8.02147049e-03 7.14735560e-01 1.45705804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.316875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.92, Y:127.36, Z:145.75 [[ 2.19660101e-01 -9.45535845e-01 -2.40231983e-01 2.06922228e+02] [ 6.72871631e-01 3.25139815e-01 -6.64475635e-01 1.27361156e+02] [ 7.06394514e-01 -1.56865007e-02 7.07644491e-01 1.45747207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.346875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.91, Y:127.41, Z:145.73 [[ 2.16484252e-01 -9.59813916e-01 -1.78582798e-01 2.06912484e+02] [ 6.79156332e-01 2.79463082e-01 -6.78709852e-01 1.27411554e+02] [ 7.01342460e-01 2.56443568e-02 7.12363055e-01 1.45734239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.376875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.93, Y:127.40, Z:145.79 [[ 2.17417438e-01 -9.45232548e-01 -2.43444219e-01 2.06933940e+02] [ 6.71671987e-01 3.25852418e-01 -6.65339721e-01 1.27395994e+02] [ 7.08227647e-01 -1.88582045e-02 7.05732222e-01 1.45788512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.406875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.94, Y:127.42, Z:145.80 [[ 2.17063144e-01 -9.51256885e-01 -2.19075170e-01 2.06935010e+02] [ 6.72229658e-01 3.08397406e-01 -6.73051504e-01 1.27424529e+02] [ 7.07807091e-01 -1.17415048e-03 7.06404801e-01 1.45801005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.436875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.93, Y:127.47, Z:145.79 [[ 2.13952690e-01 -9.62179126e-01 -1.68628516e-01 2.06927870e+02] [ 6.83341337e-01 2.70778848e-01 -6.78029079e-01 1.27471042e+02] [ 6.98046462e-01 2.98353096e-02 7.15430633e-01 1.45793145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.466875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.94, Y:127.47, Z:145.83 [[ 2.13051815e-01 -9.55056588e-01 -2.06096670e-01 2.06941466e+02] [ 6.85128363e-01 2.96423012e-01 -6.65381488e-01 1.27473881e+02] [ 6.96568769e-01 5.58059733e-04 7.17489818e-01 1.45825744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.496875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.96, Y:127.46, Z:145.87 [[ 2.14577864e-01 -9.44369605e-01 -2.49243635e-01 2.06957657e+02] [ 6.78072889e-01 3.27706006e-01 -6.57895076e-01 1.27464146e+02] [ 7.02974749e-01 -2.78356316e-02 7.10669881e-01 1.45874721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.526875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.96, Y:127.50, Z:145.88 [[ 2.12443413e-01 -9.52820844e-01 -2.16795378e-01 2.06957694e+02] [ 6.80243120e-01 3.03479187e-01 -6.67210372e-01 1.27495555e+02] [ 7.01524835e-01 -5.72911581e-03 7.12621978e-01 1.45884018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.556875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.96, Y:127.51, Z:145.90 [[ 2.10697461e-01 -9.53253216e-01 -2.16598445e-01 2.06963753e+02] [ 6.80575802e-01 3.02096763e-01 -6.67498407e-01 1.27514920e+02] [ 7.01728693e-01 -6.77144083e-03 7.12412093e-01 1.45903566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.586875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.97, Y:127.53, Z:145.92 [[ 2.09051213e-01 -9.53639341e-01 -2.16493873e-01 2.06969997e+02] [ 6.80562828e-01 3.00853921e-01 -6.68072717e-01 1.27534504e+02] [ 7.02233456e-01 -7.67627055e-03 7.11905365e-01 1.45923401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.616875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.98, Y:127.55, Z:145.94 [[ 2.08800091e-01 -9.53754096e-01 -2.16230539e-01 2.06976184e+02] [ 6.80639802e-01 3.00490253e-01 -6.68157966e-01 1.27554112e+02] [ 7.02233566e-01 -7.66366728e-03 7.11905392e-01 1.45943281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.646875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.98, Y:127.57, Z:145.96 [[ 2.05588431e-01 -9.54457614e-01 -2.16203749e-01 2.06982263e+02] [ 6.80904223e-01 2.98189082e-01 -6.68919061e-01 1.27574020e+02] [ 7.02924489e-01 -9.69202534e-03 7.11198445e-01 1.45962306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.676875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.99, Y:127.59, Z:145.98 [[ 2.04381775e-01 -9.54819528e-01 -2.15749299e-01 2.06988150e+02] [ 6.81924272e-01 2.97000207e-01 -6.68408681e-01 1.27593288e+02] [ 7.02287247e-01 -1.05141311e-02 7.11816040e-01 1.45981211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.706875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.99, Y:127.61, Z:146.00 [[ 2.03545055e-01 -9.55141745e-01 -2.15113126e-01 2.06994003e+02] [ 6.83445730e-01 2.95937642e-01 -6.67325142e-01 1.27612654e+02] [ 7.01050172e-01 -1.11874150e-02 7.13024191e-01 1.46000367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.736875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.00, Y:127.63, Z:146.02 [[ 2.02773858e-01 -9.55453809e-01 -2.14454612e-01 2.06999269e+02] [ 6.85003022e-01 2.94904007e-01 -6.66185024e-01 1.27631743e+02] [ 6.99752543e-01 -1.18171501e-02 7.14287570e-01 1.46018639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.766875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.00, Y:127.65, Z:146.04 [[ 2.02334139e-01 -9.56756532e-01 -2.08992427e-01 2.07003152e+02] [ 6.85610797e-01 2.90772758e-01 -6.67374736e-01 1.27654796e+02] [ 6.99284443e-01 -8.25477167e-03 7.14795864e-01 1.46035148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.796875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.01, Y:127.67, Z:146.06 [[ 2.02698121e-01 -9.54312064e-01 -2.19549441e-01 2.07009875e+02] [ 6.86021728e-01 2.98377295e-01 -6.63585095e-01 1.27669885e+02] [ 6.98775830e-01 -1.61082352e-02 7.15159328e-01 1.46057345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.82687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.01, Y:127.69, Z:146.07 [[ 2.04323000e-01 -9.55168425e-01 -2.14255437e-01 2.07013397e+02] [ 6.82816346e-01 2.95900320e-01 -6.67985657e-01 1.27693958e+02] [ 7.01437061e-01 -9.81228120e-03 7.12663854e-01 1.46073051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.856875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.02, Y:127.71, Z:146.09 [[ 2.05342496e-01 -9.54870317e-01 -2.14609267e-01 2.07018387e+02] [ 6.80400257e-01 2.96903087e-01 -6.70003020e-01 1.27713129e+02] [ 7.03484150e-01 -8.44010807e-03 7.10660830e-01 1.46091251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.88687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.02, Y:127.73, Z:146.11 [[ 2.06813228e-01 -9.54459124e-01 -2.15025742e-01 2.07024076e+02] [ 6.77853097e-01 2.98264621e-01 -6.71977228e-01 1.27733082e+02] [ 7.05509368e-01 -6.78208499e-03 7.08668142e-01 1.46110657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.916875 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:207.02, Y:127.78, Z:146.10 [[ 2.09042142e-01 -9.63553095e-01 -1.66933570e-01 2.07017214e+02] [ 6.81797266e-01 2.65979451e-01 -6.81474446e-01 1.27782957e+02] [ 7.01037711e-01 2.86420267e-02 7.12548779e-01 1.46100723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.94687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.04, Y:127.76, Z:146.16 [[ 2.11410657e-01 -9.44552360e-01 -2.51249622e-01 2.07041422e+02] [ 6.71695023e-01 3.27144031e-01 -6.64682314e-01 1.27757377e+02] [ 7.10022063e-01 -2.82421961e-02 7.03612854e-01 1.46161742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.976875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.04, Y:127.79, Z:146.17 [[ 2.14722349e-01 -9.52637957e-01 -2.15349103e-01 2.07039399e+02] [ 6.71909776e-01 3.04106604e-01 -6.75319500e-01 1.27789540e+02] [ 7.08824073e-01 3.11021870e-04 7.05385240e-01 1.46171281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.00687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.05, Y:127.81, Z:146.19 [[ 2.14444721e-01 -9.52759776e-01 -2.15086657e-01 2.07045276e+02] [ 6.71998457e-01 3.03724742e-01 -6.75403106e-01 1.27808621e+02] [ 7.08824052e-01 2.98729441e-04 7.05385267e-01 1.46190590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.036875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.05, Y:127.83, Z:146.21 [[ 2.16476747e-01 -9.52741614e-01 -2.13122580e-01 2.07050118e+02] [ 6.77176834e-01 3.03780911e-01 -6.70185567e-01 1.27825843e+02] [ 7.03256251e-01 7.57917754e-04 7.10936053e-01 1.46209806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.066875 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:207.06, Y:127.84, Z:146.23 [[ 2.17078072e-01 -9.52857957e-01 -2.11987795e-01 2.07055823e+02] [ 6.79819537e-01 3.03415617e-01 -6.67670847e-01 1.27844493e+02] [ 7.00515886e-01 8.23256098e-04 7.13636333e-01 1.46230568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.096875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.06, Y:127.88, Z:146.23 [[ 2.16898047e-01 -9.59774368e-01 -1.78293016e-01 2.07056214e+02] [ 6.89293331e-01 2.79905982e-01 -6.68227016e-01 1.27882109e+02] [ 6.91252444e-01 2.20409477e-02 7.22277132e-01 1.46234304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.126875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.07, Y:127.87, Z:146.28 [[ 2.17671557e-01 -9.46336812e-01 -2.38884349e-01 2.07072720e+02] [ 6.86010449e-01 3.22439043e-01 -6.52244378e-01 1.27870218e+02] [ 6.94268505e-01 -2.19021102e-02 7.19382749e-01 1.46278599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.156875 meters Centerline goodness : 0.997530 Centerline is valid? [True, True] Translation: X:207.07, Y:127.91, Z:146.28 [[ 2.19241427e-01 -9.56399152e-01 -1.92960771e-01 2.07074870e+02] [ 6.87132533e-01 2.91760319e-01 -6.65375682e-01 1.27912409e+02] [ 6.92663034e-01 1.32882908e-02 7.21138920e-01 1.46283083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.186875 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.08, Y:127.91, Z:146.31 [[ 2.18329614e-01 -9.45920151e-01 -2.39931756e-01 2.07083999e+02] [ 6.84668679e-01 3.23673267e-01 -6.53042431e-01 1.27907801e+02] [ 6.95385490e-01 -2.16952564e-02 7.18309359e-01 1.46314550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.216875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.08, Y:127.96, Z:146.31 [[ 2.17858598e-01 -9.60091096e-01 -1.75393041e-01 2.07078749e+02] [ 6.88362761e-01 2.78551996e-01 -6.69750323e-01 1.27960840e+02] [ 6.91877404e-01 2.51768285e-02 7.21575904e-01 1.46306036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.246875 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.10, Y:127.95, Z:146.35 [[ 2.19605804e-01 -9.45009686e-01 -2.42342700e-01 2.07096870e+02] [ 6.79615319e-01 3.26403616e-01 -6.56950301e-01 1.27947641e+02] [ 6.99925931e-01 -2.04297124e-02 7.13923188e-01 1.46349793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.276875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.10, Y:127.98, Z:146.36 [[ 2.20027987e-01 -9.52552520e-01 -2.10312580e-01 2.07096768e+02] [ 6.77730188e-01 3.04337272e-01 -6.69373302e-01 1.27979688e+02] [ 7.01619182e-01 4.74567537e-03 7.12536316e-01 1.46357366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.306875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.10, Y:128.00, Z:146.38 [[ 2.20082695e-01 -9.52486896e-01 -2.10552416e-01 2.07103523e+02] [ 6.76212790e-01 3.04534197e-01 -6.70816805e-01 1.28000047e+02] [ 7.03064627e-01 5.25693374e-03 7.11106528e-01 1.46375803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.336875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.11, Y:128.02, Z:146.39 [[ 2.19701059e-01 -9.52561400e-01 -2.10613921e-01 2.07110185e+02] [ 6.75204341e-01 3.04298245e-01 -6.71938744e-01 1.28019814e+02] [ 7.04152357e-01 5.41821960e-03 7.10028240e-01 1.46394127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.366875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.12, Y:128.04, Z:146.41 [[ 2.19422339e-01 -9.52609451e-01 -2.10687139e-01 2.07118089e+02] [ 6.74104285e-01 3.04143182e-01 -6.73112426e-01 1.28038286e+02] [ 7.05292315e-01 5.67079974e-03 7.08893922e-01 1.46412372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.396875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.12, Y:128.08, Z:146.41 [[ 2.17750013e-01 -9.60351175e-01 -1.74099262e-01 2.07116439e+02] [ 6.81652831e-01 2.77305642e-01 -6.77090097e-01 1.28079484e+02] [ 6.98522977e-01 2.87611226e-02 7.15009404e-01 1.46410757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.426875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.14, Y:128.06, Z:146.46 [[ 2.17422615e-01 -9.47136361e-01 -2.35923971e-01 2.07138810e+02] [ 6.77102381e-01 3.20446324e-01 -6.62454919e-01 1.28063295e+02] [ 7.03036110e-01 -1.57120019e-02 7.10980563e-01 1.46461755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.456875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.14, Y:128.09, Z:146.47 [[ 2.17044784e-01 -9.53553082e-01 -2.08873364e-01 2.07140417e+02] [ 6.79131622e-01 3.01205497e-01 -6.69369471e-01 1.28091502e+02] [ 7.01193127e-01 3.43064544e-03 7.12963133e-01 1.46473094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.486875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.15, Y:128.11, Z:146.49 [[ 2.16211620e-01 -9.53928918e-01 -2.08019605e-01 2.07147158e+02] [ 6.81352410e-01 3.00021282e-01 -6.67642213e-01 1.28109699e+02] [ 6.99293522e-01 2.61734550e-03 7.14829854e-01 1.46493547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.516875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.15, Y:128.13, Z:146.51 [[ 2.16002369e-01 -9.54323007e-01 -2.06423291e-01 2.07154600e+02] [ 6.85997686e-01 2.98772017e-01 -6.63432330e-01 1.28127508e+02] [ 6.94802239e-01 1.69705492e-03 7.19198838e-01 1.46513927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.546875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.16, Y:128.15, Z:146.53 [[ 2.17399903e-01 -9.56032816e-01 -1.96821080e-01 2.07162485e+02] [ 6.88247659e-01 2.93127365e-01 -6.63620002e-01 1.28153353e+02] [ 6.92136144e-01 8.80927645e-03 7.21713209e-01 1.46530501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.57687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.17, Y:128.17, Z:146.55 [[ 2.17950759e-01 -9.53865039e-01 -2.06492020e-01 2.07173150e+02] [ 6.86129373e-01 3.00223192e-01 -6.62640565e-01 1.28169295e+02] [ 6.94063362e-01 2.74277441e-03 7.19908693e-01 1.46552054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.606875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.18, Y:128.18, Z:146.58 [[ 2.19777143e-01 -9.49650325e-01 -2.23298608e-01 2.07183728e+02] [ 6.86008570e-01 3.13186789e-01 -6.56739124e-01 1.28182443e+02] [ 6.93606696e-01 -8.84851011e-03 7.20299559e-01 1.46577852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.63687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.19, Y:128.20, Z:146.59 [[ 2.20965073e-01 -9.51003575e-01 -2.16255950e-01 2.07188991e+02] [ 6.83046577e-01 3.09176251e-01 -6.61707956e-01 1.28204278e+02] [ 6.96147836e-01 -1.49853942e-03 7.17896890e-01 1.46593186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.666875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.19, Y:128.22, Z:146.61 [[ 2.20378412e-01 -9.48699336e-01 -2.26722134e-01 2.07194616e+02] [ 6.78859810e-01 3.16082035e-01 -6.62752975e-01 1.28217627e+02] [ 7.00416100e-01 -7.85609660e-03 7.13691508e-01 1.46610918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.69687500000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.20, Y:128.24, Z:146.62 [[ 2.20217916e-01 -9.53133951e-01 -2.07460218e-01 2.07197965e+02] [ 6.77094081e-01 3.02461352e-01 -6.70865661e-01 1.28244482e+02] [ 7.02173536e-01 7.26655205e-03 7.11968765e-01 1.46622876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.726875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.20, Y:128.28, Z:146.63 [[ 2.20515318e-01 -9.58046646e-01 -1.83083638e-01 2.07203673e+02] [ 6.79873049e-01 2.85565644e-01 -6.75444224e-01 1.28279474e+02] [ 6.99389471e-01 2.44721666e-02 7.14321693e-01 1.46629535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.75687500000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.22, Y:128.27, Z:146.67 [[ 2.17541176e-01 -9.48179465e-01 -2.31584841e-01 2.07218645e+02] [ 6.76490935e-01 3.17504392e-01 -6.64493022e-01 1.28270762e+02] [ 7.03587843e-01 -1.21104520e-02 7.10505091e-01 1.46670477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.786875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.23, Y:128.31, Z:146.68 [[ 2.15165581e-01 -9.57527049e-01 -1.91952398e-01 2.07225294e+02] [ 6.83300305e-01 2.88041269e-01 -6.70919459e-01 1.28305422e+02] [ 6.97713742e-01 1.31976427e-02 7.16255092e-01 1.46676599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.816875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.23, Y:128.31, Z:146.71 [[ 2.09395692e-01 -9.54350145e-01 -2.13000577e-01 2.07233528e+02] [ 6.83877951e-01 2.98624219e-01 -6.65683502e-01 1.28309590e+02] [ 6.98902277e-01 -6.27514038e-03 7.15189646e-01 1.46705640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.846875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.24, Y:128.33, Z:146.72 [[ 2.05296020e-01 -9.56447495e-01 -2.07513212e-01 2.07242191e+02] [ 6.91013416e-01 2.91804758e-01 -6.61324763e-01 1.28326891e+02] [ 6.93075756e-01 -7.62707159e-03 7.20824406e-01 1.46724953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.876875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.25, Y:128.34, Z:146.75 [[ 2.04577560e-01 -9.53810555e-01 -2.19985107e-01 2.07251912e+02] [ 6.94995785e-01 2.99795161e-01 -6.53531728e-01 1.28338780e+02] [ 6.89295931e-01 -1.91907960e-02 7.24225678e-01 1.46748087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.906875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.26, Y:128.36, Z:146.76 [[ 2.01194099e-01 -9.58498479e-01 -2.01994060e-01 2.07255229e+02] [ 6.95745647e-01 2.84988648e-01 -6.59332591e-01 1.28364764e+02] [ 6.89535299e-01 -7.88266127e-03 7.24209179e-01 1.46760409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.936875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.26, Y:128.38, Z:146.78 [[ 1.98247888e-01 -9.59115647e-01 -2.01977598e-01 2.07261773e+02] [ 6.95724649e-01 2.82850805e-01 -6.60274666e-01 1.28383098e+02] [ 6.90409290e-01 -9.62273564e-03 7.23354972e-01 1.46777707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.966875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.27, Y:128.41, Z:146.80 [[ 1.93281136e-01 -9.60650596e-01 -1.99481417e-01 2.07274618e+02] [ 6.92545153e-01 2.77598565e-01 -6.65822985e-01 1.28408203e+02] [ 6.94999002e-01 -9.45886533e-03 7.18948480e-01 1.46797917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.996875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.28, Y:128.42, Z:146.82 [[ 1.88685243e-01 -9.56716852e-01 -2.21564312e-01 2.07284257e+02] [ 6.91914832e-01 2.89619731e-01 -6.61342783e-01 1.28418590e+02] [ 6.96887182e-01 -2.85180100e-02 7.16613549e-01 1.46824021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.026875 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:207.28, Y:128.43, Z:146.84 [[ 1.79529013e-01 -9.58158216e-01 -2.22939825e-01 2.07282873e+02] [ 6.92411135e-01 2.84054590e-01 -6.63234355e-01 1.28432469e+02] [ 6.98810527e-01 -3.52962083e-02 7.14435459e-01 1.46841440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.056875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.28, Y:128.46, Z:146.86 [[ 1.77017567e-01 -9.63139645e-01 -2.02550748e-01 2.07283064e+02] [ 6.93992506e-01 2.68077382e-01 -6.68213228e-01 1.28458742e+02] [ 6.97881926e-01 -2.22832214e-02 7.15866102e-01 1.46855208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.086875 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:207.29, Y:128.48, Z:146.87 [[ 1.75085243e-01 -9.63694303e-01 -2.01589801e-01 2.07286198e+02] [ 6.97006902e-01 2.65934855e-01 -6.65927948e-01 1.28476087e+02] [ 6.95360724e-01 -2.39153259e-02 7.18262849e-01 1.46874597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.116875 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.29, Y:128.50, Z:146.89 [[ 1.71784523e-01 -9.64555389e-01 -2.00307214e-01 2.07285623e+02] [ 7.01254661e-01 2.62535766e-01 -6.62809831e-01 1.28495549e+02] [ 6.91904602e-01 -2.66058971e-02 7.21498544e-01 1.46894752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.146875 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:207.28, Y:128.53, Z:146.90 [[ 1.70326841e-01 -9.69939505e-01 -1.73799090e-01 2.07284735e+02] [ 7.05476112e-01 2.43171338e-01 -6.65711015e-01 1.28533956e+02] [ 6.87962370e-01 -9.22265194e-03 7.25687757e-01 1.46901202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.176875 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:207.29, Y:128.53, Z:146.94 [[ 1.69278771e-01 -9.58662148e-01 -2.28717259e-01 2.07294481e+02] [ 7.03648167e-01 2.80049179e-01 -6.53032705e-01 1.28526207e+02] [ 6.90089816e-01 -5.03919065e-02 7.21967244e-01 1.46941405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.206875 meters Centerline goodness : 0.997752 Centerline is valid? [True, True] Translation: X:207.29, Y:128.56, Z:146.95 [[ 1.68457850e-01 -9.65376011e-01 -1.99176076e-01 2.07289252e+02] [ 7.03427111e-01 2.59287272e-01 -6.61785773e-01 1.28559187e+02] [ 6.90515932e-01 -2.86228433e-02 7.22750636e-01 1.46947865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.236875 meters Centerline goodness : 0.994019 Centerline is valid? [True, True] Translation: X:207.28, Y:128.58, Z:146.96 [[ 1.70999338e-01 -9.64946896e-01 -1.99089716e-01 2.07284675e+02] [ 7.01949110e-01 2.61109947e-01 -6.62637943e-01 1.28584447e+02] [ 6.91394731e-01 -2.64401989e-02 7.21993242e-01 1.46963157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.266875 meters Centerline goodness : 0.991992 Centerline is valid? [True, True] Translation: X:207.29, Y:128.61, Z:146.98 [[ 1.72917764e-01 -9.64628719e-01 -1.98974575e-01 2.07285020e+02] [ 7.00810411e-01 2.62448350e-01 -6.63314128e-01 1.28605626e+02] [ 6.92072406e-01 -2.47446578e-02 7.21403830e-01 1.46980777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.296875 meters Centerline goodness : 0.986231 Centerline is valid? [True, True] Translation: X:207.28, Y:128.63, Z:147.00 [[ 1.78884228e-01 -9.63652616e-01 -1.98429004e-01 2.07279226e+02] [ 6.99982285e-01 2.66381167e-01 -6.62620461e-01 1.28628709e+02] [ 6.91393690e-01 -2.03644374e-02 7.22191149e-01 1.46997955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.32687500000003 meters Centerline goodness : 0.982816 Centerline is valid? [True, True] Translation: X:207.28, Y:128.65, Z:147.01 [[ 1.80381314e-01 -9.64974944e-01 -1.90488687e-01 2.07278639e+02] [ 7.01052142e-01 2.61973287e-01 -6.63246478e-01 1.28654030e+02] [ 6.89919180e-01 -1.39052311e-02 7.23752837e-01 1.47013692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.356875 meters Centerline goodness : 0.978582 Centerline is valid? [True, True] Translation: X:207.28, Y:128.67, Z:147.04 [[ 1.77975241e-01 -9.61622875e-01 -2.08821121e-01 2.07280918e+02] [ 7.03242365e-01 2.72729541e-01 -6.56558279e-01 1.28666893e+02] [ 6.88313148e-01 -3.00007416e-02 7.24793051e-01 1.47037087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.38687500000003 meters Centerline goodness : 0.153377 Centerline is valid? [True, False] Translation: X:207.15, Y:127.18, Z:146.33 [[ 8.79338495e-01 4.71923597e-01 -6.36547727e-02 2.07154734e+02] [-4.72081073e-01 8.46376555e-01 -2.46548549e-01 1.27178198e+02] [-6.24761708e-02 2.46849843e-01 9.67037684e-01 1.46333481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.416875 meters Centerline goodness : 0.155537 Centerline is valid? [False, False] Translation: X:207.15, Y:127.18, Z:146.34 [[ 8.82005235e-01 4.68105424e-01 -5.42593536e-02 2.07153778e+02] [-4.66855136e-01 8.52317237e-01 -2.35799934e-01 1.27177225e+02] [-6.41330458e-02 2.33308034e-01 9.70285687e-01 1.46337818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.44687500000003 meters Centerline goodness : 0.157083 Centerline is valid? [False, False] Translation: X:207.16, Y:127.18, Z:146.34 [[ 8.85443123e-01 4.61544413e-01 -5.44722903e-02 2.07157364e+02] [-4.60287988e-01 8.54703283e-01 -2.40035967e-01 1.27184997e+02] [-6.42296142e-02 2.37611138e-01 9.69234494e-01 1.46336085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.476875 meters Centerline goodness : 0.169671 Centerline is valid? [False, False] Translation: X:207.18, Y:127.20, Z:146.34 [[ 8.94504529e-01 4.42626904e-01 -6.27938827e-02 2.07184294e+02] [-4.43513544e-01 8.60958959e-01 -2.49089156e-01 1.27196903e+02] [-5.61906062e-02 2.50661316e-01 9.66442715e-01 1.46337473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.50687500000004 meters Centerline goodness : 0.183241 Centerline is valid? [False, False] Translation: X:207.20, Y:127.21, Z:146.34 [[ 8.98278490e-01 4.34514174e-01 -6.55224172e-02 2.07196280e+02] [-4.36230368e-01 8.63824023e-01 -2.52014132e-01 1.27206187e+02] [-5.29038742e-02 2.54961742e-01 9.65502817e-01 1.46338760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.536875 meters Centerline goodness : 0.183241 Centerline is valid? [False, False] Translation: X:207.20, Y:127.21, Z:146.34 [[ 8.98278490e-01 4.34514174e-01 -6.55224172e-02 2.07196280e+02] [-4.36230368e-01 8.63824023e-01 -2.52014132e-01 1.27206187e+02] [-5.29038742e-02 2.54961742e-01 9.65502817e-01 1.46338760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.566875 meters Centerline goodness : 0.193840 Centerline is valid? [False, False] Translation: X:207.21, Y:127.21, Z:146.34 [[ 9.00598894e-01 4.29331690e-01 -6.77933088e-02 2.07209776e+02] [-4.31871159e-01 8.66274885e-01 -2.51107797e-01 1.27213740e+02] [-4.90808939e-02 2.55425379e-01 9.65582178e-01 1.46341119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.596875 meters Centerline goodness : 0.116004 Centerline is valid? [False, False] Translation: X:207.25, Y:127.22, Z:146.35 [[ 9.00901906e-01 4.27780436e-01 -7.33461279e-02 2.07254092e+02] [-4.32042554e-01 8.67769140e-01 -2.45593061e-01 1.27218434e+02] [-4.14124004e-02 2.52943905e-01 9.66594224e-01 1.46348656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.626875 meters Centerline goodness : 0.213387 Centerline is valid? [False, False] Translation: X:207.27, Y:127.23, Z:146.35 [[ 9.01029388e-01 4.27287891e-01 -7.46398073e-02 2.07267041e+02] [-4.31935361e-01 8.68101014e-01 -2.44606772e-01 1.27229550e+02] [-3.97226194e-02 2.52637462e-01 9.66745275e-01 1.46351904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.656875 meters Centerline goodness : 0.215977 Centerline is valid? [False, False] Translation: X:207.28, Y:127.24, Z:146.36 [[ 9.00066866e-01 4.29270892e-01 -7.48741490e-02 2.07277814e+02] [-4.33940743e-01 8.67345417e-01 -2.43736249e-01 1.27242256e+02] [-3.96871268e-02 2.51869865e-01 9.66947001e-01 1.46355840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.686875 meters Centerline goodness : 0.215054 Centerline is valid? [False, False] Translation: X:207.29, Y:127.26, Z:146.36 [[ 8.98261602e-01 4.33116394e-01 -7.44062084e-02 2.07287405e+02] [-4.37548658e-01 8.65661578e-01 -2.43271875e-01 1.27256161e+02] [-4.09544413e-02 2.51078121e-01 9.67100052e-01 1.46359218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.716875 meters Centerline goodness : 0.134885 Centerline is valid? [False, False] Translation: X:207.28, Y:127.28, Z:146.37 [[ 8.90158458e-01 4.51894126e-01 -5.83919433e-02 2.07280054e+02] [-4.53107909e-01 8.64370691e-01 -2.18074602e-01 1.27279595e+02] [-4.80743473e-02 2.20578803e-01 9.74183683e-01 1.46367930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.746875 meters Centerline goodness : 0.222501 Centerline is valid? [False, False] Translation: X:207.29, Y:127.29, Z:146.37 [[ 8.87768757e-01 4.56935045e-01 -5.54707064e-02 2.07285122e+02] [-4.57542299e-01 8.62890541e-01 -2.14650783e-01 1.27291672e+02] [-5.02163170e-02 2.15940453e-01 9.75114374e-01 1.46370416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.776875 meters Centerline goodness : 0.230879 Centerline is valid? [False, False] Translation: X:207.27, Y:127.32, Z:146.37 [[ 8.87437377e-01 4.58194395e-01 -5.01278181e-02 2.07272538e+02] [-4.57521532e-01 8.62455371e-01 -2.16436552e-01 1.27317456e+02] [-5.59370092e-02 2.15008442e-01 9.75008934e-01 1.46369948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.806875 meters Centerline goodness : 0.231695 Centerline is valid? [False, False] Translation: X:207.28, Y:127.33, Z:146.37 [[ 8.87048513e-01 4.59191713e-01 -4.78320736e-02 2.07275816e+02] [-4.58001221e-01 8.62205431e-01 -2.16417830e-01 1.27330249e+02] [-5.81362004e-02 2.13880262e-01 9.75128410e-01 1.46372108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.836875 meters Centerline goodness : 0.223841 Centerline is valid? [False, False] Translation: X:207.29, Y:127.36, Z:146.38 [[ 8.87600399e-01 4.58368232e-01 -4.54323267e-02 2.07287404e+02] [-4.56665797e-01 8.62813449e-01 -2.16816286e-01 1.27355025e+02] [-6.01820750e-02 2.13193611e-01 9.75154655e-01 1.46376023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.866875 meters Centerline goodness : 0.233029 Centerline is valid? [False, False] Translation: X:207.28, Y:127.38, Z:146.38 [[ 8.88198059e-01 4.57754393e-01 -3.95616353e-02 2.07280343e+02] [-4.54749033e-01 8.63525187e-01 -2.18008184e-01 1.27376772e+02] [-6.56317355e-02 2.11625062e-01 9.75144763e-01 1.46377074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.896875 meters SLAMing on 488.926875 meters SLAMing on 488.956875 meters Centerline goodness : 0.131828 Centerline is valid? [False, False] Translation: X:207.33, Y:127.42, Z:146.38 [[ 8.85092713e-01 4.63650930e-01 -4.04809175e-02 2.07326279e+02] [-4.60550373e-01 8.59980330e-01 -2.19834452e-01 1.27415789e+02] [-6.71136551e-02 2.13217373e-01 9.74696932e-01 1.46381107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.986875 meters Centerline goodness : 0.127305 Centerline is valid? [False, False] Translation: X:207.31, Y:127.44, Z:146.38 [[ 8.84596260e-01 4.65092309e-01 -3.43307489e-02 2.07312736e+02] [-4.60488161e-01 8.59450419e-01 -2.22026196e-01 1.27438028e+02] [-7.37570997e-02 2.12212446e-01 9.74436128e-01 1.46379075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.016875 meters SLAMing on 489.046875 meters SLAMing on 489.07687500000003 meters Centerline goodness : 0.139885 Centerline is valid? [False, False] Translation: X:207.35, Y:127.47, Z:146.38 [[ 8.81709217e-01 4.70959084e-01 -2.80427685e-02 2.07353623e+02] [-4.64794985e-01 8.56895107e-01 -2.22926888e-01 1.27469219e+02] [-8.09597317e-02 2.09590830e-01 9.74431735e-01 1.46377565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.106875 meters Centerline goodness : 0.128017 Centerline is valid? [False, False] Translation: X:207.32, Y:127.50, Z:146.38 [[ 8.84299245e-01 4.66451721e-01 -2.09197733e-02 2.07323847e+02] [-4.59222694e-01 8.60744775e-01 -2.19620013e-01 1.27497199e+02] [-8.44355474e-02 2.03816646e-01 9.75361171e-01 1.46375122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.13687500000003 meters Centerline goodness : 0.136034 Centerline is valid? [False, False] Translation: X:207.31, Y:127.51, Z:146.37 [[ 8.87056844e-01 4.61479204e-01 -1.29267305e-02 2.07308160e+02] [-4.52977109e-01 8.64626297e-01 -2.17331788e-01 1.27514702e+02] [-8.91173094e-02 1.98641163e-01 9.76012189e-01 1.46372589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.166875 meters Centerline goodness : 0.114309 Centerline is valid? [False, False] Translation: X:207.31, Y:127.53, Z:146.37 [[ 8.91322071e-01 4.53199822e-01 -1.24453486e-02 2.07312581e+02] [-4.44256128e-01 8.67597182e-01 -2.23409092e-01 1.27528375e+02] [-9.04514111e-02 2.04658377e-01 9.74645316e-01 1.46371398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.19687500000003 meters Centerline goodness : 0.192676 Centerline is valid? [False, False] Translation: X:207.31, Y:127.55, Z:146.37 [[ 8.95886640e-01 4.44201190e-01 -8.51067486e-03 2.07311579e+02] [-4.34139202e-01 8.71201865e-01 -2.29195253e-01 1.27546533e+02] [-9.43942884e-02 2.09027783e-01 9.73343261e-01 1.46370870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.226875 meters Centerline goodness : 0.056713 Centerline is valid? [False, False] Translation: X:207.30, Y:127.56, Z:146.37 [[ 8.98839045e-01 4.38276796e-01 -1.34984765e-03 2.07300168e+02] [-4.26802641e-01 8.74598812e-01 -2.30035700e-01 1.27562225e+02] [-9.96387344e-02 2.07341188e-01 9.73181255e-01 1.46368619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.25687500000004 meters Centerline goodness : 0.056890 Centerline is valid? [False, False] Translation: X:207.29, Y:127.58, Z:146.37 [[ 9.01067769e-01 4.33652597e-01 4.72235720e-03 2.07293333e+02] [-4.20987368e-01 8.77262503e-01 -2.30608189e-01 1.27575325e+02] [-1.04146587e-01 2.05805554e-01 9.73035232e-01 1.46366673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.286875 meters Centerline goodness : 0.056867 Centerline is valid? [False, False] Translation: X:207.29, Y:127.59, Z:146.36 [[ 9.02306862e-01 4.30955231e-01 1.09506224e-02 2.07288882e+02] [-4.17266984e-01 8.79465507e-01 -2.28973112e-01 1.27587694e+02] [-1.08307855e-01 2.02034677e-01 9.73371151e-01 1.46364214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.316875 meters Centerline goodness : 0.101871 Centerline is valid? [False, False] Translation: X:207.30, Y:127.60, Z:146.36 [[ 9.02535415e-01 4.30305427e-01 1.63421157e-02 2.07299278e+02] [-4.15989026e-01 8.81058249e-01 -2.25143270e-01 1.27604116e+02] [-1.11278727e-01 1.96401634e-01 9.74188608e-01 1.46359414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.346875 meters Centerline goodness : 0.094449 Centerline is valid? [False, False] Translation: X:207.29, Y:127.62, Z:146.35 [[ 9.03884527e-01 4.27159762e-01 2.29630027e-02 2.07286326e+02] [-4.11538154e-01 8.82969047e-01 -2.25836246e-01 1.27623513e+02] [-1.16743778e-01 1.94679737e-01 9.73894599e-01 1.46354520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.376875 meters Centerline goodness : 0.095670 Centerline is valid? [False, False] Translation: X:207.29, Y:127.63, Z:146.35 [[ 9.04184037e-01 4.26525854e-01 2.29548219e-02 2.07290751e+02] [-4.10821234e-01 8.83090752e-01 -2.26664149e-01 1.27628516e+02] [-1.16949311e-01 1.95515777e-01 9.73702439e-01 1.46353662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.406875 meters Centerline goodness : 0.099692 Centerline is valid? [False, False] Translation: X:207.28, Y:127.64, Z:146.35 [[ 9.04880790e-01 4.24615078e-01 2.98796117e-02 2.07282700e+02] [-4.07343487e-01 8.84169201e-01 -2.28727147e-01 1.27641897e+02] [-1.23539628e-01 1.94799536e-01 9.73031912e-01 1.46349718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.436875 meters Centerline goodness : 0.098168 Centerline is valid? [False, False] Translation: X:207.29, Y:127.65, Z:146.35 [[ 9.04005383e-01 4.26327700e-01 3.19211379e-02 2.07285063e+02] [-4.08784026e-01 8.83834867e-01 -2.27445702e-01 1.27647550e+02] [-1.25179418e-01 1.92563288e-01 9.73267432e-01 1.46349171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.466875 meters Centerline goodness : 0.106463 Centerline is valid? [False, False] Translation: X:207.29, Y:127.67, Z:146.35 [[ 9.00904196e-01 4.32229195e-01 3.93643504e-02 2.07288708e+02] [-4.14120441e-01 8.83206306e-01 -2.20115607e-01 1.27665552e+02] [-1.29907234e-01 1.82001492e-01 9.74679213e-01 1.46350934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.496875 meters Centerline goodness : 0.164548 Centerline is valid? [False, False] Translation: X:207.29, Y:127.68, Z:146.35 [[ 8.99137532e-01 4.35195581e-01 4.64381909e-02 2.07286538e+02] [-4.16398163e-01 8.83289404e-01 -2.15435372e-01 1.27677041e+02] [-1.34774884e-01 1.74369251e-01 9.75413294e-01 1.46350291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.526875 meters Centerline goodness : 0.119546 Centerline is valid? [False, False] Translation: X:207.30, Y:127.69, Z:146.35 [[ 8.94592373e-01 4.43913700e-01 5.14306604e-02 2.07295972e+02] [-4.25317993e-01 8.81084729e-01 -2.06867843e-01 1.27686914e+02] [-1.37146239e-01 1.63188009e-01 9.77016163e-01 1.46348203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.556875 meters Centerline goodness : 0.117874 Centerline is valid? [False, False] Translation: X:207.29, Y:127.69, Z:146.34 [[ 8.92988299e-01 4.46284761e-01 5.83250352e-02 2.07292765e+02] [-4.26870284e-01 8.80874294e-01 -2.04553755e-01 1.27694254e+02] [-1.42666248e-01 1.57766886e-01 9.77116140e-01 1.46342757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.586875 meters Centerline goodness : 0.123061 Centerline is valid? [False, False] Translation: X:207.27, Y:127.71, Z:146.34 [[ 8.92489565e-01 4.45795451e-01 6.87662149e-02 2.07265893e+02] [-4.25508284e-01 8.82665355e-01 -1.99611053e-01 1.27713936e+02] [-1.49683255e-01 1.48890188e-01 9.77459275e-01 1.46338497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.616875 meters Centerline goodness : 0.094086 Centerline is valid? [False, False] Translation: X:207.25, Y:127.73, Z:146.33 [[ 8.93549812e-01 4.41520846e-01 8.14129920e-02 2.07245332e+02] [-4.19582359e-01 8.85750211e-01 -1.98487297e-01 1.27733080e+02] [-1.59747854e-01 1.43198832e-01 9.76716293e-01 1.46331237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.646875 meters Centerline goodness : 0.101565 Centerline is valid? [False, False] Translation: X:207.24, Y:127.74, Z:146.33 [[ 8.97232512e-01 4.30535045e-01 9.80479225e-02 2.07239502e+02] [-4.06155876e-01 8.91809703e-01 -1.99280852e-01 1.27742379e+02] [-1.73237479e-01 1.38978519e-01 9.75024998e-01 1.46326804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.676875 meters Centerline goodness : 0.279034 Centerline is valid? [False, False] Translation: X:207.23, Y:127.76, Z:146.32 [[ 8.99875816e-01 4.22693343e-01 1.07488859e-01 2.07226604e+02] [-3.97103350e-01 8.95968629e-01 -1.98869669e-01 1.27755839e+02] [-1.80367530e-01 1.36273820e-01 9.74113443e-01 1.46322098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.706875 meters Centerline goodness : 0.108316 Centerline is valid? [False, False] Translation: X:207.21, Y:127.77, Z:146.32 [[ 9.03210278e-01 4.13797244e-01 1.13943124e-01 2.07214003e+02] [-3.89254785e-01 9.01597407e-01 -1.88687116e-01 1.27770372e+02] [-1.80809034e-01 1.26071236e-01 9.75404602e-01 1.46317377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.736875 meters Centerline goodness : 0.107734 Centerline is valid? [False, False] Translation: X:207.20, Y:127.79, Z:146.31 [[ 9.07211922e-01 4.03015024e-01 1.20604390e-01 2.07203907e+02] [-3.77239220e-01 9.06264222e-01 -1.90724229e-01 1.27785273e+02] [-1.86164174e-01 1.27530588e-01 9.74206780e-01 1.46312308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.766875 meters Centerline goodness : 0.181137 Centerline is valid? [False, False] Translation: X:207.21, Y:127.79, Z:146.30 [[ 9.13863265e-01 3.85119203e-01 1.28596780e-01 2.07213707e+02] [-3.57542976e-01 9.13400568e-01 -1.94582690e-01 1.27790979e+02] [-1.92397902e-01 1.31843097e-01 9.72419891e-01 1.46302732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.796875 meters Centerline goodness : 0.145543 Centerline is valid? [False, False] Translation: X:207.20, Y:127.81, Z:146.30 [[ 9.19082940e-01 3.70605561e-01 1.33933068e-01 2.07203706e+02] [-3.41466483e-01 9.18642019e-01 -1.98739732e-01 1.27805655e+02] [-1.96690594e-01 1.36924644e-01 9.70857586e-01 1.46296955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.82687500000003 meters Centerline goodness : 0.148375 Centerline is valid? [False, False] Translation: X:207.21, Y:127.81, Z:146.29 [[ 9.24410218e-01 3.53398746e-01 1.43440147e-01 2.07205875e+02] [-3.20941870e-01 9.23961628e-01 -2.08065435e-01 1.27812437e+02] [-2.06063256e-01 1.46301865e-01 9.67540024e-01 1.46293627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.856875 meters Centerline goodness : 0.157161 Centerline is valid? [False, False] Translation: X:207.23, Y:127.81, Z:146.28 [[ 9.35318571e-01 3.16305611e-01 1.58524227e-01 2.07228494e+02] [-2.77107372e-01 9.33487731e-01 -2.27622848e-01 1.27812030e+02] [-2.19978805e-01 1.68971645e-01 9.60759027e-01 1.46283940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.88687500000003 meters Centerline goodness : 0.119014 Centerline is valid? [False, False] Translation: X:207.25, Y:127.82, Z:146.28 [[ 9.41619716e-01 2.95610087e-01 1.61142752e-01 2.07245241e+02] [-2.61480242e-01 9.43604194e-01 -2.03074393e-01 1.27816882e+02] [-2.12085815e-01 1.49083206e-01 9.65812510e-01 1.46278765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.916875 meters Centerline goodness : 0.412258 Centerline is valid? [False, False] Translation: X:207.26, Y:127.83, Z:146.27 [[ 9.46427145e-01 2.80899644e-01 1.59282921e-01 2.07264273e+02] [-2.53193773e-01 9.51664763e-01 -1.73859407e-01 1.27829445e+02] [-2.00420989e-01 1.24215818e-01 9.71803405e-01 1.46273078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.94687500000003 meters Centerline goodness : 0.205276 Centerline is valid? [False, False] Translation: X:207.32, Y:127.85, Z:146.27 [[ 9.49631397e-01 2.76199639e-01 1.48033672e-01 2.07321677e+02] [-2.55797962e-01 9.56102809e-01 -1.42950417e-01 1.27847720e+02] [-1.81018263e-01 9.78834926e-02 9.78596551e-01 1.46270395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.976875 meters Centerline goodness : 0.454801 Centerline is valid? [False, False] Translation: X:207.34, Y:127.86, Z:146.27 [[ 9.49726351e-01 2.75164248e-01 1.49346895e-01 2.07337286e+02] [-2.51683516e-01 9.54734760e-01 -1.58546352e-01 1.27859694e+02] [-1.86212960e-01 1.12987497e-01 9.75991065e-01 1.46267597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.00687500000004 meters Centerline goodness : 0.461553 Centerline is valid? [False, False] Translation: X:207.35, Y:127.87, Z:146.26 [[ 9.49472235e-01 2.74249703e-01 1.52609226e-01 2.07349569e+02] [-2.47217489e-01 9.53085341e-01 -1.74676401e-01 1.27871244e+02] [-1.93354568e-01 1.28122723e-01 9.72727392e-01 1.46264880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.036875 meters Centerline goodness : 0.505330 Centerline is valid? [False, False] Translation: X:207.39, Y:127.89, Z:146.26 [[ 9.47120160e-01 2.78352146e-01 1.59635478e-01 2.07393608e+02] [-2.44823732e-01 9.48451922e-01 -2.01246844e-01 1.27889410e+02] [-2.07424067e-01 1.51522389e-01 9.66445147e-01 1.46264629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.066875 meters Centerline goodness : 0.524270 Centerline is valid? [False, False] Translation: X:207.41, Y:127.90, Z:146.26 [[ 9.47882674e-01 2.73692837e-01 1.63127762e-01 2.07409893e+02] [-2.41033075e-01 9.50794531e-01 -1.94660775e-01 1.27904887e+02] [-2.08378244e-01 1.45196389e-01 9.67210689e-01 1.46264301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.096875 meters Centerline goodness : 0.546344 Centerline is valid? [False, False] Translation: X:207.43, Y:127.92, Z:146.26 [[ 9.46709644e-01 2.77306156e-01 1.63835726e-01 2.07434421e+02] [-2.48813390e-01 9.52662295e-01 -1.74718199e-01 1.27921324e+02] [-2.04530551e-01 1.24642882e-01 9.70892067e-01 1.46261977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.126875 meters Centerline goodness : 0.564128 Centerline is valid? [False, False] Translation: X:207.49, Y:127.95, Z:146.26 [[ 9.42384717e-01 2.95020261e-01 1.57715220e-01 2.07487593e+02] [-2.73094434e-01 9.50743777e-01 -1.46648220e-01 1.27953029e+02] [-1.93210960e-01 9.51278928e-02 9.76534797e-01 1.46259043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.156875 meters Centerline goodness : 0.566481 Centerline is valid? [False, False] Translation: X:207.50, Y:127.97, Z:146.25 [[ 9.40766618e-01 2.99607616e-01 1.58724436e-01 2.07497997e+02] [-2.78073464e-01 9.49645117e-01 -1.44392871e-01 1.27967527e+02] [-1.93993089e-01 9.17029398e-02 9.76707352e-01 1.46254579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.186875 meters Centerline goodness : 0.569242 Centerline is valid? [False, False] Translation: X:207.52, Y:127.98, Z:146.25 [[ 9.39921638e-01 3.01821898e-01 1.59533247e-01 2.07516509e+02] [-2.77731069e-01 9.47776502e-01 -1.56796544e-01 1.27982031e+02] [-1.98526494e-01 1.03069125e-01 9.74660960e-01 1.46254749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.216875 meters Centerline goodness : 0.569399 Centerline is valid? [False, False] Translation: X:207.53, Y:127.99, Z:146.25 [[ 9.38878148e-01 3.04128499e-01 1.61287566e-01 2.07531936e+02] [-2.77714802e-01 9.46002760e-01 -1.67192305e-01 1.27992045e+02] [-2.03426427e-01 1.12181258e-01 9.72642305e-01 1.46252718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.246875 meters Centerline goodness : 0.569361 Centerline is valid? [False, False] Translation: X:207.54, Y:128.01, Z:146.25 [[ 9.38338120e-01 3.04496582e-01 1.63717452e-01 2.07536642e+02] [-2.76898396e-01 9.45478449e-01 -1.71457810e-01 1.28005131e+02] [-2.06999640e-01 1.15552299e-01 9.71493086e-01 1.46249577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.276875 meters Centerline goodness : 0.568585 Centerline is valid? [False, False] Translation: X:207.55, Y:128.02, Z:146.24 [[ 9.36998721e-01 3.05666277e-01 1.69119852e-01 2.07553772e+02] [-2.80566017e-01 9.46910570e-01 -1.56981154e-01 1.28016558e+02] [-2.08125220e-01 9.96418569e-02 9.73013563e-01 1.46244566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.306875 meters Centerline goodness : 0.579605 Centerline is valid? [False, False] Translation: X:207.57, Y:128.03, Z:146.24 [[ 9.35904875e-01 3.07696177e-01 1.71479236e-01 2.07574459e+02] [-2.86135430e-01 9.47998452e-01 -1.39375217e-01 1.28029519e+02] [-2.05447272e-01 8.13756603e-02 9.75279150e-01 1.46240869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.336875 meters Centerline goodness : 0.575833 Centerline is valid? [False, False] Translation: X:207.62, Y:128.05, Z:146.23 [[ 9.36791124e-01 3.08408613e-01 1.65246839e-01 2.07624504e+02] [-2.91166736e-01 9.49039700e-01 -1.20605053e-01 1.28048076e+02] [-1.94021448e-01 6.48673604e-02 9.78850297e-01 1.46233363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.366875 meters Centerline goodness : 0.557489 Centerline is valid? [False, False] Translation: X:207.63, Y:128.06, Z:146.23 [[ 9.37751239e-01 3.06114690e-01 1.64062215e-01 2.07632141e+02] [-2.87834318e-01 9.49340493e-01 -1.26111198e-01 1.28058560e+02] [-1.94355394e-01 7.10381961e-02 9.78355536e-01 1.46229578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.396875 meters Centerline goodness : 0.577449 Centerline is valid? [False, False] Translation: X:207.66, Y:128.06, Z:146.22 [[ 9.31893810e-01 3.24192465e-01 1.62705786e-01 2.07655475e+02] [-3.00274939e-01 9.41115266e-01 -1.55360927e-01 1.28064609e+02] [-2.03491741e-01 9.59234162e-02 9.74366363e-01 1.46219865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.426875 meters Centerline goodness : 0.577449 Centerline is valid? [False, False] Translation: X:207.66, Y:128.06, Z:146.22 [[ 9.31893810e-01 3.24192465e-01 1.62705786e-01 2.07655475e+02] [-3.00274939e-01 9.41115266e-01 -1.55360927e-01 1.28064609e+02] [-2.03491741e-01 9.59234162e-02 9.74366363e-01 1.46219865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.456875 meters Centerline goodness : 0.572832 Centerline is valid? [False, False] Translation: X:207.66, Y:128.07, Z:146.21 [[ 9.30758505e-01 3.26582584e-01 1.64415391e-01 2.07659602e+02] [-3.02435006e-01 9.40356541e-01 -1.55764704e-01 1.28070560e+02] [-2.05479128e-01 9.52543536e-02 9.74014854e-01 1.46213801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.486875 meters Centerline goodness : 0.568683 Centerline is valid? [False, False] Translation: X:207.66, Y:128.07, Z:146.21 [[ 9.31602317e-01 3.21564335e-01 1.69450584e-01 2.07664349e+02] [-2.98802689e-01 9.42970184e-01 -1.46711228e-01 1.28071802e+02] [-2.06963947e-01 8.60442304e-02 9.74557497e-01 1.46213691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.516875 meters Centerline goodness : 0.567013 Centerline is valid? [False, False] Translation: X:207.67, Y:128.07, Z:146.21 [[ 9.32153270e-01 3.15499959e-01 1.77623360e-01 2.07673901e+02] [-2.91945103e-01 9.45124653e-01 -1.46654172e-01 1.28070129e+02] [-2.14145602e-01 8.48478958e-02 9.73109704e-01 1.46210263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.546875 meters Centerline goodness : 0.585751 Centerline is valid? [False, False] Translation: X:207.69, Y:128.06, Z:146.20 [[ 9.32094711e-01 3.10636671e-01 1.86290926e-01 2.07688248e+02] [-2.86904807e-01 9.47108315e-01 -1.43775767e-01 1.28063202e+02] [-2.21099710e-01 8.05648698e-02 9.71917805e-01 1.46202486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.57687500000003 meters Centerline goodness : 0.588845 Centerline is valid? [False, False] Translation: X:207.70, Y:128.06, Z:146.20 [[ 9.32317512e-01 3.06609399e-01 1.91767395e-01 2.07695204e+02] [-2.85451051e-01 9.49491109e-01 -1.30323949e-01 1.28061433e+02] [-2.22039984e-01 6.67630954e-02 9.72749163e-01 1.46199681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.606875 meters Centerline goodness : 0.591928 Centerline is valid? [False, False] Translation: X:207.70, Y:128.06, Z:146.20 [[ 9.32883738e-01 3.06396798e-01 1.89338146e-01 2.07701882e+02] [-2.86199436e-01 9.49743331e-01 -1.26797037e-01 1.28060755e+02] [-2.18672848e-01 6.40984236e-02 9.73690699e-01 1.46199094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.63687500000003 meters Centerline goodness : 0.603323 Centerline is valid? [False, False] Translation: X:207.70, Y:128.06, Z:146.20 [[ 9.33689035e-01 3.03901614e-01 1.89390060e-01 2.07703434e+02] [-2.83018748e-01 9.50313997e-01 -1.29629066e-01 1.28059110e+02] [-2.19374507e-01 6.74322997e-02 9.73307614e-01 1.46198250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.666875 meters Centerline goodness : 0.612265 Centerline is valid? [False, False] Translation: X:207.71, Y:128.06, Z:146.20 [[ 9.34650008e-01 3.01812986e-01 1.87984796e-01 2.07706240e+02] [-2.80078373e-01 9.50620481e-01 -1.33704177e-01 1.28061003e+02] [-2.19055854e-01 7.23161348e-02 9.73028730e-01 1.46197756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.69687500000003 meters Centerline goodness : 0.622579 Centerline is valid? [False, False] Translation: X:207.73, Y:128.05, Z:146.18 [[ 9.34832710e-01 3.03947057e-01 1.83586469e-01 2.07734676e+02] [-2.80051903e-01 9.48960874e-01 -1.45066164e-01 1.28049181e+02] [-2.18308810e-01 8.41988554e-02 9.72240616e-01 1.46183320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.726875 meters Centerline goodness : 0.620621 Centerline is valid? [False, False] Translation: X:207.74, Y:128.05, Z:146.17 [[ 9.35927714e-01 3.01294609e-01 1.82375636e-01 2.07739803e+02] [-2.76105176e-01 9.49168824e-01 -1.51143892e-01 1.28046484e+02] [-2.18644107e-01 9.11049002e-02 9.71542408e-01 1.46173505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.75687500000004 meters Centerline goodness : 0.337124 Centerline is valid? [False, False] Translation: X:207.74, Y:128.04, Z:146.17 [[ 9.36471403e-01 3.03974779e-01 1.74987558e-01 2.07743337e+02] [-2.76521609e-01 9.46770071e-01 -1.64809684e-01 1.28040063e+02] [-2.15770970e-01 1.05951715e-01 9.70678692e-01 1.46167033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.786875 meters Centerline goodness : 0.640440 Centerline is valid? [False, False] Translation: X:207.76, Y:128.03, Z:146.15 [[ 9.36707869e-01 3.00278374e-01 1.80031291e-01 2.07758805e+02] [-2.74546481e-01 9.49077970e-01 -1.54516138e-01 1.28026970e+02] [-2.17261586e-01 9.53095255e-02 9.71449174e-01 1.46153623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.816875 meters Centerline goodness : 0.649239 Centerline is valid? [False, False] Translation: X:207.76, Y:128.02, Z:146.15 [[ 9.36325709e-01 2.95717468e-01 1.89328673e-01 2.07764881e+02] [-2.70342371e-01 9.51206075e-01 -1.48734683e-01 1.28019857e+02] [-2.24074028e-01 8.80805450e-02 9.70583663e-01 1.46147121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.846875 meters Centerline goodness : 0.670364 Centerline is valid? [False, False] Translation: X:207.76, Y:128.01, Z:146.14 [[ 9.37254828e-01 2.88779156e-01 1.95345811e-01 2.07760481e+02] [-2.63301452e-01 9.53551065e-01 -1.46330830e-01 1.28013010e+02] [-2.28529500e-01 8.57144409e-02 9.69756311e-01 1.46144081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.876875 meters Centerline goodness : 0.673112 Centerline is valid? [False, False] Translation: X:207.77, Y:127.99, Z:146.13 [[ 9.40701013e-01 2.75897577e-01 1.97388273e-01 2.07772823e+02] [-2.49290065e-01 9.56841072e-01 -1.49364076e-01 1.27993040e+02] [-2.30078394e-01 9.13000026e-02 9.68879890e-01 1.46133391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.906875 meters Centerline goodness : 0.705018 Centerline is valid? [False, False] Translation: X:207.78, Y:127.99, Z:146.13 [[ 9.42683202e-01 2.66174997e-01 2.01244261e-01 2.07777502e+02] [-2.40749230e-01 9.60119477e-01 -1.42163280e-01 1.27985959e+02] [-2.31058845e-01 8.55655348e-02 9.69169928e-01 1.46131425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.936875 meters Centerline goodness : 0.765328 Centerline is valid? [False, False] Translation: X:207.79, Y:127.97, Z:146.12 [[ 9.48549041e-01 2.51403348e-01 1.92486553e-01 2.07791979e+02] [-2.27759190e-01 9.64063040e-01 -1.36777944e-01 1.27969679e+02] [-2.19955605e-01 8.59000063e-02 9.71720495e-01 1.46120482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.966875 meters Centerline goodness : 0.761226 Centerline is valid? [False, False] Translation: X:207.80, Y:127.97, Z:146.11 [[ 9.49239758e-01 2.48816439e-01 1.92442877e-01 2.07796040e+02] [-2.23602166e-01 9.64055066e-01 -1.43526655e-01 1.27968817e+02] [-2.21237322e-01 9.32105631e-02 9.70755293e-01 1.46107817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.996875 meters Centerline goodness : 0.970067 Centerline is valid? [False, True] Translation: X:207.85, Y:127.92, Z:146.05 [[ 9.46402222e-01 2.16231334e-01 2.39930917e-01 2.07849446e+02] [-2.15657402e-01 9.76039154e-01 -2.89733552e-02 1.27920219e+02] [-2.40446916e-01 -2.43224305e-02 9.70357511e-01 1.46045150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.026875 meters Centerline goodness : 0.460580 Centerline is valid? [True, False] Translation: X:207.95, Y:127.79, Z:145.98 [[ 9.40928260e-01 1.91120319e-01 2.79512135e-01 2.07950767e+02] [-2.13163515e-01 9.75714744e-01 5.04187845e-02 1.27788843e+02] [-2.63088057e-01 -1.07022248e-01 9.58817455e-01 1.45980536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.056875 meters Centerline goodness : 0.794533 Centerline is valid? [False, False] Translation: X:207.97, Y:127.78, Z:145.99 [[ 9.37317406e-01 1.98879204e-01 2.86152306e-01 2.07967590e+02] [-2.17935853e-01 9.75297994e-01 3.60248017e-02 1.27784845e+02] [-2.71919186e-01 -9.61295206e-02 9.57506695e-01 1.45990221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.086875 meters Centerline goodness : 0.821980 Centerline is valid? [False, False] Translation: X:207.98, Y:127.79, Z:146.00 [[ 9.38425728e-01 1.87697486e-01 2.90046217e-01 2.07980790e+02] [-2.12507373e-01 9.75538893e-01 5.62537554e-02 1.27787153e+02] [-2.72392677e-01 -1.14426931e-01 9.55357895e-01 1.45995483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.116875 meters Centerline goodness : 0.888784 Centerline is valid? [False, False] Translation: X:207.97, Y:127.80, Z:146.00 [[ 9.37366172e-01 1.76083150e-01 3.00565109e-01 2.07974383e+02] [-2.02235877e-01 9.77619017e-01 5.79802299e-02 1.27795963e+02] [-2.83628825e-01 -1.15133755e-01 9.51997326e-01 1.46000904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.146875 meters Centerline goodness : 0.860370 Centerline is valid? [False, False] Translation: X:207.99, Y:127.79, Z:146.00 [[ 9.37966979e-01 1.68154250e-01 3.03219550e-01 2.07987038e+02] [-1.95642636e-01 9.78684752e-01 6.24508944e-02 1.27788996e+02] [-2.86254967e-01 -1.17899549e-01 9.50872121e-01 1.45998040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.176875 meters Centerline goodness : 0.864253 Centerline is valid? [False, False] Translation: X:207.99, Y:127.79, Z:146.00 [[ 9.39024233e-01 1.57819224e-01 3.05493997e-01 2.07993326e+02] [-1.87026802e-01 9.79954306e-01 6.86333321e-02 1.27785842e+02] [-2.88538499e-01 -1.21583927e-01 9.49717265e-01 1.45998559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.206875 meters Centerline goodness : 0.906748 Centerline is valid? [False, False] Translation: X:208.02, Y:127.80, Z:145.99 [[ 9.38987161e-01 1.58647556e-01 3.05178741e-01 2.08018121e+02] [-1.83101809e-01 9.81661143e-01 5.30577826e-02 1.27797086e+02] [-2.91164624e-01 -1.05699356e-01 9.50815864e-01 1.45990448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.236875 meters Centerline goodness : 0.890593 Centerline is valid? [False, False] Translation: X:208.02, Y:127.80, Z:145.99 [[ 9.39329596e-01 1.63287084e-01 3.01657484e-01 2.08015204e+02] [-1.85944732e-01 9.81397692e-01 4.77820806e-02 1.27798078e+02] [-2.88243762e-01 -1.00974743e-01 9.52218271e-01 1.45992637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.266875 meters Centerline goodness : 0.889390 Centerline is valid? [False, False] Translation: X:208.02, Y:127.79, Z:145.99 [[ 9.40438598e-01 1.58721020e-01 3.00637459e-01 2.08018284e+02] [-1.79463328e-01 9.82846383e-01 4.24959036e-02 1.27793361e+02] [-2.88735446e-01 -9.39181869e-02 9.52791276e-01 1.45986634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.296875 meters Centerline goodness : 0.868376 Centerline is valid? [False, False] Translation: X:208.11, Y:127.87, Z:145.91 [[ 9.44822656e-01 1.85968285e-01 2.69677484e-01 2.08110177e+02] [-2.19625563e-01 9.70417826e-01 1.00268913e-01 1.27871632e+02] [-2.43053000e-01 -1.53964410e-01 9.57716137e-01 1.45913704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.32687500000003 meters Centerline goodness : 0.882542 Centerline is valid? [False, False] Translation: X:208.12, Y:127.86, Z:145.91 [[ 9.46168983e-01 1.82728750e-01 2.67159987e-01 2.08115145e+02] [-2.14973841e-01 9.71825580e-01 9.66503535e-02 1.27862898e+02] [-2.41972111e-01 -1.48879975e-01 9.58793122e-01 1.45911239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.356875 meters Centerline goodness : 0.901515 Centerline is valid? [False, False] Translation: X:208.13, Y:127.86, Z:145.91 [[ 9.45543736e-01 1.76098142e-01 2.73745296e-01 2.08126139e+02] [-2.08828501e-01 9.73308223e-01 9.51932766e-02 1.27860835e+02] [-2.49675189e-01 -1.47175226e-01 9.57079805e-01 1.45914985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.38687500000003 meters Centerline goodness : 0.905960 Centerline is valid? [False, False] Translation: X:208.13, Y:127.86, Z:145.92 [[ 9.46271489e-01 1.73616305e-01 2.72814311e-01 2.08126866e+02] [-2.05072331e-01 9.74493514e-01 9.11467490e-02 1.27862414e+02] [-2.50031215e-01 -1.42196237e-01 9.57739329e-01 1.45916479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.416875 meters Centerline goodness : 0.906877 Centerline is valid? [False, False] Translation: X:208.13, Y:127.86, Z:145.91 [[ 9.48131653e-01 1.74176531e-01 2.65911461e-01 2.08129102e+02] [-2.00449790e-01 9.76838487e-01 7.48762427e-02 1.27858229e+02] [-2.46710865e-01 -1.24294432e-01 9.61085138e-01 1.45911754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.44687500000003 meters Centerline goodness : 0.867976 Centerline is valid? [False, False] Translation: X:208.15, Y:127.85, Z:145.91 [[ 9.51652351e-01 1.63868150e-01 2.59817307e-01 2.08151626e+02] [-1.88375373e-01 9.79436566e-01 7.22407958e-02 1.27852710e+02] [-2.42636605e-01 -1.17691305e-01 9.62951834e-01 1.45905750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.476875 meters Centerline goodness : 0.890058 Centerline is valid? [False, False] Translation: X:208.15, Y:127.86, Z:145.91 [[ 9.51422941e-01 1.63504459e-01 2.60884416e-01 2.08150126e+02] [-1.88431039e-01 9.79338975e-01 7.34092306e-02 1.27860399e+02] [-2.43491540e-01 -1.19001948e-01 9.62574883e-01 1.45912088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.50687500000004 meters Centerline goodness : 0.903494 Centerline is valid? [False, False] Translation: X:208.15, Y:127.87, Z:145.92 [[ 9.51270734e-01 1.63849348e-01 2.61222857e-01 2.08149639e+02] [-1.89193296e-01 9.79083104e-01 7.48476531e-02 1.27867674e+02] [-2.43495147e-01 -1.20621995e-01 9.62372302e-01 1.45918406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.536875 meters Centerline goodness : 0.894516 Centerline is valid? [False, False] Translation: X:208.15, Y:127.87, Z:145.92 [[ 9.52176436e-01 1.61630204e-01 2.59298500e-01 2.08151772e+02] [-1.85744757e-01 9.80015111e-01 7.11987882e-02 1.27869791e+02] [-2.42608573e-01 -1.15957145e-01 9.63169259e-01 1.45919436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.566875 meters Centerline goodness : 0.907183 Centerline is valid? [False, False] Translation: X:208.15, Y:127.87, Z:145.92 [[ 9.53202932e-01 1.58609959e-01 2.57385027e-01 2.08154940e+02] [-1.81532574e-01 9.81049607e-01 6.77317701e-02 1.27868446e+02] [-2.41764547e-01 -1.11285888e-01 9.63932236e-01 1.45918490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.596875 meters Centerline goodness : 0.926827 Centerline is valid? [False, False] Translation: X:208.16, Y:127.87, Z:145.91 [[ 9.53714151e-01 1.56594048e-01 2.56724800e-01 2.08158714e+02] [-1.78152962e-01 9.81994234e-01 6.28398546e-02 1.27870692e+02] [-2.42261926e-01 -1.05667542e-01 9.64439490e-01 1.45910246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.626875 meters Centerline goodness : 0.925446 Centerline is valid? [False, False] Translation: X:208.18, Y:127.90, Z:145.91 [[ 9.52851384e-01 1.76449927e-01 2.46859603e-01 2.08176422e+02] [-1.85671262e-01 9.82506449e-01 1.43965538e-02 1.27895100e+02] [-2.40000881e-01 -5.95525104e-02 9.68944310e-01 1.45914590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.656875 meters Centerline goodness : 0.917561 Centerline is valid? [False, False] Translation: X:208.18, Y:127.90, Z:145.92 [[ 9.53385559e-01 1.75344310e-01 2.45581653e-01 2.08182747e+02] [-1.86280519e-01 9.82253733e-01 2.18442768e-02 1.27901505e+02] [-2.37393226e-01 -6.65730958e-02 9.69129754e-01 1.45917370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.686875 meters Centerline goodness : 0.897663 Centerline is valid? [False, False] Translation: X:208.18, Y:127.91, Z:145.92 [[ 9.52846984e-01 1.76530179e-01 2.46819209e-01 2.08177992e+02] [-1.86705701e-01 9.82246258e-01 1.82556941e-02 1.27907333e+02] [-2.39214563e-01 -6.34774364e-02 9.68889575e-01 1.45920961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.716875 meters Centerline goodness : 0.939259 Centerline is valid? [False, False] Translation: X:208.17, Y:127.91, Z:145.92 [[ 9.51855421e-01 1.82750832e-01 2.46116621e-01 2.08166324e+02] [-1.88906071e-01 9.81994125e-01 1.42625427e-03 1.27910444e+02] [-2.41424427e-01 -4.78505118e-02 9.69239173e-01 1.45924901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.746875 meters Centerline goodness : 0.916975 Centerline is valid? [False, False] Translation: X:208.17, Y:127.91, Z:145.92 [[ 9.51977854e-01 1.82210486e-01 2.46043705e-01 2.08165276e+02] [-1.87114645e-01 9.82331833e-01 -3.50410192e-03 1.27909257e+02] [-2.42335048e-01 -4.27025531e-02 9.69252401e-01 1.45921714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.776875 meters Centerline goodness : 0.896655 Centerline is valid? [False, False] Translation: X:208.17, Y:127.91, Z:145.92 [[ 9.52160407e-01 1.81967189e-01 2.45516804e-01 2.08166044e+02] [-1.86644322e-01 9.82418199e-01 -4.28705733e-03 1.27910441e+02] [-2.41980280e-01 -4.17423512e-02 9.69382855e-01 1.45921609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.806875 meters Centerline goodness : 0.952940 Centerline is valid? [False, True] Translation: X:208.17, Y:127.92, Z:145.93 [[ 9.51904031e-01 1.83885596e-01 2.45081219e-01 2.08168408e+02] [-1.91569882e-01 9.81448941e-01 7.67835344e-03 1.27919446e+02] [-2.39122764e-01 -5.42592358e-02 9.69472145e-01 1.45933081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.836875 meters Centerline goodness : 0.941388 Centerline is valid? [True, False] Translation: X:208.16, Y:127.93, Z:145.94 [[ 9.49505742e-01 1.89086596e-01 2.50369935e-01 2.08160826e+02] [-1.94583544e-01 9.80881810e-01 -2.84942246e-03 1.27933839e+02] [-2.46122103e-01 -4.60123264e-02 9.68146051e-01 1.45939791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.866875 meters Centerline goodness : 0.945976 Centerline is valid? [False, False] Translation: X:208.16, Y:127.94, Z:145.94 [[ 9.49497317e-01 1.87617913e-01 2.51504200e-01 2.08159628e+02] [-1.92972882e-01 9.81198089e-01 -3.43176943e-03 1.27936042e+02] [-2.47419302e-01 -4.52750344e-02 9.67850123e-01 1.45943016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.896875 meters Centerline goodness : 0.943776 Centerline is valid? [False, False] Translation: X:208.16, Y:127.93, Z:145.94 [[ 9.50379602e-01 1.86002686e-01 2.49362414e-01 2.08160902e+02] [-1.88904320e-01 9.81916384e-01 -1.24648811e-02 1.27934489e+02] [-2.47171541e-01 -3.52592685e-02 9.68330012e-01 1.45935946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.926875 meters Centerline goodness : 0.946371 Centerline is valid? [False, False] Translation: X:208.16, Y:127.94, Z:145.93 [[ 9.51007856e-01 1.85660563e-01 2.47212892e-01 2.08164440e+02] [-1.86596605e-01 9.82236024e-01 -1.98519429e-02 1.27940233e+02] [-2.46507131e-01 -2.72497327e-02 9.68757806e-01 1.45929682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.956875 meters Centerline goodness : 0.949710 Centerline is valid? [False, False] Translation: X:208.17, Y:127.95, Z:145.93 [[ 9.51138260e-01 1.86410098e-01 2.46144846e-01 2.08166701e+02] [-1.86419037e-01 9.82189682e-01 -2.34812820e-02 1.27945009e+02] [-2.46138076e-01 -2.35521394e-02 9.68948577e-01 1.45925936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.986875 meters Centerline goodness : 0.951521 Centerline is valid? [False, True] Translation: X:208.17, Y:127.95, Z:145.93 [[ 9.51238574e-01 1.86528834e-01 2.45666787e-01 2.08167364e+02] [-1.86046600e-01 9.82212934e-01 -2.53853243e-02 1.27948016e+02] [-2.46032191e-01 -2.15579707e-02 9.69021886e-01 1.45925539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.016875 meters Centerline goodness : 0.959877 Centerline is valid? [True, True] Translation: X:208.21, Y:127.94, Z:145.92 [[ 9.49570229e-01 1.96262594e-01 2.44535018e-01 2.08208085e+02] [-1.94642113e-01 9.80383601e-01 -3.10232571e-02 1.27938136e+02] [-2.45826826e-01 -1.81380512e-02 9.69144046e-01 1.45918915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.046875 meters Centerline goodness : 0.943689 Centerline is valid? [True, False] Translation: X:208.21, Y:127.94, Z:145.92 [[ 9.49864548e-01 1.95654119e-01 2.43878671e-01 2.08209396e+02] [-1.93487754e-01 9.80545796e-01 -3.30519527e-02 1.27941130e+02] [-2.45600956e-01 -1.57926581e-02 9.69242365e-01 1.45917954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.07687500000003 meters Centerline goodness : 0.947477 Centerline is valid? [False, False] Translation: X:208.21, Y:127.95, Z:145.91 [[ 9.50742641e-01 1.93629046e-01 2.42066566e-01 2.08211968e+02] [-1.89808937e-01 9.81036744e-01 -3.92361445e-02 1.27945206e+02] [-2.45073453e-01 -8.64292205e-03 9.69465988e-01 1.45914998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.106875 meters Centerline goodness : 0.952792 Centerline is valid? [False, True] Translation: X:208.21, Y:127.95, Z:145.91 [[ 9.51827510e-01 1.90841681e-01 2.40008007e-01 2.08214931e+02] [-1.85710563e-01 9.81617233e-01 -4.40362822e-02 1.27948111e+02] [-2.43999954e-01 -2.65707726e-03 9.69771603e-01 1.45913771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.13687500000003 meters Centerline goodness : 0.955320 Centerline is valid? [True, True] Translation: X:208.27, Y:127.91, Z:145.90 [[ 9.52157833e-01 2.02764482e-01 2.28652631e-01 2.08268178e+02] [-2.02548270e-01 9.78961503e-01 -2.46693007e-02 1.27909167e+02] [-2.28844182e-01 -2.28241270e-02 9.73195458e-01 1.45899580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.166875 meters Centerline goodness : 0.960851 Centerline is valid? [True, True] Translation: X:208.32, Y:127.89, Z:145.89 [[ 9.50752892e-01 1.97864658e-01 2.38576017e-01 2.08321483e+02] [-2.00024862e-01 9.79670195e-01 -1.53741009e-02 1.27891894e+02] [-2.36767805e-01 -3.31041641e-02 9.71002122e-01 1.45888046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.19687500000003 meters Centerline goodness : 0.960649 Centerline is valid? [True, True] Translation: X:208.34, Y:127.88, Z:145.87 [[ 9.53254260e-01 1.95154320e-01 2.30697004e-01 2.08343480e+02] [-1.99278137e-01 9.79927401e-01 -5.52383371e-03 1.27875347e+02] [-2.27144315e-01 -4.07072512e-02 9.73009959e-01 1.45874181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.226875 meters Centerline goodness : 0.932836 Centerline is valid? [True, False] Translation: X:208.35, Y:127.88, Z:145.87 [[ 9.54052060e-01 1.93577600e-01 2.28718996e-01 2.08346809e+02] [-1.96020959e-01 9.80523656e-01 -1.22124374e-02 1.27879332e+02] [-2.26628440e-01 -3.31824159e-02 9.73415881e-01 1.45868818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.25687500000004 meters Centerline goodness : 0.950215 Centerline is valid? [False, True] Translation: X:208.35, Y:127.88, Z:145.87 [[ 9.54425075e-01 1.92900680e-01 2.27732529e-01 2.08349002e+02] [-1.94799639e-01 9.80738369e-01 -1.43301357e-02 1.27882184e+02] [-2.26110322e-01 -3.06851737e-02 9.73618273e-01 1.45866778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.286875 meters Centerline goodness : 0.962023 Centerline is valid? [True, True] Translation: X:208.39, Y:127.85, Z:145.85 [[ 9.52036252e-01 1.72953993e-01 2.52416108e-01 2.08386612e+02] [-1.83288533e-01 9.82897402e-01 1.78328439e-02 1.27854481e+02] [-2.45014875e-01 -6.32424918e-02 9.67454442e-01 1.45845210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.316875 meters Centerline goodness : 0.962023 Centerline is valid? [True, True] Translation: X:208.42, Y:127.85, Z:145.84 [[ 9.51763395e-01 1.77888705e-01 2.50004099e-01 2.08416331e+02] [-1.85942844e-01 9.82521365e-01 8.77641121e-03 1.27852163e+02] [-2.44073144e-01 -5.48395399e-02 9.68205002e-01 1.45840762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.346875 meters Centerline goodness : 0.970075 Centerline is valid? [True, True] Translation: X:208.46, Y:127.83, Z:145.83 [[ 9.48261903e-01 1.71528276e-01 2.67165519e-01 2.08458514e+02] [-1.80757269e-01 9.83475375e-01 1.01487507e-02 1.27834018e+02] [-2.61009911e-01 -5.79157831e-02 9.63597213e-01 1.45830270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.376875 meters Centerline goodness : 0.963086 Centerline is valid? [True, True] Translation: X:208.44, Y:127.86, Z:145.85 [[ 9.51870252e-01 1.76844224e-01 2.50338059e-01 2.08442060e+02] [-1.79493143e-01 9.83681075e-01 -1.23997643e-02 1.27858899e+02] [-2.48445638e-01 -3.31309984e-02 9.68079078e-01 1.45846989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.406875 meters Centerline goodness : 0.964221 Centerline is valid? [True, True] Translation: X:208.51, Y:127.81, Z:145.83 [[ 9.48520307e-01 2.11945534e-01 2.35347229e-01 2.08509164e+02] [-2.19181057e-01 9.75672841e-01 4.70871308e-03 1.27808492e+02] [-2.28623909e-01 -5.60499644e-02 9.71899948e-01 1.45828566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.436875 meters Centerline goodness : 0.972332 Centerline is valid? [True, True] Translation: X:208.56, Y:127.79, Z:145.81 [[ 9.48842457e-01 1.82851862e-01 2.57416371e-01 2.08559837e+02] [-1.98086076e-01 9.79583711e-01 3.43170606e-02 1.27793096e+02] [-2.45885945e-01 -8.35520828e-02 9.65691023e-01 1.45805918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.466875 meters Centerline goodness : 0.972279 Centerline is valid? [True, True] Translation: X:208.59, Y:127.81, Z:145.82 [[ 9.49390024e-01 1.96105663e-01 2.45359229e-01 2.08592218e+02] [-1.98750337e-01 9.79947421e-01 -1.41900161e-02 1.27805540e+02] [-2.43221886e-01 -3.52933697e-02 9.69328372e-01 1.45816371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.496875 meters Centerline goodness : 0.971450 Centerline is valid? [True, True] Translation: X:208.61, Y:127.79, Z:145.80 [[ 9.50183471e-01 1.91915779e-01 2.45600701e-01 2.08610555e+02] [-1.97148749e-01 9.80367894e-01 -3.34113692e-03 1.27790241e+02] [-2.41420259e-01 -4.52451779e-02 9.69365325e-01 1.45803490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.526875 meters Centerline goodness : 0.917874 Centerline is valid? [True, False] Translation: X:208.61, Y:127.79, Z:145.81 [[ 9.51499951e-01 1.87192194e-01 2.44145297e-01 2.08610305e+02] [-1.90459022e-01 9.81640293e-01 -1.03776328e-02 1.27790717e+02] [-2.41605473e-01 -3.66253573e-02 9.69683133e-01 1.45805015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.556875 meters Centerline goodness : 0.920946 Centerline is valid? [False, False] Translation: X:208.61, Y:127.79, Z:145.81 [[ 9.53519187e-01 1.80132211e-01 2.41564789e-01 2.08613664e+02] [-1.82137906e-01 9.83170546e-01 -1.41936924e-02 1.27792770e+02] [-2.40056127e-01 -3.04641468e-02 9.70280883e-01 1.45808139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.586875 meters Centerline goodness : 0.978204 Centerline is valid? [False, True] Translation: X:208.62, Y:127.80, Z:145.81 [[ 9.53954304e-01 1.79361061e-01 2.40417961e-01 2.08616376e+02] [-1.81839256e-01 9.83254728e-01 -1.20260152e-02 1.27798687e+02] [-2.38549095e-01 -3.22451541e-02 9.70594961e-01 1.45812119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.616875 meters Centerline goodness : 0.973284 Centerline is valid? [True, True] Translation: X:208.61, Y:127.83, Z:145.83 [[ 9.54609623e-01 1.73795459e-01 2.41899993e-01 2.08607670e+02] [-1.72736640e-01 9.84631453e-01 -2.57478984e-02 1.27834640e+02] [-2.42657210e-01 -1.72058005e-02 9.69959504e-01 1.45825542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.646875 meters Centerline goodness : 0.972415 Centerline is valid? [True, True] Translation: X:208.67, Y:127.79, Z:145.81 [[ 9.50267541e-01 1.99334853e-01 2.39284804e-01 2.08668242e+02] [-2.02207258e-01 9.79259821e-01 -1.27447237e-02 1.27785326e+02] [-2.36862461e-01 -3.62742268e-02 9.70865776e-01 1.45809543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.676875 meters Centerline goodness : 0.984375 Centerline is valid? [True, True] Translation: X:208.74, Y:127.73, Z:145.74 [[ 9.44029712e-01 1.37432989e-01 2.99866765e-01 2.08742273e+02] [-1.68823803e-01 9.82288469e-01 8.12889188e-02 1.27725487e+02] [-2.83383887e-01 -1.27363802e-01 9.50511460e-01 1.45744981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.706875 meters Centerline goodness : 0.985563 Centerline is valid? [True, True] Translation: X:208.80, Y:127.78, Z:145.79 [[ 9.46379168e-01 1.75140000e-01 2.71463535e-01 2.08799603e+02] [-1.66094366e-01 9.84510729e-01 -5.61363089e-02 1.27780181e+02] [-2.77090476e-01 8.03766960e-03 9.60810212e-01 1.45792343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.736875 meters Centerline goodness : 0.148104 Centerline is valid? [True, False] Translation: X:208.80, Y:127.78, Z:145.79 [[ 9.46232199e-01 1.77410740e-01 2.70499641e-01 2.08803190e+02] [-1.68909055e-01 9.84118829e-01 -5.45881064e-02 1.27784190e+02] [-2.75888306e-01 5.96318519e-03 9.61171204e-01 1.45789486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.766875 meters Centerline goodness : 0.975815 Centerline is valid? [False, True] Translation: X:208.81, Y:127.80, Z:145.79 [[ 9.45402752e-01 1.83441038e-01 2.69375245e-01 2.08810567e+02] [-1.77876123e-01 9.83016776e-01 -4.51453574e-02 1.27796989e+02] [-2.73081896e-01 -5.23487902e-03 9.61976546e-01 1.45789216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.796875 meters Centerline goodness : 0.140834 Centerline is valid? [True, False] Translation: X:208.81, Y:127.80, Z:145.79 [[ 9.44853369e-01 1.86731276e-01 2.69041894e-01 2.08813311e+02] [-1.82987515e-01 9.82334917e-01 -3.91622386e-02 1.27802482e+02] [-2.71602061e-01 -1.22287344e-02 9.62331948e-01 1.45792364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.82687500000003 meters Centerline goodness : 0.138943 Centerline is valid? [False, False] Translation: X:208.82, Y:127.81, Z:145.79 [[ 9.44631338e-01 1.88722242e-01 2.68431651e-01 2.08815202e+02] [-1.85671924e-01 9.81916888e-01 -3.69480984e-02 1.27807646e+02] [-2.70550500e-01 -1.49378895e-02 9.62589885e-01 1.45794883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.856875 meters Centerline goodness : 0.182199 Centerline is valid? [False, False] Translation: X:208.82, Y:127.81, Z:145.79 [[ 9.44576380e-01 1.89943921e-01 2.67762524e-01 2.08817852e+02] [-1.87657268e-01 9.81633614e-01 -3.43540059e-02 1.27810605e+02] [-2.69370029e-01 -1.77976013e-02 9.62872283e-01 1.45794807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.88687500000003 meters Centerline goodness : 0.986532 Centerline is valid? [False, True] Translation: X:208.83, Y:127.82, Z:145.79 [[ 9.46292115e-01 1.90067432e-01 2.61544651e-01 2.08829449e+02] [-1.86314142e-01 9.81703361e-01 -3.93134923e-02 1.27821818e+02] [-2.64231477e-01 -1.15274194e-02 9.64390401e-01 1.45786446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.916875 meters Centerline goodness : 0.590434 Centerline is valid? [True, False] Translation: X:208.83, Y:127.82, Z:145.79 [[ 9.48622322e-01 1.93618138e-01 2.50255283e-01 2.08833203e+02] [-1.89981186e-01 9.81018737e-01 -3.88508364e-02 1.27820628e+02] [-2.53027348e-01 -1.06890247e-02 9.67400075e-01 1.45785858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.94687500000003 meters Centerline goodness : 0.137812 Centerline is valid? [False, False] Translation: X:208.83, Y:127.82, Z:145.79 [[ 9.50908236e-01 1.84165888e-01 2.48709573e-01 2.08831370e+02] [-1.77296334e-01 9.82889298e-01 -4.99463548e-02 1.27816075e+02] [-2.53652393e-01 3.39910464e-03 9.67289465e-01 1.45787040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.976875 meters Centerline goodness : 0.137495 Centerline is valid? [False, False] Translation: X:208.83, Y:127.81, Z:145.79 [[ 9.50964306e-01 1.83731012e-01 2.48816808e-01 2.08831116e+02] [-1.77308430e-01 9.82975082e-01 -4.81841188e-02 1.27812504e+02] [-2.53433639e-01 1.70405970e-03 9.67351274e-01 1.45787653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.00687500000004 meters Centerline goodness : 0.138030 Centerline is valid? [False, False] Translation: X:208.83, Y:127.81, Z:145.79 [[ 9.51133134e-01 1.83561003e-01 2.48296434e-01 2.08832332e+02] [-1.77484050e-01 9.83008201e-01 -4.68432447e-02 1.27811213e+02] [-2.52676024e-01 4.85505543e-04 9.67550821e-01 1.45787738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.036875 meters Centerline goodness : 0.856993 Centerline is valid? [False, False] Translation: X:208.84, Y:127.81, Z:145.79 [[ 9.52766938e-01 1.89299064e-01 2.37489004e-01 2.08835304e+02] [-1.85585110e-01 9.81888799e-01 -3.81123876e-02 1.27808525e+02] [-2.40402432e-01 -7.76220015e-03 9.70642271e-01 1.45791013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.066875 meters Centerline goodness : 0.140272 Centerline is valid? [False, False] Translation: X:208.84, Y:127.81, Z:145.79 [[ 9.52281356e-01 1.91337623e-01 2.37802720e-01 2.08836350e+02] [-1.88600879e-01 9.81450138e-01 -3.44286894e-02 1.27808008e+02] [-2.39979016e-01 -1.20640030e-02 9.70703112e-01 1.45789957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.096875 meters Centerline goodness : 0.143665 Centerline is valid? [False, False] Translation: X:208.83, Y:127.81, Z:145.79 [[ 9.51209058e-01 1.95021135e-01 2.39098482e-01 2.08834435e+02] [-1.92944409e-01 9.80677969e-01 -3.22982460e-02 1.27809832e+02] [-2.40777455e-01 -1.54103312e-02 9.70458005e-01 1.45791554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.126875 meters Centerline goodness : 0.987950 Centerline is valid? [False, True] Translation: X:208.83, Y:127.81, Z:145.79 [[ 9.51664526e-01 1.93321586e-01 2.38665864e-01 2.08834160e+02] [-1.90622936e-01 9.81054548e-01 -3.45668862e-02 1.27808486e+02] [-2.40826757e-01 -1.25991084e-02 9.70486340e-01 1.45791910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.156875 meters Centerline goodness : 0.990077 Centerline is valid? [True, True] Translation: X:208.87, Y:127.81, Z:145.80 [[ 9.52192001e-01 2.03799025e-01 2.27588117e-01 2.08872517e+02] [-1.91263151e-01 9.78585616e-01 -7.60828442e-02 1.27814498e+02] [-2.38220067e-01 2.89162553e-02 9.70780639e-01 1.45797774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.186875 meters Centerline goodness : 0.991139 Centerline is valid? [True, True] Translation: X:208.90, Y:127.79, Z:145.78 [[ 9.50358509e-01 1.98304975e-01 2.39778733e-01 2.08897190e+02] [-1.91480261e-01 9.80135150e-01 -5.16758958e-02 1.27794830e+02] [-2.45263151e-01 3.19773290e-03 9.69451268e-01 1.45777289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.216875 meters Centerline goodness : 0.135643 Centerline is valid? [True, False] Translation: X:208.90, Y:127.79, Z:145.78 [[ 9.50164915e-01 1.93429984e-01 2.44482055e-01 2.08899393e+02] [-1.90098448e-01 9.81052942e-01 -3.73858890e-02 1.27790615e+02] [-2.47081391e-01 -1.09528992e-02 9.68932825e-01 1.45775917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.246875 meters Centerline goodness : 0.989335 Centerline is valid? [False, True] Translation: X:208.90, Y:127.79, Z:145.78 [[ 9.49354872e-01 1.95708502e-01 2.45811940e-01 2.08897794e+02] [-1.93581198e-01 9.80527923e-01 -3.30350004e-02 1.27789003e+02] [-2.47490701e-01 -1.62226312e-02 9.68754447e-01 1.45775997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.276875 meters Centerline goodness : 0.991906 Centerline is valid? [True, True] Translation: X:208.93, Y:127.79, Z:145.77 [[ 9.52833061e-01 1.91033441e-01 2.35829140e-01 2.08930754e+02] [-1.86998806e-01 9.81562713e-01 -3.95738120e-02 1.27786393e+02] [-2.39041012e-01 -6.39253110e-03 9.70988430e-01 1.45773831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.306875 meters Centerline goodness : 0.991690 Centerline is valid? [True, True] Translation: X:208.96, Y:127.79, Z:145.77 [[ 9.53542316e-01 1.94132663e-01 2.30368317e-01 2.08960321e+02] [-1.86529630e-01 9.80933554e-01 -5.45532802e-02 1.27786787e+02] [-2.36566585e-01 9.04834421e-03 9.71573146e-01 1.45773587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.336875 meters Centerline goodness : 0.993053 Centerline is valid? [True, True] Translation: X:209.00, Y:127.78, Z:145.76 [[ 9.53964954e-01 1.91203324e-01 2.31067427e-01 2.08998509e+02] [-1.81827548e-01 9.81410465e-01 -6.14185851e-02 1.27779746e+02] [-2.38515428e-01 1.65767540e-02 9.70997220e-01 1.45764392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.366875 meters Centerline goodness : 0.991792 Centerline is valid? [True, True] Translation: X:209.01, Y:127.78, Z:145.76 [[ 9.54709861e-01 1.90866749e-01 2.28251976e-01 2.09010461e+02] [-1.84363563e-01 9.81601343e-01 -4.96878300e-02 1.27776328e+02] [-2.33536201e-01 5.35611374e-03 9.72333356e-01 1.45763414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.396875 meters Centerline goodness : 0.992656 Centerline is valid? [True, True] Translation: X:209.04, Y:127.77, Z:145.75 [[ 9.55327665e-01 1.92914289e-01 2.23904288e-01 2.09039665e+02] [-1.84233077e-01 9.81095626e-01 -5.92414293e-02 1.27770890e+02] [-2.31100035e-01 1.53444005e-02 9.72808986e-01 1.45753983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.426875 meters Centerline goodness : 0.992304 Centerline is valid? [True, True] Translation: X:209.06, Y:127.76, Z:145.74 [[ 9.56608822e-01 1.88317649e-01 2.22342133e-01 2.09063167e+02] [-1.81927162e-01 9.82086701e-01 -4.90736047e-02 1.27758005e+02] [-2.27600678e-01 6.49416990e-03 9.73732898e-01 1.45740686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.456875 meters Centerline goodness : 0.992550 Centerline is valid? [True, True] Translation: X:209.09, Y:127.75, Z:145.74 [[ 9.56425805e-01 1.90928544e-01 2.20898098e-01 2.09091863e+02] [-1.82042212e-01 9.81451931e-01 -6.01060800e-02 1.27753432e+02] [-2.28276831e-01 1.72742275e-02 9.73443008e-01 1.45736696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.486875 meters Centerline goodness : 0.993093 Centerline is valid? [True, True] Translation: X:209.11, Y:127.75, Z:145.73 [[ 9.56156911e-01 1.88999039e-01 2.23703655e-01 2.09114244e+02] [-1.82851022e-01 9.81964189e-01 -4.80815549e-02 1.27746793e+02] [-2.28756346e-01 5.06906897e-03 9.73470513e-01 1.45729423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.516875 meters Centerline goodness : 0.992661 Centerline is valid? [True, True] Translation: X:209.14, Y:127.74, Z:145.72 [[ 9.55138905e-01 1.93072910e-01 2.24571867e-01 2.09141433e+02] [-1.86962693e-01 9.81175356e-01 -4.83722207e-02 1.27740638e+02] [-2.29683747e-01 4.21562900e-03 9.73256187e-01 1.45722754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.546875 meters Centerline goodness : 0.992532 Centerline is valid? [True, True] Translation: X:209.17, Y:127.74, Z:145.72 [[ 9.54495074e-01 1.98694728e-01 2.22395050e-01 2.09166876e+02] [-1.90712646e-01 9.79987653e-01 -5.70340895e-02 1.27738199e+02] [-2.29276776e-01 1.20252091e-02 9.73286985e-01 1.45717501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.57687500000003 meters Centerline goodness : 0.993867 Centerline is valid? [True, True] Translation: X:209.19, Y:127.73, Z:145.70 [[ 9.53571594e-01 2.01059455e-01 2.24223794e-01 2.09190891e+02] [-1.95259406e-01 9.79577048e-01 -4.79851133e-02 1.27725721e+02] [-2.29292343e-01 1.97543615e-03 9.73355597e-01 1.45702603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.606875 meters Centerline goodness : 0.993131 Centerline is valid? [True, True] Translation: X:209.21, Y:127.72, Z:145.70 [[ 9.54456348e-01 1.98925403e-01 2.22355040e-01 2.09214651e+02] [-1.94381843e-01 9.80010673e-01 -4.23648361e-02 1.27721133e+02] [-2.26337755e-01 -2.78639570e-03 9.74044895e-01 1.45701295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.63687500000003 meters Centerline goodness : 0.994247 Centerline is valid? [True, True] Translation: X:209.25, Y:127.72, Z:145.70 [[ 9.53677750e-01 2.00592298e-01 2.24190720e-01 2.09246043e+02] [-1.93726041e-01 9.79652658e-01 -5.24489275e-02 1.27722713e+02] [-2.30149886e-01 6.58779454e-03 9.73132895e-01 1.45703281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.666875 meters Centerline goodness : 0.983946 Centerline is valid? [True, True] Translation: X:209.34, Y:127.77, Z:145.76 [[ 9.60048398e-01 2.37030439e-01 1.48740189e-01 2.09336957e+02] [-2.09149256e-01 9.60920757e-01 -1.81350181e-01 1.27769817e+02] [-1.85913048e-01 1.42996051e-01 9.72105173e-01 1.45764652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.69687500000003 meters Centerline goodness : 0.995526 Centerline is valid? [True, True] Translation: X:209.27, Y:127.65, Z:145.62 [[ 9.54149832e-01 1.59217186e-01 2.53471862e-01 2.09270375e+02] [-1.87541499e-01 9.77970779e-01 9.16588313e-02 1.27650979e+02] [-2.33294414e-01 -1.34992752e-01 9.62990485e-01 1.45624208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.726875 meters Centerline goodness : 0.994486 Centerline is valid? [True, True] Translation: X:209.33, Y:127.70, Z:145.68 [[ 9.55235363e-01 1.95535723e-01 2.22016177e-01 2.09329912e+02] [-1.87281012e-01 9.80601061e-01 -5.78565603e-02 1.27701723e+02] [-2.29022324e-01 1.36872179e-02 9.73324938e-01 1.45679362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.75687500000004 meters Centerline goodness : 0.994763 Centerline is valid? [True, True] Translation: X:209.36, Y:127.69, Z:145.67 [[ 9.54410944e-01 1.95583107e-01 2.25492789e-01 2.09357993e+02] [-1.87768787e-01 9.80626246e-01 -5.58126187e-02 1.27694053e+02] [-2.32040153e-01 1.09276666e-02 9.72644824e-01 1.45669316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.786875 meters Centerline goodness : 0.995516 Centerline is valid? [True, True] Translation: X:209.38, Y:127.69, Z:145.66 [[ 9.53492257e-01 1.93302518e-01 2.31271816e-01 2.09379971e+02] [-1.86658113e-01 9.81126594e-01 -5.04911311e-02 1.27686508e+02] [-2.36666992e-01 4.97414165e-03 9.71578094e-01 1.45660782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.816875 meters Centerline goodness : 0.996962 Centerline is valid? [True, True] Translation: X:209.43, Y:127.68, Z:145.65 [[ 9.50523530e-01 2.05264742e-01 2.33176767e-01 2.09425404e+02] [-1.87784967e-01 9.77596672e-01 -9.50870834e-02 1.27683919e+02] [-2.47470857e-01 4.65954188e-02 9.67774272e-01 1.45649636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.846875 meters Centerline goodness : 0.995682 Centerline is valid? [True, True] Translation: X:209.42, Y:127.66, Z:145.63 [[ 9.52225110e-01 1.86289913e-01 2.41998778e-01 2.09424760e+02] [-1.84972886e-01 9.82334325e-01 -2.83602646e-02 1.27660513e+02] [-2.43006938e-01 -1.77578564e-02 9.69861994e-01 1.45629355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.876875 meters Centerline goodness : 0.995817 Centerline is valid? [True, True] Translation: X:209.46, Y:127.66, Z:145.64 [[ 9.52663675e-01 1.92499356e-01 2.35320886e-01 2.09457859e+02] [-1.85688779e-01 9.81284991e-01 -5.09847418e-02 1.27663651e+02] [-2.40731383e-01 4.87486359e-03 9.70579537e-01 1.45637435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.906875 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:209.52, Y:127.66, Z:145.63 [[ 9.56485666e-01 1.80153802e-01 2.29520757e-01 2.09524179e+02] [-1.68647058e-01 9.83260670e-01 -6.89682888e-02 1.27661799e+02] [-2.38103633e-01 2.72591792e-02 9.70857146e-01 1.45630843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.936875 meters Centerline goodness : 0.996208 Centerline is valid? [True, True] Translation: X:209.51, Y:127.66, Z:145.63 [[ 9.51151476e-01 2.00656265e-01 2.34622961e-01 2.09513740e+02] [-1.91782173e-01 9.79583864e-01 -6.02913835e-02 1.27661046e+02] [-2.41930711e-01 1.23497371e-02 9.70214932e-01 1.45629119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.966875 meters Centerline goodness : 0.997194 Centerline is valid? [True, True] Translation: X:209.55, Y:127.66, Z:145.62 [[ 9.45955447e-01 2.18585487e-01 2.39559340e-01 2.09550764e+02] [-2.03391817e-01 9.75249003e-01 -8.67245731e-02 1.27662817e+02] [-2.52586740e-01 3.33131730e-02 9.67000606e-01 1.45620536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.996875 meters Centerline goodness : 0.997127 Centerline is valid? [True, True] Translation: X:209.57, Y:127.64, Z:145.60 [[ 9.46302764e-01 2.08707693e-01 2.46884948e-01 2.09565384e+02] [-2.05419455e-01 9.77884560e-01 -3.93018378e-02 1.27643874e+02] [-2.49627575e-01 -1.35235338e-02 9.68247483e-01 1.45598895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.026875 meters Centerline goodness : 0.996544 Centerline is valid? [True, True] Translation: X:209.59, Y:127.64, Z:145.60 [[ 9.45891229e-01 2.12763833e-01 2.44992518e-01 2.09592921e+02] [-2.06649220e-01 9.77100033e-01 -5.07111954e-02 1.27642088e+02] [-2.50171706e-01 -2.66023786e-03 9.68197831e-01 1.45598977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.056875 meters Centerline goodness : 0.997497 Centerline is valid? [True, True] Translation: X:209.63, Y:127.64, Z:145.60 [[ 9.47686946e-01 2.12486913e-01 2.38199000e-01 2.09628127e+02] [-2.03046270e-01 9.77089165e-01 -6.37885173e-02 1.27636067e+02] [-2.46295887e-01 1.20861268e-02 9.69119323e-01 1.45595153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.086875 meters Centerline goodness : 0.998222 Centerline is valid? [True, True] Translation: X:209.70, Y:127.63, Z:145.59 [[ 9.56103289e-01 1.88414491e-01 2.24424776e-01 2.09701950e+02] [-1.75956376e-01 9.81577732e-01 -7.44614710e-02 1.27629880e+02] [-2.34319983e-01 3.17038872e-02 9.71642429e-01 1.45587818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.116875 meters Centerline goodness : 0.997601 Centerline is valid? [True, True] Translation: X:209.67, Y:127.62, Z:145.58 [[ 9.49608913e-01 2.07600599e-01 2.34829519e-01 2.09668356e+02] [-2.03583117e-01 9.78177637e-01 -4.15021123e-02 1.27616089e+02] [-2.38320847e-01 -8.39654958e-03 9.71150180e-01 1.45579565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.146875 meters Centerline goodness : 0.996873 Centerline is valid? [True, True] Translation: X:209.76, Y:127.63, Z:145.57 [[ 9.57565769e-01 1.70464932e-01 2.32399452e-01 2.09758724e+02] [-1.61596409e-01 9.85219507e-01 -5.68253805e-02 1.27626383e+02] [-2.38651208e-01 1.68591224e-02 9.70958995e-01 1.45566615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.176875 meters Centerline goodness : 0.997424 Centerline is valid? [True, True] Translation: X:209.74, Y:127.63, Z:145.60 [[ 9.52320831e-01 2.14643013e-01 2.16825762e-01 2.09736333e+02] [-2.00410824e-01 9.75939726e-01 -8.58903503e-02 1.27627607e+02] [-2.30044638e-01 3.83409402e-02 9.72424515e-01 1.45598329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.206875 meters Centerline goodness : 0.997262 Centerline is valid? [True, True] Translation: X:209.75, Y:127.61, Z:145.57 [[ 9.49029486e-01 2.11903692e-01 2.33323509e-01 2.09751914e+02] [-2.07640111e-01 9.77260558e-01 -4.29812358e-02 1.27606737e+02] [-2.37125745e-01 -7.65685908e-03 9.71448791e-01 1.45571469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.236875 meters Centerline goodness : 0.997262 Centerline is valid? [True, True] Translation: X:209.78, Y:127.61, Z:145.57 [[ 9.49074177e-01 2.14431139e-01 2.30819177e-01 2.09780321e+02] [-2.07345209e-01 9.76730179e-01 -5.48281188e-02 1.27606061e+02] [-2.37204912e-01 4.17670127e-03 9.71450660e-01 1.45570546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.266875 meters Centerline goodness : 0.996225 Centerline is valid? [True, True] Translation: X:209.79, Y:127.60, Z:145.56 [[ 9.46365321e-01 2.22161252e-01 2.34599780e-01 2.09792810e+02] [-2.19559576e-01 9.74878262e-01 -3.74962275e-02 1.27599219e+02] [-2.37036435e-01 -1.60234989e-02 9.71368610e-01 1.45561832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.296875 meters Centerline goodness : 0.997025 Centerline is valid? [True, True] Translation: X:209.83, Y:127.60, Z:145.56 [[ 9.45317959e-01 2.32570386e-01 2.28659073e-01 2.09827228e+02] [-2.23610357e-01 9.72527661e-01 -6.47175160e-02 1.27602651e+02] [-2.37428651e-01 1.00480933e-02 9.71353011e-01 1.45562720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.32687500000003 meters Centerline goodness : 0.997180 Centerline is valid? [True, True] Translation: X:209.86, Y:127.59, Z:145.54 [[ 9.45249368e-01 2.28171715e-01 2.33326599e-01 2.09857250e+02] [-2.23478274e-01 9.73588244e-01 -4.67267856e-02 1.27589588e+02] [-2.37825764e-01 -7.97496102e-03 9.71275093e-01 1.45543901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.356875 meters Centerline goodness : 0.995924 Centerline is valid? [True, True] Translation: X:209.88, Y:127.58, Z:145.53 [[ 9.44572899e-01 2.31767239e-01 2.32520937e-01 2.09875260e+02] [-2.25904114e-01 9.72765023e-01 -5.19185949e-02 1.27580901e+02] [-2.38221264e-01 -3.48653855e-03 9.71204651e-01 1.45531658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.38687500000003 meters Centerline goodness : 0.997938 Centerline is valid? [True, True] Translation: X:209.91, Y:127.57, Z:145.52 [[ 9.46864640e-01 2.25493364e-01 2.29347108e-01 2.09912949e+02] [-2.22135203e-01 9.74165757e-01 -4.07066167e-02 1.27567855e+02] [-2.32601171e-01 -1.24024105e-02 9.72493124e-01 1.45516517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.416875 meters Centerline goodness : 0.996281 Centerline is valid? [True, True] Translation: X:209.93, Y:127.57, Z:145.52 [[ 9.45534859e-01 2.38619349e-01 2.21415077e-01 2.09926135e+02] [-2.31445569e-01 9.71105830e-01 -5.81929086e-02 1.27569596e+02] [-2.28903426e-01 3.77788519e-03 9.73441806e-01 1.45522371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.44687500000003 meters Centerline goodness : 0.996791 Centerline is valid? [True, True] Translation: X:209.95, Y:127.56, Z:145.51 [[ 9.45502993e-01 2.37258833e-01 2.23007481e-01 2.09951933e+02] [-2.31309310e-01 9.71445090e-01 -5.28246142e-02 1.27559874e+02] [-2.29172629e-01 -1.63787570e-03 9.73384417e-01 1.45511433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.476875 meters Centerline goodness : 0.996349 Centerline is valid? [True, True] Translation: X:209.97, Y:127.55, Z:145.50 [[ 9.46482074e-01 2.32452333e-01 2.23914261e-01 2.09974633e+02] [-2.30510102e-01 9.72434791e-01 -3.51520991e-02 1.27547708e+02] [-2.25913205e-01 -1.83436675e-02 9.73974709e-01 1.45504344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.50687500000004 meters Centerline goodness : 0.991485 Centerline is valid? [True, True] Translation: X:210.00, Y:127.54, Z:145.49 [[ 9.43110945e-01 2.37127118e-01 2.33050371e-01 2.09996424e+02] [-2.34204784e-01 9.71341235e-01 -4.05502586e-02 1.27540184e+02] [-2.35987002e-01 -1.63381192e-02 9.71618856e-01 1.45494953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.536875 meters Centerline goodness : 0.990473 Centerline is valid? [True, True] Translation: X:210.03, Y:127.53, Z:145.49 [[ 9.42505102e-01 2.34576529e-01 2.38029379e-01 2.10025165e+02] [-2.31071064e-01 9.71989002e-01 -4.29365073e-02 1.27533655e+02] [-2.41433835e-01 -1.45338245e-02 9.70308441e-01 1.45489751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.566875 meters Centerline goodness : 0.995486 Centerline is valid? [True, True] Translation: X:210.05, Y:127.53, Z:145.49 [[ 9.41393677e-01 2.37669798e-01 2.39355408e-01 2.10051553e+02] [-2.31949551e-01 9.71325186e-01 -5.22186657e-02 1.27529373e+02] [-2.44902736e-01 -6.36005794e-03 9.69526791e-01 1.45486831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.596875 meters Centerline goodness : 0.997127 Centerline is valid? [True, True] Translation: X:210.08, Y:127.52, Z:145.48 [[ 9.39963326e-01 2.40726303e-01 2.41908645e-01 2.10077646e+02] [-2.34629080e-01 9.70575372e-01 -5.41538720e-02 1.27520793e+02] [-2.47826834e-01 -5.85614918e-03 9.68786646e-01 1.45479259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.626875 meters Centerline goodness : 0.996838 Centerline is valid? [True, True] Translation: X:210.10, Y:127.51, Z:145.47 [[ 9.39364301e-01 2.40724365e-01 2.44226311e-01 2.10103699e+02] [-2.35731377e-01 9.70534856e-01 -4.99280623e-02 1.27513203e+02] [-2.49049049e-01 -1.06711652e-02 9.68432082e-01 1.45465699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.656875 meters Centerline goodness : 0.996958 Centerline is valid? [True, True] Translation: X:210.13, Y:127.51, Z:145.46 [[ 9.37511443e-01 2.47987641e-01 2.44078725e-01 2.10134455e+02] [-2.39404517e-01 9.68760606e-01 -6.47175746e-02 1.27510955e+02] [-2.52503013e-01 2.23991739e-03 9.67593516e-01 1.45459529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.686875 meters Centerline goodness : 0.991020 Centerline is valid? [True, True] Translation: X:210.15, Y:127.50, Z:145.44 [[ 9.40102917e-01 2.37218100e-01 2.44814374e-01 2.10153131e+02] [-2.34485910e-01 9.71267587e-01 -4.06894540e-02 1.27501646e+02] [-2.47432542e-01 -1.91532469e-02 9.68715794e-01 1.45440818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.716875 meters Centerline goodness : 0.990708 Centerline is valid? [True, True] Translation: X:210.18, Y:127.50, Z:145.44 [[ 9.40370342e-01 2.38884877e-01 2.42152091e-01 2.10179149e+02] [-2.31581699e-01 9.71047431e-01 -5.86242493e-02 1.27501031e+02] [-2.49145612e-01 -9.49487348e-04 9.68465571e-01 1.45441231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.746875 meters Centerline goodness : 0.996678 Centerline is valid? [True, True] Translation: X:210.21, Y:127.49, Z:145.42 [[ 9.43695001e-01 2.23277361e-01 2.44104416e-01 2.10205208e+02] [-2.20785640e-01 9.74586154e-01 -3.78883779e-02 1.27487881e+02] [-2.46360401e-01 -1.81396767e-02 9.69008516e-01 1.45424646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.776875 meters Centerline goodness : 0.995608 Centerline is valid? [True, True] Translation: X:210.24, Y:127.49, Z:145.43 [[ 9.44590621e-01 2.22891505e-01 2.40972893e-01 2.10235068e+02] [-2.16718561e-01 9.74838829e-01 -5.21758820e-02 1.27490844e+02] [-2.46539293e-01 -2.93844979e-03 9.69128342e-01 1.45426502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.806875 meters Centerline goodness : 0.996536 Centerline is valid? [True, True] Translation: X:210.26, Y:127.49, Z:145.42 [[ 9.44538431e-01 2.29043308e-01 2.35342974e-01 2.10262921e+02] [-2.20042081e-01 9.73376037e-01 -6.41916977e-02 1.27486517e+02] [-2.43779890e-01 8.84616773e-03 9.69790241e-01 1.45417832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.836875 meters Centerline goodness : 0.995647 Centerline is valid? [True, True] Translation: X:210.28, Y:127.47, Z:145.40 [[ 9.47594221e-01 2.10726412e-01 2.40124075e-01 2.10282019e+02] [-2.08319759e-01 9.77410363e-01 -3.56631409e-02 1.27471409e+02] [-2.42214925e-01 -1.62284033e-02 9.70086887e-01 1.45401202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.866875 meters Centerline goodness : 0.994513 Centerline is valid? [True, True] Translation: X:210.31, Y:127.47, Z:145.40 [[ 9.48139577e-01 2.12953035e-01 2.35971072e-01 2.10307991e+02] [-2.07277888e-01 9.77059119e-01 -4.89014873e-02 1.27468582e+02] [-2.40971408e-01 -2.54614978e-03 9.70528875e-01 1.45397474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.896875 meters Centerline goodness : 0.994519 Centerline is valid? [True, True] Translation: X:210.34, Y:127.46, Z:145.39 [[ 9.47425124e-01 2.14580840e-01 2.37361954e-01 2.10336637e+02] [-2.07665944e-01 9.76704315e-01 -5.40697441e-02 1.27461634e+02] [-2.43434776e-01 1.93503976e-03 9.69915339e-01 1.45388425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.926875 meters Centerline goodness : 0.994044 Centerline is valid? [True, True] Translation: X:210.36, Y:127.46, Z:145.38 [[ 9.47723223e-01 2.13210011e-01 2.37407211e-01 2.10363365e+02] [-2.06596891e-01 9.77005983e-01 -5.26975745e-02 1.27457749e+02] [-2.43183916e-01 8.95123444e-04 9.69979784e-01 1.45382305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.956875 meters Centerline goodness : 0.993932 Centerline is valid? [True, True] Translation: X:210.39, Y:127.45, Z:145.37 [[ 9.46580506e-01 2.13394061e-01 2.41760873e-01 2.10391538e+02] [-2.08800035e-01 9.76932684e-01 -4.47780902e-02 1.27452697e+02] [-2.45739477e-01 -8.09361124e-03 9.69302122e-01 1.45374389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.986875 meters Centerline goodness : 0.994395 Centerline is valid? [True, True] Translation: X:210.42, Y:127.45, Z:145.37 [[ 9.45511194e-01 2.18646278e-01 2.41251708e-01 2.10423283e+02] [-2.10776138e-01 9.75794866e-01 -5.82906455e-02 1.27452209e+02] [-2.48157211e-01 4.26435456e-03 9.68710387e-01 1.45370034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.016875 meters Centerline goodness : 0.994375 Centerline is valid? [True, True] Translation: X:210.45, Y:127.45, Z:145.37 [[ 9.46829038e-01 2.14977892e-01 2.39372677e-01 2.10451455e+02] [-2.08717563e-01 9.76618197e-01 -5.15157867e-02 1.27450693e+02] [-2.44850468e-01 -1.18463908e-03 9.69560130e-01 1.45367779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.046875 meters Centerline goodness : 0.995211 Centerline is valid? [True, True] Translation: X:210.48, Y:127.45, Z:145.36 [[ 9.46207467e-01 2.13716020e-01 2.42933924e-01 2.10479962e+02] [-2.07846182e-01 9.76890190e-01 -4.98550137e-02 1.27446878e+02] [-2.47974582e-01 -3.31970226e-03 9.68760851e-01 1.45361682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.07687500000003 meters Centerline goodness : 0.994529 Centerline is valid? [True, True] Translation: X:210.51, Y:127.45, Z:145.36 [[ 9.46235626e-01 2.15424769e-01 2.41309573e-01 2.10509416e+02] [-2.06947771e-01 9.76494804e-01 -6.02537799e-02 1.27447713e+02] [-2.48617701e-01 7.07579497e-03 9.68575847e-01 1.45359380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.106875 meters Centerline goodness : 0.991896 Centerline is valid? [True, True] Translation: X:210.53, Y:127.44, Z:145.35 [[ 9.46546157e-01 2.10303630e-01 2.44586910e-01 2.10532210e+02] [-2.02424117e-01 9.77625073e-01 -5.72161899e-02 1.27444952e+02] [-2.51147069e-01 4.64747522e-03 9.67937783e-01 1.45348815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.13687500000003 meters Centerline goodness : 0.993630 Centerline is valid? [True, True] Translation: X:210.55, Y:127.42, Z:145.33 [[ 9.46303762e-01 2.09334616e-01 2.46349767e-01 2.10553565e+02] [-2.03892286e-01 9.77830797e-01 -4.76955866e-02 1.27423742e+02] [-2.50872726e-01 -5.09430414e-03 9.68006675e-01 1.45327795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.166875 meters Centerline goodness : 0.995206 Centerline is valid? [True, True] Translation: X:210.59, Y:127.42, Z:145.32 [[ 9.47779687e-01 2.06473476e-01 2.43068648e-01 2.10587670e+02] [-1.97885716e-01 9.78416970e-01 -5.95103098e-02 1.27417756e+02] [-2.50109790e-01 8.30284929e-03 9.68181881e-01 1.45318981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.19687500000003 meters Centerline goodness : 0.995485 Centerline is valid? [True, True] Translation: X:210.61, Y:127.42, Z:145.31 [[ 9.49546617e-01 1.98870503e-01 2.42511330e-01 2.10610153e+02] [-1.90152073e-01 9.79974817e-01 -5.90893088e-02 1.27416916e+02] [-2.49406117e-01 9.99402105e-03 9.68347411e-01 1.45314422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.226875 meters Centerline goodness : 0.993956 Centerline is valid? [True, True] Translation: X:210.64, Y:127.41, Z:145.31 [[ 9.48300677e-01 1.97013022e-01 2.48820609e-01 2.10642384e+02] [-1.90653105e-01 9.80400809e-01 -4.96552811e-02 1.27406134e+02] [-2.53726664e-01 -3.50285132e-04 9.67275895e-01 1.45306766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.25687500000004 meters Centerline goodness : 0.995542 Centerline is valid? [True, True] Translation: X:210.67, Y:127.41, Z:145.31 [[ 9.48287337e-01 1.97278564e-01 2.48661005e-01 2.10667212e+02] [-1.91769060e-01 9.80340692e-01 -4.64408716e-02 1.27406319e+02] [-2.52934290e-01 -3.64619651e-03 9.67476589e-01 1.45306181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.286875 meters Centerline goodness : 0.994872 Centerline is valid? [True, True] Translation: X:210.70, Y:127.42, Z:145.31 [[ 9.48572185e-01 2.07331755e-01 2.39216123e-01 2.10704682e+02] [-1.97149411e-01 9.78148608e-01 -6.60106823e-02 1.27416146e+02] [-2.47675028e-01 1.54545794e-02 9.68719896e-01 1.45310257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.316875 meters Centerline goodness : 0.994081 Centerline is valid? [True, True] Translation: X:210.72, Y:127.40, Z:145.29 [[ 9.46581461e-01 1.97745368e-01 2.54716130e-01 2.10716930e+02] [-1.98114239e-01 9.79873323e-01 -2.44748742e-02 1.27395742e+02] [-2.54429333e-01 -2.72954299e-02 9.66706095e-01 1.45288124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.346875 meters Centerline goodness : 0.994636 Centerline is valid? [True, True] Translation: X:210.75, Y:127.40, Z:145.29 [[ 9.45011354e-01 2.10397075e-01 2.50372945e-01 2.10752324e+02] [-1.99948976e-01 9.77529197e-01 -6.67613332e-02 1.27401796e+02] [-2.58793254e-01 1.30284038e-02 9.65844870e-01 1.45292212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.376875 meters Centerline goodness : 0.994217 Centerline is valid? [True, True] Translation: X:210.77, Y:127.38, Z:145.27 [[ 9.45350368e-01 2.07106812e-01 2.51832187e-01 2.10768507e+02] [-2.01651013e-01 9.78301125e-01 -4.75791752e-02 1.27381831e+02] [-2.56221683e-01 -5.80322480e-03 9.66600627e-01 1.45271745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.406875 meters Centerline goodness : 0.995356 Centerline is valid? [True, True] Translation: X:210.80, Y:127.38, Z:145.27 [[ 9.47759061e-01 2.08710089e-01 2.41231966e-01 2.10798844e+02] [-2.00425908e-01 9.77950649e-01 -5.86684135e-02 1.27377002e+02] [-2.48157647e-01 7.25438480e-03 9.68692498e-01 1.45266724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.436875 meters Centerline goodness : 0.994042 Centerline is valid? [True, True] Translation: X:210.82, Y:127.37, Z:145.25 [[ 9.44507938e-01 2.11182083e-01 2.51608591e-01 2.10822664e+02] [-2.03171770e-01 9.77440864e-01 -5.77112596e-02 1.27365160e+02] [-2.58120102e-01 3.38898015e-03 9.66106892e-01 1.45253070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.466875 meters Centerline goodness : 0.994699 Centerline is valid? [True, True] Translation: X:210.84, Y:127.37, Z:145.26 [[ 9.48501962e-01 2.03344863e-01 2.42888646e-01 2.10844794e+02] [-1.98322791e-01 9.79092958e-01 -4.52222338e-02 1.27374044e+02] [-2.47006272e-01 -5.27697659e-03 9.68999513e-01 1.45263513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.496875 meters Centerline goodness : 0.993227 Centerline is valid? [True, True] Translation: X:210.87, Y:127.38, Z:145.26 [[ 9.47481619e-01 2.06372598e-01 2.44313184e-01 2.10870267e+02] [-2.00198761e-01 9.78472446e-01 -5.01211370e-02 1.27377108e+02] [-2.49397348e-01 -1.42234058e-03 9.68400196e-01 1.45262391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.526875 meters Centerline goodness : 0.995555 Centerline is valid? [True, True] Translation: X:210.90, Y:127.35, Z:145.24 [[ 9.45508331e-01 2.05711197e-01 2.52382448e-01 2.10895713e+02] [-2.08493937e-01 9.77893246e-01 -1.59711393e-02 1.27351001e+02] [-2.50088534e-01 -3.75193651e-02 9.67495748e-01 1.45241307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.556875 meters Centerline goodness : 0.995743 Centerline is valid? [True, True] Translation: X:210.94, Y:127.38, Z:145.26 [[ 9.46044817e-01 2.26587887e-01 2.31640094e-01 2.10940184e+02] [-2.06482890e-01 9.72475363e-01 -1.07965203e-01 1.27380608e+02] [-2.49727892e-01 5.43102049e-02 9.66791799e-01 1.45264622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.586875 meters Centerline goodness : 0.995012 Centerline is valid? [True, True] Translation: X:210.95, Y:127.34, Z:145.22 [[ 9.44882706e-01 2.14314988e-01 2.47519208e-01 2.10949297e+02] [-2.08180478e-01 9.76758950e-01 -5.10180567e-02 1.27341425e+02] [-2.52700536e-01 -3.32258774e-03 9.67538836e-01 1.45223880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.616875 meters Centerline goodness : 0.995520 Centerline is valid? [True, True] Translation: X:210.97, Y:127.33, Z:145.22 [[ 9.44158716e-01 2.14412892e-01 2.50182797e-01 2.10974081e+02] [-2.08155598e-01 9.76737127e-01 -5.15347569e-02 1.27331443e+02] [-2.55412542e-01 -3.41995982e-03 9.66826115e-01 1.45215773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.646875 meters Centerline goodness : 0.994848 Centerline is valid? [True, True] Translation: X:211.00, Y:127.32, Z:145.21 [[ 9.43740090e-01 2.14129273e-01 2.51998606e-01 2.11000636e+02] [-2.07776832e-01 9.76799424e-01 -5.18813371e-02 1.27323652e+02] [-2.57261407e-01 -3.39697444e-03 9.66335878e-01 1.45209547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.676875 meters Centerline goodness : 0.994943 Centerline is valid? [True, True] Translation: X:211.03, Y:127.32, Z:145.20 [[ 9.44565225e-01 2.12231173e-01 2.50508411e-01 2.11027139e+02] [-2.05896243e-01 9.77215219e-01 -5.15475769e-02 1.27316654e+02] [-2.55740635e-01 -2.88869204e-03 9.66741115e-01 1.45201996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.706875 meters Centerline goodness : 0.994375 Centerline is valid? [True, True] Translation: X:211.05, Y:127.31, Z:145.19 [[ 9.45413693e-01 2.10825369e-01 2.48486646e-01 2.11052002e+02] [-2.04553316e-01 9.77520507e-01 -5.11038178e-02 1.27309803e+02] [-2.53674773e-01 -2.51451827e-03 9.67286300e-01 1.45193199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.736875 meters Centerline goodness : 0.994041 Centerline is valid? [True, True] Translation: X:211.08, Y:127.30, Z:145.19 [[ 9.46341032e-01 2.08570834e-01 2.46853919e-01 2.11077259e+02] [-2.02315075e-01 9.78005361e-01 -5.07358262e-02 1.27299640e+02] [-2.52006470e-01 -1.92887495e-03 9.67723627e-01 1.45185755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.766875 meters Centerline goodness : 0.994087 Centerline is valid? [True, True] Translation: X:211.10, Y:127.29, Z:145.18 [[ 9.46837791e-01 2.06095570e-01 2.47027963e-01 2.11102931e+02] [-1.99755027e-01 9.78531006e-01 -5.07444468e-02 1.27293615e+02] [-2.52182727e-01 -1.29831743e-03 9.67678762e-01 1.45180178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.796875 meters Centerline goodness : 0.993645 Centerline is valid? [True, True] Translation: X:211.13, Y:127.29, Z:145.17 [[ 9.46962657e-01 2.03390656e-01 2.48784983e-01 2.11129724e+02] [-1.96874743e-01 9.79097473e-01 -5.10732120e-02 1.27286773e+02] [-2.53972562e-01 -6.15055057e-04 9.67211228e-01 1.45174306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.82687500000003 meters Centerline goodness : 0.994100 Centerline is valid? [True, True] Translation: X:211.16, Y:127.28, Z:145.17 [[ 9.47200832e-01 2.00127474e-01 2.50518619e-01 2.11156872e+02] [-1.93413834e-01 9.79769840e-01 -5.14018415e-02 1.27280038e+02] [-2.55737508e-01 2.34100374e-04 9.66746229e-01 1.45169091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.856875 meters Centerline goodness : 0.993586 Centerline is valid? [True, True] Translation: X:211.18, Y:127.25, Z:145.15 [[ 9.45360012e-01 1.91864483e-01 2.63595271e-01 2.11178370e+02] [-1.94473441e-01 9.80770383e-01 -1.64175502e-02 1.27250750e+02] [-2.61676380e-01 -3.57417838e-02 9.64493648e-01 1.45149304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.88687500000003 meters Centerline goodness : 0.993713 Centerline is valid? [True, True] Translation: X:211.22, Y:127.28, Z:145.17 [[ 9.49267383e-01 2.02261588e-01 2.40793867e-01 2.11218324e+02] [-1.85771884e-01 9.78502543e-01 -8.95632768e-02 1.27279903e+02] [-2.53732622e-01 4.02867670e-02 9.66435064e-01 1.45166214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.916875 meters Centerline goodness : 0.995083 Centerline is valid? [True, True] Translation: X:211.24, Y:127.26, Z:145.14 [[ 9.49599642e-01 1.90809842e-01 2.48700872e-01 2.11236195e+02] [-1.83911033e-01 9.81623559e-01 -5.09108980e-02 1.27256798e+02] [-2.53844935e-01 2.60613619e-03 9.67241416e-01 1.45139276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.94687500000003 meters Centerline goodness : 0.994574 Centerline is valid? [True, True] Translation: X:211.26, Y:127.24, Z:145.13 [[ 9.46843263e-01 1.84082762e-01 2.63820719e-01 2.11256858e+02] [-1.83369578e-01 9.82657937e-01 -2.75495338e-02 1.27242639e+02] [-2.64316918e-01 -2.22916033e-02 9.64178226e-01 1.45127350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.976875 meters Centerline goodness : 0.993249 Centerline is valid? [True, True] Translation: X:211.29, Y:127.25, Z:145.13 [[ 9.46811112e-01 1.90416928e-01 2.59403377e-01 2.11288470e+02] [-1.84122167e-01 9.81701737e-01 -4.85873212e-02 1.27248529e+02] [-2.63908594e-01 -1.75889624e-03 9.64546090e-01 1.45131823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.00687500000004 meters Centerline goodness : 0.993249 Centerline is valid? [True, True] Translation: X:211.32, Y:127.24, Z:145.12 [[ 9.46691764e-01 1.90698402e-01 2.59632092e-01 2.11315215e+02] [-1.84209496e-01 9.81648034e-01 -4.93355788e-02 1.27243281e+02] [-2.64275549e-01 -1.12111049e-03 9.64446565e-01 1.45124509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.036875 meters Centerline goodness : 0.992121 Centerline is valid? [True, True] Translation: X:211.35, Y:127.23, Z:145.11 [[ 9.44264142e-01 1.95116686e-01 2.65131492e-01 2.11345626e+02] [-1.93600711e-01 9.80554916e-01 -3.21063946e-02 1.27228261e+02] [-2.66240482e-01 -2.10127282e-02 9.63677576e-01 1.45110497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.066875 meters Centerline goodness : 0.994590 Centerline is valid? [True, True] Translation: X:211.38, Y:127.26, Z:145.13 [[ 9.45988727e-01 2.09204332e-01 2.47666865e-01 2.11383905e+02] [-1.90374092e-01 9.76811893e-01 -9.79603563e-02 1.27255136e+02] [-2.62417670e-01 4.55200383e-02 9.63880124e-01 1.45125945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.096875 meters Centerline goodness : 0.993152 Centerline is valid? [True, True] Translation: X:211.40, Y:127.21, Z:145.08 [[ 9.42646700e-01 1.89163547e-01 2.75017003e-01 2.11395119e+02] [-1.94796365e-01 9.80819091e-01 -6.94890997e-03 1.27207148e+02] [-2.71056407e-01 -4.70219453e-02 9.61414250e-01 1.45075266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.126875 meters Centerline goodness : 0.993152 Centerline is valid? [True, True] Translation: X:211.43, Y:127.22, Z:145.09 [[ 9.42568871e-01 2.02818314e-01 2.65383977e-01 2.11432889e+02] [-1.94256724e-01 9.79210117e-01 -5.84112284e-02 1.27222516e+02] [-2.71713542e-01 3.50398363e-03 9.62371796e-01 1.45089233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.156875 meters Centerline goodness : 0.997844 Centerline is valid? [True, True] Translation: X:211.47, Y:127.23, Z:145.10 [[ 9.46210019e-01 2.06499053e-01 2.49087817e-01 2.11468870e+02] [-1.92219727e-01 9.78034277e-01 -8.06258646e-02 1.27226823e+02] [-2.60265587e-01 2.84094088e-02 9.65119023e-01 1.45098174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.186875 meters Centerline goodness : 0.997069 Centerline is valid? [True, True] Translation: X:211.49, Y:127.23, Z:145.08 [[ 9.46085826e-01 2.02185358e-01 2.53066575e-01 2.11488258e+02] [-1.88351936e-01 9.78998363e-01 -7.80112412e-02 1.27229006e+02] [-2.63524493e-01 2.61397502e-02 9.64298478e-01 1.45084868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.216875 meters Centerline goodness : 0.996809 Centerline is valid? [True, True] Translation: X:211.51, Y:127.20, Z:145.06 [[ 9.44166341e-01 1.86401444e-01 2.71669694e-01 2.11506455e+02] [-1.91050640e-01 9.81534387e-01 -9.48152528e-03 1.27196816e+02] [-2.68420517e-01 -4.29505319e-02 9.62343846e-01 1.45055683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.246875 meters Centerline goodness : 0.996848 Centerline is valid? [True, True] Translation: X:211.54, Y:127.21, Z:145.07 [[ 9.44598364e-01 2.00689075e-01 2.59726443e-01 2.11542022e+02] [-1.92272967e-01 9.79644403e-01 -5.76883836e-02 1.27212369e+02] [-2.66016985e-01 4.55397884e-03 9.63957585e-01 1.45068136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.276875 meters Centerline goodness : 0.996625 Centerline is valid? [True, True] Translation: X:211.57, Y:127.22, Z:145.07 [[ 9.47107970e-01 2.09528402e-01 2.43072710e-01 2.11573182e+02] [-1.91518640e-01 9.76805154e-01 -9.57721355e-02 1.27224068e+02] [-2.57501658e-01 4.41535980e-02 9.65268541e-01 1.45067354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.306875 meters Centerline goodness : 0.996766 Centerline is valid? [True, True] Translation: X:211.59, Y:127.18, Z:145.02 [[ 9.44444736e-01 1.90768439e-01 2.67640698e-01 2.11585535e+02] [-1.97124045e-01 9.80373392e-01 -3.18163369e-03 1.27175515e+02] [-2.62994774e-01 -4.97535399e-02 9.63513536e-01 1.45024710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.336875 meters Centerline goodness : 0.997234 Centerline is valid? [True, True] Translation: X:211.62, Y:127.19, Z:145.04 [[ 9.44466204e-01 2.00933599e-01 2.60017844e-01 2.11622338e+02] [-1.96919158e-01 9.79533349e-01 -4.16804924e-02 1.27188698e+02] [-2.63071160e-01 -1.18366783e-02 9.64703819e-01 1.45037991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.366875 meters Centerline goodness : 0.997552 Centerline is valid? [True, True] Translation: X:211.66, Y:127.22, Z:145.06 [[ 9.45812731e-01 2.18559741e-01 2.40145616e-01 2.11661205e+02] [-1.94838771e-01 9.73622074e-01 -1.18734619e-01 1.27221200e+02] [-2.59761680e-01 6.55110374e-02 9.63448065e-01 1.45056113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.396875 meters Centerline goodness : 0.996368 Centerline is valid? [True, True] Translation: X:211.68, Y:127.18, Z:145.02 [[ 9.47703112e-01 1.96921621e-01 2.51158688e-01 2.11681098e+02] [-1.97977830e-01 9.79974671e-01 -2.13171820e-02 1.27183670e+02] [-2.50326967e-01 -2.95214922e-02 9.67711161e-01 1.45015467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.426875 meters Centerline goodness : 0.995960 Centerline is valid? [True, True] Translation: X:211.71, Y:127.19, Z:145.02 [[ 9.44436015e-01 2.03381127e-01 2.58218379e-01 2.11708376e+02] [-2.00154847e-01 9.78987212e-01 -3.90137860e-02 1.27187596e+02] [-2.60727158e-01 -1.48376356e-02 9.65298500e-01 1.45015398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.456875 meters Centerline goodness : 0.995686 Centerline is valid? [True, True] Translation: X:211.74, Y:127.21, Z:145.03 [[ 9.45792612e-01 2.17656375e-01 2.41043643e-01 2.11743473e+02] [-1.97544504e-01 9.74656818e-01 -1.04977410e-01 1.27213913e+02] [-2.57783833e-01 5.16700119e-02 9.64820038e-01 1.45031845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.486875 meters Centerline goodness : 0.996245 Centerline is valid? [True, True] Translation: X:211.76, Y:127.17, Z:144.99 [[ 9.46257207e-01 1.98242083e-01 2.55533510e-01 2.11762545e+02] [-1.98011788e-01 9.79830488e-01 -2.68988412e-02 1.27173628e+02] [-2.55712006e-01 -2.51454248e-02 9.66425930e-01 1.44990329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.516875 meters Centerline goodness : 0.995786 Centerline is valid? [True, True] Translation: X:211.80, Y:127.18, Z:145.00 [[ 9.45597293e-01 2.08386879e-01 2.49841285e-01 2.11798143e+02] [-1.97118576e-01 9.77906242e-01 -6.95963328e-02 1.27184557e+02] [-2.58824315e-01 1.65617454e-02 9.65782420e-01 1.44996845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.546875 meters Centerline goodness : 0.996497 Centerline is valid? [True, True] Translation: X:211.81, Y:127.17, Z:144.98 [[ 9.46272128e-01 1.91052885e-01 2.60898169e-01 2.11812173e+02] [-1.90988166e-01 9.81251902e-01 -2.58500429e-02 1.27166669e+02] [-2.60945550e-01 -2.53672877e-02 9.65020166e-01 1.44976152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.57687500000003 meters Centerline goodness : 0.995879 Centerline is valid? [True, True] Translation: X:211.85, Y:127.18, Z:144.99 [[ 9.49939179e-01 1.96454031e-01 2.42943140e-01 2.11850799e+02] [-1.80948431e-01 9.79829913e-01 -8.47998068e-02 1.27183468e+02] [-2.54702219e-01 3.65944789e-02 9.66326872e-01 1.44989628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.606875 meters Centerline goodness : 0.995986 Centerline is valid? [True, True] Translation: X:211.86, Y:127.16, Z:144.96 [[ 9.48084685e-01 1.76261300e-01 2.64702446e-01 2.11864298e+02] [-1.74293046e-01 9.84202581e-01 -3.11000496e-02 1.27156252e+02] [-2.66002566e-01 -1.66503148e-02 9.63828513e-01 1.44956489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.63687500000003 meters Centerline goodness : 0.995489 Centerline is valid? [True, True] Translation: X:211.90, Y:127.17, Z:144.97 [[ 9.48410234e-01 1.85066174e-01 2.57426765e-01 2.11900761e+02] [-1.72084447e-01 9.82426723e-01 -7.22819327e-02 1.27166539e+02] [-2.66279874e-01 2.42537822e-02 9.63590568e-01 1.44968095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.666875 meters Centerline goodness : 0.994977 Centerline is valid? [True, True] Translation: X:211.93, Y:127.17, Z:144.96 [[ 9.50062472e-01 1.82799818e-01 2.52914068e-01 2.11934031e+02] [-1.67315874e-01 9.82518711e-01 -8.16234075e-02 1.27166321e+02] [-2.63413548e-01 3.52307980e-02 9.64039467e-01 1.44962464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.69687500000003 meters Centerline goodness : 0.993883 Centerline is valid? [True, True] Translation: X:211.96, Y:127.15, Z:144.94 [[ 9.46828550e-01 1.79253641e-01 2.67177522e-01 2.11955541e+02] [-1.69789332e-01 9.83753593e-01 -5.83133878e-02 1.27149579e+02] [-2.73289734e-01 9.84888742e-03 9.61881344e-01 1.44935952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.726875 meters Centerline goodness : 0.994339 Centerline is valid? [True, True] Translation: X:211.99, Y:127.15, Z:144.94 [[ 9.50070615e-01 1.76610422e-01 2.57244214e-01 2.11988586e+02] [-1.65165145e-01 9.84080540e-01 -6.56198564e-02 1.27151340e+02] [-2.64738175e-01 1.98557195e-02 9.64115890e-01 1.44938162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.75687500000004 meters Centerline goodness : 0.994123 Centerline is valid? [True, True] Translation: X:212.02, Y:127.14, Z:144.92 [[ 9.48059559e-01 1.72784914e-01 2.67073857e-01 2.12015344e+02] [-1.63162011e-01 9.84893593e-01 -5.79893894e-02 1.27143886e+02] [-2.73059023e-01 1.14010873e-02 9.61929720e-01 1.44923988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.786875 meters Centerline goodness : 0.995429 Centerline is valid? [True, True] Translation: X:212.04, Y:127.14, Z:144.91 [[ 9.48773340e-01 1.71592187e-01 2.65302225e-01 2.12044737e+02] [-1.61716413e-01 9.85083782e-01 -5.88025927e-02 1.27137382e+02] [-2.71434985e-01 1.28866080e-02 9.62370503e-01 1.44913430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.816875 meters Centerline goodness : 0.994546 Centerline is valid? [True, True] Translation: X:212.07, Y:127.13, Z:144.90 [[ 9.48953522e-01 1.70604366e-01 2.65294860e-01 2.12070623e+02] [-1.61930433e-01 9.85301514e-01 -5.44009226e-02 1.27128306e+02] [-2.70676462e-01 8.66463562e-03 9.62631382e-01 1.44900752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.846875 meters Centerline goodness : 0.994445 Centerline is valid? [True, True] Translation: X:212.11, Y:127.13, Z:144.90 [[ 9.49614989e-01 1.78485182e-01 2.57632321e-01 2.12109328e+02] [-1.62676430e-01 9.83298965e-01 -8.16059066e-02 1.27129889e+02] [-2.67895040e-01 3.55834859e-02 9.62790768e-01 1.44896312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.876875 meters Centerline goodness : 0.995430 Centerline is valid? [True, True] Translation: X:212.13, Y:127.12, Z:144.88 [[ 9.48299528e-01 1.74036937e-01 2.65403750e-01 2.12130785e+02] [-1.67908941e-01 9.84738464e-01 -4.57902226e-02 1.27116603e+02] [-2.69322471e-01 -1.14081596e-03 9.63049378e-01 1.44877986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.906875 meters Centerline goodness : 0.995953 Centerline is valid? [True, True] Translation: X:212.16, Y:127.12, Z:144.88 [[ 9.48870415e-01 1.78999866e-01 2.60007658e-01 2.12163747e+02] [-1.69727086e-01 9.83789925e-01 -5.78800444e-02 1.27119563e+02] [-2.66153435e-01 1.07903196e-02 9.63870281e-01 1.44880619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.936875 meters Centerline goodness : 0.996949 Centerline is valid? [True, True] Translation: X:212.19, Y:127.12, Z:144.88 [[ 9.49110831e-01 1.78466373e-01 2.59496406e-01 2.12192974e+02] [-1.69272959e-01 9.83887954e-01 -5.75426674e-02 1.27116341e+02] [-2.65584819e-01 1.06886443e-02 9.64028245e-01 1.44875755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.966875 meters Centerline goodness : 0.995530 Centerline is valid? [True, True] Translation: X:212.22, Y:127.12, Z:144.87 [[ 9.48266221e-01 1.85902596e-01 2.57354616e-01 2.12223556e+02] [-1.71851938e-01 9.82166625e-01 -7.62602873e-02 1.27115066e+02] [-2.66942100e-01 2.80881649e-02 9.63303156e-01 1.44870188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.996875 meters Centerline goodness : 0.996274 Centerline is valid? [True, True] Translation: X:212.25, Y:127.10, Z:144.85 [[ 9.50944640e-01 1.79710869e-01 2.51810037e-01 2.12252546e+02] [-1.68589422e-01 9.83524249e-01 -6.52507357e-02 1.27098947e+02] [-2.59387544e-01 1.95973286e-02 9.65574465e-01 1.44851942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.026875 meters Centerline goodness : 0.995465 Centerline is valid? [True, True] Translation: X:212.28, Y:127.09, Z:144.84 [[ 9.50092531e-01 1.80242032e-01 2.54631091e-01 2.12278615e+02] [-1.69856748e-01 9.83491706e-01 -6.23918957e-02 1.27087640e+02] [-2.61673208e-01 1.60272653e-02 9.65023450e-01 1.44837021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.056875 meters Centerline goodness : 0.996327 Centerline is valid? [True, True] Translation: X:212.28, Y:127.07, Z:144.82 [[ 9.50143137e-01 1.65365927e-01 2.64352281e-01 2.12283279e+02] [-1.68714744e-01 9.85612642e-01 -1.01515737e-02 1.27065822e+02] [-2.62227675e-01 -3.49546795e-02 9.64372758e-01 1.44818886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.086875 meters Centerline goodness : 0.996400 Centerline is valid? [True, True] Translation: X:212.33, Y:127.08, Z:144.84 [[ 9.50831192e-01 1.80757178e-01 2.51489338e-01 2.12325920e+02] [-1.69979152e-01 9.83358834e-01 -6.41287173e-02 1.27081242e+02] [-2.58895988e-01 1.82276403e-02 9.65733204e-01 1.44839166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.116875 meters Centerline goodness : 0.995524 Centerline is valid? [True, True] Translation: X:212.34, Y:127.07, Z:144.82 [[ 9.46681650e-01 1.82440218e-01 2.65536098e-01 2.12342642e+02] [-1.79163285e-01 9.83133561e-01 -3.67276138e-02 1.27069564e+02] [-2.67758044e-01 -1.28049616e-02 9.63401091e-01 1.44822134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.146875 meters Centerline goodness : 0.994255 Centerline is valid? [True, True] Translation: X:212.37, Y:127.07, Z:144.82 [[ 9.46299861e-01 1.89839949e-01 2.61681804e-01 2.12372543e+02] [-1.83611438e-01 9.81812228e-01 -4.82865237e-02 1.27067866e+02] [-2.66089107e-01 -2.35424177e-03 9.63945561e-01 1.44817512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.176875 meters Centerline goodness : 0.994290 Centerline is valid? [True, True] Translation: X:212.42, Y:127.08, Z:144.82 [[ 9.45263053e-01 2.11115936e-01 2.48812826e-01 2.12421781e+02] [-1.90184540e-01 9.76048044e-01 -1.05641167e-01 1.27077670e+02] [-2.65155806e-01 5.25383391e-02 9.62773141e-01 1.44820904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.206875 meters Centerline goodness : 0.995028 Centerline is valid? [True, True] Translation: X:212.44, Y:127.06, Z:144.79 [[ 9.46970788e-01 1.97237248e-01 2.53660785e-01 2.12443322e+02] [-1.88023034e-01 9.80310438e-01 -6.03223417e-02 1.27056220e+02] [-2.60564128e-01 9.42942513e-03 9.65410494e-01 1.44794428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.236875 meters Centerline goodness : 0.994820 Centerline is valid? [True, True] Translation: X:212.45, Y:127.04, Z:144.78 [[ 9.48711890e-01 1.81217836e-01 2.59047959e-01 2.12446796e+02] [-1.85841706e-01 9.82556565e-01 -6.74214245e-03 1.27038431e+02] [-2.55751070e-01 -4.17455641e-02 9.65840928e-01 1.44778012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.266875 meters Centerline goodness : 0.994405 Centerline is valid? [True, True] Translation: X:212.49, Y:127.05, Z:144.79 [[ 9.47398659e-01 1.98663139e-01 2.50935725e-01 2.12493801e+02] [-1.87185555e-01 9.79894055e-01 -6.90594592e-02 1.27054488e+02] [-2.59609994e-01 1.84552959e-02 9.65537184e-01 1.44793029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.296875 meters Centerline goodness : 0.995261 Centerline is valid? [True, True] Translation: X:212.52, Y:127.04, Z:144.78 [[ 9.50495310e-01 1.86304439e-01 2.48695240e-01 2.12517513e+02] [-1.81522187e-01 9.82479356e-01 -4.22375509e-02 1.27041050e+02] [-2.52206983e-01 -4.99710989e-03 9.67660409e-01 1.44779584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.32687500000003 meters Centerline goodness : 0.994623 Centerline is valid? [True, True] Translation: X:212.54, Y:127.03, Z:144.77 [[ 9.50705389e-01 1.81537508e-01 2.51402857e-01 2.12540913e+02] [-1.78643766e-01 9.83309264e-01 -3.44861745e-02 1.27032174e+02] [-2.53467292e-01 -1.21253612e-02 9.67267960e-01 1.44767471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.356875 meters Centerline goodness : 0.994495 Centerline is valid? [True, True] Translation: X:212.57, Y:127.03, Z:144.77 [[ 9.49099050e-01 1.95415832e-01 2.47029644e-01 2.12567924e+02] [-1.85683153e-01 9.80630364e-01 -6.23366247e-02 1.27029373e+02] [-2.54426334e-01 1.32943879e-02 9.67000776e-01 1.44766234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.38687500000003 meters Centerline goodness : 0.995525 Centerline is valid? [True, True] Translation: X:212.59, Y:127.02, Z:144.76 [[ 9.51734702e-01 1.85347915e-01 2.44636891e-01 2.12594529e+02] [-1.79097019e-01 9.82671595e-01 -4.77576506e-02 1.27023588e+02] [-2.49249505e-01 1.63887542e-03 9.68437917e-01 1.44758891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.416875 meters Centerline goodness : 0.995961 Centerline is valid? [True, True] Translation: X:212.63, Y:127.02, Z:144.75 [[ 9.51347272e-01 1.83524247e-01 2.47501957e-01 2.12625744e+02] [-1.80335147e-01 9.82957243e-01 -3.56972408e-02 1.27015846e+02] [-2.49835150e-01 -1.06728293e-02 9.68229564e-01 1.44751636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.44687500000003 meters Centerline goodness : 0.995210 Centerline is valid? [True, True] Translation: X:212.66, Y:127.02, Z:144.76 [[ 9.47230321e-01 1.93776651e-01 2.55353340e-01 2.12655331e+02] [-1.85986680e-01 9.81036766e-01 -5.45510659e-02 1.27024816e+02] [-2.61081738e-01 4.18010387e-03 9.65307647e-01 1.44757469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.476875 meters Centerline goodness : 0.995081 Centerline is valid? [True, True] Translation: X:212.68, Y:127.02, Z:144.75 [[ 9.46706165e-01 1.91600617e-01 2.58914350e-01 2.12678696e+02] [-1.85581369e-01 9.81468810e-01 -4.77339456e-02 1.27016686e+02] [-2.63262213e-01 -2.85965905e-03 9.64720078e-01 1.44747114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.50687500000004 meters Centerline goodness : 0.996608 Centerline is valid? [True, True] Translation: X:212.71, Y:127.01, Z:144.74 [[ 9.48482645e-01 1.91128464e-01 2.52686729e-01 2.12713819e+02] [-1.80236507e-01 9.81420147e-01 -6.57973895e-02 1.27011322e+02] [-2.60567601e-01 1.68643087e-02 9.65308303e-01 1.44739482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.536875 meters Centerline goodness : 0.994152 Centerline is valid? [True, True] Translation: X:212.72, Y:126.99, Z:144.72 [[ 9.47458391e-01 1.82900481e-01 2.62430963e-01 2.12718462e+02] [-1.78490125e-01 9.83097052e-01 -4.07610328e-02 1.26989004e+02] [-2.65450319e-01 -8.22195291e-03 9.64089481e-01 1.44717306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.566875 meters Centerline goodness : 0.996246 Centerline is valid? [True, True] Translation: X:212.76, Y:126.99, Z:144.72 [[ 9.49896751e-01 1.79466187e-01 2.55906331e-01 2.12760871e+02] [-1.70690580e-01 9.83715430e-01 -5.62910256e-02 1.26989002e+02] [-2.61841342e-01 9.78986242e-03 9.65061278e-01 1.44715845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.596875 meters Centerline goodness : 0.996410 Centerline is valid? [True, True] Translation: X:212.77, Y:126.99, Z:144.71 [[ 9.47688451e-01 1.77039462e-01 2.65600508e-01 2.12774003e+02] [-1.69470936e-01 9.84197011e-01 -5.13404883e-02 1.26991442e+02] [-2.70492518e-01 3.64322108e-03 9.62715184e-01 1.44709666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.626875 meters Centerline goodness : 0.995871 Centerline is valid? [True, True] Translation: X:212.81, Y:126.98, Z:144.71 [[ 9.50320324e-01 1.76181101e-01 2.56615475e-01 2.12814377e+02] [-1.68773673e-01 9.84345281e-01 -5.07918855e-02 1.26982791e+02] [-2.61546802e-01 4.95862495e-03 9.65178057e-01 1.44710310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.656875 meters Centerline goodness : 0.994829 Centerline is valid? [True, True] Translation: X:212.84, Y:126.97, Z:144.70 [[ 9.46957923e-01 1.84211804e-01 2.63318635e-01 2.12838580e+02] [-1.76849923e-01 9.82883873e-01 -5.16081038e-02 1.26972265e+02] [-2.68318462e-01 2.30282254e-03 9.63327514e-01 1.44695011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.686875 meters Centerline goodness : 0.995884 Centerline is valid? [True, True] Translation: X:212.88, Y:126.97, Z:144.69 [[ 9.48112643e-01 1.86917416e-01 2.57185335e-01 2.12876953e+02] [-1.75056025e-01 9.82173914e-01 -6.84820489e-02 1.26967334e+02] [-2.65401215e-01 1.99068538e-02 9.63932525e-01 1.44687252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.716875 meters Centerline goodness : 0.995658 Centerline is valid? [True, True] Translation: X:212.89, Y:126.95, Z:144.67 [[ 9.51939139e-01 1.75135883e-01 2.51275345e-01 2.12890651e+02] [-1.70741471e-01 9.84529286e-01 -3.93628624e-02 1.26953535e+02] [-2.54281786e-01 -5.43207276e-03 9.67114919e-01 1.44673738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.746875 meters Centerline goodness : 0.995249 Centerline is valid? [True, True] Translation: X:212.93, Y:126.95, Z:144.66 [[ 9.48305634e-01 1.90106364e-01 2.54118072e-01 2.12925432e+02] [-1.79438131e-01 9.81636345e-01 -6.47459911e-02 1.26947517e+02] [-2.61760161e-01 1.58005164e-02 9.65003607e-01 1.44660738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.776875 meters Centerline goodness : 0.995290 Centerline is valid? [True, True] Translation: X:212.95, Y:126.94, Z:144.65 [[ 9.49694104e-01 1.85738077e-01 2.52155658e-01 2.12954369e+02] [-1.77654023e-01 9.82573498e-01 -5.46659699e-02 1.26939339e+02] [-2.57915019e-01 7.11948226e-03 9.66141375e-01 1.44649013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.806875 meters Centerline goodness : 0.995827 Centerline is valid? [True, True] Translation: X:212.98, Y:126.94, Z:144.65 [[ 9.54327485e-01 1.73025963e-01 2.43559167e-01 2.12975977e+02] [-1.68137583e-01 9.84915363e-01 -4.08837513e-02 1.26941145e+02] [-2.46959116e-01 -1.93496214e-03 9.69023968e-01 1.44652496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.836875 meters Centerline goodness : 0.993947 Centerline is valid? [True, True] Translation: X:213.02, Y:126.94, Z:144.64 [[ 9.47337922e-01 1.92889572e-01 2.55625654e-01 2.13015709e+02] [-1.79999662e-01 9.80944629e-01 -7.31283564e-02 1.26937146e+02] [-2.64860310e-01 2.32647338e-02 9.64006104e-01 1.44640605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.866875 meters Centerline goodness : 0.994496 Centerline is valid? [True, True] Translation: X:213.03, Y:126.92, Z:144.63 [[ 9.46380746e-01 1.88519664e-01 2.62342944e-01 2.13028175e+02] [-1.85690873e-01 9.81956938e-01 -3.57696900e-02 1.26922212e+02] [-2.64352764e-01 -1.48629444e-02 9.64311521e-01 1.44626597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.896875 meters Centerline goodness : 0.995066 Centerline is valid? [True, True] Translation: X:213.06, Y:126.92, Z:144.62 [[ 9.47984910e-01 1.89501124e-01 2.55761480e-01 2.13059769e+02] [-1.87158853e-01 9.81751423e-01 -3.37002662e-02 1.26919535e+02] [-2.57480435e-01 -1.59206814e-02 9.66152347e-01 1.44624745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.926875 meters Centerline goodness : 0.994024 Centerline is valid? [True, True] Translation: X:213.08, Y:126.93, Z:144.63 [[ 9.49168937e-01 1.92603515e-01 2.48962275e-01 2.13084287e+02] [-1.87007130e-01 9.81272858e-01 -4.61726292e-02 1.26925668e+02] [-2.53192934e-01 -2.73209507e-03 9.67411946e-01 1.44626703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.956875 meters Centerline goodness : 0.994633 Centerline is valid? [True, True] Translation: X:213.12, Y:126.92, Z:144.62 [[ 9.49463121e-01 1.94889064e-01 2.46044781e-01 2.13120138e+02] [-1.87501706e-01 9.80814918e-01 -5.33404799e-02 1.26921518e+02] [-2.51719868e-01 4.51100228e-03 9.67789625e-01 1.44622608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.986875 meters Centerline goodness : 0.995111 Centerline is valid? [True, True] Translation: X:213.15, Y:126.93, Z:144.62 [[ 9.51452198e-01 1.88147129e-01 2.43596743e-01 2.13146784e+02] [-1.78895864e-01 9.82050964e-01 -5.97676584e-02 1.26927136e+02] [-2.50469530e-01 1.32876202e-02 9.68033292e-01 1.44623114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.016875 meters Centerline goodness : 0.993698 Centerline is valid? [True, True] Translation: X:213.16, Y:126.91, Z:144.60 [[ 9.48758885e-01 1.79714798e-01 2.59921467e-01 2.13161158e+02] [-1.78070441e-01 9.83558396e-01 -3.00632541e-02 1.26912211e+02] [-2.61050753e-01 -1.77615509e-02 9.65161661e-01 1.44601565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.046875 meters Centerline goodness : 0.993698 Centerline is valid? [True, True] Translation: X:213.19, Y:126.91, Z:144.60 [[ 9.48656541e-01 1.83700192e-01 2.57497587e-01 2.13190804e+02] [-1.78259449e-01 9.82975506e-01 -4.45277860e-02 1.26912476e+02] [-2.61293584e-01 -3.65980246e-03 9.65252438e-01 1.44600578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.07687500000003 meters Centerline goodness : 0.995095 Centerline is valid? [True, True] Translation: X:213.22, Y:126.90, Z:144.59 [[ 9.47933342e-01 1.85450763e-01 2.58902287e-01 2.13224545e+02] [-1.75991587e-01 9.82594203e-01 -5.94608574e-02 1.26904303e+02] [-2.65422947e-01 1.08003050e-02 9.64071581e-01 1.44591381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.106875 meters Centerline goodness : 0.994525 Centerline is valid? [True, True] Translation: X:213.25, Y:126.89, Z:144.58 [[ 9.46764006e-01 1.85296999e-01 2.63254513e-01 2.13252398e+02] [-1.74778990e-01 9.82587418e-01 -6.30418180e-02 1.26894070e+02] [-2.70352032e-01 1.36743664e-02 9.62664423e-01 1.44576792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.13687500000003 meters Centerline goodness : 0.994037 Centerline is valid? [True, True] Translation: X:213.29, Y:126.89, Z:144.57 [[ 9.47400320e-01 1.92259729e-01 2.55868775e-01 2.13290697e+02] [-1.72902634e-01 9.80216781e-01 -9.63314165e-02 1.26890299e+02] [-2.69327519e-01 4.70240296e-02 9.61899906e-01 1.44569452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.166875 meters Centerline goodness : 0.994462 Centerline is valid? [True, True] Translation: X:213.32, Y:126.87, Z:144.55 [[ 9.47712595e-01 1.81387691e-01 2.62563026e-01 2.13316454e+02] [-1.70789441e-01 9.83301622e-01 -6.28401755e-02 1.26871925e+02] [-2.69577084e-01 1.47114334e-02 9.62866434e-01 1.44546288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.19687500000003 meters Centerline goodness : 0.994402 Centerline is valid? [True, True] Translation: X:213.35, Y:126.87, Z:144.54 [[ 9.47835625e-01 1.81848075e-01 2.61799362e-01 2.13350771e+02] [-1.69409569e-01 9.83090609e-01 -6.95215964e-02 1.26869905e+02] [-2.70014863e-01 2.15437286e-02 9.62615106e-01 1.44540806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.226875 meters Centerline goodness : 0.994747 Centerline is valid? [True, True] Translation: X:213.36, Y:126.85, Z:144.52 [[ 9.46496810e-01 1.69878726e-01 2.74381133e-01 2.13363858e+02] [-1.67747566e-01 9.85329964e-01 -3.13945157e-02 1.26851763e+02] [-2.75689213e-01 -1.63119583e-02 9.61108411e-01 1.44522155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.25687500000004 meters Centerline goodness : 0.995171 Centerline is valid? [True, True] Translation: X:213.40, Y:126.86, Z:144.53 [[ 9.46879797e-01 1.77293570e-01 2.68301398e-01 2.13401946e+02] [-1.65334588e-01 9.83978122e-01 -6.67197893e-02 1.26857561e+02] [-2.75831695e-01 1.88161194e-02 9.61021763e-01 1.44526922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.286875 meters Centerline goodness : 0.995215 Centerline is valid? [True, True] Translation: X:213.43, Y:126.85, Z:144.52 [[ 9.47717274e-01 1.75825828e-01 2.66302924e-01 2.13434247e+02] [-1.62826411e-01 9.84146059e-01 -7.03142598e-02 1.26849650e+02] [-2.74444036e-01 2.32768894e-02 9.61321308e-01 1.44517581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.316875 meters Centerline goodness : 0.994044 Centerline is valid? [True, True] Translation: X:213.47, Y:126.84, Z:144.51 [[ 9.50822241e-01 1.72736090e-01 2.57097858e-01 2.13469014e+02] [-1.58034472e-01 9.84430602e-01 -7.69512526e-02 1.26844606e+02] [-2.66387258e-01 3.25366381e-02 9.63316768e-01 1.44511583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.346875 meters Centerline goodness : 0.994137 Centerline is valid? [True, True] Translation: X:213.48, Y:126.82, Z:144.48 [[ 9.49676074e-01 1.60007490e-01 2.69282300e-01 2.13483381e+02] [-1.56392305e-01 9.87075667e-01 -3.49724778e-02 1.26822501e+02] [-2.71397864e-01 -8.90115417e-03 9.62426085e-01 1.44484394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.376875 meters Centerline goodness : 0.994719 Centerline is valid? [True, True] Translation: X:213.50, Y:126.82, Z:144.49 [[ 9.56721315e-01 1.45834917e-01 2.51826335e-01 2.13504165e+02] [-1.48836005e-01 9.88835708e-01 -7.19621107e-03 1.26817518e+02] [-2.50064331e-01 -3.05960571e-02 9.67745685e-01 1.44489215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.406875 meters Centerline goodness : 0.992758 Centerline is valid? [True, True] Translation: X:213.53, Y:126.82, Z:144.49 [[ 9.54092534e-01 1.52341136e-01 2.57875194e-01 2.13529784e+02] [-1.52000639e-01 9.88149153e-01 -2.13789049e-02 1.26819296e+02] [-2.58076041e-01 -1.87997409e-02 9.65941679e-01 1.44485213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.436875 meters Centerline goodness : 0.994632 Centerline is valid? [True, True] Translation: X:213.57, Y:126.83, Z:144.50 [[ 9.57020998e-01 1.65446775e-01 2.38197763e-01 2.13570720e+02] [-1.53110363e-01 9.85760266e-01 -6.95263636e-02 1.26832622e+02] [-2.46308802e-01 3.00676441e-02 9.68724889e-01 1.44501139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.466875 meters Centerline goodness : 0.992796 Centerline is valid? [True, True] Translation: X:213.59, Y:126.81, Z:144.47 [[ 9.54952789e-01 1.56726328e-01 2.51996090e-01 2.13585550e+02] [-1.55184564e-01 9.87540386e-01 -2.61101132e-02 1.26810291e+02] [-2.52948458e-01 -1.41719779e-02 9.67375952e-01 1.44469978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.496875 meters Centerline goodness : 0.994328 Centerline is valid? [True, True] Translation: X:213.63, Y:126.83, Z:144.49 [[ 9.56419422e-01 1.71905992e-01 2.36030124e-01 2.13629989e+02] [-1.58998172e-01 9.84589612e-01 -7.28208535e-02 1.26828442e+02] [-2.44911149e-01 3.21189205e-02 9.69013366e-01 1.44486132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.526875 meters Centerline goodness : 0.993973 Centerline is valid? [True, True] Translation: X:213.65, Y:126.82, Z:144.47 [[ 9.57190732e-01 1.62053620e-01 2.39842712e-01 2.13653084e+02] [-1.58313996e-01 9.86771446e-01 -3.49111930e-02 1.26816634e+02] [-2.42327425e-01 -4.55378783e-03 9.70183839e-01 1.44472436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.556875 meters Centerline goodness : 0.993759 Centerline is valid? [True, True] Translation: X:213.68, Y:126.82, Z:144.47 [[ 9.51536391e-01 1.72357497e-01 2.54698625e-01 2.13683011e+02] [-1.66318931e-01 9.85034232e-01 -4.52280385e-02 1.26821386e+02] [-2.58682256e-01 6.74921607e-04 9.65962233e-01 1.44468156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.586875 meters Centerline goodness : 0.994470 Centerline is valid? [True, True] Translation: X:213.71, Y:126.82, Z:144.46 [[ 9.51280281e-01 1.74123320e-01 2.54454114e-01 2.13709345e+02] [-1.69380103e-01 9.84713723e-01 -4.06111333e-02 1.26816812e+02] [-2.57635803e-01 -4.46689376e-03 9.66231773e-01 1.44461665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.616875 meters Centerline goodness : 0.994859 Centerline is valid? [True, True] Translation: X:213.75, Y:126.82, Z:144.46 [[ 9.51381329e-01 1.84518432e-01 2.46630322e-01 2.13749747e+02] [-1.71201082e-01 9.82408877e-01 -7.45854459e-02 1.26819235e+02] [-2.56054207e-01 2.87358227e-02 9.66235217e-01 1.44456711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.646875 meters Centerline goodness : 0.994188 Centerline is valid? [True, True] Translation: X:213.76, Y:126.80, Z:144.43 [[ 9.49601405e-01 1.77345848e-01 2.58467835e-01 2.13759467e+02] [-1.76231968e-01 9.83959768e-01 -2.76670969e-02 1.26795114e+02] [-2.59228596e-01 -1.92775812e-02 9.65623586e-01 1.44428321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.676875 meters Centerline goodness : 0.993645 Centerline is valid? [True, True] Translation: X:213.79, Y:126.79, Z:144.42 [[ 9.49258760e-01 1.83005123e-01 2.55767340e-01 2.13787303e+02] [-1.80098927e-01 9.83027470e-01 -3.49480870e-02 1.26791086e+02] [-2.57822000e-01 -1.28886458e-02 9.66106464e-01 1.44424697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.706875 meters Centerline goodness : 0.993893 Centerline is valid? [True, True] Translation: X:213.83, Y:126.80, Z:144.44 [[ 9.50724061e-01 1.88488297e-01 2.46162389e-01 2.13832466e+02] [-1.77793332e-01 9.81906692e-01 -6.51826667e-02 1.26799324e+02] [-2.53994667e-01 1.82046981e-02 9.67034280e-01 1.44435797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.736875 meters Centerline goodness : 0.993736 Centerline is valid? [True, True] Translation: X:213.85, Y:126.79, Z:144.42 [[ 9.47394063e-01 1.84901800e-01 2.61258137e-01 2.13846775e+02] [-1.82220327e-01 9.82646192e-01 -3.46729638e-02 1.26786855e+02] [-2.63135406e-01 -1.47575829e-02 9.64646034e-01 1.44421034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.766875 meters Centerline goodness : 0.993545 Centerline is valid? [True, True] Translation: X:213.88, Y:126.79, Z:144.42 [[ 9.48274182e-01 1.84810492e-01 2.58110746e-01 2.13878316e+02] [-1.80038764e-01 9.82753105e-01 -4.22182111e-02 1.26786868e+02] [-2.61461506e-01 -6.43550001e-03 9.65192450e-01 1.44421329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.796875 meters Centerline goodness : 0.991534 Centerline is valid? [True, True] Translation: X:213.90, Y:126.78, Z:144.41 [[ 9.48690254e-01 1.82195901e-01 2.58440431e-01 2.13895104e+02] [-1.79825525e-01 9.83145134e-01 -3.29913166e-02 1.26778871e+02] [-2.60095334e-01 -1.51756456e-02 9.65463680e-01 1.44412609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.82687500000003 meters Centerline goodness : 0.992142 Centerline is valid? [True, True] Translation: X:213.94, Y:126.78, Z:144.41 [[ 9.51771667e-01 1.83698474e-01 2.45734744e-01 2.13935472e+02] [-1.73601070e-01 9.82841300e-01 -6.23349688e-02 1.26775116e+02] [-2.52969093e-01 1.66688428e-02 9.67330754e-01 1.44411271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.856875 meters Centerline goodness : 0.993358 Centerline is valid? [True, True] Translation: X:213.95, Y:126.75, Z:144.38 [[ 9.47587304e-01 1.78286054e-01 2.65127109e-01 2.13949540e+02] [-1.78344240e-01 9.83673986e-01 -2.40587101e-02 1.26750989e+02] [-2.65087972e-01 -2.44861644e-02 9.63913271e-01 1.44382287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.88687500000003 meters Centerline goodness : 0.991755 Centerline is valid? [True, True] Translation: X:213.98, Y:126.75, Z:144.38 [[ 9.48527831e-01 1.82800847e-01 2.58609367e-01 2.13979904e+02] [-1.77269207e-01 9.83144121e-01 -4.47578565e-02 1.26751601e+02] [-2.62432053e-01 -3.38940504e-03 9.64944521e-01 1.44383250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.916875 meters Centerline goodness : 0.994262 Centerline is valid? [True, True] Translation: X:214.02, Y:126.76, Z:144.39 [[ 9.53097162e-01 1.81647878e-01 2.42094708e-01 2.14021005e+02] [-1.70663374e-01 9.83131242e-01 -6.57797390e-02 1.26756427e+02] [-2.49959620e-01 2.13777830e-02 9.68020237e-01 1.44385445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.94687500000003 meters Centerline goodness : 0.992462 Centerline is valid? [True, True] Translation: X:214.04, Y:126.74, Z:144.37 [[ 9.49350939e-01 1.81313040e-01 2.56628869e-01 2.14037827e+02] [-1.76594692e-01 9.83407700e-01 -4.15163834e-02 1.26743701e+02] [-2.59898268e-01 -5.90567872e-03 9.65617944e-01 1.44366437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.976875 meters Centerline goodness : 0.992978 Centerline is valid? [True, True] Translation: X:214.07, Y:126.75, Z:144.37 [[ 9.50548733e-01 1.85952982e-01 2.48754084e-01 2.14067122e+02] [-1.79355365e-01 9.82556415e-01 -4.91380070e-02 1.26746146e+02] [-2.53552280e-01 2.09269073e-03 9.67319421e-01 1.44368477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.00687500000004 meters Centerline goodness : 0.993141 Centerline is valid? [True, True] Translation: X:214.09, Y:126.73, Z:144.36 [[ 9.51770060e-01 1.79917345e-01 2.48522639e-01 2.14090966e+02] [-1.78626250e-01 9.83520497e-01 -2.79301719e-02 1.26734384e+02] [-2.49452232e-01 -1.78095657e-02 9.68223323e-01 1.44355902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.036875 meters Centerline goodness : 0.992665 Centerline is valid? [True, True] Translation: X:214.12, Y:126.73, Z:144.35 [[ 9.51996120e-01 1.84916672e-01 2.43945102e-01 2.14119203e+02] [-1.79878880e-01 9.82749711e-01 -4.29720036e-02 1.26732669e+02] [-2.47683219e-01 -2.97139115e-03 9.68836516e-01 1.44352980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.066875 meters Centerline goodness : 0.992462 Centerline is valid? [True, True] Translation: X:214.15, Y:126.73, Z:144.34 [[ 9.50474110e-01 1.88662360e-01 2.46992875e-01 2.14149510e+02] [-1.79114682e-01 9.81948771e-01 -6.07827423e-02 1.26728088e+02] [-2.54001765e-01 1.35323726e-02 9.67109083e-01 1.44342985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.096875 meters Centerline goodness : 0.992242 Centerline is valid? [True, True] Translation: X:214.17, Y:126.72, Z:144.33 [[ 9.49771431e-01 1.83979525e-01 2.53151659e-01 2.14171821e+02] [-1.78401275e-01 9.82927147e-01 -4.50245334e-02 1.26715400e+02] [-2.57113231e-01 -2.39956320e-03 9.66378305e-01 1.44328966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.126875 meters Centerline goodness : 0.992882 Centerline is valid? [True, True] Translation: X:214.20, Y:126.71, Z:144.32 [[ 9.49248528e-01 1.87195675e-01 2.52754846e-01 2.14200853e+02] [-1.78538438e-01 9.82281780e-01 -5.69783408e-02 1.26712880e+02] [-2.58942578e-01 8.96015081e-03 9.65851157e-01 1.44324540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.156875 meters Centerline goodness : 0.992583 Centerline is valid? [True, True] Translation: X:214.22, Y:126.70, Z:144.31 [[ 9.50140008e-01 1.82116608e-01 2.53115600e-01 2.14224510e+02] [-1.77575940e-01 9.83257943e-01 -4.08730097e-02 1.26701632e+02] [-2.56321578e-01 -6.11215890e-03 9.66572237e-01 1.44314931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.186875 meters Centerline goodness : 0.990465 Centerline is valid? [True, True] Translation: X:214.24, Y:126.70, Z:144.31 [[ 9.50615344e-01 1.76646511e-01 2.55198898e-01 2.14241588e+02] [-1.74747186e-01 9.84147449e-01 -3.02856208e-02 1.26696232e+02] [-2.56503194e-01 -1.58053134e-02 9.66414147e-01 1.44309839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.216875 meters Centerline goodness : 0.991566 Centerline is valid? [True, True] Translation: X:214.28, Y:126.70, Z:144.31 [[ 9.49303937e-01 1.87834813e-01 2.52071654e-01 2.14284341e+02] [-1.77833725e-01 9.82099037e-01 -6.21019224e-02 1.26697646e+02] [-2.59224232e-01 1.41267583e-02 9.65713846e-01 1.44313912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.246875 meters Centerline goodness : 0.990763 Centerline is valid? [True, True] Translation: X:214.31, Y:126.69, Z:144.30 [[ 9.47709906e-01 1.86562622e-01 2.58921458e-01 2.14309042e+02] [-1.77446610e-01 9.82398439e-01 -5.83610135e-02 1.26689442e+02] [-2.65252020e-01 9.36457567e-03 9.64133637e-01 1.44303529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.276875 meters Centerline goodness : 0.990500 Centerline is valid? [True, True] Translation: X:214.33, Y:126.67, Z:144.28 [[ 9.48550581e-01 1.76532255e-01 2.62846265e-01 2.14332360e+02] [-1.72155330e-01 9.84266170e-01 -3.97825262e-02 1.26668960e+02] [-2.65733585e-01 -7.51464719e-03 9.64017215e-01 1.44283382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.306875 meters Centerline goodness : 0.991256 Centerline is valid? [True, True] Translation: X:214.35, Y:126.66, Z:144.27 [[ 9.50110554e-01 1.66341157e-01 2.63857071e-01 2.14347280e+02] [-1.66097747e-01 9.85831716e-01 -2.33958714e-02 1.26657338e+02] [-2.64010365e-01 -2.15974007e-02 9.64278009e-01 1.44272108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.336875 meters Centerline goodness : 0.991758 Centerline is valid? [True, True] Translation: X:214.39, Y:126.66, Z:144.28 [[ 9.48779222e-01 1.83301191e-01 2.57329869e-01 2.14392087e+02] [-1.69721117e-01 9.82692760e-01 -7.42272335e-02 1.26658643e+02] [-2.66482140e-01 2.67509440e-02 9.63468555e-01 1.44278992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.366875 meters Centerline goodness : 0.993519 Centerline is valid? [True, True] Translation: X:214.42, Y:126.64, Z:144.26 [[ 9.50630777e-01 1.71164932e-01 2.58850713e-01 2.14417361e+02] [-1.67450745e-01 9.85204464e-01 -3.65022128e-02 1.26635754e+02] [-2.61268777e-01 -8.64461788e-03 9.65227381e-01 1.44257195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.396875 meters Centerline goodness : 0.993883 Centerline is valid? [True, True] Translation: X:214.45, Y:126.64, Z:144.26 [[ 9.51578115e-01 1.73947234e-01 2.53458971e-01 2.14450546e+02] [-1.66802469e-01 9.84742753e-01 -4.95847467e-02 1.26637217e+02] [-2.58217015e-01 4.90617763e-03 9.66074481e-01 1.44258946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.426875 meters Centerline goodness : 0.994183 Centerline is valid? [True, True] Translation: X:214.48, Y:126.63, Z:144.25 [[ 9.52282135e-01 1.73738018e-01 2.50945883e-01 2.14480061e+02] [-1.66619661e-01 9.84777456e-01 -4.95101064e-02 1.26629941e+02] [-2.55727636e-01 5.33507186e-03 9.66734148e-01 1.44253551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.456875 meters Centerline goodness : 0.993515 Centerline is valid? [True, True] Translation: X:214.51, Y:126.62, Z:144.24 [[ 9.51346769e-01 1.73051603e-01 2.54936203e-01 2.14509858e+02] [-1.65359082e-01 9.84889184e-01 -5.14749319e-02 1.26622214e+02] [-2.59991728e-01 6.81449375e-03 9.65586798e-01 1.44244245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.486875 meters Centerline goodness : 0.994016 Centerline is valid? [True, True] Translation: X:214.53, Y:126.61, Z:144.24 [[ 9.53071255e-01 1.61940546e-01 2.55793749e-01 2.14532157e+02] [-1.60528456e-01 9.86674463e-01 -2.65352230e-02 1.26609175e+02] [-2.56682289e-01 -1.57722172e-02 9.66367135e-01 1.44239137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.516875 meters Centerline goodness : 0.992200 Centerline is valid? [True, True] Translation: X:214.56, Y:126.61, Z:144.24 [[ 9.53289808e-01 1.64617518e-01 2.53257999e-01 2.14558222e+02] [-1.57359424e-01 9.86334941e-01 -4.87995414e-02 1.26612609e+02] [-2.57830473e-01 6.66757247e-03 9.66167165e-01 1.44241467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.546875 meters Centerline goodness : 0.992527 Centerline is valid? [True, True] Translation: X:214.58, Y:126.59, Z:144.22 [[ 9.52190057e-01 1.62087723e-01 2.58962672e-01 2.14582471e+02] [-1.59224595e-01 9.86719094e-01 -3.21396715e-02 1.26593914e+02] [-2.60732859e-01 -1.06301509e-02 9.65352462e-01 1.44223920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.57687500000003 meters Centerline goodness : 0.996350 Centerline is valid? [True, True] Translation: X:214.63, Y:126.60, Z:144.24 [[ 9.55649878e-01 1.72397707e-01 2.38772572e-01 2.14625184e+02] [-1.58934786e-01 9.84460217e-01 -7.46847721e-02 1.26604443e+02] [-2.47937581e-01 3.34232257e-02 9.68199279e-01 1.44237264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.606875 meters Centerline goodness : 0.996379 Centerline is valid? [True, True] Translation: X:214.65, Y:126.59, Z:144.22 [[ 9.55138604e-01 1.68772637e-01 2.43364017e-01 2.14650558e+02] [-1.62541187e-01 9.85646847e-01 -4.56142024e-02 1.26586714e+02] [-2.47569406e-01 4.01120943e-03 9.68861858e-01 1.44215289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.63687500000003 meters Centerline goodness : 0.994751 Centerline is valid? [True, True] Translation: X:214.68, Y:126.57, Z:144.20 [[ 9.49417582e-01 1.80340332e-01 2.57067344e-01 2.14675004e+02] [-1.78162911e-01 9.83482514e-01 -3.19393469e-02 1.26571049e+02] [-2.58581190e-01 -1.54760886e-02 9.65865549e-01 1.44201433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.666875 meters Centerline goodness : 0.994872 Centerline is valid? [True, True] Translation: X:214.71, Y:126.58, Z:144.21 [[ 9.51373146e-01 1.89926104e-01 2.42522601e-01 2.14710636e+02] [-1.80305779e-01 9.81687418e-01 -6.14787638e-02 1.26580336e+02] [-2.49757808e-01 1.47610183e-02 9.68195822e-01 1.44208292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.69687500000003 meters Centerline goodness : 0.996064 Centerline is valid? [True, True] Translation: X:214.74, Y:126.57, Z:144.20 [[ 9.48887359e-01 1.96739022e-01 2.46792500e-01 2.14736582e+02] [-1.91226484e-01 9.80450651e-01 -4.63567942e-02 1.26569840e+02] [-2.51088057e-01 -3.20588593e-03 9.67958940e-01 1.44199155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.726875 meters Centerline goodness : 0.994204 Centerline is valid? [True, True] Translation: X:214.77, Y:126.57, Z:144.19 [[ 9.39942571e-01 2.20085239e-01 2.60903146e-01 2.14766935e+02] [-2.04451110e-01 9.75093764e-01 -8.59761259e-02 1.26570016e+02] [-2.73327107e-01 2.74706830e-02 9.61528811e-01 1.44191434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.75687500000004 meters Centerline goodness : 0.993368 Centerline is valid? [True, True] Translation: X:214.79, Y:126.55, Z:144.17 [[ 9.37977297e-01 2.20310632e-01 2.67697248e-01 2.14794529e+02] [-2.08222796e-01 9.75345349e-01 -7.31075691e-02 1.26554820e+02] [-2.77203640e-01 1.28325707e-02 9.60725490e-01 1.44171690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.786875 meters Centerline goodness : 0.993199 Centerline is valid? [True, True] Translation: X:214.82, Y:126.54, Z:144.16 [[ 9.37306440e-01 2.21389174e-01 2.69153250e-01 2.14824076e+02] [-2.10930041e-01 9.75163515e-01 -6.75620999e-02 1.26541906e+02] [-2.77425946e-01 6.55388533e-03 9.60724670e-01 1.44156635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.816875 meters Centerline goodness : 0.990602 Centerline is valid? [True, True] Translation: X:214.82, Y:126.50, Z:144.12 [[ 9.40449727e-01 1.97339043e-01 2.76788028e-01 2.14815134e+02] [-2.10389492e-01 9.77452655e-01 1.79602012e-02 1.26500990e+02] [-2.67002944e-01 -7.51239588e-02 9.60763144e-01 1.44121792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.846875 meters Centerline goodness : 0.994887 Centerline is valid? [True, True] Translation: X:214.86, Y:126.52, Z:144.15 [[ 9.43241787e-01 2.18119090e-01 2.50437605e-01 2.14864461e+02] [-2.08549623e-01 9.75884405e-01 -6.44723430e-02 1.26524047e+02] [-2.58460802e-01 8.58434001e-03 9.65983604e-01 1.44146288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.876875 meters Centerline goodness : 0.993659 Centerline is valid? [True, True] Translation: X:214.87, Y:126.50, Z:144.12 [[ 9.40925543e-01 2.11716746e-01 2.64263397e-01 2.14874586e+02] [-2.14844821e-01 9.76493930e-01 -1.73581996e-02 1.26496767e+02] [-2.61726625e-01 -4.04428489e-02 9.64294327e-01 1.44124564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.906875 meters Centerline goodness : 0.995636 Centerline is valid? [True, True] Translation: X:214.92, Y:126.51, Z:144.13 [[ 9.41346111e-01 2.29141317e-01 2.47713051e-01 2.14918532e+02] [-2.16900143e-01 9.73229958e-01 -7.60116895e-02 1.26509038e+02] [-2.58499181e-01 1.78243121e-02 9.65847021e-01 1.44134715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.936875 meters Centerline goodness : 0.995636 Centerline is valid? [True, True] Translation: X:214.94, Y:126.49, Z:144.12 [[ 9.41676159e-01 2.21821013e-01 2.53064121e-01 2.14940468e+02] [-2.16562699e-01 9.75047387e-01 -4.88179393e-02 1.26493796e+02] [-2.57578355e-01 -8.83355948e-03 9.66217035e-01 1.44116361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.966875 meters Centerline goodness : 0.993911 Centerline is valid? [True, True] Translation: X:214.96, Y:126.48, Z:144.11 [[ 9.38949876e-01 2.24168303e-01 2.61001345e-01 2.14960093e+02] [-2.20825601e-01 9.74388508e-01 -4.24627971e-02 1.26484720e+02] [-2.63835525e-01 -1.77653408e-02 9.64404069e-01 1.44108666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.996875 meters Centerline goodness : 0.995582 Centerline is valid? [True, True] Translation: X:214.99, Y:126.48, Z:144.10 [[ 9.40414299e-01 2.26644425e-01 2.53482249e-01 2.14993275e+02] [-2.20548119e-01 9.73956332e-01 -5.26078976e-02 1.26477894e+02] [-2.58803928e-01 -6.43181397e-03 9.65908463e-01 1.44104950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.026875 meters Centerline goodness : 0.995855 Centerline is valid? [True, True] Translation: X:215.02, Y:126.47, Z:144.10 [[ 9.39545674e-01 2.27700760e-01 2.55746534e-01 2.15018224e+02] [-2.22572075e-01 9.73672672e-01 -4.92259930e-02 1.26465950e+02] [-2.60222207e-01 -1.06719680e-02 9.65489778e-01 1.44096376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.056875 meters Centerline goodness : 0.995922 Centerline is valid? [True, True] Translation: X:215.04, Y:126.45, Z:144.09 [[ 9.38633312e-01 2.28148940e-01 2.58680434e-01 2.15041599e+02] [-2.22925158e-01 9.73564587e-01 -4.97631358e-02 1.26448008e+02] [-2.63195516e-01 -1.09570396e-02 9.64680291e-01 1.44088053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.086875 meters Centerline goodness : 0.996135 Centerline is valid? [True, True] Translation: X:215.06, Y:126.44, Z:144.08 [[ 9.36328295e-01 2.26401795e-01 2.68386944e-01 2.15057975e+02] [-2.24308579e-01 9.73742896e-01 -3.88643002e-02 1.26435149e+02] [-2.70138828e-01 -2.38117501e-02 9.62526890e-01 1.44078042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.116875 meters Centerline goodness : 0.996919 Centerline is valid? [True, True] Translation: X:215.09, Y:126.43, Z:144.08 [[ 9.38162028e-01 2.27942393e-01 2.60565298e-01 2.15093527e+02] [-2.20498475e-01 9.73669463e-01 -5.78636174e-02 1.26428739e+02] [-2.66894045e-01 -3.16880221e-03 9.63720669e-01 1.44076801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.146875 meters Centerline goodness : 0.994964 Centerline is valid? [True, True] Translation: X:215.14, Y:126.44, Z:144.06 [[ 9.24779594e-01 2.71242361e-01 2.66852552e-01 2.15141671e+02] [-2.31225241e-01 9.57573236e-01 -1.72012751e-01 1.26442081e+02] [-3.02188006e-01 9.73708367e-02 9.48262268e-01 1.44062595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.176875 meters Centerline goodness : 0.996836 Centerline is valid? [True, True] Translation: X:215.13, Y:126.35, Z:144.02 [[ 9.36551059e-01 1.98415727e-01 2.88969400e-01 2.15125582e+02] [-2.24367246e-01 9.72699457e-01 5.92883246e-02 1.26351065e+02] [-2.69316642e-01 -1.20361812e-01 9.55500696e-01 1.44015464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.206875 meters Centerline goodness : 0.996523 Centerline is valid? [True, True] Translation: X:215.18, Y:126.39, Z:144.04 [[ 9.30181398e-01 2.51241025e-01 2.67657455e-01 2.15182282e+02] [-2.30331293e-01 9.67168944e-01 -1.07385885e-01 1.26392351e+02] [-2.85849718e-01 3.82384645e-02 9.57511231e-01 1.44036992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.236875 meters Centerline goodness : 0.997410 Centerline is valid? [True, True] Translation: X:215.19, Y:126.34, Z:144.01 [[ 9.36385781e-01 2.16860241e-01 2.75958883e-01 2.15186833e+02] [-2.27532836e-01 9.73746281e-01 6.85485594e-03 1.26344022e+02] [-2.67227390e-01 -6.92084968e-02 9.61144997e-01 1.44013017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.266875 meters Centerline goodness : 0.993200 Centerline is valid? [True, True] Translation: X:215.22, Y:126.36, Z:144.02 [[ 9.34814057e-01 2.37427738e-01 2.64103669e-01 2.15221270e+02] [-2.27503713e-01 9.71398905e-01 -6.80163825e-02 1.26362676e+02] [-2.72698991e-01 3.49810518e-03 9.62093043e-01 1.44024938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.296875 meters Centerline goodness : 0.996272 Centerline is valid? [True, True] Translation: X:215.26, Y:126.35, Z:144.02 [[ 9.35649672e-01 2.35183502e-01 2.63150928e-01 2.15255599e+02] [-2.28059379e-01 9.71932629e-01 -5.77571073e-02 1.26348723e+02] [-2.69348492e-01 -5.97361868e-03 9.63024250e-01 1.44016619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.32687500000003 meters Centerline goodness : 0.992367 Centerline is valid? [True, True] Translation: X:215.27, Y:126.34, Z:144.00 [[ 9.36610515e-01 2.25869358e-01 2.67850285e-01 2.15272673e+02] [-2.24657332e-01 9.73787729e-01 -3.55884979e-02 1.26337948e+02] [-2.68867672e-01 -2.68419692e-02 9.62803035e-01 1.44004266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.356875 meters Centerline goodness : 0.995681 Centerline is valid? [True, True] Translation: X:215.31, Y:126.33, Z:144.01 [[ 9.37769894e-01 2.30140213e-01 2.60044435e-01 2.15313719e+02] [-2.18985863e-01 9.73105055e-01 -7.14964564e-02 1.26333946e+02] [-2.69504764e-01 1.01011693e-02 9.62946078e-01 1.44007105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.38687500000003 meters Centerline goodness : 0.995824 Centerline is valid? [True, True] Translation: X:215.33, Y:126.30, Z:144.00 [[ 9.42651273e-01 2.06821304e-01 2.61980010e-01 2.15333562e+02] [-2.10969169e-01 9.77412562e-01 -1.25176933e-02 1.26304717e+02] [-2.58651479e-01 -4.34698855e-02 9.64992115e-01 1.43999070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.416875 meters Centerline goodness : 0.992264 Centerline is valid? [True, True] Translation: X:215.36, Y:126.31, Z:144.00 [[ 9.44784313e-01 2.09174656e-01 2.52247033e-01 2.15363301e+02] [-1.99637264e-01 9.77834216e-01 -6.31285123e-02 1.26312118e+02] [-2.59860665e-01 9.28492048e-03 9.65601484e-01 1.43996775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.44687500000003 meters Centerline goodness : 0.991937 Centerline is valid? [True, True] Translation: X:215.39, Y:126.30, Z:143.98 [[ 9.46456844e-01 1.98775395e-01 2.54377250e-01 2.15385885e+02] [-1.93777902e-01 9.80020987e-01 -4.48217647e-02 1.26295750e+02] [-2.58204507e-01 -6.87082389e-03 9.66065849e-01 1.43982263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.476875 meters Centerline goodness : 0.991161 Centerline is valid? [True, True] Translation: X:215.41, Y:126.29, Z:143.98 [[ 9.47650115e-01 1.94260690e-01 2.53420686e-01 2.15413317e+02] [-1.88950682e-01 9.80937771e-01 -4.53732225e-02 1.26285663e+02] [-2.57404156e-01 -4.88607179e-03 9.66291481e-01 1.43975037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.50687500000004 meters Centerline goodness : 0.994282 Centerline is valid? [True, True] Translation: X:215.45, Y:126.27, Z:143.97 [[ 9.48796942e-01 1.88357078e-01 2.53586224e-01 2.15447241e+02] [-1.84683939e-01 9.82045947e-01 -3.84395842e-02 1.26270769e+02] [-2.56273691e-01 -1.03619426e-02 9.66548719e-01 1.43970490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.536875 meters Centerline goodness : 0.990134 Centerline is valid? [True, True] Translation: X:215.48, Y:126.27, Z:143.97 [[ 9.48389529e-01 1.85329897e-01 2.57313292e-01 2.15475872e+02] [-1.76994689e-01 9.82651454e-01 -5.53985489e-02 1.26269592e+02] [-2.63116288e-01 6.99631773e-03 9.64738758e-01 1.43968973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.566875 meters Centerline goodness : 0.994022 Centerline is valid? [True, True] Translation: X:215.51, Y:126.25, Z:143.96 [[ 9.48805836e-01 1.81037567e-01 2.58829839e-01 2.15506011e+02] [-1.76775528e-01 9.83444099e-01 -3.98511793e-02 1.26254171e+02] [-2.61759238e-01 -7.94374993e-03 9.65100512e-01 1.43959783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.596875 meters Centerline goodness : 0.990540 Centerline is valid? [True, True] Translation: X:215.54, Y:126.25, Z:143.95 [[ 9.49671512e-01 1.79261358e-01 2.56883991e-01 2.15535592e+02] [-1.72380041e-01 9.83798327e-01 -4.92541801e-02 1.26253382e+02] [-2.61551412e-01 2.49361870e-03 9.65186324e-01 1.43950755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.626875 meters Centerline goodness : 0.989223 Centerline is valid? [True, True] Translation: X:215.57, Y:126.24, Z:143.95 [[ 9.49027167e-01 1.84218981e-01 2.55755359e-01 2.15565053e+02] [-1.76904432e-01 9.82878433e-01 -5.15248327e-02 1.26239184e+02] [-2.60868279e-01 3.65420952e-03 9.65367489e-01 1.43946715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.656875 meters Centerline goodness : 0.993539 Centerline is valid? [True, True] Translation: X:215.60, Y:126.23, Z:143.94 [[ 9.48426770e-01 1.80960318e-01 2.60269140e-01 2.15595266e+02] [-1.77432362e-01 9.83429935e-01 -3.71930064e-02 1.26225870e+02] [-2.62686922e-01 -1.09053253e-02 9.64819494e-01 1.43936217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.686875 meters Centerline goodness : 0.992867 Centerline is valid? [True, True] Translation: X:215.63, Y:126.22, Z:143.93 [[ 9.46193127e-01 1.85267353e-01 2.65319760e-01 2.15626007e+02] [-1.79608266e-01 9.82678069e-01 -4.56583318e-02 1.26217332e+02] [-2.69182907e-01 -4.45202230e-03 9.63078783e-01 1.43931651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.716875 meters Centerline goodness : 0.989902 Centerline is valid? [True, True] Translation: X:215.66, Y:126.21, Z:143.93 [[ 9.45260730e-01 1.92358848e-01 2.63591019e-01 2.15657693e+02] [-1.81819072e-01 9.81243460e-01 -6.40554175e-02 1.26214474e+02] [-2.70968590e-01 1.26231962e-02 9.62505417e-01 1.43927240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.746875 meters Centerline goodness : 0.990323 Centerline is valid? [True, True] Translation: X:215.68, Y:126.19, Z:143.91 [[ 9.45195942e-01 1.86246487e-01 2.68173223e-01 2.15684411e+02] [-1.83829519e-01 9.82358530e-01 -3.43282209e-02 1.26194564e+02] [-2.69835763e-01 -1.68512594e-02 9.62758898e-01 1.43911861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.776875 meters Centerline goodness : 0.989581 Centerline is valid? [True, True] Translation: X:215.72, Y:126.19, Z:143.90 [[ 9.45395708e-01 1.89464597e-01 2.65198269e-01 2.15716470e+02] [-1.86157707e-01 9.81792799e-01 -3.77916460e-02 1.26189048e+02] [-2.67529930e-01 -1.36406418e-02 9.63452993e-01 1.43904845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.806875 meters Centerline goodness : 0.990077 Centerline is valid? [True, True] Translation: X:215.75, Y:126.20, Z:143.90 [[ 9.43764638e-01 2.06539099e-01 2.58166435e-01 2.15749659e+02] [-1.93530920e-01 9.78214533e-01 -7.51139828e-02 1.26197044e+02] [-2.68056133e-01 2.09267331e-02 9.63175987e-01 1.43902831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.836875 meters Centerline goodness : 0.991355 Centerline is valid? [True, True] Translation: X:215.78, Y:126.17, Z:143.89 [[ 9.44214930e-01 1.97801030e-01 2.63311448e-01 2.15776151e+02] [-1.97142001e-01 9.79939991e-01 -2.92000954e-02 1.26170062e+02] [-2.63805227e-01 -2.43385797e-02 9.64268861e-01 1.43888061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.866875 meters Centerline goodness : 0.989796 Centerline is valid? [True, True] Translation: X:215.80, Y:126.17, Z:143.88 [[ 9.43784218e-01 2.06448191e-01 2.58167571e-01 2.15804903e+02] [-1.98343418e-01 9.78453169e-01 -5.73522807e-02 1.26174085e+02] [-2.64445153e-01 2.92233899e-03 9.64396299e-01 1.43882251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.896875 meters Centerline goodness : 0.993518 Centerline is valid? [True, True] Translation: X:215.84, Y:126.16, Z:143.87 [[ 9.44183319e-01 2.04561859e-01 2.58209810e-01 2.15838850e+02] [-1.98914847e-01 9.78835586e-01 -4.81017599e-02 1.26163270e+02] [-2.62584736e-01 -5.94488547e-03 9.64890623e-01 1.43873916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.926875 meters Centerline goodness : 0.989611 Centerline is valid? [True, True] Translation: X:215.86, Y:126.15, Z:143.87 [[ 9.42880255e-01 2.07808294e-01 2.60370000e-01 2.15860175e+02] [-2.03586559e-01 9.78094823e-01 -4.33938995e-02 1.26154247e+02] [-2.63684161e-01 -1.20925813e-02 9.64533272e-01 1.43865307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.956875 meters Centerline goodness : 0.990458 Centerline is valid? [True, True] Translation: X:215.89, Y:126.15, Z:143.86 [[ 9.42231215e-01 2.10041292e-01 2.60927180e-01 2.15889311e+02] [-2.05898255e-01 9.77608792e-01 -4.34391362e-02 1.26145959e+02] [-2.64208718e-01 -1.27947409e-02 9.64380655e-01 1.43858280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.986875 meters Centerline goodness : 0.990861 Centerline is valid? [True, True] Translation: X:215.92, Y:126.14, Z:143.85 [[ 9.41617085e-01 2.11982711e-01 2.61573309e-01 2.15918569e+02] [-2.07128959e-01 9.77216350e-01 -4.63227855e-02 1.26139120e+02] [-2.65433344e-01 -1.05610809e-02 9.64071369e-01 1.43850219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.016875 meters Centerline goodness : 0.992942 Centerline is valid? [True, True] Translation: X:215.96, Y:126.14, Z:143.85 [[ 9.40955115e-01 2.23602311e-01 2.54176077e-01 2.15956599e+02] [-2.11065675e-01 9.74517832e-01 -7.59359947e-02 1.26139573e+02] [-2.64678584e-01 1.78045172e-02 9.64172312e-01 1.43849141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.046875 meters Centerline goodness : 0.989992 Centerline is valid? [True, True] Translation: X:215.97, Y:126.12, Z:143.83 [[ 9.40624875e-01 2.12606043e-01 2.64619567e-01 2.15973444e+02] [-2.11419546e-01 9.76827819e-01 -3.33044637e-02 1.26118535e+02] [-2.65568484e-01 -2.46187417e-02 9.63777618e-01 1.43831822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.07687500000003 meters Centerline goodness : 0.990506 Centerline is valid? [True, True] Translation: X:216.01, Y:126.13, Z:143.83 [[ 9.39627389e-01 2.23782224e-01 2.58885856e-01 2.16007743e+02] [-2.11688729e-01 9.74527003e-01 -7.40607969e-02 1.26126839e+02] [-2.68864747e-01 1.47863354e-02 9.63064438e-01 1.43830808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.106875 meters Centerline goodness : 0.993725 Centerline is valid? [True, True] Translation: X:216.02, Y:126.09, Z:143.81 [[ 9.39960080e-01 2.00943391e-01 2.75856488e-01 2.16022148e+02] [-2.10771581e-01 9.77516109e-01 6.13170358e-03 1.26088304e+02] [-2.68422035e-01 -6.39062646e-02 9.61179276e-01 1.43806599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.13687500000003 meters Centerline goodness : 0.990311 Centerline is valid? [True, True] Translation: X:216.06, Y:126.11, Z:143.81 [[ 9.40203942e-01 2.25009087e-01 2.55709714e-01 2.16061293e+02] [-2.11503331e-01 9.74137194e-01 -7.95177253e-02 1.26105269e+02] [-2.66988554e-01 2.06794223e-02 9.63477801e-01 1.43813352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.166875 meters Centerline goodness : 0.990291 Centerline is valid? [True, True] Translation: X:216.08, Y:126.08, Z:143.80 [[ 9.40304348e-01 2.14964174e-01 2.63852492e-01 2.16082368e+02] [-2.11814739e-01 9.76462723e-01 -4.06825140e-02 1.26079257e+02] [-2.66387406e-01 -1.76339018e-02 9.63704724e-01 1.43797303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.19687500000003 meters Centerline goodness : 0.990825 Centerline is valid? [True, True] Translation: X:216.11, Y:126.07, Z:143.79 [[ 9.40257429e-01 2.16974949e-01 2.62369659e-01 2.16112016e+02] [-2.14220864e-01 9.75989505e-01 -3.94196297e-02 1.26065593e+02] [-2.64623106e-01 -1.91404554e-02 9.64161944e-01 1.43792654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.226875 meters Centerline goodness : 0.991415 Centerline is valid? [True, True] Translation: X:216.15, Y:126.06, Z:143.78 [[ 9.40102303e-01 2.19655746e-01 2.60689496e-01 2.16146548e+02] [-2.09122695e-01 9.75533506e-01 -6.78386090e-02 1.26064054e+02] [-2.69212478e-01 9.25914258e-03 9.63036297e-01 1.43781408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.25687500000004 meters Centerline goodness : 0.989507 Centerline is valid? [True, True] Translation: X:216.17, Y:126.06, Z:143.77 [[ 9.39055413e-01 2.25249640e-01 2.59687371e-01 2.16174636e+02] [-2.11137017e-01 9.74061483e-01 -8.13964836e-02 1.26057911e+02] [-2.71285994e-01 2.16061917e-02 9.62256245e-01 1.43774234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.286875 meters Centerline goodness : 0.991297 Centerline is valid? [True, True] Translation: X:216.19, Y:126.01, Z:143.75 [[ 9.39319416e-01 2.04471165e-01 2.75446141e-01 2.16192870e+02] [-2.11983243e-01 9.77269963e-01 -2.55422563e-03 1.26013941e+02] [-2.69707506e-01 -5.59907325e-02 9.61313112e-01 1.43754542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.316875 meters Centerline goodness : 0.989984 Centerline is valid? [True, True] Translation: X:216.23, Y:126.03, Z:143.76 [[ 9.37921876e-01 2.24956457e-01 2.64002173e-01 2.16231686e+02] [-2.11074953e-01 9.74173598e-01 -8.02070113e-02 1.26029071e+02] [-2.75227032e-01 1.95036641e-02 9.61181402e-01 1.43759636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.346875 meters Centerline goodness : 0.989592 Centerline is valid? [True, True] Translation: X:216.26, Y:126.01, Z:143.75 [[ 9.37897910e-01 2.24173011e-01 2.64752659e-01 2.16260005e+02] [-2.13967427e-01 9.74528674e-01 -6.71699559e-02 1.26013001e+02] [-2.73066750e-01 6.35011589e-03 9.61974130e-01 1.43750120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.376875 meters Centerline goodness : 0.991110 Centerline is valid? [True, True] Translation: X:216.29, Y:125.99, Z:143.73 [[ 9.39036571e-01 2.08784696e-01 2.73165277e-01 2.16288906e+02] [-2.11515152e-01 9.77174880e-01 -1.97634850e-02 1.25986255e+02] [-2.71056560e-01 -3.92199597e-02 9.61764075e-01 1.43734451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.406875 meters Centerline goodness : 0.990378 Centerline is valid? [True, True] Translation: X:216.32, Y:125.99, Z:143.74 [[ 9.40131014e-01 2.17560947e-01 2.62337401e-01 2.16318362e+02] [-2.15871045e-01 9.75772178e-01 -3.56138879e-02 1.25985838e+02] [-2.63729728e-01 -2.31493282e-02 9.64318795e-01 1.43739635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.436875 meters Centerline goodness : 0.989517 Centerline is valid? [True, True] Translation: X:216.35, Y:125.98, Z:143.73 [[ 9.39232819e-01 2.24535228e-01 2.59664480e-01 2.16350497e+02] [-2.18733192e-01 9.74428892e-01 -5.14210515e-02 1.25982051e+02] [-2.64570410e-01 -8.50090146e-03 9.64328903e-01 1.43732032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.466875 meters Centerline goodness : 0.990971 Centerline is valid? [True, True] Translation: X:216.38, Y:125.98, Z:143.71 [[ 9.37471423e-01 2.27713143e-01 2.63237642e-01 2.16382149e+02] [-2.18573491e-01 9.73725357e-01 -6.39105400e-02 1.25975664e+02] [-2.70874437e-01 2.37753447e-03 9.62611753e-01 1.43713167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.496875 meters Centerline goodness : 0.991533 Centerline is valid? [True, True] Translation: X:216.41, Y:125.96, Z:143.70 [[ 9.38623438e-01 2.26529114e-01 2.60135740e-01 2.16408927e+02] [-2.20631021e-01 9.73967042e-01 -5.20591412e-02 1.25956952e+02] [-2.65156548e-01 -8.53008388e-03 9.64167642e-01 1.43699172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.526875 meters Centerline goodness : 0.990741 Centerline is valid? [True, True] Translation: X:216.44, Y:125.95, Z:143.69 [[ 9.37208473e-01 2.32169878e-01 2.60264146e-01 2.16440094e+02] [-2.24665139e-01 9.72668962e-01 -5.86571865e-02 1.25945280e+02] [-2.66769289e-01 -3.49826846e-03 9.63754071e-01 1.43687268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.556875 meters Centerline goodness : 0.990462 Centerline is valid? [True, True] Translation: X:216.47, Y:125.94, Z:143.69 [[ 9.36650290e-01 2.36309579e-01 2.58542099e-01 2.16468539e+02] [-2.24400121e-01 9.71599762e-01 -7.50898713e-02 1.25943615e+02] [-2.68943898e-01 1.23160714e-02 9.63077097e-01 1.43686398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.586875 meters Centerline goodness : 0.992221 Centerline is valid? [True, True] Translation: X:216.50, Y:125.92, Z:143.67 [[ 9.36763378e-01 2.20723195e-01 2.71579904e-01 2.16495949e+02] [-2.22683061e-01 9.74595737e-01 -2.39875955e-02 1.25915074e+02] [-2.69975236e-01 -3.80055434e-02 9.62116911e-01 1.43673960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.616875 meters Centerline goodness : 0.991592 Centerline is valid? [True, True] Translation: X:216.53, Y:125.91, Z:143.67 [[ 9.36981943e-01 2.29111468e-01 2.63766515e-01 2.16531962e+02] [-2.25043053e-01 9.73263905e-01 -4.59673410e-02 1.25911740e+02] [-2.67246073e-01 -1.62882532e-02 9.63490648e-01 1.43672998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.646875 meters Centerline goodness : 0.992270 Centerline is valid? [True, True] Translation: X:216.56, Y:125.91, Z:143.66 [[ 9.36268553e-01 2.33781545e-01 2.62197227e-01 2.16560252e+02] [-2.25414953e-01 9.72288569e-01 -6.19922362e-02 1.25910525e+02] [-2.69424008e-01 -1.06179441e-03 9.63021068e-01 1.43664172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.676875 meters Centerline goodness : 0.992110 Centerline is valid? [True, True] Translation: X:216.59, Y:125.89, Z:143.65 [[ 9.35233126e-01 2.38344911e-01 2.61783695e-01 2.16591596e+02] [-2.30991850e-01 9.71166081e-01 -5.89848162e-02 1.25890255e+02] [-2.68294176e-01 -5.30534601e-03 9.63322422e-01 1.43653840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.706875 meters Centerline goodness : 0.992398 Centerline is valid? [True, True] Translation: X:216.61, Y:125.87, Z:143.64 [[ 9.33417820e-01 2.35509926e-01 2.70677387e-01 2.16612233e+02] [-2.33295934e-01 9.71548970e-01 -4.08118472e-02 1.25874470e+02] [-2.72587932e-01 -2.50534283e-02 9.61804629e-01 1.43642130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.736875 meters Centerline goodness : 0.992323 Centerline is valid? [True, True] Translation: X:216.65, Y:125.87, Z:143.64 [[ 9.33088493e-01 2.41314898e-01 2.66670178e-01 2.16646083e+02] [-2.32833179e-01 9.70442661e-01 -6.34803339e-02 1.25869235e+02] [-2.74106867e-01 -2.85689602e-03 9.61694995e-01 1.43637422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.766875 meters Centerline goodness : 0.993705 Centerline is valid? [True, True] Translation: X:216.67, Y:125.85, Z:143.63 [[ 9.31781012e-01 2.39961854e-01 2.72401273e-01 2.16672219e+02] [-2.35669118e-01 9.70603184e-01 -4.88827733e-02 1.25851565e+02] [-2.76123544e-01 -1.86485279e-02 9.60941216e-01 1.43626144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.796875 meters Centerline goodness : 0.993732 Centerline is valid? [True, True] Translation: X:216.70, Y:125.85, Z:143.62 [[ 9.32233609e-01 2.43160689e-01 2.67980183e-01 2.16704426e+02] [-2.35735334e-01 9.69959446e-01 -6.00626708e-02 1.25845507e+02] [-2.74534790e-01 -7.17995762e-03 9.61550361e-01 1.43618406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.82687500000003 meters Centerline goodness : 0.993647 Centerline is valid? [True, True] Translation: X:216.73, Y:125.82, Z:143.61 [[ 9.31914173e-01 2.39806054e-01 2.72082764e-01 2.16729469e+02] [-2.37530835e-01 9.70480890e-01 -4.17844960e-02 1.25823262e+02] [-2.74071299e-01 -2.56884821e-02 9.61366228e-01 1.43606170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.856875 meters Centerline goodness : 0.993647 Centerline is valid? [True, True] Translation: X:216.76, Y:125.82, Z:143.60 [[ 9.31609722e-01 2.43416384e-01 2.69910708e-01 2.16762200e+02] [-2.37791771e-01 9.69820943e-01 -5.38740434e-02 1.25821245e+02] [-2.74878882e-01 -1.39929627e-02 9.61377032e-01 1.43598087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.88687500000003 meters Centerline goodness : 0.995164 Centerline is valid? [True, True] Translation: X:216.79, Y:125.81, Z:143.59 [[ 9.32075083e-01 2.43855789e-01 2.67899969e-01 2.16792625e+02] [-2.37510118e-01 9.69748115e-01 -5.63696545e-02 1.25810006e+02] [-2.73541557e-01 -1.10882029e-02 9.61796272e-01 1.43590126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.916875 meters Centerline goodness : 0.996494 Centerline is valid? [True, True] Translation: X:216.82, Y:125.79, Z:143.58 [[ 9.35160111e-01 2.42182762e-01 2.58501599e-01 2.16822513e+02] [-2.33693824e-01 9.70230167e-01 -6.35658702e-02 1.25792716e+02] [-2.66200607e-01 -9.65960823e-04 9.63917166e-01 1.43582856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.94687500000003 meters Centerline goodness : 0.996816 Centerline is valid? [True, True] Translation: X:216.85, Y:125.78, Z:143.57 [[ 9.35687554e-01 2.37801762e-01 2.60651345e-01 2.16850595e+02] [-2.31860898e-01 9.71261071e-01 -5.37815650e-02 1.25776617e+02] [-2.65949856e-01 -1.01121140e-02 9.63933825e-01 1.43574653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.976875 meters Centerline goodness : 0.997022 Centerline is valid? [True, True] Translation: X:216.88, Y:125.77, Z:143.57 [[ 9.35153482e-01 2.36268908e-01 2.63941222e-01 2.16881399e+02] [-2.30095780e-01 9.71638930e-01 -5.45318352e-02 1.25765559e+02] [-2.69339744e-01 -9.73612588e-03 9.62996007e-01 1.43568700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.00687500000004 meters Centerline goodness : 0.997651 Centerline is valid? [True, True] Translation: X:216.91, Y:125.75, Z:143.56 [[ 9.32266686e-01 2.31556738e-01 2.77957378e-01 2.16905809e+02] [-2.30717858e-01 9.72346958e-01 -3.62030934e-02 1.25746452e+02] [-2.78654081e-01 -3.03787929e-02 9.59910950e-01 1.43561925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.036875 meters Centerline goodness : 0.997573 Centerline is valid? [True, True] Translation: X:216.94, Y:125.74, Z:143.56 [[ 9.31995431e-01 2.34727254e-01 2.76202160e-01 2.16937961e+02] [-2.26723115e-01 9.72044389e-01 -6.10437047e-02 1.25737863e+02] [-2.82809381e-01 -5.72896036e-03 9.59159024e-01 1.43558741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.066875 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:216.97, Y:125.73, Z:143.55 [[ 9.34435886e-01 2.34712779e-01 2.67842280e-01 2.16970300e+02] [-2.24569615e-01 9.72057632e-01 -6.83553075e-02 1.25727430e+02] [-2.76401996e-01 3.72441476e-03 9.61034893e-01 1.43550825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.096875 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:217.00, Y:125.71, Z:143.54 [[ 9.36644483e-01 2.27690279e-01 2.66184615e-01 2.16996739e+02] [-2.20949197e-01 9.73709161e-01 -5.54249284e-02 1.25705177e+02] [-2.71806115e-01 -6.89982359e-03 9.62327298e-01 1.43539324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.126875 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:217.03, Y:125.69, Z:143.53 [[ 9.37009552e-01 2.25635071e-01 2.66649421e-01 2.17025422e+02] [-2.18774469e-01 9.74191748e-01 -5.55713078e-02 1.25694527e+02] [-2.72306502e-01 -6.26523934e-03 9.62190166e-01 1.43528714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.156875 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:217.06, Y:125.68, Z:143.52 [[ 9.37607027e-01 2.22807693e-01 2.66926573e-01 2.17055578e+02] [-2.15799682e-01 9.74847591e-01 -5.57016285e-02 1.25683913e+02] [-2.72623478e-01 -5.37643126e-03 9.62105781e-01 1.43518946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.186875 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:217.09, Y:125.67, Z:143.51 [[ 9.39710445e-01 2.14630012e-01 2.66229672e-01 2.17085106e+02] [-2.07315792e-01 9.76691070e-01 -5.56301642e-02 1.25670234e+02] [-2.71964046e-01 -2.91736918e-03 9.62302991e-01 1.43509398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.216875 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:217.12, Y:125.66, Z:143.50 [[ 9.40848839e-01 2.10785310e-01 2.65279128e-01 2.17115738e+02] [-2.03353766e-01 9.77530858e-01 -5.55037652e-02 1.25659209e+02] [-2.71017912e-01 -1.72485673e-03 9.62572759e-01 1.43502342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.246875 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:217.15, Y:125.65, Z:143.50 [[ 9.41605231e-01 2.07529640e-01 2.65162285e-01 2.17146169e+02] [-1.99966453e-01 9.78228446e-01 -5.55204892e-02 1.25646998e+02] [-2.70911438e-01 -7.45178500e-04 9.62603988e-01 1.43496011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.276875 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:217.18, Y:125.63, Z:143.49 [[ 9.42201544e-01 2.04466290e-01 2.65423788e-01 2.17176784e+02] [-1.96742401e-01 9.78873579e-01 -5.56681644e-02 1.25634257e+02] [-2.71198596e-01 2.30517150e-04 9.62523386e-01 1.43489390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.306875 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:217.21, Y:125.62, Z:143.48 [[ 9.43142027e-01 1.97466487e-01 2.67376331e-01 2.17206201e+02] [-1.89328319e-01 9.80306847e-01 -5.61540156e-02 1.25617952e+02] [-2.73199385e-01 2.33930076e-03 9.61954585e-01 1.43482052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.336875 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:217.24, Y:125.61, Z:143.47 [[ 9.43621528e-01 1.94570053e-01 2.67807593e-01 2.17236638e+02] [-1.86268490e-01 9.80883198e-01 -5.63222999e-02 1.25609613e+02] [-2.73646601e-01 3.26281886e-03 9.61824772e-01 1.43473806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.366875 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:217.27, Y:125.60, Z:143.46 [[ 9.44372580e-01 1.91341427e-01 2.67486239e-01 2.17266513e+02] [-1.82910889e-01 9.81514237e-01 -5.63330169e-02 1.25601707e+02] [-2.73320392e-01 4.27321063e-03 9.61913563e-01 1.43464321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.396875 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:217.30, Y:125.59, Z:143.45 [[ 9.44428106e-01 1.91230383e-01 2.67369583e-01 2.17296848e+02] [-1.82780895e-01 9.81535395e-01 -5.63862759e-02 1.25594933e+02] [-2.73215479e-01 4.38273203e-03 9.61942875e-01 1.43453948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.426875 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:217.33, Y:125.59, Z:143.44 [[ 9.44341817e-01 1.92092908e-01 2.67055890e-01 2.17327173e+02] [-1.83675362e-01 9.81367725e-01 -5.63981402e-02 1.25587932e+02] [-2.72913714e-01 4.20753504e-03 9.62029314e-01 1.43444267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.456875 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:217.36, Y:125.58, Z:143.44 [[ 9.44008514e-01 1.93262663e-01 2.67390105e-01 2.17357272e+02] [-1.84846936e-01 9.81139080e-01 -5.65483530e-02 1.25580043e+02] [-2.73275567e-01 3.95588512e-03 9.61927656e-01 1.43435493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.486875 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:217.39, Y:125.57, Z:143.43 [[ 9.42752053e-01 1.96486522e-01 2.69465422e-01 2.17386162e+02] [-1.88044293e-01 9.80501550e-01 -5.70618500e-02 1.25566413e+02] [-2.75423148e-01 3.12374148e-03 9.61318018e-01 1.43426749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.516875 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:217.42, Y:125.56, Z:143.42 [[ 9.42420371e-01 1.98870471e-01 2.68876143e-01 2.17416626e+02] [-1.90546758e-01 9.80022665e-01 -5.69869149e-02 1.25557031e+02] [-2.74837729e-01 2.47215204e-03 9.61487447e-01 1.43419271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.546875 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:217.45, Y:125.55, Z:143.41 [[ 9.42340858e-01 2.05516804e-01 2.64114654e-01 2.17447298e+02] [-1.97725895e-01 9.78653404e-01 -5.60534216e-02 1.25551663e+02] [-2.69996626e-01 5.99122956e-04 9.62861082e-01 1.43410403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.57687500000003 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:217.48, Y:125.55, Z:143.40 [[ 9.41947568e-01 2.09453617e-01 2.62419438e-01 2.17478602e+02] [-2.01894358e-01 9.77818478e-01 -5.57646090e-02 1.25547321e+02] [-2.68278675e-01 -4.53666078e-04 9.63341241e-01 1.43402098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.606875 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:217.51, Y:125.54, Z:143.39 [[ 9.40908077e-01 2.13352902e-01 2.63006710e-01 2.17510712e+02] [-2.05887358e-01 9.76974060e-01 -5.59650072e-02 1.25542874e+02] [-2.68891030e-01 -1.49182943e-03 9.63169449e-01 1.43393883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.63687500000003 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:217.54, Y:125.54, Z:143.38 [[ 9.38381389e-01 2.20575227e-01 2.66058149e-01 2.17542470e+02] [-2.12567354e-01 9.75369130e-01 -5.89082424e-02 1.25538055e+02] [-2.72498605e-01 -1.27687869e-03 9.62155331e-01 1.43384122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.666875 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:217.57, Y:125.53, Z:143.38 [[ 9.37643787e-01 2.22976358e-01 2.66656470e-01 2.17570345e+02] [-2.16154127e-01 9.74805331e-01 -5.50632372e-02 1.25527139e+02] [-2.72215948e-01 -6.00919408e-03 9.62217422e-01 1.43375035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.69687500000003 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:217.60, Y:125.52, Z:143.37 [[ 9.37005933e-01 2.26788349e-01 2.65682001e-01 2.17598993e+02] [-2.19646953e-01 9.73930060e-01 -5.67049770e-02 1.25516064e+02] [-2.71615716e-01 -5.22334227e-03 9.62391615e-01 1.43366374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.726875 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:217.63, Y:125.50, Z:143.36 [[ 9.36340051e-01 2.31160509e-01 2.64257691e-01 2.17628453e+02] [-2.24246863e-01 9.72894704e-01 -5.64733462e-02 1.25503815e+02] [-2.70149316e-01 -6.38070239e-03 9.62797296e-01 1.43357467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.75687500000004 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:217.66, Y:125.50, Z:143.35 [[ 9.35891924e-01 2.32750585e-01 2.64449376e-01 2.17659784e+02] [-2.25867363e-01 9.72512915e-01 -5.65912052e-02 1.25498143e+02] [-2.70352069e-01 -6.76723126e-03 9.62737744e-01 1.43347424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.786875 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:217.69, Y:125.49, Z:143.34 [[ 9.36015764e-01 2.33015216e-01 2.63777175e-01 2.17690398e+02] [-2.26156435e-01 9.72449676e-01 -5.65233988e-02 1.25492241e+02] [-2.69680841e-01 -6.74811335e-03 9.62926117e-01 1.43335957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.816875 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:217.72, Y:125.48, Z:143.33 [[ 9.36508989e-01 2.32335363e-01 2.62623672e-01 2.17720174e+02] [-2.25489873e-01 9.72614387e-01 -5.63522076e-02 1.25483780e+02] [-2.68524172e-01 -6.44462937e-03 9.63251388e-01 1.43325669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.846875 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:217.75, Y:125.47, Z:143.32 [[ 9.36880027e-01 2.31527998e-01 2.62012599e-01 2.17749629e+02] [-2.24662734e-01 9.72808984e-01 -5.62968658e-02 1.25474125e+02] [-2.67922510e-01 -6.12105765e-03 9.63421020e-01 1.43317050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.876875 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:217.78, Y:125.46, Z:143.31 [[ 9.36886685e-01 2.30887921e-01 2.62553058e-01 2.17779880e+02] [-2.23955913e-01 9.72962447e-01 -5.64608299e-02 1.25463602e+02] [-2.68490389e-01 -5.90291010e-03 9.63264277e-01 1.43309141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.906875 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:217.81, Y:125.45, Z:143.30 [[ 9.36659810e-01 2.30389855e-01 2.63797110e-01 2.17809950e+02] [-2.23350570e-01 9.73081636e-01 -5.68036331e-02 1.25448711e+02] [-2.69783105e-01 -5.71355488e-03 9.62904165e-01 1.43302193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.936875 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:217.84, Y:125.44, Z:143.30 [[ 9.36524510e-01 2.30280411e-01 2.64372415e-01 2.17839266e+02] [-2.23184659e-01 9.73108087e-01 -5.70022659e-02 1.25438568e+02] [-2.70389440e-01 -5.61984818e-03 9.62734630e-01 1.43295220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.966875 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:217.87, Y:125.43, Z:143.29 [[ 9.35962185e-01 2.31042738e-01 2.65695393e-01 2.17869774e+02] [-2.23884948e-01 9.72926312e-01 -5.73578407e-02 1.25427822e+02] [-2.71754151e-01 -5.80042923e-03 9.62349228e-01 1.43287649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.996875 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:217.90, Y:125.42, Z:143.28 [[ 9.34914978e-01 2.33640434e-01 2.67106968e-01 2.17899835e+02] [-2.26487786e-01 9.72301228e-01 -5.77373856e-02 1.25416795e+02] [-2.73198220e-01 -6.51691915e-03 9.61935685e-01 1.43280157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.026875 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:217.93, Y:125.41, Z:143.27 [[ 9.34810536e-01 2.35072836e-01 2.66214243e-01 2.17930419e+02] [-2.28003862e-01 9.71953738e-01 -5.76209195e-02 1.25408606e+02] [-2.72293041e-01 -6.83323269e-03 9.62190109e-01 1.43269718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.056875 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:217.96, Y:125.40, Z:143.26 [[ 9.35181017e-01 2.35734822e-01 2.64320940e-01 2.17960772e+02] [-2.28772062e-01 9.71792954e-01 -5.72869840e-02 1.25399410e+02] [-2.70369764e-01 -6.89554659e-03 9.62731864e-01 1.43258549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.086875 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:217.99, Y:125.38, Z:143.25 [[ 9.35867530e-01 2.35611958e-01 2.61990405e-01 2.17988542e+02] [-2.28747026e-01 9.71823998e-01 -5.68587299e-02 1.25383623e+02] [-2.68005159e-01 -6.71728678e-03 9.63394059e-01 1.43247173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.116875 meters Centerline goodness : 0.998112 Centerline is valid? [True, True] Translation: X:218.02, Y:125.37, Z:143.24 [[ 9.35840321e-01 2.35590371e-01 2.62106984e-01 2.18017036e+02] [-2.28698289e-01 9.71829753e-01 -5.69563273e-02 1.25371115e+02] [-2.68141728e-01 -6.64139130e-03 9.63356583e-01 1.43237423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.146875 meters Centerline goodness : 0.998330 Centerline is valid? [True, True] Translation: X:218.05, Y:125.35, Z:143.23 [[ 9.36190047e-01 2.34006196e-01 2.62277136e-01 2.18045599e+02] [-2.27024116e-01 9.72215845e-01 -5.70648814e-02 1.25354512e+02] [-2.68343523e-01 -6.11966099e-03 9.63303848e-01 1.43228094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.176875 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:218.08, Y:125.35, Z:143.22 [[ 9.36355725e-01 2.33627310e-01 2.62023351e-01 2.18076349e+02] [-2.26623392e-01 9.72308146e-01 -5.70850887e-02 1.25346078e+02] [-2.68104074e-01 -5.92867111e-03 9.63371712e-01 1.43219974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.206875 meters Centerline goodness : 0.998413 Centerline is valid? [True, True] Translation: X:218.11, Y:125.34, Z:143.21 [[ 9.36512898e-01 2.33044968e-01 2.61980219e-01 2.18106553e+02] [-2.25999320e-01 9.72449359e-01 -5.71537469e-02 1.25338918e+02] [-2.68081890e-01 -5.68213032e-03 9.63379372e-01 1.43211540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.236875 meters Centerline goodness : 0.998570 Centerline is valid? [True, True] Translation: X:218.14, Y:125.33, Z:143.20 [[ 9.37152971e-01 2.31619498e-01 2.60953478e-01 2.18135982e+02] [-2.24555574e-01 9.72792673e-01 -5.70018344e-02 1.25325911e+02] [-2.67056368e-01 -5.17911966e-03 9.63666993e-01 1.43204307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.266875 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:218.17, Y:125.31, Z:143.20 [[ 9.37418865e-01 2.30508386e-01 2.60982289e-01 2.18165327e+02] [-2.23381399e-01 9.73058534e-01 -5.70774918e-02 1.25313078e+02] [-2.67107884e-01 -4.79307127e-03 9.63654712e-01 1.43195606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.296875 meters Centerline goodness : 0.998047 Centerline is valid? [True, True] Translation: X:218.19, Y:125.30, Z:143.19 [[ 9.37449681e-01 2.30194332e-01 2.61148743e-01 2.18194989e+02] [-2.23025417e-01 9.73133660e-01 -5.71886584e-02 1.25300082e+02] [-2.67297137e-01 -4.63131790e-03 9.63603026e-01 1.43186909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.32687500000003 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:218.22, Y:125.29, Z:143.18 [[ 9.36635928e-01 2.30633869e-01 2.63668650e-01 2.18223966e+02] [-2.23318195e-01 9.73029135e-01 -5.78211650e-02 1.25288011e+02] [-2.69892798e-01 -4.72462659e-03 9.62878786e-01 1.43179133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.356875 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:218.25, Y:125.28, Z:143.17 [[ 9.35639005e-01 2.31154540e-01 2.66734384e-01 2.18254798e+02] [-2.23664069e-01 9.72904914e-01 -5.85697315e-02 1.25281217e+02] [-2.73045852e-01 -4.85877232e-03 9.61988750e-01 1.43171317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.38687500000003 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:218.29, Y:125.27, Z:143.16 [[ 9.33967638e-01 2.33869203e-01 2.70202973e-01 2.18285127e+02] [-2.26267244e-01 9.72251659e-01 -5.94125117e-02 1.25273843e+02] [-2.76600046e-01 -5.64871884e-03 9.60968525e-01 1.43164282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.416875 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:218.32, Y:125.27, Z:143.15 [[ 9.34294562e-01 2.35419773e-01 2.67714778e-01 2.18315850e+02] [-2.28000744e-01 9.71875433e-01 -5.89389876e-02 1.25265345e+02] [-2.74060819e-01 -5.97279319e-03 9.61693815e-01 1.43154186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.44687500000003 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:218.35, Y:125.26, Z:143.14 [[ 9.34788460e-01 2.37216845e-01 2.64383630e-01 2.18345361e+02] [-2.30032940e-01 9.71436066e-01 -5.82822065e-02 1.25256149e+02] [-2.70657314e-01 -6.33540961e-03 9.62654913e-01 1.43142814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.476875 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:218.37, Y:125.24, Z:143.13 [[ 9.34849707e-01 2.40891467e-01 2.60820487e-01 2.18373726e+02] [-2.34021420e-01 9.70525243e-01 -5.75736744e-02 1.25244896e+02] [-2.67001873e-01 -7.21484809e-03 9.63669002e-01 1.43131886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.50687500000004 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:218.40, Y:125.24, Z:143.12 [[ 9.34603533e-01 2.42389355e-01 2.60314494e-01 2.18403148e+02] [-2.35583236e-01 9.70149648e-01 -5.75343401e-02 1.25236772e+02] [-2.66489726e-01 -7.55393330e-03 9.63808157e-01 1.43122846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.536875 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:218.43, Y:125.23, Z:143.11 [[ 9.32959233e-01 2.46875256e-01 2.61991749e-01 2.18433119e+02] [-2.40132854e-01 9.69007112e-01 -5.79778383e-02 1.25226169e+02] [-2.68185162e-01 -8.82186697e-03 9.63326992e-01 1.43114855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.566875 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:218.46, Y:125.22, Z:143.11 [[ 9.31715323e-01 2.48877510e-01 2.64511895e-01 2.18463983e+02] [-2.42060435e-01 9.68489182e-01 -5.86127130e-02 1.25215612e+02] [-2.70764295e-01 -9.41750152e-03 9.62599609e-01 1.43108218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.596875 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:218.49, Y:125.20, Z:143.10 [[ 9.30582934e-01 2.50965477e-01 2.66517791e-01 2.18494956e+02] [-2.44104965e-01 9.67944095e-01 -5.91354015e-02 1.25203787e+02] [-2.72815267e-01 -1.00279208e-02 9.62014174e-01 1.43101708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.626875 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:218.53, Y:125.19, Z:143.09 [[ 9.29686046e-01 2.52569411e-01 2.68127857e-01 2.18525906e+02] [-2.45667508e-01 9.67521941e-01 -5.95715510e-02 1.25193402e+02] [-2.74465536e-01 -1.04874629e-02 9.61539746e-01 1.43094334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.656875 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:218.56, Y:125.18, Z:143.08 [[ 9.28270023e-01 2.56108880e-01 2.69672035e-01 2.18555867e+02] [-2.49249657e-01 9.66579227e-01 -5.99933855e-02 1.25182359e+02] [-2.76024226e-01 -1.15256009e-02 9.61081572e-01 1.43083537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.686875 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:218.58, Y:125.17, Z:143.07 [[ 9.28257491e-01 2.57747239e-01 2.68149941e-01 2.18584190e+02] [-2.51011047e-01 9.66139554e-01 -5.97312014e-02 1.25171913e+02] [-2.74465817e-01 -1.18626625e-02 9.61523683e-01 1.43073049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.716875 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:218.61, Y:125.16, Z:143.06 [[ 9.28530020e-01 2.58511739e-01 2.66465164e-01 2.18614020e+02] [-2.51877757e-01 9.65934104e-01 -5.94045612e-02 1.25159964e+02] [-2.72744566e-01 -1.19577295e-02 9.62012170e-01 1.43062295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.746875 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:218.65, Y:125.15, Z:143.05 [[ 9.28497736e-01 2.58645067e-01 2.66448276e-01 2.18645510e+02] [-2.51994788e-01 9.65898923e-01 -5.94802199e-02 1.25152870e+02] [-2.72746368e-01 -1.19163272e-02 9.62012172e-01 1.43053380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.776875 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:218.67, Y:125.14, Z:143.04 [[ 9.28583584e-01 2.59614400e-01 2.65203488e-01 2.18674119e+02] [-2.53055250e-01 9.65636510e-01 -5.92382551e-02 1.25141275e+02] [-2.71469275e-01 -1.21034638e-02 9.62370999e-01 1.43044183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.806875 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:218.70, Y:125.13, Z:143.03 [[ 9.28679912e-01 2.58619451e-01 2.65837546e-01 2.18702344e+02] [-2.51967508e-01 9.65907602e-01 -5.94548464e-02 1.25127334e+02] [-2.72150686e-01 -1.17679024e-02 9.62182686e-01 1.43033404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.836875 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:218.73, Y:125.12, Z:143.02 [[ 9.29025999e-01 2.57139865e-01 2.66063495e-01 2.18732499e+02] [-2.50396764e-01 9.66308448e-01 -5.95772075e-02 1.25116027e+02] [-2.72419078e-01 -1.12726634e-02 9.62112661e-01 1.43024277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.866875 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:218.76, Y:125.10, Z:143.02 [[ 9.30422999e-01 2.54102740e-01 2.64092486e-01 2.18761733e+02] [-2.47318270e-01 9.67123228e-01 -5.92143154e-02 1.25102169e+02] [-2.70456497e-01 -1.02205360e-02 9.62677944e-01 1.43017239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.896875 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:218.79, Y:125.09, Z:143.01 [[ 9.31533591e-01 2.52968354e-01 2.61251184e-01 2.18791465e+02] [-2.46266961e-01 9.67425888e-01 -5.86492552e-02 1.25091029e+02] [-2.67577564e-01 -9.70378393e-03 9.63487459e-01 1.43008630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.926875 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:218.82, Y:125.08, Z:143.00 [[ 9.32303488e-01 2.51838047e-01 2.59591611e-01 2.18819948e+02] [-2.45159130e-01 9.67725274e-01 -5.83506169e-02 1.25078814e+02] [-2.65908268e-01 -9.24076993e-03 9.63954045e-01 1.42999247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.956875 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:218.85, Y:125.07, Z:142.99 [[ 9.32556378e-01 2.50251582e-01 2.60216734e-01 2.18850557e+02] [-2.43460257e-01 9.68141383e-01 -5.85607873e-02 1.25066800e+02] [-2.66581518e-01 -8.74119726e-03 9.63772736e-01 1.42991236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.986875 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:218.88, Y:125.05, Z:142.99 [[ 9.31784045e-01 2.46748388e-01 2.66258758e-01 2.18880748e+02] [-2.39471418e-01 9.69047745e-01 -5.99992349e-02 1.25050555e+02] [-2.72822163e-01 -7.85503246e-03 9.62032414e-01 1.42986336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.016875 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:218.91, Y:125.04, Z:142.98 [[ 9.32005098e-01 2.44846056e-01 2.67239417e-01 2.18910825e+02] [-2.37415557e-01 9.69534877e-01 -6.02990446e-02 1.25039431e+02] [-2.73861919e-01 -7.24777818e-03 9.61741711e-01 1.42979473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.046875 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:218.94, Y:125.03, Z:142.97 [[ 9.33274932e-01 2.43437631e-01 2.64075788e-01 2.18938836e+02] [-2.36107788e-01 9.69893619e-01 -5.96613785e-02 1.25025141e+02] [-2.70649246e-01 -6.66988108e-03 9.62654922e-01 1.42969413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.07687500000003 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:218.97, Y:125.02, Z:142.96 [[ 9.33598636e-01 2.43743588e-01 2.62645483e-01 2.18969024e+02] [-2.36486059e-01 9.69816928e-01 -5.94093420e-02 1.25015355e+02] [-2.69198682e-01 -6.64751449e-03 9.63061722e-01 1.42959072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.106875 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:219.00, Y:125.01, Z:142.95 [[ 9.33848814e-01 2.43635367e-01 2.61855306e-01 2.18999164e+02] [-2.36396899e-01 9.69844993e-01 -5.93059462e-02 1.25005575e+02] [-2.68408083e-01 -6.51899482e-03 9.63283242e-01 1.42949446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.13687500000003 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:219.03, Y:124.99, Z:142.94 [[ 9.34256506e-01 2.41457706e-01 2.62417526e-01 2.19028336e+02] [-2.34081661e-01 9.70393840e-01 -5.95111026e-02 1.24990472e+02] [-2.69017765e-01 -5.82849553e-03 9.63117579e-01 1.42940058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.166875 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:219.06, Y:124.98, Z:142.93 [[ 9.34805912e-01 2.40014268e-01 2.61784375e-01 2.19057117e+02] [-2.32597331e-01 9.70754776e-01 -5.94444819e-02 1.24978391e+02] [-2.68395956e-01 -5.32129388e-03 9.63293981e-01 1.42932108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.19687500000003 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:219.09, Y:124.96, Z:142.93 [[ 9.34978880e-01 2.39855902e-01 2.61311387e-01 2.19086702e+02] [-2.32440165e-01 9.70794610e-01 -5.94087079e-02 1.24961466e+02] [-2.67929215e-01 -5.19337477e-03 9.63424602e-01 1.42926964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.226875 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:219.12, Y:124.95, Z:142.92 [[ 9.34459386e-01 2.40690775e-01 2.62399707e-01 2.19116282e+02] [-2.33222598e-01 9.70586949e-01 -5.97343604e-02 1.24950980e+02] [-2.69059241e-01 -5.37820771e-03 9.63108613e-01 1.42920723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.25687500000004 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:219.15, Y:124.94, Z:142.91 [[ 9.33901912e-01 2.41882770e-01 2.63286811e-01 2.19147234e+02] [-2.34389159e-01 9.70288922e-01 -6.00094165e-02 1.24940993e+02] [-2.69979520e-01 -5.66866559e-03 9.62849378e-01 1.42912917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.286875 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:219.18, Y:124.93, Z:142.90 [[ 9.33299176e-01 2.44375642e-01 2.63122014e-01 2.19175602e+02] [-2.36966505e-01 9.69660138e-01 -6.00507510e-02 1.24927864e+02] [-2.69813869e-01 -6.30578757e-03 9.62891849e-01 1.42904030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.316875 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:219.21, Y:124.92, Z:142.89 [[ 9.32894536e-01 2.46119312e-01 2.62931681e-01 2.19205615e+02] [-2.38768320e-01 9.69216169e-01 -6.00808367e-02 1.24918161e+02] [-2.69624691e-01 -6.73067158e-03 9.62941963e-01 1.42894220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.346875 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:219.24, Y:124.91, Z:142.88 [[ 9.32083804e-01 2.48060430e-01 2.63980693e-01 2.19235374e+02] [-2.40704599e-01 9.68717458e-01 -6.03968809e-02 1.24909688e+02] [-2.70704782e-01 -7.24641234e-03 9.62635139e-01 1.42884436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.376875 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:219.27, Y:124.90, Z:142.87 [[ 9.30951379e-01 2.49574079e-01 2.66537633e-01 2.19265909e+02] [-2.42113151e-01 9.68325145e-01 -6.10543580e-02 1.24901214e+02] [-2.73332677e-01 -7.69362755e-03 9.61888796e-01 1.42875000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.406875 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:219.30, Y:124.89, Z:142.87 [[ 9.30282246e-01 2.49741439e-01 2.68708312e-01 2.19295243e+02] [-2.42140653e-01 9.68281702e-01 -6.16315687e-02 1.24888452e+02] [-2.75577298e-01 -7.73045190e-03 9.61247831e-01 1.42865759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.436875 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:219.32, Y:124.88, Z:142.86 [[ 9.31061222e-01 2.49522832e-01 2.66201723e-01 2.19323486e+02] [-2.42033973e-01 9.68339804e-01 -6.11357584e-02 1.24876374e+02] [-2.73028492e-01 -7.50872656e-03 9.61976643e-01 1.42856533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.466875 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:219.35, Y:124.87, Z:142.85 [[ 9.31914249e-01 2.49121768e-01 2.63579546e-01 2.19353080e+02] [-2.41752109e-01 9.68444939e-01 -6.05831541e-02 1.24865305e+02] [-2.70354860e-01 -7.26260671e-03 9.62733350e-01 1.42847100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.496875 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:219.38, Y:124.86, Z:142.84 [[ 9.32934079e-01 2.49266298e-01 2.59808232e-01 2.19382598e+02] [-2.42093345e-01 9.68408841e-01 -5.97923921e-02 1.24857177e+02] [-2.66504817e-01 -7.11548363e-03 9.63807321e-01 1.42837908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.526875 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:219.41, Y:124.85, Z:142.83 [[ 9.32429632e-01 2.51319275e-01 2.59641298e-01 2.19412950e+02] [-2.44213839e-01 9.67874209e-01 -5.98257094e-02 1.24849246e+02] [-2.66335470e-01 -7.62473399e-03 9.63850238e-01 1.42829119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.556875 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:219.44, Y:124.83, Z:142.82 [[ 9.31729562e-01 2.56777537e-01 2.56798209e-01 2.19442096e+02] [-2.50010483e-01 9.66428646e-01 -5.92488934e-02 1.24834653e+02] [-2.63390930e-01 -8.99829882e-03 9.64647215e-01 1.42822090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.586875 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:219.47, Y:124.83, Z:142.81 [[ 9.31399419e-01 2.59536539e-01 2.55217372e-01 2.19472345e+02] [-2.52941979e-01 9.65684916e-01 -5.89321501e-02 1.24825265e+02] [-2.61754613e-01 -9.66581679e-03 9.65086056e-01 1.42813239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.616875 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:219.50, Y:124.82, Z:142.80 [[ 9.30325800e-01 2.62424858e-01 2.56177868e-01 2.19503064e+02] [-2.55866710e-01 9.64895902e-01 -5.92294271e-02 1.24817756e+02] [-2.62728249e-01 -1.04447243e-02 9.64813337e-01 1.42804021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.646875 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:219.53, Y:124.81, Z:142.80 [[ 9.27877821e-01 2.67538340e-01 2.59742153e-01 2.19532238e+02] [-2.60969115e-01 9.63472601e-01 -6.01304268e-02 1.24806304e+02] [-2.66341643e-01 -1.19909905e-02 9.63804101e-01 1.42796782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.676875 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:219.56, Y:124.80, Z:142.79 [[ 9.27375270e-01 2.69462160e-01 2.59548170e-01 2.19562562e+02] [-2.62957061e-01 9.62930332e-01 -6.01561227e-02 1.24795274e+02] [-2.66136605e-01 -1.24627236e-02 9.63854755e-01 1.42787753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.706875 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:219.59, Y:124.79, Z:142.78 [[ 9.27384186e-01 2.70460764e-01 2.58475427e-01 2.19592484e+02] [-2.64026597e-01 9.62648336e-01 -5.99844778e-02 1.24785205e+02] [-2.65044388e-01 -1.26157315e-02 9.64153679e-01 1.42777867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.736875 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:219.62, Y:124.77, Z:142.77 [[ 9.28347434e-01 2.69237867e-01 2.56285022e-01 2.19620938e+02] [-2.62846631e-01 9.62997973e-01 -5.95529331e-02 1.24772381e+02] [-2.62835861e-01 -1.20778419e-02 9.64764964e-01 1.42768588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.766875 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:219.65, Y:124.76, Z:142.76 [[ 9.28780148e-01 2.68187665e-01 2.55817929e-01 2.19650741e+02] [-2.61761369e-01 9.63295810e-01 -5.95161231e-02 1.24760801e+02] [-2.62389829e-01 -1.16858576e-02 9.64891195e-01 1.42760645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.796875 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:219.68, Y:124.74, Z:142.75 [[ 9.30247000e-01 2.66085150e-01 2.52664226e-01 2.19678170e+02] [-2.59721251e-01 9.63888246e-01 -5.88584848e-02 1.24744678e+02] [-2.59201446e-01 -1.08693401e-02 9.65762118e-01 1.42751624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.82687500000003 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:219.71, Y:124.73, Z:142.74 [[ 9.30689025e-01 2.64919818e-01 2.52260637e-01 2.19707759e+02] [-2.58515380e-01 9.64213758e-01 -5.88355999e-02 1.24733533e+02] [-2.58819893e-01 -1.04556073e-02 9.65869009e-01 1.42742145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.856875 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:219.74, Y:124.72, Z:142.73 [[ 9.30626075e-01 2.64232677e-01 2.53211770e-01 2.19738222e+02] [-2.57734299e-01 9.64404693e-01 -5.91322241e-02 1.24721667e+02] [-2.59823285e-01 -1.02313684e-02 9.65601978e-01 1.42734615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.88687500000003 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:219.77, Y:124.71, Z:142.73 [[ 9.28860073e-01 2.64611569e-01 2.59229015e-01 2.19768342e+02] [-2.57789974e-01 9.64297668e-01 -6.06163050e-02 1.24705873e+02] [-2.66013710e-01 -1.05225754e-02 9.63911812e-01 1.42729956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.916875 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:219.80, Y:124.70, Z:142.72 [[ 9.28283433e-01 2.64982241e-01 2.60910482e-01 2.19799008e+02] [-2.58063588e-01 9.64194752e-01 -6.10873586e-02 1.24695391e+02] [-2.67755583e-01 -1.06251123e-02 9.63428282e-01 1.42722049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.94687500000003 meters Centerline goodness : 0.998244 Centerline is valid? [True, True] Translation: X:219.83, Y:124.68, Z:142.71 [[ 9.28343204e-01 2.65444279e-01 2.60227268e-01 2.19827383e+02] [-2.58558342e-01 9.64067381e-01 -6.10054869e-02 1.24684457e+02] [-2.67070178e-01 -1.06499017e-02 9.63618233e-01 1.42713044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.976875 meters Centerline goodness : 0.998425 Centerline is valid? [True, True] Translation: X:219.86, Y:124.67, Z:142.70 [[ 9.28924100e-01 2.65906012e-01 2.57670348e-01 2.19856558e+02] [-2.59153968e-01 9.63940709e-01 -6.04775185e-02 1.24671751e+02] [-2.64460274e-01 -1.05972686e-02 9.64338354e-01 1.42704159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.00687500000004 meters Centerline goodness : 0.998254 Centerline is valid? [True, True] Translation: X:219.88, Y:124.65, Z:142.70 [[ 9.29317998e-01 2.67309553e-01 2.54781594e-01 2.19883809e+02] [-2.60740682e-01 9.63550316e-01 -5.98755808e-02 1.24652509e+02] [-2.61500200e-01 -1.07884718e-02 9.65143126e-01 1.42696212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.036875 meters Centerline goodness : 0.997971 Centerline is valid? [True, True] Translation: X:219.91, Y:124.64, Z:142.69 [[ 9.29194168e-01 2.67674528e-01 2.54850045e-01 2.19912729e+02] [-2.61096138e-01 9.63448604e-01 -5.99632715e-02 1.24641771e+02] [-2.61585560e-01 -1.08228402e-02 9.65119610e-01 1.42686727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.066875 meters Centerline goodness : 0.998164 Centerline is valid? [True, True] Translation: X:219.94, Y:124.63, Z:142.68 [[ 9.29105907e-01 2.68060836e-01 2.54765778e-01 2.19942384e+02] [-2.61481902e-01 9.63340808e-01 -6.00141907e-02 1.24632364e+02] [-2.61513725e-01 -1.08571012e-02 9.65138692e-01 1.42676053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.096875 meters Centerline goodness : 0.997865 Centerline is valid? [True, True] Translation: X:219.97, Y:124.62, Z:142.66 [[ 9.29230415e-01 2.68257950e-01 2.54103340e-01 2.19971888e+02] [-2.61700317e-01 9.63286504e-01 -5.99337598e-02 1.24623254e+02] [-2.60852025e-01 -1.08066520e-02 9.65318309e-01 1.42664957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.126875 meters Centerline goodness : 0.997981 Centerline is valid? [True, True] Translation: X:220.00, Y:124.61, Z:142.66 [[ 9.29490700e-01 2.68573647e-01 2.52814626e-01 2.20000855e+02] [-2.62074347e-01 9.63199040e-01 -5.97046578e-02 1.24607590e+02] [-2.59545903e-01 -1.07613039e-02 9.65670813e-01 1.42655026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.156875 meters Centerline goodness : 0.997970 Centerline is valid? [True, True] Translation: X:220.03, Y:124.59, Z:142.65 [[ 9.29730253e-01 2.68556910e-01 2.51950078e-01 2.20029575e+02] [-2.62081825e-01 9.63205024e-01 -5.95751492e-02 1.24594348e+02] [-2.58678899e-01 -1.06427179e-02 9.65904736e-01 1.42648535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.186875 meters Centerline goodness : 0.997778 Centerline is valid? [True, True] Translation: X:220.06, Y:124.58, Z:142.64 [[ 9.29661764e-01 2.68267507e-01 2.52510493e-01 2.20059693e+02] [-2.61734100e-01 9.63287039e-01 -5.97774258e-02 1.24580447e+02] [-2.59276427e-01 -1.05178196e-02 9.65745883e-01 1.42641265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.216875 meters Centerline goodness : 0.998016 Centerline is valid? [True, True] Translation: X:220.09, Y:124.56, Z:142.64 [[ 9.29543363e-01 2.68296527e-01 2.52915222e-01 2.20088696e+02] [-2.61722924e-01 9.63279483e-01 -5.99478851e-02 1.24560954e+02] [-2.59711854e-01 -1.04695528e-02 9.65629402e-01 1.42636727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.246875 meters Centerline goodness : 0.998266 Centerline is valid? [True, True] Translation: X:220.12, Y:124.55, Z:142.63 [[ 9.29912229e-01 2.68512032e-01 2.51325555e-01 2.20118487e+02] [-2.62009646e-01 9.63220346e-01 -5.96448641e-02 1.24549223e+02] [-2.58097252e-01 -1.03852312e-02 9.66063122e-01 1.42628069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.276875 meters Centerline goodness : 0.998435 Centerline is valid? [True, True] Translation: X:220.15, Y:124.54, Z:142.62 [[ 9.29858250e-01 2.70476721e-01 2.49411264e-01 2.20145876e+02] [-2.64123780e-01 9.62666292e-01 -5.92641481e-02 1.24537098e+02] [-2.56129389e-01 -1.07681889e-02 9.66582527e-01 1.42615588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.306875 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:220.18, Y:124.53, Z:142.61 [[ 9.29441012e-01 2.71726096e-01 2.49608360e-01 2.20175723e+02] [-2.65388978e-01 9.62311150e-01 -5.93796273e-02 1.24527674e+02] [-2.56335902e-01 -1.10534466e-02 9.66524561e-01 1.42605216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.336875 meters Centerline goodness : 0.998423 Centerline is valid? [True, True] Translation: X:220.20, Y:124.52, Z:142.60 [[ 9.29054809e-01 2.72475328e-01 2.50228611e-01 2.20204506e+02] [-2.66113207e-01 9.62097396e-01 -5.96016935e-02 1.24516962e+02] [-2.56984286e-01 -1.12158983e-02 9.66350496e-01 1.42595548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.366875 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:220.23, Y:124.50, Z:142.59 [[ 9.28758986e-01 2.72207688e-01 2.51614230e-01 2.20233533e+02] [-2.65745934e-01 9.62174054e-01 -6.00015747e-02 1.24499115e+02] [-2.58429574e-01 -1.11384569e-02 9.65965885e-01 1.42589369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.396875 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:220.26, Y:124.49, Z:142.58 [[ 9.28879135e-01 2.72059022e-01 2.51331338e-01 2.20263654e+02] [-2.65586878e-01 9.62217576e-01 -6.00078892e-02 1.24486657e+02] [-2.58161118e-01 -1.10102293e-02 9.66039136e-01 1.42582733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.426875 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:220.29, Y:124.47, Z:142.57 [[ 9.29187675e-01 2.71994338e-01 2.50258555e-01 2.20294001e+02] [-2.65555973e-01 9.62237472e-01 -5.98253561e-02 1.24474920e+02] [-2.57080317e-01 -1.08686705e-02 9.66328920e-01 1.42574180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.456875 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:220.32, Y:124.46, Z:142.56 [[ 9.29556791e-01 2.72697799e-01 2.48113044e-01 2.20321700e+02] [-2.66375797e-01 9.62038114e-01 -5.93852078e-02 1.24462827e+02] [-2.54888420e-01 -1.08893866e-02 9.66909155e-01 1.42562767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.486875 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:220.35, Y:124.45, Z:142.55 [[ 9.29273964e-01 2.73378993e-01 2.48422675e-01 2.20352225e+02] [-2.67046908e-01 9.61843240e-01 -5.95275655e-02 1.24453331e+02] [-2.55217257e-01 -1.10230905e-02 9.66820895e-01 1.42554000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.516875 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:220.38, Y:124.44, Z:142.55 [[ 9.28960291e-01 2.72963450e-01 2.50047462e-01 2.20381455e+02] [-2.66512858e-01 9.61962527e-01 -5.99916053e-02 1.24443012e+02] [-2.56911804e-01 -1.09110446e-02 9.66373258e-01 1.42547011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.546875 meters Centerline goodness : 0.998593 Centerline is valid? [True, True] Translation: X:220.41, Y:124.43, Z:142.54 [[ 9.30542977e-01 2.68366160e-01 2.49137255e-01 2.20410777e+02] [-2.61782819e-01 9.63269796e-01 -5.98419243e-02 1.24425837e+02] [-2.56045940e-01 -9.53437041e-03 9.66617594e-01 1.42543062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.57687500000003 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:220.44, Y:124.42, Z:142.53 [[ 9.31331707e-01 2.65558198e-01 2.49198907e-01 2.20441189e+02] [-2.58853039e-01 9.64055667e-01 -5.99314167e-02 1.24415763e+02] [-2.56156897e-01 -8.68986568e-03 9.66596157e-01 1.42534464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.606875 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:220.47, Y:124.41, Z:142.52 [[ 9.31890181e-01 2.61332515e-01 2.51567103e-01 2.20470263e+02] [-2.54326301e-01 9.65219469e-01 -6.05764764e-02 1.24408582e+02] [-2.58648068e-01 -7.52950701e-03 9.65942277e-01 1.42523695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.63687500000003 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:220.50, Y:124.40, Z:142.51 [[ 9.32106573e-01 2.60012282e-01 2.52132802e-01 2.20500691e+02] [-2.52907594e-01 9.65579138e-01 -6.07838594e-02 1.24400363e+02] [-2.59258724e-01 -7.10926532e-03 9.65781742e-01 1.42513654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.666875 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:220.53, Y:124.39, Z:142.50 [[ 9.32075463e-01 2.60130973e-01 2.52125381e-01 2.20532015e+02] [-2.53022232e-01 9.65547167e-01 -6.08146239e-02 1.24392716e+02] [-2.59258715e-01 -7.10950803e-03 9.65781742e-01 1.42504746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.69687500000003 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:220.56, Y:124.38, Z:142.50 [[ 9.32906355e-01 2.58799518e-01 2.50416736e-01 2.20562476e+02] [-2.51732651e-01 9.65908103e-01 -6.04335067e-02 1.24383796e+02] [-2.57519717e-01 -6.65926632e-03 9.66250097e-01 1.42495099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.726875 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:220.59, Y:124.37, Z:142.49 [[ 9.33912804e-01 2.57134292e-01 2.48372364e-01 2.20592766e+02] [-2.50106558e-01 9.66356604e-01 -6.00135350e-02 1.24374645e+02] [-2.55447812e-01 -6.07214839e-03 9.66803778e-01 1.42485014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.75687500000004 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:220.62, Y:124.36, Z:142.48 [[ 9.34964799e-01 2.53995489e-01 2.47643124e-01 2.20622284e+02] [-2.46881646e-01 9.67191834e-01 -5.99116742e-02 1.24363078e+02] [-2.54735703e-01 -5.12323580e-03 9.66997143e-01 1.42478389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.786875 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:220.65, Y:124.35, Z:142.47 [[ 9.34917004e-01 2.53015088e-01 2.48824356e-01 2.20652619e+02] [-2.45786371e-01 9.67450243e-01 -6.02418954e-02 1.24353558e+02] [-2.55967292e-01 -4.83646319e-03 9.66673344e-01 1.42471285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.816875 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:220.68, Y:124.35, Z:142.46 [[ 9.35032117e-01 2.52255926e-01 2.49162373e-01 2.20682393e+02] [-2.44960903e-01 9.67649808e-01 -6.03987162e-02 1.24345248e+02] [-2.56337857e-01 -4.56030038e-03 9.66576488e-01 1.42462898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.846875 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:220.71, Y:124.34, Z:142.45 [[ 9.35015135e-01 2.52146588e-01 2.49336712e-01 2.20713585e+02] [-2.44818652e-01 9.67678758e-01 -6.05115590e-02 1.24338037e+02] [-2.56535623e-01 -4.46305426e-03 9.66524472e-01 1.42453185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.876875 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:220.74, Y:124.33, Z:142.44 [[ 9.34500601e-01 2.53294619e-01 2.50100906e-01 2.20744368e+02] [-2.45953182e-01 9.67377461e-01 -6.07279239e-02 1.24331093e+02] [-2.57324035e-01 -4.76283215e-03 9.66313436e-01 1.42444850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.906875 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:220.78, Y:124.32, Z:142.44 [[ 9.33357739e-01 2.56393319e-01 2.51208670e-01 2.20775362e+02] [-2.49075829e-01 9.66556497e-01 -6.10718414e-02 1.24323759e+02] [-2.58465785e-01 -5.56813190e-03 9.66004365e-01 1.42436347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.936875 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:220.81, Y:124.32, Z:142.43 [[ 9.32976828e-01 2.57509270e-01 2.51482034e-01 2.20805121e+02] [-2.50195533e-01 9.66258362e-01 -6.12125239e-02 1.24315641e+02] [-2.58759411e-01 -5.80981525e-03 9.65924331e-01 1.42428225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.966875 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:220.84, Y:124.31, Z:142.42 [[ 9.33124046e-01 2.58002722e-01 2.50427852e-01 2.20835791e+02] [-2.50750306e-01 9.66126467e-01 -6.10240380e-02 1.24307580e+02] [-2.57689344e-01 -5.85186324e-03 9.66210100e-01 1.42419593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.996875 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:220.87, Y:124.30, Z:142.41 [[ 9.33119751e-01 2.59070829e-01 2.49338796e-01 2.20866375e+02] [-2.51900227e-01 9.65839408e-01 -6.08318442e-02 1.24301502e+02] [-2.56580991e-01 -6.04510392e-03 9.66503829e-01 1.42407887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.026875 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:220.90, Y:124.29, Z:142.40 [[ 9.32518483e-01 2.60357397e-01 2.50246488e-01 2.20897250e+02] [-2.53159501e-01 9.65491432e-01 -6.11274206e-02 1.24294635e+02] [-2.57525816e-01 -6.34982656e-03 9.66250554e-01 1.42399759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.056875 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:220.93, Y:124.29, Z:142.39 [[ 9.31799578e-01 2.62124761e-01 2.51077987e-01 2.20928405e+02] [-2.54921302e-01 9.65010122e-01 -6.14051690e-02 1.24286582e+02] [-2.58388614e-01 -6.78781678e-03 9.66017210e-01 1.42392128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.086875 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:220.96, Y:124.28, Z:142.38 [[ 9.31473858e-01 2.63480911e-01 2.50867018e-01 2.20958736e+02] [-2.56318007e-01 9.64638607e-01 -6.14283079e-02 1.24278766e+02] [-2.58181197e-01 -7.08287117e-03 9.66070547e-01 1.42384098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.116875 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:220.99, Y:124.27, Z:142.37 [[ 9.32027378e-01 2.65492029e-01 2.46655529e-01 2.20989110e+02] [-2.58620753e-01 9.64084416e-01 -6.04693746e-02 1.24273196e+02] [-2.53850888e-01 -7.43112598e-03 9.67214818e-01 1.42372734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.146875 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:221.02, Y:124.27, Z:142.36 [[ 9.31986746e-01 2.66642060e-01 2.45566114e-01 2.21018399e+02] [-2.59851941e-01 9.63765393e-01 -6.02763327e-02 1.24267002e+02] [-2.52740328e-01 -7.63408826e-03 9.67504030e-01 1.42362178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.176875 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:221.05, Y:124.26, Z:142.35 [[ 9.31918481e-01 2.67315792e-01 2.45092252e-01 2.21048579e+02] [-2.60557537e-01 9.63577945e-01 -6.02271870e-02 1.24258964e+02] [-2.52265166e-01 -7.73380486e-03 9.67627239e-01 1.42352364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.206875 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:221.08, Y:124.25, Z:142.35 [[ 9.31903621e-01 2.66065377e-01 2.46505288e-01 2.21078325e+02] [-2.59165804e-01 9.63926828e-01 -6.06478039e-02 1.24245781e+02] [-2.53749341e-01 -7.36783311e-03 9.67241948e-01 1.42347302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.236875 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:221.11, Y:124.24, Z:142.34 [[ 9.32174790e-01 2.65040101e-01 2.46584482e-01 2.21109348e+02] [-2.58083039e-01 9.64211809e-01 -6.07349331e-02 1.24235752e+02] [-2.53856862e-01 -7.02369896e-03 9.67216295e-01 1.42340757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.266875 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:221.14, Y:124.23, Z:142.33 [[ 9.32836177e-01 2.63019678e-01 2.46246455e-01 2.21139141e+02] [-2.55993403e-01 9.64769303e-01 -6.07253581e-02 1.24228127e+02] [-2.53542985e-01 -6.39065704e-03 9.67303011e-01 1.42331710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.296875 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:221.17, Y:124.22, Z:142.32 [[ 9.33259409e-01 2.62417422e-01 2.45283454e-01 2.21169594e+02] [-2.55414890e-01 9.64934807e-01 -6.05314197e-02 1.24221803e+02] [-2.52567041e-01 -6.15752938e-03 9.67559804e-01 1.42321104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.32687500000003 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:221.20, Y:124.22, Z:142.31 [[ 9.33605225e-01 2.61432595e-01 2.45018944e-01 2.21199223e+02] [-2.54393451e-01 9.65204229e-01 -6.05373221e-02 1.24215041e+02] [-2.52319750e-01 -5.81325454e-03 9.67626452e-01 1.42310813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.356875 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:221.23, Y:124.21, Z:142.30 [[ 9.34240573e-01 2.59611778e-01 2.44532771e-01 2.21229009e+02] [-2.52521839e-01 9.65698838e-01 -6.04853287e-02 1.24205822e+02] [-2.51847717e-01 -5.24201688e-03 9.67752680e-01 1.42301519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.38687500000003 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:221.26, Y:124.20, Z:142.29 [[ 9.34411768e-01 2.58960063e-01 2.44569691e-01 2.21258765e+02] [-2.51838186e-01 9.65874895e-01 -6.05245057e-02 1.24196562e+02] [-2.51897154e-01 -5.03717685e-03 9.67740900e-01 1.42293677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.416875 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:221.29, Y:124.19, Z:142.29 [[ 9.34529022e-01 2.58304441e-01 2.44814875e-01 2.21289083e+02] [-2.51128130e-01 9.66051656e-01 -6.06536157e-02 1.24187214e+02] [-2.52170914e-01 -4.79733767e-03 9.67670820e-01 1.42286108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.44687500000003 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:221.32, Y:124.18, Z:142.28 [[ 9.34485305e-01 2.58135574e-01 2.45159620e-01 2.21320143e+02] [-2.50914186e-01 9.66097334e-01 -6.08112829e-02 1.24179180e+02] [-2.52545611e-01 -4.68677624e-03 9.67573640e-01 1.42278319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.476875 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:221.35, Y:124.17, Z:142.27 [[ 9.34757269e-01 2.55845893e-01 2.46519221e-01 2.21351011e+02] [-2.48445265e-01 9.66709229e-01 -6.12226839e-02 1.24172650e+02] [-2.53975979e-01 -4.01818440e-03 9.67202180e-01 1.42270079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.50687500000004 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:221.38, Y:124.16, Z:142.26 [[ 9.34705565e-01 2.55369237e-01 2.47208534e-01 2.21381842e+02] [-2.47890890e-01 9.66836028e-01 -6.14670714e-02 1.24164651e+02] [-2.54706916e-01 -3.82712975e-03 9.67010724e-01 1.42263151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.536875 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:221.41, Y:124.16, Z:142.26 [[ 9.34915295e-01 2.54408065e-01 2.47406400e-01 2.21412801e+02] [-2.46864931e-01 9.67090651e-01 -6.15904111e-02 1.24155703e+02] [-2.54933514e-01 -3.49414640e-03 9.66952271e-01 1.42255098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.566875 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:221.44, Y:124.14, Z:142.25 [[ 9.36219659e-01 2.53549581e-01 2.43321515e-01 2.21442033e+02] [-2.46221186e-01 9.67317184e-01 -6.06019224e-02 1.24144072e+02] [-2.50734674e-01 -3.17420089e-03 9.68050643e-01 1.42246945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.596875 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:221.47, Y:124.13, Z:142.24 [[ 9.36533503e-01 2.53827598e-01 2.41819246e-01 2.21472145e+02] [-2.46583040e-01 9.67244308e-01 -6.02930552e-02 1.24134809e+02] [-2.49202331e-01 -3.16205843e-03 9.68446281e-01 1.42237346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.626875 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:221.50, Y:124.13, Z:142.23 [[ 9.36674450e-01 2.54022108e-01 2.41067924e-01 2.21502208e+02] [-2.46811436e-01 9.67193338e-01 -6.01760909e-02 1.24127319e+02] [-2.48445348e-01 -3.13291360e-03 9.68640849e-01 1.42227552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.656875 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:221.53, Y:124.12, Z:142.22 [[ 9.36029572e-01 2.54747987e-01 2.42800543e-01 2.21531635e+02] [-2.47436983e-01 9.67001921e-01 -6.06813285e-02 1.24123261e+02] [-2.50247038e-01 -3.27831583e-03 9.68176468e-01 1.42215284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.686875 meters Centerline goodness : 0.998636 Centerline is valid? [True, True] Translation: X:221.56, Y:124.12, Z:142.21 [[ 9.35484991e-01 2.55486056e-01 2.44120270e-01 2.21562259e+02] [-2.48107687e-01 9.66806575e-01 -6.10542566e-02 1.24115518e+02] [-2.51615594e-01 -3.45277491e-03 9.67821095e-01 1.42207394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.716875 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:221.59, Y:124.11, Z:142.20 [[ 9.35112147e-01 2.55630153e-01 2.45394573e-01 2.21592908e+02] [-2.48159394e-01 9.66768535e-01 -6.14452259e-02 1.24106330e+02] [-2.52947004e-01 -3.43879126e-03 9.67474024e-01 1.42201156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.746875 meters Centerline goodness : 0.998390 Centerline is valid? [True, True] Translation: X:221.62, Y:124.10, Z:142.20 [[ 9.34577394e-01 2.56073331e-01 2.46964661e-01 2.21623064e+02] [-2.48501284e-01 9.66650985e-01 -6.19111050e-02 1.24095601e+02] [-2.54582416e-01 -3.51031644e-03 9.67044710e-01 1.42197842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.776875 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:221.65, Y:124.09, Z:142.19 [[ 9.34208492e-01 2.56013792e-01 2.48417856e-01 2.21654544e+02] [-2.48329600e-01 9.66666997e-01 -6.23484256e-02 1.24087339e+02] [-2.56099400e-01 -3.44307835e-03 9.66644321e-01 1.42190459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.806875 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:221.68, Y:124.08, Z:142.18 [[ 9.34198563e-01 2.56075098e-01 2.48392008e-01 2.21684923e+02] [-2.48376293e-01 9.66650946e-01 -6.24112670e-02 1.24080638e+02] [-2.56090341e-01 -3.39017015e-03 9.66646908e-01 1.42181192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.836875 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:221.71, Y:124.07, Z:142.17 [[ 9.34436684e-01 2.57080730e-01 2.46449957e-01 2.21714953e+02] [-2.49519260e-01 9.66383359e-01 -6.19946905e-02 1.24074585e+02] [-2.54102777e-01 -3.56389786e-03 9.67170656e-01 1.42169484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.866875 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:221.74, Y:124.07, Z:142.15 [[ 9.34765598e-01 2.59361744e-01 2.42785424e-01 2.21743793e+02] [-2.52084208e-01 9.65771763e-01 -6.11428923e-02 1.24071028e+02] [-2.50333435e-01 -4.04809920e-03 9.68151220e-01 1.42154337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.896875 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:221.77, Y:124.06, Z:142.15 [[ 9.34266767e-01 2.60938911e-01 2.43015418e-01 2.21775000e+02] [-2.53682811e-01 9.65345244e-01 -6.12665535e-02 1.24062840e+02] [-2.50580606e-01 -4.40952940e-03 9.68085697e-01 1.42146192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.926875 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:221.81, Y:124.05, Z:142.14 [[ 9.33785355e-01 2.63032986e-01 2.42607829e-01 2.21805497e+02] [-2.55852067e-01 9.64774451e-01 -6.12370652e-02 1.24051872e+02] [-2.50169203e-01 -4.88943982e-03 9.68189787e-01 1.42143467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.956875 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:221.84, Y:124.04, Z:142.14 [[ 9.33560540e-01 2.64025082e-01 2.42395285e-01 2.21835773e+02] [-2.56872296e-01 9.64502421e-01 -6.12511559e-02 1.24043276e+02] [-2.49962681e-01 -5.08297115e-03 9.68242130e-01 1.42136670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.986875 meters Centerline goodness : 0.998636 Centerline is valid? [True, True] Translation: X:221.87, Y:124.04, Z:142.13 [[ 9.33352813e-01 2.64937906e-01 2.42199160e-01 2.21866582e+02] [-2.57810018e-01 9.64251145e-01 -6.12676503e-02 1.24036027e+02] [-2.49772940e-01 -5.25703602e-03 9.68290164e-01 1.42128932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.016875 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:221.90, Y:124.03, Z:142.12 [[ 9.32943027e-01 2.65913783e-01 2.42707990e-01 2.21897828e+02] [-2.58769383e-01 9.63981358e-01 -6.14682634e-02 1.24029799e+02] [-2.50311236e-01 -5.45900914e-03 9.68150032e-01 1.42119399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.046875 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:221.93, Y:124.03, Z:142.11 [[ 9.33152053e-01 2.67008866e-01 2.40693813e-01 2.21926743e+02] [-2.60001876e-01 9.63677615e-01 -6.10285027e-02 1.24026548e+02] [-2.48246391e-01 -5.63197045e-03 9.68680551e-01 1.42105619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.07687500000003 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:221.96, Y:124.02, Z:142.09 [[ 9.33092408e-01 2.67985759e-01 2.39837843e-01 2.21957106e+02] [-2.61044196e-01 9.63405387e-01 -6.08768236e-02 1.24019919e+02] [-2.47375192e-01 -5.80457492e-03 9.68902380e-01 1.42094745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.106875 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:221.99, Y:124.01, Z:142.08 [[ 9.32628997e-01 2.68840421e-01 2.40682326e-01 2.21987474e+02] [-2.61859193e-01 9.63166145e-01 -6.11615946e-02 1.24012902e+02] [-2.48259777e-01 -5.98380317e-03 9.68675011e-01 1.42084931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.13687500000003 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:222.02, Y:124.00, Z:142.08 [[ 9.31325538e-01 2.70757549e-01 2.43563323e-01 2.22017393e+02] [-2.63651417e-01 9.62625598e-01 -6.19668401e-02 1.24003250e+02] [-2.51238279e-01 -6.50451468e-03 9.67903414e-01 1.42080400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.166875 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:222.05, Y:123.99, Z:142.08 [[ 9.30954583e-01 2.71421111e-01 2.44241982e-01 2.22048188e+02] [-2.64286086e-01 9.62437642e-01 -6.21823937e-02 1.23991947e+02] [-2.51945292e-01 -6.66077308e-03 9.67718556e-01 1.42075620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.19687500000003 meters Centerline goodness : 0.998594 Centerline is valid? [True, True] Translation: X:222.08, Y:123.98, Z:142.07 [[ 9.31059587e-01 2.71178967e-01 2.44110658e-01 2.22079003e+02] [-2.64025423e-01 9.62506846e-01 -6.22185457e-02 1.23980169e+02] [-2.51830540e-01 -6.52224630e-03 9.67749368e-01 1.42070149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.226875 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:222.11, Y:123.97, Z:142.06 [[ 9.31555454e-01 2.69543083e-01 2.44030661e-01 2.22108876e+02] [-2.62320981e-01 9.62969587e-01 -6.22677907e-02 1.23969506e+02] [-2.51777957e-01 -6.00846251e-03 9.67766376e-01 1.42064354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.25687500000004 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:222.14, Y:123.96, Z:142.06 [[ 9.31524578e-01 2.69664298e-01 2.44014603e-01 2.22140091e+02] [-2.62429826e-01 9.62935863e-01 -6.23306582e-02 1.23961444e+02] [-2.51778765e-01 -5.97416957e-03 9.67766378e-01 1.42055429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.286875 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:222.17, Y:123.96, Z:142.04 [[ 9.31000274e-01 2.69323041e-01 2.46380985e-01 2.22169746e+02] [-2.61926239e-01 9.63031737e-01 -6.29644202e-02 1.23960815e+02] [-2.54230477e-01 -5.91375228e-03 9.67125582e-01 1.42039147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.316875 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:222.20, Y:123.96, Z:142.03 [[ 9.30612248e-01 2.70021815e-01 2.47081087e-01 2.22198945e+02] [-2.62589385e-01 9.62835144e-01 -6.32083817e-02 1.23956695e+02] [-2.54965996e-01 -6.05837659e-03 9.66931040e-01 1.42026397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.346875 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:222.23, Y:123.95, Z:142.02 [[ 9.30553544e-01 2.70544790e-01 2.46729850e-01 2.22229683e+02] [-2.63133907e-01 9.62687907e-01 -6.31865487e-02 1.23947567e+02] [-2.54618635e-01 -6.12452275e-03 9.67022151e-01 1.42018401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.376875 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:222.26, Y:123.94, Z:142.01 [[ 9.30973475e-01 2.70312651e-01 2.45396536e-01 2.22260939e+02] [-2.62957134e-01 9.62754155e-01 -6.29125078e-02 1.23936753e+02] [-2.53262581e-01 -5.95889371e-03 9.67379221e-01 1.42012546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.406875 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:222.29, Y:123.93, Z:141.99 [[ 9.31039701e-01 2.72565264e-01 2.42638110e-01 2.22288316e+02] [-2.61643668e-01 9.62103850e-01 -7.68034656e-02 1.23934764e+02] [-2.54377017e-01 8.02235052e-03 9.67071856e-01 1.41993927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.436875 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:222.32, Y:123.91, Z:142.01 [[ 9.32324556e-01 2.66619342e-01 2.44305236e-01 2.22320871e+02] [-2.63264126e-01 9.63582273e-01 -4.69169751e-02 1.23911575e+02] [-2.47917168e-01 -2.05749564e-02 9.68562723e-01 1.42006237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.466875 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:222.35, Y:123.92, Z:141.97 [[ 9.31337066e-01 2.76380145e-01 2.37118713e-01 2.22345894e+02] [-2.64178332e-01 9.60944467e-01 -8.24350729e-02 1.23922460e+02] [-2.50641333e-01 1.41332129e-02 9.67976846e-01 1.41970971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.496875 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:222.38, Y:123.90, Z:141.99 [[ 9.31671472e-01 2.69482063e-01 2.43654850e-01 2.22381116e+02] [-2.67931810e-01 9.62601486e-01 -4.01363234e-02 1.23895525e+02] [-2.45358540e-01 -2.78890176e-02 9.69031160e-01 1.41991130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.526875 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:222.41, Y:123.90, Z:141.97 [[ 9.30738896e-01 2.75869342e-01 2.40044190e-01 2.22410374e+02] [-2.68924927e-01 9.61170075e-01 -6.18988788e-02 1.23898680e+02] [-2.47799295e-01 -6.94217232e-03 9.68786517e-01 1.41972065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.556875 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:222.44, Y:123.89, Z:141.96 [[ 9.30705962e-01 2.75990062e-01 2.40033117e-01 2.22441582e+02] [-2.69038536e-01 9.61135516e-01 -6.19417882e-02 1.23890539e+02] [-2.47799672e-01 -6.92856703e-03 9.68786518e-01 1.41963195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.586875 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:222.47, Y:123.88, Z:141.96 [[ 9.30250872e-01 2.76258217e-01 2.41484396e-01 2.22472583e+02] [-2.69222733e-01 9.61057839e-01 -6.23454050e-02 1.23883483e+02] [-2.49303902e-01 -7.01622188e-03 9.68399885e-01 1.41955632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.616875 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:222.50, Y:123.88, Z:141.95 [[ 9.30343079e-01 2.75823617e-01 2.41625923e-01 2.22503493e+02] [-2.68746698e-01 9.61183986e-01 -6.24544431e-02 1.23876099e+02] [-2.49473379e-01 -6.83211021e-03 9.68357556e-01 1.41945943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.646875 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:222.53, Y:123.87, Z:141.94 [[ 9.30525560e-01 2.74717183e-01 2.42183097e-01 2.22533267e+02] [-2.67551638e-01 9.61503242e-01 -6.26708678e-02 1.23869653e+02] [-2.50076597e-01 -6.47963980e-03 9.68204374e-01 1.41936949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.676875 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:222.56, Y:123.86, Z:141.93 [[ 9.30340643e-01 2.73964431e-01 2.43741212e-01 2.22563648e+02] [-2.66662269e-01 9.61719494e-01 -6.31415081e-02 1.23861684e+02] [-2.51709202e-01 -6.25347331e-03 9.67782709e-01 1.41928580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.706875 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:222.59, Y:123.85, Z:141.92 [[ 9.30454054e-01 2.71752983e-01 2.45775447e-01 2.22594809e+02] [-2.64231485e-01 9.62350558e-01 -6.37426504e-02 1.23849614e+02] [-2.53844394e-01 -5.63200369e-03 9.67228672e-01 1.41923523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.736875 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:222.63, Y:123.84, Z:141.92 [[ 9.31013679e-01 2.70719244e-01 2.44795059e-01 2.22625539e+02] [-2.63204247e-01 9.62644005e-01 -6.35613421e-02 1.23839623e+02] [-2.52857774e-01 -5.25462017e-03 9.67489191e-01 1.41915564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.766875 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:222.66, Y:123.83, Z:141.91 [[ 9.31465260e-01 2.70039230e-01 2.43826341e-01 2.22655643e+02] [-2.62542448e-01 9.62836464e-01 -6.33830123e-02 1.23830916e+02] [-2.51880791e-01 -4.97569032e-03 9.67745478e-01 1.41907081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.796875 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:222.69, Y:123.82, Z:141.90 [[ 9.31117682e-01 2.69141620e-01 2.46135431e-01 2.22685626e+02] [-2.61449446e-01 9.63089116e-01 -6.40588907e-02 1.23823945e+02] [-2.54291268e-01 -4.70560609e-03 9.67116233e-01 1.41899458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.82687500000003 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:222.72, Y:123.82, Z:141.89 [[ 9.31041811e-01 2.69210017e-01 2.46347545e-01 2.22715587e+02] [-2.61488492e-01 9.63070223e-01 -6.41834376e-02 1.23817225e+02] [-2.54528810e-01 -4.65958420e-03 9.67053966e-01 1.41890576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.856875 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:222.75, Y:123.81, Z:141.88 [[ 9.31503466e-01 2.69073273e-01 2.44746534e-01 2.22746398e+02] [-2.61430932e-01 9.63109089e-01 -6.38337778e-02 1.23810264e+02] [-2.52893575e-01 -4.52292923e-03 9.67483531e-01 1.41880307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.88687500000003 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:222.78, Y:123.80, Z:141.87 [[ 9.32186133e-01 2.69182203e-01 2.42012302e-01 2.22776152e+02] [-2.61696869e-01 9.63079100e-01 -6.31933216e-02 1.23802618e+02] [-2.50087507e-01 -4.42592367e-03 9.68213122e-01 1.41869958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.916875 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:222.81, Y:123.79, Z:141.86 [[ 9.32613080e-01 2.68948753e-01 2.40622965e-01 2.22805798e+02] [-2.61525434e-01 9.63145023e-01 -6.28976255e-02 1.23794156e+02] [-2.48671049e-01 -4.26987692e-03 9.68578586e-01 1.41861417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.94687500000003 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:222.84, Y:123.78, Z:141.86 [[ 9.32658778e-01 2.67537935e-01 2.42014581e-01 2.22837069e+02] [-2.59961676e-01 9.63539656e-01 -6.33344958e-02 1.23783779e+02] [-2.50135026e-01 -3.84504256e-03 9.68203328e-01 1.41855883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.976875 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:222.87, Y:123.78, Z:141.85 [[ 9.32746205e-01 2.66284025e-01 2.43058297e-01 2.22868021e+02] [-2.58580329e-01 9.63888430e-01 -6.36813051e-02 1.23775256e+02] [-2.51238394e-01 -3.45159865e-03 9.67919085e-01 1.41847704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.00687500000004 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:222.90, Y:123.77, Z:141.84 [[ 9.33044274e-01 2.64696609e-01 2.43647464e-01 2.22898555e+02] [-2.56882990e-01 9.64327197e-01 -6.39076493e-02 1.23768040e+02] [-2.51872014e-01 -2.96022272e-03 9.67756026e-01 1.41837978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.036875 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:222.93, Y:123.76, Z:141.83 [[ 9.33112673e-01 2.63995513e-01 2.44145672e-01 2.22929402e+02] [-2.56107022e-01 9.64520114e-01 -6.41103940e-02 1.23760739e+02] [-2.52408268e-01 -2.70519984e-03 9.67617046e-01 1.41829153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.066875 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:222.96, Y:123.75, Z:141.82 [[ 9.32660999e-01 2.63806830e-01 2.46067911e-01 2.22960634e+02] [-2.55765971e-01 9.64572018e-01 -6.46884012e-02 1.23753605e+02] [-2.54415464e-01 -2.60344946e-03 9.67091513e-01 1.41821481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.096875 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:222.99, Y:123.75, Z:141.81 [[ 9.32400959e-01 2.64616467e-01 2.46184031e-01 2.22991095e+02] [-2.56576269e-01 9.64349807e-01 -6.47925028e-02 1.23745491e+02] [-2.54552685e-01 -2.75238840e-03 9.67054991e-01 1.41813048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.126875 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:223.02, Y:123.74, Z:141.80 [[ 9.32093615e-01 2.65556954e-01 2.46335130e-01 2.23022171e+02] [-2.57519685e-01 9.64090697e-01 -6.49056210e-02 1.23737069e+02] [-2.54725546e-01 -2.93803011e-03 9.67008927e-01 1.41804907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.156875 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:223.05, Y:123.73, Z:141.80 [[ 9.31098082e-01 2.67887465e-01 2.47573559e-01 2.23053657e+02] [-2.59829226e-01 9.63443777e-01 -6.53059115e-02 1.23727685e+02] [-2.56017840e-01 -3.52063720e-03 9.66665646e-01 1.41798896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.186875 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:223.08, Y:123.72, Z:141.79 [[ 9.30788361e-01 2.68744643e-01 2.47809090e-01 2.23084948e+02] [-2.60680907e-01 9.63204408e-01 -6.54425975e-02 1.23718462e+02] [-2.56278155e-01 -3.68589020e-03 9.66596049e-01 1.41791808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.216875 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:223.12, Y:123.71, Z:141.78 [[ 9.30693601e-01 2.69588860e-01 2.47247383e-01 2.23115259e+02] [-2.61578343e-01 9.62967783e-01 -6.53438549e-02 1.23709630e+02] [-2.55707240e-01 -3.85945314e-03 9.66746560e-01 1.41783593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.246875 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:223.15, Y:123.70, Z:141.77 [[ 9.30923552e-01 2.69851422e-01 2.46092563e-01 2.23145169e+02] [-2.61906507e-01 9.62894319e-01 -6.51115392e-02 1.23702920e+02] [-2.54531572e-01 -3.83937813e-03 9.67056843e-01 1.41773111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.276875 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:223.18, Y:123.70, Z:141.76 [[ 9.31092587e-01 2.70792514e-01 2.44413600e-01 2.23175582e+02] [-2.62971917e-01 9.62629421e-01 -6.47330552e-02 1.23700075e+02] [-2.52808949e-01 -4.00144508e-03 9.67507945e-01 1.41756951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.306875 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:223.21, Y:123.69, Z:141.75 [[ 9.30764651e-01 2.71321103e-01 2.45075547e-01 2.23205203e+02] [-2.63455998e-01 9.62480227e-01 -6.49826821e-02 1.23692617e+02] [-2.53511541e-01 -4.08303949e-03 9.67323745e-01 1.41745579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.336875 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:223.23, Y:123.68, Z:141.74 [[ 9.31458915e-01 2.69261765e-01 2.44708790e-01 2.23234859e+02] [-2.61331292e-01 9.63060874e-01 -6.49592890e-02 1.23682597e+02] [-2.53160513e-01 -3.44315523e-03 9.67418161e-01 1.41737749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.366875 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:223.27, Y:123.67, Z:141.74 [[ 9.32195916e-01 2.65692849e-01 2.45800903e-01 2.23265821e+02] [-2.57549993e-01 9.64054704e-01 -6.53186732e-02 1.23666921e+02] [-2.54320222e-01 -2.41622070e-03 9.67117049e-01 1.41735955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.396875 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:223.30, Y:123.66, Z:141.73 [[ 9.31935387e-01 2.65176903e-01 2.47341150e-01 2.23296586e+02] [-2.56892557e-01 9.64197229e-01 -6.58021153e-02 1.23656151e+02] [-2.55934852e-01 -2.21678055e-03 9.66691490e-01 1.41730949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.426875 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:223.33, Y:123.65, Z:141.72 [[ 9.31803444e-01 2.65154637e-01 2.47861576e-01 2.23327434e+02] [-2.56814462e-01 9.64203521e-01 -6.60144070e-02 1.23646875e+02] [-2.56493030e-01 -2.14198537e-03 9.66543707e-01 1.41724473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.456875 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:223.36, Y:123.64, Z:141.71 [[ 9.31662472e-01 2.65475345e-01 2.48048137e-01 2.23358361e+02] [-2.57114048e-01 9.64115232e-01 -6.61376261e-02 1.23639588e+02] [-2.56704896e-01 -2.15871632e-03 9.66487422e-01 1.41714204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.486875 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:223.39, Y:123.64, Z:141.70 [[ 9.31652174e-01 2.66917500e-01 2.46534533e-01 2.23387521e+02] [-2.58690030e-01 9.63716224e-01 -6.58065895e-02 1.23635553e+02] [-2.55154259e-01 -2.46717348e-03 9.66897211e-01 1.41698921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.516875 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:223.42, Y:123.63, Z:141.69 [[ 9.31735695e-01 2.66550099e-01 2.46616380e-01 2.23418273e+02] [-2.58285260e-01 9.63818332e-01 -6.59010410e-02 1.23629351e+02] [-2.55259317e-01 -2.29502354e-03 9.66869905e-01 1.41686963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.546875 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:223.45, Y:123.62, Z:141.68 [[ 9.31483977e-01 2.66859860e-01 2.47231502e-01 2.23448163e+02] [-2.58544393e-01 9.63732569e-01 -6.61387376e-02 1.23621955e+02] [-2.55914825e-01 -2.31314441e-03 9.66696566e-01 1.41676848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.57687500000003 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:223.48, Y:123.61, Z:141.67 [[ 9.31388838e-01 2.66014856e-01 2.48497342e-01 2.23478819e+02] [-2.57563681e-01 9.63966813e-01 -6.65502318e-02 1.23607821e+02] [-2.57246541e-01 -2.01974707e-03 9.66343695e-01 1.41672677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.606875 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:223.51, Y:123.60, Z:141.67 [[ 9.31542210e-01 2.65397712e-01 2.48582310e-01 2.23508090e+02] [-2.56899597e-01 9.64137385e-01 -6.66460830e-02 1.23595241e+02] [-2.57355216e-01 -1.77705588e-03 9.66315236e-01 1.41668852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.63687500000003 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:223.54, Y:123.58, Z:141.66 [[ 9.31931387e-01 2.64878780e-01 2.47675436e-01 2.23538773e+02] [-2.56407780e-01 9.64280456e-01 -6.64699419e-02 1.23583890e+02] [-2.56435060e-01 -1.56048370e-03 9.66560203e-01 1.41663344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.666875 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:223.57, Y:123.58, Z:141.65 [[ 9.32436443e-01 2.64567243e-01 2.46102526e-01 2.23568428e+02] [-2.56175240e-01 9.64366236e-01 -6.61211672e-02 1.23575366e+02] [-2.54826462e-01 -1.39158786e-03 9.66985800e-01 1.41654627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.69687500000003 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:223.60, Y:123.57, Z:141.64 [[ 9.32630506e-01 2.65145074e-01 2.44741557e-01 2.23598416e+02] [-2.56849211e-01 9.64207404e-01 -6.58222271e-02 1.23571372e+02] [-2.53434060e-01 -1.47385871e-03 9.67351542e-01 1.41638712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.726875 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:223.63, Y:123.57, Z:141.63 [[ 9.32728773e-01 2.64248362e-01 2.45336176e-01 2.23629232e+02] [-2.55862712e-01 9.64453964e-01 -6.60516782e-02 1.23565744e+02] [-2.54069495e-01 -1.16407874e-03 9.67185265e-01 1.41626670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.75687500000004 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:223.66, Y:123.56, Z:141.62 [[ 9.32591658e-01 2.63105953e-01 2.47079050e-01 2.23659936e+02] [-2.54539793e-01 9.64766625e-01 -6.65946985e-02 1.23558485e+02] [-2.55895083e-01 -7.85789945e-04 9.66704241e-01 1.41616790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.786875 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:223.69, Y:123.55, Z:141.61 [[ 9.32507522e-01 2.62613531e-01 2.47919050e-01 2.23689686e+02] [-2.53950950e-01 9.64900927e-01 -6.68963079e-02 1.23549763e+02] [-2.56785197e-01 -5.77967844e-04 9.66468328e-01 1.41609382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.816875 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:223.72, Y:123.54, Z:141.61 [[ 9.33041531e-01 2.61827530e-01 2.46738415e-01 2.23719793e+02] [-2.53203524e-01 9.65114636e-01 -6.66461989e-02 1.23536213e+02] [-2.55580665e-01 -2.91364615e-04 9.66787691e-01 1.41607021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.846875 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:223.75, Y:123.53, Z:141.60 [[ 9.33404422e-01 2.61611171e-01 2.45592712e-01 2.23749830e+02] [-2.53043751e-01 9.65173336e-01 -6.64025022e-02 1.23525223e+02] [-2.54411174e-01 -1.65311854e-04 9.67096131e-01 1.41602197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.876875 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:223.78, Y:123.52, Z:141.60 [[ 9.33441983e-01 2.61103418e-01 2.45989978e-01 2.23781093e+02] [-2.52473294e-01 9.65310833e-01 -6.65750100e-02 1.23516195e+02] [-2.54839753e-01 3.80092216e-05 9.66983298e-01 1.41595535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.906875 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:223.81, Y:123.51, Z:141.59 [[ 9.33439099e-01 2.60573215e-01 2.46562461e-01 2.23811736e+02] [-2.51864615e-01 9.65454056e-01 -6.68033082e-02 1.23509574e+02] [-2.55451881e-01 2.56460373e-04 9.66821737e-01 1.41586075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.936875 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:223.84, Y:123.50, Z:141.57 [[ 9.33924660e-01 2.58460755e-01 2.46946891e-01 2.23841266e+02] [-2.49631876e-01 9.66021329e-01 -6.69829743e-02 1.23504772e+02] [-2.55868434e-01 9.11235815e-04 9.66711184e-01 1.41572322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.966875 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:223.87, Y:123.50, Z:141.56 [[ 9.34304512e-01 2.57053170e-01 2.46979243e-01 2.23871448e+02] [-2.48155039e-01 9.66396295e-01 -6.70617457e-02 1.23495604e+02] [-2.55918260e-01 1.36694799e-03 9.66697458e-01 1.41563262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.996875 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:223.90, Y:123.49, Z:141.56 [[ 9.34303611e-01 2.56207789e-01 2.47859500e-01 2.23902651e+02] [-2.47196296e-01 9.66620274e-01 -6.73738581e-02 1.23486498e+02] [-2.56847725e-01 1.67768850e-03 9.66450429e-01 1.41555939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.026875 meters Centerline goodness : 0.998282 Centerline is valid? [True, True] Translation: X:223.93, Y:123.48, Z:141.55 [[ 9.34246761e-01 2.54855521e-01 2.49462730e-01 2.23933949e+02] [-2.45657932e-01 9.66976782e-01 -6.78828629e-02 1.23477875e+02] [-2.58524990e-01 2.13684646e-03 9.66002207e-01 1.41548278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.056875 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:223.96, Y:123.47, Z:141.54 [[ 9.35252571e-01 2.53432764e-01 2.47132479e-01 2.23963429e+02] [-2.44341136e-01 9.67349568e-01 -6.73217838e-02 1.23472351e+02] [-2.56125043e-01 2.57824076e-03 9.66640220e-01 1.41537797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.086875 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:223.99, Y:123.47, Z:141.53 [[ 9.35664137e-01 2.53426633e-01 2.45575986e-01 2.23993694e+02] [-2.44433255e-01 9.67351035e-01 -6.69653632e-02 1.23466720e+02] [-2.54528991e-01 2.63015107e-03 9.67061567e-01 1.41526338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.116875 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:224.02, Y:123.46, Z:141.52 [[ 9.35443142e-01 2.54423421e-01 2.45387144e-01 2.24024091e+02] [-2.45458580e-01 9.67089870e-01 -6.69870797e-02 1.23459486e+02] [-2.54354503e-01 2.43022445e-03 9.67107998e-01 1.41518303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.146875 meters Centerline goodness : 0.998653 Centerline is valid? [True, True] Translation: X:224.06, Y:123.45, Z:141.51 [[ 9.34997259e-01 2.55758332e-01 2.45698600e-01 2.24055174e+02] [-2.46797681e-01 9.66738385e-01 -6.71401540e-02 1.23449031e+02] [-2.54697922e-01 2.13801531e-03 9.67018303e-01 1.41512732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.176875 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:224.09, Y:123.44, Z:141.51 [[ 9.34911083e-01 2.56800104e-01 2.44938715e-01 2.24085298e+02] [-2.47911692e-01 9.66462630e-01 -6.70058029e-02 1.23439004e+02] [-2.53931212e-01 1.92129629e-03 9.67220372e-01 1.41508424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.206875 meters Centerline goodness : 0.998489 Centerline is valid? [True, True] Translation: X:224.12, Y:123.43, Z:141.50 [[ 9.34841494e-01 2.57723935e-01 2.44232992e-01 2.24115891e+02] [-2.48907091e-01 9.66217084e-01 -6.68566177e-02 1.23430146e+02] [-2.53212640e-01 1.70901674e-03 9.67409137e-01 1.41501963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.236875 meters Centerline goodness : 0.998225 Centerline is valid? [True, True] Translation: X:224.15, Y:123.43, Z:141.49 [[ 9.34484045e-01 2.59743223e-01 2.43460526e-01 2.24147209e+02] [-2.51031907e-01 9.65676938e-01 -6.67160666e-02 1.23425835e+02] [-2.52433261e-01 1.22873980e-03 9.67613528e-01 1.41491941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.266875 meters Centerline goodness : 0.997869 Centerline is valid? [True, True] Translation: X:224.18, Y:123.42, Z:141.48 [[ 9.34058837e-01 2.60559963e-01 2.44218334e-01 2.24176756e+02] [-2.51801522e-01 9.65457057e-01 -6.69974979e-02 1.23421774e+02] [-2.53239180e-01 1.08505652e-03 9.67403091e-01 1.41479855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.296875 meters Centerline goodness : 0.998598 Centerline is valid? [True, True] Translation: X:224.21, Y:123.42, Z:141.47 [[ 9.33366072e-01 2.61207769e-01 2.46167173e-01 2.24206469e+02] [-2.52310269e-01 9.65282098e-01 -6.76017785e-02 1.23416275e+02] [-2.55278875e-01 9.86700838e-04 9.66866962e-01 1.41468310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.32687500000003 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:224.24, Y:123.41, Z:141.46 [[ 9.32911302e-01 2.61529670e-01 2.47545417e-01 2.24236613e+02] [-2.52523278e-01 9.65194947e-01 -6.80493135e-02 1.23408530e+02] [-2.56726500e-01 9.72993340e-04 9.66483604e-01 1.41457951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.356875 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:224.27, Y:123.40, Z:141.45 [[ 9.33222170e-01 2.62253590e-01 2.45600153e-01 2.24266182e+02] [-2.53396528e-01 9.64998628e-01 -6.75858586e-02 1.23395926e+02] [-2.54728444e-01 8.38395678e-04 9.67012263e-01 1.41450703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.38687500000003 meters Centerline goodness : 0.997881 Centerline is valid? [True, True] Translation: X:224.30, Y:123.38, Z:141.44 [[ 9.33426227e-01 2.62745743e-01 2.44295219e-01 2.24296390e+02] [-2.53982262e-01 9.64864799e-01 -6.72973236e-02 1.23384433e+02] [-2.53393943e-01 7.70434546e-04 9.67362867e-01 1.41443036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.416875 meters Centerline goodness : 0.997408 Centerline is valid? [True, True] Translation: X:224.33, Y:123.37, Z:141.44 [[ 9.33066636e-01 2.63374943e-01 2.44990392e-01 2.24326781e+02] [-2.54563156e-01 9.64693312e-01 -6.75604403e-02 1.23373177e+02] [-2.54134320e-01 6.72865438e-04 9.67168700e-01 1.41435834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.44687500000003 meters Centerline goodness : 0.997101 Centerline is valid? [True, True] Translation: X:224.36, Y:123.36, Z:141.43 [[ 9.31654317e-01 2.65184299e-01 2.48389855e-01 2.24357377e+02] [-2.56165402e-01 9.64197709e-01 -6.85716070e-02 1.23362969e+02] [-2.57681043e-01 2.56146737e-04 9.66230001e-01 1.41430552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.476875 meters Centerline goodness : 0.997101 Centerline is valid? [True, True] Translation: X:224.39, Y:123.35, Z:141.42 [[ 9.31623112e-01 2.65311952e-01 2.48370580e-01 2.24388440e+02] [-2.56278919e-01 9.64162580e-01 -6.86413523e-02 1.23354311e+02] [-2.57680991e-01 2.95726530e-04 9.66230003e-01 1.41421669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.50687500000004 meters Centerline goodness : 0.997344 Centerline is valid? [True, True] Translation: X:224.42, Y:123.35, Z:141.41 [[ 9.30992385e-01 2.67334361e-01 2.48566930e-01 2.24418870e+02] [-2.58349181e-01 9.63603801e-01 -6.87271082e-02 1.23345963e+02] [-2.57893156e-01 -2.32648303e-04 9.66173414e-01 1.41411652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.536875 meters Centerline goodness : 0.996957 Centerline is valid? [True, True] Translation: X:224.45, Y:123.34, Z:141.40 [[ 9.30642174e-01 2.70138404e-01 2.46840813e-01 2.24448132e+02] [-2.61357287e-01 9.62821052e-01 -6.83226939e-02 1.23337666e+02] [-2.56120115e-01 -9.29664758e-04 9.66644517e-01 1.41401092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.566875 meters Centerline goodness : 0.997550 Centerline is valid? [True, True] Translation: X:224.48, Y:123.33, Z:141.39 [[ 9.30501491e-01 2.73452955e-01 2.43701571e-01 2.24478807e+02] [-2.64991359e-01 9.61883787e-01 -6.75215555e-02 1.23328551e+02] [-2.52876559e-01 -1.74990240e-03 9.67496968e-01 1.41391771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.596875 meters Centerline goodness : 0.998094 Centerline is valid? [True, True] Translation: X:224.51, Y:123.32, Z:141.38 [[ 9.30070978e-01 2.77225851e-01 2.41068045e-01 2.24509202e+02] [-2.69066185e-01 9.60800943e-01 -6.68201773e-02 1.23319262e+02] [-2.50142686e-01 -2.71575164e-03 9.68205175e-01 1.41381520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.626875 meters Centerline goodness : 0.996650 Centerline is valid? [True, True] Translation: X:224.54, Y:123.31, Z:141.37 [[ 9.29485777e-01 2.82845172e-01 2.36758948e-01 2.24537545e+02] [-2.75140299e-01 9.59156905e-01 -6.56951094e-02 1.23309379e+02] [-2.45670524e-01 -4.07925786e-03 9.69344806e-01 1.41366700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.656875 meters Centerline goodness : 0.996746 Centerline is valid? [True, True] Translation: X:224.57, Y:123.30, Z:141.36 [[ 9.29125078e-01 2.84332368e-01 2.36393092e-01 2.24567494e+02] [-2.76681346e-01 9.58715692e-01 -6.56631943e-02 1.23301061e+02] [-2.45303938e-01 -4.39623817e-03 9.69436254e-01 1.41357341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.686875 meters Centerline goodness : 0.996969 Centerline is valid? [True, True] Translation: X:224.60, Y:123.29, Z:141.35 [[ 9.28351156e-01 2.85245338e-01 2.38325888e-01 2.24596997e+02] [-2.77477428e-01 9.58443480e-01 -6.62749806e-02 1.23292236e+02] [-2.47326522e-01 -4.60359946e-03 9.68921255e-01 1.41349165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.716875 meters Centerline goodness : 0.997374 Centerline is valid? [True, True] Translation: X:224.63, Y:123.28, Z:141.34 [[ 9.27288927e-01 2.84848350e-01 2.42892288e-01 2.24628119e+02] [-2.76750420e-01 9.58561820e-01 -6.75902568e-02 1.23284634e+02] [-2.52080247e-01 -4.54484612e-03 9.67695662e-01 1.41342230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.746875 meters Centerline goodness : 0.996563 Centerline is valid? [True, True] Translation: X:224.66, Y:123.28, Z:141.33 [[ 9.27105966e-01 2.84865479e-01 2.43569675e-01 2.24659301e+02] [-2.76703020e-01 9.58556987e-01 -6.78523498e-02 1.23277228e+02] [-2.52804206e-01 -4.49014644e-03 9.67507040e-01 1.41334302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.776875 meters Centerline goodness : 0.996998 Centerline is valid? [True, True] Translation: X:224.69, Y:123.27, Z:141.33 [[ 9.27003953e-01 2.84996305e-01 2.43804795e-01 2.24689643e+02] [-2.76802996e-01 9.58518251e-01 -6.79916403e-02 1.23269535e+02] [-2.53068712e-01 -4.45737844e-03 9.67438039e-01 1.41325014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.806875 meters Centerline goodness : 0.997023 Centerline is valid? [True, True] Translation: X:224.72, Y:123.26, Z:141.32 [[ 9.27274909e-01 2.84454604e-01 2.43406701e-01 2.24719328e+02] [-2.76250999e-01 9.58680181e-01 -6.79536393e-02 1.23259457e+02] [-2.52678906e-01 -4.22963957e-03 9.67540945e-01 1.41316498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.836875 meters Centerline goodness : 0.997383 Centerline is valid? [True, True] Translation: X:224.75, Y:123.25, Z:141.31 [[ 9.27236851e-01 2.84036103e-01 2.44039575e-01 2.24749730e+02] [-2.75755547e-01 9.58805016e-01 -6.82042475e-02 1.23248920e+02] [-2.53358837e-01 -4.05377470e-03 9.67363875e-01 1.41309061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.866875 meters Centerline goodness : 0.997672 Centerline is valid? [True, True] Translation: X:224.78, Y:123.24, Z:141.30 [[ 9.27277952e-01 2.83883885e-01 2.44060524e-01 2.24780268e+02] [-2.75577395e-01 9.58850573e-01 -6.82838104e-02 1.23238185e+02] [-2.53402247e-01 -3.93949171e-03 9.67352977e-01 1.41301277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.896875 meters Centerline goodness : 0.997247 Centerline is valid? [True, True] Translation: X:224.80, Y:123.24, Z:141.28 [[ 9.27490076e-01 2.84105092e-01 2.42994767e-01 2.24803887e+02] [-2.70267106e-01 9.58640735e-01 -8.92391875e-02 1.23244619e+02] [-2.58297989e-01 1.70949684e-02 9.65914029e-01 1.41275099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.926875 meters Centerline goodness : 0.997374 Centerline is valid? [True, True] Translation: X:224.84, Y:123.21, Z:141.29 [[ 9.28577936e-01 2.74687628e-01 2.49579092e-01 2.24838811e+02] [-2.72364512e-01 9.61164201e-01 -4.45078876e-02 1.23210028e+02] [-2.52112255e-01 -2.66474451e-02 9.67331032e-01 1.41294305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.956875 meters Centerline goodness : 0.997846 Centerline is valid? [True, True] Translation: X:224.87, Y:123.21, Z:141.27 [[ 9.28795389e-01 2.79966457e-01 2.42812497e-01 2.24868496e+02] [-2.71566763e-01 9.60006060e-01 -6.81165010e-02 1.23212305e+02] [-2.52171804e-01 -2.67351189e-03 9.67678786e-01 1.41272179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.986875 meters Centerline goodness : 0.997685 Centerline is valid? [True, True] Translation: X:224.90, Y:123.20, Z:141.26 [[ 9.29217910e-01 2.79318504e-01 2.41940588e-01 2.24898790e+02] [-2.70939809e-01 9.60195465e-01 -6.79432840e-02 1.23204989e+02] [-2.51288072e-01 -2.41722031e-03 9.67909325e-01 1.41261506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.016875 meters Centerline goodness : 0.997647 Centerline is valid? [True, True] Translation: X:224.93, Y:123.20, Z:141.25 [[ 9.29282585e-01 2.79288340e-01 2.41726912e-01 2.24928554e+02] [-2.70904978e-01 9.60204442e-01 -6.79553029e-02 1.23200417e+02] [-2.51086379e-01 -2.33534437e-03 9.67961867e-01 1.41248729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.046875 meters Centerline goodness : 0.997460 Centerline is valid? [True, True] Translation: X:224.96, Y:123.19, Z:141.24 [[ 9.29248601e-01 2.78652885e-01 2.42589380e-01 2.24959579e+02] [-2.70168525e-01 9.60389587e-01 -6.82701148e-02 1.23192375e+02] [-2.52003979e-01 -2.10010619e-03 9.67723919e-01 1.41240091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.07687500000003 meters Centerline goodness : 0.997500 Centerline is valid? [True, True] Translation: X:224.99, Y:123.18, Z:141.23 [[ 9.29174688e-01 2.78282062e-01 2.43297129e-01 2.24990776e+02] [-2.69715871e-01 9.60497452e-01 -6.85419151e-02 1.23183105e+02] [-2.52760258e-01 -1.93368451e-03 9.67527009e-01 1.41232863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.106875 meters Centerline goodness : 0.997760 Centerline is valid? [True, True] Translation: X:225.02, Y:123.17, Z:141.23 [[ 9.29246441e-01 2.77988598e-01 2.43358567e-01 2.25020241e+02] [-2.69389024e-01 9.60582721e-01 -6.86322727e-02 1.23169703e+02] [-2.52845024e-01 -1.78183196e-03 9.67505152e-01 1.41230156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.13687500000003 meters Centerline goodness : 0.997539 Centerline is valid? [True, True] Translation: X:225.05, Y:123.16, Z:141.22 [[ 9.29043924e-01 2.78188195e-01 2.43903088e-01 2.25050624e+02] [-2.69538671e-01 9.60524951e-01 -6.88529136e-02 1.23159009e+02] [-2.53429069e-01 -1.77393302e-03 9.67352345e-01 1.41223896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.166875 meters Centerline goodness : 0.997447 Centerline is valid? [True, True] Translation: X:225.08, Y:123.15, Z:141.22 [[ 9.28832396e-01 2.79672326e-01 2.43009815e-01 2.25081574e+02] [-2.71118257e-01 9.60093216e-01 -6.86724621e-02 1.23150364e+02] [-2.52517862e-01 -2.09918982e-03 9.67589956e-01 1.41215033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.19687500000003 meters Centerline goodness : 0.997185 Centerline is valid? [True, True] Translation: X:225.11, Y:123.15, Z:141.20 [[ 9.27654320e-01 2.83866726e-01 2.42646130e-01 2.25112901e+02] [-2.75460803e-01 9.58858526e-01 -6.86416319e-02 1.23151170e+02] [-2.52148386e-01 -3.16379157e-03 9.67683410e-01 1.41198227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.226875 meters Centerline goodness : 0.996991 Centerline is valid? [True, True] Translation: X:225.14, Y:123.15, Z:141.19 [[ 9.27055854e-01 2.84922302e-01 2.43693915e-01 2.25143059e+02] [-2.76459168e-01 9.58544606e-01 -6.90113487e-02 1.23145769e+02] [-2.53254360e-01 -3.39404228e-03 9.67393772e-01 1.41186602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.25687500000004 meters Centerline goodness : 0.996446 Centerline is valid? [True, True] Translation: X:225.17, Y:123.14, Z:141.18 [[ 9.27664572e-01 2.80952716e-01 2.45975635e-01 2.25172398e+02] [-2.74320559e-01 9.59665632e-01 -6.15638288e-02 1.23137382e+02] [-2.53350888e-01 -1.03655910e-02 9.67318914e-01 1.41183411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.286875 meters Centerline goodness : 0.997524 Centerline is valid? [True, True] Translation: X:225.20, Y:123.13, Z:141.17 [[ 9.26731616e-01 2.84910940e-01 2.44937275e-01 2.25202267e+02] [-2.74651278e-01 9.58549298e-01 -7.58282238e-02 1.23128344e+02] [-2.56388743e-01 3.00007662e-03 9.66569093e-01 1.41169235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.316875 meters Centerline goodness : 0.997374 Centerline is valid? [True, True] Translation: X:225.23, Y:123.12, Z:141.16 [[ 9.27201703e-01 2.82152193e-01 2.46347605e-01 2.25232123e+02] [-2.73356028e-01 9.59366437e-01 -6.99465675e-02 1.23115883e+02] [-2.56073202e-01 -2.48602648e-03 9.66654196e-01 1.41164984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.346875 meters Centerline goodness : 0.997563 Centerline is valid? [True, True] Translation: X:225.26, Y:123.11, Z:141.16 [[ 9.27175032e-01 2.81203171e-01 2.47530275e-01 2.25262653e+02] [-2.72269201e-01 9.59645812e-01 -7.03519607e-02 1.23105959e+02] [-2.57324587e-01 -2.16628887e-03 9.66322598e-01 1.41156773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.376875 meters Centerline goodness : 0.996911 Centerline is valid? [True, True] Translation: X:225.29, Y:123.10, Z:141.15 [[ 9.26781294e-01 2.79878769e-01 2.50488139e-01 2.25292828e+02] [-2.70658527e-01 9.60033762e-01 -7.12680732e-02 1.23098107e+02] [-2.60423490e-01 -1.74683357e-03 9.65492907e-01 1.41148840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.406875 meters Centerline goodness : 0.996855 Centerline is valid? [True, True] Translation: X:225.32, Y:123.09, Z:141.14 [[ 9.26835847e-01 2.80270132e-01 2.49847886e-01 2.25323600e+02] [-2.71093151e-01 9.59919514e-01 -7.11549723e-02 1.23090149e+02] [-2.59776475e-01 -1.78307142e-03 9.65667129e-01 1.41138703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.436875 meters Centerline goodness : 0.997198 Centerline is valid? [True, True] Translation: X:225.35, Y:123.08, Z:141.13 [[ 9.26842832e-01 2.81205928e-01 2.48768147e-01 2.25353410e+02] [-2.72122568e-01 9.59645444e-01 -7.09220025e-02 1.23081234e+02] [-2.58672907e-01 -1.96187752e-03 9.65962980e-01 1.41129214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.466875 meters Centerline goodness : 0.996635 Centerline is valid? [True, True] Translation: X:225.38, Y:123.07, Z:141.12 [[ 9.26928932e-01 2.82067634e-01 2.47468394e-01 2.25383243e+02] [-2.73090946e-01 9.59392188e-01 -7.06255283e-02 1.23071257e+02] [-2.57340419e-01 -2.11653208e-03 9.66318493e-01 1.41120970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.496875 meters Centerline goodness : 0.997193 Centerline is valid? [True, True] Translation: X:225.41, Y:123.06, Z:141.11 [[ 9.26273117e-01 2.83431444e-01 2.48364107e-01 2.25413596e+02] [-2.74416506e-01 9.58989423e-01 -7.09568081e-02 1.23062078e+02] [-2.58289942e-01 -2.42982651e-03 9.66064388e-01 1.41112881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.526875 meters Centerline goodness : 0.997319 Centerline is valid? [True, True] Translation: X:225.44, Y:123.06, Z:141.10 [[ 9.26530001e-01 2.82458375e-01 2.48514432e-01 2.25441172e+02] [-2.72733265e-01 9.59279508e-01 -7.34805548e-02 1.23059562e+02] [-2.59150000e-01 3.03785995e-04 9.65837039e-01 1.41100958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.556875 meters Centerline goodness : 0.996587 Centerline is valid? [True, True] Translation: X:225.47, Y:123.05, Z:141.10 [[ 9.26700107e-01 2.81032139e-01 2.49495186e-01 2.25468725e+02] [-2.73170132e-01 9.59675160e-01 -6.63450561e-02 1.23049753e+02] [-2.58079425e-01 -6.67266236e-03 9.66100660e-01 1.41095388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.586875 meters Centerline goodness : 0.996818 Centerline is valid? [True, True] Translation: X:225.50, Y:123.04, Z:141.08 [[ 9.25635088e-01 2.85235629e-01 2.48677140e-01 2.25501814e+02] [-2.77110189e-01 9.58438091e-01 -6.78702412e-02 1.23037785e+02] [-2.57700655e-01 -6.08789277e-03 9.66205625e-01 1.41083520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.616875 meters Centerline goodness : 0.997254 Centerline is valid? [True, True] Translation: X:225.53, Y:123.03, Z:141.08 [[ 9.26061809e-01 2.84066137e-01 2.48426963e-01 2.25530328e+02] [-2.76626845e-01 9.58767824e-01 -6.51294674e-02 1.23033224e+02] [-2.56684855e-01 -8.40765471e-03 9.66458585e-01 1.41076518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.646875 meters Centerline goodness : 0.996680 Centerline is valid? [True, True] Translation: X:225.56, Y:123.03, Z:141.06 [[ 9.24833412e-01 2.90006565e-01 2.46128731e-01 2.25561037e+02] [-2.80001751e-01 9.57024205e-01 -7.55227859e-02 1.23025017e+02] [-2.57453257e-01 9.29519985e-04 9.66290307e-01 1.41062770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.676875 meters Centerline goodness : 0.997251 Centerline is valid? [True, True] Translation: X:225.59, Y:123.01, Z:141.07 [[ 9.26258944e-01 2.83330996e-01 2.48531519e-01 2.25590295e+02] [-2.78746134e-01 9.58832896e-01 -5.42224175e-02 1.23007772e+02] [-2.53663088e-01 -1.90532010e-02 9.67104965e-01 1.41071671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.706875 meters Centerline goodness : 0.997414 Centerline is valid? [True, True] Translation: X:225.62, Y:123.00, Z:141.06 [[ 9.26203726e-01 2.86016177e-01 2.45644875e-01 2.25620761e+02] [-2.78350379e-01 9.58198481e-01 -6.61569197e-02 1.23001467e+02] [-2.54298495e-01 -7.10055840e-03 9.67099714e-01 1.41060436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.736875 meters Centerline goodness : 0.997760 Centerline is valid? [True, True] Translation: X:225.65, Y:122.99, Z:141.06 [[ 9.25993214e-01 2.84976469e-01 2.47638810e-01 2.25651257e+02] [-2.78461064e-01 9.58461892e-01 -6.17271187e-02 1.22988078e+02] [-2.54943139e-01 -1.17988735e-02 9.66884058e-01 1.41058383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.766875 meters Centerline goodness : 0.996775 Centerline is valid? [True, True] Translation: X:225.68, Y:122.99, Z:141.02 [[ 9.24153629e-01 2.93923042e-01 2.44027286e-01 2.25678356e+02] [-2.78117477e-01 9.55566233e-01 -9.76925919e-02 1.22994015e+02] [-2.61898338e-01 2.24147102e-02 9.64835137e-01 1.41023837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.796875 meters Centerline goodness : 0.997058 Centerline is valid? [True, True] Translation: X:225.71, Y:122.98, Z:141.02 [[ 9.24300764e-01 2.87063257e-01 2.51520943e-01 2.25708268e+02] [-2.77669724e-01 9.57908418e-01 -7.28765258e-02 1.22982127e+02] [-2.61854202e-01 -2.47992246e-03 9.65104257e-01 1.41018892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.82687500000003 meters Centerline goodness : 0.997297 Centerline is valid? [True, True] Translation: X:225.74, Y:122.98, Z:141.01 [[ 9.24058944e-01 2.88042760e-01 2.51289546e-01 2.25737244e+02] [-2.78689847e-01 9.57613716e-01 -7.28556062e-02 1.22976072e+02] [-2.61623846e-01 -2.70897042e-03 9.65166113e-01 1.41007387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.856875 meters Centerline goodness : 0.996993 Centerline is valid? [True, True] Translation: X:225.77, Y:122.97, Z:141.00 [[ 9.23652764e-01 2.89830229e-01 2.50726964e-01 2.25768242e+02] [-2.80565887e-01 9.57072925e-01 -7.27612512e-02 1.22966468e+02] [-2.61052399e-01 -3.13930248e-03 9.65319527e-01 1.40999485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.88687500000003 meters Centerline goodness : 0.997363 Centerline is valid? [True, True] Translation: X:225.80, Y:122.96, Z:140.99 [[ 9.23293153e-01 2.91394207e-01 2.50238226e-01 2.25798357e+02] [-2.82202970e-01 9.56596655e-01 -7.26933467e-02 1.22955322e+02] [-2.60559470e-01 -3.50070148e-03 9.65451453e-01 1.40993240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.916875 meters Centerline goodness : 0.997235 Centerline is valid? [True, True] Translation: X:225.83, Y:122.95, Z:140.99 [[ 9.22976768e-01 2.92725813e-01 2.49850923e-01 2.25828197e+02] [-2.83591168e-01 9.56188888e-01 -7.26557619e-02 1.22945208e+02] [-2.60172893e-01 -3.79593486e-03 9.65554585e-01 1.40987327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.94687500000003 meters Centerline goodness : 0.996574 Centerline is valid? [True, True] Translation: X:225.86, Y:122.94, Z:140.98 [[ 9.22851004e-01 2.92141964e-01 2.50996210e-01 2.25856082e+02] [-2.83305625e-01 9.56361197e-01 -7.14925459e-02 1.22940581e+02] [-2.60929008e-01 -5.13167024e-03 9.65344352e-01 1.40983306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.976875 meters Centerline goodness : 0.997105 Centerline is valid? [True, True] Translation: X:225.89, Y:122.93, Z:140.97 [[ 9.21708447e-01 2.94872842e-01 2.51999100e-01 2.25888415e+02] [-2.86093671e-01 9.55517444e-01 -7.16716497e-02 1.22928290e+02] [-2.61923559e-01 -6.03498248e-03 9.65069753e-01 1.40974314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.00687500000004 meters Centerline goodness : 0.997722 Centerline is valid? [True, True] Translation: X:225.92, Y:122.92, Z:140.96 [[ 9.22238906e-01 2.95140286e-01 2.49735082e-01 2.25919094e+02] [-2.86053266e-01 9.55444259e-01 -7.27997084e-02 1.22923306e+02] [-2.60094077e-01 -4.29881235e-03 9.65573711e-01 1.40960817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.036875 meters Centerline goodness : 0.997634 Centerline is valid? [True, True] Translation: X:225.95, Y:122.92, Z:140.95 [[ 9.23309058e-01 2.92006874e-01 2.49464162e-01 2.25948365e+02] [-2.82806832e-01 9.56410402e-01 -7.27972365e-02 1.22916534e+02] [-2.59847413e-01 -3.33582165e-03 9.65643927e-01 1.40951257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.066875 meters Centerline goodness : 0.997638 Centerline is valid? [True, True] Translation: X:225.97, Y:122.93, Z:140.93 [[ 9.23196506e-01 2.91836545e-01 2.50079270e-01 2.25971226e+02] [-2.76763495e-01 9.56302121e-01 -9.42773672e-02 1.22926910e+02] [-2.66664918e-01 1.78237231e-02 9.63624479e-01 1.40925227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.096875 meters Centerline goodness : 0.998109 Centerline is valid? [True, True] Translation: X:226.01, Y:122.89, Z:140.95 [[ 9.23864200e-01 2.82223251e-01 2.58505275e-01 2.26008133e+02] [-2.79421304e-01 9.58951944e-01 -4.83208552e-02 1.22891321e+02] [-2.61531405e-01 -2.75899727e-02 9.64800559e-01 1.40945350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.126875 meters Centerline goodness : 0.997796 Centerline is valid? [True, True] Translation: X:226.03, Y:122.93, Z:140.89 [[ 9.24766002e-01 2.89215592e-01 2.47309892e-01 2.26025107e+02] [-2.66039291e-01 9.56050635e-01 -1.23248848e-01 1.22930461e+02] [-2.72086268e-01 4.81821959e-02 9.61065835e-01 1.40886153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.156875 meters Centerline goodness : 0.998289 Centerline is valid? [True, True] Translation: X:226.07, Y:122.86, Z:140.95 [[ 9.26682530e-01 2.66726349e-01 2.64795285e-01 2.26068339e+02] [-2.72365897e-01 9.62062346e-01 -1.59015625e-02 1.22859380e+02] [-2.58990939e-01 -5.73855052e-02 9.64173531e-01 1.40946653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.186875 meters Centerline goodness : 0.997720 Centerline is valid? [True, True] Translation: X:226.10, Y:122.87, Z:140.91 [[ 9.27002087e-01 2.80313186e-01 2.49181961e-01 2.26097449e+02] [-2.70612719e-01 9.59908540e-01 -7.31050730e-02 1.22873431e+02] [-2.59684208e-01 3.36747226e-04 9.65693533e-01 1.40911628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.216875 meters Centerline goodness : 0.997670 Centerline is valid? [True, True] Translation: X:226.13, Y:122.86, Z:140.90 [[ 9.27421730e-01 2.78416251e-01 2.49746522e-01 2.26128054e+02] [-2.68583084e-01 9.60460045e-01 -7.33459524e-02 1.22864631e+02] [-2.60292261e-01 9.44939114e-04 9.65529412e-01 1.40903815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.246875 meters Centerline goodness : 0.997553 Centerline is valid? [True, True] Translation: X:226.16, Y:122.86, Z:140.89 [[ 9.28151669e-01 2.76603388e-01 2.49048280e-01 2.26158136e+02] [-2.66741923e-01 9.60982958e-01 -7.32154460e-02 1.22856864e+02] [-2.59582793e-01 1.52342139e-03 9.65719655e-01 1.40893745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.276875 meters Centerline goodness : 0.998102 Centerline is valid? [True, True] Translation: X:226.19, Y:122.85, Z:140.88 [[ 9.28200101e-01 2.76480715e-01 2.49003990e-01 2.26187577e+02] [-2.66598186e-01 9.61018079e-01 -7.32779540e-02 1.22848462e+02] [-2.59557277e-01 1.63259247e-03 9.65726335e-01 1.40884820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.306875 meters Centerline goodness : 0.997841 Centerline is valid? [True, True] Translation: X:226.22, Y:122.84, Z:140.88 [[ 9.27697329e-01 2.77283916e-01 2.49982589e-01 2.26217826e+02] [-2.67331668e-01 9.60786879e-01 -7.36366248e-02 1.22839830e+02] [-2.60598244e-01 1.48423762e-03 9.65446193e-01 1.40876355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.336875 meters Centerline goodness : 0.997196 Centerline is valid? [True, True] Translation: X:226.25, Y:122.83, Z:140.87 [[ 9.26659510e-01 2.80192145e-01 2.50588336e-01 2.26248530e+02] [-2.70274841e-01 9.59943649e-01 -7.38897857e-02 1.22830938e+02] [-2.61254019e-01 7.42950032e-04 9.65269799e-01 1.40866898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.366875 meters Centerline goodness : 0.997196 Centerline is valid? [True, True] Translation: X:226.28, Y:122.82, Z:140.86 [[ 9.26626626e-01 2.80319292e-01 2.50567736e-01 2.26279436e+02] [-2.70387682e-01 9.59906497e-01 -7.39595788e-02 1.22821740e+02] [-2.61253894e-01 7.82485765e-04 9.65269802e-01 1.40858002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.396875 meters Centerline goodness : 0.997017 Centerline is valid? [True, True] Translation: X:226.31, Y:122.81, Z:140.85 [[ 9.26221313e-01 2.81367169e-01 2.50891600e-01 2.26309146e+02] [-2.71438271e-01 9.59600045e-01 -7.40879171e-02 1.22811973e+02] [-2.61601498e-01 5.20225910e-04 9.65175832e-01 1.40849875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.426875 meters Centerline goodness : 0.997025 Centerline is valid? [True, True] Translation: X:226.34, Y:122.80, Z:140.84 [[ 9.26133347e-01 2.81308291e-01 2.51282051e-01 2.26339398e+02] [-2.71326618e-01 9.59617255e-01 -7.42737520e-02 1.22802360e+02] [-2.62028414e-01 6.07889504e-04 9.65059967e-01 1.40840809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.456875 meters Centerline goodness : 0.996177 Centerline is valid? [True, True] Translation: X:226.37, Y:122.79, Z:140.83 [[ 9.26107557e-01 2.81084408e-01 2.51627400e-01 2.26369285e+02] [-2.71046004e-01 9.59682758e-01 -7.44517762e-02 1.22793674e+02] [-2.62409711e-01 7.47751247e-04 9.64956260e-01 1.40831680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.486875 meters Centerline goodness : 0.997269 Centerline is valid? [True, True] Translation: X:226.40, Y:122.79, Z:140.82 [[ 9.25715145e-01 2.81750361e-01 2.52325592e-01 2.26399915e+02] [-2.71658534e-01 9.59487534e-01 -7.47349481e-02 1.22785706e+02] [-2.63159858e-01 6.36873057e-04 9.64752032e-01 1.40821075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.516875 meters Centerline goodness : 0.996489 Centerline is valid? [True, True] Translation: X:226.43, Y:122.78, Z:140.81 [[ 9.25554581e-01 2.82020007e-01 2.52613207e-01 2.26429422e+02] [-2.71893675e-01 9.59408312e-01 -7.48967268e-02 1.22775815e+02] [-2.63481586e-01 6.37075282e-04 9.64664215e-01 1.40813667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.546875 meters Centerline goodness : 0.996076 Centerline is valid? [True, True] Translation: X:226.46, Y:122.76, Z:140.81 [[ 9.25161267e-01 2.83085880e-01 2.52861650e-01 2.26460231e+02] [-2.72958755e-01 9.59094480e-01 -7.50419727e-02 1.22763120e+02] [-2.63761536e-01 4.05125354e-04 9.64587833e-01 1.40809189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.57687500000003 meters Centerline goodness : 0.996849 Centerline is valid? [True, True] Translation: X:226.49, Y:122.75, Z:140.80 [[ 9.25184964e-01 2.83456095e-01 2.52359714e-01 2.26490950e+02] [-2.73362960e-01 9.58985142e-01 -7.49679220e-02 1.22753332e+02] [-2.63259331e-01 3.73395700e-04 9.64725031e-01 1.40801563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.606875 meters Centerline goodness : 0.996586 Centerline is valid? [True, True] Translation: X:226.52, Y:122.75, Z:140.79 [[ 9.25186061e-01 2.84153020e-01 2.51570693e-01 2.26520925e+02] [-2.74129029e-01 9.58778911e-01 -7.48082621e-02 1.22745126e+02] [-2.62457669e-01 2.48731516e-04 9.64943475e-01 1.40792013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.63687500000003 meters Centerline goodness : 0.996763 Centerline is valid? [True, True] Translation: X:226.55, Y:122.74, Z:140.78 [[ 9.24777990e-01 2.86907915e-01 2.49939028e-01 2.26551341e+02] [-2.77094716e-01 9.57958057e-01 -7.43967650e-02 1.22740465e+02] [-2.60776126e-01 -4.56293038e-04 9.65399194e-01 1.40779102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.666875 meters Centerline goodness : 0.996833 Centerline is valid? [True, True] Translation: X:226.58, Y:122.73, Z:140.77 [[ 9.24168616e-01 2.88420406e-01 2.50451670e-01 2.26581826e+02] [-2.78600193e-01 9.57503532e-01 -7.46251857e-02 1.22733478e+02] [-2.61331785e-01 -8.09628873e-04 9.65248695e-01 1.40769089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.69687500000003 meters Centerline goodness : 0.997740 Centerline is valid? [True, True] Translation: X:226.61, Y:122.72, Z:140.76 [[ 9.23354377e-01 2.89719838e-01 2.51950608e-01 2.26614008e+02] [-2.81243200e-01 9.57090397e-01 -6.98586740e-02 1.22721075e+02] [-2.61378952e-01 -6.35508287e-03 9.65215342e-01 1.40763047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.726875 meters Centerline goodness : 0.997849 Centerline is valid? [True, True] Translation: X:226.64, Y:122.72, Z:140.75 [[ 9.21626359e-01 2.95998066e-01 2.50978085e-01 2.26641841e+02] [-2.84427170e-01 9.55179107e-01 -8.20613126e-02 1.22721187e+02] [-2.64019013e-01 4.24488214e-03 9.64508135e-01 1.40751576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.75687500000004 meters Centerline goodness : 0.997248 Centerline is valid? [True, True] Translation: X:226.67, Y:122.71, Z:140.75 [[ 9.21526723e-01 2.95605125e-01 2.51805696e-01 2.26672304e+02] [-2.85891013e-01 9.55306444e-01 -7.52058930e-02 1.22710954e+02] [-2.62782851e-01 -2.68474530e-03 9.64851266e-01 1.40745479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.786875 meters Centerline goodness : 0.997380 Centerline is valid? [True, True] Translation: X:226.70, Y:122.70, Z:140.74 [[ 9.21499566e-01 2.96460460e-01 2.50897880e-01 2.26701933e+02] [-2.86827881e-01 9.55040899e-01 -7.50109798e-02 1.22703189e+02] [-2.61855526e-01 -2.84192199e-03 9.65102900e-01 1.40735764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.816875 meters Centerline goodness : 0.997351 Centerline is valid? [True, True] Translation: X:226.73, Y:122.69, Z:140.73 [[ 9.21665873e-01 2.97166979e-01 2.49446999e-01 2.26732021e+02] [-2.87652402e-01 9.54820972e-01 -7.46525764e-02 1.22693102e+02] [-2.60361507e-01 -2.94929641e-03 9.65506700e-01 1.40728477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.846875 meters Centerline goodness : 0.997063 Centerline is valid? [True, True] Translation: X:226.76, Y:122.68, Z:140.73 [[ 9.21889983e-01 2.98001915e-01 2.47616072e-01 2.26762325e+02] [-2.88638103e-01 9.54560286e-01 -7.41802289e-02 1.22677017e+02] [-2.58470318e-01 -3.08542336e-03 9.66014272e-01 1.40727193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.876875 meters Centerline goodness : 0.996959 Centerline is valid? [True, True] Translation: X:226.79, Y:122.67, Z:140.72 [[ 9.21911438e-01 2.98564945e-01 2.46856788e-01 2.26791855e+02] [-2.89259046e-01 9.54384095e-01 -7.40283948e-02 1.22666310e+02] [-2.57698476e-01 -3.15793513e-03 9.66220225e-01 1.40721171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.906875 meters Centerline goodness : 0.997206 Centerline is valid? [True, True] Translation: X:226.82, Y:122.66, Z:140.71 [[ 9.21734364e-01 2.98931791e-01 2.47073971e-01 2.26822636e+02] [-2.89603489e-01 9.54269134e-01 -7.41635935e-02 1.22658392e+02] [-2.57944920e-01 -3.19435136e-03 9.66154343e-01 1.40711140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.936875 meters Centerline goodness : 0.997176 Centerline is valid? [True, True] Translation: X:226.85, Y:122.66, Z:140.70 [[ 9.21104469e-01 3.00439642e-01 2.47593577e-01 2.26853223e+02] [-2.91104843e-01 9.53794221e-01 -7.43945873e-02 1.22657899e+02] [-2.58504406e-01 -3.55050270e-03 9.66003554e-01 1.40695320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.966875 meters Centerline goodness : 0.997393 Centerline is valid? [True, True] Translation: X:226.88, Y:122.65, Z:140.68 [[ 9.20546948e-01 3.01792400e-01 2.48021499e-01 2.26882392e+02] [-2.92452679e-01 9.53365841e-01 -7.45989515e-02 1.22652370e+02] [-2.58968621e-01 -3.86271463e-03 9.65878011e-01 1.40683917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.996875 meters Centerline goodness : 0.997364 Centerline is valid? [True, True] Translation: X:226.91, Y:122.64, Z:140.67 [[ 9.20056705e-01 3.03271304e-01 2.48036644e-01 2.26912314e+02] [-2.93964331e-01 9.52894954e-01 -7.46738113e-02 1.22643959e+02] [-2.58999290e-01 -4.20978529e-03 9.65868337e-01 1.40674490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.026875 meters Centerline goodness : 0.997336 Centerline is valid? [True, True] Translation: X:226.94, Y:122.63, Z:140.67 [[ 9.19723030e-01 3.05000619e-01 2.47152119e-01 2.26942841e+02] [-2.95802131e-01 9.52341021e-01 -7.44827457e-02 1.22632004e+02] [-2.58090385e-01 -4.60462689e-03 9.66109803e-01 1.40667847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.056875 meters Centerline goodness : 0.996960 Centerline is valid? [True, True] Translation: X:226.97, Y:122.61, Z:140.67 [[ 9.19778185e-01 3.06799924e-01 2.44707779e-01 2.26973774e+02] [-2.97828129e-01 9.51760989e-01 -7.38202236e-02 1.22613540e+02] [-2.55551356e-01 -4.98262870e-03 9.66782642e-01 1.40669726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.086875 meters Centerline goodness : 0.996422 Centerline is valid? [True, True] Translation: X:227.00, Y:122.60, Z:140.66 [[ 9.19372390e-01 3.07363307e-01 2.45524350e-01 2.27004013e+02] [-2.98330270e-01 9.51578668e-01 -7.41423531e-02 1.22602652e+02] [-2.56424373e-01 -5.08291342e-03 9.66550932e-01 1.40664937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.116875 meters Centerline goodness : 0.997287 Centerline is valid? [True, True] Translation: X:227.03, Y:122.60, Z:140.65 [[ 9.18521612e-01 3.09119189e-01 2.46502281e-01 2.27032696e+02] [-2.96740824e-01 9.51000199e-01 -8.68533521e-02 1.22602199e+02] [-2.61271756e-01 6.62939078e-03 9.65242519e-01 1.40646678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.146875 meters Centerline goodness : 0.996947 Centerline is valid? [True, True] Translation: X:227.07, Y:122.59, Z:140.65 [[ 9.17641022e-01 3.06559719e-01 2.52895420e-01 2.27065072e+02] [-3.00663165e-01 9.51670670e-01 -6.26466036e-02 1.22588234e+02] [-2.59878079e-01 -1.85492440e-02 9.65463262e-01 1.40649966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.176875 meters Centerline goodness : 0.996827 Centerline is valid? [True, True] Translation: X:227.09, Y:122.59, Z:140.63 [[ 9.16858195e-01 3.12511096e-01 2.48410680e-01 2.27094536e+02] [-3.03398134e-01 9.49892376e-01 -7.51933936e-02 1.22585554e+02] [-2.59462181e-01 -6.42565750e-03 9.65731892e-01 1.40633256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.206875 meters Centerline goodness : 0.996793 Centerline is valid? [True, True] Translation: X:227.12, Y:122.58, Z:140.63 [[ 9.16243141e-01 3.15326885e-01 2.47118315e-01 2.27124710e+02] [-3.06391516e-01 9.48956455e-01 -7.48724668e-02 1.22575112e+02] [-2.58113822e-01 -7.11357105e-03 9.66088325e-01 1.40625344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.236875 meters Centerline goodness : 0.996859 Centerline is valid? [True, True] Translation: X:227.15, Y:122.57, Z:140.60 [[ 9.14761217e-01 3.20957602e-01 2.45353080e-01 2.27151815e+02] [-3.08041353e-01 9.47066720e-01 -9.04165568e-02 1.22573238e+02] [-2.61385618e-01 7.13066496e-03 9.65208119e-01 1.40604781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.266875 meters Centerline goodness : 0.996634 Centerline is valid? [True, True] Translation: X:227.18, Y:122.56, Z:140.60 [[ 9.14342676e-01 3.19137298e-01 2.49256606e-01 2.27181517e+02] [-3.09725183e-01 9.47685522e-01 -7.72169871e-02 1.22559868e+02] [-2.60859697e-01 -6.59826107e-03 9.65354174e-01 1.40601224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.296875 meters Centerline goodness : 0.996397 Centerline is valid? [True, True] Translation: X:227.21, Y:122.55, Z:140.59 [[ 9.13892395e-01 3.20526622e-01 2.49125219e-01 2.27211409e+02] [-3.11222466e-01 9.47212428e-01 -7.70012554e-02 1.22553333e+02] [-2.60655455e-01 -7.16250312e-03 9.65405320e-01 1.40590093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.326875 meters Centerline goodness : 0.997114 Centerline is valid? [True, True] Translation: X:227.24, Y:122.53, Z:140.60 [[ 9.13934336e-01 3.20064364e-01 2.49565285e-01 2.27244027e+02] [-3.16875507e-01 9.46929059e-01 -5.39932504e-02 1.22534415e+02] [-2.53601936e-01 -2.97348408e-02 9.66851538e-01 1.40598795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3568750000001 meters Centerline goodness : 0.996737 Centerline is valid? [True, True] Translation: X:227.27, Y:122.53, Z:140.58 [[ 9.13358249e-01 3.27508496e-01 2.41898521e-01 2.27273981e+02] [-3.19277015e-01 9.44795636e-01 -7.36436996e-02 1.22532097e+02] [-2.52663604e-01 -9.96955711e-03 9.67502822e-01 1.40581164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.386875 meters Centerline goodness : 0.996685 Centerline is valid? [True, True] Translation: X:227.30, Y:122.52, Z:140.57 [[ 9.13946751e-01 3.28098567e-01 2.38857002e-01 2.27303394e+02] [-3.20075886e-01 9.44591355e-01 -7.27914756e-02 1.22519997e+02] [-2.49505038e-01 -9.92483399e-03 9.68322639e-01 1.40573758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.416875 meters Centerline goodness : 0.997073 Centerline is valid? [True, True] Translation: X:227.33, Y:122.51, Z:140.57 [[ 9.15675063e-01 3.26183672e-01 2.34826301e-01 2.27332430e+02] [-3.18352469e-01 9.45261994e-01 -7.16342729e-02 1.22505831e+02] [-2.45338308e-01 -9.16381537e-03 9.69394213e-01 1.40566022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.446875 meters Centerline goodness : 0.997511 Centerline is valid? [True, True] Translation: X:227.36, Y:122.51, Z:140.54 [[ 9.15673359e-01 3.26953024e-01 2.33760605e-01 2.27359101e+02] [-3.14352196e-01 9.44995157e-01 -9.03706268e-02 1.22507827e+02] [-2.50449589e-01 9.26681587e-03 9.68085290e-01 1.40540709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4768750000001 meters Centerline goodness : 0.997258 Centerline is valid? [True, True] Translation: X:227.39, Y:122.49, Z:140.54 [[ 9.16233575e-01 3.19896893e-01 2.41209482e-01 2.27387481e+02] [-3.12475272e-01 9.47380175e-01 -6.94982572e-02 1.22490392e+02] [-2.50749358e-01 -1.16953619e-02 9.67981393e-01 1.40542201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.506875 meters Centerline goodness : 0.997070 Centerline is valid? [True, True] Translation: X:227.42, Y:122.48, Z:140.53 [[ 9.16106019e-01 3.19319296e-01 2.42456076e-01 2.27416270e+02] [-3.10090731e-01 9.47632912e-01 -7.63911147e-02 1.22483371e+02] [-2.54152514e-01 -5.20102161e-03 9.67150169e-01 1.40529043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.536875 meters Centerline goodness : 0.997111 Centerline is valid? [True, True] Translation: X:227.45, Y:122.46, Z:140.54 [[ 9.16782258e-01 3.15393021e-01 2.45025579e-01 2.27450117e+02] [-3.12637883e-01 9.48495318e-01 -5.11291093e-02 1.22457477e+02] [-2.48531379e-01 -2.97300181e-02 9.68167485e-01 1.40541558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.566875 meters Centerline goodness : 0.998096 Centerline is valid? [True, True] Translation: X:227.48, Y:122.46, Z:140.52 [[ 9.16573309e-01 3.20542649e-01 2.39051833e-01 2.27479982e+02] [-3.12115141e-01 9.47205592e-01 -7.33873581e-02 1.22456346e+02] [-2.49955012e-01 -7.34680301e-03 9.68229578e-01 1.40522529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.596875 meters Centerline goodness : 0.997017 Centerline is valid? [True, True] Translation: X:227.51, Y:122.46, Z:140.50 [[ 9.15951583e-01 3.22459518e-01 2.38856770e-01 2.27505017e+02] [-3.08561190e-01 9.46495569e-01 -9.45311051e-02 1.22459325e+02] [-2.56559329e-01 1.28839862e-02 9.66442608e-01 1.40496916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.626875 meters Centerline goodness : 0.997334 Centerline is valid? [True, True] Translation: X:227.54, Y:122.42, Z:140.52 [[ 9.16770618e-01 3.13847267e-01 2.47045596e-01 2.27538995e+02] [-3.11003953e-01 9.49011701e-01 -5.15105028e-02 1.22424538e+02] [-2.50615592e-01 -2.96088414e-02 9.67633785e-01 1.40520772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.656875 meters Centerline goodness : 0.997490 Centerline is valid? [True, True] Translation: X:227.57, Y:122.42, Z:140.50 [[ 9.16658039e-01 3.19013263e-01 2.40766648e-01 2.27569595e+02] [-3.10360417e-01 9.47725909e-01 -7.41081178e-02 1.22424065e+02] [-2.51822262e-01 -6.79263526e-03 9.67749662e-01 1.40502506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.686875 meters Centerline goodness : 0.997855 Centerline is valid? [True, True] Translation: X:227.60, Y:122.41, Z:140.49 [[ 9.16636524e-01 3.18999596e-01 2.40866645e-01 2.27599743e+02] [-3.10319728e-01 9.47731031e-01 -7.42129312e-02 1.22414455e+02] [-2.51950689e-01 -6.71938843e-03 9.67716746e-01 1.40494891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.716875 meters Centerline goodness : 0.998000 Centerline is valid? [True, True] Translation: X:227.63, Y:122.41, Z:140.49 [[ 9.16904743e-01 3.20212961e-01 2.38221225e-01 2.27629437e+02] [-3.11752649e-01 9.47320299e-01 -7.34475089e-02 1.22405780e+02] [-2.49190646e-01 -6.92172859e-03 9.68429714e-01 1.40485389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.746875 meters Centerline goodness : 0.997667 Centerline is valid? [True, True] Translation: X:227.66, Y:122.40, Z:140.48 [[ 9.16597008e-01 3.22022764e-01 2.36962582e-01 2.27659638e+02] [-3.13701033e-01 9.46703554e-01 -7.31029620e-02 1.22396596e+02] [-2.47874136e-01 -7.32945052e-03 9.68764518e-01 1.40475698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.776875 meters Centerline goodness : 0.997566 Centerline is valid? [True, True] Translation: X:227.69, Y:122.39, Z:140.47 [[ 9.16380050e-01 3.23333109e-01 2.36015475e-01 2.27689233e+02] [-3.15103259e-01 9.46254835e-01 -7.28815671e-02 1.22388570e+02] [-2.46895808e-01 -7.58203124e-03 9.69012370e-01 1.40465744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.806875 meters Centerline goodness : 0.998168 Centerline is valid? [True, True] Translation: X:227.72, Y:122.38, Z:140.45 [[ 9.17023482e-01 3.22623404e-01 2.34482563e-01 2.27719739e+02] [-3.14468188e-01 9.46499263e-01 -7.24493155e-02 1.22382555e+02] [-2.45311418e-01 -7.29958318e-03 9.69416848e-01 1.40454742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.836875 meters Centerline goodness : 0.998012 Centerline is valid? [True, True] Translation: X:227.74, Y:122.39, Z:140.42 [[ 9.17263553e-01 3.21543808e-01 2.35025858e-01 2.27743687e+02] [-3.06172821e-01 9.46683707e-01 -1.00240520e-01 1.22394986e+02] [-2.54726869e-01 1.99884453e-02 9.66806436e-01 1.40421828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.866875 meters Centerline goodness : 0.997871 Centerline is valid? [True, True] Translation: X:227.78, Y:122.35, Z:140.45 [[ 9.18365482e-01 3.09698417e-01 2.46356920e-01 2.27778549e+02] [-3.08514691e-01 9.50182317e-01 -4.44100224e-02 1.22353787e+02] [-2.47837703e-01 -3.52200974e-02 9.68161153e-01 1.40453837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.896875 meters Centerline goodness : 0.997643 Centerline is valid? [True, True] Translation: X:227.81, Y:122.36, Z:140.43 [[ 9.18218891e-01 3.16028271e-01 2.38747147e-01 2.27807977e+02] [-3.07302183e-01 9.48734049e-01 -7.39531818e-02 1.22355499e+02] [-2.49878844e-01 -5.46231092e-03 9.68261704e-01 1.40433342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.926875 meters Centerline goodness : 0.997235 Centerline is valid? [True, True] Translation: X:227.83, Y:122.37, Z:140.40 [[ 9.17519090e-01 3.18796869e-01 2.37754653e-01 2.27832287e+02] [-3.01381040e-01 9.47443358e-01 -1.07333835e-01 1.22366908e+02] [-2.59476757e-01 2.68260977e-02 9.65376700e-01 1.40398694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.956875 meters Centerline goodness : 0.997960 Centerline is valid? [True, True] Translation: X:227.87, Y:122.33, Z:140.43 [[ 9.21151145e-01 3.01812158e-01 2.45743746e-01 2.27866946e+02] [-3.01788753e-01 9.52589090e-01 -3.86984981e-02 1.22325015e+02] [-2.45772489e-01 -3.85155328e-02 9.68562046e-01 1.40431512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.986875 meters Centerline goodness : 0.998164 Centerline is valid? [True, True] Translation: X:227.90, Y:122.33, Z:140.40 [[ 9.21761777e-01 3.09356566e-01 2.33781398e-01 2.27895693e+02] [-3.00737729e-01 9.50940063e-01 -7.25934983e-02 1.22331791e+02] [-2.44769373e-01 -3.39297475e-03 9.69575393e-01 1.40403711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.016875 meters Centerline goodness : 0.997499 Centerline is valid? [True, True] Translation: X:227.92, Y:122.32, Z:140.40 [[ 9.21728702e-01 3.08247015e-01 2.35372000e-01 2.27924957e+02] [-2.99456701e-01 9.51301441e-01 -7.31522568e-02 1.22321773e+02] [-2.46458687e-01 -3.05718792e-03 9.69148476e-01 1.40396435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.046875 meters Centerline goodness : 0.997865 Centerline is valid? [True, True] Translation: X:227.96, Y:122.31, Z:140.39 [[ 9.20982185e-01 3.08619998e-01 2.37793004e-01 2.27955680e+02] [-2.99646840e-01 9.51180197e-01 -7.39459506e-02 1.22309735e+02] [-2.49005195e-01 -3.15101893e-03 9.68497023e-01 1.40390889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.076875 meters Centerline goodness : 0.997856 Centerline is valid? [True, True] Translation: X:227.99, Y:122.30, Z:140.39 [[ 9.20513989e-01 3.08940354e-01 2.39185814e-01 2.27985793e+02] [-2.99852071e-01 9.51076076e-01 -7.44515448e-02 1.22297974e+02] [-2.50484992e-01 -3.18667339e-03 9.68115238e-01 1.40385523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1068750000001 meters Centerline goodness : 0.997795 Centerline is valid? [True, True] Translation: X:228.02, Y:122.29, Z:140.38 [[ 9.20092781e-01 3.09301210e-01 2.40337337e-01 2.28015322e+02] [-3.00116770e-01 9.50958639e-01 -7.48838481e-02 1.22288902e+02] [-2.51712532e-01 -3.22917725e-03 9.67796659e-01 1.40377169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.136875 meters Centerline goodness : 0.998587 Centerline is valid? [True, True] Translation: X:228.05, Y:122.28, Z:140.37 [[ 9.19460850e-01 3.10410042e-01 2.41324163e-01 2.28045588e+02] [-3.01168509e-01 9.50596386e-01 -7.52598110e-02 1.22282999e+02] [-2.52763278e-01 -3.48078846e-03 9.67521891e-01 1.40365715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.166875 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:228.08, Y:122.28, Z:140.35 [[ 9.17880713e-01 3.13502116e-01 2.43333967e-01 2.28075918e+02] [-3.04190414e-01 9.49577785e-01 -7.59619807e-02 1.22278655e+02] [-2.54878771e-01 -4.29582309e-03 9.66963473e-01 1.40352673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.196875 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:228.11, Y:122.27, Z:140.34 [[ 9.17486134e-01 3.14951469e-01 2.42950133e-01 2.28106110e+02] [-3.05699730e-01 9.49096548e-01 -7.59171795e-02 1.22268778e+02] [-2.54493359e-01 -4.61683042e-03 9.67063501e-01 1.40343980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2268750000001 meters Centerline goodness : 0.997885 Centerline is valid? [True, True] Translation: X:228.14, Y:122.26, Z:140.34 [[ 9.17339600e-01 3.16406849e-01 2.41608701e-01 2.28135817e+02] [-3.07288650e-01 9.48610836e-01 -7.55722698e-02 1.22257261e+02] [-2.53104215e-01 -4.91817583e-03 9.67426518e-01 1.40337158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.256875 meters Centerline goodness : 0.997885 Centerline is valid? [True, True] Translation: X:228.17, Y:122.25, Z:140.33 [[ 9.17300054e-01 3.16538666e-01 2.41586182e-01 2.28166598e+02] [-3.07406027e-01 9.48567073e-01 -7.56441887e-02 1.22247557e+02] [-2.53105009e-01 -4.87663007e-03 9.67426521e-01 1.40328377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.286875 meters Centerline goodness : 0.998296 Centerline is valid? [True, True] Translation: X:228.20, Y:122.24, Z:140.32 [[ 9.17218265e-01 3.17223649e-01 2.40997534e-01 2.28196064e+02] [-3.08150894e-01 9.48337466e-01 -7.54922375e-02 1.22235822e+02] [-2.52494914e-01 -5.02074656e-03 9.67585196e-01 1.40322480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.316875 meters Centerline goodness : 0.997980 Centerline is valid? [True, True] Translation: X:228.23, Y:122.22, Z:140.32 [[ 9.16839077e-01 3.17329008e-01 2.42298178e-01 2.28226178e+02] [-3.08141211e-01 9.48302284e-01 -7.59721745e-02 1.22224708e+02] [-2.53880091e-01 -5.00779588e-03 9.67222736e-01 1.40318190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.346875 meters Centerline goodness : 0.998489 Centerline is valid? [True, True] Translation: X:228.26, Y:122.22, Z:140.31 [[ 9.16577714e-01 3.17504453e-01 2.43055995e-01 2.28256666e+02] [-3.08245937e-01 9.48243573e-01 -7.62795435e-02 1.22216218e+02] [-2.54695379e-01 -5.00489316e-03 9.67008384e-01 1.40309462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.376875 meters Centerline goodness : 0.998239 Centerline is valid? [True, True] Translation: X:228.29, Y:122.21, Z:140.30 [[ 9.16189357e-01 3.18476092e-01 2.43248928e-01 2.28286611e+02] [-3.09218202e-01 9.47916564e-01 -7.64087129e-02 1.22208465e+02] [-2.54914036e-01 -5.21214647e-03 9.66949672e-01 1.40298808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.406875 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:228.32, Y:122.20, Z:140.29 [[ 9.15826279e-01 3.19581679e-01 2.43166152e-01 2.28316950e+02] [-3.10349796e-01 9.47543068e-01 -7.64535095e-02 1.22201273e+02] [-2.54843542e-01 -5.44843256e-03 9.66966951e-01 1.40287545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.436875 meters Centerline goodness : 0.998189 Centerline is valid? [True, True] Translation: X:228.35, Y:122.19, Z:140.28 [[ 9.15072580e-01 3.22388969e-01 2.42296361e-01 2.28345655e+02] [-3.13301334e-01 9.46587407e-01 -7.62532247e-02 1.22193374e+02] [-2.53937883e-01 -6.13453813e-03 9.67201075e-01 1.40276533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.466875 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:228.38, Y:122.18, Z:140.27 [[ 9.15022882e-01 3.22518850e-01 2.42311197e-01 2.28375402e+02] [-3.13416532e-01 9.46543361e-01 -7.63265522e-02 1.22182463e+02] [-2.53974807e-01 -6.10379312e-03 9.67191574e-01 1.40269351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.496875 meters Centerline goodness : 0.998230 Centerline is valid? [True, True] Translation: X:228.41, Y:122.17, Z:140.26 [[ 9.15162918e-01 3.22227083e-01 2.42170479e-01 2.28405525e+02] [-3.13114074e-01 9.46643537e-01 -7.63255547e-02 1.22170449e+02] [-2.53843280e-01 -5.97666795e-03 9.67226896e-01 1.40262110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.526875 meters Centerline goodness : 0.998323 Centerline is valid? [True, True] Translation: X:228.43, Y:122.16, Z:140.26 [[ 9.16502547e-01 3.19821919e-01 2.40285293e-01 2.28434471e+02] [-3.10751711e-01 9.47463439e-01 -7.58050572e-02 1.22156950e+02] [-2.51905648e-01 -5.19353785e-03 9.67737863e-01 1.40256402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.556875 meters Centerline goodness : 0.998108 Centerline is valid? [True, True] Translation: X:228.46, Y:122.15, Z:140.25 [[ 9.16548686e-01 3.18930257e-01 2.41292349e-01 2.28464448e+02] [-3.09732857e-01 9.47765533e-01 -7.61974538e-02 1.22145954e+02] [-2.52990245e-01 -4.89749228e-03 9.67456433e-01 1.40248828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.586875 meters Centerline goodness : 0.997687 Centerline is valid? [True, True] Translation: X:228.49, Y:122.14, Z:140.24 [[ 9.16325812e-01 3.18276009e-01 2.42996685e-01 2.28494784e+02] [-3.08903524e-01 9.47986552e-01 -7.68121735e-02 1.22135276e+02] [-2.54805061e-01 -4.67755508e-03 9.66981128e-01 1.40241806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.616875 meters Centerline goodness : 0.998112 Centerline is valid? [True, True] Translation: X:228.52, Y:122.13, Z:140.23 [[ 9.16132722e-01 3.17599481e-01 2.44604588e-01 2.28523868e+02] [-3.08056393e-01 9.48214538e-01 -7.73979912e-02 1.22125777e+02] [-2.56519188e-01 -4.44517472e-03 9.66528916e-01 1.40234305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.646875 meters Centerline goodness : 0.998183 Centerline is valid? [True, True] Translation: X:228.55, Y:122.12, Z:140.22 [[ 9.16255208e-01 3.17216951e-01 2.44642186e-01 2.28553272e+02] [-3.07645167e-01 9.48343278e-01 -7.74562946e-02 1.22116715e+02] [-2.56575222e-01 -4.29325284e-03 9.66514730e-01 1.40223159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.676875 meters Centerline goodness : 0.998108 Centerline is valid? [True, True] Translation: X:228.58, Y:122.11, Z:140.21 [[ 9.16635553e-01 3.17295558e-01 2.43110656e-01 2.28582971e+02] [-3.07828138e-01 9.48317340e-01 -7.70458371e-02 1.22107489e+02] [-2.54992352e-01 -4.21334708e-03 9.66933890e-01 1.40212658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.706875 meters Centerline goodness : 0.997951 Centerline is valid? [True, True] Translation: X:228.61, Y:122.10, Z:140.20 [[ 9.16961951e-01 3.17127466e-01 2.42096987e-01 2.28611746e+02] [-3.07714588e-01 9.48374171e-01 -7.67995046e-02 1.22098611e+02] [-2.53953762e-01 -4.07455111e-03 9.67207777e-01 1.40202272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.736875 meters Centerline goodness : 0.998449 Centerline is valid? [True, True] Translation: X:228.64, Y:122.09, Z:140.20 [[ 9.17220276e-01 3.17260569e-01 2.40941271e-01 2.28640095e+02] [-3.07931446e-01 9.48329773e-01 -7.64778777e-02 1.22086785e+02] [-2.52755196e-01 -4.04633395e-03 9.67521802e-01 1.40195009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.766875 meters Centerline goodness : 0.997721 Centerline is valid? [True, True] Translation: X:228.67, Y:122.08, Z:140.18 [[ 9.17380356e-01 3.17569235e-01 2.39923036e-01 2.28667720e+02] [-3.06316782e-01 9.48228860e-01 -8.38573694e-02 1.22080813e+02] [-2.54132467e-01 3.43665121e-03 9.67163315e-01 1.40180439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.796875 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:228.70, Y:122.06, Z:140.18 [[ 9.17319981e-01 3.15639513e-01 2.42684466e-01 2.28698041e+02] [-3.08447444e-01 9.48798660e-01 -6.81269114e-02 1.22061292e+02] [-2.51762241e-01 -1.23612262e-02 9.67710170e-01 1.40183462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.826875 meters Centerline goodness : 0.998616 Centerline is valid? [True, True] Translation: X:228.73, Y:122.05, Z:140.17 [[ 9.17295614e-01 3.19281291e-01 2.37966835e-01 2.28728635e+02] [-3.10207383e-01 9.47649886e-01 -7.57038551e-02 1.22054342e+02] [-2.49680069e-01 -4.37625497e-03 9.68318497e-01 1.40172998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8568750000001 meters Centerline goodness : 0.998525 Centerline is valid? [True, True] Translation: X:228.76, Y:122.05, Z:140.16 [[ 9.16566271e-01 3.20658328e-01 2.38923645e-01 2.28757691e+02] [-3.11537120e-01 9.47183273e-01 -7.60819984e-02 1.22045077e+02] [-2.50700807e-01 -4.69939077e-03 9.68053212e-01 1.40164521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.886875 meters Centerline goodness : 0.998549 Centerline is valid? [True, True] Translation: X:228.79, Y:122.03, Z:140.16 [[ 9.16035092e-01 3.21147184e-01 2.40300223e-01 2.28787457e+02] [-3.12127652e-01 9.47012829e-01 -7.57827865e-02 1.22034338e+02] [-2.51904823e-01 -5.58465279e-03 9.67735900e-01 1.40155995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.916875 meters Centerline goodness : 0.998355 Centerline is valid? [True, True] Translation: X:228.82, Y:122.03, Z:140.14 [[ 9.15084644e-01 3.23491727e-01 2.40776237e-01 2.28815293e+02] [-3.12874021e-01 9.46230992e-01 -8.21994971e-02 1.22026455e+02] [-2.54420794e-01 -1.13131861e-04 9.67093608e-01 1.40144483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.946875 meters Centerline goodness : 0.998518 Centerline is valid? [True, True] Translation: X:228.85, Y:122.01, Z:140.14 [[ 9.15657483e-01 3.21084175e-01 2.41818788e-01 2.28845764e+02] [-3.13029613e-01 9.47001372e-01 -7.21170053e-02 1.22011255e+02] [-2.52158353e-01 -9.66196582e-03 9.67637748e-01 1.40141096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9768750000001 meters Centerline goodness : 0.998402 Centerline is valid? [True, True] Translation: X:228.88, Y:122.00, Z:140.13 [[ 9.17157493e-01 3.18645623e-01 2.39347237e-01 2.28875053e+02] [-3.09345649e-01 9.47866057e-01 -7.65193327e-02 1.22003328e+02] [-2.51251672e-01 -3.86074697e-03 9.67914093e-01 1.40129861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.006875 meters Centerline goodness : 0.998537 Centerline is valid? [True, True] Translation: X:228.90, Y:121.99, Z:140.12 [[ 9.21535542e-01 3.04659810e-01 2.40737708e-01 2.28904823e+02] [-2.94757236e-01 9.52461232e-01 -7.70439725e-02 1.21992034e+02] [-2.52765536e-01 3.95774999e-05 9.67527561e-01 1.40122804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.036875 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:228.94, Y:121.98, Z:140.12 [[ 9.22393850e-01 3.00880987e-01 2.42198714e-01 2.28935453e+02] [-2.90707869e-01 9.53660996e-01 -7.75863386e-02 1.21981619e+02] [-2.54319721e-01 1.15608951e-03 9.67119508e-01 1.40115003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.066875 meters Centerline goodness : 0.998005 Centerline is valid? [True, True] Translation: X:228.97, Y:121.97, Z:140.11 [[ 9.23207619e-01 2.99236332e-01 2.41133385e-01 2.28966056e+02] [-2.89079544e-01 9.54177559e-01 -7.73188432e-02 1.21971633e+02] [-2.53220671e-01 1.67461611e-03 9.67407095e-01 1.40106832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.096875 meters Centerline goodness : 0.998244 Centerline is valid? [True, True] Translation: X:229.00, Y:121.96, Z:140.10 [[ 9.24194318e-01 2.98627796e-01 2.38088853e-01 2.28996456e+02] [-2.88691931e-01 9.54367790e-01 -7.64139402e-02 1.21961393e+02] [-2.50043659e-01 1.88699861e-03 9.68232724e-01 1.40097939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.126875 meters Centerline goodness : 0.997934 Centerline is valid? [True, True] Translation: X:229.03, Y:121.95, Z:140.09 [[ 9.24390341e-01 2.98954030e-01 2.36915567e-01 2.29025439e+02] [-2.89109391e-01 9.54265699e-01 -7.61100199e-02 1.21952479e+02] [-2.48833797e-01 1.86085198e-03 9.68544412e-01 1.40089458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.156875 meters Centerline goodness : 0.998049 Centerline is valid? [True, True] Translation: X:229.06, Y:121.95, Z:140.08 [[ 9.24282619e-01 2.99514283e-01 2.36628052e-01 2.29055809e+02] [-2.89694692e-01 9.54090167e-01 -7.60850763e-02 1.21945411e+02] [-2.48553065e-01 1.77422283e-03 9.68616656e-01 1.40079371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.186875 meters Centerline goodness : 0.998298 Centerline is valid? [True, True] Translation: X:229.09, Y:121.94, Z:140.07 [[ 9.23696972e-01 3.00944579e-01 2.37099693e-01 2.29085587e+02] [-2.91112756e-01 9.53640507e-01 -7.63095471e-02 1.21939313e+02] [-2.49072816e-01 1.46415243e-03 9.68483654e-01 1.40068855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.216875 meters Centerline goodness : 0.998351 Centerline is valid? [True, True] Translation: X:229.12, Y:121.93, Z:140.06 [[ 9.22028982e-01 3.05138424e-01 2.38229088e-01 2.29116098e+02] [-2.95330945e-01 9.52307923e-01 -7.67414615e-02 1.21932991e+02] [-2.50284217e-01 4.01429804e-04 9.68172324e-01 1.40057863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.246875 meters Centerline goodness : 0.998396 Centerline is valid? [True, True] Translation: X:229.15, Y:121.92, Z:140.05 [[ 9.20806777e-01 3.07970211e-01 2.39309901e-01 2.29146335e+02] [-2.98147310e-01 9.51395953e-01 -7.71616583e-02 1.21922499e+02] [-2.51441964e-01 -2.98625477e-04 9.67872331e-01 1.40050758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.276875 meters Centerline goodness : 0.997861 Centerline is valid? [True, True] Translation: X:229.18, Y:121.91, Z:140.04 [[ 9.19574711e-01 3.10673086e-01 2.40550586e-01 2.29176153e+02] [-3.00818336e-01 9.50516328e-01 -7.76340093e-02 1.21911901e+02] [-2.52766057e-01 -9.71755224e-04 9.67526938e-01 1.40044869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.306875 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:229.21, Y:121.90, Z:140.04 [[ 9.18551691e-01 3.13537286e-01 2.40742936e-01 2.29206824e+02] [-3.03745658e-01 9.49574376e-01 -7.77629651e-02 1.21901214e+02] [-2.52984912e-01 -1.69531846e-03 9.67468739e-01 1.40038561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.336875 meters Centerline goodness : 0.997820 Centerline is valid? [True, True] Translation: X:229.24, Y:121.90, Z:140.02 [[ 9.16339431e-01 3.21003397e-01 2.39330037e-01 2.29236140e+02] [-3.07208640e-01 9.46994874e-01 -9.39338072e-02 1.21901228e+02] [-2.56797389e-01 1.25509963e-02 9.66383761e-01 1.40016926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.366875 meters Centerline goodness : 0.998156 Centerline is valid? [True, True] Translation: X:229.27, Y:121.88, Z:140.03 [[ 9.15988949e-01 3.17557725e-01 2.45196525e-01 2.29267952e+02] [-3.12111932e-01 9.48030470e-01 -6.18414914e-02 1.21878827e+02] [-2.52092020e-01 -1.98826384e-02 9.67498989e-01 1.40031079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.396875 meters Centerline goodness : 0.998274 Centerline is valid? [True, True] Translation: X:229.30, Y:121.89, Z:140.00 [[ 9.13816665e-01 3.28778546e-01 2.38419317e-01 2.29296019e+02] [-3.13698612e-01 9.44264734e-01 -9.97862402e-02 1.21889554e+02] [-2.57938528e-01 1.63945202e-02 9.66022223e-01 1.39995083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.426875 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:229.33, Y:121.87, Z:140.00 [[ 9.12591896e-01 3.26240083e-01 2.46461841e-01 2.29325951e+02] [-3.16681438e-01 9.45266085e-01 -7.86441093e-02 1.21874761e+02] [-2.58628880e-01 -6.27991327e-03 9.65956347e-01 1.39995528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.456875 meters Centerline goodness : 0.997940 Centerline is valid? [True, True] Translation: X:229.36, Y:121.85, Z:140.01 [[ 9.12957307e-01 3.23898799e-01 2.48190498e-01 2.29356924e+02] [-3.20029414e-01 9.45694018e-01 -5.69561067e-02 1.21854840e+02] [-2.53160284e-01 -2.74297659e-02 9.67035407e-01 1.40006928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.486875 meters Centerline goodness : 0.997962 Centerline is valid? [True, True] Translation: X:229.39, Y:121.85, Z:139.99 [[ 9.12566730e-01 3.30463841e-01 2.40864304e-01 2.29386993e+02] [-3.21152207e-01 9.43799228e-01 -7.81298762e-02 1.21853490e+02] [-2.53146643e-01 -6.05537726e-03 9.67408967e-01 1.39988505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.516875 meters Centerline goodness : 0.997917 Centerline is valid? [True, True] Translation: X:229.42, Y:121.84, Z:139.98 [[ 9.13778767e-01 3.29563646e-01 2.37478772e-01 2.29419125e+02] [-3.19572605e-01 9.44130624e-01 -8.05649707e-02 1.21844306e+02] [-2.50762267e-01 -2.27315031e-03 9.68046031e-01 1.39979480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.546875 meters Centerline goodness : 0.998010 Centerline is valid? [True, True] Translation: X:229.45, Y:121.83, Z:139.97 [[ 9.13842324e-01 3.28153648e-01 2.39180663e-01 2.29447144e+02] [-3.19447669e-01 9.44594972e-01 -7.54554566e-02 1.21833487e+02] [-2.50689835e-01 -7.45131550e-03 9.68038782e-01 1.39973931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.576875 meters Centerline goodness : 0.998124 Centerline is valid? [True, True] Translation: X:229.48, Y:121.83, Z:139.96 [[ 9.14207341e-01 3.27652367e-01 2.38471937e-01 2.29476996e+02] [-3.18394459e-01 9.44784728e-01 -7.75034613e-02 1.21825525e+02] [-2.50698837e-01 -5.07391025e-03 9.68051832e-01 1.39963753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6068750000001 meters Centerline goodness : 0.998034 Centerline is valid? [True, True] Translation: X:229.51, Y:121.82, Z:139.95 [[ 9.14738517e-01 3.25218988e-01 2.39762498e-01 2.29507299e+02] [-3.15757691e-01 9.45628679e-01 -7.79966859e-02 1.21818078e+02] [-2.52092297e-01 -4.36027977e-03 9.67693372e-01 1.39954323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.636875 meters Centerline goodness : 0.998406 Centerline is valid? [True, True] Translation: X:229.54, Y:121.81, Z:139.95 [[ 9.15114756e-01 3.23475516e-01 2.40683557e-01 2.29538096e+02] [-3.13872936e-01 9.46228644e-01 -7.83270923e-02 1.21808080e+02] [-2.53078572e-01 -3.86577661e-03 9.67438004e-01 1.39946441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.666875 meters Centerline goodness : 0.998101 Centerline is valid? [True, True] Translation: X:229.57, Y:121.80, Z:139.94 [[ 9.16033753e-01 3.20978716e-01 2.40530303e-01 2.29567737e+02] [-3.11284707e-01 9.47081328e-01 -7.83504195e-02 1.21797655e+02] [-2.52950576e-01 -3.10177600e-03 9.67474230e-01 1.39938709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.696875 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:229.60, Y:121.79, Z:139.93 [[ 9.18320420e-01 3.14521514e-01 2.40341056e-01 2.29597616e+02] [-3.04607411e-01 9.49249517e-01 -7.83561082e-02 1.21786430e+02] [-2.52788313e-01 -1.25365262e-03 9.67520799e-01 1.39931997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.7268750000001 meters Centerline goodness : 0.998520 Centerline is valid? [True, True] Translation: X:229.63, Y:121.78, Z:139.92 [[ 9.19253976e-01 3.11898225e-01 2.40190809e-01 2.29628359e+02] [-3.01889211e-01 9.50115407e-01 -7.83812326e-02 1.21776219e+02] [-2.52655956e-01 -4.58754094e-04 9.67556075e-01 1.39923992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.756875 meters Centerline goodness : 0.998058 Centerline is valid? [True, True] Translation: X:229.66, Y:121.77, Z:139.92 [[ 9.19907432e-01 3.09972202e-01 2.40182329e-01 2.29658336e+02] [-2.99880105e-01 9.50745609e-01 -7.84519500e-02 1.21766959e+02] [-2.52670218e-01 1.42629700e-04 9.67552448e-01 1.39915376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.786875 meters Centerline goodness : 0.998522 Centerline is valid? [True, True] Translation: X:229.69, Y:121.76, Z:139.90 [[ 9.20878447e-01 3.07903062e-01 2.39120453e-01 2.29687515e+02] [-2.97813869e-01 9.51417415e-01 -7.81780151e-02 1.21759934e+02] [-2.51574613e-01 7.79061842e-04 9.67837593e-01 1.39904683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.816875 meters Centerline goodness : 0.998334 Centerline is valid? [True, True] Translation: X:229.72, Y:121.75, Z:139.90 [[ 9.20992749e-01 3.07489498e-01 2.39212385e-01 2.29716820e+02] [-2.97360865e-01 9.51550991e-01 -7.82766141e-02 1.21750856e+02] [-2.51692018e-01 9.59792348e-04 9.67806906e-01 1.39896240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.846875 meters Centerline goodness : 0.998307 Centerline is valid? [True, True] Translation: X:229.75, Y:121.74, Z:139.89 [[ 9.20898053e-01 3.07630630e-01 2.39395429e-01 2.29746808e+02] [-2.97473406e-01 9.51505344e-01 -7.84037861e-02 1.21740133e+02] [-2.51905436e-01 9.88120371e-04 9.67751350e-01 1.39888440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.876875 meters Centerline goodness : 0.997984 Centerline is valid? [True, True] Translation: X:229.78, Y:121.73, Z:139.88 [[ 9.20798831e-01 3.08320644e-01 2.38888871e-01 2.29776368e+02] [-2.98211464e-01 9.51282097e-01 -7.83089690e-02 1.21728314e+02] [-2.51394978e-01 8.67407280e-04 9.67884194e-01 1.39882462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.906875 meters Centerline goodness : 0.998322 Centerline is valid? [True, True] Translation: X:229.81, Y:121.72, Z:139.87 [[ 9.20246689e-01 3.09840128e-01 2.39050467e-01 2.29806892e+02] [-2.99750200e-01 9.50788529e-01 -7.84282550e-02 1.21718552e+02] [-2.51586662e-01 5.17916896e-04 9.67834636e-01 1.39873763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.936875 meters Centerline goodness : 0.997887 Centerline is valid? [True, True] Translation: X:229.84, Y:121.71, Z:139.86 [[ 9.19571915e-01 3.11670559e-01 2.39267542e-01 2.29836624e+02] [-3.01603470e-01 9.50190220e-01 -7.85741208e-02 1.21709812e+02] [-2.51838919e-01 9.06338086e-05 9.67769162e-01 1.39864596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.966875 meters Centerline goodness : 0.997986 Centerline is valid? [True, True] Translation: X:229.87, Y:121.70, Z:139.86 [[ 9.18375690e-01 3.14290115e-01 2.40432561e-01 2.29865842e+02] [-3.04199348e-01 9.49326804e-01 -7.90023793e-02 1.21701908e+02] [-2.53078741e-01 -5.85563689e-04 9.67445506e-01 1.39855504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.996875 meters Centerline goodness : 0.997951 Centerline is valid? [True, True] Translation: X:229.90, Y:121.70, Z:139.85 [[ 9.15484778e-01 3.21065779e-01 2.42496159e-01 2.29895568e+02] [-3.11012385e-01 9.47053836e-01 -7.97516715e-02 1.21695925e+02] [-2.55262450e-01 -2.40786737e-03 9.66868804e-01 1.39846503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.026875 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:229.93, Y:121.69, Z:139.84 [[ 9.14109505e-01 3.25335278e-01 2.41993325e-01 2.29925321e+02] [-3.15453727e-01 9.45592151e-01 -7.96519283e-02 1.21686387e+02] [-2.54740571e-01 -3.52711152e-03 9.67002999e-01 1.39837830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.056875 meters Centerline goodness : 0.998568 Centerline is valid? [True, True] Translation: X:229.96, Y:121.68, Z:139.83 [[ 9.12991345e-01 3.29620578e-01 2.40410230e-01 2.29955301e+02] [-3.19997623e-01 9.44102172e-01 -7.91998056e-02 1.21675518e+02] [-2.53077706e-01 -4.62196532e-03 9.67434914e-01 1.39830107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.086875 meters Centerline goodness : 0.998340 Centerline is valid? [True, True] Translation: X:229.99, Y:121.66, Z:139.82 [[ 9.11427068e-01 3.37010870e-01 2.36060105e-01 2.29985378e+02] [-3.27962511e-01 9.41478493e-01 -7.78385464e-02 1.21664445e+02] [-2.48477948e-01 -6.47470671e-03 9.68615913e-01 1.39824350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.116875 meters Centerline goodness : 0.998616 Centerline is valid? [True, True] Translation: X:230.01, Y:121.66, Z:139.81 [[ 9.10565914e-01 3.40487781e-01 2.34388112e-01 2.30014417e+02] [-3.31663475e-01 9.40220626e-01 -7.73596370e-02 1.21656090e+02] [-2.46716548e-01 -7.29692702e-03 9.69060215e-01 1.39814889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.146875 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:230.04, Y:121.66, Z:139.78 [[ 9.08569006e-01 3.48325701e-01 2.30589608e-01 2.30041087e+02] [-3.32373419e-01 9.37166214e-01 -1.06053745e-01 1.21663314e+02] [-2.53042035e-01 1.97152896e-02 9.67254380e-01 1.39780087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.176875 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:230.07, Y:121.64, Z:139.78 [[ 9.08875689e-01 3.41437489e-01 2.39510801e-01 2.30071645e+02] [-3.32568742e-01 9.39862174e-01 -7.78275382e-02 1.21640659e+02] [-2.51680381e-01 -8.91824842e-03 9.67769317e-01 1.39784965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.206875 meters Centerline goodness : 0.998299 Centerline is valid? [True, True] Translation: X:230.10, Y:121.62, Z:139.80 [[ 9.09433661e-01 3.38477501e-01 2.41585175e-01 2.30103614e+02] [-3.37027170e-01 9.40238701e-01 -4.86196739e-02 1.21618859e+02] [-2.43604397e-01 -3.72043998e-02 9.69160838e-01 1.39798188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.236875 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:230.13, Y:121.63, Z:139.76 [[ 9.06476356e-01 3.52566776e-01 2.32373160e-01 2.30132356e+02] [-3.39049064e-01 9.35740810e-01 -9.71332503e-02 1.21628776e+02] [-2.51687006e-01 9.26309224e-03 9.67764355e-01 1.39759346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.266875 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:230.16, Y:121.61, Z:139.75 [[ 9.06121406e-01 3.49491134e-01 2.38327389e-01 2.30159916e+02] [-3.37606732e-01 9.36938579e-01 -9.03758492e-02 1.21614639e+02] [-2.54883683e-01 1.43056075e-03 9.66970662e-01 1.39754257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.296875 meters Centerline goodness : 0.998590 Centerline is valid? [True, True] Translation: X:230.19, Y:121.59, Z:139.76 [[ 9.06709496e-01 3.45124965e-01 2.42418332e-01 2.30190044e+02] [-3.36690084e-01 9.38479986e-01 -7.67795745e-02 1.21594733e+02] [-2.54003301e-01 -1.20030794e-02 9.67128869e-01 1.39755924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.326875 meters Centerline goodness : 0.998470 Centerline is valid? [True, True] Translation: X:230.22, Y:121.58, Z:139.75 [[ 9.07512762e-01 3.44389297e-01 2.40450823e-01 2.30219783e+02] [-3.34742105e-01 9.38802484e-01 -8.12257329e-02 1.21584544e+02] [-2.53709103e-01 -6.77562566e-03 9.67256833e-01 1.39746885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3568750000001 meters Centerline goodness : 0.998188 Centerline is valid? [True, True] Translation: X:230.25, Y:121.56, Z:139.76 [[ 9.09768620e-01 3.35334510e-01 2.44687200e-01 2.30249939e+02] [-3.33405143e-01 9.41426943e-01 -5.05600849e-02 1.21558945e+02] [-2.47309663e-01 -3.55819921e-02 9.68282940e-01 1.39764496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.386875 meters Centerline goodness : 0.998394 Centerline is valid? [True, True] Translation: X:230.28, Y:121.56, Z:139.74 [[ 9.09496884e-01 3.42108975e-01 2.36171268e-01 2.30279157e+02] [-3.33066153e-01 9.39632033e-01 -7.84766202e-02 1.21560384e+02] [-2.48761645e-01 -7.28641437e-03 9.68537326e-01 1.39741476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.416875 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:230.31, Y:121.57, Z:139.71 [[ 9.08193992e-01 3.47438500e-01 2.33388437e-01 2.30305806e+02] [-3.30117709e-01 9.37404234e-01 -1.10885532e-01 1.21567065e+02] [-2.57305211e-01 2.36599182e-02 9.66040494e-01 1.39705150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.446875 meters Centerline goodness : 0.998055 Centerline is valid? [True, True] Translation: X:230.33, Y:121.54, Z:139.71 [[ 9.08711469e-01 3.39699074e-01 2.42586079e-01 2.30334676e+02] [-3.31097196e-01 9.40474204e-01 -7.67001832e-02 1.21542755e+02] [-2.54200931e-01 -1.06212346e-02 9.67093106e-01 1.39711859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4768750000001 meters Centerline goodness : 0.998008 Centerline is valid? [True, True] Translation: X:230.37, Y:121.52, Z:139.73 [[ 9.09952543e-01 3.35581060e-01 2.43663130e-01 2.30366689e+02] [-3.34351886e-01 9.41241317e-01 -4.76822663e-02 1.21518837e+02] [-2.45347071e-01 -3.80806276e-02 9.68687091e-01 1.39728892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.506875 meters Centerline goodness : 0.998357 Centerline is valid? [True, True] Translation: X:230.39, Y:121.54, Z:139.68 [[ 9.08508159e-01 3.48610781e-01 2.30398457e-01 2.30393936e+02] [-3.31874744e-01 9.36993864e-01 -1.09094698e-01 1.21537130e+02] [-2.53913529e-01 2.26499942e-02 9.66961684e-01 1.39679891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.536875 meters Centerline goodness : 0.998260 Centerline is valid? [True, True] Translation: X:230.43, Y:121.50, Z:139.71 [[ 9.10553153e-01 3.35138175e-01 2.42023469e-01 2.30425324e+02] [-3.34105798e-01 9.41384050e-01 -4.65766599e-02 1.21497399e+02] [-2.43446650e-01 -3.84509197e-02 9.69151823e-01 1.39714470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.566875 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:230.45, Y:121.50, Z:139.69 [[ 9.10284789e-01 3.43045035e-01 2.31736288e-01 2.30453555e+02] [-3.34287588e-01 9.39292393e-01 -7.73408672e-02 1.21498149e+02] [-2.44199533e-01 -7.06434989e-03 9.69699275e-01 1.39692093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.596875 meters Centerline goodness : 0.998114 Centerline is valid? [True, True] Translation: X:230.48, Y:121.49, Z:139.68 [[ 9.11022772e-01 3.40848513e-01 2.32077142e-01 2.30483144e+02] [-3.31976711e-01 9.40096339e-01 -7.75263573e-02 1.21486272e+02] [-2.44599615e-01 -6.41592936e-03 9.69602941e-01 1.39684415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.626875 meters Centerline goodness : 0.998227 Centerline is valid? [True, True] Translation: X:230.51, Y:121.48, Z:139.67 [[ 9.11112598e-01 3.40344316e-01 2.32464150e-01 2.30511877e+02] [-3.31407634e-01 9.40280310e-01 -7.77297878e-02 1.21477189e+02] [-2.45036354e-01 -6.21980491e-03 9.69493940e-01 1.39674861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.656875 meters Centerline goodness : 0.998235 Centerline is valid? [True, True] Translation: X:230.54, Y:121.48, Z:139.64 [[ 9.10189398e-01 3.43476799e-01 2.31471270e-01 2.30538810e+02] [-3.28307821e-01 9.39003405e-01 -1.02404007e-01 1.21481471e+02] [-2.52525712e-01 1.72132131e-02 9.67437063e-01 1.39643232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.686875 meters Centerline goodness : 0.998029 Centerline is valid? [True, True] Translation: X:230.57, Y:121.45, Z:139.67 [[ 9.11049358e-01 3.34263333e-01 2.41365057e-01 2.30570617e+02] [-3.31247314e-01 9.41984488e-01 -5.42258366e-02 1.21448733e+02] [-2.45487849e-01 -3.05491133e-02 9.68918195e-01 1.39667894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.716875 meters Centerline goodness : 0.998057 Centerline is valid? [True, True] Translation: X:230.60, Y:121.45, Z:139.65 [[ 9.10581465e-01 3.41588418e-01 2.32720322e-01 2.30600135e+02] [-3.32619889e-01 9.39828099e-01 -7.80202073e-02 1.21446513e+02] [-2.45367898e-01 -6.36365323e-03 9.69409149e-01 1.39649301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.746875 meters Centerline goodness : 0.997998 Centerline is valid? [True, True] Translation: X:230.63, Y:121.45, Z:139.62 [[ 9.09550450e-01 3.45773703e-01 2.30561325e-01 2.30626534e+02] [-3.30738542e-01 9.38168786e-01 -1.02231828e-01 1.21448089e+02] [-2.51654516e-01 1.67294885e-02 9.67672532e-01 1.39621029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.776875 meters Centerline goodness : 0.998135 Centerline is valid? [True, True] Translation: X:230.66, Y:121.41, Z:139.65 [[ 9.10872990e-01 3.36525570e-01 2.38874312e-01 2.30658636e+02] [-3.33615324e-01 9.41173733e-01 -5.37849363e-02 1.21413848e+02] [-2.42922235e-01 -3.07008852e-02 9.69559820e-01 1.39647652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.806875 meters Centerline goodness : 0.998555 Centerline is valid? [True, True] Translation: X:230.69, Y:121.42, Z:139.62 [[ 9.09923856e-01 3.44347524e-01 2.31221453e-01 2.30687130e+02] [-3.33569572e-01 9.38842030e-01 -8.54808968e-02 1.21415242e+02] [-2.46515553e-01 6.52666226e-04 9.69138616e-01 1.39620966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.836875 meters Centerline goodness : 0.998322 Centerline is valid? [True, True] Translation: X:230.71, Y:121.40, Z:139.62 [[ 9.10164105e-01 3.41247581e-01 2.34843332e-01 2.30714492e+02] [-3.32315516e-01 9.39946285e-01 -7.78933854e-02 1.21404467e+02] [-2.47321047e-01 -7.14631971e-03 9.68907235e-01 1.39616950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.866875 meters Centerline goodness : 0.998582 Centerline is valid? [True, True] Translation: X:230.75, Y:121.39, Z:139.62 [[ 9.09921028e-01 3.41393045e-01 2.35572730e-01 2.30746324e+02] [-3.34393979e-01 9.39804597e-01 -7.03419279e-02 1.21389937e+02] [-2.45406580e-01 -1.47685034e-02 9.69307744e-01 1.39616212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.896875 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:230.77, Y:121.39, Z:139.59 [[ 9.09337204e-01 3.43669281e-01 2.34514977e-01 2.30774091e+02] [-3.32275210e-01 9.39088825e-01 -8.77801977e-02 1.21389392e+02] [-2.50397752e-01 1.89828624e-03 9.68141189e-01 1.39593506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.926875 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:230.81, Y:121.37, Z:139.60 [[ 9.12642028e-01 3.29952416e-01 2.41279778e-01 2.30806726e+02] [-3.22470403e-01 9.43908668e-01 -7.10581858e-02 1.21371336e+02] [-2.51191894e-01 -1.29549005e-02 9.67850610e-01 1.39601574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.956875 meters Centerline goodness : 0.998143 Centerline is valid? [True, True] Translation: X:230.84, Y:121.37, Z:139.59 [[ 9.13838727e-01 3.28739246e-01 2.38388944e-01 2.30836708e+02] [-3.18749710e-01 9.44417530e-01 -8.04621105e-02 1.21365176e+02] [-2.51589751e-01 -2.45701394e-03 9.67830853e-01 1.39588708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.986875 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:230.87, Y:121.35, Z:139.58 [[ 9.14910150e-01 3.26654842e-01 2.37141375e-01 2.30865960e+02] [-3.16682918e-01 9.45141987e-01 -8.01158819e-02 1.21354930e+02] [-2.50302511e-01 -1.79978907e-03 9.68166005e-01 1.39580778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.016875 meters Centerline goodness : 0.998420 Centerline is valid? [True, True] Translation: X:230.90, Y:121.35, Z:139.57 [[ 9.16100316e-01 3.25271152e-01 2.34433122e-01 2.30896027e+02] [-3.15467346e-01 9.45619843e-01 -7.92683206e-02 1.21348829e+02] [-2.47468309e-01 -1.33826118e-03 9.68895064e-01 1.39568659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.046875 meters Centerline goodness : 0.998522 Centerline is valid? [True, True] Translation: X:230.93, Y:121.34, Z:139.56 [[ 9.16228447e-01 3.25822746e-01 2.33162972e-01 2.30926466e+02] [-3.16125868e-01 9.45429825e-01 -7.89105948e-02 1.21343068e+02] [-2.46150095e-01 -1.40871532e-03 9.69230698e-01 1.39556804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.076875 meters Centerline goodness : 0.998291 Centerline is valid? [True, True] Translation: X:230.96, Y:121.34, Z:139.55 [[ 9.18350126e-01 3.20729148e-01 2.31874663e-01 2.30956446e+02] [-3.10962605e-01 9.47170952e-01 -7.85458142e-02 1.21336679e+02] [-2.44816877e-01 2.82091711e-05 9.69569335e-01 1.39547860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1068750000001 meters Centerline goodness : 0.998270 Centerline is valid? [True, True] Translation: X:230.99, Y:121.33, Z:139.54 [[ 9.18970244e-01 3.19332137e-01 2.31345363e-01 2.30987378e+02] [-3.09550519e-01 9.47642744e-01 -7.84328074e-02 1.21326538e+02] [-2.44278871e-01 4.64339028e-04 9.69704913e-01 1.39540697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.136875 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:231.02, Y:121.32, Z:139.53 [[ 9.19256440e-01 3.18316986e-01 2.31607197e-01 2.31018180e+02] [-3.08462963e-01 9.47983991e-01 -7.85935936e-02 1.21315946e+02] [-2.44577591e-01 8.05424712e-04 9.69629390e-01 1.39533632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.166875 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:231.05, Y:121.31, Z:139.53 [[ 9.19035717e-01 3.17628610e-01 2.33421114e-01 2.31048864e+02] [-3.07576857e-01 9.48214599e-01 -7.92814665e-02 1.21305167e+02] [-2.46515370e-01 1.06756676e-03 9.69138294e-01 1.39527915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.196875 meters Centerline goodness : 0.998666 Centerline is valid? [True, True] Translation: X:231.08, Y:121.30, Z:139.52 [[ 9.19000944e-01 3.18348284e-01 2.32576084e-01 2.31078864e+02] [-3.08374955e-01 9.47973357e-01 -7.90658092e-02 1.21295922e+02] [-2.45646395e-01 9.40913866e-04 9.69359048e-01 1.39518600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.2268750000001 meters Centerline goodness : 0.998348 Centerline is valid? [True, True] Translation: X:231.11, Y:121.29, Z:139.51 [[ 9.18807147e-01 3.19198165e-01 2.32176568e-01 2.31108318e+02] [-3.09267927e-01 9.47687669e-01 -7.90027321e-02 1.21288471e+02] [-2.45248397e-01 7.83509176e-04 9.69459958e-01 1.39507898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.256875 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:231.14, Y:121.29, Z:139.50 [[ 9.16617953e-01 3.23431701e-01 2.34954173e-01 2.31139105e+02] [-3.13377334e-01 9.46251475e-01 -8.00174495e-02 1.21285833e+02] [-2.48205913e-01 -2.83881700e-04 9.68707254e-01 1.39497079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.286875 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:231.17, Y:121.28, Z:139.49 [[ 9.15136995e-01 3.26382222e-01 2.36640921e-01 2.31170364e+02] [-3.16259978e-01 9.45237322e-01 -8.06599786e-02 1.21277611e+02] [-2.50007814e-01 -1.02512220e-03 9.68243276e-01 1.39489675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.316875 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:231.20, Y:121.27, Z:139.48 [[ 9.14114087e-01 3.29331110e-01 2.36508891e-01 2.31200805e+02] [-3.19298364e-01 9.44212861e-01 -8.06884568e-02 1.21267748e+02] [-2.49887956e-01 -1.75844682e-03 9.68273163e-01 1.39482966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.346875 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:231.23, Y:121.26, Z:139.48 [[ 9.13285374e-01 3.31779207e-01 2.36288771e-01 2.31230266e+02] [-3.21826947e-01 9.43354132e-01 -8.06870417e-02 1.21257137e+02] [-2.49674271e-01 -2.35379856e-03 9.68327020e-01 1.39476847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.376875 meters Centerline goodness : 0.998665 Centerline is valid? [True, True] Translation: X:231.26, Y:121.25, Z:139.47 [[ 9.12450036e-01 3.34139413e-01 2.36190145e-01 2.31259546e+02] [-3.24255513e-01 9.42519105e-01 -8.07223613e-02 1.21246680e+02] [-2.49586246e-01 -2.93083502e-03 9.68348138e-01 1.39470862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.406875 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:231.29, Y:121.24, Z:139.46 [[ 9.10731875e-01 3.38550578e-01 2.36539549e-01 2.31290308e+02] [-3.28771210e-01 9.40939261e-01 -8.08875706e-02 1.21238543e+02] [-2.49953882e-01 -4.10050478e-03 9.68249060e-01 1.39463636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.436875 meters Centerline goodness : 0.998174 Centerline is valid? [True, True] Translation: X:231.32, Y:121.23, Z:139.45 [[ 9.10046108e-01 3.40798628e-01 2.35949945e-01 2.31319247e+02] [-3.31134760e-01 9.40124696e-01 -8.07175703e-02 1.21229949e+02] [-2.49330808e-01 -4.67451777e-03 9.68407093e-01 1.39453770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.466875 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:231.35, Y:121.22, Z:139.44 [[ 9.09442672e-01 3.42801410e-01 2.35374637e-01 2.31349767e+02] [-3.33233359e-01 9.39393819e-01 -8.05902035e-02 1.21221433e+02] [-2.48735914e-01 -5.14251084e-03 9.68557690e-01 1.39443081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.496875 meters Centerline goodness : 0.998691 Centerline is valid? [True, True] Translation: X:231.38, Y:121.22, Z:139.43 [[ 9.07900136e-01 3.47244089e-01 2.34816707e-01 2.31379576e+02] [-3.37849085e-01 9.37753809e-01 -8.04722859e-02 1.21215060e+02] [-2.48143787e-01 -6.27181039e-03 9.68702909e-01 1.39429760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.526875 meters Centerline goodness : 0.998379 Centerline is valid? [True, True] Translation: X:231.41, Y:121.21, Z:139.42 [[ 9.07323306e-01 3.48904681e-01 2.34584615e-01 2.31409011e+02] [-3.39563781e-01 9.37134651e-01 -8.04679103e-02 1.21205421e+02] [-2.47913002e-01 -6.64602841e-03 9.68759503e-01 1.39421200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.556875 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:231.44, Y:121.20, Z:139.41 [[ 9.06910906e-01 3.51102169e-01 2.32894557e-01 2.31437709e+02] [-3.40975607e-01 9.36330891e-01 -8.37860274e-02 1.21196003e+02] [-2.47483824e-01 -3.42490102e-03 9.68885972e-01 1.39412163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.586875 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:231.47, Y:121.18, Z:139.41 [[ 9.06524129e-01 3.50199573e-01 2.35741943e-01 2.31466150e+02] [-3.41932591e-01 9.36607212e-01 -7.64789715e-02 1.21180254e+02] [-2.47580507e-01 -1.12778203e-02 9.68801684e-01 1.39408677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.616875 meters Centerline goodness : 0.998416 Centerline is valid? [True, True] Translation: X:231.50, Y:121.17, Z:139.40 [[ 9.06344015e-01 3.51908732e-01 2.33881960e-01 2.31496192e+02] [-3.42678527e-01 9.36006035e-01 -8.03998098e-02 1.21171420e+02] [-2.47208321e-01 -7.27643900e-03 9.68935034e-01 1.39397835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.646875 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:231.53, Y:121.16, Z:139.39 [[ 9.05951013e-01 3.52850336e-01 2.33985902e-01 2.31525943e+02] [-3.43623847e-01 9.35649990e-01 -8.05093006e-02 1.21161230e+02] [-2.47336641e-01 -7.46565350e-03 9.68900846e-01 1.39389191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.676875 meters Centerline goodness : 0.998549 Centerline is valid? [True, True] Translation: X:231.56, Y:121.15, Z:139.38 [[ 9.05073586e-01 3.53852287e-01 2.35860898e-01 2.31555998e+02] [-3.44489525e-01 9.35269351e-01 -8.12293585e-02 1.21152083e+02] [-2.49336663e-01 -7.73306198e-03 9.68385991e-01 1.39379733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.706875 meters Centerline goodness : 0.998642 Centerline is valid? [True, True] Translation: X:231.59, Y:121.14, Z:139.37 [[ 9.04362534e-01 3.54517208e-01 2.37583577e-01 2.31586101e+02] [-3.45018058e-01 9.35016082e-01 -8.18991174e-02 1.21140392e+02] [-2.51179112e-01 -7.90413101e-03 9.67908352e-01 1.39371417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.736875 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:231.61, Y:121.13, Z:139.36 [[ 9.04145952e-01 3.54570461e-01 2.38327268e-01 2.31614522e+02] [-3.44992893e-01 9.34996164e-01 -8.22318565e-02 1.21128076e+02] [-2.51992068e-01 -7.87161329e-03 9.67697285e-01 1.39364595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.766875 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:231.64, Y:121.11, Z:139.36 [[ 9.04837910e-01 3.52879239e-01 2.38211249e-01 2.31643550e+02] [-3.43233821e-01 9.35640214e-01 -8.22674558e-02 1.21114584e+02] [-2.51910501e-01 -7.32344433e-03 9.67722825e-01 1.39357575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.796875 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:231.67, Y:121.10, Z:139.35 [[ 9.05236130e-01 3.51730155e-01 2.38397665e-01 2.31672259e+02] [-3.42010289e-01 9.36075745e-01 -8.24085116e-02 1.21104900e+02] [-2.52143830e-01 -6.93529188e-03 9.67664917e-01 1.39348734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.826875 meters Centerline goodness : 0.998452 Centerline is valid? [True, True] Translation: X:231.70, Y:121.10, Z:139.33 [[ 9.04641244e-01 3.53228525e-01 2.38440408e-01 2.31700153e+02] [-3.40142215e-01 9.35522636e-01 -9.53974379e-02 1.21101239e+02] [-2.56763495e-01 5.19680839e-03 9.66460294e-01 1.39326846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8568750000001 meters Centerline goodness : 0.998275 Centerline is valid? [True, True] Translation: X:231.73, Y:121.08, Z:139.33 [[ 9.06839066e-01 3.47824347e-01 2.38035988e-01 2.31731117e+02] [-3.38764367e-01 9.37519504e-01 -7.93466028e-02 1.21083860e+02] [-2.50762062e-01 -8.68351168e-03 9.68009806e-01 1.39328386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.886875 meters Centerline goodness : 0.998266 Centerline is valid? [True, True] Translation: X:231.76, Y:121.07, Z:139.32 [[ 9.06766411e-01 3.48732096e-01 2.36982282e-01 2.31758904e+02] [-3.39064206e-01 9.37201965e-01 -8.17798354e-02 1.21073389e+02] [-2.50619513e-01 -6.19700147e-03 9.68065833e-01 1.39319644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.916875 meters Centerline goodness : 0.997837 Centerline is valid? [True, True] Translation: X:231.79, Y:121.06, Z:139.31 [[ 9.06875511e-01 3.46301274e-01 2.40108798e-01 2.31787788e+02] [-3.38128438e-01 9.38040992e-01 -7.58172572e-02 1.21059070e+02] [-2.51487508e-01 -1.24307991e-02 9.67780713e-01 1.39314381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.946875 meters Centerline goodness : 0.998060 Centerline is valid? [True, True] Translation: X:231.82, Y:121.05, Z:139.30 [[ 9.07413371e-01 3.46902762e-01 2.37190742e-01 2.31818252e+02] [-3.37034000e-01 9.37886460e-01 -8.23229663e-02 1.21050935e+02] [-2.51016050e-01 -5.24038426e-03 9.67968740e-01 1.39303351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9768750000001 meters Centerline goodness : 0.997105 Centerline is valid? [True, True] Translation: X:231.85, Y:121.04, Z:139.29 [[ 9.08723684e-01 3.43973712e-01 2.36438896e-01 2.31846575e+02] [-3.34062476e-01 9.38969041e-01 -8.20938649e-02 1.21040386e+02] [-2.50246935e-01 -4.38472377e-03 9.68172116e-01 1.39293202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.006875 meters Centerline goodness : 0.997455 Centerline is valid? [True, True] Translation: X:231.88, Y:121.03, Z:139.28 [[ 9.09607696e-01 3.41980255e-01 2.35930805e-01 2.31876289e+02] [-3.32028127e-01 9.39699619e-01 -8.19874951e-02 1.21029536e+02] [-2.49742192e-01 -3.75920671e-03 9.68305069e-01 1.39284667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.036875 meters Centerline goodness : 0.997696 Centerline is valid? [True, True] Translation: X:231.91, Y:121.02, Z:139.28 [[ 9.10147163e-01 3.40735931e-01 2.35650520e-01 2.31905288e+02] [-3.30747590e-01 9.40153106e-01 -8.19644376e-02 1.21018708e+02] [-2.49475797e-01 -3.34114144e-03 9.68375270e-01 1.39276586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.066875 meters Centerline goodness : 0.997696 Centerline is valid? [True, True] Translation: X:231.94, Y:121.01, Z:139.27 [[ 9.10109487e-01 3.40851708e-01 2.35628596e-01 2.31935786e+02] [-3.30850882e-01 9.40111268e-01 -8.20274164e-02 1.21008000e+02] [-2.49476284e-01 -3.30399921e-03 9.68375272e-01 1.39267953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.096875 meters Centerline goodness : 0.998088 Centerline is valid? [True, True] Translation: X:231.97, Y:121.00, Z:139.26 [[ 9.10785605e-01 3.39032756e-01 2.35640343e-01 2.31965367e+02] [-3.28963631e-01 9.40770468e-01 -8.20600753e-02 1.20996128e+02] [-2.49504529e-01 -2.77796763e-03 9.68369647e-01 1.39260343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.126875 meters Centerline goodness : 0.998050 Centerline is valid? [True, True] Translation: X:232.00, Y:120.99, Z:139.25 [[ 9.10889783e-01 3.38693431e-01 2.35725608e-01 2.31995179e+02] [-3.28586582e-01 9.40893154e-01 -8.21640467e-02 1.20985042e+02] [-2.49621034e-01 -2.61388122e-03 9.68340078e-01 1.39251625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.156875 meters Centerline goodness : 0.997865 Centerline is valid? [True, True] Translation: X:232.03, Y:120.97, Z:139.24 [[ 9.09399823e-01 3.38531155e-01 2.41637369e-01 2.32026186e+02] [-3.27422082e-01 9.40954759e-01 -8.60169861e-02 1.20974523e+02] [-2.56489262e-01 -8.93578404e-04 9.66546667e-01 1.39238880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.186875 meters Centerline goodness : 0.998552 Centerline is valid? [True, True] Translation: X:232.05, Y:120.96, Z:139.23 [[ 9.11099837e-01 3.36848456e-01 2.37550424e-01 2.32052877e+02] [-3.26491717e-01 9.41556712e-01 -8.29102906e-02 1.20964859e+02] [-2.51595399e-01 -2.01869354e-03 9.67830398e-01 1.39233103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.216875 meters Centerline goodness : 0.998119 Centerline is valid? [True, True] Translation: X:232.08, Y:120.96, Z:139.21 [[ 9.10738193e-01 3.37178235e-01 2.38467570e-01 2.32079371e+02] [-3.22592258e-01 9.41347971e-01 -9.89860249e-02 1.20964525e+02] [-2.57856896e-01 1.32225615e-02 9.66092638e-01 1.39210984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.246875 meters Centerline goodness : 0.998095 Centerline is valid? [True, True] Translation: X:232.11, Y:120.94, Z:139.22 [[ 9.10736832e-01 3.31634568e-01 2.46123824e-01 2.32110424e+02] [-3.25108772e-01 9.43233381e-01 -6.79343487e-02 1.20936489e+02] [-2.54681585e-01 -1.81467005e-02 9.66854688e-01 1.39223696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.276875 meters Centerline goodness : 0.998203 Centerline is valid? [True, True] Translation: X:232.14, Y:120.93, Z:139.21 [[ 9.10132695e-01 3.37061489e-01 2.40931586e-01 2.32140559e+02] [-3.26356508e-01 9.41480697e-01 -8.42942920e-02 1.20933094e+02] [-2.55244797e-01 -1.91059990e-03 9.66874575e-01 1.39206521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.306875 meters Centerline goodness : 0.998292 Centerline is valid? [True, True] Translation: X:232.17, Y:120.92, Z:139.19 [[ 9.07460267e-01 3.39882380e-01 2.46973343e-01 2.32171041e+02] [-3.27421547e-01 9.40466027e-01 -9.12073609e-02 1.20924785e+02] [-2.63269814e-01 1.90266204e-03 9.64720366e-01 1.39190078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.336875 meters Centerline goodness : 0.998297 Centerline is valid? [True, True] Translation: X:232.20, Y:120.91, Z:139.19 [[ 9.08929204e-01 3.40615292e-01 2.40476456e-01 2.32198519e+02] [-3.30851531e-01 9.40184994e-01 -8.11753789e-02 1.20912061e+02] [-2.53741931e-01 -5.77933127e-03 9.67254688e-01 1.39189020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.366875 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:232.23, Y:120.90, Z:139.18 [[ 9.08255822e-01 3.43783628e-01 2.38504042e-01 2.32228593e+02] [-3.33459167e-01 9.39042305e-01 -8.36930926e-02 1.20902321e+02] [-2.52737701e-01 -3.51662052e-03 9.67528443e-01 1.39178475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.396875 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:232.26, Y:120.89, Z:139.17 [[ 9.07509121e-01 3.46334198e-01 2.37654832e-01 2.32258810e+02] [-3.36161985e-01 9.38101886e-01 -8.34264397e-02 1.20890407e+02] [-2.51837876e-01 -4.18026546e-03 9.67760409e-01 1.39171121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.426875 meters Centerline goodness : 0.998554 Centerline is valid? [True, True] Translation: X:232.29, Y:120.88, Z:139.15 [[ 9.04591954e-01 3.53907383e-01 2.37619364e-01 2.32287753e+02] [-3.40201492e-01 9.35249070e-01 -9.78372222e-02 1.20884812e+02] [-2.56858604e-01 7.66430189e-03 9.66418603e-01 1.39153602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.456875 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:232.32, Y:120.86, Z:139.16 [[ 9.04106126e-01 3.50892220e-01 2.43858079e-01 2.32318163e+02] [-3.44257531e-01 9.36203223e-01 -7.07833193e-02 1.20862168e+02] [-2.53138036e-01 -1.99543476e-02 9.67224358e-01 1.39164379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.486875 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:232.35, Y:120.86, Z:139.15 [[ 9.02987004e-01 3.56525860e-01 2.39799461e-01 2.32347389e+02] [-3.46472875e-01 9.34259855e-01 -8.43508782e-02 1.20859622e+02] [-2.54108279e-01 -6.91626192e-03 9.67151047e-01 1.39148313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.516875 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:232.38, Y:120.86, Z:139.13 [[ 9.02825195e-01 3.62574943e-01 2.31184077e-01 2.32376697e+02] [-3.49319852e-01 9.31926937e-01 -9.74054657e-02 1.20858801e+02] [-2.50763450e-01 7.18292115e-03 9.68021744e-01 1.39128007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.546875 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:232.40, Y:120.84, Z:139.13 [[ 9.02886374e-01 3.53832810e-01 2.44128118e-01 2.32404533e+02] [-3.47538373e-01 9.35056297e-01 -6.99056533e-02 1.20836007e+02] [-2.53008447e-01 -2.17270269e-02 9.67220069e-01 1.39130964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.576875 meters Centerline goodness : 0.998504 Centerline is valid? [True, True] Translation: X:232.43, Y:120.84, Z:139.10 [[ 9.03472370e-01 3.56908912e-01 2.37389355e-01 2.32430411e+02] [-3.42418269e-01 9.34084358e-01 -1.01173817e-01 1.20840187e+02] [-2.57851520e-01 1.01212960e-02 9.66131540e-01 1.39102730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6068750000001 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:232.46, Y:120.80, Z:139.12 [[ 9.05009497e-01 3.46066258e-01 2.47378162e-01 2.32461719e+02] [-3.40467773e-01 9.37901908e-01 -6.64959080e-02 1.20803530e+02] [-2.55028440e-01 -2.40448637e-02 9.66634543e-01 1.39122969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.636875 meters Centerline goodness : 0.998564 Centerline is valid? [True, True] Translation: X:232.49, Y:120.80, Z:139.11 [[ 9.05341349e-01 3.49180789e-01 2.41722605e-01 2.32491285e+02] [-3.38610080e-01 9.37044355e-01 -8.53878808e-02 1.20798893e+02] [-2.56320610e-01 -4.54453149e-03 9.66581136e-01 1.39107800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.666875 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:232.52, Y:120.79, Z:139.10 [[ 9.05583672e-01 3.47846006e-01 2.42737241e-01 2.32521447e+02] [-3.37118291e-01 9.37542655e-01 -8.58197453e-02 1.20788203e+02] [-2.57428573e-01 -4.11420369e-03 9.66288571e-01 1.39099445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.696875 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:232.55, Y:120.78, Z:139.09 [[ 9.05470878e-01 3.47510647e-01 2.43636696e-01 2.32550283e+02] [-3.36680772e-01 9.37667501e-01 -8.61725926e-02 1.20779350e+02] [-2.58396106e-01 -4.00101796e-03 9.66030768e-01 1.39089929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.7268750000001 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:232.58, Y:120.77, Z:139.08 [[ 9.05001571e-01 3.48834531e-01 2.43488453e-01 2.32579796e+02] [-3.38045408e-01 9.37174445e-01 -8.61937479e-02 1.20771327e+02] [-2.58258511e-01 -4.30467617e-03 9.66066256e-01 1.39077149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.756875 meters Centerline goodness : 0.998383 Centerline is valid? [True, True] Translation: X:232.61, Y:120.76, Z:139.07 [[ 9.04559229e-01 3.50777476e-01 2.42338118e-01 2.32608210e+02] [-3.40139778e-01 9.36446740e-01 -8.58628790e-02 1.20759892e+02] [-2.57055505e-01 -4.76077395e-03 9.66384914e-01 1.39067676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.786875 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:232.64, Y:120.75, Z:139.06 [[ 9.04377328e-01 3.52508927e-01 2.40497620e-01 2.32637700e+02] [-3.42076150e-01 9.35794323e-01 -8.52812536e-02 1.20746881e+02] [-2.55118711e-01 -5.14206758e-03 9.66896066e-01 1.39060192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.816875 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:232.67, Y:120.73, Z:139.05 [[ 9.04777259e-01 3.53321294e-01 2.37785984e-01 2.32665489e+02] [-3.43133833e-01 9.35487397e-01 -8.43949200e-02 1.20733409e+02] [-2.52264314e-01 -5.23381179e-03 9.67644213e-01 1.39052468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.846875 meters Centerline goodness : 0.998538 Centerline is valid? [True, True] Translation: X:232.70, Y:120.72, Z:139.04 [[ 9.04951161e-01 3.53489010e-01 2.36873208e-01 2.32695847e+02] [-3.43368307e-01 9.35424271e-01 -8.41405916e-02 1.20722801e+02] [-2.51319722e-01 -5.19162639e-03 9.67890203e-01 1.39043654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.876875 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:232.73, Y:120.71, Z:139.03 [[ 9.04533981e-01 3.54370046e-01 2.37150052e-01 2.32725719e+02] [-3.44235902e-01 9.35089842e-01 -8.43126927e-02 1.20713139e+02] [-2.51634498e-01 -5.37186660e-03 9.67807431e-01 1.39033862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.906875 meters Centerline goodness : 0.998446 Centerline is valid? [True, True] Translation: X:232.76, Y:120.70, Z:139.02 [[ 9.04536624e-01 3.54413469e-01 2.37075070e-01 2.32756190e+02] [-3.44267896e-01 9.35073738e-01 -8.43606507e-02 1.20703270e+02] [-2.51581223e-01 -5.31003734e-03 9.67821622e-01 1.39024797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.936875 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:232.78, Y:120.69, Z:139.02 [[ 9.05855265e-01 3.52193487e-01 2.35342277e-01 2.32784516e+02] [-3.42104876e-01 9.35915985e-01 -8.38183919e-02 1.20691149e+02] [-2.49780890e-01 -4.58440875e-03 9.68291532e-01 1.39016370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.966875 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:232.81, Y:120.68, Z:139.01 [[ 9.06856920e-01 3.49715997e-01 2.35179185e-01 2.32813614e+02] [-3.39541598e-01 9.36847929e-01 -8.38299537e-02 1.20678388e+02] [-2.49643808e-01 -3.83134257e-03 9.68330155e-01 1.39008150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.996875 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:232.84, Y:120.66, Z:139.00 [[ 9.08294999e-01 3.45054605e-01 2.36511129e-01 2.32842165e+02] [-3.34587831e-01 9.38579303e-01 -8.43793539e-02 1.20662735e+02] [-2.51099935e-01 -2.49240056e-03 9.67957959e-01 1.39002652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.026875 meters Centerline goodness : 0.998733 Centerline is valid? [True, True] Translation: X:232.87, Y:120.65, Z:139.00 [[ 9.08572613e-01 3.42751987e-01 2.38782081e-01 2.32871797e+02] [-3.31981958e-01 9.39424201e-01 -8.52651775e-02 1.20649857e+02] [-2.53542475e-01 -1.80173782e-03 9.67322577e-01 1.38995614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.056875 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:232.90, Y:120.64, Z:138.99 [[ 9.08866696e-01 3.40567207e-01 2.40780619e-01 2.32901484e+02] [-3.29517717e-01 9.40219497e-01 -8.60544735e-02 1.20638132e+02] [-2.55693964e-01 -1.12943492e-03 9.66757116e-01 1.38988823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.086875 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:232.93, Y:120.63, Z:138.98 [[ 9.08962925e-01 3.37600320e-01 2.44565790e-01 2.32931107e+02] [-3.26067978e-01 9.41289527e-01 -8.74854255e-02 1.20626475e+02] [-2.59742325e-01 -2.24064444e-04 9.65677935e-01 1.38979931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.116875 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:232.96, Y:120.62, Z:138.97 [[ 9.09160896e-01 3.37013242e-01 2.44639613e-01 2.32960596e+02] [-3.25432334e-01 9.41499907e-01 -8.75883641e-02 1.20615188e+02] [-2.59846611e-01 1.82755683e-05 9.65649905e-01 1.38971966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.146875 meters Centerline goodness : 0.998750 Centerline is valid? [True, True] Translation: X:232.99, Y:120.60, Z:138.96 [[ 9.09563655e-01 3.35710576e-01 2.44933393e-01 2.32990365e+02] [-3.24034513e-01 9.41965070e-01 -8.77692481e-02 1.20604254e+02] [-2.60183766e-01 4.64845311e-04 9.65559005e-01 1.38963061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.176875 meters Centerline goodness : 0.997715 Centerline is valid? [True, True] Translation: X:233.02, Y:120.59, Z:138.95 [[ 9.09978432e-01 3.34835745e-01 2.44590019e-01 2.33020098e+02] [-3.23152627e-01 9.42276215e-01 -8.76807580e-02 1.20593420e+02] [-2.59830009e-01 7.47691532e-04 9.65654083e-01 1.38953406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.206875 meters Centerline goodness : 0.998001 Centerline is valid? [True, True] Translation: X:233.05, Y:120.58, Z:138.94 [[ 9.10065439e-01 3.34677493e-01 2.44482866e-01 2.33049738e+02] [-3.22978317e-01 9.42332331e-01 -8.77199245e-02 1.20582975e+02] [-2.59741993e-01 8.68207166e-04 9.65677660e-01 1.38944155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.236875 meters Centerline goodness : 0.997937 Centerline is valid? [True, True] Translation: X:233.08, Y:120.57, Z:138.94 [[ 9.09993766e-01 3.35086076e-01 2.44189819e-01 2.33079258e+02] [-3.23409566e-01 9.42187159e-01 -8.76904260e-02 1.20572671e+02] [-2.59456352e-01 8.24417760e-04 9.65754483e-01 1.38935104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.266875 meters Centerline goodness : 0.998309 Centerline is valid? [True, True] Translation: X:233.11, Y:120.56, Z:138.93 [[ 9.09842378e-01 3.35855010e-01 2.43697065e-01 2.33108804e+02] [-3.24239240e-01 9.41913469e-01 -8.75667324e-02 1.20562282e+02] [-2.58951274e-01 6.55772738e-04 9.65890163e-01 1.38926343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.296875 meters Centerline goodness : 0.998453 Centerline is valid? [True, True] Translation: X:233.14, Y:120.55, Z:138.92 [[ 9.09298280e-01 3.37621940e-01 2.43285971e-01 2.33138788e+02] [-3.26087459e-01 9.41281772e-01 -8.74962616e-02 1.20551899e+02] [-2.58541307e-01 2.27696281e-04 9.66000176e-01 1.38918357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.326875 meters Centerline goodness : 0.998120 Centerline is valid? [True, True] Translation: X:233.17, Y:120.54, Z:138.91 [[ 9.08707125e-01 3.38932362e-01 2.43672351e-01 2.33168765e+02] [-3.27385960e-01 9.40810740e-01 -8.77130802e-02 1.20541507e+02] [-2.58978367e-01 -6.94056087e-05 9.65883120e-01 1.38910546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3568750000001 meters Centerline goodness : 0.998406 Centerline is valid? [True, True] Translation: X:233.20, Y:120.53, Z:138.90 [[ 9.08123701e-01 3.40226763e-01 2.44043220e-01 2.33198330e+02] [-3.28669435e-01 9.40343351e-01 -8.79248790e-02 1.20532032e+02] [-2.59398817e-01 -3.62880870e-04 9.65770222e-01 1.38902940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.386875 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:233.23, Y:120.52, Z:138.89 [[ 9.07200878e-01 3.42344808e-01 2.44512985e-01 2.33228294e+02] [-3.30798007e-01 9.39573959e-01 -8.81671966e-02 1.20522721e+02] [-2.59921616e-01 -8.99050177e-04 9.65629300e-01 1.38894933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.416875 meters Centerline goodness : 0.997967 Centerline is valid? [True, True] Translation: X:233.26, Y:120.51, Z:138.89 [[ 9.05679131e-01 3.46632908e-01 2.44112553e-01 2.33258358e+02] [-3.35256718e-01 9.37998626e-01 -8.80994383e-02 1.20514389e+02] [-2.59515404e-01 -2.05055074e-03 9.65736791e-01 1.38885147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.446875 meters Centerline goodness : 0.998111 Centerline is valid? [True, True] Translation: X:233.29, Y:120.50, Z:138.88 [[ 9.05420058e-01 3.48180440e-01 2.42868069e-01 2.33288210e+02] [-3.36956035e-01 9.37424446e-01 -8.77270644e-02 1.20504283e+02] [-2.58215313e-01 -2.40601801e-03 9.66084397e-01 1.38876817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4768750000001 meters Centerline goodness : 0.997268 Centerline is valid? [True, True] Translation: X:233.32, Y:120.49, Z:138.87 [[ 9.04948829e-01 3.50675214e-01 2.41028029e-01 2.33317403e+02] [-3.39689242e-01 9.36492280e-01 -8.71402768e-02 1.20493730e+02] [-2.56278824e-01 -3.01713723e-03 9.66598190e-01 1.38868070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.506875 meters Centerline goodness : 0.996847 Centerline is valid? [True, True] Translation: X:233.35, Y:120.48, Z:138.86 [[ 9.04455031e-01 3.52005551e-01 2.40942295e-01 2.33347730e+02] [-3.41054498e-01 9.35992018e-01 -8.71824068e-02 1.20482903e+02] [-2.56208756e-01 -3.32188715e-03 9.66615766e-01 1.38859024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.536875 meters Centerline goodness : 0.996681 Centerline is valid? [True, True] Translation: X:233.35, Y:120.55, Z:138.79 [[ 9.04222192e-01 3.59287395e-01 2.30856658e-01 2.33351630e+02] [-3.22250459e-01 9.28750501e-01 -1.83240683e-01 1.20545431e+02] [-2.80244304e-01 9.12966278e-02 9.55577342e-01 1.38785577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.566875 meters Centerline goodness : 0.996343 Centerline is valid? [True, True] Translation: X:233.38, Y:120.47, Z:138.83 [[ 9.00846970e-01 3.37169622e-01 2.73480133e-01 2.33384624e+02] [-3.31583473e-01 9.40980639e-01 -6.78810546e-02 1.20472729e+02] [-2.80226940e-01 -2.95310500e-02 9.59479431e-01 1.38833831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.596875 meters Centerline goodness : 0.996083 Centerline is valid? [True, True] Translation: X:233.41, Y:120.48, Z:138.81 [[ 9.00568229e-01 3.40762602e-01 2.69921680e-01 2.33409697e+02] [-3.27669212e-01 9.40140377e-01 -9.36427159e-02 1.20480135e+02] [-2.85674206e-01 -4.11336940e-03 9.58317968e-01 1.38810777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.626875 meters Centerline goodness : 0.996890 Centerline is valid? [True, True] Translation: X:233.47, Y:120.39, Z:138.89 [[ 9.01370031e-01 3.24084849e-01 2.87230008e-01 2.33467224e+02] [-3.47642377e-01 9.37021348e-01 3.37012079e-02 1.20389304e+02] [-2.58218598e-01 -1.30230582e-01 9.57268589e-01 1.38894570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.656875 meters Centerline goodness : 0.996527 Centerline is valid? [True, True] Translation: X:233.50, Y:120.43, Z:138.82 [[ 9.01026121e-01 3.58376108e-01 2.44373680e-01 2.33496487e+02] [-3.47133217e-01 9.33566536e-01 -8.91742758e-02 1.20428847e+02] [-2.60097020e-01 -4.48186987e-03 9.65572086e-01 1.38821110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.686875 meters Centerline goodness : 0.995321 Centerline is valid? [True, True] Translation: X:233.52, Y:120.42, Z:138.81 [[ 9.01158505e-01 3.59536618e-01 2.42170949e-01 2.33524446e+02] [-3.48526783e-01 9.33119023e-01 -8.84192876e-02 1.20416423e+02] [-2.57764291e-01 -4.72326878e-03 9.66196285e-01 1.38813005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.716875 meters Centerline goodness : 0.995621 Centerline is valid? [True, True] Translation: X:233.53, Y:120.48, Z:138.74 [[ 9.01338882e-01 3.68983459e-01 2.26802618e-01 2.33534513e+02] [-3.31305792e-01 9.24667318e-01 -1.87688103e-01 1.20478384e+02] [-2.78970774e-01 9.40295641e-02 9.55684963e-01 1.38735221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.746875 meters Centerline goodness : 0.996586 Centerline is valid? [True, True] Translation: X:233.58, Y:120.35, Z:138.85 [[ 9.02009516e-01 3.30079394e-01 2.78256044e-01 2.33581824e+02] [-3.49707539e-01 9.36586012e-01 2.26114938e-02 1.20348735e+02] [-2.53147131e-01 -1.17704019e-01 9.60240748e-01 1.38851845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.776875 meters Centerline goodness : 0.994121 Centerline is valid? [True, True] Translation: X:233.59, Y:120.47, Z:138.71 [[ 9.01272599e-01 3.72965638e-01 2.20463909e-01 2.33594852e+02] [-3.33005765e-01 9.21861241e-01 -1.98189334e-01 1.20466897e+02] [-2.77154944e-01 1.05206864e-01 9.55047985e-01 1.38707072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.806875 meters Centerline goodness : 0.996487 Centerline is valid? [True, True] Translation: X:233.64, Y:120.32, Z:138.84 [[ 9.01653335e-01 3.30765628e-01 2.78595340e-01 2.33639738e+02] [-3.54083816e-01 9.34502435e-01 3.64671159e-02 1.20320512e+02] [-2.48285956e-01 -1.31526798e-01 9.59715992e-01 1.38836745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.836875 meters Centerline goodness : 0.996039 Centerline is valid? [True, True] Translation: X:233.67, Y:120.36, Z:138.76 [[ 9.00646369e-01 3.65197859e-01 2.35513570e-01 2.33669158e+02] [-3.54938554e-01 9.30910647e-01 -8.61625745e-02 1.20361448e+02] [-2.50708477e-01 -5.99083616e-03 9.68044095e-01 1.38763121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.866875 meters Centerline goodness : 0.996718 Centerline is valid? [True, True] Translation: X:233.70, Y:120.35, Z:138.75 [[ 9.00264303e-01 3.65555908e-01 2.36417139e-01 2.33699336e+02] [-3.55210114e-01 9.30769744e-01 -8.65647628e-02 1.20353369e+02] [-2.51694180e-01 -6.04659291e-03 9.67787930e-01 1.38752934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.896875 meters Centerline goodness : 0.992252 Centerline is valid? [True, True] Translation: X:233.70, Y:120.45, Z:138.64 [[ 9.01431856e-01 3.71291285e-01 2.22628369e-01 2.33701945e+02] [-3.22840242e-01 9.19143599e-01 -2.25719342e-01 1.20454951e+02] [-2.88435065e-01 1.31597209e-01 9.48413089e-01 1.38644366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.926875 meters Centerline goodness : 0.993773 Centerline is valid? [True, True] Translation: X:233.72, Y:120.36, Z:138.69 [[ 8.98825297e-01 3.42665096e-01 2.73301513e-01 2.33724172e+02] [-3.30783493e-01 9.39409131e-01 -8.99597983e-02 1.20364650e+02] [-2.87568019e-01 -9.54548643e-03 9.57712649e-01 1.38693580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.956875 meters Centerline goodness : 0.996793 Centerline is valid? [True, True] Translation: X:233.78, Y:120.25, Z:138.81 [[ 9.02958005e-01 3.15572197e-01 2.91686527e-01 2.33784880e+02] [-3.51271779e-01 9.33019677e-01 7.79898721e-02 1.20247494e+02] [-2.47537834e-01 -1.72882824e-01 9.53329193e-01 1.38812550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.986875 meters Centerline goodness : 0.990304 Centerline is valid? [True, True] Translation: X:233.80, Y:120.37, Z:138.66 [[ 9.01075595e-01 3.65973898e-01 2.32649691e-01 2.33799078e+02] [-3.33705469e-01 9.27771754e-01 -1.66973747e-01 1.20368703e+02] [-2.76953845e-01 7.28194942e-02 9.58119976e-01 1.38658499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.016875 meters Centerline goodness : 0.990304 Centerline is valid? [True, True] Translation: X:233.83, Y:120.31, Z:138.69 [[ 9.00372988e-01 3.47385762e-01 2.62014533e-01 2.33827082e+02] [-3.37117167e-01 9.37644679e-01 -8.47022500e-02 1.20314913e+02] [-2.75100888e-01 -1.20659790e-02 9.61339645e-01 1.38688809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.046875 meters Centerline goodness : 0.989036 Centerline is valid? [True, True] Translation: X:233.85, Y:120.31, Z:138.66 [[ 8.99277818e-01 3.47638045e-01 2.65418905e-01 2.33850233e+02] [-3.31971601e-01 9.37616630e-01 -1.03295264e-01 1.20314116e+02] [-2.84770543e-01 4.77960120e-03 9.58583796e-01 1.38661183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.076875 meters Centerline goodness : 0.992640 Centerline is valid? [True, True] Translation: X:233.90, Y:120.21, Z:138.76 [[ 9.00597079e-01 3.27178527e-01 2.86145265e-01 2.33899672e+02] [-3.52224290e-01 9.35086234e-01 3.93926841e-02 1.20207390e+02] [-2.54682058e-01 -1.36264249e-01 9.57376156e-01 1.38764665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1068750000001 meters Centerline goodness : 0.993497 Centerline is valid? [True, True] Translation: X:233.93, Y:120.24, Z:138.69 [[ 9.01147503e-01 3.59076607e-01 2.42893326e-01 2.33927629e+02] [-3.51701580e-01 9.33131392e-01 -7.46445118e-02 1.20240751e+02] [-2.53454485e-01 -1.81602511e-02 9.67176834e-01 1.38687780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.136875 meters Centerline goodness : 0.994450 Centerline is valid? [True, True] Translation: X:233.96, Y:120.24, Z:138.67 [[ 9.02041857e-01 3.59055825e-01 2.39581725e-01 2.33958367e+02] [-3.48652927e-01 9.33297138e-01 -8.60092307e-02 1.20236761e+02] [-2.54483054e-01 -5.94694364e-03 9.67058948e-01 1.38669936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.166875 meters Centerline goodness : 0.990712 Centerline is valid? [True, True] Translation: X:233.98, Y:120.25, Z:138.64 [[ 9.02280046e-01 3.62047194e-01 2.34120798e-01 2.33983312e+02] [-3.44148921e-01 9.31876917e-01 -1.14747252e-01 1.20248639e+02] [-2.59715688e-01 2.29617357e-02 9.65412099e-01 1.38641554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.196875 meters Centerline goodness : 0.993431 Centerline is valid? [True, True] Translation: X:234.00, Y:120.25, Z:138.64 [[ 9.03947775e-01 3.47945626e-01 2.48620718e-01 2.34000391e+02] [-3.34760182e-01 9.37511199e-01 -9.49124422e-02 1.20245513e+02] [-2.66109076e-01 2.56757430e-03 9.63939504e-01 1.38637063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.2268750000001 meters Centerline goodness : 0.993820 Centerline is valid? [True, True] Translation: X:234.03, Y:120.21, Z:138.64 [[ 9.01695975e-01 3.49050318e-01 2.55163172e-01 2.34032641e+02] [-3.40948445e-01 9.36936560e-01 -7.68377463e-02 1.20211248e+02] [-2.65891944e-01 -1.77132001e-02 9.63840089e-01 1.38639390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.256875 meters Centerline goodness : 0.986861 Centerline is valid? [True, True] Translation: X:234.07, Y:120.21, Z:138.61 [[ 9.00213258e-01 3.58663944e-01 2.46933726e-01 2.34065785e+02] [-3.40986484e-01 9.33310330e-01 -1.12516870e-01 1.20212646e+02] [-2.70821542e-01 1.70881149e-02 9.62477890e-01 1.38606369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.286875 meters Centerline goodness : 0.994707 Centerline is valid? [True, True] Translation: X:234.08, Y:120.18, Z:138.63 [[ 9.01636317e-01 3.44176024e-01 2.61906120e-01 2.34084403e+02] [-3.40478043e-01 9.38279205e-01 -6.08837911e-02 1.20182948e+02] [-2.66695807e-01 -3.42782462e-02 9.63170986e-01 1.38631302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.316875 meters Centerline goodness : 0.993214 Centerline is valid? [True, True] Translation: X:234.12, Y:120.19, Z:138.61 [[ 9.04299567e-01 3.47342843e-01 2.48183888e-01 2.34116412e+02] [-3.35451302e-01 9.37736570e-01 -9.01251857e-02 1.20190053e+02] [-2.64035446e-01 -1.75344197e-03 9.64511383e-01 1.38605136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.346875 meters Centerline goodness : 0.984912 Centerline is valid? [True, True] Translation: X:234.16, Y:120.19, Z:138.57 [[ 9.04543821e-01 3.57252461e-01 2.32746975e-01 2.34160649e+02] [-3.35420555e-01 9.33214573e-01 -1.28855001e-01 1.20194463e+02] [-2.63236635e-01 3.84868757e-02 9.63963295e-01 1.38569059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.376875 meters Centerline goodness : 0.985867 Centerline is valid? [True, True] Translation: X:234.19, Y:120.16, Z:138.58 [[ 9.04144615e-01 3.45838142e-01 2.50835595e-01 2.34188413e+02] [-3.35355656e-01 9.38264825e-01 -8.48274873e-02 1.20163163e+02] [-2.64686796e-01 -7.42281960e-03 9.64305865e-01 1.38581185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.406875 meters Centerline goodness : 0.993319 Centerline is valid? [True, True] Translation: X:234.48, Y:120.05, Z:139.46 [[ 9.17674754e-01 -1.33774456e-01 3.74135591e-01 2.34482469e+02] [-3.50488945e-01 1.71013159e-01 9.20821372e-01 1.20047436e+02] [-1.87164487e-01 -9.76144915e-01 1.10047991e-01 1.39456492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.436875 meters Centerline goodness : 0.986370 Centerline is valid? [True, True] Translation: X:234.37, Y:120.11, Z:138.57 [[ 9.20545236e-01 3.52379366e-01 1.68597898e-01 2.34372802e+02] [-3.39952674e-01 9.35259152e-01 -9.86027286e-02 1.20112976e+02] [-1.92428294e-01 3.34529660e-02 9.80740664e-01 1.38566158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.466875 meters Centerline goodness : 0.990275 Centerline is valid? [True, True] Translation: X:234.40, Y:120.06, Z:138.61 [[ 9.22372205e-01 3.34859706e-01 1.92609693e-01 2.34396298e+02] [-3.38335524e-01 9.40896877e-01 -1.55608395e-02 1.20063380e+02] [-1.86436556e-01 -5.08138154e-02 9.81152061e-01 1.38611466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.496875 meters Centerline goodness : 0.993065 Centerline is valid? [True, True] Translation: X:234.43, Y:120.09, Z:138.57 [[ 9.24505290e-01 3.40181654e-01 1.71948862e-01 2.34426675e+02] [-3.31562448e-01 9.40246049e-01 -7.74836108e-02 1.20087618e+02] [-1.88032741e-01 1.46222225e-02 9.82053908e-01 1.38569900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.526875 meters Centerline goodness : 0.986101 Centerline is valid? [True, True] Translation: X:234.46, Y:120.08, Z:138.54 [[ 9.24310435e-01 3.40273379e-01 1.72812751e-01 2.34458325e+02] [-3.26522762e-01 9.39508563e-01 -1.03472440e-01 1.20082213e+02] [-1.97567976e-01 3.92133598e-02 9.79504572e-01 1.38544323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.556875 meters Centerline goodness : 0.992889 Centerline is valid? [True, True] Translation: X:234.47, Y:120.03, Z:138.60 [[ 9.26170269e-01 3.20565176e-01 1.98611685e-01 2.34471350e+02] [-3.24056546e-01 9.45909437e-01 -1.55785715e-02 1.20034301e+02] [-1.92862615e-01 -4.99330070e-02 9.79954441e-01 1.38598006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.586875 meters Centerline goodness : 0.993238 Centerline is valid? [True, True] Translation: X:234.50, Y:120.04, Z:138.57 [[ 9.25988354e-01 3.29220607e-01 1.84822511e-01 2.34501763e+02] [-3.23462122e-01 9.44248430e-01 -6.13771787e-02 1.20044985e+02] [-1.94724998e-01 -2.94852893e-03 9.80853445e-01 1.38568693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.616875 meters Centerline goodness : 0.994220 Centerline is valid? [True, True] Translation: X:234.53, Y:120.03, Z:138.57 [[ 9.25160033e-01 3.30667655e-01 1.86380835e-01 2.34533268e+02] [-3.26026526e-01 9.43704221e-01 -5.59378893e-02 1.20032153e+02] [-1.94385231e-01 -9.01359648e-03 9.80883855e-01 1.38568497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.646875 meters Centerline goodness : 0.995036 Centerline is valid? [True, True] Translation: X:234.57, Y:120.02, Z:138.54 [[ 9.21623021e-01 3.44216206e-01 1.79237859e-01 2.34571012e+02] [-3.34732969e-01 9.38765984e-01 -8.16839435e-02 1.20020844e+02] [-1.96379342e-01 1.52849822e-02 9.80408855e-01 1.38542677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.676875 meters Centerline goodness : 0.993502 Centerline is valid? [True, True] Translation: X:234.59, Y:120.00, Z:138.56 [[ 9.23005591e-01 3.36056673e-01 1.87420894e-01 2.34594327e+02] [-3.33387318e-01 9.41639662e-01 -4.65579578e-02 1.20003909e+02] [-1.92129059e-01 -1.95104938e-02 9.81175706e-01 1.38562997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.706875 meters Centerline goodness : 0.993006 Centerline is valid? [True, True] Translation: X:234.63, Y:120.01, Z:138.54 [[ 9.21402143e-01 3.46558335e-01 1.75827789e-01 2.34626180e+02] [-3.39480648e-01 9.38016855e-01 -6.98374419e-02 1.20006853e+02] [-1.89132177e-01 4.65823698e-03 9.81940589e-01 1.38541891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.736875 meters Centerline goodness : 0.993988 Centerline is valid? [True, True] Translation: X:234.66, Y:119.99, Z:138.54 [[ 9.20144782e-01 3.47550833e-01 1.80394008e-01 2.34655387e+02] [-3.42742489e-01 9.37624643e-01 -5.82032221e-02 1.19989927e+02] [-1.89370446e-01 -8.27330027e-03 9.81870861e-01 1.38542601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.766875 meters Centerline goodness : 0.993182 Centerline is valid? [True, True] Translation: X:234.69, Y:119.98, Z:138.53 [[ 9.19125674e-01 3.50167388e-01 1.80529212e-01 2.34685488e+02] [-3.43303004e-01 9.36686015e-01 -6.90098295e-02 1.19984970e+02] [-1.93264180e-01 1.45248529e-03 9.81145681e-01 1.38529361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.796875 meters Centerline goodness : 0.992816 Centerline is valid? [True, True] Translation: X:234.71, Y:119.98, Z:138.52 [[ 9.17712278e-01 3.55206689e-01 1.77854948e-01 2.34714162e+02] [-3.47358422e-01 9.34764221e-01 -7.45518505e-02 1.19978906e+02] [-1.92733758e-01 6.63773466e-03 9.81228638e-01 1.38520967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.826875 meters Centerline goodness : 0.992469 Centerline is valid? [True, True] Translation: X:234.74, Y:119.96, Z:138.52 [[ 9.16572501e-01 3.56210013e-01 1.81684555e-01 2.34742064e+02] [-3.51120369e-01 9.34369258e-01 -6.05687709e-02 1.19960885e+02] [-1.91335665e-01 -8.27747819e-03 9.81489759e-01 1.38521821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8568750000001 meters Centerline goodness : 0.993515 Centerline is valid? [True, True] Translation: X:234.77, Y:119.95, Z:138.51 [[ 9.15757608e-01 3.58969975e-01 1.80356761e-01 2.34772055e+02] [-3.53746367e-01 9.33318944e-01 -6.14756613e-02 1.19949642e+02] [-1.90398298e-01 -7.50374437e-03 9.81678248e-01 1.38514585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.886875 meters Centerline goodness : 0.991847 Centerline is valid? [True, True] Translation: X:234.80, Y:119.94, Z:138.51 [[ 9.14008646e-01 3.62723082e-01 1.81714504e-01 2.34804393e+02] [-3.57314004e-01 9.31866955e-01 -6.28544465e-02 1.19937928e+02] [-1.92132500e-01 -7.47962931e-03 9.81340490e-01 1.38507139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.916875 meters Centerline goodness : 0.992896 Centerline is valid? [True, True] Translation: X:234.83, Y:119.93, Z:138.50 [[ 9.12154952e-01 3.72378472e-01 1.71194678e-01 2.34829207e+02] [-3.64314667e-01 9.28043430e-01 -7.75255811e-02 1.19934699e+02] [-1.87744953e-01 8.34661075e-03 9.82182349e-01 1.38495019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.946875 meters Centerline goodness : 0.986319 Centerline is valid? [True, True] Translation: X:234.88, Y:119.92, Z:138.48 [[ 9.10915404e-01 3.69840726e-01 1.82896047e-01 2.34876075e+02] [-3.62302047e-01 9.29094082e-01 -7.43062214e-02 1.19918104e+02] [-1.97409102e-01 1.42306947e-03 9.80320163e-01 1.38477857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9768750000001 meters Centerline goodness : 0.990170 Centerline is valid? [True, True] Translation: X:235.39, Y:120.69, Z:139.42 [[ 9.48003500e-01 -2.97386281e-01 -1.13361211e-01 2.35394312e+02] [-2.67742428e-01 -9.37781752e-01 2.21086813e-01 1.20693125e+02] [-1.72056260e-01 -1.79239466e-01 -9.68643308e-01 1.39422960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.006875 meters Centerline goodness : 0.989567 Centerline is valid? [True, True] Translation: X:235.41, Y:120.81, Z:139.32 [[ 9.66157286e-01 -1.83180138e-01 -1.81618104e-01 2.35407915e+02] [-1.89779180e-01 -9.81633215e-01 -1.94960191e-02 1.20813350e+02] [-1.74711080e-01 5.33035559e-02 -9.83175859e-01 1.39316546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.036875 meters Centerline goodness : 0.991455 Centerline is valid? [True, True] Translation: X:235.40, Y:120.78, Z:139.36 [[ 9.79615528e-01 -1.21933510e-01 -1.59642213e-01 2.35400546e+02] [-1.11112196e-01 -9.90968192e-01 7.50741150e-02 1.20776411e+02] [-1.67354405e-01 -5.58055721e-02 -9.84316129e-01 1.39362269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.066875 meters Centerline goodness : 0.992391 Centerline is valid? [True, True] Translation: X:235.40, Y:120.67, Z:139.44 [[ 9.88929088e-01 -7.31964547e-02 -1.29079579e-01 2.35395201e+02] [-3.44832616e-02 -9.59420304e-01 2.79863512e-01 1.20667481e+02] [-1.44326586e-01 -2.72314082e-01 -9.51322699e-01 1.39442638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.096875 meters Centerline goodness : 0.990695 Centerline is valid? [True, True] Translation: X:235.39, Y:120.66, Z:139.45 [[ 9.91458162e-01 -4.22378025e-04 -1.30424442e-01 2.35393239e+02] [ 3.88716045e-02 -9.53592152e-01 2.98581657e-01 1.20657387e+02] [-1.24497838e-01 -3.01101028e-01 -9.45430304e-01 1.39449681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.126875 meters Centerline goodness : 0.992553 Centerline is valid? [True, True] Translation: X:235.38, Y:120.68, Z:139.44 [[ 9.87900698e-01 8.32085194e-02 -1.30876102e-01 2.35379613e+02] [ 1.14666467e-01 -9.60079720e-01 2.55144140e-01 1.20679271e+02] [-1.04421325e-01 -2.67064174e-01 -9.58004652e-01 1.39435182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.156875 meters Centerline goodness : 0.991989 Centerline is valid? [True, True] Translation: X:235.39, Y:120.61, Z:139.47 [[ 9.79982616e-01 1.39749100e-01 -1.41789496e-01 2.35385365e+02] [ 1.82767983e-01 -9.13906123e-01 3.62452013e-01 1.20608827e+02] [-7.89299456e-02 -3.81111253e-01 -9.21153775e-01 1.39467321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.186875 meters Centerline goodness : 0.992135 Centerline is valid? [True, True] Translation: X:235.38, Y:120.60, Z:139.47 [[ 9.66815445e-01 2.08803486e-01 -1.47203939e-01 2.35381852e+02] [ 2.49600193e-01 -8.94880796e-01 3.69983926e-01 1.20598260e+02] [-5.44760444e-02 -3.94448305e-01 -9.17301965e-01 1.39466434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.216875 meters Centerline goodness : 0.992003 Centerline is valid? [True, True] Translation: X:235.40, Y:120.51, Z:139.49 [[ 9.49796764e-01 2.57159077e-01 -1.78200212e-01 2.35404797e+02] [ 3.12199197e-01 -8.16220019e-01 4.86123999e-01 1.20514694e+02] [-2.04393817e-02 -5.17352964e-01 -8.55527990e-01 1.39492629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.246875 meters Centerline goodness : 0.991306 Centerline is valid? [True, True] Translation: X:235.46, Y:120.36, Z:139.51 [[ 9.33234296e-01 2.69430092e-01 -2.37657685e-01 2.35460787e+02] [ 3.58277255e-01 -6.48838273e-01 6.71301947e-01 1.20364786e+02] [ 2.66675435e-02 -7.11629343e-01 -7.02048802e-01 1.39513025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.276875 meters Centerline goodness : 0.990427 Centerline is valid? [True, True] Translation: X:235.70, Y:119.90, Z:138.46 [[ 9.37072431e-01 -3.47333507e-01 -3.54216476e-02 2.35696121e+02] [ 3.48749274e-01 9.35975072e-01 4.82141907e-02 1.19901932e+02] [ 1.64073752e-02 -5.75334628e-02 9.98208745e-01 1.38464043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.306875 meters Centerline goodness : 0.991178 Centerline is valid? [True, True] Translation: X:235.72, Y:119.93, Z:138.44 [[ 9.36503177e-01 -3.50128281e-01 -1.92869343e-02 2.35718502e+02] [ 3.50087182e-01 9.36700513e-01 -5.57794451e-03 1.19929580e+02] [ 2.00190774e-02 -1.52834575e-03 9.99798430e-01 1.38439671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.336875 meters Centerline goodness : 0.990817 Centerline is valid? [True, True] Translation: X:235.74, Y:119.93, Z:138.44 [[ 9.36682469e-01 -3.49555826e-01 -2.08968195e-02 2.35741692e+02] [ 3.49682443e-01 9.36864600e-01 2.62887876e-03 1.19933241e+02] [ 1.86585506e-02 -9.76967555e-03 9.99778181e-01 1.38443141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.366875 meters Centerline goodness : 0.992426 Centerline is valid? [True, True] Translation: X:235.77, Y:119.95, Z:138.44 [[ 9.36929048e-01 -3.48948441e-01 -1.99736167e-02 2.35769984e+02] [ 3.48970273e-01 9.37130473e-01 -2.49485453e-03 1.19945395e+02] [ 1.95884605e-02 -4.63269680e-03 9.99797395e-01 1.38442935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.396875 meters Centerline goodness : 0.990711 Centerline is valid? [True, True] Translation: X:235.80, Y:119.97, Z:138.43 [[ 9.36811983e-01 -3.49641584e-01 -1.15789423e-02 2.35796324e+02] [ 3.49349494e-01 9.36743984e-01 -2.15786755e-02 1.19966117e+02] [ 1.83913069e-02 1.61700641e-02 9.99700099e-01 1.38430418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.426875 meters Centerline goodness : 0.992022 Centerline is valid? [True, True] Translation: X:235.81, Y:119.97, Z:138.43 [[ 9.35264660e-01 -3.53872799e-01 -7.35241666e-03 2.35807524e+02] [ 3.53806968e-01 9.35275952e-01 -8.91761287e-03 1.19973043e+02] [ 1.00322391e-02 5.73899192e-03 9.99933207e-01 1.38427658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.456875 meters Centerline goodness : 0.990463 Centerline is valid? [True, True] Translation: X:235.85, Y:119.98, Z:138.44 [[ 9.35970385e-01 -3.51802374e-01 -1.39473547e-02 2.35848842e+02] [ 3.51761050e-01 9.36074286e-01 -5.39390465e-03 1.19980824e+02] [ 1.49533485e-02 1.42398883e-04 9.99888182e-01 1.38436700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.486875 meters Centerline goodness : 0.990533 Centerline is valid? [True, True] Translation: X:235.87, Y:119.98, Z:138.44 [[ 9.37091839e-01 -3.48772176e-01 -1.47259821e-02 2.35873002e+02] [ 3.48878130e-01 9.37153172e-01 5.28978077e-03 1.19984195e+02] [ 1.19555724e-02 -1.00945835e-02 9.99877574e-01 1.38444393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.516875 meters Centerline goodness : 0.991668 Centerline is valid? [True, True] Translation: X:235.89, Y:120.00, Z:138.43 [[ 9.37665645e-01 -3.47416250e-01 -9.22428808e-03 2.35894565e+02] [ 3.47226798e-01 9.37618331e-01 -1.74761717e-02 1.20002004e+02] [ 1.47203676e-02 1.31838858e-02 9.99804729e-01 1.38434105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.546875 meters Centerline goodness : 0.991300 Centerline is valid? [True, True] Translation: X:235.93, Y:120.00, Z:138.45 [[ 9.37903880e-01 -3.46457483e-01 -1.74219694e-02 2.35925623e+02] [ 3.46604977e-01 9.37990593e-01 6.21589706e-03 1.20001483e+02] [ 1.41880994e-02 -1.18684553e-02 9.99828904e-01 1.38448340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.576875 meters Centerline goodness : 0.990443 Centerline is valid? [True, True] Translation: X:235.95, Y:120.02, Z:138.44 [[ 9.37021101e-01 -3.49035215e-01 -1.28792587e-02 2.35953244e+02] [ 3.48969098e-01 9.37107038e-01 -7.13923353e-03 1.20018752e+02] [ 1.45610878e-02 2.19514918e-03 9.99891572e-01 1.38441319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6068750000001 meters Centerline goodness : 0.990722 Centerline is valid? [True, True] Translation: X:235.98, Y:120.03, Z:138.43 [[ 9.36251417e-01 -3.51225537e-01 -8.59684457e-03 2.35977070e+02] [ 3.51102661e-01 9.36245031e-01 -1.31211034e-02 1.20031974e+02] [ 1.26572196e-02 9.26627667e-03 9.99876958e-01 1.38434949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.636875 meters Centerline goodness : 0.991360 Centerline is valid? [True, True] Translation: X:235.99, Y:120.04, Z:138.43 [[ 9.35888897e-01 -3.52290126e-01 -1.90797732e-03 2.35985838e+02] [ 3.52243704e-01 9.35830807e-01 -1.20446882e-02 1.20043112e+02] [ 6.02876869e-03 1.06004170e-02 9.99925640e-01 1.38429734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.666875 meters Centerline goodness : 0.992177 Centerline is valid? [True, True] Translation: X:236.03, Y:120.04, Z:138.44 [[ 9.37399726e-01 -3.47963247e-01 -1.42594852e-02 2.36025302e+02] [ 3.48017805e-01 9.37486784e-01 1.46217078e-03 1.20042830e+02] [ 1.28592972e-02 -6.33319323e-03 9.99897259e-01 1.38442584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.696875 meters Centerline goodness : 0.989992 Centerline is valid? [True, True] Translation: X:236.05, Y:120.06, Z:138.44 [[ 9.37709615e-01 -3.47146531e-01 -1.37827780e-02 2.36053050e+02] [ 3.47154072e-01 9.37806148e-01 -1.91831729e-03 1.20056936e+02] [ 1.35915111e-02 -2.98592292e-03 9.99903173e-01 1.38444578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.7268750000001 meters Centerline goodness : 0.991097 Centerline is valid? [True, True] Translation: X:236.08, Y:120.07, Z:138.45 [[ 9.37562829e-01 -3.47507171e-01 -1.46529012e-02 2.36079358e+02] [ 3.47539749e-01 9.37665188e-01 -3.43059293e-04 1.20066493e+02] [ 1.38587309e-02 -4.77082595e-03 9.99892582e-01 1.38447094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.756875 meters Centerline goodness : 0.990508 Centerline is valid? [True, True] Translation: X:236.11, Y:120.08, Z:138.44 [[ 9.36916296e-01 -3.49264409e-01 -1.42206293e-02 2.36106685e+02] [ 3.49246215e-01 9.37023190e-01 -3.82409105e-03 1.20078447e+02] [ 1.46606783e-02 -1.38364773e-03 9.99891569e-01 1.38444750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.786875 meters Centerline goodness : 0.990998 Centerline is valid? [True, True] Translation: X:236.13, Y:120.09, Z:138.44 [[ 9.37095078e-01 -3.48864461e-01 -1.20997250e-02 2.36129894e+02] [ 3.48766783e-01 9.37161576e-01 -9.48220447e-03 1.20089368e+02] [ 1.46474015e-02 4.66574497e-03 9.99881835e-01 1.38443360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.816875 meters Centerline goodness : 0.990425 Centerline is valid? [True, True] Translation: X:236.15, Y:120.11, Z:138.43 [[ 9.35128613e-01 -3.54275388e-01 -4.83999425e-03 2.36145119e+02] [ 3.54131087e-01 9.35005470e-01 -1.88665049e-02 1.20105601e+02] [ 1.12093594e-02 1.59286161e-02 9.99810297e-01 1.38433539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.846875 meters Centerline goodness : 0.989966 Centerline is valid? [True, True] Translation: X:236.18, Y:120.10, Z:138.45 [[ 9.36518960e-01 -3.50294276e-01 -1.50385781e-02 2.36182832e+02] [ 3.50461550e-01 9.36519267e-01 1.04097828e-02 1.20100130e+02] [ 1.04374308e-02 -1.50194023e-02 9.99832725e-01 1.38452805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.876875 meters Centerline goodness : 0.989476 Centerline is valid? [True, True] Translation: X:236.21, Y:120.12, Z:138.44 [[ 9.34501747e-01 -3.55843358e-01 -9.05486014e-03 2.36212805e+02] [ 3.55792606e-01 9.34540487e-01 -6.76017972e-03 1.20119723e+02] [ 1.08676985e-02 3.09574746e-03 9.99936153e-01 1.38443811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.906875 meters Centerline goodness : 0.989476 Centerline is valid? [True, True] Translation: X:236.24, Y:120.13, Z:138.45 [[ 9.34437059e-01 -3.55987938e-01 -9.99853899e-03 2.36239892e+02] [ 3.55968661e-01 9.34490545e-01 -3.70589247e-03 1.20128579e+02] [ 1.06627932e-02 -9.62432729e-05 9.99943146e-01 1.38445571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.936875 meters Centerline goodness : 0.990351 Centerline is valid? [True, True] Translation: X:236.26, Y:120.14, Z:138.44 [[ 9.35199083e-01 -3.54066107e-01 -6.31397240e-03 2.36257204e+02] [ 3.54018430e-01 9.35207915e-01 -7.55694780e-03 1.20139519e+02] [ 8.58053605e-03 4.83198806e-03 9.99951512e-01 1.38443769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.966875 meters Centerline goodness : 0.986479 Centerline is valid? [True, True] Translation: X:236.31, Y:120.14, Z:138.46 [[ 9.36308688e-01 -3.50723981e-01 -1.78530038e-02 2.36310978e+02] [ 3.51069152e-01 9.36074033e-01 2.27124597e-02 1.20144449e+02] [ 8.74592893e-03 -2.75335122e-02 9.99582620e-01 1.38456760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.996875 meters Centerline goodness : 0.992719 Centerline is valid? [True, True] Translation: X:236.31, Y:120.17, Z:138.44 [[ 9.38310748e-01 -3.45711120e-01 -7.53408643e-03 2.36314654e+02] [ 3.45224242e-01 9.37793842e-01 -3.69179173e-02 1.20173078e+02] [ 1.98283544e-02 3.20395293e-02 9.99289900e-01 1.38437569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.026875 meters Centerline goodness : 0.989146 Centerline is valid? [True, True] Translation: X:236.33, Y:120.17, Z:138.45 [[ 9.33214107e-01 -3.59030702e-01 -1.44355522e-02 2.36328738e+02] [ 3.59155088e-01 9.33250635e-01 7.13267978e-03 1.20174283e+02] [ 1.09111372e-02 -1.18409194e-02 9.99870361e-01 1.38452458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.056875 meters Centerline goodness : 0.985268 Centerline is valid? [True, True] Translation: X:236.38, Y:120.20, Z:138.45 [[ 9.33773050e-01 -3.57822278e-01 -5.57754778e-03 2.36376619e+02] [ 3.57765504e-01 9.33766973e-01 -9.11504957e-03 1.20198825e+02] [ 8.46969771e-03 6.51593345e-03 9.99942902e-01 1.38445439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.086875 meters Centerline goodness : 0.990411 Centerline is valid? [True, True] Translation: X:236.39, Y:120.20, Z:138.46 [[ 9.32846479e-01 -3.60086997e-01 -1.16104044e-02 2.36385408e+02] [ 3.60111288e-01 9.32909353e-01 1.62264220e-06 1.20198131e+02] [ 1.08308705e-02 -4.18255135e-03 9.99932597e-01 1.38455868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.116875 meters Centerline goodness : 0.989716 Centerline is valid? [True, True] Translation: X:236.41, Y:120.21, Z:138.46 [[ 9.32875059e-01 -3.60062559e-01 -9.95382255e-03 2.36414062e+02] [ 3.60053282e-01 9.32927626e-01 -2.77104463e-03 1.20211570e+02] [ 1.02839455e-02 -9.98868047e-04 9.99946620e-01 1.38456464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.146875 meters Centerline goodness : 0.989368 Centerline is valid? [True, True] Translation: X:236.44, Y:120.22, Z:138.46 [[ 9.33174849e-01 -3.59215841e-01 -1.21934945e-02 2.36440300e+02] [ 3.59221382e-01 9.33250625e-01 -1.80831768e-03 1.20221592e+02] [ 1.20291627e-02 -2.69268736e-03 9.99924021e-01 1.38457466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.176875 meters Centerline goodness : 0.989104 Centerline is valid? [True, True] Translation: X:236.45, Y:120.25, Z:138.43 [[ 9.30803273e-01 -3.65444633e-01 7.44894613e-03 2.36446916e+02] [ 3.65488937e-01 9.30261519e-01 -3.21145188e-02 1.20251260e+02] [ 4.80661059e-03 3.26148066e-02 9.99456438e-01 1.38427085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.206875 meters Centerline goodness : 0.988618 Centerline is valid? [True, True] Translation: X:236.49, Y:120.23, Z:138.47 [[ 9.33759595e-01 -3.57184744e-01 -2.26291006e-02 2.36494236e+02] [ 3.57591607e-01 9.33713900e-01 1.75098960e-02 1.20232784e+02] [ 1.48748380e-02 -2.44420098e-02 9.99590580e-01 1.38466375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.236875 meters Centerline goodness : 0.988951 Centerline is valid? [True, True] Translation: X:236.50, Y:120.26, Z:138.43 [[ 9.32166327e-01 -3.62026434e-01 -1.67342759e-03 2.36503774e+02] [ 3.61854519e-01 9.31847787e-01 -2.68516169e-02 1.20264970e+02] [ 1.12803749e-02 2.44246358e-02 9.99638030e-01 1.38434766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.266875 meters Centerline goodness : 0.989889 Centerline is valid? [True, True] Translation: X:236.55, Y:120.25, Z:138.47 [[ 9.34003919e-01 -3.56482745e-01 -2.35951495e-02 2.36550039e+02] [ 3.56802013e-01 9.34115893e-01 1.09463536e-02 1.20253217e+02] [ 1.81384180e-02 -1.86427340e-02 9.99661666e-01 1.38465850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.296875 meters Centerline goodness : 0.988668 Centerline is valid? [True, True] Translation: X:236.56, Y:120.28, Z:138.43 [[ 9.32097361e-01 -3.62207824e-01 5.02806786e-05 2.36555961e+02] [ 3.62076789e-01 9.31756407e-01 -2.70258507e-02 1.20283497e+02] [ 9.74212523e-03 2.52089295e-02 9.99634734e-01 1.38434898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.326875 meters Centerline goodness : 0.989915 Centerline is valid? [True, True] Translation: X:236.61, Y:120.26, Z:138.48 [[ 9.34895674e-01 -3.53652704e-01 -2.99973966e-02 2.36606346e+02] [ 3.54444953e-01 9.34680319e-01 2.72300763e-02 1.20264635e+02] [ 1.84079861e-02 -3.60897063e-02 9.99179003e-01 1.38481149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3568750000001 meters Centerline goodness : 0.989683 Centerline is valid? [True, True] Translation: X:236.63, Y:120.29, Z:138.46 [[ 9.34950167e-01 -3.54592146e-01 -1.15149772e-02 2.36625289e+02] [ 3.54495543e-01 9.35008130e-01 -9.62848727e-03 1.20293596e+02] [ 1.41807832e-02 4.92014771e-03 9.99887342e-01 1.38457694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.386875 meters Centerline goodness : 0.991058 Centerline is valid? [True, True] Translation: X:236.65, Y:120.30, Z:138.47 [[ 9.35283153e-01 -3.53485013e-01 -1.71397199e-02 2.36654467e+02] [ 3.53557684e-01 9.35411804e-01 1.31225780e-03 1.20296946e+02] [ 1.55688328e-02 -7.28721227e-03 9.99852243e-01 1.38467205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.416875 meters Centerline goodness : 0.990563 Centerline is valid? [True, True] Translation: X:236.68, Y:120.31, Z:138.46 [[ 9.34877266e-01 -3.54785097e-01 -1.14905692e-02 2.36680149e+02] [ 3.54654847e-01 9.34920969e-01 -1.19465767e-02 1.20312279e+02] [ 1.49812414e-02 7.09339692e-03 9.99862614e-01 1.38460465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.446875 meters Centerline goodness : 0.991697 Centerline is valid? [True, True] Translation: X:236.71, Y:120.31, Z:138.47 [[ 9.34802080e-01 -3.54245840e-01 -2.55921183e-02 2.36711642e+02] [ 3.54443123e-01 9.35071091e-01 3.48249672e-03 1.20310484e+02] [ 2.26967900e-02 -1.23263955e-02 9.99666402e-01 1.38474074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4768750000001 meters Centerline goodness : 0.992137 Centerline is valid? [True, True] Translation: X:236.74, Y:120.32, Z:138.47 [[ 9.35086401e-01 -3.53766237e-01 -2.15144609e-02 2.36735112e+02] [ 3.53631217e-01 9.35332395e-01 -9.91331170e-03 1.20324779e+02] [ 2.36301672e-02 1.66161796e-03 9.99719388e-01 1.38467751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.506875 meters Centerline goodness : 0.992103 Centerline is valid? [True, True] Translation: X:236.76, Y:120.34, Z:138.47 [[ 9.35511489e-01 -3.52881996e-01 -1.71040969e-02 2.36761116e+02] [ 3.52727640e-01 9.35656237e-01 -1.14288542e-02 1.20335293e+02] [ 2.00365918e-02 4.65873665e-03 9.99788393e-01 1.38465574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.536875 meters Centerline goodness : 0.991252 Centerline is valid? [True, True] Translation: X:236.78, Y:120.35, Z:138.46 [[ 9.36113380e-01 -3.51557140e-01 -9.96578365e-03 2.36784571e+02] [ 3.51359089e-01 9.36079149e-01 -1.73959094e-02 1.20348212e+02] [ 1.54444184e-02 1.27829749e-02 9.99799013e-01 1.38458537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.566875 meters Centerline goodness : 0.991441 Centerline is valid? [True, True] Translation: X:236.81, Y:120.35, Z:138.47 [[ 9.36692593e-01 -3.49683286e-01 -1.81269175e-02 2.36814422e+02] [ 3.49734112e-01 9.36848920e-01 -3.89288529e-04 1.20350233e+02] [ 1.71183108e-02 -5.97495771e-03 9.99835618e-01 1.38468829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.596875 meters Centerline goodness : 0.992131 Centerline is valid? [True, True] Translation: X:236.84, Y:120.36, Z:138.46 [[ 9.37365985e-01 -3.48084387e-01 -1.35007385e-02 2.36838561e+02] [ 3.47991908e-01 9.37456629e-01 -8.75790824e-03 1.20363361e+02] [ 1.57048479e-02 3.51121753e-03 9.99870506e-01 1.38464562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.626875 meters Centerline goodness : 0.991935 Centerline is valid? [True, True] Translation: X:236.87, Y:120.37, Z:138.46 [[ 9.39460447e-01 -3.42321129e-01 -1.51760963e-02 2.36867476e+02] [ 3.42262896e-01 9.39582690e-01 -6.36223117e-03 1.20372973e+02] [ 1.64371235e-02 7.82849881e-04 9.99864595e-01 1.38464093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.656875 meters Centerline goodness : 0.991951 Centerline is valid? [True, True] Translation: X:236.90, Y:120.38, Z:138.47 [[ 9.40495217e-01 -3.39253604e-01 -1.93839865e-02 2.36896095e+02] [ 3.39273943e-01 9.40684731e-01 -2.33003563e-03 1.20381770e+02] [ 1.90246931e-02 -4.38509414e-03 9.99809398e-01 1.38469648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.686875 meters Centerline goodness : 0.991410 Centerline is valid? [True, True] Translation: X:236.91, Y:120.40, Z:138.46 [[ 9.40281478e-01 -3.40155445e-01 -1.28458245e-02 2.36913673e+02] [ 3.39973385e-01 9.40324001e-01 -1.44523523e-02 1.20399783e+02] [ 1.69952834e-02 9.22204079e-03 9.99813040e-01 1.38459637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.716875 meters Centerline goodness : 0.992470 Centerline is valid? [True, True] Translation: X:236.95, Y:120.40, Z:138.47 [[ 9.42403570e-01 -3.33990848e-01 -1.80450828e-02 2.36948003e+02] [ 3.34003429e-01 9.42568801e-01 -2.40117119e-03 1.20400594e+02] [ 1.78107013e-02 -3.76424723e-03 9.99834291e-01 1.38469435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.746875 meters Centerline goodness : 0.990467 Centerline is valid? [True, True] Translation: X:236.97, Y:120.42, Z:138.46 [[ 9.41175230e-01 -3.37785505e-01 -9.49414517e-03 2.36967660e+02] [ 3.37589593e-01 9.41126924e-01 -1.77025466e-02 1.20420683e+02] [ 1.49148593e-02 1.34560737e-02 9.99798220e-01 1.38458520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.776875 meters Centerline goodness : 0.992089 Centerline is valid? [True, True] Translation: X:237.01, Y:120.42, Z:138.48 [[ 9.42747058e-01 -3.32843288e-01 -2.10554042e-02 2.37008520e+02] [ 3.32977023e-01 9.42929850e-01 3.09836324e-03 1.20418150e+02] [ 1.88224997e-02 -9.93193863e-03 9.99773509e-01 1.38476963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.806875 meters Centerline goodness : 0.992181 Centerline is valid? [True, True] Translation: X:237.03, Y:120.43, Z:138.48 [[ 9.42765531e-01 -3.32826252e-01 -2.04899773e-02 2.37032502e+02] [ 3.32908440e-01 9.42958939e-01 6.39966489e-04 1.20429236e+02] [ 1.91082096e-02 -7.42462471e-03 9.99789854e-01 1.38476639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.836875 meters Centerline goodness : 0.992908 Centerline is valid? [True, True] Translation: X:237.06, Y:120.45, Z:138.46 [[ 9.41927102e-01 -3.35554780e-01 -1.32787294e-02 2.37056036e+02] [ 3.35321465e-01 9.41948659e-01 -1.70949697e-02 1.20449145e+02] [ 1.82441802e-02 1.16495723e-02 9.99765691e-01 1.38462980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.866875 meters Centerline goodness : 0.992296 Centerline is valid? [True, True] Translation: X:237.08, Y:120.45, Z:138.47 [[ 9.42364020e-01 -3.33954711e-01 -2.05986582e-02 2.37081539e+02] [ 3.34113122e-01 9.42521275e-01 4.69761035e-03 1.20448715e+02] [ 1.78458845e-02 -1.13091410e-02 9.99776789e-01 1.38474186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.896875 meters Centerline goodness : 0.991431 Centerline is valid? [True, True] Translation: X:237.10, Y:120.47, Z:138.45 [[ 9.39523611e-01 -3.42461122e-01 -3.97029369e-03 2.37095313e+02] [ 3.42294865e-01 9.39326646e-01 -2.23534634e-02 1.20473779e+02] [ 1.13845948e-02 1.96425955e-02 9.99742247e-01 1.38453132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.926875 meters Centerline goodness : 0.989986 Centerline is valid? [True, True] Translation: X:237.12, Y:120.48, Z:138.46 [[ 9.37998204e-01 -3.46608004e-01 -4.71819522e-03 2.37124886e+02] [ 3.46502131e-01 9.37921975e-01 -1.54480718e-02 1.20482927e+02] [ 9.77972430e-03 1.28553989e-02 9.99869539e-01 1.38455291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.956875 meters Centerline goodness : 0.993321 Centerline is valid? [True, True] Translation: X:237.16, Y:120.47, Z:138.48 [[ 9.41153902e-01 -3.37195179e-01 -2.29944388e-02 2.37161391e+02] [ 3.37612358e-01 9.41121654e-01 1.75478740e-02 1.20468308e+02] [ 1.57235058e-02 -2.42784568e-02 9.99581576e-01 1.38484125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.986875 meters Centerline goodness : 0.992251 Centerline is valid? [True, True] Translation: X:237.19, Y:120.49, Z:138.47 [[ 9.39969698e-01 -3.40956304e-01 -1.43445004e-02 2.37186712e+02] [ 3.40743968e-01 9.40030615e-01 -1.53619790e-02 1.20493091e+02] [ 1.87220331e-02 9.55199274e-03 9.99779098e-01 1.38467826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.016875 meters Centerline goodness : 0.991505 Centerline is valid? [True, True] Translation: X:237.22, Y:120.49, Z:138.49 [[ 9.39943293e-01 -3.40110008e-01 -2.88407264e-02 2.37221892e+02] [ 3.40423611e-01 9.40248895e-01 6.61672051e-03 1.20491073e+02] [ 2.48670483e-02 -1.60374063e-02 9.99562120e-01 1.38487836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.046875 meters Centerline goodness : 0.992467 Centerline is valid? [True, True] Translation: X:237.24, Y:120.51, Z:138.48 [[ 9.40231155e-01 -3.39961572e-01 -1.97864867e-02 2.37241680e+02] [ 3.39950541e-01 9.40434716e-01 -4.02169414e-03 1.20505184e+02] [ 1.99751205e-02 -2.94510473e-03 9.99796140e-01 1.38477541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.076875 meters Centerline goodness : 0.986884 Centerline is valid? [True, True] Translation: X:237.28, Y:120.54, Z:138.45 [[ 9.40968486e-01 -3.38467037e-01 -4.28642286e-03 2.37276869e+02] [ 3.38058362e-01 9.40324009e-01 -3.88239850e-02 1.20535737e+02] [ 1.71712655e-02 3.50830853e-02 9.99236871e-01 1.38454457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1068750000001 meters Centerline goodness : 0.992447 Centerline is valid? [True, True] Translation: X:237.29, Y:120.51, Z:138.48 [[ 9.40757374e-01 -3.37963535e-01 -2.74993196e-02 2.37290326e+02] [ 3.38406596e-01 9.40905465e-01 1.33372138e-02 1.20512971e+02] [ 2.13667682e-02 -2.18530334e-02 9.99532844e-01 1.38484096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.136875 meters Centerline goodness : 0.990584 Centerline is valid? [True, True] Translation: X:237.31, Y:120.54, Z:138.45 [[ 9.39346488e-01 -3.42864467e-01 -8.49309649e-03 2.37306200e+02] [ 3.42468127e-01 9.39023961e-01 -3.08152982e-02 1.20544114e+02] [ 1.85406919e-02 2.60376273e-02 9.99489012e-01 1.38454618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.166875 meters Centerline goodness : 0.991800 Centerline is valid? [True, True] Translation: X:237.35, Y:120.52, Z:138.50 [[ 9.41491840e-01 -3.34802411e-01 -3.87357971e-02 2.37354316e+02] [ 3.35777810e-01 9.41682969e-01 2.20555655e-02 1.20523246e+02] [ 2.90925840e-02 -3.37717560e-02 9.99006051e-01 1.38496800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.196875 meters Centerline goodness : 0.991457 Centerline is valid? [True, True] Translation: X:237.36, Y:120.56, Z:138.46 [[ 9.39899015e-01 -3.41255722e-01 -1.15919843e-02 2.37360389e+02] [ 3.40657226e-01 9.39485017e-01 -3.63394722e-02 1.20562138e+02] [ 2.32915484e-02 3.02065409e-02 9.99272270e-01 1.38457760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.2268750000001 meters Centerline goodness : 0.991853 Centerline is valid? [True, True] Translation: X:237.41, Y:120.55, Z:138.49 [[ 9.41087680e-01 -3.36769516e-01 -3.06638469e-02 2.37406966e+02] [ 3.37212584e-01 9.41370001e-01 1.04973547e-02 1.20545541e+02] [ 2.53308365e-02 -2.02191662e-02 9.99474629e-01 1.38494402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.256875 meters Centerline goodness : 0.992657 Centerline is valid? [True, True] Translation: X:237.43, Y:120.56, Z:138.49 [[ 9.41235519e-01 -3.36835366e-01 -2.48522397e-02 2.37433594e+02] [ 3.36819128e-01 9.41556290e-01 -4.96256561e-03 1.20561039e+02] [ 2.50713502e-02 -3.69976669e-03 9.99678818e-01 1.38490215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.286875 meters Centerline goodness : 0.992440 Centerline is valid? [True, True] Translation: X:237.46, Y:120.57, Z:138.49 [[ 9.41550087e-01 -3.36210895e-01 -2.11108589e-02 2.37456274e+02] [ 3.36242864e-01 9.41772918e-01 -2.12297888e-03 1.20568788e+02] [ 2.05954039e-02 -5.09948473e-03 9.99774887e-01 1.38492702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.316875 meters Centerline goodness : 0.992764 Centerline is valid? [True, True] Translation: X:237.48, Y:120.58, Z:138.49 [[ 9.41262064e-01 -3.37226221e-01 -1.74414205e-02 2.37483259e+02] [ 3.37108917e-01 9.41419064e-01 -9.36610160e-03 1.20582895e+02] [ 1.95781808e-02 2.93629776e-03 9.99804017e-01 1.38488484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.346875 meters Centerline goodness : 0.992609 Centerline is valid? [True, True] Translation: X:237.51, Y:120.59, Z:138.49 [[ 9.41036078e-01 -3.37590274e-01 -2.19978756e-02 2.37512490e+02] [ 3.37609736e-01 9.41281600e-01 -2.93536715e-03 1.20590533e+02] [ 2.16971469e-02 -4.66441058e-03 9.99753708e-01 1.38492452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.376875 meters Centerline goodness : 0.989506 Centerline is valid? [True, True] Translation: X:237.55, Y:120.60, Z:138.48 [[ 9.43590584e-01 -3.30788676e-01 -1.46854494e-02 2.37553809e+02] [ 3.30389621e-01 9.43531514e-01 -2.43100750e-02 1.20604503e+02] [ 2.18976818e-02 1.80868378e-02 9.99596598e-01 1.38478219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.406875 meters Centerline goodness : 0.992414 Centerline is valid? [True, True] Translation: X:237.56, Y:120.60, Z:138.50 [[ 9.40868197e-01 -3.37831602e-01 -2.52357778e-02 2.37564914e+02] [ 3.38042339e-01 9.41120226e-01 4.48302202e-03 1.20604780e+02] [ 2.22353944e-02 -1.27486942e-02 9.99671475e-01 1.38495614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.436875 meters Centerline goodness : 0.993648 Centerline is valid? [True, True] Translation: X:237.58, Y:120.62, Z:138.48 [[ 9.39533233e-01 -3.42278324e-01 -1.10839269e-02 2.37576977e+02] [ 3.42136156e-01 9.39561505e-01 -1.29239716e-02 1.20623136e+02] [ 1.48376264e-02 8.35028866e-03 9.99855048e-01 1.38480815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.466875 meters Centerline goodness : 0.992315 Centerline is valid? [True, True] Translation: X:237.61, Y:120.63, Z:138.49 [[ 9.40643474e-01 -3.39137506e-01 -1.32516428e-02 2.37612944e+02] [ 3.39141778e-01 9.40733164e-01 -1.99213212e-03 1.20626076e+02] [ 1.31418665e-02 -2.62029961e-03 9.99910209e-01 1.38494064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.496875 meters Centerline goodness : 0.990800 Centerline is valid? [True, True] Translation: X:237.64, Y:120.64, Z:138.49 [[ 9.39264855e-01 -3.42909535e-01 -1.39493218e-02 2.37643343e+02] [ 3.42789543e-01 9.39355635e-01 -1.03111817e-02 1.20642358e+02] [ 1.66391766e-02 4.90324893e-03 9.99849537e-01 1.38492326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.526875 meters Centerline goodness : 0.993320 Centerline is valid? [True, True] Translation: X:237.67, Y:120.64, Z:138.50 [[ 9.40944238e-01 -3.38174353e-01 -1.61878843e-02 2.37665723e+02] [ 3.38214605e-01 9.41068972e-01 -2.66048887e-04 1.20644566e+02] [ 1.53238865e-02 -5.22464172e-03 9.99868932e-01 1.38495974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.556875 meters Centerline goodness : 0.991081 Centerline is valid? [True, True] Translation: X:237.69, Y:120.66, Z:138.50 [[ 9.41594309e-01 -3.36062632e-01 -2.14956745e-02 2.37694690e+02] [ 3.36103618e-01 9.41823323e-01 -1.78504780e-03 1.20657729e+02] [ 2.08450155e-02 -5.54398314e-03 9.99767348e-01 1.38496534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.586875 meters Centerline goodness : 0.991536 Centerline is valid? [True, True] Translation: X:237.72, Y:120.68, Z:138.48 [[ 9.41461172e-01 -3.36926269e-01 -1.14695406e-02 2.37715381e+02] [ 3.36676908e-01 9.41422034e-01 -1.93187578e-02 1.20676547e+02] [ 1.73066753e-02 1.43263308e-02 9.99747586e-01 1.38482657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.616875 meters Centerline goodness : 0.993616 Centerline is valid? [True, True] Translation: X:237.74, Y:120.68, Z:138.48 [[ 9.42972814e-01 -3.32216619e-01 -2.08420408e-02 2.37739590e+02] [ 3.31819548e-01 9.43123122e-01 -2.03608601e-02 1.20682449e+02] [ 2.64208267e-02 1.22839410e-02 9.99575432e-01 1.38484837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.646875 meters Centerline goodness : 0.991038 Centerline is valid? [True, True] Translation: X:237.78, Y:120.68, Z:138.50 [[ 9.42179944e-01 -3.34357381e-01 -2.24074823e-02 2.37776445e+02] [ 3.34516098e-01 9.42382992e-01 3.64381194e-03 1.20684489e+02] [ 1.98980948e-02 -1.09287901e-02 9.99742280e-01 1.38498088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.676875 meters Centerline goodness : 0.989459 Centerline is valid? [True, True] Translation: X:237.81, Y:120.70, Z:138.49 [[ 9.41120901e-01 -3.37322059e-01 -2.24784106e-02 2.37806397e+02] [ 3.37222932e-01 9.41389300e-01 -8.17794843e-03 1.20700280e+02] [ 2.39195376e-02 1.16202652e-04 9.99713880e-01 1.38494750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.706875 meters Centerline goodness : 0.991730 Centerline is valid? [True, True] Translation: X:237.83, Y:120.70, Z:138.50 [[ 9.42670588e-01 -3.32859923e-01 -2.40090627e-02 2.37829745e+02] [ 3.32994566e-01 9.42927160e-01 1.72940986e-03 1.20701854e+02] [ 2.20631460e-02 -9.62515121e-03 9.99710245e-01 1.38502329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.736875 meters Centerline goodness : 0.991870 Centerline is valid? [True, True] Translation: X:237.85, Y:120.72, Z:138.49 [[ 9.43037865e-01 -3.32157988e-01 -1.87258317e-02 2.37852956e+02] [ 3.32043461e-01 9.43220998e-01 -9.01601107e-03 1.20717253e+02] [ 2.06573378e-02 2.28464985e-03 9.99784004e-01 1.38494952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.766875 meters Centerline goodness : 0.993197 Centerline is valid? [True, True] Translation: X:237.87, Y:120.73, Z:138.49 [[ 9.44283263e-01 -3.28580654e-01 -1.90754368e-02 2.37873102e+02] [ 3.28002683e-01 9.44257017e-01 -2.81589334e-02 1.20734856e+02] [ 2.72645958e-02 2.03332151e-02 9.99421434e-01 1.38485476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.796875 meters Centerline goodness : 0.993197 Centerline is valid? [True, True] Translation: X:237.90, Y:120.74, Z:138.49 [[ 9.44403951e-01 -3.27812126e-01 -2.53058589e-02 2.37903097e+02] [ 3.27627155e-01 9.44740035e-01 -1.12566707e-02 1.20737067e+02] [ 2.75975312e-02 2.33995774e-03 9.99616377e-01 1.38494524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.826875 meters Centerline goodness : 0.991686 Centerline is valid? [True, True] Translation: X:237.94, Y:120.74, Z:138.51 [[ 9.44609240e-01 -3.27259373e-01 -2.47928813e-02 2.37938092e+02] [ 3.27595939e-01 9.44755062e-01 1.08983424e-02 1.20740023e+02] [ 1.98566154e-02 -1.84167222e-02 9.99633202e-01 1.38505208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8568750000001 meters Centerline goodness : 0.991952 Centerline is valid? [True, True] Translation: X:237.96, Y:120.76, Z:138.50 [[ 9.45017403e-01 -3.26564587e-01 -1.72533680e-02 2.37961730e+02] [ 3.26469499e-01 9.45172631e-01 -8.14633459e-03 1.20756664e+02] [ 1.89677156e-02 2.06572956e-03 9.99817963e-01 1.38496447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.886875 meters Centerline goodness : 0.993662 Centerline is valid? [True, True] Translation: X:237.98, Y:120.77, Z:138.49 [[ 9.45700987e-01 -3.24651662e-01 -1.58411569e-02 2.37981334e+02] [ 3.24128877e-01 9.45577885e-01 -2.86868496e-02 1.20772150e+02] [ 2.42922810e-02 2.19946056e-02 9.99462917e-01 1.38486169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.916875 meters Centerline goodness : 0.992449 Centerline is valid? [True, True] Translation: X:238.02, Y:120.77, Z:138.51 [[ 9.45399074e-01 -3.25214856e-01 -2.13515321e-02 2.38017747e+02] [ 3.25452081e-01 9.45518674e-01 8.68213121e-03 1.20766151e+02] [ 1.73647142e-02 -1.51569794e-02 9.99734331e-01 1.38505779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.946875 meters Centerline goodness : 0.993780 Centerline is valid? [True, True] Translation: X:238.04, Y:120.79, Z:138.49 [[ 9.46573725e-01 -3.22102776e-01 -1.57475123e-02 2.38037184e+02] [ 3.21601772e-01 9.46464468e-01 -2.78802832e-02 1.20787848e+02] [ 2.38847775e-02 2.13263157e-02 9.99487221e-01 1.38488967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9768750000001 meters Centerline goodness : 0.992030 Centerline is valid? [True, True] Translation: X:238.07, Y:120.78, Z:138.51 [[ 9.45898912e-01 -3.23888067e-01 -1.92813061e-02 2.38073174e+02] [ 3.24025731e-01 9.46037953e-01 4.41787007e-03 1.20784875e+02] [ 1.68099520e-02 -1.04264978e-02 9.99804338e-01 1.38505022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.006875 meters Centerline goodness : 0.993218 Centerline is valid? [True, True] Translation: X:238.09, Y:120.80, Z:138.50 [[ 9.47396178e-01 -3.19291828e-01 -2.22083333e-02 2.38094679e+02] [ 3.18963643e-01 9.47612492e-01 -1.71101941e-02 1.20799579e+02] [ 2.65080392e-02 9.12648163e-03 9.99606938e-01 1.38499856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.036875 meters Centerline goodness : 0.991114 Centerline is valid? [True, True] Translation: X:238.13, Y:120.80, Z:138.51 [[ 9.46938351e-01 -3.20618298e-01 -2.26200472e-02 2.38129921e+02] [ 3.20739927e-01 9.47165451e-01 1.87278170e-03 1.20804610e+02] [ 2.08244792e-02 -9.02856111e-03 9.99742380e-01 1.38506089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.066875 meters Centerline goodness : 0.992151 Centerline is valid? [True, True] Translation: X:238.15, Y:120.82, Z:138.50 [[ 9.47995726e-01 -3.17754572e-01 -1.83340103e-02 2.38149729e+02] [ 3.17718005e-01 9.48172322e-01 -4.95140303e-03 1.20820127e+02] [ 1.89571321e-02 -1.13113628e-03 9.99819658e-01 1.38496294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.096875 meters Centerline goodness : 0.991649 Centerline is valid? [True, True] Translation: X:238.18, Y:120.83, Z:138.49 [[ 9.48381242e-01 -3.16844979e-01 -1.35010791e-02 2.38175738e+02] [ 3.16685731e-01 9.48445554e-01 -1.26956223e-02 1.20833496e+02] [ 1.68275826e-02 7.76469093e-03 9.99828256e-01 1.38488660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.126875 meters Centerline goodness : 0.990790 Centerline is valid? [True, True] Translation: X:238.21, Y:120.84, Z:138.49 [[ 9.47657225e-01 -3.18933443e-01 -1.50746100e-02 2.38207058e+02] [ 3.18725722e-01 9.47733444e-01 -1.46708586e-02 1.20844248e+02] [ 1.89657395e-02 9.09827917e-03 9.99778737e-01 1.38489136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.156875 meters Centerline goodness : 0.992936 Centerline is valid? [True, True] Translation: X:238.23, Y:120.84, Z:138.50 [[ 9.48526118e-01 -3.15985015e-01 -2.12526157e-02 2.38229308e+02] [ 3.16072534e-01 9.48734686e-01 8.05056753e-04 1.20841264e+02] [ 1.99087078e-02 -7.48098546e-03 9.99773814e-01 1.38498043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.186875 meters Centerline goodness : 0.992787 Centerline is valid? [True, True] Translation: X:238.26, Y:120.85, Z:138.50 [[ 9.49076564e-01 -3.14487403e-01 -1.87442981e-02 2.38256518e+02] [ 3.14358844e-01 9.49256422e-01 -9.52694299e-03 1.20854106e+02] [ 2.07892489e-02 3.14936243e-03 9.99778920e-01 1.38495522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.216875 meters Centerline goodness : 0.987922 Centerline is valid? [True, True] Translation: X:238.29, Y:120.87, Z:138.49 [[ 9.46914569e-01 -3.21243587e-01 -1.24642026e-02 2.38287780e+02] [ 3.21133222e-01 9.46980378e-01 -1.00805638e-02 1.20874241e+02] [ 1.50416718e-02 5.54276319e-03 9.99871505e-01 1.38485672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.246875 meters Centerline goodness : 0.992764 Centerline is valid? [True, True] Translation: X:238.32, Y:120.87, Z:138.51 [[ 9.48852454e-01 -3.15125818e-01 -1.93581726e-02 2.38315395e+02] [ 3.15160849e-01 9.49037389e-01 -1.29343237e-03 1.20867315e+02] [ 1.87792236e-02 -4.87366164e-03 9.99811776e-01 1.38505352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.276875 meters Centerline goodness : 0.991994 Centerline is valid? [True, True] Translation: X:238.34, Y:120.88, Z:138.50 [[ 9.48294240e-01 -3.16800227e-01 -1.93816951e-02 2.38344232e+02] [ 3.16696333e-01 9.48490712e-01 -8.29465491e-03 1.20879714e+02] [ 2.10111063e-02 1.72766172e-03 9.99777750e-01 1.38504753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.306875 meters Centerline goodness : 0.992774 Centerline is valid? [True, True] Translation: X:238.37, Y:120.89, Z:138.51 [[ 9.48608303e-01 -3.15609099e-01 -2.30907945e-02 2.38368806e+02] [ 3.15606214e-01 9.48882386e-01 -3.86473968e-03 1.20887326e+02] [ 2.31301952e-02 -3.62147408e-03 9.99725902e-01 1.38507191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.336875 meters Centerline goodness : 0.992248 Centerline is valid? [True, True] Translation: X:238.40, Y:120.90, Z:138.51 [[ 9.48484576e-01 -3.16079164e-01 -2.17018563e-02 2.38396298e+02] [ 3.16015869e-01 9.48732473e-01 -6.37686162e-03 1.20897895e+02] [ 2.26048489e-02 -8.09776079e-04 9.99744150e-01 1.38505030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.366875 meters Centerline goodness : 0.991875 Centerline is valid? [True, True] Translation: X:238.42, Y:120.91, Z:138.50 [[ 9.47369011e-01 -3.19508314e-01 -2.01592178e-02 2.38422798e+02] [ 3.19385916e-01 9.47580935e-01 -9.11084179e-03 1.20910370e+02] [ 2.20134801e-02 2.19275895e-03 9.99755269e-01 1.38503404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.396875 meters Centerline goodness : 0.991819 Centerline is valid? [True, True] Translation: X:238.45, Y:120.92, Z:138.50 [[ 9.46119300e-01 -3.23504558e-01 -1.42502702e-02 2.38448157e+02] [ 3.23362002e-01 9.46206211e-01 -1.14377524e-02 1.20922474e+02] [ 1.71838592e-02 6.21348241e-03 9.99833040e-01 1.38499285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.426875 meters Centerline goodness : 0.991482 Centerline is valid? [True, True] Translation: X:238.47, Y:120.93, Z:138.50 [[ 9.46498275e-01 -3.22336891e-01 -1.54901370e-02 2.38474262e+02] [ 3.22351339e-01 9.46618708e-01 -1.62334059e-03 1.20927338e+02] [ 1.51865160e-02 -3.45677733e-03 9.99878703e-01 1.38504892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.456875 meters Centerline goodness : 0.992713 Centerline is valid? [True, True] Translation: X:238.50, Y:120.94, Z:138.50 [[ 9.46351200e-01 -3.22938608e-01 -1.14044813e-02 2.38499615e+02] [ 3.22779078e-01 9.46372942e-01 -1.38535459e-02 1.20939669e+02] [ 1.52667374e-02 9.42919185e-03 9.99838996e-01 1.38500532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.486875 meters Centerline goodness : 0.995289 Centerline is valid? [True, True] Translation: X:238.54, Y:120.93, Z:138.53 [[ 9.50199705e-01 -3.10044889e-01 -3.15069377e-02 2.38543190e+02] [ 3.10335069e-01 9.50615833e-01 4.65645294e-03 1.20928693e+02] [ 2.85072844e-02 -1.42022679e-02 9.99492686e-01 1.38530492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.516875 meters Centerline goodness : 0.993261 Centerline is valid? [True, True] Translation: X:238.54, Y:120.96, Z:138.50 [[ 9.45601003e-01 -3.25278941e-01 -5.68812098e-03 2.38543925e+02] [ 3.25125483e-01 9.45483808e-01 -1.88092664e-02 1.20959742e+02] [ 1.14962845e-02 1.59367081e-02 9.99806910e-01 1.38500945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.546875 meters Centerline goodness : 0.992868 Centerline is valid? [True, True] Translation: X:238.57, Y:120.97, Z:138.50 [[ 9.45405360e-01 -3.25814226e-01 -7.33449127e-03 2.38568705e+02] [ 3.25711495e-01 9.45387344e-01 -1.24415312e-02 1.20968015e+02] [ 1.09875631e-02 9.37336214e-03 9.99895701e-01 1.38501405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.576875 meters Centerline goodness : 0.992459 Centerline is valid? [True, True] Translation: X:238.61, Y:120.97, Z:138.51 [[ 9.46034395e-01 -3.23473331e-01 -1.95940501e-02 2.38606474e+02] [ 3.23567393e-01 9.46203509e-01 1.74958231e-03 1.20973058e+02] [ 1.79740158e-02 -7.99516076e-03 9.99806487e-01 1.38511557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6068750000001 meters Centerline goodness : 0.993665 Centerline is valid? [True, True] Translation: X:238.63, Y:120.99, Z:138.50 [[ 9.46611581e-01 -3.22071825e-01 -1.40090886e-02 2.38625889e+02] [ 3.21940885e-01 9.46697823e-01 -1.08304684e-02 1.20988206e+02] [ 1.67505624e-02 5.74214842e-03 9.99843211e-01 1.38501834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.636875 meters Centerline goodness : 0.992776 Centerline is valid? [True, True] Translation: X:238.66, Y:121.00, Z:138.50 [[ 9.46566914e-01 -3.22236101e-01 -1.32277370e-02 2.38656860e+02] [ 3.22142173e-01 9.46650739e-01 -8.76343875e-03 1.20998739e+02] [ 1.53459433e-02 4.03396923e-03 9.99874107e-01 1.38501286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.666875 meters Centerline goodness : 0.992937 Centerline is valid? [True, True] Translation: X:238.67, Y:121.02, Z:138.49 [[ 9.45088449e-01 -3.26808535e-01 -2.00133480e-03 2.38674325e+02] [ 3.26652284e-01 9.44794182e-01 -2.57340148e-02 1.21016919e+02] [ 1.03009452e-02 2.36671795e-02 9.99666822e-01 1.38488200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.696875 meters Centerline goodness : 0.993171 Centerline is valid? [True, True] Translation: X:238.72, Y:121.00, Z:138.53 [[ 9.45714856e-01 -3.23840877e-01 -2.73952207e-02 2.38718784e+02] [ 3.24586724e-01 9.45394847e-01 2.95303451e-02 1.20997384e+02] [ 1.63361676e-02 -3.68194110e-02 9.99188401e-01 1.38532149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.7268750000001 meters Centerline goodness : 0.992760 Centerline is valid? [True, True] Translation: X:238.73, Y:121.03, Z:138.50 [[ 9.44104855e-01 -3.29598604e-01 -5.54823757e-03 2.38732831e+02] [ 3.29423754e-01 9.43953668e-01 -2.07716840e-02 1.21030184e+02] [ 1.20835972e-02 1.77829264e-02 9.99768850e-01 1.38501258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.756875 meters Centerline goodness : 0.995415 Centerline is valid? [True, True] Translation: X:238.79, Y:121.01, Z:138.54 [[ 9.49104189e-01 -3.13149468e-01 -3.37438890e-02 2.38789743e+02] [ 3.13788248e-01 9.49365833e-01 1.55386611e-02 1.21008913e+02] [ 2.71693718e-02 -2.53362441e-02 9.99309712e-01 1.38542121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.786875 meters Centerline goodness : 0.994060 Centerline is valid? [True, True] Translation: X:238.82, Y:121.03, Z:138.53 [[ 9.48192139e-01 -3.16889613e-01 -2.26415641e-02 2.38820801e+02] [ 3.16906015e-01 9.48452343e-01 -2.95489501e-03 1.21026371e+02] [ 2.24108201e-02 -4.37343963e-03 9.99739280e-01 1.38532719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.816875 meters Centerline goodness : 0.987731 Centerline is valid? [True, True] Translation: X:238.85, Y:121.04, Z:138.52 [[ 9.48214858e-01 -3.17200938e-01 -1.64968918e-02 2.38852364e+02] [ 3.16997006e-01 9.48325437e-01 -1.38478786e-02 1.21039636e+02] [ 2.00369822e-02 7.90129898e-03 9.99768018e-01 1.38523756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.846875 meters Centerline goodness : 0.994450 Centerline is valid? [True, True] Translation: X:238.86, Y:121.04, Z:138.52 [[ 9.49236102e-01 -3.14128666e-01 -1.65530493e-02 2.38855324e+02] [ 3.13542553e-01 9.49079641e-01 -3.06415025e-02 1.21039423e+02] [ 2.53355364e-02 2.38959351e-02 9.99393363e-01 1.38518946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.876875 meters Centerline goodness : 0.989747 Centerline is valid? [True, True] Translation: X:238.92, Y:121.03, Z:138.55 [[ 9.48796902e-01 -3.14108780e-01 -3.34680921e-02 2.38916406e+02] [ 3.14886506e-01 9.48893937e-01 2.11372958e-02 1.21032220e+02] [ 2.51182595e-02 -3.05936514e-02 9.99216244e-01 1.38550596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.906875 meters Centerline goodness : 0.992887 Centerline is valid? [True, True] Translation: X:238.90, Y:121.08, Z:138.50 [[ 9.47876809e-01 -3.18618869e-01 -3.40165968e-03 2.38903252e+02] [ 3.17570596e-01 9.45523270e-01 -7.16565527e-02 1.21077791e+02] [ 2.60474781e-02 6.68413175e-02 9.97423565e-01 1.38497580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.936875 meters Centerline goodness : 0.994278 Centerline is valid? [True, True] Translation: X:238.98, Y:121.01, Z:138.61 [[ 9.53991275e-01 -2.90454869e-01 -7.44084391e-02 2.38984375e+02] [ 2.95338492e-01 9.53105324e-01 6.60713031e-02 1.21007158e+02] [ 5.17283477e-02 -8.50071229e-02 9.95036666e-01 1.38609799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.966875 meters Centerline goodness : 0.990605 Centerline is valid? [True, True] Translation: X:238.96, Y:121.09, Z:138.51 [[ 9.48047810e-01 -3.18095132e-01 -4.56484896e-03 2.38964993e+02] [ 3.17018905e-01 9.45842771e-01 -6.98603402e-02 1.21094841e+02] [ 2.65398635e-02 6.47837991e-02 9.97546337e-01 1.38506836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.996875 meters Centerline goodness : 0.990479 Centerline is valid? [True, True] Translation: X:239.01, Y:121.06, Z:138.56 [[ 9.50501468e-01 -3.08336901e-01 -3.84098224e-02 2.39010886e+02] [ 3.09043267e-01 9.50946260e-01 1.39093615e-02 1.21061760e+02] [ 3.22369075e-02 -2.50911655e-02 9.99165259e-01 1.38561546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.026875 meters Centerline goodness : 0.993742 Centerline is valid? [True, True] Translation: X:239.06, Y:121.05, Z:138.59 [[ 9.56004422e-01 -2.86876112e-01 -6.12995995e-02 2.39062220e+02] [ 2.88538544e-01 9.57258131e-01 2.00594128e-02 1.21050162e+02] [ 5.29249737e-02 -3.68641846e-02 9.97917822e-01 1.38594761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.056875 meters Centerline goodness : 0.991547 Centerline is valid? [True, True] Translation: X:239.05, Y:121.10, Z:138.54 [[ 9.53903806e-01 -2.98591257e-01 -3.01793139e-02 2.39054816e+02] [ 2.96996915e-01 9.53668121e-01 -4.80619043e-02 1.21102586e+02] [ 4.31319140e-02 3.68832703e-02 9.98388332e-01 1.38542901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.086875 meters Centerline goodness : 0.993265 Centerline is valid? [True, True] Translation: X:239.11, Y:121.07, Z:138.59 [[ 9.57537920e-01 -2.81365559e-01 -6.28852475e-02 2.39114237e+02] [ 2.82852043e-01 9.59030852e-01 1.59545398e-02 1.21071876e+02] [ 5.58198345e-02 -3.30642976e-02 9.97893230e-01 1.38594262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.116875 meters Centerline goodness : 0.994070 Centerline is valid? [True, True] Translation: X:239.14, Y:121.10, Z:138.58 [[ 9.58164549e-01 -2.81354149e-01 -5.25408370e-02 2.39136833e+02] [ 2.80874228e-01 9.59603470e-01 -1.64574839e-02 1.21095044e+02] [ 5.50487509e-02 1.01161064e-03 9.98483155e-01 1.38578021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.146875 meters Centerline goodness : 0.989650 Centerline is valid? [True, True] Translation: X:239.12, Y:121.15, Z:138.52 [[ 9.53539903e-01 -3.01111174e-01 -9.68058495e-03 2.39124528e+02] [ 2.99541438e-01 9.51023541e-01 -7.63488799e-02 1.21153058e+02] [ 3.21959651e-02 6.99019672e-02 9.97034169e-01 1.38515819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.176875 meters Centerline goodness : 0.990441 Centerline is valid? [True, True] Translation: X:239.17, Y:121.11, Z:138.58 [[ 9.57768165e-01 -2.82896249e-01 -5.14767369e-02 2.39171823e+02] [ 2.84329825e-01 9.58452736e-01 2.29107480e-02 1.21108362e+02] [ 4.28566547e-02 -3.65795567e-02 9.98411360e-01 1.38583458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.206875 meters Centerline goodness : 0.991029 Centerline is valid? [True, True] Translation: X:239.19, Y:121.14, Z:138.56 [[ 9.58261059e-01 -2.83433088e-01 -3.74356408e-02 2.39193132e+02] [ 2.82883256e-01 9.58958975e-01 -1.93584121e-02 1.21135727e+02] [ 4.13860583e-02 7.96049653e-03 9.99111518e-01 1.38562185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.236875 meters Centerline goodness : 0.992012 Centerline is valid? [True, True] Translation: X:239.22, Y:121.14, Z:138.58 [[ 9.60922374e-01 -2.71253665e-01 -5.52235435e-02 2.39222671e+02] [ 2.71357898e-01 9.62461365e-01 -5.74566855e-03 1.21136611e+02] [ 5.47090606e-02 -9.46420322e-03 9.98457484e-01 1.38578893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.266875 meters Centerline goodness : 0.989757 Centerline is valid? [True, True] Translation: X:239.24, Y:121.17, Z:138.54 [[ 9.59370248e-01 -2.81214156e-01 -2.29635691e-02 2.39241151e+02] [ 2.79943795e-01 9.58868623e-01 -4.69301063e-02 1.21173751e+02] [ 3.52164562e-02 3.85948390e-02 9.98634187e-01 1.38543647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.296875 meters Centerline goodness : 0.993474 Centerline is valid? [True, True] Translation: X:239.31, Y:121.13, Z:138.62 [[ 9.64120843e-01 -2.55486581e-01 -7.20944326e-02 2.39305418e+02] [ 2.58365851e-01 9.65456698e-01 3.37705778e-02 1.21128100e+02] [ 6.09761234e-02 -5.11856573e-02 9.96825933e-01 1.38615277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.326875 meters Centerline goodness : 0.989500 Centerline is valid? [True, True] Translation: X:239.31, Y:121.17, Z:138.57 [[ 9.61299796e-01 -2.72890188e-01 -3.78635402e-02 2.39308328e+02] [ 2.72221886e-01 9.61985111e-01 -2.19064282e-02 1.21174230e+02] [ 4.24022113e-02 1.07513606e-02 9.99042772e-01 1.38573233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3568750000001 meters Centerline goodness : 0.990573 Centerline is valid? [True, True] Translation: X:239.33, Y:121.18, Z:138.58 [[ 9.61834831e-01 -2.71321288e-01 -3.54755646e-02 2.39330926e+02] [ 2.70947113e-01 9.62476534e-01 -1.50526792e-02 1.21178210e+02] [ 3.82285108e-02 4.86618939e-03 9.99257175e-01 1.38575072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.386875 meters Centerline goodness : 0.991380 Centerline is valid? [True, True] Translation: X:239.34, Y:121.21, Z:138.54 [[ 9.61343522e-01 -2.74781332e-01 -1.77158562e-02 2.39341739e+02] [ 2.73062383e-01 9.59654596e-01 -6.70819785e-02 1.21212755e+02] [ 3.54339782e-02 5.96512916e-02 9.97590175e-01 1.38539619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.416875 meters Centerline goodness : 0.992967 Centerline is valid? [True, True] Translation: X:239.39, Y:121.18, Z:138.59 [[ 9.62618303e-01 -2.66359145e-01 -4.91813776e-02 2.39387419e+02] [ 2.67217762e-01 9.63565430e-01 1.16760640e-02 1.21181028e+02] [ 4.42794488e-02 -2.43817306e-02 9.98721614e-01 1.38589033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.446875 meters Centerline goodness : 0.991718 Centerline is valid? [True, True] Translation: X:239.41, Y:121.20, Z:138.57 [[ 9.62590172e-01 -2.68107855e-01 -3.92216695e-02 2.39408711e+02] [ 2.67475163e-01 9.63342952e-01 -2.06735089e-02 1.21204672e+02] [ 4.33266490e-02 9.40929401e-03 9.99016650e-01 1.38572365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4768750000001 meters Centerline goodness : 0.993590 Centerline is valid? [True, True] Translation: X:239.47, Y:121.18, Z:138.62 [[ 9.65671799e-01 -2.51352420e-01 -6.55739033e-02 2.39470438e+02] [ 2.53206985e-01 9.67171819e-01 2.15614439e-02 1.21180292e+02] [ 5.80017102e-02 -3.74250487e-02 9.97614739e-01 1.38617910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.506875 meters Centerline goodness : 0.991450 Centerline is valid? [True, True] Translation: X:239.46, Y:121.23, Z:138.57 [[ 9.63139396e-01 -2.66799654e-01 -3.43576594e-02 2.39463607e+02] [ 2.65227533e-01 9.63167959e-01 -4.42926514e-02 1.21229871e+02] [ 4.49094607e-02 3.35474003e-02 9.98427620e-01 1.38567269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.536875 meters Centerline goodness : 0.990701 Centerline is valid? [True, True] Translation: X:239.51, Y:121.21, Z:138.60 [[ 9.63703814e-01 -2.62179328e-01 -5.03682309e-02 2.39505072e+02] [ 2.62941931e-01 9.64769261e-01 9.04507609e-03 1.21213043e+02] [ 4.62222890e-02 -2.19606942e-02 9.98689756e-01 1.38599715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.566875 meters Centerline goodness : 0.991423 Centerline is valid? [True, True] Translation: X:239.53, Y:121.23, Z:138.59 [[ 9.63701495e-01 -2.63218934e-01 -4.46678976e-02 2.39528229e+02] [ 2.62779384e-01 9.64730666e-01 -1.55479059e-02 1.21231400e+02] [ 4.71849939e-02 3.24573756e-03 9.98880895e-01 1.38587221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.596875 meters Centerline goodness : 0.990756 Centerline is valid? [True, True] Translation: X:239.55, Y:121.25, Z:138.58 [[ 9.63093260e-01 -2.66106045e-01 -4.04838795e-02 2.39553598e+02] [ 2.65025360e-01 9.63769777e-01 -3.01558547e-02 1.21248259e+02] [ 4.70417947e-02 1.83136457e-02 9.98725027e-01 1.38575696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.626875 meters Centerline goodness : 0.993756 Centerline is valid? [True, True] Translation: X:239.61, Y:121.23, Z:138.61 [[ 9.66127540e-01 -2.49316762e-01 -6.66237803e-02 2.39606405e+02] [ 2.49871328e-01 9.68279050e-01 -9.40499383e-06 1.21225395e+02] [ 6.45127555e-02 -1.66382860e-02 9.97778168e-01 1.38609210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.656875 meters Centerline goodness : 0.991656 Centerline is valid? [True, True] Translation: X:239.60, Y:121.26, Z:138.57 [[ 9.62662833e-01 -2.68271343e-01 -3.62043723e-02 2.39602567e+02] [ 2.66794261e-01 9.62884502e-01 -4.09176889e-02 1.21264784e+02] [ 4.58376724e-02 2.97308196e-02 9.98506378e-01 1.38571130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.686875 meters Centerline goodness : 0.991656 Centerline is valid? [True, True] Translation: X:239.63, Y:121.26, Z:138.58 [[ 9.62877502e-01 -2.66405150e-01 -4.35340431e-02 2.39632190e+02] [ 2.65851464e-01 9.63843037e-01 -1.81548764e-02 1.21262033e+02] [ 4.67965368e-02 5.90733292e-03 9.98886974e-01 1.38583717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.716875 meters Centerline goodness : 0.993437 Centerline is valid? [True, True] Translation: X:239.69, Y:121.24, Z:138.62 [[ 9.65668952e-01 -2.50656357e-01 -6.82265751e-02 2.39688291e+02] [ 2.51767055e-01 9.67754306e-01 8.05930856e-03 1.21241304e+02] [ 6.40064450e-02 -2.49598279e-02 9.97637300e-01 1.38620137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.746875 meters Centerline goodness : 0.991191 Centerline is valid? [True, True] Translation: X:239.69, Y:121.28, Z:138.59 [[ 9.61672628e-01 -2.70949204e-01 -4.20985286e-02 2.39690493e+02] [ 2.69983382e-01 9.62479197e-01 -2.72537716e-02 1.21275491e+02] [ 4.79033457e-02 1.48433030e-02 9.98741681e-01 1.38588727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.776875 meters Centerline goodness : 0.992001 Centerline is valid? [True, True] Translation: X:239.72, Y:121.28, Z:138.59 [[ 9.61498007e-01 -2.71536670e-01 -4.23015317e-02 2.39715776e+02] [ 2.70870214e-01 9.62389584e-01 -2.08714014e-02 1.21279391e+02] [ 4.63779043e-02 8.60958595e-03 9.98886863e-01 1.38593315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.806875 meters Centerline goodness : 0.990772 Centerline is valid? [True, True] Translation: X:239.75, Y:121.28, Z:138.61 [[ 9.61589792e-01 -2.69504879e-01 -5.20787055e-02 2.39753705e+02] [ 2.69806351e-01 9.62913746e-01 -1.28498308e-03 1.21275315e+02] [ 5.04936106e-02 -1.28155389e-02 9.98642157e-01 1.38612554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.836875 meters Centerline goodness : 0.990730 Centerline is valid? [True, True] Translation: X:239.78, Y:121.29, Z:138.60 [[ 9.61310020e-01 -2.72261942e-01 -4.19103968e-02 2.39775985e+02] [ 2.71480441e-01 9.62158534e-01 -2.34376948e-02 1.21292817e+02] [ 4.67056382e-02 1.11530379e-02 9.98846431e-01 1.38601290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.866875 meters Centerline goodness : 0.990530 Centerline is valid? [True, True] Translation: X:239.79, Y:121.32, Z:138.57 [[ 9.60067637e-01 -2.78883900e-01 -2.22239213e-02 2.39790688e+02] [ 2.77377988e-01 9.59219118e-01 -5.44071196e-02 1.21319087e+02] [ 3.64908799e-02 4.60700882e-02 9.98271487e-01 1.38574238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.896875 meters Centerline goodness : 0.991090 Centerline is valid? [True, True] Translation: X:239.84, Y:121.28, Z:138.64 [[ 9.61490432e-01 -2.68333962e-01 -5.94393339e-02 2.39841261e+02] [ 2.70540111e-01 9.62153401e-01 3.26937507e-02 1.21282320e+02] [ 4.84169137e-02 -4.75154525e-02 9.97696389e-01 1.38636965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.926875 meters Centerline goodness : 0.985377 Centerline is valid? [True, True] Translation: X:239.88, Y:121.31, Z:138.61 [[ 9.61978739e-01 -2.69733557e-01 -4.29035524e-02 2.39882459e+02] [ 2.69218052e-01 9.62920603e-01 -1.74800742e-02 1.21312218e+02] [ 4.60276772e-02 5.26504888e-03 9.98926290e-01 1.38611899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.956875 meters Centerline goodness : 0.985856 Centerline is valid? [True, True] Translation: X:239.91, Y:121.32, Z:138.62 [[ 9.61113404e-01 -2.72352742e-01 -4.56618988e-02 2.39912453e+02] [ 2.72185233e-01 9.62193258e-01 -9.96665453e-03 1.21316294e+02] [ 4.66500168e-02 -2.84940929e-03 9.98907231e-01 1.38618145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.986875 meters Centerline goodness : 0.991826 Centerline is valid? [True, True] Translation: X:239.92, Y:121.32, Z:138.62 [[ 9.60672140e-01 -2.73856824e-01 -4.59508452e-02 2.39918988e+02] [ 2.73493432e-01 9.61769934e-01 -1.41398789e-02 1.21319759e+02] [ 4.80664436e-02 1.01653335e-03 9.98843623e-01 1.38616315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.016875 meters Centerline goodness : 0.991884 Centerline is valid? [True, True] Translation: X:239.94, Y:121.33, Z:138.61 [[ 9.60380734e-01 -2.75494378e-01 -4.20914893e-02 2.39943382e+02] [ 2.74744729e-01 9.61247394e-01 -2.27767801e-02 1.21333918e+02] [ 4.67352093e-02 1.03099660e-02 9.98854106e-01 1.38610031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.046875 meters Centerline goodness : 0.992642 Centerline is valid? [True, True] Translation: X:240.00, Y:121.32, Z:138.64 [[ 9.63936924e-01 -2.60007931e-01 -5.67580970e-02 2.40000424e+02] [ 2.60517899e-01 9.65467610e-01 1.64886674e-03 1.21319865e+02] [ 5.43693858e-02 -1.63759037e-02 9.98386598e-01 1.38635608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.076875 meters Centerline goodness : 0.992618 Centerline is valid? [True, True] Translation: X:240.03, Y:121.33, Z:138.63 [[ 9.63728672e-01 -2.61949341e-01 -5.10841455e-02 2.40025530e+02] [ 2.61630557e-01 9.65081219e-01 -1.29496310e-02 1.21333647e+02] [ 5.26924968e-02 -8.85242725e-04 9.98610393e-01 1.38630114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1068750000001 meters Centerline goodness : 0.992291 Centerline is valid? [True, True] Translation: X:240.02, Y:121.36, Z:138.61 [[ 9.60312639e-01 -2.76110551e-01 -3.95297379e-02 2.40022378e+02] [ 2.75062523e-01 9.60958962e-01 -2.99746707e-02 1.21358290e+02] [ 4.62627788e-02 1.79119057e-02 9.98768701e-01 1.38613675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.136875 meters Centerline goodness : 0.986945 Centerline is valid? [True, True] Translation: X:240.07, Y:121.37, Z:138.62 [[ 9.59964257e-01 -2.76354609e-01 -4.57903380e-02 2.40072958e+02] [ 2.75905295e-01 9.61051916e-01 -1.59838382e-02 1.21366757e+02] [ 4.84240994e-02 2.71011671e-03 9.98823188e-01 1.38621793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.166875 meters Centerline goodness : 0.989099 Centerline is valid? [True, True] Translation: X:240.11, Y:121.37, Z:138.63 [[ 9.58847346e-01 -2.79152966e-01 -5.18207451e-02 2.40105668e+02] [ 2.79260721e-01 9.60200706e-01 -5.29659438e-03 1.21372915e+02] [ 5.12368760e-02 -9.39287318e-03 9.98642357e-01 1.38628650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.196875 meters Centerline goodness : 0.989778 Centerline is valid? [True, True] Translation: X:240.13, Y:121.39, Z:138.62 [[ 9.57967143e-01 -2.82494574e-01 -4.99576688e-02 2.40127342e+02] [ 2.81962290e-01 9.59265033e-01 -1.75460117e-02 1.21388734e+02] [ 5.28792980e-02 2.72232403e-03 9.98597200e-01 1.38623732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.2268750000001 meters Centerline goodness : 0.992734 Centerline is valid? [True, True] Translation: X:240.14, Y:121.40, Z:138.63 [[ 9.57621361e-01 -2.82633218e-01 -5.54958760e-02 2.40144680e+02] [ 2.82116200e-01 9.59227785e-01 -1.71028305e-02 1.21396517e+02] [ 5.80670143e-02 7.21750135e-04 9.98312427e-01 1.38630724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.256875 meters Centerline goodness : 0.990413 Centerline is valid? [True, True] Translation: X:240.14, Y:121.43, Z:138.60 [[ 9.52768608e-01 -3.01644041e-01 -3.52541200e-02 2.40141398e+02] [ 2.99958730e-01 9.52836352e-01 -4.61264087e-02 1.21432399e+02] [ 4.75051635e-02 3.33730131e-02 9.98313328e-01 1.38603587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.286875 meters Centerline goodness : 0.992875 Centerline is valid? [True, True] Translation: X:240.18, Y:121.41, Z:138.65 [[ 9.54581126e-01 -2.92198575e-01 -5.82654803e-02 2.40175756e+02] [ 2.93537007e-01 9.55818398e-01 1.57230782e-02 1.21407139e+02] [ 5.10969570e-02 -3.21120284e-02 9.98177298e-01 1.38647544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.316875 meters Centerline goodness : 0.992455 Centerline is valid? [True, True] Translation: X:240.20, Y:121.43, Z:138.63 [[ 9.53519657e-01 -2.98160806e-01 -4.35935600e-02 2.40201820e+02] [ 2.97508355e-01 9.54490221e-01 -2.09092493e-02 1.21430375e+02] [ 4.78439454e-02 6.96793187e-03 9.98830519e-01 1.38632011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.346875 meters Centerline goodness : 0.993052 Centerline is valid? [True, True] Translation: X:240.23, Y:121.43, Z:138.64 [[ 9.52943067e-01 -2.99817139e-01 -4.48240462e-02 2.40225653e+02] [ 2.99463917e-01 9.53996584e-01 -1.45560768e-02 1.21433804e+02] [ 4.71261482e-02 4.47927994e-04 9.98888845e-01 1.38637650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.376875 meters Centerline goodness : 0.993629 Centerline is valid? [True, True] Translation: X:240.25, Y:121.44, Z:138.63 [[ 9.51751695e-01 -3.04014380e-01 -4.17608418e-02 2.40250410e+02] [ 3.03459478e-01 9.52651015e-01 -1.91934647e-02 1.21444809e+02] [ 4.56185976e-02 5.59468935e-03 9.98943263e-01 1.38633510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.406875 meters Centerline goodness : 0.984801 Centerline is valid? [True, True] Translation: X:240.30, Y:121.47, Z:138.63 [[ 9.51329657e-01 -3.05877672e-01 -3.75597401e-02 2.40298181e+02] [ 3.05137594e-01 9.52000526e-01 -2.42084273e-02 1.21467005e+02] [ 4.31617097e-02 1.15693061e-02 9.99001110e-01 1.38628347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.436875 meters Centerline goodness : 0.993273 Centerline is valid? [True, True] Translation: X:240.32, Y:121.46, Z:138.66 [[ 9.50658457e-01 -3.05483241e-01 -5.41155026e-02 2.40321423e+02] [ 3.06784300e-01 9.51619433e-01 1.74312365e-02 1.21458419e+02] [ 4.61724133e-02 -3.31729389e-02 9.98382524e-01 1.38657087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.466875 meters Centerline goodness : 0.993612 Centerline is valid? [True, True] Translation: X:240.35, Y:121.48, Z:138.64 [[ 9.50645068e-01 -3.07078155e-01 -4.44630285e-02 2.40345418e+02] [ 3.06794627e-01 9.51683711e-01 -1.32352397e-02 1.21480445e+02] [ 4.63789930e-02 -1.05900284e-03 9.98923354e-01 1.38644010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.496875 meters Centerline goodness : 0.993006 Centerline is valid? [True, True] Translation: X:240.37, Y:121.49, Z:138.65 [[ 9.50647290e-01 -3.06991385e-01 -4.50113354e-02 2.40371632e+02] [ 3.06747144e-01 9.51710167e-01 -1.24075649e-02 1.21489821e+02] [ 4.66467611e-02 -2.01188064e-03 9.98909421e-01 1.38646723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.526875 meters Centerline goodness : 0.993252 Centerline is valid? [True, True] Translation: X:240.40, Y:121.50, Z:138.65 [[ 9.50733792e-01 -3.06690770e-01 -4.52330523e-02 2.40398843e+02] [ 3.06391759e-01 9.51808731e-01 -1.35731249e-02 1.21499927e+02] [ 4.72159663e-02 -9.54605942e-04 9.98884248e-01 1.38647130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.556875 meters Centerline goodness : 0.992765 Centerline is valid? [True, True] Translation: X:240.42, Y:121.51, Z:138.65 [[ 9.50660428e-01 -3.07017725e-01 -4.45518402e-02 2.40424673e+02] [ 3.06706228e-01 9.51703659e-01 -1.38359672e-02 1.21510273e+02] [ 4.66480366e-02 -5.11020412e-04 9.98911257e-01 1.38647109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.586875 meters Centerline goodness : 0.992873 Centerline is valid? [True, True] Translation: X:240.45, Y:121.54, Z:138.62 [[ 9.50590283e-01 -3.08046346e-01 -3.85429947e-02 2.40445814e+02] [ 3.06302156e-01 9.50861397e-01 -4.51839823e-02 1.21535517e+02] [ 5.05678065e-02 3.11456522e-02 9.98234865e-01 1.38623657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.616875 meters Centerline goodness : 0.993043 Centerline is valid? [True, True] Translation: X:240.45, Y:121.54, Z:138.63 [[ 9.46851255e-01 -3.19309567e-01 -3.89114535e-02 2.40451308e+02] [ 3.19243845e-01 9.47638345e-01 -8.05814905e-03 1.21537785e+02] [ 3.94470295e-02 -4.79237351e-03 9.99210171e-01 1.38634683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.646875 meters Centerline goodness : 0.992599 Centerline is valid? [True, True] Translation: X:240.50, Y:121.54, Z:138.64 [[ 9.51043402e-01 -3.05448345e-01 -4.70930560e-02 2.40501599e+02] [ 3.04734937e-01 9.52187100e-01 -2.18253380e-02 1.21543851e+02] [ 5.15079138e-02 6.40594418e-03 9.98652041e-01 1.38637859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.676875 meters Centerline goodness : 0.991744 Centerline is valid? [True, True] Translation: X:240.51, Y:121.55, Z:138.65 [[ 9.48833630e-01 -3.12458740e-01 -4.56538982e-02 2.40511445e+02] [ 3.12836816e-01 9.49806129e-01 1.20178455e-03 1.21551354e+02] [ 4.29868442e-02 -1.54225138e-02 9.98956594e-01 1.38646350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.706875 meters Centerline goodness : 0.983933 Centerline is valid? [True, True] Translation: X:240.56, Y:121.58, Z:138.63 [[ 9.49294622e-01 -3.12446263e-01 -3.48862826e-02 2.40555057e+02] [ 3.11678465e-01 9.49838327e-01 -2.57621159e-02 1.21581516e+02] [ 4.11856051e-02 1.35825351e-02 9.99059188e-01 1.38632102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.736875 meters Centerline goodness : 0.991904 Centerline is valid? [True, True] Translation: X:240.57, Y:121.57, Z:138.65 [[ 9.49533465e-01 -3.10359053e-01 -4.54252980e-02 2.40566120e+02] [ 3.10673528e-01 9.50516669e-01 -1.44004684e-04 1.21573037e+02] [ 4.32221961e-02 -1.39757003e-02 9.98967728e-01 1.38649893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.766875 meters Centerline goodness : 0.992977 Centerline is valid? [True, True] Translation: X:240.60, Y:121.59, Z:138.64 [[ 9.53364371e-01 -2.98829292e-01 -4.23961113e-02 2.40604705e+02] [ 2.97613519e-01 9.54125995e-01 -3.27074902e-02 1.21589644e+02] [ 5.02251880e-02 1.85644999e-02 9.98565366e-01 1.38640443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.796875 meters Centerline goodness : 0.990023 Centerline is valid? [True, True] Translation: X:240.62, Y:121.59, Z:138.66 [[ 9.51417457e-01 -3.03863412e-01 -4.97177024e-02 2.40623507e+02] [ 3.04541041e-01 9.52477097e-01 6.49108955e-03 1.21588575e+02] [ 4.53825683e-02 -2.13168167e-02 9.98742217e-01 1.38663317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.826875 meters Centerline goodness : 0.992143 Centerline is valid? [True, True] Translation: X:240.65, Y:121.60, Z:138.65 [[ 9.52246157e-01 -3.02435943e-01 -4.19494601e-02 2.40647045e+02] [ 3.02321856e-01 9.53161605e-01 -9.18969134e-03 1.21604437e+02] [ 4.27639076e-02 -3.93139038e-03 9.99077471e-01 1.38654107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8568750000001 meters Centerline goodness : 0.992082 Centerline is valid? [True, True] Translation: X:240.67, Y:121.62, Z:138.65 [[ 9.53634703e-01 -2.97527204e-01 -4.53697665e-02 2.40673428e+02] [ 2.97390055e-01 9.54704743e-01 -9.89990592e-03 1.21615141e+02] [ 4.62602226e-02 -4.05162350e-03 9.98921206e-01 1.38654410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.886875 meters Centerline goodness : 0.988361 Centerline is valid? [True, True] Translation: X:240.71, Y:121.64, Z:138.64 [[ 9.54683697e-01 -2.94934207e-01 -3.99105486e-02 2.40707701e+02] [ 2.93015711e-01 9.54920087e-01 -4.76384350e-02 1.21644639e+02] [ 5.21615886e-02 3.37852195e-02 9.98066996e-01 1.38637253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.916875 meters Centerline goodness : 0.991943 Centerline is valid? [True, True] Translation: X:240.73, Y:121.63, Z:138.67 [[ 9.55307954e-01 -2.90966454e-01 -5.22037971e-02 2.40731116e+02] [ 2.91820442e-01 9.56427024e-01 9.39030585e-03 1.21625535e+02] [ 4.71968583e-02 -2.42047690e-02 9.98592302e-01 1.38665041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.946875 meters Centerline goodness : 0.992060 Centerline is valid? [True, True] Translation: X:240.76, Y:121.64, Z:138.66 [[ 9.56782090e-01 -2.86839928e-01 -4.78632200e-02 2.40757481e+02] [ 2.86616859e-01 9.57974964e-01 -1.16079384e-02 1.21642077e+02] [ 4.91813867e-02 -2.61213818e-03 9.98786448e-01 1.38658631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9768750000001 meters Centerline goodness : 0.990613 Centerline is valid? [True, True] Translation: X:240.78, Y:121.65, Z:138.66 [[ 9.57478328e-01 -2.85359571e-01 -4.24872567e-02 2.40782503e+02] [ 2.85026173e-01 9.58419855e-01 -1.38369916e-02 1.21651959e+02] [ 4.46691484e-02 1.13863944e-03 9.99001187e-01 1.38657030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.006875 meters Centerline goodness : 0.992063 Centerline is valid? [True, True] Translation: X:240.82, Y:121.67, Z:138.64 [[ 9.60021038e-01 -2.77086301e-01 -3.97842804e-02 2.40817052e+02] [ 2.75346870e-01 9.60331315e-01 -4.41346346e-02 1.21668710e+02] [ 5.04351930e-02 3.14157006e-02 9.98233112e-01 1.38644239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.036875 meters Centerline goodness : 0.990722 Centerline is valid? [True, True] Translation: X:240.84, Y:121.66, Z:138.68 [[ 9.58781610e-01 -2.79052709e-01 -5.35482083e-02 2.40842560e+02] [ 2.80202581e-01 9.59820985e-01 1.51720405e-02 1.21656966e+02] [ 4.71628950e-02 -2.95510196e-02 9.98449998e-01 1.38678279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.066875 meters Centerline goodness : 0.991675 Centerline is valid? [True, True] Translation: X:240.87, Y:121.68, Z:138.66 [[ 9.59584419e-01 -2.78346360e-01 -4.14854936e-02 2.40866639e+02] [ 2.77726001e-01 9.60448980e-01 -2.01500435e-02 1.21682836e+02] [ 4.54533913e-02 7.81406758e-03 9.98935899e-01 1.38660410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.096875 meters Centerline goodness : 0.990195 Centerline is valid? [True, True] Translation: X:240.89, Y:121.69, Z:138.66 [[ 9.59622505e-01 -2.78450878e-01 -3.98717541e-02 2.40891649e+02] [ 2.77789873e-01 9.60404185e-01 -2.13678973e-02 1.21693461e+02] [ 4.42429093e-02 9.42914565e-03 9.98976304e-01 1.38657770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.126875 meters Centerline goodness : 0.990283 Centerline is valid? [True, True] Translation: X:240.92, Y:121.70, Z:138.66 [[ 9.59614025e-01 -2.78193600e-01 -4.18239557e-02 2.40919299e+02] [ 2.77894172e-01 9.60524705e-01 -1.29275223e-02 1.21698086e+02] [ 4.37692967e-02 7.82798174e-04 9.99041358e-01 1.38662832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.156875 meters Centerline goodness : 0.989815 Centerline is valid? [True, True] Translation: X:240.95, Y:121.71, Z:138.66 [[ 9.59291058e-01 -2.79793477e-01 -3.84223515e-02 2.40946328e+02] [ 2.79412051e-01 9.60052996e-01 -1.50715408e-02 1.21705826e+02] [ 4.11044125e-02 3.72232626e-03 9.99147923e-01 1.38662293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.186875 meters Centerline goodness : 0.990126 Centerline is valid? [True, True] Translation: X:240.97, Y:121.71, Z:138.66 [[ 9.59090213e-01 -2.80602903e-01 -3.75229877e-02 2.40972967e+02] [ 2.80199541e-01 9.59813120e-01 -1.57159965e-02 1.21713671e+02] [ 4.04250101e-02 4.55913448e-03 9.99172174e-01 1.38661963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.216875 meters Centerline goodness : 0.990715 Centerline is valid? [True, True] Translation: X:241.00, Y:121.72, Z:138.66 [[ 9.58078878e-01 -2.83972955e-01 -3.80029411e-02 2.41002254e+02] [ 2.83500912e-01 9.58814187e-01 -1.73950316e-02 1.21723027e+02] [ 4.13774776e-02 5.89194393e-03 9.99126213e-01 1.38661509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.246875 meters Centerline goodness : 0.990133 Centerline is valid? [True, True] Translation: X:241.03, Y:121.73, Z:138.66 [[ 9.57063746e-01 -2.87579440e-01 -3.64287238e-02 2.41028758e+02] [ 2.87129807e-01 9.57738351e-01 -1.71383903e-02 1.21728344e+02] [ 3.98178345e-02 5.94275956e-03 9.99189283e-01 1.38662218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.276875 meters Centerline goodness : 0.990038 Centerline is valid? [True, True] Translation: X:241.05, Y:121.73, Z:138.67 [[ 9.56668287e-01 -2.88902951e-01 -3.63438105e-02 2.41053755e+02] [ 2.88545847e-01 9.57351241e-01 -1.48288539e-02 1.21733694e+02] [ 3.90778918e-02 3.69943864e-03 9.99229319e-01 1.38665495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.306875 meters Centerline goodness : 0.991110 Centerline is valid? [True, True] Translation: X:241.08, Y:121.74, Z:138.67 [[ 9.56859529e-01 -2.88027748e-01 -3.82080847e-02 2.41077969e+02] [ 2.87839923e-01 9.57621541e-01 -1.04481303e-02 1.21737851e+02] [ 3.95982364e-02 -1.00041916e-03 9.99215181e-01 1.38669728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.336875 meters Centerline goodness : 0.991144 Centerline is valid? [True, True] Translation: X:241.10, Y:121.75, Z:138.67 [[ 9.56245189e-01 -2.90382095e-01 -3.56844084e-02 2.41103944e+02] [ 2.90180473e-01 9.56910779e-01 -1.08191511e-02 1.21747455e+02] [ 3.72884828e-02 -9.15733819e-06 9.99304543e-01 1.38667736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.366875 meters Centerline goodness : 0.990921 Centerline is valid? [True, True] Translation: X:241.13, Y:121.76, Z:138.66 [[ 9.55309414e-01 -2.93573599e-01 -3.46188496e-02 2.41128321e+02] [ 2.93159954e-01 9.55919492e-01 -1.65881386e-02 1.21759412e+02] [ 3.79626727e-02 5.69794459e-03 9.99262913e-01 1.38663336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.396875 meters Centerline goodness : 0.990409 Centerline is valid? [True, True] Translation: X:241.16, Y:121.77, Z:138.66 [[ 9.55542877e-01 -2.92960441e-01 -3.33465074e-02 2.41156193e+02] [ 2.92630457e-01 9.56115828e-01 -1.44892482e-02 1.21766690e+02] [ 3.61279001e-02 4.08689419e-03 9.99338817e-01 1.38663869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.426875 meters Centerline goodness : 0.989906 Centerline is valid? [True, True] Translation: X:241.19, Y:121.77, Z:138.67 [[ 9.54181571e-01 -2.97156798e-01 -3.51477914e-02 2.41189500e+02] [ 2.96652507e-01 9.54798353e-01 -1.89049225e-02 1.21772369e+02] [ 3.91767796e-02 7.61204819e-03 9.99203301e-01 1.38665032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.456875 meters Centerline goodness : 0.989497 Centerline is valid? [True, True] Translation: X:241.22, Y:121.77, Z:138.67 [[ 9.53709152e-01 -2.98474418e-01 -3.67678475e-02 2.41218333e+02] [ 2.98278741e-01 9.54417418e-01 -1.08251781e-02 1.21774917e+02] [ 3.83229128e-02 -6.42995832e-04 9.99265200e-01 1.38672300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.486875 meters Centerline goodness : 0.990808 Centerline is valid? [True, True] Translation: X:241.24, Y:121.78, Z:138.67 [[ 9.53555629e-01 -2.99477375e-01 -3.23259014e-02 2.41240124e+02] [ 2.99133089e-01 9.54091583e-01 -1.51210493e-02 1.21782973e+02] [ 3.53702826e-02 4.74901499e-03 9.99362992e-01 1.38669801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.516875 meters Centerline goodness : 0.989866 Centerline is valid? [True, True] Translation: X:241.27, Y:121.79, Z:138.67 [[ 9.52211990e-01 -3.03809013e-01 -3.15025494e-02 2.41271021e+02] [ 3.03493812e-01 9.52723654e-01 -1.44618885e-02 1.21792455e+02] [ 3.44068760e-02 4.20995485e-03 9.99399041e-01 1.38670496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.546875 meters Centerline goodness : 0.989815 Centerline is valid? [True, True] Translation: X:241.30, Y:121.79, Z:138.68 [[ 9.52836790e-01 -3.01364303e-01 -3.57995572e-02 2.41298778e+02] [ 3.01434298e-01 9.53480325e-01 -3.55435947e-03 1.21794152e+02] [ 3.52053305e-02 -7.40448993e-03 9.99352670e-01 1.38679941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.576875 meters Centerline goodness : 0.990296 Centerline is valid? [True, True] Translation: X:241.33, Y:121.80, Z:138.68 [[ 9.52340735e-01 -3.03048036e-01 -3.47708513e-02 2.41325962e+02] [ 3.02837823e-01 9.52975257e-01 -1.12877513e-02 1.21804492e+02] [ 3.65564918e-02 2.19856497e-04 9.99331564e-01 1.38676328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6068750000001 meters Centerline goodness : 0.990636 Centerline is valid? [True, True] Translation: X:241.35, Y:121.81, Z:138.68 [[ 9.52545361e-01 -3.02426476e-01 -3.45768932e-02 2.41350359e+02] [ 3.02368247e-01 9.53165292e-01 -7.02636593e-03 1.21809954e+02] [ 3.50824536e-02 -3.76202230e-03 9.99377340e-01 1.38679548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.636875 meters Centerline goodness : 0.990636 Centerline is valid? [True, True] Translation: X:241.38, Y:121.82, Z:138.68 [[ 9.52583949e-01 -3.02465241e-01 -3.31451074e-02 2.41376953e+02] [ 3.02253657e-01 9.53160094e-01 -1.13384953e-02 1.21820226e+02] [ 3.50220944e-02 7.82638732e-04 9.99386232e-01 1.38678572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.666875 meters Centerline goodness : 0.990861 Centerline is valid? [True, True] Translation: X:241.41, Y:121.83, Z:138.68 [[ 9.52167142e-01 -3.03442782e-01 -3.60584557e-02 2.41407808e+02] [ 3.03177699e-01 9.52848911e-01 -1.27371446e-02 1.21827958e+02] [ 3.82232549e-02 1.19577094e-03 9.99268509e-01 1.38680088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.696875 meters Centerline goodness : 0.991954 Centerline is valid? [True, True] Translation: X:241.44, Y:121.83, Z:138.68 [[ 9.51839479e-01 -3.04509073e-01 -3.57187666e-02 2.41435025e+02] [ 3.04323278e-01 9.52509161e-01 -1.06602503e-02 1.21833846e+02] [ 3.72685954e-02 -7.23205007e-04 9.99305023e-01 1.38684131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.7268750000001 meters Centerline goodness : 0.993435 Centerline is valid? [True, True] Translation: X:241.47, Y:121.83, Z:138.69 [[ 9.54620569e-01 -2.94289694e-01 -4.57508956e-02 2.41472459e+02] [ 2.93602886e-01 9.55691885e-01 -2.12218467e-02 1.21834785e+02] [ 4.99691304e-02 6.82621641e-03 9.98727435e-01 1.38690057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.756875 meters Centerline goodness : 0.993930 Centerline is valid? [True, True] Translation: X:241.50, Y:121.84, Z:138.69 [[ 9.53955356e-01 -2.95882086e-01 -4.92236645e-02 2.41500513e+02] [ 2.95469422e-01 9.55224403e-01 -1.56256329e-02 1.21839803e+02] [ 5.16429904e-02 3.62068483e-04 9.98665545e-01 1.38693789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.786875 meters Centerline goodness : 0.992453 Centerline is valid? [True, True] Translation: X:241.52, Y:121.85, Z:138.69 [[ 9.51063377e-01 -3.06519169e-01 -3.90442312e-02 2.41516465e+02] [ 3.06474503e-01 9.51851090e-01 -7.27198762e-03 1.21854414e+02] [ 3.93932977e-02 -5.04994025e-03 9.99211022e-01 1.38689269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.816875 meters Centerline goodness : 0.993017 Centerline is valid? [True, True] Translation: X:241.53, Y:121.87, Z:138.68 [[ 9.52209760e-01 -3.02979446e-01 -3.87301929e-02 2.41533558e+02] [ 3.01865748e-01 9.52810524e-01 -3.20807548e-02 1.21870335e+02] [ 4.66223447e-02 1.88562891e-02 9.98734598e-01 1.38676108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.846875 meters Centerline goodness : 0.991941 Centerline is valid? [True, True] Translation: X:241.57, Y:121.87, Z:138.69 [[ 9.51355331e-01 -3.05211654e-01 -4.20580624e-02 2.41570948e+02] [ 3.05399771e-01 9.52222054e-01 -2.03452963e-03 1.21867841e+02] [ 4.06695768e-02 -1.09089620e-02 9.99113097e-01 1.38692308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.876875 meters Centerline goodness : 0.992498 Centerline is valid? [True, True] Translation: X:241.59, Y:121.88, Z:138.68 [[ 9.51263050e-01 -3.06476770e-01 -3.42140273e-02 2.41594277e+02] [ 3.06126294e-01 9.51869874e-01 -1.51801146e-02 1.21882710e+02] [ 3.72196543e-02 3.96646874e-03 9.99299237e-01 1.38682409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.906875 meters Centerline goodness : 0.992045 Centerline is valid? [True, True] Translation: X:241.62, Y:121.89, Z:138.68 [[ 9.51165225e-01 -3.07180267e-01 -3.04137907e-02 2.41620426e+02] [ 3.06798249e-01 9.51629213e-01 -1.66335799e-02 1.21892496e+02] [ 3.40521592e-02 6.49038498e-03 9.99398982e-01 1.38681435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.936875 meters Centerline goodness : 0.994022 Centerline is valid? [True, True] Translation: X:241.66, Y:121.88, Z:138.70 [[ 9.54669399e-01 -2.93838104e-01 -4.75973363e-02 2.41664099e+02] [ 2.93854365e-01 9.55825919e-01 -6.81352666e-03 1.21884183e+02] [ 4.74968414e-02 -7.48201963e-03 9.98843366e-01 1.38703893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.966875 meters Centerline goodness : 0.993854 Centerline is valid? [True, True] Translation: X:241.69, Y:121.90, Z:138.70 [[ 9.54795076e-01 -2.93699592e-01 -4.59011123e-02 2.41689638e+02] [ 2.93339722e-01 9.55897680e-01 -1.45407434e-02 1.21895601e+02] [ 4.81473771e-02 4.18810729e-04 9.98840155e-01 1.38700857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.996875 meters Centerline goodness : 0.992098 Centerline is valid? [True, True] Translation: X:241.70, Y:121.92, Z:138.68 [[ 9.51478175e-01 -3.06513419e-01 -2.71809836e-02 2.41695380e+02] [ 3.06115401e-01 9.51826790e-01 -1.78639955e-02 1.21917571e+02] [ 3.13471427e-02 8.67668414e-03 9.99470896e-01 1.38680322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.026875 meters Centerline goodness : 0.991025 Centerline is valid? [True, True] Translation: X:241.73, Y:121.92, Z:138.69 [[ 9.52472143e-01 -3.02897117e-01 -3.24060634e-02 2.41731687e+02] [ 3.02748346e-01 9.53022972e-01 -9.52121255e-03 1.21921685e+02] [ 3.37676707e-02 -7.42192359e-04 9.99429434e-01 1.38688939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.056875 meters Centerline goodness : 0.991779 Centerline is valid? [True, True] Translation: X:241.75, Y:121.93, Z:138.69 [[ 9.54213452e-01 -2.97299248e-01 -3.30127994e-02 2.41754293e+02] [ 2.97287367e-01 9.54772885e-01 -5.38142327e-03 1.21927327e+02] [ 3.31196188e-02 -4.67926174e-03 9.99440441e-01 1.38693530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.086875 meters Centerline goodness : 0.991807 Centerline is valid? [True, True] Translation: X:241.78, Y:121.94, Z:138.69 [[ 9.54736144e-01 -2.95776867e-01 -3.15426821e-02 2.41784743e+02] [ 2.95391884e-01 9.55236374e-01 -1.63433632e-02 1.21940675e+02] [ 3.49647060e-02 6.28614725e-03 9.99368778e-01 1.38690039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.116875 meters Centerline goodness : 0.991920 Centerline is valid? [True, True] Translation: X:241.81, Y:121.95, Z:138.70 [[ 9.55170973e-01 -2.94275698e-01 -3.24071974e-02 2.41810576e+02] [ 2.94081355e-01 9.55720313e-01 -1.07163688e-02 1.21945838e+02] [ 3.41257838e-02 7.05611865e-04 9.99417297e-01 1.38695071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.146875 meters Centerline goodness : 0.991179 Centerline is valid? [True, True] Translation: X:241.84, Y:121.96, Z:138.70 [[ 9.55390660e-01 -2.93585551e-01 -3.21902308e-02 2.41837267e+02] [ 2.93388389e-01 9.55932410e-01 -1.07926206e-02 1.21955100e+02] [ 3.39402423e-02 8.66928970e-04 9.99423488e-01 1.38696383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.176875 meters Centerline goodness : 0.990460 Centerline is valid? [True, True] Translation: X:241.87, Y:121.96, Z:138.70 [[ 9.55587481e-01 -2.92670186e-01 -3.45937785e-02 2.41865792e+02] [ 2.92545639e-01 9.56211783e-01 -8.72207657e-03 1.21964494e+02] [ 3.56316704e-02 -1.78555188e-03 9.99363395e-01 1.38698454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.206875 meters Centerline goodness : 0.990101 Centerline is valid? [True, True] Translation: X:241.89, Y:121.98, Z:138.70 [[ 9.55433986e-01 -2.93038091e-01 -3.57012054e-02 2.41891147e+02] [ 2.92878476e-01 9.56100074e-01 -9.73891025e-03 1.21975008e+02] [ 3.69877968e-02 -1.15122881e-03 9.99315054e-01 1.38697238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.236875 meters Centerline goodness : 0.991393 Centerline is valid? [True, True] Translation: X:241.92, Y:121.98, Z:138.70 [[ 9.55950912e-01 -2.90864804e-01 -3.94400752e-02 2.41917077e+02] [ 2.90754982e-01 9.56758720e-01 -8.61932719e-03 1.21983077e+02] [ 4.02416947e-02 -3.22774466e-03 9.99184762e-01 1.38699424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.266875 meters Centerline goodness : 0.990695 Centerline is valid? [True, True] Translation: X:241.95, Y:122.00, Z:138.69 [[ 9.55691025e-01 -2.92432196e-01 -3.37353755e-02 2.41946375e+02] [ 2.91829613e-01 9.56224286e-01 -2.16931455e-02 1.21997890e+02] [ 3.86023595e-02 1.08869629e-02 9.99195342e-01 1.38690736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.296875 meters Centerline goodness : 0.990364 Centerline is valid? [True, True] Translation: X:241.97, Y:122.00, Z:138.70 [[ 9.55859459e-01 -2.91273829e-01 -3.86296579e-02 2.41974181e+02] [ 2.91078269e-01 9.56639200e-01 -1.07183523e-02 1.21999350e+02] [ 4.00766205e-02 -9.99015482e-04 9.99196110e-01 1.38698567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.326875 meters Centerline goodness : 0.991405 Centerline is valid? [True, True] Translation: X:242.00, Y:122.00, Z:138.70 [[ 9.56592082e-01 -2.89200602e-01 -3.59805537e-02 2.41998689e+02] [ 2.88963236e-01 9.57268149e-01 -1.17447136e-02 1.22004779e+02] [ 3.78396163e-02 8.37842776e-04 9.99283474e-01 1.38701840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3568750000001 meters Centerline goodness : 0.991417 Centerline is valid? [True, True] Translation: X:242.03, Y:122.01, Z:138.71 [[ 9.56921202e-01 -2.87788804e-01 -3.84631878e-02 2.42028742e+02] [ 2.87679816e-01 9.57689291e-01 -8.45848655e-03 1.22008177e+02] [ 3.92700407e-02 -2.97097765e-03 9.99224218e-01 1.38710568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.386875 meters Centerline goodness : 0.991806 Centerline is valid? [True, True] Translation: X:242.05, Y:122.02, Z:138.71 [[ 9.57034744e-01 -2.87961467e-01 -3.40982811e-02 2.42054563e+02] [ 2.87700266e-01 9.57639704e-01 -1.24400418e-02 1.22018860e+02] [ 3.62361205e-02 2.09546772e-03 9.99341059e-01 1.38708285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.416875 meters Centerline goodness : 0.992275 Centerline is valid? [True, True] Translation: X:242.08, Y:122.03, Z:138.71 [[ 9.56909477e-01 -2.88169560e-01 -3.58128232e-02 2.42082503e+02] [ 2.88028415e-01 9.57578132e-01 -9.15172133e-03 1.22027186e+02] [ 3.69308238e-02 -1.55774183e-03 9.99316610e-01 1.38710337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.446875 meters Centerline goodness : 0.992133 Centerline is valid? [True, True] Translation: X:242.10, Y:122.04, Z:138.70 [[ 9.56286367e-01 -2.91011177e-01 -2.87902707e-02 2.42103103e+02] [ 2.90535216e-01 9.56663170e-01 -1.96180582e-02 1.22044378e+02] [ 3.32516659e-02 1.03958941e-02 9.99392942e-01 1.38698453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4768750000001 meters Centerline goodness : 0.992734 Centerline is valid? [True, True] Translation: X:242.12, Y:122.06, Z:138.69 [[ 9.56138731e-01 -2.91033258e-01 -3.31416699e-02 2.42124414e+02] [ 2.90142028e-01 9.56537569e-01 -2.92144164e-02 1.22056780e+02] [ 4.02036192e-02 1.83172437e-02 9.99023597e-01 1.38691126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.506875 meters Centerline goodness : 0.992701 Centerline is valid? [True, True] Translation: X:242.16, Y:122.06, Z:138.70 [[ 9.56312897e-01 -2.89575424e-01 -4.01461921e-02 2.42156368e+02] [ 2.89249059e-01 9.57153822e-01 -1.38398719e-02 1.22056904e+02] [ 4.24337680e-02 1.62299968e-03 9.99097964e-01 1.38700873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.536875 meters Centerline goodness : 0.991593 Centerline is valid? [True, True] Translation: X:242.19, Y:122.05, Z:138.72 [[ 9.55887789e-01 -2.90761151e-01 -4.16711904e-02 2.42191131e+02] [ 2.91170175e-01 9.56663024e-01 3.97332947e-03 1.22054846e+02] [ 3.87099972e-02 -1.59314649e-02 9.99123478e-01 1.38715383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.566875 meters Centerline goodness : 0.990142 Centerline is valid? [True, True] Translation: X:242.22, Y:122.08, Z:138.70 [[ 9.54652463e-01 -2.96034072e-01 -3.16623199e-02 2.42219172e+02] [ 2.95357151e-01 9.55076042e-01 -2.43702309e-02 1.22076834e+02] [ 3.74543419e-02 1.39134083e-02 9.99201476e-01 1.38699790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.596875 meters Centerline goodness : 0.992944 Centerline is valid? [True, True] Translation: X:242.27, Y:122.06, Z:138.74 [[ 9.57021403e-01 -2.85044840e-01 -5.34740509e-02 2.42270046e+02] [ 2.86099639e-01 9.58110716e-01 1.30710564e-02 1.22059060e+02] [ 4.75082240e-02 -2.78081874e-02 9.98483687e-01 1.38735370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.626875 meters Centerline goodness : 0.990402 Centerline is valid? [True, True] Translation: X:242.27, Y:122.10, Z:138.70 [[ 9.54769586e-01 -2.95644278e-01 -3.17725912e-02 2.42272796e+02] [ 2.94572845e-01 9.55008847e-01 -3.44229831e-02 1.22098233e+02] [ 4.05200637e-02 2.35066748e-02 9.98902178e-01 1.38698024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.656875 meters Centerline goodness : 0.993002 Centerline is valid? [True, True] Translation: X:242.28, Y:122.12, Z:138.68 [[ 9.53964201e-01 -2.99130793e-01 -2.17502058e-02 2.42275695e+02] [ 2.97674342e-01 9.53185587e-01 -5.31716301e-02 1.22121537e+02] [ 3.66372545e-02 4.42493534e-02 9.98348489e-01 1.38677856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.686875 meters Centerline goodness : 0.992288 Centerline is valid? [True, True] Translation: X:242.32, Y:122.10, Z:138.72 [[ 9.54426091e-01 -2.95629139e-01 -4.09175905e-02 2.42318200e+02] [ 2.96336220e-01 9.55004277e-01 1.23156560e-02 1.22100411e+02] [ 3.54356072e-02 -2.38797475e-02 9.99086621e-01 1.38717620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.716875 meters Centerline goodness : 0.993338 Centerline is valid? [True, True] Translation: X:242.37, Y:122.10, Z:138.74 [[ 9.58367535e-01 -2.79786637e-01 -5.70184686e-02 2.42370249e+02] [ 2.80742932e-01 9.59737442e-01 9.35135946e-03 1.22095133e+02] [ 5.21063738e-02 -2.49695713e-02 9.98329328e-01 1.38738873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.746875 meters Centerline goodness : 0.992669 Centerline is valid? [True, True] Translation: X:242.38, Y:122.13, Z:138.71 [[ 9.56206537e-01 -2.89875558e-01 -4.05119790e-02 2.42376079e+02] [ 2.88963578e-01 9.56961347e-01 -2.69264179e-02 1.22126167e+02] [ 4.65737084e-02 1.40407304e-02 9.98816173e-01 1.38712277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.776875 meters Centerline goodness : 0.994041 Centerline is valid? [True, True] Translation: X:242.42, Y:122.12, Z:138.73 [[ 9.58127009e-01 -2.81538728e-01 -5.22358126e-02 2.42423472e+02] [ 2.81752774e-01 9.59481111e-01 -3.37218707e-03 1.22115407e+02] [ 5.10686768e-02 -1.14866016e-02 9.98629084e-01 1.38734340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.806875 meters Centerline goodness : 0.993303 Centerline is valid? [True, True] Translation: X:242.46, Y:122.13, Z:138.73 [[ 9.57363853e-01 -2.85048958e-01 -4.69206205e-02 2.42456120e+02] [ 2.85183742e-01 9.58464775e-01 -3.93810974e-03 1.22125686e+02] [ 4.60943160e-02 -9.61079423e-03 9.98890858e-01 1.38734569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.836875 meters Centerline goodness : 0.992240 Centerline is valid? [True, True] Translation: X:242.45, Y:122.15, Z:138.71 [[ 9.53274703e-01 -3.00785039e-01 -2.82081632e-02 2.42451323e+02] [ 3.00276771e-01 9.53623265e-01 -2.08932873e-02 1.22150845e+02] [ 3.31843489e-02 1.14467861e-02 9.99383695e-01 1.38712688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.866875 meters Centerline goodness : 0.993920 Centerline is valid? [True, True] Translation: X:242.50, Y:122.14, Z:138.73 [[ 9.57341287e-01 -2.85222421e-01 -4.63231116e-02 2.42504855e+02] [ 2.84851535e-01 9.58461068e-01 -1.45596976e-02 1.22143040e+02] [ 4.85516512e-02 7.43390203e-04 9.98820397e-01 1.38733263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.896875 meters Centerline goodness : 0.993949 Centerline is valid? [True, True] Translation: X:242.53, Y:122.15, Z:138.73 [[ 9.57457166e-01 -2.84830740e-01 -4.63381587e-02 2.42531958e+02] [ 2.84472289e-01 9.58577694e-01 -1.42940994e-02 1.22151823e+02] [ 4.84901243e-02 5.04065781e-04 9.98823535e-01 1.38734880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.926875 meters Centerline goodness : 0.994571 Centerline is valid? [True, True] Translation: X:242.56, Y:122.16, Z:138.74 [[ 9.57817564e-01 -2.83564356e-01 -4.66558667e-02 2.42558746e+02] [ 2.83198823e-01 9.58953030e-01 -1.44052921e-02 1.22160981e+02] [ 4.88256121e-02 5.84755215e-04 9.98807147e-01 1.38735995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.956875 meters Centerline goodness : 0.991918 Centerline is valid? [True, True] Translation: X:242.55, Y:122.19, Z:138.70 [[ 9.54206858e-01 -2.98362364e-01 -2.16603628e-02 2.42553704e+02] [ 2.97597339e-01 9.54132208e-01 -3.26734412e-02 1.22193233e+02] [ 3.04153749e-02 2.47311554e-02 9.99231342e-01 1.38704782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.986875 meters Centerline goodness : 0.992225 Centerline is valid? [True, True] Translation: X:242.58, Y:122.20, Z:138.71 [[ 9.54936700e-01 -2.95757084e-01 -2.49729163e-02 2.42582155e+02] [ 2.95389608e-01 9.55218590e-01 -1.73903614e-02 1.22195175e+02] [ 2.89979165e-02 9.22995438e-03 9.99536857e-01 1.38709524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.016875 meters Centerline goodness : 0.986229 Centerline is valid? [True, True] Translation: X:242.63, Y:122.21, Z:138.71 [[ 9.56150308e-01 -2.91564038e-01 -2.76947791e-02 2.42634954e+02] [ 2.91497282e-01 9.56549521e-01 -6.50756178e-03 1.22208370e+02] [ 2.83887987e-02 -1.85074562e-03 9.99595244e-01 1.38714534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.046875 meters Centerline goodness : 0.991538 Centerline is valid? [True, True] Translation: X:242.64, Y:122.21, Z:138.71 [[ 9.56595609e-01 -2.90461614e-01 -2.35985503e-02 2.42635379e+02] [ 2.89794316e-01 9.56677570e-01 -2.80585390e-02 1.22213875e+02] [ 3.07261322e-02 2.00019494e-02 9.99327687e-01 1.38708951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.076875 meters Centerline goodness : 0.992241 Centerline is valid? [True, True] Translation: X:242.67, Y:122.20, Z:138.73 [[ 9.57576566e-01 -2.85627472e-01 -3.82631375e-02 2.42670744e+02] [ 2.86032683e-01 9.58204337e-01 5.45463968e-03 1.22204043e+02] [ 3.51059094e-02 -1.61677430e-02 9.99252810e-01 1.38733898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1068750000001 meters Centerline goodness : 0.989996 Centerline is valid? [True, True] Translation: X:242.71, Y:122.21, Z:138.74 [[ 9.57226402e-01 -2.86468159e-01 -4.06645842e-02 2.42708805e+02] [ 2.86671767e-01 9.58028477e-01 -8.57521846e-04 1.22213760e+02] [ 3.92034824e-02 -1.08365456e-02 9.99172486e-01 1.38740397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.136875 meters Centerline goodness : 0.991787 Centerline is valid? [True, True] Translation: X:242.74, Y:122.21, Z:138.75 [[ 9.59113611e-01 -2.79317455e-01 -4.56381379e-02 2.42735835e+02] [ 2.79835227e-01 9.60033688e-01 5.25019192e-03 1.22213980e+02] [ 4.23476796e-02 -1.78066892e-02 9.98944241e-01 1.38751667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.166875 meters Centerline goodness : 0.992030 Centerline is valid? [True, True] Translation: X:242.76, Y:122.23, Z:138.75 [[ 9.59481258e-01 -2.78405821e-01 -4.34271112e-02 2.42764346e+02] [ 2.78230872e-01 9.60460659e-01 -1.01441535e-02 1.22226938e+02] [ 4.45342232e-02 -2.34963789e-03 9.99005096e-01 1.38747844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.196875 meters Centerline goodness : 0.991956 Centerline is valid? [True, True] Translation: X:242.78, Y:122.25, Z:138.73 [[ 9.58284480e-01 -2.83772623e-01 -3.41167535e-02 2.42782011e+02] [ 2.82960628e-01 9.58758432e-01 -2.67498050e-02 1.22246894e+02] [ 4.03005874e-02 1.59802250e-02 9.99059806e-01 1.38732383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.2268750000001 meters Centerline goodness : 0.993978 Centerline is valid? [True, True] Translation: X:242.84, Y:122.23, Z:138.76 [[ 9.62425836e-01 -2.65030156e-01 -5.91229754e-02 2.42835211e+02] [ 2.65240726e-01 9.64172180e-01 -4.40059537e-03 1.22233695e+02] [ 5.81710185e-02 -1.14465742e-02 9.98241007e-01 1.38761109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.256875 meters Centerline goodness : 0.994126 Centerline is valid? [True, True] Translation: X:242.86, Y:122.25, Z:138.75 [[ 9.62669594e-01 -2.65031233e-01 -5.50063415e-02 2.42860458e+02] [ 2.64523638e-01 9.64238977e-01 -1.64450448e-02 1.22248320e+02] [ 5.73977089e-02 1.28066704e-03 9.98350571e-01 1.38754885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.286875 meters Centerline goodness : 0.993600 Centerline is valid? [True, True] Translation: X:242.89, Y:122.26, Z:138.76 [[ 9.62649698e-01 -2.65185031e-01 -5.46118848e-02 2.42887496e+02] [ 2.64684124e-01 9.64196697e-01 -1.63414815e-02 1.22256715e+02] [ 5.69901153e-02 1.27622341e-03 9.98373927e-01 1.38756460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.316875 meters Centerline goodness : 0.989181 Centerline is valid? [True, True] Translation: X:242.90, Y:122.28, Z:138.74 [[ 9.59213053e-01 -2.80115345e-01 -3.80225342e-02 2.42903382e+02] [ 2.79255747e-01 9.59853643e-01 -2.64047806e-02 1.22280246e+02] [ 4.38924522e-02 1.47097990e-02 9.98927963e-01 1.38741281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.346875 meters Centerline goodness : 0.993152 Centerline is valid? [True, True] Translation: X:242.92, Y:122.28, Z:138.75 [[ 9.60345848e-01 -2.75248618e-01 -4.44302842e-02 2.42919408e+02] [ 2.74418019e-01 9.61312422e-01 -2.39411265e-02 1.22281528e+02] [ 4.93011461e-02 1.07992908e-02 9.98725574e-01 1.38745386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.376875 meters Centerline goodness : 0.993810 Centerline is valid? [True, True] Translation: X:242.94, Y:122.29, Z:138.74 [[ 9.59349046e-01 -2.79472238e-01 -3.93023645e-02 2.42939830e+02] [ 2.78499019e-01 9.60014031e-01 -2.84843405e-02 1.22294779e+02] [ 4.56914037e-02 1.63807549e-02 9.98821289e-01 1.38737548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.406875 meters Centerline goodness : 0.994515 Centerline is valid? [True, True] Translation: X:243.00, Y:122.27, Z:138.78 [[ 9.62648874e-01 -2.62322551e-01 -6.70374932e-02 2.43000374e+02] [ 2.63856038e-01 9.64445588e-01 1.49899832e-02 1.22269764e+02] [ 6.07218039e-02 -3.21183378e-02 9.97637848e-01 1.38782322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.436875 meters Centerline goodness : 0.994022 Centerline is valid? [True, True] Translation: X:243.02, Y:122.29, Z:138.76 [[ 9.62943003e-01 -2.63260881e-01 -5.86044459e-02 2.43022977e+02] [ 2.62685301e-01 9.64723642e-01 -1.74564183e-02 1.22291938e+02] [ 6.11326866e-02 1.41500940e-03 9.98128645e-01 1.38764408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.466875 meters Centerline goodness : 0.986559 Centerline is valid? [True, True] Translation: X:243.06, Y:122.31, Z:138.75 [[ 9.63425687e-01 -2.64761431e-01 -4.13803010e-02 2.43058921e+02] [ 2.64049436e-01 9.64260127e-01 -2.19157908e-02 1.22305897e+02] [ 4.57038304e-02 1.01877907e-02 9.98903083e-01 1.38750669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.496875 meters Centerline goodness : 0.990661 Centerline is valid? [True, True] Translation: X:243.08, Y:122.30, Z:138.77 [[ 9.64060503e-01 -2.59337534e-01 -5.77181958e-02 2.43079965e+02] [ 2.59262614e-01 9.65765733e-01 -8.91326976e-03 1.22302019e+02] [ 5.80538010e-02 -6.37123899e-03 9.98293125e-01 1.38768195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.526875 meters Centerline goodness : 0.990661 Centerline is valid? [True, True] Translation: X:243.11, Y:122.31, Z:138.77 [[ 9.64051523e-01 -2.59868849e-01 -5.54332251e-02 2.43105503e+02] [ 2.59334390e-01 9.65642290e-01 -1.67523358e-02 1.22313444e+02] [ 5.78820767e-02 1.77437316e-03 9.98321850e-01 1.38765740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.556875 meters Centerline goodness : 0.990330 Centerline is valid? [True, True] Translation: X:243.12, Y:122.33, Z:138.76 [[ 9.60291473e-01 -2.75133459e-01 -4.62803032e-02 2.43119867e+02] [ 2.74525788e-01 9.61389320e-01 -1.91354789e-02 1.22333614e+02] [ 4.97581997e-02 5.67050054e-03 9.98745196e-01 1.38758197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.586875 meters Centerline goodness : 0.994063 Centerline is valid? [True, True] Translation: X:243.17, Y:122.32, Z:138.78 [[ 9.63899680e-01 -2.58373143e-01 -6.43484737e-02 2.43165857e+02] [ 2.58303236e-01 9.66016710e-01 -9.54749786e-03 1.22324079e+02] [ 6.46285179e-02 -7.41858886e-03 9.97881816e-01 1.38778769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.616875 meters Centerline goodness : 0.993298 Centerline is valid? [True, True] Translation: X:243.19, Y:122.34, Z:138.78 [[ 9.63928351e-01 -2.58819257e-01 -6.20864460e-02 2.43190942e+02] [ 2.58183854e-01 9.65924603e-01 -1.81867638e-02 1.22336706e+02] [ 6.46779105e-02 1.50101935e-03 9.97905063e-01 1.38775267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.646875 meters Centerline goodness : 0.994004 Centerline is valid? [True, True] Translation: X:243.22, Y:122.34, Z:138.78 [[ 9.63858247e-01 -2.59071911e-01 -6.21210562e-02 2.43217765e+02] [ 2.58435754e-01 9.65856881e-01 -1.82056693e-02 1.22344151e+02] [ 6.47166271e-02 1.49338257e-03 9.97902564e-01 1.38777192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.676875 meters Centerline goodness : 0.991011 Centerline is valid? [True, True] Translation: X:243.22, Y:122.36, Z:138.77 [[ 9.60056988e-01 -2.76298294e-01 -4.41569060e-02 2.43222360e+02] [ 2.75720264e-01 9.61053944e-01 -1.88056419e-02 1.22362864e+02] [ 4.76331354e-02 5.87953417e-03 9.98847594e-01 1.38768153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.706875 meters Centerline goodness : 0.992137 Centerline is valid? [True, True] Translation: X:243.25, Y:122.37, Z:138.77 [[ 9.60051920e-01 -2.76394896e-01 -4.36597306e-02 2.43250626e+02] [ 2.75853947e-01 9.61029441e-01 -1.80834872e-02 1.22367273e+02] [ 4.69564700e-02 5.31737764e-03 9.98882784e-01 1.38771628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.736875 meters Centerline goodness : 0.993056 Centerline is valid? [True, True] Translation: X:243.28, Y:122.38, Z:138.77 [[ 9.60058677e-01 -2.75307350e-01 -4.99319528e-02 2.43275328e+02] [ 2.74355305e-01 9.61299536e-01 -2.51469529e-02 1.22375802e+02] [ 5.49227040e-02 1.04434542e-02 9.98435992e-01 1.38771991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.766875 meters Centerline goodness : 0.993963 Centerline is valid? [True, True] Translation: X:243.33, Y:122.36, Z:138.80 [[ 9.62512315e-01 -2.63837951e-01 -6.29251898e-02 2.43330001e+02] [ 2.64001521e-01 9.64504516e-01 -5.85108289e-03 1.22362947e+02] [ 6.22353674e-02 -1.09806065e-02 9.98001095e-01 1.38795495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.796875 meters Centerline goodness : 0.991241 Centerline is valid? [True, True] Translation: X:243.34, Y:122.39, Z:138.79 [[ 9.59139934e-01 -2.78619997e-01 -4.92085845e-02 2.43337639e+02] [ 2.78644418e-01 9.60372331e-01 -6.50187355e-03 1.22385140e+02] [ 4.90701150e-02 -7.47549081e-03 9.98767361e-01 1.38785564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.826875 meters Centerline goodness : 0.991946 Centerline is valid? [True, True] Translation: X:243.35, Y:122.42, Z:138.75 [[ 9.58142233e-01 -2.84248352e-01 -3.41516653e-02 2.43351257e+02] [ 2.82380518e-01 9.57954378e-01 -5.08394901e-02 1.22417174e+02] [ 4.71667785e-02 3.90676976e-02 9.98122743e-01 1.38753666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8568750000001 meters Centerline goodness : 0.993477 Centerline is valid? [True, True] Translation: X:243.41, Y:122.38, Z:138.80 [[ 9.60949291e-01 -2.69709435e-01 -6.19134899e-02 2.43414334e+02] [ 2.70589712e-01 9.62675155e-01 6.14437584e-03 1.22383546e+02] [ 5.79453824e-02 -2.26575870e-02 9.98062606e-01 1.38803036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.886875 meters Centerline goodness : 0.993569 Centerline is valid? [True, True] Translation: X:243.41, Y:122.41, Z:138.78 [[ 9.58044078e-01 -2.82740542e-01 -4.70035241e-02 2.43414648e+02] [ 2.81874636e-01 9.59144298e-01 -2.42673797e-02 1.22414483e+02] [ 5.19445342e-02 1.00001182e-02 9.98599901e-01 1.38778883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.916875 meters Centerline goodness : 0.993300 Centerline is valid? [True, True] Translation: X:243.47, Y:122.40, Z:138.80 [[ 9.60840624e-01 -2.70838772e-01 -5.85803269e-02 2.43467057e+02] [ 2.70751596e-01 9.62601659e-01 -9.57179212e-03 1.22404182e+02] [ 5.89819323e-02 -6.66375031e-03 9.98236809e-01 1.38798687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.946875 meters Centerline goodness : 0.991673 Centerline is valid? [True, True] Translation: X:243.50, Y:122.41, Z:138.79 [[ 9.62498840e-01 -2.66072047e-01 -5.29306126e-02 2.43498235e+02] [ 2.65272086e-01 9.63928609e-01 -2.17337915e-02 1.22411164e+02] [ 5.68040862e-02 6.87773514e-03 9.98361654e-01 1.38790484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9768750000001 meters Centerline goodness : 0.993053 Centerline is valid? [True, True] Translation: X:243.50, Y:122.42, Z:138.79 [[ 9.60455121e-01 -2.75385760e-01 -4.10931045e-02 2.43500009e+02] [ 2.74583712e-01 9.61260117e-01 -2.41406964e-02 1.22421116e+02] [ 4.61491664e-02 1.19025584e-02 9.98863646e-01 1.38785164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.006875 meters Centerline goodness : 0.994140 Centerline is valid? [True, True] Translation: X:243.56, Y:122.40, Z:138.82 [[ 9.64088047e-01 -2.56381885e-01 -6.93005547e-02 2.43558988e+02] [ 2.57147531e-01 9.66369629e-01 2.21057438e-03 1.22400891e+02] [ 6.64032001e-02 -1.99516549e-02 9.97593377e-01 1.38822257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.036875 meters Centerline goodness : 0.994722 Centerline is valid? [True, True] Translation: X:243.55, Y:122.43, Z:138.79 [[ 9.61241380e-01 -2.70563652e-01 -5.30124524e-02 2.43552426e+02] [ 2.69191811e-01 9.62566744e-01 -3.16390941e-02 1.22434795e+02] [ 5.95884126e-02 1.61422884e-02 9.98092505e-01 1.38792553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.066875 meters Centerline goodness : 0.992825 Centerline is valid? [True, True] Translation: X:243.58, Y:122.46, Z:138.77 [[ 9.60089250e-01 -2.77033727e-01 -3.84830621e-02 2.43576137e+02] [ 2.75132897e-01 9.60197205e-01 -4.81997506e-02 1.22457849e+02] [ 5.03042852e-02 3.56881061e-02 9.98096107e-01 1.38772277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.096875 meters Centerline goodness : 0.992834 Centerline is valid? [True, True] Translation: X:243.62, Y:122.43, Z:138.83 [[ 9.62038213e-01 -2.64459210e-01 -6.74077411e-02 2.43620343e+02] [ 2.66708110e-01 9.63406684e-01 2.67272408e-02 1.22426819e+02] [ 5.78728033e-02 -4.36908182e-02 9.97367460e-01 1.38825554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.126875 meters Centerline goodness : 0.993077 Centerline is valid? [True, True] Translation: X:243.64, Y:122.46, Z:138.79 [[ 9.61395682e-01 -2.70731927e-01 -4.92195762e-02 2.43638097e+02] [ 2.69114882e-01 9.62394125e-01 -3.70773395e-02 1.22464186e+02] [ 5.74066506e-02 2.24002737e-02 9.98099546e-01 1.38787976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.156875 meters Centerline goodness : 0.993679 Centerline is valid? [True, True] Translation: X:243.69, Y:122.44, Z:138.82 [[ 9.64930164e-01 -2.52768745e-01 -7.08360053e-02 2.43694740e+02] [ 2.53164504e-01 9.67416975e-01 -3.48281864e-03 1.22441576e+02] [ 6.94083017e-02 -1.45724854e-02 9.97481895e-01 1.38823976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.186875 meters Centerline goodness : 0.992953 Centerline is valid? [True, True] Translation: X:243.69, Y:122.47, Z:138.80 [[ 9.61962233e-01 -2.67433271e-01 -5.57504027e-02 2.43692518e+02] [ 2.66062000e-01 9.63461970e-01 -3.08552073e-02 1.22472209e+02] [ 6.19651018e-02 1.48484805e-02 9.97967860e-01 1.38800346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.216875 meters Centerline goodness : 0.992565 Centerline is valid? [True, True] Translation: X:243.72, Y:122.48, Z:138.80 [[ 9.61627690e-01 -2.68793512e-01 -5.49748372e-02 2.43718256e+02] [ 2.67735404e-01 9.63143733e-01 -2.59211110e-02 1.22478654e+02] [ 5.99160963e-02 1.02077478e-02 9.98151223e-01 1.38802254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.246875 meters Centerline goodness : 0.993651 Centerline is valid? [True, True] Translation: X:243.75, Y:122.48, Z:138.81 [[ 9.62046808e-01 -2.67297821e-01 -5.49346302e-02 2.43745868e+02] [ 2.66348626e-01 9.63576301e-01 -2.40649506e-02 1.22483983e+02] [ 5.93662166e-02 8.51984563e-03 9.98199912e-01 1.38807066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.276875 meters Centerline goodness : 0.992674 Centerline is valid? [True, True] Translation: X:243.78, Y:122.48, Z:138.83 [[ 9.62415495e-01 -2.64635671e-01 -6.10276725e-02 2.43781308e+02] [ 2.65333838e-01 9.64150295e-01 3.48755644e-03 1.22478793e+02] [ 5.79169166e-02 -1.95491849e-02 9.98129982e-01 1.38828273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.306875 meters Centerline goodness : 0.991822 Centerline is valid? [True, True] Translation: X:243.80, Y:122.50, Z:138.81 [[ 9.62947219e-01 -2.65846523e-01 -4.53682631e-02 2.43803559e+02] [ 2.65038371e-01 9.63961244e-01 -2.30950649e-02 1.22500161e+02] [ 4.98729901e-02 1.02149980e-02 9.98703329e-01 1.38812589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.336875 meters Centerline goodness : 0.991553 Centerline is valid? [True, True] Translation: X:243.83, Y:122.51, Z:138.80 [[ 9.63092788e-01 -2.66246450e-01 -3.95614647e-02 2.43828723e+02] [ 2.65190191e-01 9.63729364e-01 -2.99979210e-02 1.22513035e+02] [ 4.61133852e-02 1.83994690e-02 9.98766747e-01 1.38804547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.366875 meters Centerline goodness : 0.991756 Centerline is valid? [True, True] Translation: X:243.86, Y:122.51, Z:138.83 [[ 9.64142934e-01 -2.59771743e-01 -5.42866808e-02 2.43863297e+02] [ 2.60028389e-01 9.65597978e-01 -2.40457338e-03 1.22506789e+02] [ 5.30437495e-02 -1.17977257e-02 9.98522496e-01 1.38827130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.396875 meters Centerline goodness : 0.990911 Centerline is valid? [True, True] Translation: X:243.89, Y:122.52, Z:138.82 [[ 9.63940912e-01 -2.61101895e-01 -5.14171010e-02 2.43890162e+02] [ 2.60477989e-01 9.65300581e-01 -1.86012078e-02 1.22523132e+02] [ 5.44897680e-02 4.53744214e-03 9.98504019e-01 1.38819847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.426875 meters Centerline goodness : 0.992323 Centerline is valid? [True, True] Translation: X:243.92, Y:122.53, Z:138.82 [[ 9.64678933e-01 -2.58467938e-01 -5.08810552e-02 2.43915272e+02] [ 2.58068740e-01 9.66019553e-01 -1.43787327e-02 1.22528564e+02] [ 5.28685356e-02 7.40050720e-04 9.98601207e-01 1.38823664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.456875 meters Centerline goodness : 0.992179 Centerline is valid? [True, True] Translation: X:243.94, Y:122.55, Z:138.81 [[ 9.64490353e-01 -2.59443025e-01 -4.94739859e-02 2.43936203e+02] [ 2.57469352e-01 9.65333720e-01 -4.28992036e-02 1.22552033e+02] [ 5.88888060e-02 2.86378330e-02 9.97853688e-01 1.38805198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.486875 meters Centerline goodness : 0.991085 Centerline is valid? [True, True] Translation: X:243.97, Y:122.54, Z:138.83 [[ 9.64375330e-01 -2.59234419e-01 -5.27042560e-02 2.43970824e+02] [ 2.59642161e-01 9.65704456e-01 9.23282261e-04 1.22541023e+02] [ 5.06573883e-02 -1.45746375e-02 9.98609738e-01 1.38827745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.516875 meters Centerline goodness : 0.992638 Centerline is valid? [True, True] Translation: X:244.00, Y:122.56, Z:138.82 [[ 9.64870246e-01 -2.57078567e-01 -5.41850498e-02 2.43995342e+02] [ 2.55717780e-01 9.66259930e-01 -3.08247504e-02 1.22557917e+02] [ 6.02812251e-02 1.58858038e-02 9.98055016e-01 1.38818043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.546875 meters Centerline goodness : 0.990568 Centerline is valid? [True, True] Translation: X:244.03, Y:122.55, Z:138.83 [[ 9.63772226e-01 -2.62179960e-01 -4.90384041e-02 2.44028884e+02] [ 2.62206746e-01 9.64993064e-01 -6.00068671e-03 1.22554597e+02] [ 4.88949797e-02 -7.07490518e-03 9.98778868e-01 1.38832316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.576875 meters Centerline goodness : 0.991613 Centerline is valid? [True, True] Translation: X:244.06, Y:122.55, Z:138.85 [[ 9.65008729e-01 -2.55912963e-01 -5.71551340e-02 2.44058385e+02] [ 2.56509649e-01 9.66536257e-01 3.23492979e-03 1.22551392e+02] [ 5.44146488e-02 -1.77825788e-02 9.98360068e-01 1.38848464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6068750000001 meters Centerline goodness : 0.992339 Centerline is valid? [True, True] Translation: X:244.08, Y:122.57, Z:138.83 [[ 9.64577051e-01 -2.59083726e-01 -4.96662453e-02 2.44080486e+02] [ 2.58157065e-01 9.65795920e-01 -2.43550837e-02 1.22572580e+02] [ 5.42774629e-02 1.06706627e-02 9.98468875e-01 1.38833598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.636875 meters Centerline goodness : 0.992086 Centerline is valid? [True, True] Translation: X:244.12, Y:122.56, Z:138.86 [[ 9.65887641e-01 -2.49712463e-01 -6.85911908e-02 2.44119304e+02] [ 2.50845456e-01 9.67991607e-01 8.29489443e-03 1.22562845e+02] [ 6.43243586e-02 -2.52177245e-02 9.97610366e-01 1.38860538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.666875 meters Centerline goodness : 0.992323 Centerline is valid? [True, True] Translation: X:244.14, Y:122.59, Z:138.84 [[ 9.66118939e-01 -2.51929794e-01 -5.60854253e-02 2.44140001e+02] [ 2.50608148e-01 9.67636498e-01 -2.95831834e-02 1.22588602e+02] [ 6.17231898e-02 1.45254092e-02 9.97987605e-01 1.38837902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.696875 meters Centerline goodness : 0.992601 Centerline is valid? [True, True] Translation: X:244.17, Y:122.58, Z:138.86 [[ 9.66782478e-01 -2.46413845e-01 -6.79106552e-02 2.44173802e+02] [ 2.46613919e-01 9.69097898e-01 -5.55323531e-03 1.22582691e+02] [ 6.71804673e-02 -1.13789422e-02 9.97675952e-01 1.38857357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.7268750000001 meters Centerline goodness : 0.994411 Centerline is valid? [True, True] Translation: X:244.22, Y:122.59, Z:138.85 [[ 9.69215459e-01 -2.35760645e-01 -7.09810746e-02 2.44216172e+02] [ 2.33359190e-01 9.71545569e-01 -4.05301731e-02 1.22591953e+02] [ 7.85167682e-02 2.27183843e-02 9.96653898e-01 1.38849506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.756875 meters Centerline goodness : 0.992995 Centerline is valid? [True, True] Translation: X:244.24, Y:122.59, Z:138.86 [[ 9.68888696e-01 -2.35100761e-01 -7.73455002e-02 2.44244628e+02] [ 2.34233862e-01 9.71969879e-01 -2.02250491e-02 1.22589942e+02] [ 7.99324209e-02 1.47888619e-03 9.96799188e-01 1.38861990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.786875 meters Centerline goodness : 0.992311 Centerline is valid? [True, True] Translation: X:244.25, Y:122.61, Z:138.85 [[ 9.66523505e-01 -2.49234143e-01 -6.09479824e-02 2.44250230e+02] [ 2.48712032e-01 9.68443161e-01 -1.61297642e-02 1.22608310e+02] [ 6.30447446e-02 4.31299651e-04 9.98010608e-01 1.38851913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.816875 meters Centerline goodness : 0.993818 Centerline is valid? [True, True] Translation: X:244.30, Y:122.60, Z:138.87 [[ 9.68676273e-01 -2.37477840e-01 -7.25985801e-02 2.44298490e+02] [ 2.36511185e-01 9.71385100e-01 -2.17588534e-02 1.22603362e+02] [ 7.56884245e-02 3.90690880e-03 9.97123863e-01 1.38865849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.846875 meters Centerline goodness : 0.991935 Centerline is valid? [True, True] Translation: X:244.30, Y:122.62, Z:138.86 [[ 9.65767704e-01 -2.52969606e-01 -5.74379683e-02 2.44303015e+02] [ 2.52486680e-01 9.67474042e-01 -1.56350675e-02 1.22619787e+02] [ 5.95249402e-02 5.97521297e-04 9.98226640e-01 1.38857909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.876875 meters Centerline goodness : 0.992766 Centerline is valid? [True, True] Translation: X:244.33, Y:122.63, Z:138.85 [[ 9.65546915e-01 -2.54608361e-01 -5.37934771e-02 2.44328733e+02] [ 2.53665927e-01 9.66999291e-01 -2.37900777e-02 1.22629144e+02] [ 5.80754069e-02 9.32486388e-03 9.98268648e-01 1.38854669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.906875 meters Centerline goodness : 0.994387 Centerline is valid? [True, True] Translation: X:244.38, Y:122.62, Z:138.88 [[ 9.68116148e-01 -2.39428108e-01 -7.36566712e-02 2.44380633e+02] [ 2.38919223e-01 9.70911309e-01 -1.57745282e-02 1.22617222e+02] [ 7.52909605e-02 -2.32641916e-03 9.97158894e-01 1.38876552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.936875 meters Centerline goodness : 0.991522 Centerline is valid? [True, True] Translation: X:244.39, Y:122.63, Z:138.87 [[ 9.65860673e-01 -2.51397321e-01 -6.25503588e-02 2.44390913e+02] [ 2.51264335e-01 9.67865685e-01 -1.01118654e-02 1.22633240e+02] [ 6.30824418e-02 -5.95002114e-03 9.97990583e-01 1.38871459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.966875 meters Centerline goodness : 0.991996 Centerline is valid? [True, True] Translation: X:244.41, Y:122.65, Z:138.86 [[ 9.66021115e-01 -2.51937903e-01 -5.77104753e-02 2.44411967e+02] [ 2.50922029e-01 9.67701256e-01 -2.43395635e-02 1.22648070e+02] [ 6.19785580e-02 9.03170272e-03 9.98036616e-01 1.38862710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.996875 meters Centerline goodness : 0.994038 Centerline is valid? [True, True] Translation: X:244.43, Y:122.66, Z:138.86 [[ 9.66439368e-01 -2.49401766e-01 -6.15930828e-02 2.44433750e+02] [ 2.47280077e-01 9.68114931e-01 -4.00754865e-02 1.22660764e+02] [ 6.96240802e-02 2.34997856e-02 9.97296469e-01 1.38855662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.026875 meters Centerline goodness : 0.990384 Centerline is valid? [True, True] Translation: X:244.46, Y:122.68, Z:138.85 [[ 9.65521957e-01 -2.56041729e-01 -4.70104727e-02 2.44459573e+02] [ 2.54379344e-01 9.66335039e-01 -3.85712467e-02 1.22675737e+02] [ 5.53037157e-02 2.52828923e-02 9.98149425e-01 1.38845542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.056875 meters Centerline goodness : 0.992528 Centerline is valid? [True, True] Translation: X:244.49, Y:122.65, Z:138.89 [[ 9.66697473e-01 -2.45479619e-01 -7.23584985e-02 2.44494805e+02] [ 2.47502547e-01 9.68674137e-01 2.03200629e-02 1.22650461e+02] [ 6.51036449e-02 -3.75522661e-02 9.97171672e-01 1.38891382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.086875 meters Centerline goodness : 0.990077 Centerline is valid? [True, True] Translation: X:244.52, Y:122.68, Z:138.87 [[ 9.66308997e-01 -2.50333952e-01 -5.98317150e-02 2.44523763e+02] [ 2.49164142e-01 9.68101565e-01 -2.63929945e-02 1.22679344e+02] [ 6.45302395e-02 1.05958701e-02 9.97859497e-01 1.38867691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.116875 meters Centerline goodness : 0.993095 Centerline is valid? [True, True] Translation: X:244.58, Y:122.66, Z:138.90 [[ 9.69288230e-01 -2.33847504e-01 -7.61293089e-02 2.44581151e+02] [ 2.34942920e-01 9.71992810e-01 5.63928306e-03 1.22656637e+02] [ 7.26784086e-02 -2.33521329e-02 9.97082006e-01 1.38900739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.146875 meters Centerline goodness : 0.990455 Centerline is valid? [True, True] Translation: X:244.57, Y:122.71, Z:138.85 [[ 9.65879229e-01 -2.54212178e-01 -4.95326475e-02 2.44573333e+02] [ 2.51584862e-01 9.66347821e-01 -5.36371801e-02 1.22705789e+02] [ 6.15009903e-02 3.93453739e-02 9.97331224e-01 1.38853615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.176875 meters Centerline goodness : 0.990795 Centerline is valid? [True, True] Translation: X:244.61, Y:122.68, Z:138.89 [[ 9.66350089e-01 -2.47843506e-01 -6.88556611e-02 2.44611619e+02] [ 2.48657286e-01 9.68585654e-01 3.37411307e-03 1.22683409e+02] [ 6.58563535e-02 -2.03820363e-02 9.97620927e-01 1.38891496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.206875 meters Centerline goodness : 0.990310 Centerline is valid? [True, True] Translation: X:244.63, Y:122.70, Z:138.88 [[ 9.66447193e-01 -2.49596602e-01 -6.06742113e-02 2.44632312e+02] [ 2.48672543e-01 9.68327331e-01 -2.24532014e-02 1.22701620e+02] [ 6.43567399e-02 6.61182304e-03 9.97905053e-01 1.38881287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.236875 meters Centerline goodness : 0.989867 Centerline is valid? [True, True] Translation: X:244.66, Y:122.71, Z:138.89 [[ 9.66641596e-01 -2.48439381e-01 -6.23048807e-02 2.44663765e+02] [ 2.48090162e-01 9.68644217e-01 -1.34034450e-02 1.22705230e+02] [ 6.36812060e-02 -2.50090048e-03 9.97967159e-01 1.38889525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.266875 meters Centerline goodness : 0.991545 Centerline is valid? [True, True] Translation: X:244.69, Y:122.71, Z:138.90 [[ 9.67870978e-01 -2.43161509e-01 -6.40175853e-02 2.44687762e+02] [ 2.43028596e-01 9.69967844e-01 -9.97413195e-03 1.22708612e+02] [ 6.45203242e-02 -5.90443104e-03 9.97898925e-01 1.38895574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.296875 meters Centerline goodness : 0.989267 Centerline is valid? [True, True] Translation: X:244.72, Y:122.72, Z:138.89 [[ 9.68225045e-01 -2.42320226e-01 -6.18156203e-02 2.44723238e+02] [ 2.41275094e-01 9.70160966e-01 -2.39589210e-02 1.22722615e+02] [ 6.57768330e-02 8.28305779e-03 9.97799980e-01 1.38893890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.326875 meters Centerline goodness : 0.988676 Centerline is valid? [True, True] Translation: X:244.75, Y:122.73, Z:138.89 [[ 9.68416726e-01 -2.42426275e-01 -5.82970490e-02 2.44748734e+02] [ 2.41337120e-01 9.70115236e-01 -2.51559875e-02 1.22732224e+02] [ 6.26533278e-02 1.02922372e-02 9.97982280e-01 1.38890424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3568750000001 meters Centerline goodness : 0.991158 Centerline is valid? [True, True] Translation: X:244.80, Y:122.71, Z:138.92 [[ 9.71938115e-01 -2.23011991e-01 -7.48461945e-02 2.44798359e+02] [ 2.23621391e-01 9.74676056e-01 -2.44423923e-04 1.22713300e+02] [ 7.30053031e-02 -1.64996452e-02 9.97195060e-01 1.38920882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.386875 meters Centerline goodness : 0.991729 Centerline is valid? [True, True] Translation: X:244.82, Y:122.73, Z:138.92 [[ 9.72129510e-01 -2.23016385e-01 -7.23042694e-02 2.44824389e+02] [ 2.22432163e-01 9.74814616e-01 -1.61368270e-02 1.22727618e+02] [ 7.40820354e-02 -3.95709307e-04 9.97252072e-01 1.38916368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.416875 meters Centerline goodness : 0.991729 Centerline is valid? [True, True] Translation: X:244.85, Y:122.74, Z:138.92 [[ 9.72094732e-01 -2.23333928e-01 -7.17898890e-02 2.44850892e+02] [ 2.22664949e-01 9.74741646e-01 -1.72929144e-02 1.22735036e+02] [ 7.38386891e-02 8.25258991e-04 9.97269857e-01 1.38917475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.446875 meters Centerline goodness : 0.987825 Centerline is valid? [True, True] Translation: X:244.85, Y:122.78, Z:138.87 [[ 9.69631884e-01 -2.39841058e-01 -4.78568344e-02 2.44846556e+02] [ 2.36929272e-01 9.69710065e-01 -5.93877964e-02 1.22778734e+02] [ 6.06508859e-02 4.62456160e-02 9.97087164e-01 1.38872726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4768750000001 meters Centerline goodness : 0.991930 Centerline is valid? [True, True] Translation: X:244.91, Y:122.73, Z:138.94 [[ 9.72311817e-01 -2.19632996e-01 -7.98190285e-02 2.44908366e+02] [ 2.21999218e-01 9.74799070e-01 2.19800099e-02 1.22734421e+02] [ 7.29799793e-02 -3.90911853e-02 9.96567008e-01 1.38937163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.506875 meters Centerline goodness : 0.987855 Centerline is valid? [True, True] Translation: X:244.91, Y:122.78, Z:138.90 [[ 9.69600712e-01 -2.37950385e-01 -5.70444897e-02 2.44910083e+02] [ 2.36498928e-01 9.71134852e-01 -3.10701782e-02 1.22779300e+02] [ 6.27910530e-02 1.66347062e-02 9.97888055e-01 1.38895564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.536875 meters Centerline goodness : 0.986851 Centerline is valid? [True, True] Translation: X:244.94, Y:122.78, Z:138.90 [[ 9.69367105e-01 -2.38907747e-01 -5.70131991e-02 2.44941264e+02] [ 2.37874565e-01 9.70990162e-01 -2.43679255e-02 1.22783587e+02] [ 6.11809416e-02 1.00594755e-02 9.98075999e-01 1.38901799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.566875 meters Centerline goodness : 0.986962 Centerline is valid? [True, True] Translation: X:244.96, Y:122.80, Z:138.88 [[ 9.69198905e-01 -2.42412350e-01 -4.34710965e-02 2.44957921e+02] [ 2.40564743e-01 9.69648790e-01 -4.37015919e-02 1.22802026e+02] [ 5.27455017e-02 3.18979219e-02 9.98098409e-01 1.38882124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.596875 meters Centerline goodness : 0.987925 Centerline is valid? [True, True] Translation: X:244.99, Y:122.79, Z:138.90 [[ 9.69263191e-01 -2.39565110e-01 -5.60127103e-02 2.44988175e+02] [ 2.39157907e-01 9.70880291e-01 -1.39626832e-02 1.22791010e+02] [ 5.77266082e-02 1.37632344e-04 9.98332419e-01 1.38901392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.626875 meters Centerline goodness : 0.988072 Centerline is valid? [True, True] Translation: X:245.02, Y:122.79, Z:138.92 [[ 9.69116476e-01 -2.37992146e-01 -6.45987240e-02 2.45021274e+02] [ 2.38181180e-01 9.71208522e-01 -4.87153549e-03 1.22791199e+02] [ 6.38982184e-02 -1.06651150e-02 9.97899430e-01 1.38915575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.656875 meters Centerline goodness : 0.989041 Centerline is valid? [True, True] Translation: X:245.04, Y:122.81, Z:138.90 [[ 9.69186097e-01 -2.39490167e-01 -5.76434736e-02 2.45043058e+02] [ 2.38138534e-01 9.70786835e-01 -2.93761765e-02 1.22809599e+02] [ 6.29948307e-02 1.47438495e-02 9.97904940e-01 1.38900377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.686875 meters Centerline goodness : 0.990202 Centerline is valid? [True, True] Translation: X:245.07, Y:122.80, Z:138.92 [[ 9.69707686e-01 -2.34472137e-01 -6.84822690e-02 2.45070312e+02] [ 2.34956181e-01 9.72005435e-01 -1.01305498e-03 1.22800553e+02] [ 6.68026709e-02 -1.51079652e-02 9.97651819e-01 1.38920978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.716875 meters Centerline goodness : 0.987442 Centerline is valid? [True, True] Translation: X:245.09, Y:122.84, Z:138.89 [[ 9.67907218e-01 -2.46319498e-01 -4.98229065e-02 2.45094391e+02] [ 2.43822176e-01 9.68463925e-01 -5.12676632e-02 1.22835239e+02] [ 6.08799126e-02 3.74744118e-02 9.97441379e-01 1.38886135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.746875 meters Centerline goodness : 0.988819 Centerline is valid? [True, True] Translation: X:245.13, Y:122.81, Z:138.93 [[ 9.68556441e-01 -2.37846890e-01 -7.29882058e-02 2.45134784e+02] [ 2.39104824e-01 9.70953130e-01 8.88274464e-03 1.22807217e+02] [ 6.87553937e-02 -2.60552716e-02 9.97293246e-01 1.38930532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.776875 meters Centerline goodness : 0.988702 Centerline is valid? [True, True] Translation: X:245.16, Y:122.83, Z:138.92 [[ 9.68876917e-01 -2.39948097e-01 -6.08476060e-02 2.45159312e+02] [ 2.39290251e-01 9.70781489e-01 -1.79854278e-02 1.22827168e+02] [ 6.33852987e-02 2.86542693e-03 9.97985017e-01 1.38917485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.806875 meters Centerline goodness : 0.989748 Centerline is valid? [True, True] Translation: X:245.19, Y:122.83, Z:138.93 [[ 9.68849270e-01 -2.38224321e-01 -6.76776568e-02 2.45190191e+02] [ 2.38426901e-01 9.71146597e-01 -5.18649504e-03 1.22827069e+02] [ 6.69604754e-02 -1.11112421e-02 9.97693758e-01 1.38931135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.836875 meters Centerline goodness : 0.990170 Centerline is valid? [True, True] Translation: X:245.21, Y:122.84, Z:138.92 [[ 9.69622813e-01 -2.36907236e-01 -6.08815466e-02 2.45212037e+02] [ 2.35700173e-01 9.71467147e-01 -2.64009748e-02 1.22841824e+02] [ 6.53990044e-02 1.12491964e-02 9.97795784e-01 1.38924677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.866875 meters Centerline goodness : 0.990119 Centerline is valid? [True, True] Translation: X:245.25, Y:122.84, Z:138.94 [[ 9.69790532e-01 -2.34249159e-01 -6.80709627e-02 2.45250030e+02] [ 2.34188574e-01 9.72149701e-01 -8.98162106e-03 1.22838426e+02] [ 6.82791033e-02 -7.23115065e-03 9.97640053e-01 1.38940456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.896875 meters Centerline goodness : 0.989171 Centerline is valid? [True, True] Translation: X:245.27, Y:122.85, Z:138.93 [[ 9.69755075e-01 -2.37091559e-01 -5.79886770e-02 2.45269749e+02] [ 2.35758364e-01 9.71380656e-01 -2.89415731e-02 1.22854381e+02] [ 6.31908818e-02 1.43949218e-02 9.97897639e-01 1.38927996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.926875 meters Centerline goodness : 0.990178 Centerline is valid? [True, True] Translation: X:245.30, Y:122.86, Z:138.92 [[ 9.69400483e-01 -2.39402055e-01 -5.43080003e-02 2.45296489e+02] [ 2.37934293e-01 9.70749181e-01 -3.21449940e-02 1.22861251e+02] [ 6.04150244e-02 1.82396371e-02 9.98006684e-01 1.38923875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.956875 meters Centerline goodness : 0.988927 Centerline is valid? [True, True] Translation: X:245.33, Y:122.86, Z:138.93 [[ 9.69250609e-01 -2.38541229e-01 -6.04263086e-02 2.45325944e+02] [ 2.37984001e-01 9.71131245e-01 -1.63621348e-02 1.22860027e+02] [ 6.25849200e-02 1.47851450e-03 9.98038547e-01 1.38934842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.986875 meters Centerline goodness : 0.988791 Centerline is valid? [True, True] Translation: X:245.35, Y:122.88, Z:138.92 [[ 9.69072337e-01 -2.40566637e-01 -5.50136225e-02 2.45348547e+02] [ 2.39205229e-01 9.70498684e-01 -3.02185888e-02 1.22876228e+02] [ 6.06602325e-02 1.61244523e-02 9.98028225e-01 1.38923209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.016875 meters Centerline goodness : 0.991043 Centerline is valid? [True, True] Translation: X:245.39, Y:122.86, Z:138.95 [[ 9.69771489e-01 -2.32999918e-01 -7.24865266e-02 2.45385988e+02] [ 2.33910154e-01 9.72249086e-01 4.21375921e-03 1.22863354e+02] [ 6.94931536e-02 -2.10417181e-02 9.97360490e-01 1.38951427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.046875 meters Centerline goodness : 0.989810 Centerline is valid? [True, True] Translation: X:245.41, Y:122.89, Z:138.93 [[ 9.69788997e-01 -2.35520263e-01 -6.35571234e-02 2.45410435e+02] [ 2.34263852e-01 9.71807669e-01 -2.66514945e-02 1.22885677e+02] [ 6.80422669e-02 1.09571896e-02 9.97622268e-01 1.38933410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.076875 meters Centerline goodness : 0.990929 Centerline is valid? [True, True] Translation: X:245.43, Y:122.89, Z:138.94 [[ 9.70502920e-01 -2.32618403e-01 -6.33463586e-02 2.45434829e+02] [ 2.31960489e-01 9.72565030e-01 -1.76520389e-02 1.22888479e+02] [ 6.57146422e-02 2.43750302e-03 9.97835480e-01 1.38939999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1068750000001 meters Centerline goodness : 0.989889 Centerline is valid? [True, True] Translation: X:245.46, Y:122.89, Z:138.95 [[ 9.71127488e-01 -2.28839837e-01 -6.74071974e-02 2.45463978e+02] [ 2.28692937e-01 9.73447328e-01 -9.99197083e-03 1.22891229e+02] [ 6.79039172e-02 -5.71207240e-03 9.97675514e-01 1.38949079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.136875 meters Centerline goodness : 0.989441 Centerline is valid? [True, True] Translation: X:245.50, Y:122.90, Z:138.95 [[ 9.71379975e-01 -2.26685032e-01 -7.09566092e-02 2.45502350e+02] [ 2.25699538e-01 9.73954867e-01 -2.17171876e-02 1.22898573e+02] [ 7.40314962e-02 5.08076726e-03 9.97242961e-01 1.38952335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.166875 meters Centerline goodness : 0.989879 Centerline is valid? [True, True] Translation: X:245.52, Y:122.91, Z:138.95 [[ 9.70650812e-01 -2.29271115e-01 -7.26068593e-02 2.45523597e+02] [ 2.28417009e-01 9.73358581e-01 -1.99685314e-02 1.22905589e+02] [ 7.52507170e-02 2.79782957e-03 9.97160720e-01 1.38951505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.196875 meters Centerline goodness : 0.989815 Centerline is valid? [True, True] Translation: X:245.55, Y:122.92, Z:138.94 [[ 9.69838174e-01 -2.33755344e-01 -6.90822402e-02 2.45546533e+02] [ 2.31672917e-01 9.72094757e-01 -3.68706358e-02 1.22920373e+02] [ 7.57731917e-02 1.97540660e-02 9.96929386e-01 1.38941777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.2268750000001 meters Centerline goodness : 0.991563 Centerline is valid? [True, True] Translation: X:245.57, Y:122.90, Z:138.97 [[ 9.70943957e-01 -2.24350569e-01 -8.32745753e-02 2.45574864e+02] [ 2.25471742e-01 9.74240695e-01 4.19060268e-03 1.22903151e+02] [ 8.01893160e-02 -2.28449039e-02 9.96517829e-01 1.38972166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.256875 meters Centerline goodness : 0.991677 Centerline is valid? [True, True] Translation: X:245.60, Y:122.93, Z:138.96 [[ 9.70980753e-01 -2.28122307e-01 -7.18094097e-02 2.45599124e+02] [ 2.26495384e-01 9.73545594e-01 -3.01465899e-02 1.22925879e+02] [ 7.67868441e-02 1.30072588e-02 9.96962683e-01 1.38955271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.286875 meters Centerline goodness : 0.993269 Centerline is valid? [True, True] Translation: X:245.62, Y:122.93, Z:138.96 [[ 9.71047163e-01 -2.26582491e-01 -7.56821182e-02 2.45621289e+02] [ 2.24786447e-01 9.73896354e-01 -3.15744331e-02 1.22931220e+02] [ 8.08607527e-02 1.36479492e-02 9.96631964e-01 1.38956536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.316875 meters Centerline goodness : 0.990940 Centerline is valid? [True, True] Translation: X:245.66, Y:122.93, Z:138.97 [[ 9.70885068e-01 -2.28071958e-01 -7.32486567e-02 2.45659455e+02] [ 2.28062420e-01 9.73608477e-01 -8.60621537e-03 1.22928626e+02] [ 7.32783494e-02 -8.34961989e-03 9.97276575e-01 1.38974401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.346875 meters Centerline goodness : 0.992270 Centerline is valid? [True, True] Translation: X:245.68, Y:122.94, Z:138.96 [[ 9.70753549e-01 -2.31332840e-01 -6.42079754e-02 2.45678571e+02] [ 2.30280011e-01 9.72842015e-01 -2.34420734e-02 1.22943749e+02] [ 6.78871376e-02 7.97066263e-03 9.97661167e-01 1.38963884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.376875 meters Centerline goodness : 0.990701 Centerline is valid? [True, True] Translation: X:245.71, Y:122.95, Z:138.97 [[ 9.70146312e-01 -2.32879745e-01 -6.76990225e-02 2.45710864e+02] [ 2.31814592e-01 9.72481018e-01 -2.32951631e-02 1.22949633e+02] [ 7.12609859e-02 6.90609535e-03 9.97433796e-01 1.38967768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.406875 meters Centerline goodness : 0.990687 Centerline is valid? [True, True] Translation: X:245.74, Y:122.95, Z:138.98 [[ 9.69630925e-01 -2.33547084e-01 -7.26059848e-02 2.45742807e+02] [ 2.33256185e-01 9.72333949e-01 -1.25795141e-02 1.22950256e+02] [ 7.35351727e-02 -4.73830915e-03 9.97281368e-01 1.38980441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.436875 meters Centerline goodness : 0.991619 Centerline is valid? [True, True] Translation: X:245.77, Y:122.95, Z:138.99 [[ 9.69787490e-01 -2.33004937e-01 -7.22559559e-02 2.45767268e+02] [ 2.32955610e-01 9.72443593e-01 -9.22722536e-03 1.22953933e+02] [ 7.24148304e-02 -7.88398255e-03 9.97343439e-01 1.38986459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.466875 meters Centerline goodness : 0.991057 Centerline is valid? [True, True] Translation: X:245.80, Y:122.97, Z:138.98 [[ 9.69946090e-01 -2.33222422e-01 -6.93677465e-02 2.45798795e+02] [ 2.31924343e-01 9.72377536e-01 -2.63254151e-02 1.22966054e+02] [ 7.35913155e-02 9.44616446e-03 9.97243746e-01 1.38980642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.496875 meters Centerline goodness : 0.993428 Centerline is valid? [True, True] Translation: X:245.84, Y:122.95, Z:139.00 [[ 9.71423137e-01 -2.21659635e-01 -8.48769346e-02 2.45841075e+02] [ 2.21468492e-01 9.75096369e-01 -1.17804465e-02 1.22953697e+02] [ 8.53744402e-02 -7.35376836e-03 9.96321799e-01 1.39003541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.526875 meters Centerline goodness : 0.991747 Centerline is valid? [True, True] Translation: X:245.85, Y:122.98, Z:138.98 [[ 9.69053611e-01 -2.38498949e-01 -6.36659337e-02 2.45845858e+02] [ 2.37041933e-01 9.71047022e-01 -2.96446241e-02 1.22983277e+02] [ 6.88928270e-02 1.36357340e-02 9.97530874e-01 1.38979129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.556875 meters Centerline goodness : 0.991860 Centerline is valid? [True, True] Translation: X:245.90, Y:122.96, Z:139.01 [[ 9.70559791e-01 -2.24393667e-01 -8.75281326e-02 2.45898889e+02] [ 2.25752329e-01 9.74167362e-01 5.81694637e-03 1.22963529e+02] [ 8.39617641e-02 -2.54053740e-02 9.96145064e-01 1.39014939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.586875 meters Centerline goodness : 0.992868 Centerline is valid? [True, True] Translation: X:245.92, Y:122.99, Z:139.00 [[ 9.70300563e-01 -2.26959057e-01 -8.37042649e-02 2.45920832e+02] [ 2.25052874e-01 9.73831688e-01 -3.16709281e-02 1.22987422e+02] [ 8.87018695e-02 1.18924340e-02 9.95987223e-01 1.38997160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.616875 meters Centerline goodness : 0.991603 Centerline is valid? [True, True] Translation: X:245.95, Y:122.99, Z:139.01 [[ 9.70015023e-01 -2.27009792e-01 -8.68182542e-02 2.45948614e+02] [ 2.26145606e-01 9.73892379e-01 -1.97938938e-02 1.22990042e+02] [ 8.90450439e-02 -4.33192441e-04 9.96027506e-01 1.39005365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.646875 meters Centerline goodness : 0.992400 Centerline is valid? [True, True] Translation: X:245.97, Y:123.00, Z:139.01 [[ 9.70069652e-01 -2.27274230e-01 -8.55061088e-02 2.45974183e+02] [ 2.26435065e-01 9.73830704e-01 -1.95171907e-02 1.22997294e+02] [ 8.77042286e-02 -4.28546919e-04 9.96146467e-01 1.39009229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.676875 meters Centerline goodness : 0.989339 Centerline is valid? [True, True] Translation: X:245.98, Y:123.02, Z:138.99 [[ 9.68464585e-01 -2.39711510e-01 -6.79318742e-02 2.45984183e+02] [ 2.38382082e-01 9.70791486e-01 -2.71638171e-02 1.23020150e+02] [ 7.24591647e-02 1.01134532e-02 9.97320103e-01 1.38993379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.706875 meters Centerline goodness : 0.988415 Centerline is valid? [True, True] Translation: X:246.01, Y:123.03, Z:138.99 [[ 9.68005381e-01 -2.43016960e-01 -6.25167206e-02 2.46006197e+02] [ 2.41295207e-01 9.69860501e-01 -3.38708104e-02 1.23034731e+02] [ 6.88636793e-02 1.77021417e-02 9.97469011e-01 1.38986050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.736875 meters Centerline goodness : 0.990047 Centerline is valid? [True, True] Translation: X:246.04, Y:123.04, Z:139.00 [[ 9.68788063e-01 -2.36069107e-01 -7.56377312e-02 2.46036202e+02] [ 2.34943478e-01 9.71723037e-01 -2.35775573e-02 1.23035079e+02] [ 7.90648588e-02 5.07106446e-03 9.96856576e-01 1.38998363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.766875 meters Centerline goodness : 0.989221 Centerline is valid? [True, True] Translation: X:246.07, Y:123.04, Z:139.01 [[ 9.69226996e-01 -2.34721274e-01 -7.41953718e-02 2.46069206e+02] [ 2.35193223e-01 9.71945584e-01 -2.43524499e-03 1.23035276e+02] [ 7.26854677e-02 -1.50899435e-02 9.97240751e-01 1.39012189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.796875 meters Centerline goodness : 0.987221 Centerline is valid? [True, True] Translation: X:246.10, Y:123.05, Z:139.01 [[ 9.68996887e-01 -2.35502148e-01 -7.47246311e-02 2.46099738e+02] [ 2.34728417e-01 9.71873347e-01 -1.90988687e-02 1.23048755e+02] [ 7.71207019e-02 9.66749976e-04 9.97021295e-01 1.39009500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.826875 meters Centerline goodness : 0.991025 Centerline is valid? [True, True] Translation: X:246.14, Y:123.04, Z:139.03 [[ 9.70872170e-01 -2.22805186e-01 -8.81196874e-02 2.46140952e+02] [ 2.22775665e-01 9.74815371e-01 -1.02953970e-02 1.23038788e+02] [ 8.81942936e-02 -9.63540757e-03 9.96056688e-01 1.39030286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8568750000001 meters Centerline goodness : 0.986570 Centerline is valid? [True, True] Translation: X:246.15, Y:123.07, Z:139.01 [[ 9.69473201e-01 -2.35005923e-01 -6.99566234e-02 2.46152938e+02] [ 2.33705794e-01 9.71950528e-01 -2.63395663e-02 1.23067633e+02] [ 7.41843311e-02 9.18623542e-03 9.97202235e-01 1.39011184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.886875 meters Centerline goodness : 0.987319 Centerline is valid? [True, True] Translation: X:246.18, Y:123.07, Z:139.01 [[ 9.70214287e-01 -2.33064663e-01 -6.60689014e-02 2.46176872e+02] [ 2.32206385e-01 9.72450639e-01 -2.04926610e-02 1.23073144e+02] [ 6.90248605e-02 4.54065169e-03 9.97604607e-01 1.39013897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.916875 meters Centerline goodness : 0.987889 Centerline is valid? [True, True] Translation: X:246.20, Y:123.09, Z:139.01 [[ 9.70181632e-01 -2.34306266e-01 -6.20336549e-02 2.46200011e+02] [ 2.33244157e-01 9.72123347e-01 -2.39449698e-02 1.23085845e+02] [ 6.59148207e-02 8.76198235e-03 9.97786783e-01 1.39008370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.946875 meters Centerline goodness : 0.985981 Centerline is valid? [True, True] Translation: X:246.23, Y:123.09, Z:139.02 [[ 9.70282643e-01 -2.33046070e-01 -6.51238938e-02 2.46233925e+02] [ 2.32365210e-01 9.72463021e-01 -1.79466413e-02 1.23090757e+02] [ 6.75129728e-02 2.28078730e-03 9.97715789e-01 1.39017489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9768750000001 meters Centerline goodness : 0.986432 Centerline is valid? [True, True] Translation: X:246.26, Y:123.09, Z:139.02 [[ 9.71354801e-01 -2.27225916e-01 -6.95574080e-02 2.46263687e+02] [ 2.26631291e-01 9.73842054e-01 -1.64290127e-02 1.23094232e+02] [ 7.14710265e-02 1.94515147e-04 9.97442657e-01 1.39022647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.006875 meters Centerline goodness : 0.990782 Centerline is valid? [True, True] Translation: X:246.31, Y:123.08, Z:139.05 [[ 9.73454510e-01 -2.10629762e-01 -8.95623855e-02 2.46305816e+02] [ 2.11203813e-01 9.77437043e-01 -3.12661683e-03 1.23081850e+02] [ 8.82001519e-02 -1.58722981e-02 9.95976307e-01 1.39049148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.036875 meters Centerline goodness : 0.985899 Centerline is valid? [True, True] Translation: X:246.32, Y:123.12, Z:139.02 [[ 9.72099344e-01 -2.25128851e-01 -6.58776608e-02 2.46319307e+02] [ 2.23362189e-01 9.74171624e-01 -3.31508612e-02 1.23115699e+02] [ 7.16393631e-02 1.75113519e-02 9.97276869e-01 1.39022598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.066875 meters Centerline goodness : 0.987534 Centerline is valid? [True, True] Translation: X:246.34, Y:123.12, Z:139.03 [[ 9.72233143e-01 -2.24413122e-01 -6.63435415e-02 2.46337257e+02] [ 2.23817140e-01 9.74493506e-01 -1.63797205e-02 1.23116936e+02] [ 6.83271745e-02 1.07608545e-03 9.97662387e-01 1.39027269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.096875 meters Centerline goodness : 0.985335 Centerline is valid? [True, True] Translation: X:246.37, Y:123.13, Z:139.03 [[ 9.72363215e-01 -2.23639451e-01 -6.70460541e-02 2.46373230e+02] [ 2.22813988e-01 9.74663059e-01 -1.96430068e-02 1.23128693e+02] [ 6.97402635e-02 4.16133853e-03 9.97556504e-01 1.39029353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.126875 meters Centerline goodness : 0.981801 Centerline is valid? [True, True] Translation: X:246.42, Y:123.14, Z:139.03 [[ 9.73083926e-01 -2.20586247e-01 -6.67036787e-02 2.46419322e+02] [ 2.19659580e-01 9.75350256e-01 -2.10130190e-02 1.23137197e+02] [ 6.96946331e-02 5.79532898e-03 9.97551539e-01 1.39031448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.156875 meters Centerline goodness : 0.986682 Centerline is valid? [True, True] Translation: X:246.43, Y:123.14, Z:139.04 [[ 9.72653218e-01 -2.21944389e-01 -6.84573325e-02 2.46430135e+02] [ 2.21636389e-01 9.75053582e-01 -1.21583016e-02 1.23138323e+02] [ 6.94480340e-02 -3.34682480e-03 9.97579956e-01 1.39037258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.186875 meters Centerline goodness : 0.985549 Centerline is valid? [True, True] Translation: X:246.46, Y:123.14, Z:139.05 [[ 9.72992961e-01 -2.18920852e-01 -7.32008021e-02 2.46462481e+02] [ 2.18865377e-01 9.75714683e-01 -8.87721438e-03 1.23138969e+02] [ 7.33665047e-02 -7.38365399e-03 9.97277713e-01 1.39048706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.216875 meters Centerline goodness : 0.986160 Centerline is valid? [True, True] Translation: X:246.48, Y:123.16, Z:139.03 [[ 9.73087854e-01 -2.22321181e-01 -6.06079202e-02 2.46478784e+02] [ 2.20811452e-01 9.74834867e-01 -3.06477589e-02 1.23157868e+02] [ 6.58963598e-02 1.64400390e-02 9.97691032e-01 1.39032044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.246875 meters Centerline goodness : 0.989637 Centerline is valid? [True, True] Translation: X:246.54, Y:123.12, Z:139.09 [[ 9.74981459e-01 -2.03288835e-01 -8.99155374e-02 2.46535970e+02] [ 2.06607088e-01 9.77988720e-01 2.91817582e-02 1.23123827e+02] [ 8.20040557e-02 -4.70288605e-02 9.95521783e-01 1.39090720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.276875 meters Centerline goodness : 0.986895 Centerline is valid? [True, True] Translation: X:246.54, Y:123.18, Z:139.03 [[ 9.72711167e-01 -2.24240819e-01 -5.95738226e-02 2.46540925e+02] [ 2.21265312e-01 9.73791393e-01 -5.26496317e-02 1.23179286e+02] [ 6.98186722e-02 3.80312643e-02 9.96834478e-01 1.39032961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.306875 meters Centerline goodness : 0.986895 Centerline is valid? [True, True] Translation: X:246.57, Y:123.17, Z:139.05 [[ 9.72867641e-01 -2.21268639e-01 -6.75924669e-02 2.46571650e+02] [ 2.20515391e-01 9.75207981e-01 -1.85028741e-02 1.23170263e+02] [ 7.00108190e-02 3.09566827e-03 9.97541429e-01 1.39050431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.336875 meters Centerline goodness : 0.988356 Centerline is valid? [True, True] Translation: X:246.60, Y:123.17, Z:139.06 [[ 9.72508723e-01 -2.20737676e-01 -7.41731854e-02 2.46603212e+02] [ 2.20789729e-01 9.75291821e-01 -7.59994765e-03 1.23169106e+02] [ 7.40180959e-02 -8.98566212e-03 9.97216416e-01 1.39062751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.366875 meters Centerline goodness : 0.989951 Centerline is valid? [True, True] Translation: X:246.65, Y:123.16, Z:139.09 [[ 9.73459860e-01 -2.12953868e-01 -8.38245303e-02 2.46647593e+02] [ 2.14145506e-01 9.76786922e-01 5.38625371e-03 1.23157587e+02] [ 8.07316814e-02 -2.31939482e-02 9.96465974e-01 1.39085531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.396875 meters Centerline goodness : 0.990420 Centerline is valid? [True, True] Translation: X:246.67, Y:123.18, Z:139.07 [[ 9.72386848e-01 -2.18638848e-01 -8.16141610e-02 2.46665760e+02] [ 2.16516504e-01 9.75682690e-01 -3.41158724e-02 1.23178466e+02] [ 8.70885791e-02 1.55030128e-02 9.96079935e-01 1.39068740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.426875 meters Centerline goodness : 0.988176 Centerline is valid? [True, True] Translation: X:246.69, Y:123.18, Z:139.08 [[ 9.71085317e-01 -2.27391204e-01 -7.27086429e-02 2.46691124e+02] [ 2.27280380e-01 9.73778995e-01 -9.90443266e-03 1.23184583e+02] [ 7.30543300e-02 -6.90719887e-03 9.97304044e-01 1.39075714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.456875 meters Centerline goodness : 0.987375 Centerline is valid? [True, True] Translation: X:246.72, Y:123.19, Z:139.08 [[ 9.70841130e-01 -2.28232004e-01 -7.33324746e-02 2.46718096e+02] [ 2.27974462e-01 9.73593462e-01 -1.19756283e-02 1.23192643e+02] [ 7.41292395e-02 -5.09149891e-03 9.97235645e-01 1.39078323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.486875 meters Centerline goodness : 0.985389 Centerline is valid? [True, True] Translation: X:246.76, Y:123.20, Z:139.08 [[ 9.71254465e-01 -2.26023169e-01 -7.46879583e-02 2.46757592e+02] [ 2.25761930e-01 9.74108183e-01 -1.20332175e-02 1.23197042e+02] [ 7.54739373e-02 -5.17438137e-03 9.97134349e-01 1.39081973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.516875 meters Centerline goodness : 0.987529 Centerline is valid? [True, True] Translation: X:246.77, Y:123.21, Z:139.08 [[ 9.70351893e-01 -2.31677093e-01 -6.88689214e-02 2.46771740e+02] [ 2.30299614e-01 9.72733385e-01 -2.74198673e-02 1.23213582e+02] [ 7.33436542e-02 1.07464342e-02 9.97248827e-01 1.39075817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.546875 meters Centerline goodness : 0.986809 Centerline is valid? [True, True] Translation: X:246.81, Y:123.21, Z:139.08 [[ 9.71059489e-01 -2.28165576e-01 -7.05970151e-02 2.46811139e+02] [ 2.27254896e-01 9.73613559e-01 -2.07809798e-02 1.23212633e+02] [ 7.34757154e-02 4.13605035e-03 9.97288430e-01 1.39082698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.576875 meters Centerline goodness : 0.986939 Centerline is valid? [True, True] Translation: X:246.84, Y:123.22, Z:139.09 [[ 9.70627891e-01 -2.29441817e-01 -7.23736847e-02 2.46838619e+02] [ 2.28991694e-01 9.73319341e-01 -1.45692862e-02 1.23217030e+02] [ 7.37855106e-02 -2.43161719e-03 9.97271170e-01 1.39088157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6068750000001 meters Centerline goodness : 0.987754 Centerline is valid? [True, True] Translation: X:246.85, Y:123.23, Z:139.08 [[ 9.69003723e-01 -2.37371345e-01 -6.84589562e-02 2.46852326e+02] [ 2.36211945e-01 9.71388129e-01 -2.46783307e-02 1.23233328e+02] [ 7.23581459e-02 7.74257114e-03 9.97348661e-01 1.39081718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.636875 meters Centerline goodness : 0.987795 Centerline is valid? [True, True] Translation: X:246.88, Y:123.24, Z:139.08 [[ 9.68587429e-01 -2.39448051e-01 -6.71045659e-02 2.46877844e+02] [ 2.38603321e-01 9.70901752e-01 -2.04509962e-02 1.23240996e+02] [ 7.00488918e-02 3.79720553e-03 9.97536332e-01 1.39082880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.666875 meters Centerline goodness : 0.986432 Centerline is valid? [True, True] Translation: X:246.92, Y:123.24, Z:139.10 [[ 9.69581552e-01 -2.33782422e-01 -7.25078911e-02 2.46921186e+02] [ 2.34146282e-01 9.72194858e-01 -3.56034391e-03 1.23237682e+02] [ 7.13241447e-02 -1.35254093e-02 9.97361484e-01 1.39099474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.696875 meters Centerline goodness : 0.985282 Centerline is valid? [True, True] Translation: X:246.93, Y:123.26, Z:139.09 [[ 9.67744046e-01 -2.44229236e-01 -6.18347926e-02 2.46933770e+02] [ 2.42721039e-01 9.69602471e-01 -3.09442326e-02 1.23262171e+02] [ 6.75126539e-02 1.49374917e-02 9.97606592e-01 1.39087548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.7268750000001 meters Centerline goodness : 0.985919 Centerline is valid? [True, True] Translation: X:246.95, Y:123.27, Z:139.08 [[ 9.67331411e-01 -2.46903215e-01 -5.75216787e-02 2.46954489e+02] [ 2.45445041e-01 9.68905739e-01 -3.12794024e-02 1.23272628e+02] [ 6.34560697e-02 1.61391377e-02 9.97854125e-01 1.39081920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.756875 meters Centerline goodness : 0.984699 Centerline is valid? [True, True] Translation: X:247.00, Y:123.26, Z:139.11 [[ 9.68715099e-01 -2.37888249e-01 -7.07123558e-02 2.46999330e+02] [ 2.39391409e-01 9.70829580e-01 1.34788853e-02 1.23258594e+02] [ 6.54431783e-02 -2.99851302e-02 9.97405676e-01 1.39114538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.786875 meters Centerline goodness : 0.989294 Centerline is valid? [True, True] Translation: X:247.02, Y:123.28, Z:139.11 [[ 9.68449657e-01 -2.40280676e-01 -6.61094407e-02 2.47018497e+02] [ 2.39997489e-01 9.70695444e-01 -1.23109792e-02 1.23282305e+02] [ 6.71302233e-02 -3.94353612e-03 9.97736429e-01 1.39105411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.816875 meters Centerline goodness : 0.986119 Centerline is valid? [True, True] Translation: X:247.05, Y:123.29, Z:139.11 [[ 9.68214753e-01 -2.41538632e-01 -6.49560009e-02 2.47050574e+02] [ 2.41986751e-01 9.70279042e-01 -9.96530436e-04 1.23291189e+02] [ 6.32661470e-02 -1.47536362e-02 9.97887631e-01 1.39110776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.846875 meters Centerline goodness : 0.988603 Centerline is valid? [True, True] Translation: X:247.07, Y:123.31, Z:139.10 [[ 9.67999556e-01 -2.43739888e-01 -5.97304445e-02 2.47074137e+02] [ 2.42845674e-01 9.69817472e-01 -2.19100536e-02 1.23310838e+02] [ 6.32679827e-02 6.70364209e-03 9.97974060e-01 1.39103742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.876875 meters Centerline goodness : 0.986487 Centerline is valid? [True, True] Translation: X:247.09, Y:123.35, Z:139.07 [[ 9.67095123e-01 -2.51512366e-01 -3.83217002e-02 2.47087539e+02] [ 2.48625946e-01 9.66256169e-01 -6.73361324e-02 1.23347887e+02] [ 5.39644492e-02 5.55926763e-02 9.96994129e-01 1.39068995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.906875 meters Centerline goodness : 0.986369 Centerline is valid? [True, True] Translation: X:247.13, Y:123.31, Z:139.13 [[ 9.68492580e-01 -2.39632071e-01 -6.78129236e-02 2.47128116e+02] [ 2.41749765e-01 9.70020495e-01 2.48453176e-02 1.23314598e+02] [ 5.98261908e-02 -4.04562641e-02 9.97388649e-01 1.39127282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.936875 meters Centerline goodness : 0.985908 Centerline is valid? [True, True] Translation: X:247.15, Y:123.34, Z:139.12 [[ 9.68156884e-01 -2.42989017e-01 -6.02377400e-02 2.47154477e+02] [ 2.43496496e-01 9.69901130e-01 1.12034900e-03 1.23335270e+02] [ 5.81524196e-02 -1.57523522e-02 9.98183430e-01 1.39120768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.966875 meters Centerline goodness : 0.986203 Centerline is valid? [True, True] Translation: X:247.18, Y:123.36, Z:139.11 [[ 9.68106580e-01 -2.45098356e-01 -5.19273024e-02 2.47179584e+02] [ 2.44221035e-01 9.69453537e-01 -2.27140011e-02 1.23357045e+02] [ 5.59082713e-02 9.30783439e-03 9.98392523e-01 1.39112859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.996875 meters Centerline goodness : 0.988452 Centerline is valid? [True, True] Translation: X:247.20, Y:123.37, Z:139.12 [[ 9.68870741e-01 -2.41533845e-01 -5.43220861e-02 2.47204748e+02] [ 2.41737382e-01 9.70337405e-01 -2.89104893e-03 1.23368768e+02] [ 5.34090382e-02 -1.03306262e-02 9.98519280e-01 1.39119501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.026875 meters Centerline goodness : 0.988709 Centerline is valid? [True, True] Translation: X:247.23, Y:123.39, Z:139.11 [[ 9.68935482e-01 -2.42090346e-01 -5.05598300e-02 2.47228818e+02] [ 2.41328606e-01 9.70221473e-01 -2.07556652e-02 1.23389699e+02] [ 5.40789789e-02 7.90936719e-03 9.98505336e-01 1.39111585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.056875 meters Centerline goodness : 0.989349 Centerline is valid? [True, True] Translation: X:247.26, Y:123.39, Z:139.12 [[ 9.69564888e-01 -2.38641871e-01 -5.47173284e-02 2.47257515e+02] [ 2.38879329e-01 9.71046643e-01 -2.25483551e-03 1.23392986e+02] [ 5.36711762e-02 -1.08846293e-02 9.98499339e-01 1.39118800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.086875 meters Centerline goodness : 0.986692 Centerline is valid? [True, True] Translation: X:247.28, Y:123.42, Z:139.11 [[ 9.70311024e-01 -2.37251024e-01 -4.69943485e-02 2.47281739e+02] [ 2.36143011e-01 9.71316196e-01 -2.79521885e-02 1.23415313e+02] [ 5.22780572e-02 1.60249297e-02 9.98503984e-01 1.39111706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.116875 meters Centerline goodness : 0.986752 Centerline is valid? [True, True] Translation: X:247.31, Y:123.41, Z:139.13 [[ 9.70890754e-01 -2.33187201e-01 -5.47254358e-02 2.47311791e+02] [ 2.33650886e-01 9.72318192e-01 2.14391794e-03 1.23410741e+02] [ 5.27106026e-02 -1.48681567e-02 9.98499139e-01 1.39127490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.146875 meters Centerline goodness : 0.984762 Centerline is valid? [True, True] Translation: X:247.34, Y:123.42, Z:139.13 [[ 9.71102472e-01 -2.32776935e-01 -5.26772028e-02 2.47336764e+02] [ 2.32745060e-01 9.72513838e-01 -6.82434181e-03 1.23423769e+02] [ 5.28178581e-02 -5.63322353e-03 9.98588274e-01 1.39127073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.176875 meters Centerline goodness : 0.985339 Centerline is valid? [True, True] Translation: X:247.36, Y:123.45, Z:139.12 [[ 9.70919895e-01 -2.35195973e-01 -4.46924199e-02 2.47358641e+02] [ 2.33747771e-01 9.71655144e-01 -3.53307229e-02 1.23453119e+02] [ 5.17352634e-02 2.38565482e-02 9.98375845e-01 1.39116590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.206875 meters Centerline goodness : 0.985522 Centerline is valid? [True, True] Translation: X:247.39, Y:123.45, Z:139.13 [[ 9.71033817e-01 -2.33212599e-01 -5.20116310e-02 2.47387546e+02] [ 2.33035657e-01 9.72421535e-01 -9.52575052e-03 1.23453481e+02] [ 5.27987551e-02 -2.87073870e-03 9.98601047e-01 1.39125400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.236875 meters Centerline goodness : 0.987588 Centerline is valid? [True, True] Translation: X:247.42, Y:123.46, Z:139.13 [[ 9.70962484e-01 -2.31492791e-01 -6.03567991e-02 2.47416134e+02] [ 2.32362830e-01 9.72598527e-01 7.72146480e-03 1.23455957e+02] [ 5.69154705e-02 -2.15219293e-02 9.98147001e-01 1.39132966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.266875 meters Centerline goodness : 0.990164 Centerline is valid? [True, True] Translation: X:247.44, Y:123.48, Z:139.12 [[ 9.70258072e-01 -2.35998974e-01 -5.38865308e-02 2.47440675e+02] [ 2.35567647e-01 9.71752573e-01 -1.43115413e-02 1.23477811e+02] [ 5.57418840e-02 1.19196515e-03 9.98444501e-01 1.39124526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.296875 meters Centerline goodness : 0.986965 Centerline is valid? [True, True] Translation: X:247.47, Y:123.48, Z:139.13 [[ 9.70229804e-01 -2.35526332e-01 -5.64045636e-02 2.47466248e+02] [ 2.35923047e-01 9.71771664e-01 3.85703608e-04 1.23477818e+02] [ 5.47215133e-02 -1.36813576e-02 9.98407921e-01 1.39132830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.326875 meters Centerline goodness : 0.991810 Centerline is valid? [True, True] Translation: X:247.49, Y:123.50, Z:139.13 [[ 9.69668417e-01 -2.38689472e-01 -5.26355135e-02 2.47488568e+02] [ 2.37579526e-01 9.71006164e-01 -2.65141291e-02 1.23495404e+02] [ 5.74380515e-02 1.32047933e-02 9.98261741e-01 1.39127781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3568750000001 meters Centerline goodness : 0.985888 Centerline is valid? [True, True] Translation: X:247.52, Y:123.50, Z:139.13 [[ 9.67684395e-01 -2.46255141e-01 -5.42707802e-02 2.47519754e+02] [ 2.46352764e-01 9.69167391e-01 -4.98845367e-03 1.23499109e+02] [ 5.38259028e-02 -8.54250792e-03 9.98513794e-01 1.39134198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.386875 meters Centerline goodness : 0.988821 Centerline is valid? [True, True] Translation: X:247.55, Y:123.51, Z:139.13 [[ 9.67190752e-01 -2.49002512e-01 -5.03964194e-02 2.47545067e+02] [ 2.48839260e-01 9.68497331e-01 -9.58871260e-03 1.23510704e+02] [ 5.11964111e-02 -3.26649356e-03 9.98683262e-01 1.39130859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.416875 meters Centerline goodness : 0.990152 Centerline is valid? [True, True] Translation: X:247.57, Y:123.54, Z:139.11 [[ 9.64500814e-01 -2.60922752e-01 -4.07123704e-02 2.47565538e+02] [ 2.59112469e-01 9.64805701e-01 -4.48406978e-02 1.23541654e+02] [ 5.09794853e-02 3.26998068e-02 9.98164222e-01 1.39114837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.446875 meters Centerline goodness : 0.984980 Centerline is valid? [True, True] Translation: X:247.60, Y:123.55, Z:139.12 [[ 9.64511009e-01 -2.61132310e-01 -3.90951527e-02 2.47598115e+02] [ 2.59495049e-01 9.64812842e-01 -4.24087115e-02 1.23548062e+02] [ 4.87937902e-02 3.07586706e-02 9.98335149e-01 1.39117190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4768750000001 meters Centerline goodness : 0.989596 Centerline is valid? [True, True] Translation: X:247.63, Y:123.54, Z:139.13 [[ 9.62825170e-01 -2.65597830e-01 -4.92492062e-02 2.47625418e+02] [ 2.65818388e-01 9.64020758e-01 -2.13579567e-03 1.23544172e+02] [ 4.80445198e-02 -1.10349468e-02 9.98784238e-01 1.39130276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.506875 meters Centerline goodness : 0.990919 Centerline is valid? [True, True] Translation: X:247.66, Y:123.54, Z:139.15 [[ 9.63676163e-01 -2.60669275e-01 -5.81358950e-02 2.47657423e+02] [ 2.62028181e-01 9.64910648e-01 1.69904238e-02 1.23539375e+02] [ 5.16670626e-02 -3.16065093e-02 9.98164086e-01 1.39147987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.536875 meters Centerline goodness : 0.990488 Centerline is valid? [True, True] Translation: X:247.68, Y:123.57, Z:139.13 [[ 9.62711774e-01 -2.66897411e-01 -4.41793187e-02 2.47680360e+02] [ 2.65613182e-01 9.63519392e-01 -3.28636455e-02 1.23574249e+02] [ 5.13388522e-02 1.99036091e-02 9.98482934e-01 1.39126684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.566875 meters Centerline goodness : 0.991143 Centerline is valid? [True, True] Translation: X:247.72, Y:123.57, Z:139.15 [[ 9.63973206e-01 -2.59608275e-01 -5.79586285e-02 2.47715084e+02] [ 2.60210450e-01 9.65547375e-01 2.96440271e-03 1.23565570e+02] [ 5.51922182e-02 -1.79390456e-02 9.98314585e-01 1.39147453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.596875 meters Centerline goodness : 0.992143 Centerline is valid? [True, True] Translation: X:247.74, Y:123.58, Z:139.15 [[ 9.65345051e-01 -2.54471281e-01 -5.79076865e-02 2.47742100e+02] [ 2.54911655e-01 9.66964321e-01 2.25448719e-04 1.23579535e+02] [ 5.59372965e-02 -1.49789800e-02 9.98321917e-01 1.39146537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.626875 meters Centerline goodness : 0.986758 Centerline is valid? [True, True] Translation: X:247.77, Y:123.62, Z:139.11 [[ 9.65586238e-01 -2.57738116e-01 -3.48465309e-02 2.47769449e+02] [ 2.54608430e-01 9.64083833e-01 -7.56102544e-02 1.23624340e+02] [ 5.30826216e-02 6.41360006e-02 9.96528378e-01 1.39114602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.656875 meters Centerline goodness : 0.991140 Centerline is valid? [True, True] Translation: X:247.80, Y:123.58, Z:139.17 [[ 9.67012920e-01 -2.44315669e-01 -7.20823630e-02 2.47802647e+02] [ 2.47448928e-01 9.68148154e-01 3.81861285e-02 1.23578992e+02] [ 6.04569371e-02 -5.47631831e-02 9.96667423e-01 1.39165796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.686875 meters Centerline goodness : 0.992529 Centerline is valid? [True, True] Translation: X:247.83, Y:123.61, Z:139.15 [[ 9.68761380e-01 -2.39945281e-01 -6.26709671e-02 2.47829735e+02] [ 2.40019222e-01 9.70746655e-01 -6.45795361e-03 1.23608234e+02] [ 6.23871871e-02 -8.78602067e-03 9.98013349e-01 1.39152553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.716875 meters Centerline goodness : 0.991833 Centerline is valid? [True, True] Translation: X:247.85, Y:123.62, Z:139.16 [[ 9.69762279e-01 -2.36451135e-01 -6.04316419e-02 2.47854555e+02] [ 2.36662650e-01 9.71584700e-01 -3.73635987e-03 1.23616214e+02] [ 5.95979252e-02 -1.06785317e-02 9.98165345e-01 1.39156904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.746875 meters Centerline goodness : 0.992286 Centerline is valid? [True, True] Translation: X:247.88, Y:123.62, Z:139.16 [[ 9.70784297e-01 -2.32198782e-01 -6.05109516e-02 2.47883789e+02] [ 2.32161332e-01 9.72646446e-01 -7.74644420e-03 1.23624080e+02] [ 6.06544769e-02 -6.52817673e-03 9.98137474e-01 1.39158038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.776875 meters Centerline goodness : 0.991994 Centerline is valid? [True, True] Translation: X:247.91, Y:123.64, Z:139.16 [[ 9.71177110e-01 -2.30772192e-01 -5.96591630e-02 2.47908356e+02] [ 2.30299202e-01 9.73007614e-01 -1.47803983e-02 1.23636435e+02] [ 6.14597248e-02 6.14926846e-04 9.98109375e-01 1.39158070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.806875 meters Centerline goodness : 0.993041 Centerline is valid? [True, True] Translation: X:247.94, Y:123.67, Z:139.12 [[ 9.72610216e-01 -2.29553112e-01 -3.65340533e-02 2.47938155e+02] [ 2.27143949e-01 9.71994528e-01 -6.02682669e-02 1.23668486e+02] [ 4.93456682e-02 5.03190430e-02 9.97513408e-01 1.39124386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.836875 meters Centerline goodness : 0.992953 Centerline is valid? [True, True] Translation: X:247.97, Y:123.62, Z:139.18 [[ 9.73286460e-01 -2.17432705e-01 -7.37325231e-02 2.47970651e+02] [ 2.20814780e-01 9.74443857e-01 4.12310887e-02 1.23624821e+02] [ 6.28832170e-02 -5.64108912e-02 9.96425367e-01 1.39178893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.866875 meters Centerline goodness : 0.991577 Centerline is valid? [True, True] Translation: X:247.99, Y:123.67, Z:139.16 [[ 9.72750294e-01 -2.25054805e-01 -5.57422747e-02 2.47990100e+02] [ 2.23818846e-01 9.74240331e-01 -2.75844364e-02 1.23665077e+02] [ 6.05143821e-02 1.43565970e-02 9.98064075e-01 1.39156055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.896875 meters Centerline goodness : 0.991472 Centerline is valid? [True, True] Translation: X:248.02, Y:123.66, Z:139.16 [[ 9.73585847e-01 -2.20028770e-01 -6.09749009e-02 2.48019377e+02] [ 2.19699323e-01 9.75492107e-01 -1.21390494e-02 1.23660107e+02] [ 6.21514747e-02 -1.57773773e-03 9.98065481e-01 1.39161617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.926875 meters Centerline goodness : 0.991019 Centerline is valid? [True, True] Translation: X:248.05, Y:123.67, Z:139.16 [[ 9.74072423e-01 -2.17876548e-01 -6.09321367e-02 2.48047006e+02] [ 2.17205178e-01 9.75968842e-01 -1.75137163e-02 1.23666512e+02] [ 6.32836949e-02 3.82485240e-03 9.97988249e-01 1.39162609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.956875 meters Centerline goodness : 0.992266 Centerline is valid? [True, True] Translation: X:248.07, Y:123.67, Z:139.16 [[ 9.74350696e-01 -2.17836837e-01 -5.64609090e-02 2.48073226e+02] [ 2.17682055e-01 9.75978679e-01 -8.95213760e-03 1.23670151e+02] [ 5.70547487e-02 -3.56800523e-03 9.98364675e-01 1.39159093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.986875 meters Centerline goodness : 0.991523 Centerline is valid? [True, True] Translation: X:248.10, Y:123.68, Z:139.16 [[ 9.75377562e-01 -2.13703333e-01 -5.44930960e-02 2.48100926e+02] [ 2.13108827e-01 9.76888038e-01 -1.65647008e-02 1.23676509e+02] [ 5.67735855e-02 4.54387773e-03 9.98376739e-01 1.39161283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.016875 meters Centerline goodness : 0.990722 Centerline is valid? [True, True] Translation: X:248.13, Y:123.68, Z:139.17 [[ 9.75822124e-01 -2.11099227e-01 -5.66418443e-02 2.48129381e+02] [ 2.11287903e-01 9.77420127e-01 -2.70511898e-03 1.23675347e+02] [ 5.59339272e-02 -9.32802155e-03 9.98390897e-01 1.39168076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.046875 meters Centerline goodness : 0.991018 Centerline is valid? [True, True] Translation: X:248.16, Y:123.68, Z:139.17 [[ 9.75868237e-01 -2.11229975e-01 -5.53451229e-02 2.48155303e+02] [ 2.10798741e-01 9.77435099e-01 -1.35837751e-02 1.23684611e+02] [ 5.69655661e-02 1.58929245e-03 9.98374879e-01 1.39166153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.076875 meters Centerline goodness : 0.991769 Centerline is valid? [True, True] Translation: X:248.18, Y:123.69, Z:139.16 [[ 9.76012788e-01 -2.11503777e-01 -5.16254807e-02 2.48179645e+02] [ 2.11297925e-01 9.77375771e-01 -9.47573503e-03 1.23687897e+02] [ 5.24616477e-02 -1.65991841e-03 9.98621560e-01 1.39162274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1068750000001 meters Centerline goodness : 0.991931 Centerline is valid? [True, True] Translation: X:248.20, Y:123.70, Z:139.15 [[ 9.75357655e-01 -2.15466176e-01 -4.74528336e-02 2.48204478e+02] [ 2.14174854e-01 9.76307842e-01 -3.08566014e-02 1.23699797e+02] [ 5.29771275e-02 1.99330187e-02 9.98396764e-01 1.39150904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.136875 meters Centerline goodness : 0.990548 Centerline is valid? [True, True] Translation: X:248.24, Y:123.68, Z:139.17 [[ 9.76182692e-01 -2.08825588e-01 -5.88151763e-02 2.48241055e+02] [ 2.09224813e-01 9.77867354e-01 6.44666279e-04 1.23683841e+02] [ 5.73788180e-02 -1.29349064e-02 9.98268681e-01 1.39171733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.166875 meters Centerline goodness : 0.992301 Centerline is valid? [True, True] Translation: X:248.27, Y:123.72, Z:139.13 [[ 9.76292715e-01 -2.13958499e-01 -3.27764620e-02 2.48271883e+02] [ 2.12224563e-01 9.75965757e-01 -4.95133909e-02 1.23715678e+02] [ 4.25825153e-02 4.13835925e-02 9.98235507e-01 1.39132601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.196875 meters Centerline goodness : 0.991774 Centerline is valid? [True, True] Translation: X:248.29, Y:123.68, Z:139.17 [[ 9.75082755e-01 -2.13875771e-01 -5.89132945e-02 2.48294153e+02] [ 2.15397770e-01 9.76305906e-01 2.07503680e-02 1.23681932e+02] [ 5.30793965e-02 -3.29231182e-02 9.98047417e-01 1.39171571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.2268750000001 meters Centerline goodness : 0.991831 Centerline is valid? [True, True] Translation: X:248.32, Y:123.70, Z:139.16 [[ 9.74217732e-01 -2.19918710e-01 -5.03544649e-02 2.48318178e+02] [ 2.19270888e-01 9.75495826e-01 -1.81155061e-02 1.23703879e+02] [ 5.31045091e-02 6.60717903e-03 9.98567102e-01 1.39160587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.256875 meters Centerline goodness : 0.991831 Centerline is valid? [True, True] Translation: X:248.35, Y:123.71, Z:139.16 [[ 9.74303375e-01 -2.19281998e-01 -5.14620101e-02 2.48345095e+02] [ 2.18829919e-01 9.75657785e-01 -1.43301699e-02 1.23708326e+02] [ 5.33516591e-02 2.70050541e-03 9.98572134e-01 1.39164874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.286875 meters Centerline goodness : 0.991403 Centerline is valid? [True, True] Translation: X:248.39, Y:123.72, Z:139.15 [[ 9.75425423e-01 -2.16602070e-01 -4.03582485e-02 2.48387125e+02] [ 2.15176433e-01 9.75878296e-01 -3.68870449e-02 1.23718402e+02] [ 4.73745491e-02 2.72964175e-02 9.98504160e-01 1.39149171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.316875 meters Centerline goodness : 0.991096 Centerline is valid? [True, True] Translation: X:248.41, Y:123.69, Z:139.18 [[ 9.74038519e-01 -2.18496436e-01 -5.92306645e-02 2.48408004e+02] [ 2.19511408e-01 9.75546463e-01 1.11283682e-02 1.23694414e+02] [ 5.53507565e-02 -2.38412658e-02 9.98182292e-01 1.39180484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.346875 meters Centerline goodness : 0.991160 Centerline is valid? [True, True] Translation: X:248.43, Y:123.70, Z:139.18 [[ 9.73526534e-01 -2.21709863e-01 -5.55951829e-02 2.48430693e+02] [ 2.21999536e-01 9.75046271e-01 -9.88160625e-04 1.23704178e+02] [ 5.44269607e-02 -1.13801042e-02 9.98452903e-01 1.39177152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.376875 meters Centerline goodness : 0.992951 Centerline is valid? [True, True] Translation: X:248.47, Y:123.72, Z:139.16 [[ 9.74887698e-01 -2.18959104e-01 -4.06311056e-02 2.48474007e+02] [ 2.17359821e-01 9.75256723e-01 -4.03612644e-02 1.23723776e+02] [ 4.84632252e-02 3.05161303e-02 9.98358694e-01 1.39155456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.406875 meters Centerline goodness : 0.991011 Centerline is valid? [True, True] Translation: X:248.49, Y:123.71, Z:139.18 [[ 9.73020088e-01 -2.23471812e-01 -5.73781999e-02 2.48486838e+02] [ 2.23822297e-01 9.74629916e-01 -3.26289377e-04 1.23708742e+02] [ 5.59954266e-02 -1.25250344e-02 9.98352461e-01 1.39176488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.436875 meters Centerline goodness : 0.991123 Centerline is valid? [True, True] Translation: X:248.51, Y:123.72, Z:139.17 [[ 9.72862299e-01 -2.25073790e-01 -5.36724856e-02 2.48514903e+02] [ 2.24503555e-01 9.74333478e-01 -1.65053786e-02 1.23719794e+02] [ 5.60098277e-02 4.00779674e-03 9.98422174e-01 1.39171091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.466875 meters Centerline goodness : 0.992408 Centerline is valid? [True, True] Translation: X:248.57, Y:123.69, Z:139.21 [[ 9.74747964e-01 -2.10660370e-01 -7.40851853e-02 2.48568190e+02] [ 2.12817810e-01 9.76833852e-01 2.24544984e-02 1.23689997e+02] [ 6.76386440e-02 -3.76541235e-02 9.96999088e-01 1.39206320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.496875 meters Centerline goodness : 0.991119 Centerline is valid? [True, True] Translation: X:248.57, Y:123.73, Z:139.17 [[ 9.71196256e-01 -2.32331719e-01 -5.29131888e-02 2.48572078e+02] [ 2.30312704e-01 9.72227651e-01 -4.15867001e-02 1.23731097e+02] [ 6.11055748e-02 2.82022679e-02 9.97732800e-01 1.39168192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.526875 meters Centerline goodness : 0.992933 Centerline is valid? [True, True] Translation: X:248.63, Y:123.69, Z:139.21 [[ 9.73201099e-01 -2.16692801e-01 -7.69665595e-02 2.48627908e+02] [ 2.18423472e-01 9.75742948e-01 1.47270534e-02 1.23694531e+02] [ 7.19083312e-02 -3.11436877e-02 9.96924903e-01 1.39209964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.556875 meters Centerline goodness : 0.992662 Centerline is valid? [True, True] Translation: X:248.65, Y:123.72, Z:139.20 [[ 9.72255378e-01 -2.22980407e-01 -7.07051456e-02 2.48653090e+02] [ 2.22450912e-01 9.74822616e-01 -1.53772148e-02 1.23715984e+02] [ 7.23537927e-02 -7.77844353e-04 9.97378726e-01 1.39199902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.586875 meters Centerline goodness : 0.986162 Centerline is valid? [True, True] Translation: X:248.69, Y:123.74, Z:139.18 [[ 9.71163263e-01 -2.31682767e-01 -5.62584392e-02 2.48686275e+02] [ 2.28751452e-01 9.71986442e-01 -5.39919428e-02 1.23743139e+02] [ 6.71914429e-02 3.95657917e-02 9.96955294e-01 1.39175480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.616875 meters Centerline goodness : 0.991353 Centerline is valid? [True, True] Translation: X:248.70, Y:123.71, Z:139.21 [[ 9.70321766e-01 -2.30079557e-01 -7.44249092e-02 2.48696793e+02] [ 2.31106301e-01 9.72913666e-01 5.37358427e-03 1.23712402e+02] [ 7.11726594e-02 -2.24141712e-02 9.97212143e-01 1.39206119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.646875 meters Centerline goodness : 0.992289 Centerline is valid? [True, True] Translation: X:248.75, Y:123.69, Z:139.24 [[ 9.71800171e-01 -2.16114898e-01 -9.43333387e-02 2.48750005e+02] [ 2.19532174e-01 9.75221370e-01 2.73661170e-02 1.23692610e+02] [ 8.60816622e-02 -4.73036001e-02 9.95164467e-01 1.39242847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.676875 meters Centerline goodness : 0.991637 Centerline is valid? [True, True] Translation: X:248.75, Y:123.75, Z:139.20 [[ 9.69081778e-01 -2.36439332e-01 -7.05475048e-02 2.48754726e+02] [ 2.33845766e-01 9.71317123e-01 -4.31184819e-02 1.23746584e+02] [ 7.87189045e-02 2.52880998e-02 9.96576061e-01 1.39200600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.706875 meters Centerline goodness : 0.991744 Centerline is valid? [True, True] Translation: X:248.78, Y:123.72, Z:139.23 [[ 9.68987910e-01 -2.29978251e-01 -9.04015163e-02 2.48782594e+02] [ 2.32178785e-01 9.72565247e-01 1.44862767e-02 1.23722624e+02] [ 8.45898445e-02 -3.50263412e-02 9.95800037e-01 1.39232214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.736875 meters Centerline goodness : 0.992560 Centerline is valid? [True, True] Translation: X:248.83, Y:123.77, Z:139.18 [[ 9.71626007e-01 -2.29115904e-01 -5.87265257e-02 2.48828092e+02] [ 2.25188032e-01 9.72037089e-01 -6.65901456e-02 1.23767635e+02] [ 7.23412225e-02 5.14762065e-02 9.96050675e-01 1.39183487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.766875 meters Centerline goodness : 0.992784 Centerline is valid? [True, True] Translation: X:248.84, Y:123.72, Z:139.25 [[ 9.69981213e-01 -2.23693924e-01 -9.53806859e-02 2.48840158e+02] [ 2.27905972e-01 9.73028934e-01 3.56870043e-02 1.23724942e+02] [ 8.48252011e-02 -5.63535516e-02 9.94800966e-01 1.39246018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.796875 meters Centerline goodness : 0.992266 Centerline is valid? [True, True] Translation: X:248.88, Y:123.76, Z:139.22 [[ 9.72962682e-01 -2.17458499e-01 -7.78165858e-02 2.48884527e+02] [ 2.16460117e-01 9.76062443e-01 -2.11453380e-02 1.23755729e+02] [ 8.05520803e-02 3.72943755e-03 9.96743424e-01 1.39224521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.826875 meters Centerline goodness : 0.984951 Centerline is valid? [True, True] Translation: X:248.92, Y:123.79, Z:139.20 [[ 9.72809499e-01 -2.20695663e-01 -7.02502868e-02 2.48919718e+02] [ 2.16440230e-01 9.74234746e-01 -6.34057348e-02 1.23789118e+02] [ 8.24336409e-02 4.64767128e-02 9.95512235e-01 1.39203839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8568750000001 meters Centerline goodness : 0.991850 Centerline is valid? [True, True] Translation: X:248.93, Y:123.74, Z:139.25 [[ 9.73382134e-01 -2.10350626e-01 -9.09936044e-02 2.48932734e+02] [ 2.13794234e-01 9.76423914e-01 2.98054672e-02 1.23740950e+02] [ 8.25787326e-02 -4.84660172e-02 9.95405344e-01 1.39248646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.886875 meters Centerline goodness : 0.991731 Centerline is valid? [True, True] Translation: X:248.97, Y:123.76, Z:139.24 [[ 9.74861281e-01 -2.05732159e-01 -8.55556012e-02 2.48973010e+02] [ 2.05578256e-01 9.78582172e-01 -1.07011301e-02 1.23758498e+02] [ 8.59247527e-02 -7.15625381e-03 9.96275928e-01 1.39239687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.916875 meters Centerline goodness : 0.985009 Centerline is valid? [True, True] Translation: X:249.01, Y:123.77, Z:139.22 [[ 9.76563711e-01 -2.03532901e-01 -6.99834067e-02 2.49010714e+02] [ 2.01734501e-01 9.78919135e-01 -3.19455510e-02 1.23773863e+02] [ 7.50100666e-02 1.70787982e-02 9.97036511e-01 1.39220606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.946875 meters Centerline goodness : 0.984573 Centerline is valid? [True, True] Translation: X:249.04, Y:123.77, Z:139.22 [[ 9.76902515e-01 -2.01184257e-01 -7.20164619e-02 2.49040468e+02] [ 2.00260371e-01 9.79540551e-01 -1.99020763e-02 1.23772371e+02] [ 7.45470293e-02 5.02034503e-03 9.97204862e-01 1.39224111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9768750000001 meters Centerline goodness : 0.991935 Centerline is valid? [True, True] Translation: X:249.05, Y:123.75, Z:139.26 [[ 9.76047963e-01 -1.94194087e-01 -9.80766550e-02 2.49049324e+02] [ 1.97597386e-01 9.79933735e-01 2.61753240e-02 1.23751951e+02] [ 9.10255297e-02 -4.49280623e-02 9.94834570e-01 1.39255687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.006875 meters Centerline goodness : 0.993405 Centerline is valid? [True, True] Translation: X:249.07, Y:123.77, Z:139.24 [[ 9.77669592e-01 -1.92482991e-01 -8.43354463e-02 2.49069080e+02] [ 1.93264071e-01 9.81146138e-01 1.12007647e-03 1.23772278e+02] [ 8.25298018e-02 -1.73940764e-02 9.96436791e-01 1.39241525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.036875 meters Centerline goodness : 0.984917 Centerline is valid? [True, True] Translation: X:249.12, Y:123.82, Z:139.22 [[ 9.78423521e-01 -1.95379996e-01 -6.71868305e-02 2.49120485e+02] [ 1.91907610e-01 9.79881449e-01 -5.48070747e-02 1.23819002e+02] [ 7.65433348e-02 4.07308670e-02 9.96233966e-01 1.39216389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.066875 meters Centerline goodness : 0.993328 Centerline is valid? [True, True] Translation: X:249.13, Y:123.78, Z:139.25 [[ 9.79309002e-01 -1.84496529e-01 -8.31559298e-02 2.49126002e+02] [ 1.86430269e-01 9.82337004e-01 1.60550644e-02 1.23782016e+02] [ 7.87250433e-02 -3.12256515e-02 9.96407209e-01 1.39246861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.096875 meters Centerline goodness : 0.993501 Centerline is valid? [True, True] Translation: X:249.15, Y:123.81, Z:139.24 [[ 9.78981808e-01 -1.84483824e-01 -8.69502074e-02 2.49154919e+02] [ 1.82818491e-01 9.82781037e-01 -2.68110569e-02 1.23807991e+02] [ 9.03992213e-02 1.03514312e-02 9.95851811e-01 1.39237449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.126875 meters Centerline goodness : 0.992677 Centerline is valid? [True, True] Translation: X:249.18, Y:123.81, Z:139.24 [[ 9.79694889e-01 -1.84813904e-01 -7.77286584e-02 2.49179180e+02] [ 1.84059166e-01 9.82771120e-01 -1.68270443e-02 1.23812125e+02] [ 7.94993524e-02 2.17869727e-03 9.96832537e-01 1.39239345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.156875 meters Centerline goodness : 0.993574 Centerline is valid? [True, True] Translation: X:249.21, Y:123.79, Z:139.27 [[ 9.80240538e-01 -1.75758397e-01 -9.07605318e-02 2.49213548e+02] [ 1.78053704e-01 9.83860116e-01 1.77806551e-02 1.23792545e+02] [ 8.61705678e-02 -3.35895677e-02 9.95714002e-01 1.39266044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.186875 meters Centerline goodness : 0.992729 Centerline is valid? [True, True] Translation: X:249.24, Y:123.81, Z:139.26 [[ 9.80282051e-01 -1.75402804e-01 -9.09997629e-02 2.49244828e+02] [ 1.75631378e-01 9.84440341e-01 -5.55285635e-03 1.23806136e+02] [ 9.05578242e-02 -1.05390483e-02 9.95835433e-01 1.39264897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.216875 meters Centerline goodness : 0.993577 Centerline is valid? [True, True] Translation: X:249.27, Y:123.81, Z:139.27 [[ 9.80294240e-01 -1.74402040e-01 -9.27746272e-02 2.49273354e+02] [ 1.73733912e-01 9.84673885e-01 -1.52927669e-02 1.23812987e+02] [ 9.40198423e-02 -1.12668764e-03 9.95569686e-01 1.39267311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.246875 meters Centerline goodness : 0.992721 Centerline is valid? [True, True] Translation: X:249.30, Y:123.85, Z:139.22 [[ 9.81921635e-01 -1.77470846e-01 -6.58331400e-02 2.49301688e+02] [ 1.73080189e-01 9.82603843e-01 -6.73270761e-02 1.23848827e+02] [ 7.66364895e-02 5.47155003e-02 9.95556660e-01 1.39224233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.276875 meters Centerline goodness : 0.994449 Centerline is valid? [True, True] Translation: X:249.33, Y:123.79, Z:139.30 [[ 9.80246592e-01 -1.65201861e-01 -1.08742653e-01 2.49331299e+02] [ 1.71355427e-01 9.83947390e-01 4.98482737e-02 1.23791685e+02] [ 9.87620216e-02 -6.74972440e-02 9.92819311e-01 1.39298251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.306875 meters Centerline goodness : 0.995213 Centerline is valid? [True, True] Translation: X:249.36, Y:123.84, Z:139.27 [[ 9.79807124e-01 -1.66592399e-01 -1.10566599e-01 2.49355752e+02] [ 1.64060302e-01 9.85941434e-01 -3.16813230e-02 1.23838542e+02] [ 1.14290059e-01 1.29019963e-02 9.93363640e-01 1.39272016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.336875 meters Centerline goodness : 0.992975 Centerline is valid? [True, True] Translation: X:249.39, Y:123.88, Z:139.22 [[ 9.82007521e-01 -1.75071506e-01 -7.07898073e-02 2.49387462e+02] [ 1.69256714e-01 9.82221837e-01 -8.11937637e-02 1.23884862e+02] [ 8.37460091e-02 6.77512364e-02 9.94181259e-01 1.39220915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.366875 meters Centerline goodness : 0.993146 Centerline is valid? [True, True] Translation: X:249.43, Y:123.82, Z:139.30 [[ 9.80857625e-01 -1.57507890e-01 -1.14497090e-01 2.49427094e+02] [ 1.63874087e-01 9.85291361e-01 4.84377761e-02 1.23820809e+02] [ 1.05183662e-01 -6.62736682e-02 9.92242006e-01 1.39298368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.396875 meters Centerline goodness : 0.994812 Centerline is valid? [True, True] Translation: X:249.45, Y:123.84, Z:139.29 [[ 9.81748164e-01 -1.58505176e-01 -1.05103050e-01 2.49453077e+02] [ 1.61838403e-01 9.86527134e-01 2.39279219e-02 1.23838385e+02] [ 9.98943108e-02 -4.05009031e-02 9.94173427e-01 1.39290125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.426875 meters Centerline goodness : 0.992743 Centerline is valid? [True, True] Translation: X:249.47, Y:123.93, Z:139.21 [[ 9.83337721e-01 -1.72374064e-01 -5.77417365e-02 2.49473602e+02] [ 1.64712423e-01 9.79231401e-01 -1.18218781e-01 1.23929065e+02] [ 7.69203733e-02 1.06738205e-01 9.91307325e-01 1.39214289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.456875 meters Centerline goodness : 0.993154 Centerline is valid? [True, True] Translation: X:249.51, Y:123.87, Z:139.26 [[ 9.83364776e-01 -1.62089053e-01 -8.19808282e-02 2.49506983e+02] [ 1.62403295e-01 9.86720305e-01 -2.86506217e-03 1.23865305e+02] [ 8.13565431e-02 -1.04965554e-02 9.96629788e-01 1.39258013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.486875 meters Centerline goodness : 0.994321 Centerline is valid? [True, True] Translation: X:249.53, Y:123.89, Z:139.24 [[ 9.83007342e-01 -1.67788903e-01 -7.44543503e-02 2.49528788e+02] [ 1.65608279e-01 9.85584526e-01 -3.45982781e-02 1.23890144e+02] [ 7.91862626e-02 2.16801046e-02 9.96624056e-01 1.39240316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.516875 meters Centerline goodness : 0.993789 Centerline is valid? [True, True] Translation: X:249.57, Y:123.83, Z:139.33 [[ 9.80425486e-01 -1.51206020e-01 -1.26105537e-01 2.49567846e+02] [ 1.62233528e-01 9.83316975e-01 8.22679085e-02 1.23827078e+02] [ 1.11562312e-01 -1.01116100e-01 9.88599709e-01 1.39333090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.546875 meters Centerline goodness : 0.985601 Centerline is valid? [True, True] Translation: X:249.60, Y:123.93, Z:139.25 [[ 9.81349130e-01 -1.72255559e-01 -8.53340898e-02 2.49603870e+02] [ 1.64957359e-01 9.82518688e-01 -8.62907780e-02 1.23931938e+02] [ 9.87064041e-02 7.06048938e-02 9.92608682e-01 1.39251381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.576875 meters Centerline goodness : 0.994831 Centerline is valid? [True, True] Translation: X:249.62, Y:123.90, Z:139.28 [[ 9.80448097e-01 -1.68722314e-01 -1.01263563e-01 2.49624093e+02] [ 1.66511861e-01 9.85584205e-01 -2.99595437e-02 1.23904234e+02] [ 1.04858612e-01 1.25121933e-02 9.94408425e-01 1.39276122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6068750000001 meters Centerline goodness : 0.995412 Centerline is valid? [True, True] Translation: X:249.67, Y:123.85, Z:139.35 [[ 9.79211426e-01 -1.49360011e-01 -1.37246386e-01 2.49668913e+02] [ 1.58962977e-01 9.85346035e-01 6.18381968e-02 1.23853558e+02] [ 1.25999028e-01 -8.23697630e-02 9.88604808e-01 1.39347220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.636875 meters Centerline goodness : 0.994192 Centerline is valid? [True, True] Translation: X:249.70, Y:123.91, Z:139.31 [[ 9.81114019e-01 -1.56151585e-01 -1.14157629e-01 2.49695331e+02] [ 1.53256928e-01 9.87609437e-01 -3.37625991e-02 1.23910426e+02] [ 1.18015235e-01 1.56295117e-02 9.92888777e-01 1.39308444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.666875 meters Centerline goodness : 0.994616 Centerline is valid? [True, True] Translation: X:249.70, Y:123.95, Z:139.28 [[ 9.81166380e-01 -1.68150096e-01 -9.50688127e-02 2.49698929e+02] [ 1.61008848e-01 9.83832703e-01 -7.84178793e-02 1.23949597e+02] [ 1.06717781e-01 6.16340668e-02 9.92377225e-01 1.39281607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.696875 meters Centerline goodness : 0.985650 Centerline is valid? [True, True] Translation: X:249.75, Y:123.93, Z:139.29 [[ 9.82458233e-01 -1.59663689e-01 -9.63500261e-02 2.49746696e+02] [ 1.58336960e-01 9.87155115e-01 -2.13116403e-02 1.23927431e+02] [ 9.85151162e-02 5.68202623e-03 9.95119333e-01 1.39294593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.7268750000001 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:249.76, Y:123.93, Z:139.31 [[ 9.82263603e-01 -1.58153201e-01 -1.00726258e-01 2.49762798e+02] [ 1.58016234e-01 9.87391888e-01 -9.38773807e-03 1.23925870e+02] [ 1.00940991e-01 -6.69515061e-03 9.94869887e-01 1.39310232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.756875 meters Centerline goodness : 0.992386 Centerline is valid? [True, True] Translation: X:249.80, Y:123.93, Z:139.31 [[ 9.82888976e-01 -1.56442178e-01 -9.72373686e-02 2.49797562e+02] [ 1.56396644e-01 9.87660807e-01 -8.13751644e-03 1.23931386e+02] [ 9.73105887e-02 -7.20932294e-03 9.95227951e-01 1.39312209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.786875 meters Centerline goodness : 0.992919 Centerline is valid? [True, True] Translation: X:249.82, Y:123.94, Z:139.31 [[ 9.82824889e-01 -1.58186955e-01 -9.50374873e-02 2.49824507e+02] [ 1.56752555e-01 9.87383373e-01 -2.24212294e-02 1.23944870e+02] [ 9.73851808e-02 7.13877336e-03 9.95221164e-01 1.39308234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.816875 meters Centerline goodness : 0.993293 Centerline is valid? [True, True] Translation: X:249.85, Y:123.94, Z:139.31 [[ 9.82845455e-01 -1.56661659e-01 -9.73238729e-02 2.49852032e+02] [ 1.56280013e-01 9.87644909e-01 -1.15797840e-02 1.23944679e+02] [ 9.79355357e-02 -3.82863806e-03 9.95185396e-01 1.39313821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.846875 meters Centerline goodness : 0.993328 Centerline is valid? [True, True] Translation: X:249.88, Y:123.96, Z:139.31 [[ 9.82792954e-01 -1.58534344e-01 -9.47885590e-02 2.49879591e+02] [ 1.57487438e-01 9.87348189e-01 -1.84732609e-02 1.23957161e+02] [ 9.65179583e-02 3.22738334e-03 9.95326011e-01 1.39307281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.876875 meters Centerline goodness : 0.992934 Centerline is valid? [True, True] Translation: X:249.91, Y:123.97, Z:139.31 [[ 9.82502792e-01 -1.60298892e-01 -9.48289439e-02 2.49907973e+02] [ 1.58321330e-01 9.86988517e-01 -2.80717774e-02 1.23966687e+02] [ 9.80949535e-02 1.25671552e-02 9.95097707e-01 1.39306772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.906875 meters Centerline goodness : 0.993256 Centerline is valid? [True, True] Translation: X:249.92, Y:123.98, Z:139.30 [[ 9.82151218e-01 -1.66805851e-01 -8.69183110e-02 2.49923619e+02] [ 1.63038672e-01 9.85410898e-01 -4.88237006e-02 1.23980625e+02] [ 9.37943299e-02 3.37812111e-02 9.95018318e-01 1.39300986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.936875 meters Centerline goodness : 0.993299 Centerline is valid? [True, True] Translation: X:249.93, Y:124.00, Z:139.28 [[ 9.82142445e-01 -1.74456160e-01 -7.04362564e-02 2.49933721e+02] [ 1.70159876e-01 9.83399312e-01 -6.30191173e-02 1.23998881e+02] [ 8.02610393e-02 4.99083252e-02 9.95523643e-01 1.39281901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.966875 meters Centerline goodness : 0.993458 Centerline is valid? [True, True] Translation: X:249.96, Y:123.99, Z:139.29 [[ 9.82068975e-01 -1.72043218e-01 -7.70821606e-02 2.49964615e+02] [ 1.69979486e-01 9.84907297e-01 -3.26280590e-02 1.23986208e+02] [ 8.15322187e-02 1.89406184e-02 9.96490718e-01 1.39294566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.996875 meters Centerline goodness : 0.993021 Centerline is valid? [True, True] Translation: X:249.98, Y:124.02, Z:139.27 [[ 9.81878595e-01 -1.78778238e-01 -6.28710339e-02 2.49982115e+02] [ 1.74853923e-01 9.82561958e-01 -6.32305641e-02 1.24015321e+02] [ 7.30789350e-02 5.10914905e-02 9.96016631e-01 1.39270708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.026875 meters Centerline goodness : 0.992280 Centerline is valid? [True, True] Translation: X:250.04, Y:123.95, Z:139.35 [[ 9.81255716e-01 -1.50807079e-01 -1.19976850e-01 2.50039051e+02] [ 1.58494322e-01 9.85696412e-01 5.72899049e-02 1.23945949e+02] [ 1.09621027e-01 -7.52316961e-02 9.91122304e-01 1.39348653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.056875 meters Centerline goodness : 0.993172 Centerline is valid? [True, True] Translation: X:250.07, Y:123.98, Z:139.33 [[ 9.82975661e-01 -1.52533794e-01 -1.02431890e-01 2.50069402e+02] [ 1.54662212e-01 9.87880269e-01 1.31215428e-02 1.23979123e+02] [ 9.91889646e-02 -2.87404999e-02 9.94653474e-01 1.39326833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.086875 meters Centerline goodness : 0.991001 Centerline is valid? [True, True] Translation: X:250.09, Y:124.02, Z:139.30 [[ 9.83295086e-01 -1.55830215e-01 -9.40623060e-02 2.50087469e+02] [ 1.51085789e-01 9.86952633e-01 -5.56559498e-02 1.24024432e+02] [ 1.01507919e-01 4.05147443e-02 9.94009405e-01 1.39304972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.116875 meters Centerline goodness : 0.992747 Centerline is valid? [True, True] Translation: X:250.09, Y:124.09, Z:139.26 [[ 9.83275323e-01 -1.73587845e-01 -5.51080733e-02 2.50085834e+02] [ 1.65075920e-01 9.77275439e-01 -1.32976151e-01 1.24086894e+02] [ 7.69388101e-02 1.21655152e-01 9.89585996e-01 1.39262700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.146875 meters Centerline goodness : 0.992747 Centerline is valid? [True, True] Translation: X:250.13, Y:124.03, Z:139.30 [[ 9.83244859e-01 -1.65294533e-01 -7.68587333e-02 2.50125694e+02] [ 1.63093449e-01 9.86020221e-01 -3.41269767e-02 1.24034276e+02] [ 8.14252679e-02 2.10200185e-02 9.96457769e-01 1.39297613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.176875 meters Centerline goodness : 0.990910 Centerline is valid? [True, True] Translation: X:250.16, Y:124.03, Z:139.31 [[ 9.83114469e-01 -1.62948156e-01 -8.32696803e-02 2.50162381e+02] [ 1.62152485e-01 9.86631468e-01 -1.62763315e-02 1.24027323e+02] [ 8.48086851e-02 2.49911140e-03 9.96394120e-01 1.39312576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.206875 meters Centerline goodness : 0.991010 Centerline is valid? [True, True] Translation: X:250.19, Y:124.03, Z:139.32 [[ 9.82970546e-01 -1.64008111e-01 -8.28869430e-02 2.50189325e+02] [ 1.63062245e-01 9.86449716e-01 -1.81014089e-02 1.24034303e+02] [ 8.47325793e-02 4.27742081e-03 9.96394547e-01 1.39315549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.236875 meters Centerline goodness : 0.991544 Centerline is valid? [True, True] Translation: X:250.22, Y:124.04, Z:139.32 [[ 9.82915643e-01 -1.62493696e-01 -8.64444176e-02 2.50220622e+02] [ 1.61923120e-01 9.86709393e-01 -1.36190257e-02 1.24040992e+02] [ 8.75085246e-02 -6.10996411e-04 9.96163583e-01 1.39324450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.266875 meters Centerline goodness : 0.991830 Centerline is valid? [True, True] Translation: X:250.26, Y:124.03, Z:139.35 [[ 9.83056043e-01 -1.54872023e-01 -9.80585219e-02 2.50258591e+02] [ 1.57190755e-01 9.87433195e-01 1.63325417e-02 1.24029064e+02] [ 9.42967858e-02 -3.14696968e-02 9.95046619e-01 1.39348883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.296875 meters Centerline goodness : 0.991762 Centerline is valid? [True, True] Translation: X:250.28, Y:124.06, Z:139.33 [[ 9.83492895e-01 -1.58330926e-01 -8.75959051e-02 2.50280177e+02] [ 1.56373279e-01 9.87277461e-01 -2.88203612e-02 1.24063718e+02] [ 9.10446172e-02 1.46469615e-02 9.95739094e-01 1.39331247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.326875 meters Centerline goodness : 0.990325 Centerline is valid? [True, True] Translation: X:250.30, Y:124.08, Z:139.32 [[ 9.83828624e-01 -1.58615582e-01 -8.32005760e-02 2.50303434e+02] [ 1.56009572e-01 9.87063004e-01 -3.69816016e-02 1.24082786e+02] [ 8.79900688e-02 2.34034719e-02 9.95846386e-01 1.39324534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3568750000001 meters Centerline goodness : 0.991406 Centerline is valid? [True, True] Translation: X:250.34, Y:124.07, Z:139.35 [[ 9.83779879e-01 -1.52330717e-01 -9.47232947e-02 2.50338311e+02] [ 1.52870133e-01 9.88245026e-01 -1.57840864e-03 1.24069501e+02] [ 9.38502649e-02 -1.29275560e-02 9.95502389e-01 1.39346188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.386875 meters Centerline goodness : 0.991069 Centerline is valid? [True, True] Translation: X:250.37, Y:124.06, Z:139.37 [[ 9.84170923e-01 -1.42605105e-01 -1.05220620e-01 2.50373750e+02] [ 1.45814816e-01 9.89034409e-01 2.34302575e-02 1.24059510e+02] [ 1.00725539e-01 -3.84021035e-02 9.94172844e-01 1.39371437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.416875 meters Centerline goodness : 0.992348 Centerline is valid? [True, True] Translation: X:250.39, Y:124.11, Z:139.34 [[ 9.84455520e-01 -1.50541598e-01 -9.04685422e-02 2.50389109e+02] [ 1.46747714e-01 9.88044511e-01 -4.72562410e-02 1.24114109e+02] [ 9.65009766e-02 3.32456156e-02 9.94777508e-01 1.39342077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.446875 meters Centerline goodness : 0.992233 Centerline is valid? [True, True] Translation: X:250.42, Y:124.12, Z:139.34 [[ 9.84479640e-01 -1.50931688e-01 -8.95514653e-02 2.50415240e+02] [ 1.47838409e-01 9.88191665e-01 -4.02621207e-02 1.24121217e+02] [ 9.45708414e-02 2.63980919e-02 9.95168075e-01 1.39342719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4768750000001 meters Centerline goodness : 0.994111 Centerline is valid? [True, True] Translation: X:250.45, Y:124.11, Z:139.36 [[ 9.84551963e-01 -1.44486857e-01 -9.88988393e-02 2.50445704e+02] [ 1.45406818e-01 9.89369680e-01 2.11986723e-03 1.24105218e+02] [ 9.75412201e-02 -1.64676850e-02 9.95095235e-01 1.39362567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.506875 meters Centerline goodness : 0.994252 Centerline is valid? [True, True] Translation: X:250.47, Y:124.16, Z:139.34 [[ 9.84425550e-01 -1.48543675e-01 -9.40271883e-02 2.50465017e+02] [ 1.42696146e-01 9.87552763e-01 -6.61615499e-02 1.24157393e+02] [ 1.02684689e-01 5.17138028e-02 9.93368782e-01 1.39340437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.536875 meters Centerline goodness : 0.994293 Centerline is valid? [True, True] Translation: X:250.50, Y:124.13, Z:139.37 [[ 9.84562339e-01 -1.40625314e-01 -1.04218623e-01 2.50502962e+02] [ 1.42257985e-01 9.89794273e-01 8.36437820e-03 1.24127156e+02] [ 1.01978753e-01 -2.30611831e-02 9.94519239e-01 1.39373742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.566875 meters Centerline goodness : 0.993832 Centerline is valid? [True, True] Translation: X:250.53, Y:124.16, Z:139.36 [[ 9.85009087e-01 -1.42630376e-01 -9.70240964e-02 2.50525232e+02] [ 1.40694218e-01 9.89697098e-01 -2.65478998e-02 1.24160620e+02] [ 9.98110035e-02 1.24991932e-02 9.94927904e-01 1.39361585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.596875 meters Centerline goodness : 0.993997 Centerline is valid? [True, True] Translation: X:250.55, Y:124.17, Z:139.36 [[ 9.84827750e-01 -1.42922500e-01 -9.84249051e-02 2.50551326e+02] [ 1.41397812e-01 9.89700931e-01 -2.23321731e-02 1.24169024e+02] [ 1.00602990e-01 8.07627761e-03 9.94893870e-01 1.39364276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.626875 meters Centerline goodness : 0.994728 Centerline is valid? [True, True] Translation: X:250.58, Y:124.18, Z:139.37 [[ 9.84646023e-01 -1.43668177e-01 -9.91547475e-02 2.50579083e+02] [ 1.42959790e-01 9.89625906e-01 -1.42500536e-02 1.24175410e+02] [ 1.00173386e-01 -1.43883310e-04 9.94969985e-01 1.39368179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.656875 meters Centerline goodness : 0.994336 Centerline is valid? [True, True] Translation: X:250.60, Y:124.20, Z:139.36 [[ 9.84421074e-01 -1.48280947e-01 -9.44876144e-02 2.50601932e+02] [ 1.45639835e-01 9.88742952e-01 -3.42988689e-02 1.24195049e+02] [ 9.85098316e-02 2.00033687e-02 9.94935012e-01 1.39363383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.686875 meters Centerline goodness : 0.994303 Centerline is valid? [True, True] Translation: X:250.63, Y:124.19, Z:139.37 [[ 9.83818081e-01 -1.50140860e-01 -9.77737455e-02 2.50630135e+02] [ 1.48790229e-01 9.88645699e-01 -2.10035720e-02 1.24194629e+02] [ 9.98170873e-02 6.11591598e-03 9.94987007e-01 1.39370298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.716875 meters Centerline goodness : 0.994138 Centerline is valid? [True, True] Translation: X:250.66, Y:124.20, Z:139.37 [[ 9.83260532e-01 -1.53292282e-01 -9.84896059e-02 2.50655384e+02] [ 1.52162540e-01 9.88174250e-01 -1.89265282e-02 1.24202409e+02] [ 1.00226183e-01 3.62327961e-03 9.94958082e-01 1.39374868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.746875 meters Centerline goodness : 0.994363 Centerline is valid? [True, True] Translation: X:250.68, Y:124.23, Z:139.37 [[ 9.82443164e-01 -1.56363814e-01 -1.01763383e-01 2.50679765e+02] [ 1.52193794e-01 9.87204982e-01 -4.75749135e-02 1.24225516e+02] [ 1.07900314e-01 3.12518932e-02 9.93670389e-01 1.39370523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.776875 meters Centerline goodness : 0.993241 Centerline is valid? [True, True] Translation: X:250.71, Y:124.22, Z:139.38 [[ 9.82827778e-01 -1.54444705e-01 -1.00977183e-01 2.50707209e+02] [ 1.53547302e-01 9.88001062e-01 -1.66471259e-02 1.24220750e+02] [ 1.02336624e-01 8.56483837e-04 9.94749457e-01 1.39381040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.806875 meters Centerline goodness : 0.993092 Centerline is valid? [True, True] Translation: X:250.74, Y:124.23, Z:139.39 [[ 9.82706037e-01 -1.54565821e-01 -1.01971817e-01 2.50735804e+02] [ 1.54151731e-01 9.87974598e-01 -1.19765304e-02 1.24233377e+02] [ 1.02596727e-01 -3.94972333e-03 9.94715191e-01 1.39386692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.836875 meters Centerline goodness : 0.993221 Centerline is valid? [True, True] Translation: X:250.76, Y:124.25, Z:139.39 [[ 9.82828557e-01 -1.53383059e-01 -1.02575168e-01 2.50760111e+02] [ 1.52011764e-01 9.88153404e-01 -2.11014901e-02 1.24245465e+02] [ 1.04596612e-01 5.14651482e-03 9.94501414e-01 1.39389730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.866875 meters Centerline goodness : 0.993938 Centerline is valid? [True, True] Translation: X:250.80, Y:124.25, Z:139.41 [[ 9.82469367e-01 -1.51180733e-01 -1.09079461e-01 2.50795296e+02] [ 1.51933273e-01 9.88389722e-01 -1.42735890e-03 1.24245048e+02] [ 1.08028807e-01 -1.51704632e-02 9.94032008e-01 1.39406794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.896875 meters Centerline goodness : 0.993014 Centerline is valid? [True, True] Translation: X:250.82, Y:124.27, Z:139.40 [[ 9.82651973e-01 -1.55310313e-01 -1.01359792e-01 2.50815994e+02] [ 1.53088031e-01 9.87775284e-01 -2.93946214e-02 1.24269776e+02] [ 1.04685985e-01 1.33677118e-02 9.94415481e-01 1.39398717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.926875 meters Centerline goodness : 0.993495 Centerline is valid? [True, True] Translation: X:250.84, Y:124.28, Z:139.40 [[ 9.82063558e-01 -1.54088832e-01 -1.08663703e-01 2.50840536e+02] [ 1.51104775e-01 9.87889748e-01 -3.52305790e-02 1.24278440e+02] [ 1.12776397e-01 1.81790633e-02 9.93454078e-01 1.39404530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.956875 meters Centerline goodness : 0.993821 Centerline is valid? [True, True] Translation: X:250.87, Y:124.28, Z:139.42 [[ 9.81573759e-01 -1.56306424e-01 -1.09914775e-01 2.50869667e+02] [ 1.56715821e-01 9.87631291e-01 -4.95818707e-03 1.24277896e+02] [ 1.09330267e-01 -1.23585579e-02 9.93928649e-01 1.39417060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.986875 meters Centerline goodness : 0.993146 Centerline is valid? [True, True] Translation: X:250.90, Y:124.30, Z:139.41 [[ 9.81168019e-01 -1.61636569e-01 -1.05749414e-01 2.50895035e+02] [ 1.59930706e-01 9.86824810e-01 -2.44737305e-02 1.24298834e+02] [ 1.08311995e-01 7.10026324e-03 9.94091594e-01 1.39413816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.016875 meters Centerline goodness : 0.993387 Centerline is valid? [True, True] Translation: X:250.92, Y:124.31, Z:139.42 [[ 9.80679437e-01 -1.64137383e-01 -1.06427257e-01 2.50922828e+02] [ 1.62905377e-01 9.86434322e-01 -2.02278540e-02 1.24305834e+02] [ 1.08303646e-01 2.49946809e-03 9.94114718e-01 1.39418611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.046875 meters Centerline goodness : 0.993036 Centerline is valid? [True, True] Translation: X:250.95, Y:124.31, Z:139.43 [[ 9.79526706e-01 -1.71504724e-01 -1.05420881e-01 2.50949730e+02] [ 1.70265021e-01 9.85180511e-01 -2.07167380e-02 1.24314919e+02] [ 1.07411616e-01 2.34310957e-03 9.94211876e-01 1.39426059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.076875 meters Centerline goodness : 0.993499 Centerline is valid? [True, True] Translation: X:250.98, Y:124.33, Z:139.42 [[ 9.80009366e-01 -1.71594510e-01 -1.00682500e-01 2.50983795e+02] [ 1.67188798e-01 9.84618433e-01 -5.07390025e-02 1.24331165e+02] [ 1.07840380e-01 3.28917115e-02 9.93623967e-01 1.39415753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1068750000001 meters Centerline goodness : 0.991877 Centerline is valid? [True, True] Translation: X:251.00, Y:124.32, Z:139.43 [[ 9.77857975e-01 -1.79970493e-01 -1.06791397e-01 2.51004609e+02] [ 1.80641889e-01 9.83542944e-01 -3.43283163e-03 1.24323211e+02] [ 1.05651733e-01 -1.59341779e-02 9.94275522e-01 1.39433276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.136875 meters Centerline goodness : 0.992466 Centerline is valid? [True, True] Translation: X:251.03, Y:124.35, Z:139.42 [[ 9.77211356e-01 -1.87950831e-01 -9.86531841e-02 2.51027324e+02] [ 1.85561873e-01 9.82080314e-01 -3.29400626e-02 1.24349255e+02] [ 1.03076462e-01 1.38831336e-02 9.94576544e-01 1.39424470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.166875 meters Centerline goodness : 0.994311 Centerline is valid? [True, True] Translation: X:251.07, Y:124.36, Z:139.42 [[ 9.77619152e-01 -1.87450884e-01 -9.55141882e-02 2.51066400e+02] [ 1.84992350e-01 9.82149716e-01 -3.40553417e-02 1.24358766e+02] [ 1.00192937e-01 1.56237602e-02 9.94845352e-01 1.39420055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.196875 meters Centerline goodness : 0.994109 Centerline is valid? [True, True] Translation: X:251.09, Y:124.36, Z:139.43 [[ 9.76639260e-01 -1.90102110e-01 -1.00184552e-01 2.51094620e+02] [ 1.90203688e-01 9.81706758e-01 -8.62545345e-03 1.24358501e+02] [ 9.99915688e-02 -1.06315148e-02 9.94931484e-01 1.39430876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.2268750000001 meters Centerline goodness : 0.993685 Centerline is valid? [True, True] Translation: X:251.12, Y:124.37, Z:139.43 [[ 9.76195786e-01 -1.92665709e-01 -9.96077858e-02 2.51120491e+02] [ 1.91743598e-01 9.81264197e-01 -1.88405982e-02 1.24372343e+02] [ 1.01371491e-01 -7.07042601e-04 9.94848391e-01 1.39433287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.256875 meters Centerline goodness : 0.993816 Centerline is valid? [True, True] Translation: X:251.15, Y:124.38, Z:139.44 [[ 9.76180098e-01 -1.92725702e-01 -9.96454726e-02 2.51146518e+02] [ 1.92036242e-01 9.81248166e-01 -1.65565325e-02 1.24380102e+02] [ 1.00967807e-01 -2.97338465e-03 9.94885250e-01 1.39437771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.286875 meters Centerline goodness : 0.993549 Centerline is valid? [True, True] Translation: X:251.17, Y:124.40, Z:139.43 [[ 9.76335656e-01 -1.95120063e-01 -9.32568889e-02 2.51171562e+02] [ 1.92955685e-01 9.80692812e-01 -3.17759749e-02 1.24398424e+02] [ 9.76564908e-02 1.30295705e-02 9.95134885e-01 1.39433979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.316875 meters Centerline goodness : 0.994827 Centerline is valid? [True, True] Translation: X:251.20, Y:124.40, Z:139.45 [[ 9.76217797e-01 -1.93671339e-01 -9.74177847e-02 2.51198845e+02] [ 1.93327244e-01 9.81047540e-01 -1.30499281e-02 1.24398953e+02] [ 9.80988752e-02 -6.09393971e-03 9.95158015e-01 1.39445008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.346875 meters Centerline goodness : 0.993687 Centerline is valid? [True, True] Translation: X:251.22, Y:124.42, Z:139.45 [[ 9.75739898e-01 -1.96192342e-01 -9.71607752e-02 2.51224338e+02] [ 1.94631734e-01 9.80547952e-01 -2.53811315e-02 1.24422010e+02] [ 1.00250383e-01 5.85481242e-03 9.94945015e-01 1.39448299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.376875 meters Centerline goodness : 0.994531 Centerline is valid? [True, True] Translation: X:251.25, Y:124.43, Z:139.45 [[ 9.76094198e-01 -1.94151292e-01 -9.77005227e-02 2.51249351e+02] [ 1.93659202e-01 9.80960421e-01 -1.45865126e-02 1.24426909e+02] [ 9.86723362e-02 -4.68279490e-03 9.95108960e-01 1.39452496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.406875 meters Centerline goodness : 0.995294 Centerline is valid? [True, True] Translation: X:251.27, Y:124.44, Z:139.45 [[ 9.76061746e-01 -1.94758018e-01 -9.68131301e-02 2.51275000e+02] [ 1.93779280e-01 9.80851283e-01 -1.95026154e-02 1.24438427e+02] [ 9.87575735e-02 2.75378142e-04 9.95111484e-01 1.39454110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.436875 meters Centerline goodness : 0.995345 Centerline is valid? [True, True] Translation: X:251.30, Y:124.45, Z:139.46 [[ 9.75801129e-01 -1.96194277e-01 -9.65399514e-02 2.51301409e+02] [ 1.95226650e-01 9.80565034e-01 -1.94620177e-02 1.24448992e+02] [ 9.84820372e-02 1.43887524e-04 9.95138818e-01 1.39456929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.466875 meters Centerline goodness : 0.994740 Centerline is valid? [True, True] Translation: X:251.33, Y:124.46, Z:139.46 [[ 9.75735799e-01 -1.97046043e-01 -9.54594559e-02 2.51327994e+02] [ 1.96101495e-01 9.80394232e-01 -1.92705373e-02 1.24458125e+02] [ 9.73850830e-02 8.32111570e-05 9.95246773e-01 1.39459259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.496875 meters Centerline goodness : 0.994596 Centerline is valid? [True, True] Translation: X:251.35, Y:124.47, Z:139.46 [[ 9.75661484e-01 -1.97554319e-01 -9.51680647e-02 2.51354559e+02] [ 1.96615376e-01 9.80291940e-01 -1.92381464e-02 1.24467861e+02] [ 9.70930657e-02 5.84136153e-05 9.95275305e-01 1.39462016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.526875 meters Centerline goodness : 0.995015 Centerline is valid? [True, True] Translation: X:251.38, Y:124.48, Z:139.46 [[ 9.75442465e-01 -1.99031782e-01 -9.43310482e-02 2.51378950e+02] [ 1.98113834e-01 9.79993033e-01 -1.90935336e-02 1.24481546e+02] [ 9.62439901e-02 -6.36421340e-05 9.95357770e-01 1.39464811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.556875 meters Centerline goodness : 0.994026 Centerline is valid? [True, True] Translation: X:251.41, Y:124.49, Z:139.47 [[ 9.75219693e-01 -1.99807818e-01 -9.49915022e-02 2.51405683e+02] [ 1.98878722e-01 9.79835099e-01 -1.92466398e-02 1.24490405e+02] [ 9.69216371e-02 -1.22086385e-04 9.95292008e-01 1.39467122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.586875 meters Centerline goodness : 0.994337 Centerline is valid? [True, True] Translation: X:251.43, Y:124.50, Z:139.47 [[ 9.75031889e-01 -2.00570894e-01 -9.53107095e-02 2.51431971e+02] [ 1.99636598e-01 9.79679175e-01 -1.93375891e-02 1.24498614e+02] [ 9.72524748e-02 -1.72739758e-04 9.95259728e-01 1.39470100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.616875 meters Centerline goodness : 0.993920 Centerline is valid? [True, True] Translation: X:251.46, Y:124.51, Z:139.47 [[ 9.74634979e-01 -2.03134495e-01 -9.39310082e-02 2.51460836e+02] [ 2.01904771e-01 9.79146311e-01 -2.25158799e-02 1.24511029e+02] [ 9.65459521e-02 2.97964542e-03 9.95324068e-01 1.39473916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.646875 meters Centerline goodness : 0.994677 Centerline is valid? [True, True] Translation: X:251.49, Y:124.52, Z:139.48 [[ 9.75000881e-01 -2.01607882e-01 -9.34213281e-02 2.51486471e+02] [ 2.00857317e-01 9.79464779e-01 -1.74666633e-02 1.24515531e+02] [ 9.50243175e-02 -1.73434525e-03 9.95473441e-01 1.39478070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.676875 meters Centerline goodness : 0.994710 Centerline is valid? [True, True] Translation: X:251.51, Y:124.52, Z:139.48 [[ 9.75177751e-01 -2.01328078e-01 -9.21702704e-02 2.51513551e+02] [ 2.00703544e-01 9.79519847e-01 -1.60921399e-02 1.24522674e+02] [ 9.35224088e-02 -2.80620310e-03 9.95613220e-01 1.39481839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.706875 meters Centerline goodness : 0.995050 Centerline is valid? [True, True] Translation: X:251.54, Y:124.53, Z:139.48 [[ 9.75314570e-01 -2.01580563e-01 -9.01485844e-02 2.51540251e+02] [ 2.00742462e-01 9.79471920e-01 -1.83636016e-02 1.24532110e+02] [ 9.19997522e-02 -1.86360573e-04 9.95759012e-01 1.39483962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.736875 meters Centerline goodness : 0.994737 Centerline is valid? [True, True] Translation: X:251.56, Y:124.54, Z:139.49 [[ 9.75289342e-01 -2.01578964e-01 -9.04246693e-02 2.51564659e+02] [ 2.00733457e-01 9.79472253e-01 -1.84440952e-02 1.24544803e+02] [ 9.22863962e-02 -1.62926983e-04 9.95732491e-01 1.39487314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.766875 meters Centerline goodness : 0.995373 Centerline is valid? [True, True] Translation: X:251.59, Y:124.55, Z:139.49 [[ 9.75215265e-01 -2.02022806e-01 -9.02328779e-02 2.51590392e+02] [ 2.01181750e-01 9.79380799e-01 -1.84161639e-02 1.24553927e+02] [ 9.20928331e-02 -1.93484114e-04 9.95750407e-01 1.39489090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.796875 meters Centerline goodness : 0.994990 Centerline is valid? [True, True] Translation: X:251.62, Y:124.56, Z:139.49 [[ 9.74996699e-01 -2.02859193e-01 -9.07170582e-02 2.51617626e+02] [ 2.02011492e-01 9.79207884e-01 -1.85277492e-02 1.24561929e+02] [ 9.25893828e-02 -2.61393951e-04 9.95704343e-01 1.39491096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.826875 meters Centerline goodness : 0.994330 Centerline is valid? [True, True] Translation: X:251.64, Y:124.57, Z:139.49 [[ 9.74640775e-01 -2.04073176e-01 -9.18122978e-02 2.51643950e+02] [ 2.03207941e-01 9.78955571e-01 -1.87755627e-02 1.24568006e+02] [ 9.37117491e-02 -3.57559037e-04 9.95599307e-01 1.39493387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8568750000001 meters Centerline goodness : 0.994044 Centerline is valid? [True, True] Translation: X:251.67, Y:124.57, Z:139.50 [[ 9.74618622e-01 -2.04410951e-01 -9.12946065e-02 2.51671450e+02] [ 2.03555717e-01 9.78885092e-01 -1.86828069e-02 1.24573608e+02] [ 9.31858996e-02 -3.74927572e-04 9.95648657e-01 1.39495617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.886875 meters Centerline goodness : 0.993475 Centerline is valid? [True, True] Translation: X:251.70, Y:124.58, Z:139.50 [[ 9.74577401e-01 -2.04114483e-01 -9.23913836e-02 2.51697632e+02] [ 2.03234857e-01 9.78946971e-01 -1.89320339e-02 1.24580131e+02] [ 9.43105674e-02 -3.26417166e-04 9.95542772e-01 1.39498989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.916875 meters Centerline goodness : 0.993942 Centerline is valid? [True, True] Translation: X:251.72, Y:124.59, Z:139.50 [[ 9.74912170e-01 -2.01572814e-01 -9.44174828e-02 2.51724418e+02] [ 2.00640298e-01 9.79473530e-01 -1.93668335e-02 1.24589820e+02] [ 9.63832523e-02 -6.29901667e-05 9.95344295e-01 1.39502458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.946875 meters Centerline goodness : 0.994441 Centerline is valid? [True, True] Translation: X:251.75, Y:124.60, Z:139.51 [[ 9.75337769e-01 -1.99216015e-01 -9.50221871e-02 2.51749908e+02] [ 1.98257961e-01 9.79955581e-01 -1.95151050e-02 1.24597462e+02] [ 9.70052440e-02 1.94913869e-04 9.95283851e-01 1.39506177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9768750000001 meters Centerline goodness : 0.993333 Centerline is valid? [True, True] Translation: X:251.78, Y:124.61, Z:139.51 [[ 9.75913460e-01 -1.96390954e-01 -9.49921676e-02 2.51777081e+02] [ 1.95418775e-01 9.80525550e-01 -1.95230398e-02 1.24605151e+02] [ 9.69763958e-02 4.89544304e-04 9.95286561e-01 1.39509431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.006875 meters Centerline goodness : 0.994155 Centerline is valid? [True, True] Translation: X:251.80, Y:124.61, Z:139.51 [[ 9.77188421e-01 -1.90218215e-01 -9.44447990e-02 2.51804065e+02] [ 1.89225900e-01 9.81741194e-01 -1.94367482e-02 1.24611666e+02] [ 9.64175733e-02 1.12196321e-03 9.95340340e-01 1.39513755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.036875 meters Centerline goodness : 0.994155 Centerline is valid? [True, True] Translation: X:251.83, Y:124.62, Z:139.52 [[ 9.77140764e-01 -1.90465437e-01 -9.44396324e-02 2.51831879e+02] [ 1.89471850e-01 9.81693259e-01 -1.94618225e-02 1.24617503e+02] [ 9.64175550e-02 1.12328825e-03 9.95340340e-01 1.39516048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.066875 meters Centerline goodness : 0.993182 Centerline is valid? [True, True] Translation: X:251.86, Y:124.62, Z:139.52 [[ 9.77707745e-01 -1.87706723e-01 -9.40943754e-02 2.51857966e+02] [ 1.86705487e-01 9.82224104e-01 -1.94131387e-02 1.24622229e+02] [ 9.60657403e-02 1.41243989e-03 9.95373989e-01 1.39518290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.096875 meters Centerline goodness : 0.993646 Centerline is valid? [True, True] Translation: X:251.89, Y:124.63, Z:139.52 [[ 9.78213868e-01 -1.85035976e-01 -9.41239406e-02 2.51885148e+02] [ 1.84020436e-01 9.82730296e-01 -1.94330713e-02 1.24626534e+02] [ 9.60942654e-02 1.68897130e-03 9.95370805e-01 1.39520891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.126875 meters Centerline goodness : 0.994594 Centerline is valid? [True, True] Translation: X:251.91, Y:124.63, Z:139.53 [[ 9.78844428e-01 -1.81006151e-01 -9.53958061e-02 2.51911280e+02] [ 1.79941427e-01 9.83479642e-01 -1.97199675e-02 1.24629884e+02] [ 9.73892686e-02 2.13712282e-03 9.95244072e-01 1.39525156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.156875 meters Centerline goodness : 0.994627 Centerline is valid? [True, True] Translation: X:251.94, Y:124.63, Z:139.53 [[ 9.79021944e-01 -1.79612737e-01 -9.62044624e-02 2.51939016e+02] [ 1.78521694e-01 9.83734685e-01 -1.99016072e-02 1.24633997e+02] [ 9.82142487e-02 2.30952655e-03 9.95162614e-01 1.39528127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.186875 meters Centerline goodness : 0.993957 Centerline is valid? [True, True] Translation: X:251.97, Y:124.64, Z:139.53 [[ 9.79191287e-01 -1.78517350e-01 -9.65193169e-02 2.51966743e+02] [ 1.77411145e-01 9.83933703e-01 -1.99938172e-02 1.24638251e+02] [ 9.85378522e-02 2.45416908e-03 9.95130277e-01 1.39529973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.216875 meters Centerline goodness : 0.993675 Centerline is valid? [True, True] Translation: X:251.99, Y:124.64, Z:139.53 [[ 9.79523306e-01 -1.75914022e-01 -9.79201250e-02 2.51994138e+02] [ 1.74759626e-01 9.84401600e-01 -2.03116398e-02 1.24640574e+02] [ 9.99658300e-02 2.78324017e-03 9.94986978e-01 1.39534063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.246875 meters Centerline goodness : 0.993403 Centerline is valid? [True, True] Translation: X:252.02, Y:124.64, Z:139.54 [[ 9.79747572e-01 -1.75260561e-01 -9.68422993e-02 2.52021606e+02] [ 1.74125631e-01 9.84517974e-01 -2.01152628e-02 1.24644405e+02] [ 9.88683966e-02 2.84515345e-03 9.95096450e-01 1.39536665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.276875 meters Centerline goodness : 0.993750 Centerline is valid? [True, True] Translation: X:252.05, Y:124.65, Z:139.54 [[ 9.79874937e-01 -1.74445353e-01 -9.70253893e-02 2.52049298e+02] [ 1.73299380e-01 9.84662407e-01 -2.01809175e-02 1.24648061e+02] [ 9.90577206e-02 2.96033541e-03 9.95077286e-01 1.39540330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.306875 meters Centerline goodness : 0.993277 Centerline is valid? [True, True] Translation: X:252.08, Y:124.65, Z:139.54 [[ 9.80041270e-01 -1.73540322e-01 -9.69683781e-02 2.52076590e+02] [ 1.72388554e-01 9.84821957e-01 -2.01965087e-02 1.24651072e+02] [ 9.90014965e-02 3.07717353e-03 9.95082527e-01 1.39543802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.336875 meters Centerline goodness : 0.993413 Centerline is valid? [True, True] Translation: X:252.10, Y:124.65, Z:139.55 [[ 9.80633577e-01 -1.70135919e-01 -9.70131745e-02 2.52103907e+02] [ 1.68964025e-01 9.85414577e-01 -2.02304395e-02 1.24649806e+02] [ 9.90401207e-02 3.44691181e-03 9.95077471e-01 1.39548200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.366875 meters Centerline goodness : 0.993421 Centerline is valid? [True, True] Translation: X:252.13, Y:124.65, Z:139.55 [[ 9.80836523e-01 -1.68873259e-01 -9.71675759e-02 2.52132148e+02] [ 1.67689966e-01 9.85631219e-01 -2.02774771e-02 1.24652111e+02] [ 9.91957199e-02 3.59486267e-03 9.95061448e-01 1.39551788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.396875 meters Centerline goodness : 0.993501 Centerline is valid? [True, True] Translation: X:252.16, Y:124.65, Z:139.56 [[ 9.81284891e-01 -1.66174139e-01 -9.72939826e-02 2.52161187e+02] [ 1.64971813e-01 9.86088711e-01 -2.03311214e-02 1.24651064e+02] [ 9.93190045e-02 3.89985761e-03 9.95048002e-01 1.39555472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.426875 meters Centerline goodness : 0.994086 Centerline is valid? [True, True] Translation: X:252.19, Y:124.65, Z:139.56 [[ 9.81563989e-01 -1.64599566e-01 -9.71551278e-02 2.52189485e+02] [ 1.63390291e-01 9.86352034e-01 -2.03292464e-02 1.24653924e+02] [ 9.91753430e-02 4.08025155e-03 9.95061608e-01 1.39558180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.456875 meters Centerline goodness : 0.993626 Centerline is valid? [True, True] Translation: X:252.22, Y:124.66, Z:139.56 [[ 9.81656933e-01 -1.63939787e-01 -9.73314507e-02 2.52216936e+02] [ 1.62720150e-01 9.86461485e-01 -2.03934283e-02 1.24656938e+02] [ 9.93570216e-02 4.18156201e-03 9.95043063e-01 1.39560955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.486875 meters Centerline goodness : 0.993680 Centerline is valid? [True, True] Translation: X:252.24, Y:124.66, Z:139.56 [[ 9.81719312e-01 -1.63444425e-01 -9.75351872e-02 2.52244910e+02] [ 1.62214481e-01 9.86543312e-01 -2.04635438e-02 1.24659698e+02] [ 9.95673388e-02 4.26783641e-03 9.95021673e-01 1.39563976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.516875 meters Centerline goodness : 0.993749 Centerline is valid? [True, True] Translation: X:252.27, Y:124.66, Z:139.57 [[ 9.81955316e-01 -1.61640266e-01 -9.81640548e-02 2.52274346e+02] [ 1.60382590e-01 9.86839455e-01 -2.06231789e-02 1.24657063e+02] [ 1.00205698e-01 4.50723477e-03 9.94956533e-01 1.39568302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.546875 meters Centerline goodness : 0.993889 Centerline is valid? [True, True] Translation: X:252.30, Y:124.66, Z:139.57 [[ 9.81954796e-01 -1.61134253e-01 -9.89976354e-02 2.52302471e+02] [ 1.59849613e-01 9.86921654e-01 -2.08266555e-02 1.24658748e+02] [ 1.01058798e-01 4.62610053e-03 9.94869699e-01 1.39571987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.576875 meters Centerline goodness : 0.993070 Centerline is valid? [True, True] Translation: X:252.33, Y:124.66, Z:139.58 [[ 9.82160035e-01 -1.59066545e-01 -1.00297061e-01 2.52330160e+02] [ 1.57734483e-01 9.87255563e-01 -2.11255053e-02 1.24658312e+02] [ 1.02379193e-01 4.92832189e-03 9.94733237e-01 1.39575308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6068750000001 meters Centerline goodness : 0.993503 Centerline is valid? [True, True] Translation: X:252.36, Y:124.66, Z:139.58 [[ 9.82218001e-01 -1.58494449e-01 -1.00634522e-01 2.52356608e+02] [ 1.57149100e-01 9.87347120e-01 -2.12090566e-02 1.24661107e+02] [ 1.02722724e-01 5.01729258e-03 9.94697375e-01 1.39578601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.636875 meters Centerline goodness : 0.993344 Centerline is valid? [True, True] Translation: X:252.38, Y:124.66, Z:139.58 [[ 9.82344599e-01 -1.57830900e-01 -1.00441506e-01 2.52384916e+02] [ 1.56485674e-01 9.87453025e-01 -2.11838961e-02 1.24663236e+02] [ 1.02524742e-01 5.09222915e-03 9.94717420e-01 1.39582257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.666875 meters Centerline goodness : 0.993779 Centerline is valid? [True, True] Translation: X:252.41, Y:124.66, Z:139.59 [[ 9.82399162e-01 -1.57488666e-01 -1.00445040e-01 2.52412509e+02] [ 1.56138739e-01 9.87507338e-01 -2.12120693e-02 1.24664768e+02] [ 1.02530874e-01 5.15535731e-03 9.94716463e-01 1.39586625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.696875 meters Centerline goodness : 0.994384 Centerline is valid? [True, True] Translation: X:252.44, Y:124.66, Z:139.59 [[ 9.82582262e-01 -1.57088528e-01 -9.92738256e-02 2.52439702e+02] [ 1.55765357e-01 9.87571037e-01 -2.09904674e-02 1.24664072e+02] [ 1.01337317e-01 5.16143807e-03 9.94838735e-01 1.39591767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.7268750000001 meters Centerline goodness : 0.994107 Centerline is valid? [True, True] Translation: X:252.47, Y:124.67, Z:139.59 [[ 9.82663432e-01 -1.57136898e-01 -9.83899145e-02 2.52467379e+02] [ 1.55835469e-01 9.87563505e-01 -2.08237661e-02 1.24667637e+02] [ 1.00438471e-01 5.13011494e-03 9.94930046e-01 1.39594753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.756875 meters Centerline goodness : 0.994325 Centerline is valid? [True, True] Translation: X:252.50, Y:124.67, Z:139.60 [[ 9.82684678e-01 -1.57434696e-01 -9.76992288e-02 2.52495600e+02] [ 1.56150325e-01 9.87516282e-01 -2.07042982e-02 1.24671095e+02] [ 9.97391541e-02 5.09003025e-03 9.95000599e-01 1.39598101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.786875 meters Centerline goodness : 0.993941 Centerline is valid? [True, True] Translation: X:252.52, Y:124.67, Z:139.60 [[ 9.82315564e-01 -1.58439912e-01 -9.97643555e-02 2.52523229e+02] [ 1.57102955e-01 9.87355344e-01 -2.11680440e-02 1.24670596e+02] [ 1.01856733e-01 5.12042401e-03 9.94785900e-01 1.39602866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.816875 meters Centerline goodness : 0.994738 Centerline is valid? [True, True] Translation: X:252.55, Y:124.67, Z:139.61 [[ 9.82041911e-01 -1.59316931e-01 -1.01053449e-01 2.52550803e+02] [ 1.57947986e-01 9.87214257e-01 -2.14579875e-02 1.24673650e+02] [ 1.03180027e-01 5.11145426e-03 9.94649564e-01 1.39605109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.846875 meters Centerline goodness : 0.994570 Centerline is valid? [True, True] Translation: X:252.58, Y:124.68, Z:139.61 [[ 9.81707111e-01 -1.59956251e-01 -1.03272195e-01 2.52577676e+02] [ 1.58527063e-01 9.87110503e-01 -2.19550851e-02 1.24677228e+02] [ 1.05452921e-01 5.18202541e-03 9.94410794e-01 1.39607161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.876875 meters Centerline goodness : 0.993974 Centerline is valid? [True, True] Translation: X:252.61, Y:124.68, Z:139.61 [[ 9.81206324e-01 -1.60477398e-01 -1.07150145e-01 2.52605912e+02] [ 1.58939499e-01 9.87025077e-01 -2.27976729e-02 1.24678096e+02] [ 1.09418392e-01 5.33883045e-03 9.93981445e-01 1.39609972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.906875 meters Centerline goodness : 0.993799 Centerline is valid? [True, True] Translation: X:252.63, Y:124.68, Z:139.61 [[ 9.80901044e-01 -1.61237336e-01 -1.08791835e-01 2.52632786e+02] [ 1.59653445e-01 9.86901096e-01 -2.31733674e-02 1.24680048e+02] [ 1.11103193e-01 5.36178902e-03 9.93794411e-01 1.39613523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.936875 meters Centerline goodness : 0.993678 Centerline is valid? [True, True] Translation: X:252.66, Y:124.68, Z:139.62 [[ 9.80725056e-01 -1.62354924e-01 -1.08716340e-01 2.52660600e+02] [ 1.60778038e-01 9.86718461e-01 -2.31754521e-02 1.24681596e+02] [ 1.11035069e-01 5.24954675e-03 9.93802624e-01 1.39616935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.966875 meters Centerline goodness : 0.994021 Centerline is valid? [True, True] Translation: X:252.69, Y:124.68, Z:139.62 [[ 9.80663953e-01 -1.64367610e-01 -1.06214404e-01 2.52688761e+02] [ 1.62871280e-01 9.86386813e-01 -2.26715896e-02 1.24681073e+02] [ 1.08494962e-01 4.93393479e-03 9.94084755e-01 1.39623322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.996875 meters Centerline goodness : 0.994258 Centerline is valid? [True, True] Translation: X:252.72, Y:124.69, Z:139.63 [[ 9.80732421e-01 -1.65059238e-01 -1.04495769e-01 2.52715254e+02] [ 1.63612163e-01 9.86271953e-01 -2.23314759e-02 1.24685066e+02] [ 1.06747262e-01 4.80442368e-03 9.94274580e-01 1.39627246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.026875 meters Centerline goodness : 0.993715 Centerline is valid? [True, True] Translation: X:252.72, Y:124.70, Z:139.63 [[ 9.79310076e-01 -1.75541522e-01 -1.00682414e-01 2.52724534e+02] [ 1.73731370e-01 9.84435316e-01 -2.65427972e-02 1.24703230e+02] [ 1.03774687e-01 8.50193502e-03 9.94564493e-01 1.39625934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.056875 meters Centerline goodness : 0.992031 Centerline is valid? [True, True] Translation: X:252.77, Y:124.69, Z:139.64 [[ 9.79581186e-01 -1.68270081e-01 -1.10026724e-01 2.52768946e+02] [ 1.69300071e-01 9.85564552e-01 1.94258688e-05 1.24686734e+02] [ 1.08435171e-01 -1.86465614e-02 9.93928629e-01 1.39643253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.086875 meters Centerline goodness : 0.994508 Centerline is valid? [True, True] Translation: X:252.79, Y:124.71, Z:139.63 [[ 9.80171261e-01 -1.71769062e-01 -9.87911319e-02 2.52794319e+02] [ 1.68284743e-01 9.84815531e-01 -4.26452321e-02 1.24708254e+02] [ 1.04616173e-01 2.51745906e-02 9.94193993e-01 1.39630988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.116875 meters Centerline goodness : 0.993955 Centerline is valid? [True, True] Translation: X:252.82, Y:124.70, Z:139.64 [[ 9.79953667e-01 -1.70170452e-01 -1.03599358e-01 2.52823454e+02] [ 1.68725123e-01 9.85403482e-01 -2.26232390e-02 1.24701191e+02] [ 1.05936975e-01 4.68991164e-03 9.94361786e-01 1.39638741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.146875 meters Centerline goodness : 0.992963 Centerline is valid? [True, True] Translation: X:252.83, Y:124.71, Z:139.64 [[ 9.78293989e-01 -1.79760408e-01 -1.03087669e-01 2.52832575e+02] [ 1.78266443e-01 9.83699130e-01 -2.36028960e-02 1.24711502e+02] [ 1.05650117e-01 4.71349915e-03 9.94392194e-01 1.39640838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.176875 meters Centerline goodness : 0.993321 Centerline is valid? [True, True] Translation: X:252.86, Y:124.72, Z:139.64 [[ 9.78661040e-01 -1.77985296e-01 -1.02683025e-01 2.52859897e+02] [ 1.76147683e-01 9.83999732e-01 -2.67679074e-02 1.24716197e+02] [ 1.05804363e-01 8.10933115e-03 9.94353898e-01 1.39644501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.206875 meters Centerline goodness : 0.993948 Centerline is valid? [True, True] Translation: X:252.91, Y:124.71, Z:139.65 [[ 9.80583710e-01 -1.66611766e-01 -1.03421986e-01 2.52905925e+02] [ 1.64820343e-01 9.85988909e-01 -2.56928971e-02 1.24709325e+02] [ 1.06253670e-01 8.14798924e-03 9.94305671e-01 1.39649613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.236875 meters Centerline goodness : 0.992855 Centerline is valid? [True, True] Translation: X:252.91, Y:124.73, Z:139.65 [[ 9.79253897e-01 -1.76104593e-01 -1.00244593e-01 2.52914009e+02] [ 1.74226753e-01 9.84328211e-01 -2.72582501e-02 1.24727124e+02] [ 1.03473884e-01 9.22745779e-03 9.94589367e-01 1.39647649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.266875 meters Centerline goodness : 0.992968 Centerline is valid? [True, True] Translation: X:252.94, Y:124.74, Z:139.64 [[ 9.79654576e-01 -1.77773572e-01 -9.31314635e-02 2.52939864e+02] [ 1.74774430e-01 9.83816183e-01 -3.94919904e-02 1.24737081e+02] [ 9.86448731e-02 2.24115106e-02 9.94870300e-01 1.39643247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.296875 meters Centerline goodness : 0.993480 Centerline is valid? [True, True] Translation: X:252.97, Y:124.73, Z:139.65 [[ 9.79386121e-01 -1.75296089e-01 -1.00369852e-01 2.52968487e+02] [ 1.74079072e-01 9.84511414e-01 -2.08266982e-02 1.24730219e+02] [ 1.02466103e-01 2.92508855e-03 9.94732196e-01 1.39654558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.326875 meters Centerline goodness : 0.993453 Centerline is valid? [True, True] Translation: X:253.00, Y:124.73, Z:139.66 [[ 9.79036670e-01 -1.75182350e-01 -1.03915076e-01 2.52997741e+02] [ 1.74290910e-01 9.84535669e-01 -1.76690428e-02 1.24730933e+02] [ 1.05403403e-01 -8.12812310e-04 9.94429214e-01 1.39661502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3568750000001 meters Centerline goodness : 0.992135 Centerline is valid? [True, True] Translation: X:253.03, Y:124.73, Z:139.67 [[ 9.78496718e-01 -1.75479053e-01 -1.08403294e-01 2.53033250e+02] [ 1.74824210e-01 9.84476225e-01 -1.55902967e-02 1.24726533e+02] [ 1.09456237e-01 -3.69646617e-03 9.93984743e-01 1.39672987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.386875 meters Centerline goodness : 0.992860 Centerline is valid? [True, True] Translation: X:253.06, Y:124.73, Z:139.68 [[ 9.78286782e-01 -1.77476830e-01 -1.07037129e-01 2.53061478e+02] [ 1.76000336e-01 9.84117561e-01 -2.31626409e-02 1.24733185e+02] [ 1.09447950e-01 3.82113473e-03 9.93985184e-01 1.39675123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.416875 meters Centerline goodness : 0.993905 Centerline is valid? [True, True] Translation: X:253.10, Y:124.73, Z:139.67 [[ 9.79696163e-01 -1.72480143e-01 -1.02205812e-01 2.53101835e+02] [ 1.69873050e-01 9.84887798e-01 -3.37516369e-02 1.24731570e+02] [ 1.06482744e-01 1.57043363e-02 9.94190525e-01 1.39672440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.446875 meters Centerline goodness : 0.994936 Centerline is valid? [True, True] Translation: X:253.13, Y:124.73, Z:139.68 [[ 9.78970159e-01 -1.75363315e-01 -1.04235958e-01 2.53130107e+02] [ 1.73983589e-01 9.84497010e-01 -2.22564021e-02 1.24727725e+02] [ 1.06522945e-01 3.65300740e-03 9.94303534e-01 1.39680016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4768750000001 meters Centerline goodness : 0.994297 Centerline is valid? [True, True] Translation: X:253.16, Y:124.73, Z:139.68 [[ 9.78690194e-01 -1.76947642e-01 -1.04187507e-01 2.53158081e+02] [ 1.75576382e-01 9.84214060e-01 -2.22624863e-02 1.24730403e+02] [ 1.06482104e-01 3.49521139e-03 9.94308476e-01 1.39683994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.506875 meters Centerline goodness : 0.993363 Centerline is valid? [True, True] Translation: X:253.18, Y:124.74, Z:139.70 [[ 9.77044224e-01 -1.82655704e-01 -1.09642503e-01 2.53176077e+02] [ 1.82605438e-01 9.83129294e-01 -1.05851735e-02 1.24736583e+02] [ 1.09726198e-01 -9.67913453e-03 9.93914723e-01 1.39695318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.536875 meters Centerline goodness : 0.994718 Centerline is valid? [True, True] Translation: X:253.21, Y:124.74, Z:139.69 [[ 9.78854980e-01 -1.77928985e-01 -1.00916819e-01 2.53213824e+02] [ 1.75024852e-01 9.83868238e-01 -3.70079869e-02 1.24741972e+02] [ 1.05873646e-01 1.85625010e-02 9.94206319e-01 1.39688474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.566875 meters Centerline goodness : 0.993973 Centerline is valid? [True, True] Translation: X:253.24, Y:124.74, Z:139.70 [[ 9.78810884e-01 -1.76028792e-01 -1.04609354e-01 2.53241127e+02] [ 1.74638238e-01 9.84378301e-01 -2.23795944e-02 1.24739396e+02] [ 1.06914631e-01 3.63659734e-03 9.94261554e-01 1.39696267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.596875 meters Centerline goodness : 0.993216 Centerline is valid? [True, True] Translation: X:253.26, Y:124.74, Z:139.71 [[ 9.77629744e-01 -1.78584727e-01 -1.11119663e-01 2.53260671e+02] [ 1.78743823e-01 9.83857975e-01 -8.60991078e-03 1.24744880e+02] [ 1.10863565e-01 -1.14446485e-02 9.93769737e-01 1.39707680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.626875 meters Centerline goodness : 0.993750 Centerline is valid? [True, True] Translation: X:253.29, Y:124.76, Z:139.71 [[ 9.78403193e-01 -1.76446271e-01 -1.07675001e-01 2.53287338e+02] [ 1.74749739e-01 9.84293706e-01 -2.50685061e-02 1.24756465e+02] [ 1.10407070e-01 5.71092816e-03 9.93870044e-01 1.39705881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.656875 meters Centerline goodness : 0.993172 Centerline is valid? [True, True] Translation: X:253.31, Y:124.77, Z:139.70 [[ 9.78953366e-01 -1.76525192e-01 -1.02416623e-01 2.53314220e+02] [ 1.73492239e-01 9.84106743e-01 -3.78729627e-02 1.24767367e+02] [ 1.07474421e-01 1.93073752e-02 9.94020359e-01 1.39702301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.686875 meters Centerline goodness : 0.993874 Centerline is valid? [True, True] Translation: X:253.34, Y:124.76, Z:139.72 [[ 9.78973749e-01 -1.72747923e-01 -1.08482964e-01 2.53343546e+02] [ 1.71879097e-01 9.84964718e-01 -1.73804649e-02 1.24761343e+02] [ 1.09854331e-01 -1.63093504e-03 9.93946360e-01 1.39715247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.716875 meters Centerline goodness : 0.993441 Centerline is valid? [True, True] Translation: X:253.37, Y:124.77, Z:139.71 [[ 9.79655805e-01 -1.74599335e-01 -9.89422844e-02 2.53369186e+02] [ 1.71302534e-01 9.84366829e-01 -4.09559230e-02 1.24774426e+02] [ 1.04546380e-01 2.31736437e-02 9.94249987e-01 1.39706755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.746875 meters Centerline goodness : 0.993569 Centerline is valid? [True, True] Translation: X:253.40, Y:124.77, Z:139.72 [[ 9.79304215e-01 -1.72296869e-01 -1.06193426e-01 2.53399921e+02] [ 1.71275352e-01 9.85045057e-01 -1.87347270e-02 1.24768683e+02] [ 1.07833244e-01 1.58680734e-04 9.94168983e-01 1.39719206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.776875 meters Centerline goodness : 0.993469 Centerline is valid? [True, True] Translation: X:253.43, Y:124.77, Z:139.72 [[ 9.79235325e-01 -1.72925123e-01 -1.05806802e-01 2.53428439e+02] [ 1.71260041e-01 9.84916320e-01 -2.46949530e-02 1.24774818e+02] [ 1.08481224e-01 6.06169311e-03 9.94080017e-01 1.39721283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.806875 meters Centerline goodness : 0.993615 Centerline is valid? [True, True] Translation: X:253.46, Y:124.78, Z:139.72 [[ 9.79377810e-01 -1.74340098e-01 -1.02101099e-01 2.53455992e+02] [ 1.71992924e-01 9.84596785e-01 -3.14261786e-02 1.24782401e+02] [ 1.06007257e-01 1.32174354e-02 9.94277507e-01 1.39719946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.836875 meters Centerline goodness : 0.994322 Centerline is valid? [True, True] Translation: X:253.49, Y:124.78, Z:139.73 [[ 9.79285061e-01 -1.73764672e-01 -1.03954833e-01 2.53485258e+02] [ 1.72510767e-01 9.84783680e-01 -2.10033146e-02 1.24782346e+02] [ 1.06022657e-01 2.63490425e-03 9.94360223e-01 1.39728021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.866875 meters Centerline goodness : 0.994760 Centerline is valid? [True, True] Translation: X:253.52, Y:124.78, Z:139.74 [[ 9.79607716e-01 -1.70535111e-01 -1.06237934e-01 2.53518184e+02] [ 1.69682006e-01 9.85350756e-01 -1.70852142e-02 1.24782799e+02] [ 1.07595257e-01 -1.28985808e-03 9.94193943e-01 1.39735252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.896875 meters Centerline goodness : 0.993963 Centerline is valid? [True, True] Translation: X:253.54, Y:124.79, Z:139.73 [[ 9.79355498e-01 -1.72214664e-01 -1.05853286e-01 2.53544487e+02] [ 1.69523524e-01 9.84940029e-01 -3.39840332e-02 1.24794294e+02] [ 1.10111687e-01 1.53378277e-02 9.93800869e-01 1.39733269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.926875 meters Centerline goodness : 0.993963 Centerline is valid? [True, True] Translation: X:253.57, Y:124.80, Z:139.74 [[ 9.79209912e-01 -1.71464735e-01 -1.08387236e-01 2.53572859e+02] [ 1.69972475e-01 9.85182017e-01 -2.29292713e-02 1.24795802e+02] [ 1.10712717e-01 4.02972300e-03 9.93844281e-01 1.39739117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.956875 meters Centerline goodness : 0.994296 Centerline is valid? [True, True] Translation: X:253.60, Y:124.79, Z:139.75 [[ 9.78892857e-01 -1.72864240e-01 -1.09026274e-01 2.53601433e+02] [ 1.72669737e-01 9.84915018e-01 -1.12946493e-02 1.24793612e+02] [ 1.09334055e-01 -7.76928648e-03 9.93974699e-01 1.39748352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.986875 meters Centerline goodness : 0.994221 Centerline is valid? [True, True] Translation: X:253.63, Y:124.80, Z:139.75 [[ 9.78461830e-01 -1.76228879e-01 -1.07498047e-01 2.53627873e+02] [ 1.74762803e-01 9.84342253e-01 -2.29846017e-02 1.24803805e+02] [ 1.09865421e-01 3.70289537e-03 9.93939575e-01 1.39749564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.016875 meters Centerline goodness : 0.994731 Centerline is valid? [True, True] Translation: X:253.65, Y:124.81, Z:139.75 [[ 9.78381099e-01 -1.78106715e-01 -1.05111484e-01 2.53653576e+02] [ 1.76505452e-01 9.83996692e-01 -2.44199813e-02 1.24809404e+02] [ 1.07778715e-01 5.33929816e-03 9.94160571e-01 1.39751431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.046875 meters Centerline goodness : 0.993559 Centerline is valid? [True, True] Translation: X:253.68, Y:124.82, Z:139.75 [[ 9.78300108e-01 -1.81611508e-01 -9.97304361e-02 2.53678631e+02] [ 1.78896136e-01 9.83223608e-01 -3.56020953e-02 1.24821709e+02] [ 1.04523069e-01 1.69881440e-02 9.94377358e-01 1.39745678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.076875 meters Centerline goodness : 0.994022 Centerline is valid? [True, True] Translation: X:253.71, Y:124.81, Z:139.76 [[ 9.77316281e-01 -1.79477439e-01 -1.12431024e-01 2.53711123e+02] [ 1.79485991e-01 9.83708377e-01 -1.01295762e-02 1.24814183e+02] [ 1.12417370e-01 -1.02799940e-02 9.93607899e-01 1.39764741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1068750000001 meters Centerline goodness : 0.994396 Centerline is valid? [True, True] Translation: X:253.74, Y:124.83, Z:139.76 [[ 9.77334497e-01 -1.82542582e-01 -1.07217011e-01 2.53737953e+02] [ 1.80261272e-01 9.83140188e-01 -3.06797222e-02 1.24828647e+02] [ 1.11009708e-01 1.06572760e-02 9.93762178e-01 1.39758395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.136875 meters Centerline goodness : 0.994057 Centerline is valid? [True, True] Translation: X:253.77, Y:124.83, Z:139.76 [[ 9.77070455e-01 -1.82482149e-01 -1.09697722e-01 2.53765830e+02] [ 1.80809404e-01 9.83198016e-01 -2.50922286e-02 1.24831267e+02] [ 1.12433466e-01 4.68249553e-03 9.93648222e-01 1.39764090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.166875 meters Centerline goodness : 0.994027 Centerline is valid? [True, True] Translation: X:253.79, Y:124.84, Z:139.77 [[ 9.76806062e-01 -1.84123556e-01 -1.09308891e-01 2.53793653e+02] [ 1.82443324e-01 9.82891691e-01 -2.52657272e-02 1.24836705e+02] [ 1.12090816e-01 4.73703814e-03 9.93686676e-01 1.39766517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.196875 meters Centerline goodness : 0.993886 Centerline is valid? [True, True] Translation: X:253.82, Y:124.84, Z:139.78 [[ 9.76214659e-01 -1.85764840e-01 -1.11787131e-01 2.53822662e+02] [ 1.84802101e-01 9.82591976e-01 -1.90050629e-02 1.24836593e+02] [ 1.13371611e-01 -2.10547579e-03 9.93550424e-01 1.39777126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.2268750000001 meters Centerline goodness : 0.994325 Centerline is valid? [True, True] Translation: X:253.85, Y:124.84, Z:139.78 [[ 9.75428530e-01 -1.89388294e-01 -1.12566683e-01 2.53846005e+02] [ 1.88687241e-01 9.81890983e-01 -1.69476435e-02 1.24842277e+02] [ 1.13737896e-01 -4.70868177e-03 9.93499632e-01 1.39782999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.256875 meters Centerline goodness : 0.994372 Centerline is valid? [True, True] Translation: X:253.88, Y:124.85, Z:139.78 [[ 9.75783950e-01 -1.91288681e-01 -1.06086392e-01 2.53876149e+02] [ 1.88826790e-01 9.81459841e-01 -3.28789335e-02 1.24853386e+02] [ 1.10408901e-01 1.20507828e-02 9.93813188e-01 1.39778551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.286875 meters Centerline goodness : 0.993655 Centerline is valid? [True, True] Translation: X:253.90, Y:124.86, Z:139.78 [[ 9.74826370e-01 -1.95815569e-01 -1.06629314e-01 2.53902168e+02] [ 1.93839352e-01 9.80613545e-01 -2.86946141e-02 1.24858224e+02] [ 1.10181002e-01 7.30330938e-03 9.93884706e-01 1.39782476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.316875 meters Centerline goodness : 0.992905 Centerline is valid? [True, True] Translation: X:253.93, Y:124.86, Z:139.80 [[ 9.73996139e-01 -1.96346898e-01 -1.13046085e-01 2.53928358e+02] [ 1.96861179e-01 9.80408436e-01 -6.70635223e-03 1.24857240e+02] [ 1.12148107e-01 -1.57224244e-02 9.93567113e-01 1.39798866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.346875 meters Centerline goodness : 0.992992 Centerline is valid? [True, True] Translation: X:253.95, Y:124.87, Z:139.80 [[ 9.73955319e-01 -1.98581954e-01 -1.09436025e-01 2.53954671e+02] [ 1.97177756e-01 9.80083252e-01 -2.36167496e-02 1.24869043e+02] [ 1.11946275e-01 1.42330917e-03 9.93713241e-01 1.39797815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.376875 meters Centerline goodness : 0.993131 Centerline is valid? [True, True] Translation: X:253.98, Y:124.87, Z:139.80 [[ 9.73413546e-01 -2.00909089e-01 -1.10007299e-01 2.53981709e+02] [ 1.99501331e-01 9.79609164e-01 -2.37719386e-02 1.24874334e+02] [ 1.12540157e-01 1.19332441e-03 9.93646461e-01 1.39803501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.406875 meters Centerline goodness : 0.991993 Centerline is valid? [True, True] Translation: X:254.01, Y:124.88, Z:139.81 [[ 9.72017263e-01 -2.05582449e-01 -1.13658686e-01 2.54014750e+02] [ 2.03586588e-01 9.78626655e-01 -2.90236261e-02 1.24883192e+02] [ 1.17196168e-01 5.07208155e-03 9.93095832e-01 1.39806904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.436875 meters Centerline goodness : 0.991794 Centerline is valid? [True, True] Translation: X:254.04, Y:124.89, Z:139.81 [[ 9.72540195e-01 -2.04309509e-01 -1.11459386e-01 2.54037497e+02] [ 2.03574535e-01 9.78892908e-01 -1.80577957e-02 1.24888672e+02] [ 1.12796182e-01 -5.12836052e-03 9.93604912e-01 1.39812692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.466875 meters Centerline goodness : 0.990938 Centerline is valid? [True, True] Translation: X:254.06, Y:124.90, Z:139.81 [[ 9.72609341e-01 -2.04683427e-01 -1.10162444e-01 2.54062957e+02] [ 2.03279601e-01 9.78827813e-01 -2.39482010e-02 1.24897848e+02] [ 1.12731864e-01 8.98466335e-04 9.93625040e-01 1.39814118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.496875 meters Centerline goodness : 0.991658 Centerline is valid? [True, True] Translation: X:254.10, Y:124.91, Z:139.82 [[ 9.71479185e-01 -2.09424281e-01 -1.11218987e-01 2.54096703e+02] [ 2.08423372e-01 9.77819991e-01 -2.06824469e-02 1.24905402e+02] [ 1.13083555e-01 -3.08806961e-03 9.93580683e-01 1.39818619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.526875 meters Centerline goodness : 0.991625 Centerline is valid? [True, True] Translation: X:254.12, Y:124.92, Z:139.82 [[ 9.71587378e-01 -2.09923626e-01 -1.09316231e-01 2.54123112e+02] [ 2.08277003e-01 9.77713542e-01 -2.63992282e-02 1.24915059e+02] [ 1.12421781e-01 2.88109978e-03 9.93656401e-01 1.39819815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.556875 meters Centerline goodness : 0.990657 Centerline is valid? [True, True] Translation: X:254.15, Y:124.92, Z:139.83 [[ 9.71321380e-01 -2.10067613e-01 -1.11383905e-01 2.54148856e+02] [ 2.08873632e-01 9.77685721e-01 -2.24150968e-02 1.24921483e+02] [ 1.13607139e-01 -1.49289807e-03 9.93524629e-01 1.39825044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.586875 meters Centerline goodness : 0.991036 Centerline is valid? [True, True] Translation: X:254.18, Y:124.93, Z:139.83 [[ 9.71494471e-01 -2.11138194e-01 -1.07792185e-01 2.54179423e+02] [ 2.09713854e-01 9.77455473e-01 -2.45132196e-02 1.24930847e+02] [ 1.10537739e-01 1.20894266e-03 9.93871192e-01 1.39827487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.616875 meters Centerline goodness : 0.992060 Centerline is valid? [True, True] Translation: X:254.20, Y:124.94, Z:139.83 [[ 9.71187596e-01 -2.10866208e-01 -1.11040961e-01 2.54202788e+02] [ 2.09755943e-01 9.77512466e-01 -2.17215093e-02 1.24937903e+02] [ 1.13124256e-01 -2.19584112e-03 9.93578422e-01 1.39832289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.646875 meters Centerline goodness : 0.990598 Centerline is valid? [True, True] Translation: X:254.23, Y:124.96, Z:139.82 [[ 9.72110501e-01 -2.12018682e-01 -1.00245960e-01 2.54233507e+02] [ 2.08780234e-01 9.77065298e-01 -4.18833702e-02 1.24958059e+02] [ 1.06826906e-01 1.97858889e-02 9.94080747e-01 1.39822414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.676875 meters Centerline goodness : 0.991081 Centerline is valid? [True, True] Translation: X:254.26, Y:124.96, Z:139.84 [[ 9.71610980e-01 -2.10035041e-01 -1.08891621e-01 2.54259846e+02] [ 2.10315617e-01 9.77591813e-01 -9.03259211e-03 1.24956083e+02] [ 1.08348718e-01 -1.41254429e-02 9.94012589e-01 1.39836405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.706875 meters Centerline goodness : 0.991716 Centerline is valid? [True, True] Translation: X:254.29, Y:124.98, Z:139.82 [[ 9.72280936e-01 -2.12728022e-01 -9.70390168e-02 2.54290529e+02] [ 2.09922644e-01 9.76964573e-01 -3.83758617e-02 1.24976162e+02] [ 1.02967303e-01 1.69414318e-02 9.94540458e-01 1.39823656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.736875 meters Centerline goodness : 0.991149 Centerline is valid? [True, True] Translation: X:254.32, Y:124.98, Z:139.84 [[ 9.72078322e-01 -2.09365563e-01 -1.05970733e-01 2.54318585e+02] [ 2.09227361e-01 9.77786543e-01 -1.25454279e-02 1.24976243e+02] [ 1.06243338e-01 -9.97683840e-03 9.94290107e-01 1.39838466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.766875 meters Centerline goodness : 0.990969 Centerline is valid? [True, True] Translation: X:254.34, Y:124.99, Z:139.84 [[ 9.71924077e-01 -2.09579555e-01 -1.06957934e-01 2.54344868e+02] [ 2.09191291e-01 9.77760240e-01 -1.49638553e-02 1.24986384e+02] [ 1.07715333e-01 -7.83093707e-03 9.94150936e-01 1.39842200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.796875 meters Centerline goodness : 0.990810 Centerline is valid? [True, True] Translation: X:254.37, Y:125.00, Z:139.83 [[ 9.72269300e-01 -2.12437717e-01 -9.77886705e-02 2.54370728e+02] [ 2.10250175e-01 9.77114694e-01 -3.22759732e-02 1.25004308e+02] [ 1.02407381e-01 1.08208529e-02 9.94683687e-01 1.39831190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.826875 meters Centerline goodness : 0.989991 Centerline is valid? [True, True] Translation: X:254.40, Y:125.00, Z:139.85 [[ 9.72230370e-01 -2.07928806e-01 -1.07395158e-01 2.54400590e+02] [ 2.07985735e-01 9.78072286e-01 -1.07952272e-02 1.25002475e+02] [ 1.07284867e-01 -1.18412131e-02 9.94157806e-01 1.39846446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8568750000001 meters Centerline goodness : 0.990647 Centerline is valid? [True, True] Translation: X:254.43, Y:125.02, Z:139.84 [[ 9.73060019e-01 -2.06710742e-01 -1.02102250e-01 2.54427321e+02] [ 2.04775432e-01 9.78373305e-01 -2.92009822e-02 1.25022387e+02] [ 1.05930272e-01 7.50627590e-03 9.94345228e-01 1.39840114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.886875 meters Centerline goodness : 0.990626 Centerline is valid? [True, True] Translation: X:254.46, Y:125.03, Z:139.85 [[ 9.73210831e-01 -2.05502223e-01 -1.03099535e-01 2.54455637e+02] [ 2.04884675e-01 9.78644331e-01 -1.66596300e-02 1.25028677e+02] [ 1.04321366e-01 -4.91018234e-03 9.94531519e-01 1.39845285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.916875 meters Centerline goodness : 0.991175 Centerline is valid? [True, True] Translation: X:254.48, Y:125.05, Z:139.84 [[ 9.73407575e-01 -2.08997904e-01 -9.37953547e-02 2.54480135e+02] [ 2.07015877e-01 9.77862188e-01 -3.04953836e-02 1.25046937e+02] [ 9.80924020e-02 1.02673099e-02 9.95124346e-01 1.39836698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.946875 meters Centerline goodness : 0.991220 Centerline is valid? [True, True] Translation: X:254.51, Y:125.05, Z:139.85 [[ 9.73725783e-01 -2.06163970e-01 -9.67187543e-02 2.54509466e+02] [ 2.05720527e-01 9.78501215e-01 -1.46436433e-02 1.25048036e+02] [ 9.76584102e-02 -5.63814006e-03 9.95204022e-01 1.39848311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9768750000001 meters Centerline goodness : 0.990851 Centerline is valid? [True, True] Translation: X:254.54, Y:125.06, Z:139.85 [[ 9.73558906e-01 -2.07767129e-01 -9.49519711e-02 2.54537161e+02] [ 2.06747719e-01 9.78178241e-01 -2.05598874e-02 1.25058310e+02] [ 9.71516209e-02 3.85158068e-04 9.95269518e-01 1.39848683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.006875 meters Centerline goodness : 0.990459 Centerline is valid? [True, True] Translation: X:254.56, Y:125.07, Z:139.85 [[ 9.73450985e-01 -2.09683573e-01 -9.17931323e-02 2.54564095e+02] [ 2.08062529e-01 9.77742938e-01 -2.69950427e-02 1.25070222e+02] [ 9.54105038e-02 7.17963966e-03 9.95412120e-01 1.39845199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.036875 meters Centerline goodness : 0.989242 Centerline is valid? [True, True] Translation: X:254.60, Y:125.08, Z:139.85 [[ 9.74170364e-01 -2.05842455e-01 -9.28492632e-02 2.54595759e+02] [ 2.04550997e-01 9.78578047e-01 -2.33215497e-02 1.25075687e+02] [ 9.56608157e-02 3.72675318e-03 9.95407012e-01 1.39847345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.066875 meters Centerline goodness : 0.989954 Centerline is valid? [True, True] Translation: X:254.62, Y:125.08, Z:139.86 [[ 9.73692692e-01 -2.05191109e-01 -9.90916301e-02 2.54623285e+02] [ 2.05830182e-01 9.78580187e-01 -3.84098131e-03 1.25078743e+02] [ 9.77572411e-02 -1.66561129e-02 9.95070900e-01 1.39858006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.096875 meters Centerline goodness : 0.990075 Centerline is valid? [True, True] Translation: X:254.65, Y:125.10, Z:139.85 [[ 9.74036105e-01 -2.07059312e-01 -9.15429285e-02 2.54648223e+02] [ 2.05516479e-01 9.78306236e-01 -2.60746046e-02 1.25097152e+02] [ 9.49560075e-02 6.58402598e-03 9.95459696e-01 1.39852215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.126875 meters Centerline goodness : 0.991578 Centerline is valid? [True, True] Translation: X:254.67, Y:125.08, Z:139.88 [[ 9.76341580e-01 -1.90451786e-01 -1.02397444e-01 2.54667282e+02] [ 1.94314006e-01 9.80508375e-01 2.90756431e-02 1.25081604e+02] [ 9.48640433e-02 -4.82850168e-02 9.94318546e-01 1.39880603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.156875 meters Centerline goodness : 0.990721 Centerline is valid? [True, True] Translation: X:254.70, Y:125.13, Z:139.85 [[ 9.75577785e-01 -2.03939557e-01 -8.15882456e-02 2.54702832e+02] [ 1.98646600e-01 9.77672608e-01 -6.85259033e-02 1.25129108e+02] [ 9.37417353e-02 5.06451214e-02 9.94307578e-01 1.39851448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.186875 meters Centerline goodness : 0.990143 Centerline is valid? [True, True] Translation: X:254.73, Y:125.11, Z:139.87 [[ 9.75283646e-01 -1.97656710e-01 -9.87604889e-02 2.54732098e+02] [ 1.98163177e-01 9.80157520e-01 -4.75296259e-03 1.25112938e+02] [ 9.77402908e-02 -1.49352056e-02 9.95099882e-01 1.39873288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.216875 meters Centerline goodness : 0.992238 Centerline is valid? [True, True] Translation: X:254.75, Y:125.12, Z:139.87 [[ 9.78016785e-01 -1.85033106e-01 -9.61556915e-02 2.54749899e+02] [ 1.86136259e-01 9.82520622e-01 2.55359763e-03 1.25116188e+02] [ 9.40024497e-02 -2.03955220e-02 9.95363030e-01 1.39874334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.246875 meters Centerline goodness : 0.992020 Centerline is valid? [True, True] Translation: X:254.78, Y:125.13, Z:139.88 [[ 9.78475872e-01 -1.83425364e-01 -9.45521217e-02 2.54778065e+02] [ 1.82971350e-01 9.83025224e-01 -1.35238491e-02 1.25127789e+02] [ 9.54277376e-02 -4.06756928e-03 9.95428050e-01 1.39876457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.276875 meters Centerline goodness : 0.990418 Centerline is valid? [True, True] Translation: X:254.81, Y:125.15, Z:139.87 [[ 9.78055802e-01 -1.91523243e-01 -8.20103443e-02 2.54808527e+02] [ 1.87468629e-01 9.80749381e-01 -5.46458057e-02 1.25152216e+02] [ 9.08975364e-02 3.80722805e-02 9.95132222e-01 1.39869965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.306875 meters Centerline goodness : 0.992015 Centerline is valid? [True, True] Translation: X:254.83, Y:125.13, Z:139.89 [[ 9.79246569e-01 -1.76340071e-01 -9.99016348e-02 2.54829425e+02] [ 1.79443925e-01 9.83501307e-01 2.29141116e-02 1.25127618e+02] [ 9.42127123e-02 -4.03653067e-02 9.94733435e-01 1.39892628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.336875 meters Centerline goodness : 0.992794 Centerline is valid? [True, True] Translation: X:254.86, Y:125.15, Z:139.88 [[ 9.80030070e-01 -1.78656444e-01 -8.73094305e-02 2.54856030e+02] [ 1.77185549e-01 9.83875470e-01 -2.43791148e-02 1.25152150e+02] [ 9.02570929e-02 8.42229626e-03 9.95882886e-01 1.39879289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.366875 meters Centerline goodness : 0.989618 Centerline is valid? [True, True] Translation: X:254.89, Y:125.17, Z:139.88 [[ 9.79074332e-01 -1.88156484e-01 -7.75279913e-02 2.54889658e+02] [ 1.84325917e-01 9.81381987e-01 -5.39754687e-02 1.25173839e+02] [ 8.62404086e-02 3.85555779e-02 9.95528030e-01 1.39875140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.396875 meters Centerline goodness : 0.990412 Centerline is valid? [True, True] Translation: X:254.92, Y:125.16, Z:139.89 [[ 9.79111976e-01 -1.84355466e-01 -8.57484696e-02 2.54921349e+02] [ 1.84323739e-01 9.82830065e-01 -8.35600297e-03 1.25162122e+02] [ 8.58166488e-02 -7.62401597e-03 9.96281776e-01 1.39890572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.426875 meters Centerline goodness : 0.992672 Centerline is valid? [True, True] Translation: X:254.94, Y:125.16, Z:139.89 [[ 9.79833231e-01 -1.77076317e-01 -9.25787117e-02 2.54941324e+02] [ 1.77951104e-01 9.84038581e-01 1.21493422e-03 1.25158389e+02] [ 9.08858880e-02 -1.76649169e-02 9.95704628e-01 1.39894771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.456875 meters Centerline goodness : 0.989684 Centerline is valid? [True, True] Translation: X:254.98, Y:125.19, Z:139.89 [[ 9.78700813e-01 -1.89914515e-01 -7.79563714e-02 2.54975187e+02] [ 1.86565423e-01 9.81255965e-01 -4.82708429e-02 1.25187158e+02] [ 8.56624881e-02 3.26987498e-02 9.95787492e-01 1.39885359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.486875 meters Centerline goodness : 0.992871 Centerline is valid? [True, True] Translation: X:255.00, Y:125.17, Z:139.90 [[ 9.79604092e-01 -1.78233173e-01 -9.27833982e-02 2.54996792e+02] [ 1.79436357e-01 9.83758245e-01 4.72321908e-03 1.25170229e+02] [ 9.04345986e-02 -2.12755997e-02 9.95675114e-01 1.39898360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.516875 meters Centerline goodness : 0.990068 Centerline is valid? [True, True] Translation: X:255.03, Y:125.20, Z:139.89 [[ 9.78042919e-01 -1.93549702e-01 -7.72694045e-02 2.55030849e+02] [ 1.89964116e-01 9.80444595e-01 -5.14006931e-02 1.25203687e+02] [ 8.57069588e-02 3.55936698e-02 9.95684392e-01 1.39885134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.546875 meters Centerline goodness : 0.990484 Centerline is valid? [True, True] Translation: X:255.07, Y:125.19, Z:139.90 [[ 9.78297154e-01 -1.88851856e-01 -8.52622712e-02 2.55066650e+02] [ 1.88436352e-01 9.81999774e-01 -1.29686104e-02 1.25192116e+02] [ 8.61766772e-02 -3.37935668e-03 9.96274139e-01 1.39898368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.576875 meters Centerline goodness : 0.992891 Centerline is valid? [True, True] Translation: X:255.08, Y:125.18, Z:139.91 [[ 9.79471128e-01 -1.78111844e-01 -9.44059351e-02 2.55080131e+02] [ 1.80324872e-01 9.83486790e-01 1.53842021e-02 1.25182299e+02] [ 9.01068814e-02 -3.20921200e-02 9.95414911e-01 1.39906367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6068750000001 meters Centerline goodness : 0.993201 Centerline is valid? [True, True] Translation: X:255.11, Y:125.20, Z:139.90 [[ 9.79225122e-01 -1.83585535e-01 -8.61075548e-02 2.55105501e+02] [ 1.82475046e-01 9.82993343e-01 -2.06626401e-02 1.25201103e+02] [ 8.84365150e-02 4.52089625e-03 9.96071556e-01 1.39899704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.636875 meters Centerline goodness : 0.990465 Centerline is valid? [True, True] Translation: X:255.15, Y:125.21, Z:139.90 [[ 9.77385007e-01 -1.97036092e-01 -7.67810307e-02 2.55145969e+02] [ 1.95022334e-01 9.80244426e-01 -3.29720105e-02 1.25212643e+02] [ 8.17608535e-02 1.72523329e-02 9.96502644e-01 1.39901175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.666875 meters Centerline goodness : 0.989658 Centerline is valid? [True, True] Translation: X:255.17, Y:125.22, Z:139.90 [[ 9.75629638e-01 -2.03406460e-01 -8.22959347e-02 2.55169326e+02] [ 2.01339052e-01 9.78973179e-01 -3.27734680e-02 1.25221872e+02] [ 8.72318479e-02 1.54053813e-02 9.96068913e-01 1.39904223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.696875 meters Centerline goodness : 0.992945 Centerline is valid? [True, True] Translation: X:255.19, Y:125.20, Z:139.92 [[ 9.77210481e-01 -1.88152523e-01 -9.82766706e-02 2.55190998e+02] [ 1.90501385e-01 9.81572243e-01 1.50051462e-02 1.25203656e+02] [ 9.36423959e-02 -3.33850280e-02 9.95046000e-01 1.39922921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.7268750000001 meters Centerline goodness : 0.990517 Centerline is valid? [True, True] Translation: X:255.22, Y:125.23, Z:139.91 [[ 9.75329556e-01 -2.06905195e-01 -7.69577663e-02 2.55221674e+02] [ 2.05125738e-01 9.78262252e-01 -3.04367862e-02 1.25234349e+02] [ 8.15824070e-02 1.38998786e-02 9.96569669e-01 1.39910731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.756875 meters Centerline goodness : 0.989843 Centerline is valid? [True, True] Translation: X:255.25, Y:125.23, Z:139.92 [[ 9.75728231e-01 -2.03243158e-01 -8.15269159e-02 2.55252134e+02] [ 2.02962120e-01 9.79115396e-01 -1.18075743e-02 1.25231488e+02] [ 8.22240673e-02 -5.02589205e-03 9.96601196e-01 1.39921622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.786875 meters Centerline goodness : 0.988960 Centerline is valid? [True, True] Translation: X:255.28, Y:125.26, Z:139.91 [[ 9.75129822e-01 -2.08356360e-01 -7.55609571e-02 2.55278441e+02] [ 2.04736765e-01 9.77384917e-01 -5.29299578e-02 1.25256993e+02] [ 8.48804331e-02 3.61434743e-02 9.95735387e-01 1.39906861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.816875 meters Centerline goodness : 0.989728 Centerline is valid? [True, True] Translation: X:255.31, Y:125.25, Z:139.92 [[ 9.75708045e-01 -2.02879881e-01 -8.26653829e-02 2.55307002e+02] [ 2.03009458e-01 9.79152299e-01 -6.92358985e-03 1.25246207e+02] [ 8.23466568e-02 -1.00264523e-02 9.96553309e-01 1.39921359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.846875 meters Centerline goodness : 0.989728 Centerline is valid? [True, True] Translation: X:255.33, Y:125.26, Z:139.92 [[ 9.75588362e-01 -2.04453566e-01 -8.01628792e-02 2.55332880e+02] [ 2.03585162e-01 9.78873868e-01 -1.89481452e-02 1.25257821e+02] [ 8.23433635e-02 2.16561719e-03 9.96601666e-01 1.39921156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.876875 meters Centerline goodness : 0.989953 Centerline is valid? [True, True] Translation: X:255.36, Y:125.26, Z:139.93 [[ 9.75950422e-01 -2.02015935e-01 -8.19166421e-02 2.55360164e+02] [ 2.01968086e-01 9.79351148e-01 -8.95665825e-03 1.25260197e+02] [ 8.20345452e-02 -7.80329299e-03 9.96598937e-01 1.39927412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.906875 meters Centerline goodness : 0.989964 Centerline is valid? [True, True] Translation: X:255.39, Y:125.26, Z:139.94 [[ 9.76691563e-01 -1.96828206e-01 -8.56285503e-02 2.55390668e+02] [ 1.97617252e-01 9.80278967e-01 7.53854936e-04 1.25260581e+02] [ 8.37914869e-02 -1.76579625e-02 9.96326846e-01 1.39939734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.936875 meters Centerline goodness : 0.989465 Centerline is valid? [True, True] Translation: X:255.41, Y:125.27, Z:139.94 [[ 9.76647516e-01 -1.99112802e-01 -8.07076371e-02 2.55414703e+02] [ 1.98678070e-01 9.79972328e-01 -1.34633113e-02 1.25274227e+02] [ 8.17719686e-02 -2.88592809e-03 9.96646887e-01 1.39938641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.966875 meters Centerline goodness : 0.989963 Centerline is valid? [True, True] Translation: X:255.44, Y:125.28, Z:139.94 [[ 9.77111926e-01 -1.95379393e-01 -8.41378504e-02 2.55442768e+02] [ 1.94358781e-01 9.80721776e-01 -2.02351547e-02 1.25279205e+02] [ 8.64693544e-02 3.41908094e-03 9.96248644e-01 1.39942535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.996875 meters Centerline goodness : 0.989821 Centerline is valid? [True, True] Translation: X:255.47, Y:125.29, Z:139.95 [[ 9.76594746e-01 -1.97261887e-01 -8.57347696e-02 2.55469261e+02] [ 1.96044660e-01 9.80337341e-01 -2.24763975e-02 1.25287440e+02] [ 8.84827327e-02 5.14248793e-03 9.96064436e-01 1.39945711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.026875 meters Centerline goodness : 0.989324 Centerline is valid? [True, True] Translation: X:255.50, Y:125.29, Z:139.95 [[ 9.77152693e-01 -1.94644489e-01 -8.53588712e-02 2.55497513e+02] [ 1.94963022e-01 9.80799479e-01 -4.66935405e-03 1.25287927e+02] [ 8.46288004e-02 -1.20791516e-02 9.96339330e-01 1.39953939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.056875 meters Centerline goodness : 0.990092 Centerline is valid? [True, True] Translation: X:255.52, Y:125.30, Z:139.95 [[ 9.77432999e-01 -1.95625862e-01 -7.97198506e-02 2.55524143e+02] [ 1.94771017e-01 9.80675430e-01 -1.84377854e-02 1.25299625e+02] [ 8.17862064e-02 2.49458356e-03 9.96646775e-01 1.39951451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.086875 meters Centerline goodness : 0.989344 Centerline is valid? [True, True] Translation: X:255.55, Y:125.31, Z:139.95 [[ 9.77973181e-01 -1.93682651e-01 -7.78170210e-02 2.55553399e+02] [ 1.92534051e-01 9.81042002e-01 -2.20732856e-02 1.25306374e+02] [ 8.06169785e-02 6.60465500e-03 9.96723272e-01 1.39953094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.116875 meters Centerline goodness : 0.989750 Centerline is valid? [True, True] Translation: X:255.58, Y:125.31, Z:139.96 [[ 9.78218136e-01 -1.91779444e-01 -7.94350287e-02 2.55577234e+02] [ 1.90435461e-01 9.81400554e-01 -2.42340358e-02 1.25312522e+02] [ 8.26051711e-02 8.57892705e-03 9.96545427e-01 1.39955669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.146875 meters Centerline goodness : 0.989591 Centerline is valid? [True, True] Translation: X:255.60, Y:125.32, Z:139.96 [[ 9.78488750e-01 -1.90807102e-01 -7.84373326e-02 2.55603851e+02] [ 1.90074260e-01 9.81626398e-01 -1.67747141e-02 1.25318366e+02] [ 8.01968909e-02 1.50495110e-03 9.96777906e-01 1.39955825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.176875 meters Centerline goodness : 0.983796 Centerline is valid? [True, True] Translation: X:255.65, Y:125.32, Z:139.96 [[ 9.79207892e-01 -1.85949438e-01 -8.10845861e-02 2.55646468e+02] [ 1.85509145e-01 9.82556586e-01 -1.29966283e-02 1.25323896e+02] [ 8.20869099e-02 -2.31553126e-03 9.96622485e-01 1.39960498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.206875 meters Centerline goodness : 0.989024 Centerline is valid? [True, True] Translation: X:255.66, Y:125.34, Z:139.96 [[ 9.78671569e-01 -1.89535317e-01 -7.92358762e-02 2.55659134e+02] [ 1.88181934e-01 9.81834000e-01 -2.42807898e-02 1.25335205e+02] [ 8.23985445e-02 8.85215816e-03 9.96560143e-01 1.39958940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.236875 meters Centerline goodness : 0.989910 Centerline is valid? [True, True] Translation: X:255.69, Y:125.34, Z:139.96 [[ 9.78847605e-01 -1.87246890e-01 -8.24376610e-02 2.55685556e+02] [ 1.86402104e-01 9.82310528e-01 -1.78964111e-02 1.25337641e+02] [ 8.43304297e-02 2.15130565e-03 9.96435523e-01 1.39963925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.266875 meters Centerline goodness : 0.989786 Centerline is valid? [True, True] Translation: X:255.72, Y:125.34, Z:139.97 [[ 9.78518778e-01 -1.86426031e-01 -8.80132773e-02 2.55717122e+02] [ 1.85674099e-01 9.82468999e-01 -1.67270556e-02 1.25340423e+02] [ 8.95886751e-02 2.59519620e-05 9.95978849e-01 1.39970569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.296875 meters Centerline goodness : 0.991590 Centerline is valid? [True, True] Translation: X:255.73, Y:125.35, Z:139.96 [[ 9.79322401e-01 -1.80055680e-01 -9.22365810e-02 2.55726881e+02] [ 1.76654033e-01 9.83294789e-01 -4.38715313e-02 1.25353184e+02] [ 9.85950678e-02 2.66704093e-02 9.94770175e-01 1.39964177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.326875 meters Centerline goodness : 0.992277 Centerline is valid? [True, True] Translation: X:255.76, Y:125.35, Z:139.97 [[ 9.79499313e-01 -1.77074354e-01 -9.60508652e-02 2.55756613e+02] [ 1.75325708e-01 9.84156002e-01 -2.64170266e-02 1.25352405e+02] [ 9.92068135e-02 9.03527346e-03 9.95025815e-01 1.39972860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3568750000001 meters Centerline goodness : 0.990473 Centerline is valid? [True, True] Translation: X:255.80, Y:125.35, Z:139.98 [[ 9.79074174e-01 -1.81285948e-01 -9.24617077e-02 2.55796741e+02] [ 1.82220460e-01 9.83256237e-01 1.69591735e-03 1.25350939e+02] [ 9.06061048e-02 -1.85088438e-02 9.95714797e-01 1.39984737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.386875 meters Centerline goodness : 0.991726 Centerline is valid? [True, True] Translation: X:255.81, Y:125.37, Z:139.98 [[ 9.79815084e-01 -1.76848582e-01 -9.32039743e-02 2.55812641e+02] [ 1.73324625e-01 9.83849762e-01 -4.47014523e-02 1.25371508e+02] [ 9.96040964e-02 2.76446133e-02 9.94643051e-01 1.39976248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.416875 meters Centerline goodness : 0.991335 Centerline is valid? [True, True] Translation: X:255.85, Y:125.37, Z:139.98 [[ 9.79259426e-01 -1.82007867e-01 -8.90174914e-02 2.55849572e+02] [ 1.81468591e-01 9.83294465e-01 -1.41826123e-02 1.25368131e+02] [ 9.01117535e-02 -2.26542197e-03 9.95929084e-01 1.39983657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.446875 meters Centerline goodness : 0.991427 Centerline is valid? [True, True] Translation: X:255.88, Y:125.38, Z:139.98 [[ 9.79177335e-01 -1.85429798e-01 -8.26289099e-02 2.55876298e+02] [ 1.83749967e-01 9.82586656e-01 -2.75574496e-02 1.25382565e+02] [ 8.63000366e-02 1.18005706e-02 9.96199302e-01 1.39977725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4768750000001 meters Centerline goodness : 0.992677 Centerline is valid? [True, True] Translation: X:255.89, Y:125.39, Z:139.98 [[ 9.79786680e-01 -1.77307762e-01 -9.26283991e-02 2.55891085e+02] [ 1.74208230e-01 9.83871321e-01 -4.06043762e-02 1.25387681e+02] [ 9.83338964e-02 2.36469975e-02 9.94872486e-01 1.39980586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.506875 meters Centerline goodness : 0.993151 Centerline is valid? [True, True] Translation: X:255.93, Y:125.38, Z:140.00 [[ 9.80321136e-01 -1.66902158e-01 -1.05423619e-01 2.55933890e+02] [ 1.66469370e-01 9.85961531e-01 -1.29540720e-02 1.25376439e+02] [ 1.06105695e-01 -4.85065285e-03 9.94343026e-01 1.39999217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.536875 meters Centerline goodness : 0.991768 Centerline is valid? [True, True] Translation: X:255.96, Y:125.39, Z:140.00 [[ 9.79208809e-01 -1.76709955e-01 -9.96177744e-02 2.55960697e+02] [ 1.76732987e-01 9.84220699e-01 -8.66409596e-03 1.25389252e+02] [ 9.95769076e-02 -9.12178776e-03 9.94988056e-01 1.40003086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.566875 meters Centerline goodness : 0.992351 Centerline is valid? [True, True] Translation: X:255.98, Y:125.42, Z:139.98 [[ 9.79450684e-01 -1.84167066e-01 -8.22122187e-02 2.55979597e+02] [ 1.80748438e-01 9.82390631e-01 -4.73143671e-02 1.25416551e+02] [ 8.94782617e-02 3.14823591e-02 9.95491086e-01 1.39982282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.596875 meters Centerline goodness : 0.992885 Centerline is valid? [True, True] Translation: X:256.00, Y:125.42, Z:139.98 [[ 9.80432267e-01 -1.78044424e-01 -8.39806694e-02 2.55997748e+02] [ 1.74094467e-01 9.83340244e-01 -5.22788684e-02 1.25420744e+02] [ 9.18895330e-02 3.66353195e-02 9.95095054e-01 1.39979464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.626875 meters Centerline goodness : 0.992889 Centerline is valid? [True, True] Translation: X:256.03, Y:125.41, Z:139.99 [[ 9.80313552e-01 -1.74584295e-01 -9.22261581e-02 2.56030147e+02] [ 1.73081441e-01 9.84612320e-01 -2.41120911e-02 1.25414253e+02] [ 9.50166040e-02 7.67477331e-03 9.95446102e-01 1.39993537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.656875 meters Centerline goodness : 0.992391 Centerline is valid? [True, True] Translation: X:256.07, Y:125.42, Z:140.00 [[ 9.79673511e-01 -1.81714182e-01 -8.49692161e-02 2.56066386e+02] [ 1.80413405e-01 9.83326358e-01 -2.28095648e-02 1.25423491e+02] [ 8.76972912e-02 7.01634083e-03 9.96122460e-01 1.39995786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.686875 meters Centerline goodness : 0.993002 Centerline is valid? [True, True] Translation: X:256.09, Y:125.43, Z:140.00 [[ 9.80347180e-01 -1.74138100e-01 -9.27109994e-02 2.56085321e+02] [ 1.72478691e-01 9.84678386e-01 -2.56822298e-02 1.25428141e+02] [ 9.57627720e-02 9.18682968e-03 9.95361790e-01 1.39999878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.716875 meters Centerline goodness : 0.993633 Centerline is valid? [True, True] Translation: X:256.11, Y:125.43, Z:140.01 [[ 9.80360405e-01 -1.71588868e-01 -9.72149012e-02 2.56113972e+02] [ 1.70576794e-01 9.85167108e-01 -1.86902846e-02 1.25431377e+02] [ 9.89799679e-02 1.74060878e-03 9.95087904e-01 1.40005221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.746875 meters Centerline goodness : 0.994097 Centerline is valid? [True, True] Translation: X:256.14, Y:125.45, Z:140.00 [[ 9.80603530e-01 -1.73818552e-01 -9.05749848e-02 2.56138318e+02] [ 1.71052111e-01 9.84547354e-01 -3.75191002e-02 1.25447230e+02] [ 9.56968773e-02 2.12983197e-02 9.95182641e-01 1.39997196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.776875 meters Centerline goodness : 0.993585 Centerline is valid? [True, True] Translation: X:256.17, Y:125.45, Z:140.01 [[ 9.80555205e-01 -1.70817212e-01 -9.66072976e-02 2.56168459e+02] [ 1.69486704e-01 9.85289656e-01 -2.18758085e-02 1.25445911e+02] [ 9.89229356e-02 5.07678544e-03 9.95082147e-01 1.40007314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.806875 meters Centerline goodness : 0.993917 Centerline is valid? [True, True] Translation: X:256.20, Y:125.45, Z:140.01 [[ 9.80734783e-01 -1.69958430e-01 -9.62985815e-02 2.56195305e+02] [ 1.68170624e-01 9.85403072e-01 -2.64466900e-02 1.25452780e+02] [ 9.93877559e-02 9.74259623e-03 9.95001083e-01 1.40010692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.836875 meters Centerline goodness : 0.993836 Centerline is valid? [True, True] Translation: X:256.22, Y:125.46, Z:140.01 [[ 9.80777498e-01 -1.71579381e-01 -9.29301611e-02 2.56220606e+02] [ 1.69510216e-01 9.85078430e-01 -2.97787308e-02 1.25461554e+02] [ 9.66529135e-02 1.34536975e-02 9.95227216e-01 1.40012133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.866875 meters Centerline goodness : 0.994294 Centerline is valid? [True, True] Translation: X:256.25, Y:125.46, Z:140.02 [[ 9.80737885e-01 -1.69675526e-01 -9.67647476e-02 2.56250901e+02] [ 1.68567153e-01 9.85495751e-01 -1.95765156e-02 1.25462028e+02] [ 9.86829032e-02 2.88807252e-03 9.95114739e-01 1.40024039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.896875 meters Centerline goodness : 0.993079 Centerline is valid? [True, True] Translation: X:256.28, Y:125.48, Z:140.02 [[ 9.80720911e-01 -1.73524665e-01 -8.98648215e-02 2.56276160e+02] [ 1.70923397e-01 9.84628820e-01 -3.59343782e-02 1.25476406e+02] [ 9.47189941e-02 1.98815956e-02 9.95305498e-01 1.40017490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.926875 meters Centerline goodness : 0.993161 Centerline is valid? [True, True] Translation: X:256.30, Y:125.48, Z:140.02 [[ 9.80316702e-01 -1.74863739e-01 -9.16615280e-02 2.56304491e+02] [ 1.72626113e-01 9.84472070e-01 -3.18585724e-02 1.25481167e+02] [ 9.58091232e-02 1.54083173e-02 9.95280461e-01 1.40021137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.956875 meters Centerline goodness : 0.993509 Centerline is valid? [True, True] Translation: X:256.33, Y:125.48, Z:140.03 [[ 9.80132821e-01 -1.75813746e-01 -9.18105612e-02 2.56331521e+02] [ 1.74012909e-01 9.84364110e-01 -2.73277692e-02 1.25483696e+02] [ 9.51796188e-02 1.08086207e-02 9.95401434e-01 1.40025997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.986875 meters Centerline goodness : 0.993488 Centerline is valid? [True, True] Translation: X:256.36, Y:125.49, Z:140.02 [[ 9.79984373e-01 -1.78617827e-01 -8.78993739e-02 2.56357890e+02] [ 1.76393396e-01 9.83782469e-01 -3.25180464e-02 1.25493981e+02] [ 9.22821659e-02 1.63623083e-02 9.95598452e-01 1.40021964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.016875 meters Centerline goodness : 0.994639 Centerline is valid? [True, True] Translation: X:256.41, Y:125.47, Z:140.06 [[ 9.79744531e-01 -1.64228520e-01 -1.14584675e-01 2.56406345e+02] [ 1.66944871e-01 9.85860183e-01 1.44606195e-02 1.25468760e+02] [ 1.10589623e-01 -3.32970366e-02 9.93308231e-01 1.40063563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.046875 meters Centerline goodness : 0.994063 Centerline is valid? [True, True] Translation: X:256.41, Y:125.52, Z:140.02 [[ 9.79695038e-01 -1.83488154e-01 -8.08067434e-02 2.56411258e+02] [ 1.78414105e-01 9.81730157e-01 -6.61385398e-02 1.25521962e+02] [ 9.14660554e-02 5.03785364e-02 9.94533038e-01 1.40018371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.076875 meters Centerline goodness : 0.993568 Centerline is valid? [True, True] Translation: X:256.45, Y:125.50, Z:140.04 [[ 9.79056194e-01 -1.79740522e-01 -9.56154502e-02 2.56447140e+02] [ 1.79427367e-01 9.83698837e-01 -1.19339233e-02 1.25503720e+02] [ 9.62018167e-02 -5.47204693e-03 9.95346807e-01 1.40040713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1068750000001 meters Centerline goodness : 0.994067 Centerline is valid? [True, True] Translation: X:256.47, Y:125.52, Z:140.04 [[ 9.78799088e-01 -1.82179586e-01 -9.36105972e-02 2.56471761e+02] [ 1.80206483e-01 9.83195670e-01 -2.91872881e-02 1.25516443e+02] [ 9.73548619e-02 1.16992545e-02 9.95180968e-01 1.40038654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.136875 meters Centerline goodness : 0.993299 Centerline is valid? [True, True] Translation: X:256.50, Y:125.53, Z:140.04 [[ 9.78610892e-01 -1.84750241e-01 -9.04879603e-02 2.56499925e+02] [ 1.82518089e-01 9.82667737e-01 -3.24232199e-02 1.25525006e+02] [ 9.49097969e-02 1.52140265e-02 9.95369612e-01 1.40037107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.166875 meters Centerline goodness : 0.993583 Centerline is valid? [True, True] Translation: X:256.53, Y:125.53, Z:140.04 [[ 9.78513864e-01 -1.83889210e-01 -9.32489991e-02 2.56527655e+02] [ 1.81965576e-01 9.82882997e-01 -2.88017922e-02 1.25528930e+02] [ 9.69491945e-02 1.12148451e-02 9.95226146e-01 1.40043117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.196875 meters Centerline goodness : 0.993160 Centerline is valid? [True, True] Translation: X:256.56, Y:125.53, Z:140.05 [[ 9.78568995e-01 -1.84220156e-01 -9.20090003e-02 2.56557940e+02] [ 1.82802227e-01 9.82864468e-01 -2.36808881e-02 1.25533748e+02] [ 9.47948740e-02 6.35393275e-03 9.95476549e-01 1.40047581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.2268750000001 meters Centerline goodness : 0.992852 Centerline is valid? [True, True] Translation: X:256.58, Y:125.54, Z:140.05 [[ 9.78706238e-01 -1.82212183e-01 -9.45135985e-02 2.56584624e+02] [ 1.80601670e-01 9.83228411e-01 -2.53954372e-02 1.25539394e+02] [ 9.75558134e-02 7.78535909e-03 9.95199604e-01 1.40053690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.256875 meters Centerline goodness : 0.992890 Centerline is valid? [True, True] Translation: X:256.61, Y:125.55, Z:140.05 [[ 9.79013958e-01 -1.82455276e-01 -9.07840364e-02 2.56611553e+02] [ 1.79922878e-01 9.83043273e-01 -3.54073578e-02 1.25550527e+02] [ 9.57048955e-02 1.83301724e-02 9.95240965e-01 1.40050534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.286875 meters Centerline goodness : 0.993743 Centerline is valid? [True, True] Translation: X:256.66, Y:125.52, Z:140.09 [[ 9.79074917e-01 -1.66424932e-01 -1.17111267e-01 2.56659512e+02] [ 1.69124597e-01 9.85503109e-01 1.34347633e-02 1.25523060e+02] [ 1.13177638e-01 -3.29600356e-02 9.93027924e-01 1.40093211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.316875 meters Centerline goodness : 0.992819 Centerline is valid? [True, True] Translation: X:256.67, Y:125.57, Z:140.05 [[ 9.79136706e-01 -1.83901830e-01 -8.64374241e-02 2.56665907e+02] [ 1.79038292e-01 9.81945029e-01 -6.10675792e-02 1.25573063e+02] [ 9.61072385e-02 4.43178996e-02 9.94383891e-01 1.40051845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.346875 meters Centerline goodness : 0.993039 Centerline is valid? [True, True] Translation: X:256.70, Y:125.56, Z:140.07 [[ 9.79113257e-01 -1.78344081e-01 -9.76248887e-02 2.56697693e+02] [ 1.76700108e-01 9.83939405e-01 -2.53045171e-02 1.25563484e+02] [ 1.00569886e-01 7.52565973e-03 9.94901534e-01 1.40066866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.376875 meters Centerline goodness : 0.992853 Centerline is valid? [True, True] Translation: X:256.73, Y:125.57, Z:140.07 [[ 9.79107151e-01 -1.77023767e-01 -1.00058847e-01 2.56725095e+02] [ 1.75049089e-01 9.84154272e-01 -2.82521853e-02 1.25571092e+02] [ 1.03474650e-01 1.01467066e-02 9.94580334e-01 1.40067894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.406875 meters Centerline goodness : 0.993011 Centerline is valid? [True, True] Translation: X:256.75, Y:125.58, Z:140.07 [[ 9.79190564e-01 -1.77104697e-01 -9.90947268e-02 2.56753218e+02] [ 1.74887247e-01 9.84109639e-01 -3.07029111e-02 1.25579571e+02] [ 1.02957706e-01 1.27335969e-02 9.94604226e-01 1.40069034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.436875 meters Centerline goodness : 0.992645 Centerline is valid? [True, True] Translation: X:256.78, Y:125.58, Z:140.08 [[ 9.79351136e-01 -1.73554110e-01 -1.03683763e-01 2.56782571e+02] [ 1.72367840e-01 9.84822158e-01 -2.03628165e-02 1.25579667e+02] [ 1.05644117e-01 2.07060133e-03 9.94401847e-01 1.40079179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.466875 meters Centerline goodness : 0.994019 Centerline is valid? [True, True] Translation: X:256.82, Y:125.57, Z:140.10 [[ 9.79674587e-01 -1.63152288e-01 -1.16700621e-01 2.56823876e+02] [ 1.63915833e-01 9.86469489e-01 -3.08977031e-03 1.25566749e+02] [ 1.15625705e-01 -1.61021100e-02 9.93162332e-01 1.40104095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.496875 meters Centerline goodness : 0.993375 Centerline is valid? [True, True] Translation: X:256.84, Y:125.60, Z:140.08 [[ 9.79300634e-01 -1.79631780e-01 -9.32882226e-02 2.56835363e+02] [ 1.75587580e-01 9.83195592e-01 -4.99542809e-02 1.25601234e+02] [ 1.00693946e-01 3.25400056e-02 9.94385176e-01 1.40080305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.526875 meters Centerline goodness : 0.993502 Centerline is valid? [True, True] Translation: X:256.86, Y:125.60, Z:140.09 [[ 9.79079886e-01 -1.78224306e-01 -9.81767460e-02 2.56864975e+02] [ 1.76193425e-01 9.83926756e-01 -2.90519398e-02 1.25598413e+02] [ 1.01776489e-01 1.11460728e-02 9.94744847e-01 1.40090522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.556875 meters Centerline goodness : 0.993167 Centerline is valid? [True, True] Translation: X:256.89, Y:125.61, Z:140.09 [[ 9.78554049e-01 -1.84495200e-01 -9.16160162e-02 2.56891075e+02] [ 1.81811819e-01 9.82641067e-01 -3.68916715e-02 1.25610123e+02] [ 9.68319962e-02 1.94436199e-02 9.95110803e-01 1.40085084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.586875 meters Centerline goodness : 0.992712 Centerline is valid? [True, True] Translation: X:256.92, Y:125.61, Z:140.10 [[ 9.78187073e-01 -1.83138484e-01 -9.80323693e-02 2.56921018e+02] [ 1.81700225e-01 9.83073608e-01 -2.34799940e-02 1.25608544e+02] [ 1.00673125e-01 5.15532307e-03 9.94906199e-01 1.40095818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.616875 meters Centerline goodness : 0.993109 Centerline is valid? [True, True] Translation: X:256.95, Y:125.62, Z:140.09 [[ 9.78025425e-01 -1.85077184e-01 -9.59828270e-02 2.56946825e+02] [ 1.82815318e-01 9.82628833e-01 -3.19239270e-02 1.25618072e+02] [ 1.00223884e-01 1.36752813e-02 9.94870926e-01 1.40093709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.646875 meters Centerline goodness : 0.994666 Centerline is valid? [True, True] Translation: X:256.99, Y:125.60, Z:140.12 [[ 9.77976715e-01 -1.71847226e-01 -1.18448624e-01 2.56992336e+02] [ 1.73020815e-01 9.84918094e-01 -3.80873567e-04 1.25599202e+02] [ 1.16727645e-01 -2.01215920e-02 9.92960109e-01 1.40124810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.676875 meters Centerline goodness : 0.994059 Centerline is valid? [True, True] Translation: X:257.02, Y:125.61, Z:140.12 [[ 9.78351422e-01 -1.73742445e-01 -1.12436909e-01 2.57018250e+02] [ 1.72794839e-01 9.84789781e-01 -1.81942701e-02 1.25613268e+02] [ 1.13887836e-01 -1.62812769e-03 9.93492280e-01 1.40121553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.706875 meters Centerline goodness : 0.993734 Centerline is valid? [True, True] Translation: X:257.05, Y:125.62, Z:140.12 [[ 9.78401719e-01 -1.74823571e-01 -1.10303195e-01 2.57045023e+02] [ 1.72994930e-01 9.84579186e-01 -2.60111450e-02 1.25623208e+02] [ 1.13149591e-01 6.36745550e-03 9.93557560e-01 1.40121304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.736875 meters Centerline goodness : 0.993455 Centerline is valid? [True, True] Translation: X:257.05, Y:125.66, Z:140.09 [[ 9.77720136e-01 -1.89592952e-01 -9.00991042e-02 2.57054556e+02] [ 1.84288332e-01 9.80785419e-01 -6.40138421e-02 1.25659689e+02] [ 1.00504461e-01 4.59834087e-02 9.93873422e-01 1.40092999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.766875 meters Centerline goodness : 0.993455 Centerline is valid? [True, True] Translation: X:257.08, Y:125.65, Z:140.11 [[ 9.77728894e-01 -1.85130076e-01 -9.88588177e-02 2.57084432e+02] [ 1.83019265e-01 9.82648752e-01 -3.00895196e-02 1.25650877e+02] [ 1.02713969e-01 1.13263245e-02 9.94646447e-01 1.40106792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.796875 meters Centerline goodness : 0.992966 Centerline is valid? [True, True] Translation: X:257.11, Y:125.66, Z:140.11 [[ 9.77911748e-01 -1.84725695e-01 -9.78009770e-02 2.57111006e+02] [ 1.82317128e-01 9.82682664e-01 -3.30945181e-02 1.25658474e+02] [ 1.02220732e-01 1.45327247e-02 9.94655579e-01 1.40108044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.826875 meters Centerline goodness : 0.992607 Centerline is valid? [True, True] Translation: X:257.14, Y:125.66, Z:140.11 [[ 9.77837590e-01 -1.84165246e-01 -9.95831810e-02 2.57137004e+02] [ 1.82073810e-01 9.82833908e-01 -2.97764493e-02 1.25663765e+02] [ 1.03357514e-01 1.09850423e-02 9.94583608e-01 1.40111150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8568750000001 meters Centerline goodness : 0.993160 Centerline is valid? [True, True] Translation: X:257.17, Y:125.66, Z:140.12 [[ 9.78284184e-01 -1.78103743e-01 -1.06014675e-01 2.57165531e+02] [ 1.77294610e-01 9.84009514e-01 -1.70850308e-02 1.25664063e+02] [ 1.07362357e-01 -2.08181509e-03 9.94217778e-01 1.40121962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.886875 meters Centerline goodness : 0.994606 Centerline is valid? [True, True] Translation: X:257.21, Y:125.65, Z:140.15 [[ 9.78830022e-01 -1.64369398e-01 -1.21961016e-01 2.57210511e+02] [ 1.66317672e-01 9.86054575e-01 5.89970430e-03 1.25649333e+02] [ 1.19290487e-01 -2.60590799e-02 9.92517357e-01 1.40151282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.916875 meters Centerline goodness : 0.992969 Centerline is valid? [True, True] Translation: X:257.22, Y:125.70, Z:140.12 [[ 9.78258894e-01 -1.83054182e-01 -9.74715465e-02 2.57217946e+02] [ 1.78220830e-01 9.82381354e-01 -5.62513267e-02 1.25695190e+02] [ 1.06051270e-01 3.76569008e-02 9.93647365e-01 1.40118566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.946875 meters Centerline goodness : 0.993548 Centerline is valid? [True, True] Translation: X:257.24, Y:125.69, Z:140.12 [[ 9.78309033e-01 -1.81646473e-01 -9.95790924e-02 2.57243635e+02] [ 1.78917823e-01 9.83214112e-01 -3.57550299e-02 1.25693281e+02] [ 1.04402344e-01 1.71629943e-02 9.94387038e-01 1.40123567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9768750000001 meters Centerline goodness : 0.994319 Centerline is valid? [True, True] Translation: X:257.29, Y:125.67, Z:140.16 [[ 9.78460320e-01 -1.65381824e-01 -1.23548588e-01 2.57292782e+02] [ 1.67078280e-01 9.85937681e-01 3.42614273e-03 1.25667757e+02] [ 1.21244586e-01 -2.39946302e-02 9.92332610e-01 1.40161982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.006875 meters Centerline goodness : 0.994252 Centerline is valid? [True, True] Translation: X:257.32, Y:125.69, Z:140.16 [[ 9.78543449e-01 -1.69318218e-01 -1.17405538e-01 2.57317581e+02] [ 1.67738816e-01 9.85556606e-01 -2.32780207e-02 1.25685630e+02] [ 1.19651197e-01 3.08508861e-03 9.92811197e-01 1.40156563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.036875 meters Centerline goodness : 0.993954 Centerline is valid? [True, True] Translation: X:257.34, Y:125.70, Z:140.16 [[ 9.78356623e-01 -1.70630753e-01 -1.17061801e-01 2.57344634e+02] [ 1.68607710e-01 9.85312105e-01 -2.70461935e-02 1.25695288e+02] [ 1.19957322e-01 6.72330024e-03 9.92756283e-01 1.40157708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.066875 meters Centerline goodness : 0.993530 Centerline is valid? [True, True] Translation: X:257.35, Y:125.73, Z:140.14 [[ 9.77311382e-01 -1.85710312e-01 -1.01853539e-01 2.57351361e+02] [ 1.81379709e-01 9.82124431e-01 -5.03289433e-02 1.25726235e+02] [ 1.09379453e-01 3.07128838e-02 9.93525467e-01 1.40137860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.096875 meters Centerline goodness : 0.994908 Centerline is valid? [True, True] Translation: X:257.40, Y:125.70, Z:140.17 [[ 9.77896247e-01 -1.69918142e-01 -1.21847261e-01 2.57400110e+02] [ 1.70386885e-01 9.85354875e-01 -6.63924581e-03 1.25701761e+02] [ 1.21190921e-01 -1.42686817e-02 9.92526657e-01 1.40169974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.126875 meters Centerline goodness : 0.992705 Centerline is valid? [True, True] Translation: X:257.41, Y:125.74, Z:140.14 [[ 9.77177613e-01 -1.86833605e-01 -1.01079759e-01 2.57405501e+02] [ 1.82354350e-01 9.81859186e-01 -5.19560310e-02 1.25739475e+02] [ 1.08953222e-01 3.23379366e-02 9.93520736e-01 1.40143438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.156875 meters Centerline goodness : 0.992475 Centerline is valid? [True, True] Translation: X:257.44, Y:125.73, Z:140.16 [[ 9.76564879e-01 -1.84887468e-01 -1.10171058e-01 2.57438783e+02] [ 1.83186185e-01 9.82748558e-01 -2.54576668e-02 1.25730278e+02] [ 1.12977252e-01 4.67924740e-03 9.93586556e-01 1.40163626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.186875 meters Centerline goodness : 0.992343 Centerline is valid? [True, True] Translation: X:257.47, Y:125.74, Z:140.16 [[ 9.76106435e-01 -1.89205479e-01 -1.06852767e-01 2.57466468e+02] [ 1.86735664e-01 9.81863934e-01 -3.27567822e-02 1.25741524e+02] [ 1.11112641e-01 1.20208835e-02 9.93735115e-01 1.40163663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.216875 meters Centerline goodness : 0.992447 Centerline is valid? [True, True] Translation: X:257.49, Y:125.75, Z:140.17 [[ 9.75982271e-01 -1.88419695e-01 -1.09346359e-01 2.57490806e+02] [ 1.86677760e-01 9.82075822e-01 -2.60478975e-02 1.25745879e+02] [ 1.12294352e-01 5.00975285e-03 9.93662358e-01 1.40169145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.246875 meters Centerline goodness : 0.993196 Centerline is valid? [True, True] Translation: X:257.52, Y:125.76, Z:140.17 [[ 9.75263957e-01 -1.91551261e-01 -1.10310147e-01 2.57518674e+02] [ 1.89518187e-01 9.81456842e-01 -2.87284468e-02 1.25756644e+02] [ 1.13767619e-01 7.11203956e-03 9.93481931e-01 1.40170722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.276875 meters Centerline goodness : 0.992731 Centerline is valid? [True, True] Translation: X:257.55, Y:125.76, Z:140.17 [[ 9.74812281e-01 -1.93061267e-01 -1.11661832e-01 2.57545413e+02] [ 1.91078832e-01 9.81166831e-01 -2.82936449e-02 1.25763338e+02] [ 1.15021293e-01 6.24478004e-03 9.93343397e-01 1.40174006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.306875 meters Centerline goodness : 0.993186 Centerline is valid? [True, True] Translation: X:257.57, Y:125.77, Z:140.18 [[ 9.73894913e-01 -1.97319625e-01 -1.12221494e-01 2.57571212e+02] [ 1.95703963e-01 9.80335431e-01 -2.53456353e-02 1.25768509e+02] [ 1.15015897e-01 2.72179421e-03 9.93359922e-01 1.40178249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.336875 meters Centerline goodness : 0.993620 Centerline is valid? [True, True] Translation: X:257.62, Y:125.76, Z:140.20 [[ 9.74661372e-01 -1.88762163e-01 -1.20016898e-01 2.57616109e+02] [ 1.88147361e-01 9.82001570e-01 -1.65374694e-02 1.25760527e+02] [ 1.20978430e-01 -6.46242995e-03 9.92634100e-01 1.40196372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.366875 meters Centerline goodness : 0.994077 Centerline is valid? [True, True] Translation: X:257.64, Y:125.77, Z:140.20 [[ 9.74154958e-01 -1.93271809e-01 -1.16910759e-01 2.57642644e+02] [ 1.91511207e-01 9.81140195e-01 -2.62178459e-02 1.25772470e+02] [ 1.19773015e-01 3.15052402e-03 9.92796303e-01 1.40197897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.396875 meters Centerline goodness : 0.993962 Centerline is valid? [True, True] Translation: X:257.67, Y:125.78, Z:140.20 [[ 9.73692402e-01 -1.96003111e-01 -1.16214832e-01 2.57668815e+02] [ 1.94278752e-01 9.80599186e-01 -2.60960300e-02 1.25780891e+02] [ 1.19075072e-01 2.83143371e-03 9.92881217e-01 1.40202045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.426875 meters Centerline goodness : 0.993129 Centerline is valid? [True, True] Translation: X:257.68, Y:125.80, Z:140.20 [[ 9.72152499e-01 -2.04570818e-01 -1.14325414e-01 2.57682018e+02] [ 2.02943246e-01 9.78849916e-01 -2.58240372e-02 1.25798307e+02] [ 1.17190266e-01 1.90333166e-03 9.93107657e-01 1.40201177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.456875 meters Centerline goodness : 0.994643 Centerline is valid? [True, True] Translation: X:257.72, Y:125.80, Z:140.21 [[ 9.73357906e-01 -1.99043756e-01 -1.13824290e-01 2.57720748e+02] [ 1.97016612e-01 9.79973974e-01 -2.89044056e-02 1.25804659e+02] [ 1.17298084e-01 5.70905562e-03 9.93080342e-01 1.40206823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.486875 meters Centerline goodness : 0.994513 Centerline is valid? [True, True] Translation: X:257.75, Y:125.81, Z:140.21 [[ 9.73458379e-01 -1.98709223e-01 -1.13549236e-01 2.57747146e+02] [ 1.97085894e-01 9.80055535e-01 -2.54617179e-02 1.25813536e+02] [ 1.16344035e-01 2.40697007e-03 9.93206057e-01 1.40210753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.516875 meters Centerline goodness : 0.993987 Centerline is valid? [True, True] Translation: X:257.77, Y:125.83, Z:140.21 [[ 9.73879005e-01 -1.97171232e-01 -1.12619665e-01 2.57771197e+02] [ 1.95560098e-01 9.80365607e-01 -2.52888416e-02 1.25828713e+02] [ 1.15394678e-01 2.60435921e-03 9.93316307e-01 1.40212222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.546875 meters Centerline goodness : 0.994120 Centerline is valid? [True, True] Translation: X:257.80, Y:125.84, Z:140.22 [[ 9.74092488e-01 -1.95641895e-01 -1.13437536e-01 2.57797017e+02] [ 1.93995407e-01 9.80671355e-01 -2.54848002e-02 1.25839348e+02] [ 1.16230837e-01 2.81819129e-03 9.93218229e-01 1.40215176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.576875 meters Centerline goodness : 0.993751 Centerline is valid? [True, True] Translation: X:257.82, Y:125.85, Z:140.22 [[ 9.74401565e-01 -1.94026912e-01 -1.13556801e-01 2.57822512e+02] [ 1.92361802e-01 9.80991466e-01 -2.55476066e-02 1.25850287e+02] [ 1.16355176e-01 3.04963707e-03 9.93202987e-01 1.40217282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6068750000001 meters Centerline goodness : 0.994110 Centerline is valid? [True, True] Translation: X:257.85, Y:125.87, Z:140.22 [[ 9.75209764e-01 -1.90101255e-01 -1.13258244e-01 2.57847491e+02] [ 1.88417120e-01 9.81758176e-01 -2.54925917e-02 1.25866150e+02] [ 1.16038381e-01 3.52083213e-03 9.93238490e-01 1.40219763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.636875 meters Centerline goodness : 0.994879 Centerline is valid? [True, True] Translation: X:257.87, Y:125.88, Z:140.22 [[ 9.75477946e-01 -1.88613188e-01 -1.13436510e-01 2.57872390e+02] [ 1.86909556e-01 9.82044340e-01 -2.55681775e-02 1.25877298e+02] [ 1.16222178e-01 3.73882557e-03 9.93216203e-01 1.40223700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.666875 meters Centerline goodness : 0.993836 Centerline is valid? [True, True] Translation: X:257.90, Y:125.89, Z:140.23 [[ 9.75849475e-01 -1.86947265e-01 -1.12997883e-01 2.57898245e+02] [ 1.85244346e-01 9.82362076e-01 -2.54810531e-02 1.25888384e+02] [ 1.15768448e-01 3.93345326e-03 9.93268440e-01 1.40227008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.696875 meters Centerline goodness : 0.994313 Centerline is valid? [True, True] Translation: X:257.92, Y:125.91, Z:140.23 [[ 9.76321956e-01 -1.85224596e-01 -1.11746528e-01 2.57922705e+02] [ 1.82849359e-01 9.82644718e-01 -3.12325286e-02 1.25906729e+02] [ 1.15592168e-01 1.00602224e-02 9.93245812e-01 1.40228248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.7268750000001 meters Centerline goodness : 0.994079 Centerline is valid? [True, True] Translation: X:257.95, Y:125.91, Z:140.23 [[ 9.76784960e-01 -1.82617317e-01 -1.11991330e-01 2.57949346e+02] [ 1.81629025e-01 9.83182546e-01 -1.90520028e-02 1.25912970e+02] [ 1.13587147e-01 -1.73116632e-03 9.93526529e-01 1.40234302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.756875 meters Centerline goodness : 0.994405 Centerline is valid? [True, True] Translation: X:257.98, Y:125.93, Z:140.24 [[ 9.77073824e-01 -1.82528540e-01 -1.09590488e-01 2.57975188e+02] [ 1.80891101e-01 9.83190734e-01 -2.47869058e-02 1.25926676e+02] [ 1.12272670e-01 4.39469277e-03 9.93667718e-01 1.40236173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.786875 meters Centerline goodness : 0.994425 Centerline is valid? [True, True] Translation: X:258.00, Y:125.94, Z:140.24 [[ 9.77582286e-01 -1.81654878e-01 -1.06463046e-01 2.57999120e+02] [ 1.80101011e-01 9.83352507e-01 -2.41137332e-02 1.25942880e+02] [ 1.09071080e-01 4.39905614e-03 9.94024219e-01 1.40237514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.816875 meters Centerline goodness : 0.994290 Centerline is valid? [True, True] Translation: X:258.03, Y:125.95, Z:140.24 [[ 9.77606141e-01 -1.81440415e-01 -1.06609610e-01 2.58025448e+02] [ 1.79879838e-01 9.83391920e-01 -2.41573293e-02 1.25954062e+02] [ 1.09222145e-01 4.43943414e-03 9.94007452e-01 1.40241001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.846875 meters Centerline goodness : 0.993771 Centerline is valid? [True, True] Translation: X:258.05, Y:125.97, Z:140.24 [[ 9.77779589e-01 -1.81071941e-01 -1.05641027e-01 2.58051107e+02] [ 1.79534271e-01 9.83459698e-01 -2.39680627e-02 1.25965425e+02] [ 1.08233636e-01 4.46929780e-03 9.94115439e-01 1.40243395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.876875 meters Centerline goodness : 0.993695 Centerline is valid? [True, True] Translation: X:258.08, Y:125.98, Z:140.25 [[ 9.77860343e-01 -1.80802926e-01 -1.05353931e-01 2.58075879e+02] [ 1.79268237e-01 9.83508951e-01 -2.39383192e-02 1.25976600e+02] [ 1.07944653e-01 4.52171950e-03 9.94146622e-01 1.40245610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.906875 meters Centerline goodness : 0.994334 Centerline is valid? [True, True] Translation: X:258.10, Y:125.99, Z:140.25 [[ 9.77891349e-01 -1.80726183e-01 -1.05197706e-01 2.58100662e+02] [ 1.79194532e-01 9.83523002e-01 -2.39128345e-02 1.25994388e+02] [ 1.07786039e-01 4.53330034e-03 9.94163779e-01 1.40247808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.936875 meters Centerline goodness : 0.994074 Centerline is valid? [True, True] Translation: X:258.13, Y:126.01, Z:140.25 [[ 9.77894239e-01 -1.80886417e-01 -1.04895002e-01 2.58125098e+02] [ 1.79360761e-01 9.83493529e-01 -2.38787929e-02 1.26007332e+02] [ 1.07482904e-01 4.53688675e-03 9.94196581e-01 1.40251019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.966875 meters Centerline goodness : 0.994033 Centerline is valid? [True, True] Translation: X:258.15, Y:126.02, Z:140.25 [[ 9.77930715e-01 -1.80690161e-01 -1.04893198e-01 2.58151189e+02] [ 1.79162366e-01 9.83529460e-01 -2.38882514e-02 1.26019951e+02] [ 1.07481922e-01 4.56814127e-03 9.94196544e-01 1.40254704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.996875 meters Centerline goodness : 0.994247 Centerline is valid? [True, True] Translation: X:258.18, Y:126.04, Z:140.26 [[ 9.78167807e-01 -1.79765403e-01 -1.04269556e-01 2.58175969e+02] [ 1.78247358e-01 9.83698419e-01 -2.37760219e-02 1.26037571e+02] [ 1.06843904e-01 4.67116622e-03 9.94264834e-01 1.40259030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.026875 meters Centerline goodness : 0.994201 Centerline is valid? [True, True] Translation: X:258.20, Y:126.05, Z:140.26 [[ 9.78298398e-01 -1.79126471e-01 -1.04143900e-01 2.58201558e+02] [ 1.77605294e-01 9.83814518e-01 -2.37771766e-02 1.26050008e+02] [ 1.06717403e-01 4.76466577e-03 9.94277976e-01 1.40263101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.056875 meters Centerline goodness : 0.994727 Centerline is valid? [True, True] Translation: X:258.23, Y:126.06, Z:140.27 [[ 9.78413320e-01 -1.78530573e-01 -1.04087511e-01 2.58226440e+02] [ 1.77003969e-01 9.83922355e-01 -2.37990176e-02 1.26062825e+02] [ 1.06662882e-01 4.86137311e-03 9.94283358e-01 1.40266736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.086875 meters Centerline goodness : 0.995979 Centerline is valid? [True, True] Translation: X:258.25, Y:126.08, Z:140.27 [[ 9.78786652e-01 -1.77459201e-01 -1.02395909e-01 2.58250103e+02] [ 1.75975241e-01 9.84115935e-01 -2.34209534e-02 1.26083122e+02] [ 1.04925710e-01 4.90497172e-03 9.94467967e-01 1.40270194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.116875 meters Centerline goodness : 0.996712 Centerline is valid? [True, True] Translation: X:258.28, Y:126.10, Z:140.27 [[ 9.78878291e-01 -1.77359777e-01 -1.01689730e-01 2.58275731e+02] [ 1.75892657e-01 9.84133830e-01 -2.32890046e-02 1.26096361e+02] [ 1.04206836e-01 4.91062417e-03 9.94543524e-01 1.40272821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.146875 meters Centerline goodness : 0.997064 Centerline is valid? [True, True] Translation: X:258.30, Y:126.11, Z:140.28 [[ 9.78779694e-01 -1.76990588e-01 -1.03269755e-01 2.58300437e+02] [ 1.75471517e-01 9.84199522e-01 -2.36864547e-02 1.26108757e+02] [ 1.05830323e-01 5.06292045e-03 9.94371314e-01 1.40276083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.176875 meters Centerline goodness : 0.997173 Centerline is valid? [True, True] Translation: X:258.33, Y:126.13, Z:140.28 [[ 9.78576585e-01 -1.76996164e-01 -1.05167602e-01 2.58325446e+02] [ 1.75419442e-01 9.84197980e-01 -2.41320408e-02 1.26126218e+02] [ 1.07777020e-01 5.16660807e-03 9.94161667e-01 1.40278801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.206875 meters Centerline goodness : 0.997298 Centerline is valid? [True, True] Translation: X:258.35, Y:126.14, Z:140.28 [[ 9.78553234e-01 -1.76709508e-01 -1.05864619e-01 2.58351869e+02] [ 1.75106647e-01 9.84248972e-01 -2.43232957e-02 1.26137072e+02] [ 1.08495300e-01 5.26404126e-03 9.94083025e-01 1.40282947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.236875 meters Centerline goodness : 0.997487 Centerline is valid? [True, True] Translation: X:258.40, Y:126.12, Z:140.31 [[ 9.78609799e-01 -1.63541612e-01 -1.24807864e-01 2.58396688e+02] [ 1.65885806e-01 9.86107855e-01 8.55561300e-03 1.26123708e+02] [ 1.21674816e-01 -2.90764598e-02 9.92144041e-01 1.40308168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.266875 meters Centerline goodness : 0.997656 Centerline is valid? [True, True] Translation: X:258.40, Y:126.18, Z:140.29 [[ 9.78638052e-01 -1.80719567e-01 -9.80204111e-02 2.58399713e+02] [ 1.76019503e-01 9.82864716e-01 -5.47182227e-02 1.26179932e+02] [ 1.06229457e-01 3.62958309e-02 9.93678980e-01 1.40291108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.296875 meters Centerline goodness : 0.998394 Centerline is valid? [True, True] Translation: X:258.43, Y:126.18, Z:140.30 [[ 9.78564449e-01 -1.77028919e-01 -1.05225382e-01 2.58427813e+02] [ 1.75440693e-01 9.84191612e-01 -2.42370366e-02 1.26178862e+02] [ 1.07852595e-01 5.25668830e-03 9.94152999e-01 1.40298143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.326875 meters Centerline goodness : 0.998298 Centerline is valid? [True, True] Translation: X:258.45, Y:126.19, Z:140.30 [[ 9.78393665e-01 -1.77381201e-01 -1.06215565e-01 2.58452634e+02] [ 1.75761003e-01 9.84127934e-01 -2.45005796e-02 1.26190866e+02] [ 1.08875647e-01 5.30265756e-03 9.94041234e-01 1.40302503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3568750000001 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:258.50, Y:126.18, Z:140.33 [[ 9.78460485e-01 -1.62743835e-01 -1.27002060e-01 2.58500844e+02] [ 1.64944471e-01 9.86278465e-01 6.93616325e-03 1.26180812e+02] [ 1.24130579e-01 -2.77350492e-02 9.91878201e-01 1.40330254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.386875 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:258.50, Y:126.23, Z:140.31 [[ 9.78341029e-01 -1.81251211e-01 -9.99841505e-02 2.58501428e+02] [ 1.76777076e-01 9.82876283e-01 -5.20007402e-02 1.26232045e+02] [ 1.07697247e-01 3.31995518e-02 9.93629253e-01 1.40311411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.416875 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:258.53, Y:126.23, Z:140.32 [[ 9.78554735e-01 -1.76796105e-01 -1.05706042e-01 2.58528094e+02] [ 1.75168041e-01 9.84231998e-01 -2.45668790e-02 1.26232829e+02] [ 1.08382597e-01 5.52371553e-03 9.94093910e-01 1.40317451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.446875 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:258.55, Y:126.25, Z:140.32 [[ 9.79275273e-01 -1.73928908e-01 -1.03772230e-01 2.58551689e+02] [ 1.72343073e-01 9.84741468e-01 -2.41268662e-02 1.26252167e+02] [ 1.06385177e-01 5.74241857e-03 9.94308412e-01 1.40322217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4768750000001 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:258.58, Y:126.26, Z:140.33 [[ 9.79600227e-01 -1.72586681e-01 -1.02942863e-01 2.58576163e+02] [ 1.71015350e-01 9.84976825e-01 -2.39667486e-02 1.26264429e+02] [ 1.05532676e-01 5.87302251e-03 9.94398492e-01 1.40326324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.506875 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:258.60, Y:126.28, Z:140.33 [[ 9.79730195e-01 -1.71563664e-01 -1.03414965e-01 2.58599927e+02] [ 1.69970127e-01 9.85154581e-01 -2.40957783e-02 1.26283718e+02] [ 1.06013686e-01 6.02990694e-03 9.94346388e-01 1.40331513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.536875 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:258.63, Y:126.30, Z:140.34 [[ 9.79666446e-01 -1.71372884e-01 -1.04331147e-01 2.58625479e+02] [ 1.69746538e-01 9.85187139e-01 -2.43395520e-02 1.26295615e+02] [ 1.06956844e-01 6.13479131e-03 9.94244737e-01 1.40335248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.566875 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:258.66, Y:126.31, Z:140.34 [[ 9.79088500e-01 -1.74296654e-01 -1.04911324e-01 2.58655526e+02] [ 1.72449783e-01 9.84661902e-01 -2.64954831e-02 1.26308107e+02] [ 1.07920258e-01 7.84948779e-03 9.94128565e-01 1.40338957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.596875 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:258.68, Y:126.32, Z:140.34 [[ 9.79397420e-01 -1.71889717e-01 -1.05993482e-01 2.58677994e+02] [ 1.70555796e-01 9.85111417e-01 -2.15920476e-02 1.26315862e+02] [ 1.08126840e-01 3.06939304e-03 9.94132368e-01 1.40342548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.626875 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:258.73, Y:126.32, Z:140.35 [[ 9.80428876e-01 -1.64052287e-01 -1.08839632e-01 2.58726126e+02] [ 1.62416462e-01 9.86435485e-01 -2.37891969e-02 1.26319080e+02] [ 1.11265948e-01 5.64626759e-03 9.93774627e-01 1.40354129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.656875 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:258.75, Y:126.32, Z:140.36 [[ 9.80228398e-01 -1.64594534e-01 -1.09822248e-01 2.58754715e+02] [ 1.63454808e-01 9.86360775e-01 -1.93635398e-02 1.26324424e+02] [ 1.11511491e-01 1.02971711e-03 9.93762611e-01 1.40357954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.686875 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:258.76, Y:126.35, Z:140.36 [[ 9.79020207e-01 -1.74261421e-01 -1.05604881e-01 2.58757254e+02] [ 1.73096485e-01 9.84698333e-01 -2.01692741e-02 1.26347569e+02] [ 1.07503677e-01 1.46629315e-03 9.94203606e-01 1.40355176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.716875 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:258.78, Y:126.36, Z:140.36 [[ 9.79029837e-01 -1.74795403e-01 -1.04628607e-01 2.58783137e+02] [ 1.73154158e-01 9.84586453e-01 -2.46404761e-02 1.26360605e+02] [ 1.07322951e-01 6.00688293e-03 9.94206066e-01 1.40359195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.746875 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:258.81, Y:126.38, Z:140.36 [[ 9.79329354e-01 -1.73081577e-01 -1.04674655e-01 2.58807193e+02] [ 1.71425442e-01 9.84887779e-01 -2.46856499e-02 1.26376427e+02] [ 1.07365420e-01 6.23148255e-03 9.94200098e-01 1.40362679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.776875 meters Centerline goodness : 0.998646 Centerline is valid? [True, True] Translation: X:258.83, Y:126.39, Z:140.37 [[ 9.79374128e-01 -1.72274649e-01 -1.05582964e-01 2.58832717e+02] [ 1.70583767e-01 9.85028259e-01 -2.49099870e-02 1.26388243e+02] [ 1.08293562e-01 6.38545712e-03 9.94098451e-01 1.40365924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.806875 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:258.88, Y:126.39, Z:140.38 [[ 9.80612974e-01 -1.60405634e-01 -1.12553224e-01 2.58883799e+02] [ 1.59494622e-01 9.87050485e-01 -1.71115727e-02 1.26388377e+02] [ 1.13840507e-01 -1.17180383e-03 9.93498347e-01 1.40376095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.836875 meters Centerline goodness : 0.998111 Centerline is valid? [True, True] Translation: X:258.91, Y:126.41, Z:140.37 [[ 9.79022565e-01 -1.71866127e-01 -1.09438806e-01 2.58905399e+02] [ 1.69425624e-01 9.85046078e-01 -3.12918736e-02 1.26414779e+02] [ 1.13180280e-01 1.20937122e-02 9.93500864e-01 1.40374775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.866875 meters Centerline goodness : 0.998119 Centerline is valid? [True, True] Translation: X:258.93, Y:126.42, Z:140.38 [[ 9.79064535e-01 -1.69663145e-01 -1.12459122e-01 2.58932146e+02] [ 1.68479072e-01 9.85501897e-01 -2.00203137e-02 1.26421316e+02] [ 1.14225387e-01 6.54170623e-04 9.93454646e-01 1.40377614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.896875 meters Centerline goodness : 0.998315 Centerline is valid? [True, True] Translation: X:258.97, Y:126.42, Z:140.39 [[ 9.80022191e-01 -1.60905612e-01 -1.16901197e-01 2.58970576e+02] [ 1.60886672e-01 9.86925604e-01 -9.66080800e-03 1.26420969e+02] [ 1.16927262e-01 -9.34003825e-03 9.93096561e-01 1.40386842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.926875 meters Centerline goodness : 0.997957 Centerline is valid? [True, True] Translation: X:258.99, Y:126.45, Z:140.39 [[ 9.80292758e-01 -1.60839601e-01 -1.14702798e-01 2.58992749e+02] [ 1.59570610e-01 9.86979388e-01 -2.02214536e-02 1.26445878e+02] [ 1.16461708e-01 1.51974897e-03 9.93194020e-01 1.40389622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.956875 meters Centerline goodness : 0.997863 Centerline is valid? [True, True] Translation: X:259.02, Y:126.46, Z:140.39 [[ 9.80625489e-01 -1.58876523e-01 -1.14594502e-01 2.59019611e+02] [ 1.58004184e-01 9.87296970e-01 -1.67144122e-02 1.26457231e+02] [ 1.15794332e-01 -1.71583205e-03 9.93271729e-01 1.40392991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.986875 meters Centerline goodness : 0.997664 Centerline is valid? [True, True] Translation: X:259.04, Y:126.49, Z:140.39 [[ 9.79937287e-01 -1.65456482e-01 -1.11117351e-01 2.59037079e+02] [ 1.63278647e-01 9.86168694e-01 -2.84849153e-02 1.26487239e+02] [ 1.14293467e-01 9.77034001e-03 9.93398985e-01 1.40391594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.016875 meters Centerline goodness : 0.996919 Centerline is valid? [True, True] Translation: X:259.06, Y:126.49, Z:140.39 [[ 9.80113950e-01 -1.62661509e-01 -1.13656844e-01 2.59062867e+02] [ 1.61677000e-01 9.86681572e-01 -1.78892034e-02 1.26493859e+02] [ 1.15052998e-01 -8.42239679e-04 9.93358998e-01 1.40393072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.046875 meters Centerline goodness : 0.997339 Centerline is valid? [True, True] Translation: X:259.10, Y:126.50, Z:140.40 [[ 9.80656483e-01 -1.58356344e-01 -1.15048385e-01 2.59096390e+02] [ 1.57392824e-01 9.87381545e-01 -1.74694990e-02 1.26501112e+02] [ 1.16363058e-01 -9.76212820e-04 9.93206265e-01 1.40398020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.076875 meters Centerline goodness : 0.997190 Centerline is valid? [True, True] Translation: X:259.12, Y:126.52, Z:140.40 [[ 9.80005517e-01 -1.63208718e-01 -1.13807301e-01 2.59117329e+02] [ 1.61507120e-01 9.86577778e-01 -2.40777703e-02 1.26521220e+02] [ 1.16209456e-01 5.21565840e-03 9.93211035e-01 1.40399084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1068750000001 meters Centerline goodness : 0.996542 Centerline is valid? [True, True] Translation: X:259.15, Y:126.53, Z:140.40 [[ 9.80439828e-01 -1.59710282e-01 -1.15023344e-01 2.59146062e+02] [ 1.58339229e-01 9.87161025e-01 -2.10190295e-02 1.26534113e+02] [ 1.16903517e-01 2.39518609e-03 9.93140388e-01 1.40399858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.136875 meters Centerline goodness : 0.997013 Centerline is valid? [True, True] Translation: X:259.17, Y:126.55, Z:140.40 [[ 9.80024110e-01 -1.62349978e-01 -1.14870489e-01 2.59173287e+02] [ 1.61129194e-01 9.86732742e-01 -1.98967069e-02 1.26547636e+02] [ 1.16576702e-01 9.90263206e-04 9.93181198e-01 1.40403983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.166875 meters Centerline goodness : 0.996666 Centerline is valid? [True, True] Translation: X:259.19, Y:126.57, Z:140.41 [[ 9.78983697e-01 -1.67764860e-01 -1.15956343e-01 2.59194857e+02] [ 1.66457716e-01 9.85826317e-01 -2.09356692e-02 1.26567323e+02] [ 1.17825085e-01 1.19385073e-03 9.93033647e-01 1.40407424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.196875 meters Centerline goodness : 0.996647 Centerline is valid? [True, True] Translation: X:259.22, Y:126.58, Z:140.41 [[ 9.78992993e-01 -1.69471240e-01 -1.13367622e-01 2.59224868e+02] [ 1.67621388e-01 9.85515744e-01 -2.57252510e-02 1.26578002e+02] [ 1.16085266e-01 6.18200238e-03 9.93220013e-01 1.40406866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.2268750000001 meters Centerline goodness : 0.996705 Centerline is valid? [True, True] Translation: X:259.25, Y:126.59, Z:140.41 [[ 9.78361519e-01 -1.71981969e-01 -1.15025828e-01 2.59251910e+02] [ 1.70469960e-01 9.85096047e-01 -2.29297152e-02 1.26588793e+02] [ 1.17254986e-01 2.82510265e-03 9.93097823e-01 1.40409484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.256875 meters Centerline goodness : 0.996709 Centerline is valid? [True, True] Translation: X:259.28, Y:126.61, Z:140.41 [[ 9.77718746e-01 -1.74209594e-01 -1.17119901e-01 2.59275171e+02] [ 1.73102957e-01 9.84708006e-01 -1.96343733e-02 1.26607039e+02] [ 1.18749401e-01 -1.07690645e-03 9.92923673e-01 1.40410788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.286875 meters Centerline goodness : 0.996972 Centerline is valid? [True, True] Translation: X:259.30, Y:126.62, Z:140.42 [[ 9.76715444e-01 -1.75660044e-01 -1.23168546e-01 2.59296430e+02] [ 1.74985131e-01 9.84435118e-01 -1.63616167e-02 1.26620842e+02] [ 1.24125524e-01 -5.57202043e-03 9.92250879e-01 1.40417418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.316875 meters Centerline goodness : 0.997260 Centerline is valid? [True, True] Translation: X:259.32, Y:126.64, Z:140.42 [[ 9.76616314e-01 -1.76833248e-01 -1.22272558e-01 2.59322538e+02] [ 1.74923845e-01 9.84231599e-01 -2.62641891e-02 1.26638837e+02] [ 1.24988897e-01 4.26164961e-03 9.92148988e-01 1.40421040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.346875 meters Centerline goodness : 0.996945 Centerline is valid? [True, True] Translation: X:259.35, Y:126.65, Z:140.42 [[ 9.76205918e-01 -1.77023005e-01 -1.25239221e-01 2.59347638e+02] [ 1.75484880e-01 9.84206416e-01 -2.32978046e-02 1.26650697e+02] [ 1.27385492e-01 7.65865180e-04 9.91852988e-01 1.40424194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.376875 meters Centerline goodness : 0.997357 Centerline is valid? [True, True] Translation: X:259.37, Y:126.67, Z:140.43 [[ 9.76369357e-01 -1.76235029e-01 -1.25076348e-01 2.59371844e+02] [ 1.74199214e-01 9.84336946e-01 -2.71184458e-02 1.26668553e+02] [ 1.27896491e-01 4.68941798e-03 9.91776435e-01 1.40428215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.406875 meters Centerline goodness : 0.997906 Centerline is valid? [True, True] Translation: X:259.40, Y:126.68, Z:140.43 [[ 9.76329061e-01 -1.75397651e-01 -1.26559191e-01 2.59398001e+02] [ 1.73790528e-01 9.84496986e-01 -2.37178790e-02 1.26680141e+02] [ 1.28757202e-01 1.16166598e-03 9.91675468e-01 1.40432101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.436875 meters Centerline goodness : 0.997667 Centerline is valid? [True, True] Translation: X:259.40, Y:126.70, Z:140.44 [[ 9.77412743e-01 -1.68279646e-01 -1.27852613e-01 2.59395434e+02] [ 1.67064677e-01 9.85738045e-01 -2.02460078e-02 1.26699953e+02] [ 1.29436176e-01 -1.57094962e-03 9.91586511e-01 1.40435934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.466875 meters Centerline goodness : 0.998056 Centerline is valid? [True, True] Translation: X:259.44, Y:126.72, Z:140.44 [[ 9.77119936e-01 -1.74749802e-01 -1.21239998e-01 2.59442913e+02] [ 1.71150829e-01 9.84449879e-01 -3.95705505e-02 1.26720111e+02] [ 1.26269648e-01 1.79148475e-02 9.91834177e-01 1.40443376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.496875 meters Centerline goodness : 0.997903 Centerline is valid? [True, True] Translation: X:259.45, Y:126.73, Z:140.44 [[ 9.77942965e-01 -1.63681290e-01 -1.29753583e-01 2.59445129e+02] [ 1.62558232e-01 9.86510717e-01 -1.92724397e-02 1.26725773e+02] [ 1.31157838e-01 -2.24516616e-03 9.91358957e-01 1.40443398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.526875 meters Centerline goodness : 0.998136 Centerline is valid? [True, True] Translation: X:259.47, Y:126.75, Z:140.45 [[ 9.78766994e-01 -1.61330018e-01 -1.26442855e-01 2.59468487e+02] [ 1.58289214e-01 9.86813924e-01 -3.38053943e-02 1.26745305e+02] [ 1.30229395e-01 1.30730640e-02 9.91397700e-01 1.40449177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.556875 meters Centerline goodness : 0.997905 Centerline is valid? [True, True] Translation: X:259.50, Y:126.76, Z:140.45 [[ 9.78877804e-01 -1.64264905e-01 -1.21718061e-01 2.59498517e+02] [ 1.59747490e-01 9.86083057e-01 -4.60537003e-02 1.26761408e+02] [ 1.27589125e-01 2.56367902e-02 9.91495724e-01 1.40451744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.586875 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:259.53, Y:126.77, Z:140.45 [[ 9.76098468e-01 -1.76121458e-01 -1.27330325e-01 2.59532287e+02] [ 1.73919831e-01 9.84353225e-01 -2.82952578e-02 1.26773971e+02] [ 1.30321418e-01 5.47368904e-03 9.91456689e-01 1.40454262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.616875 meters Centerline goodness : 0.998317 Centerline is valid? [True, True] Translation: X:259.54, Y:126.78, Z:140.46 [[ 9.77142906e-01 -1.67203930e-01 -1.31280567e-01 2.59536113e+02] [ 1.66120204e-01 9.85917750e-01 -1.92423273e-02 1.26781658e+02] [ 1.32649234e-01 -3.00585094e-03 9.91158487e-01 1.40457456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.646875 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:259.56, Y:126.81, Z:140.46 [[ 9.77715067e-01 -1.67381114e-01 -1.26715468e-01 2.59556858e+02] [ 1.64151190e-01 9.85792887e-01 -3.55917127e-02 1.26805146e+02] [ 1.30872588e-01 1.39980589e-02 9.91300368e-01 1.40464651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.676875 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:259.58, Y:126.82, Z:140.47 [[ 9.77897968e-01 -1.65939868e-01 -1.27198757e-01 2.59582117e+02] [ 1.62671002e-01 9.86032739e-01 -3.57432771e-02 1.26816671e+02] [ 1.31353373e-01 1.42617288e-02 9.91233017e-01 1.40468407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.706875 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:259.61, Y:126.83, Z:140.47 [[ 9.78022677e-01 -1.64523991e-01 -1.28076148e-01 2.59607128e+02] [ 1.61192683e-01 9.86265169e-01 -3.60268672e-02 1.26827739e+02] [ 1.32244327e-01 1.45901553e-02 9.91109764e-01 1.40472332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.736875 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:259.63, Y:126.84, Z:140.47 [[ 9.78613643e-01 -1.60345866e-01 -1.28858606e-01 2.59631888e+02] [ 1.56935664e-01 9.86942845e-01 -3.62631850e-02 1.26839453e+02] [ 1.32990731e-01 1.52651368e-02 9.90999718e-01 1.40474807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.766875 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:259.66, Y:126.85, Z:140.48 [[ 9.78895275e-01 -1.58175032e-01 -1.29401315e-01 2.59658366e+02] [ 1.54712322e-01 9.87286854e-01 -3.64522479e-02 1.26847847e+02] [ 1.33522052e-01 1.56629554e-02 9.90922062e-01 1.40478633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.796875 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:259.68, Y:126.86, Z:140.48 [[ 9.79381577e-01 -1.55750699e-01 -1.28660200e-01 2.59684280e+02] [ 1.52302443e-01 9.87667835e-01 -3.62796614e-02 1.26856019e+02] [ 1.32724124e-01 1.59363692e-02 9.91024893e-01 1.40482563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.826875 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:259.71, Y:126.87, Z:140.49 [[ 9.80221571e-01 -1.52263650e-01 -1.26417769e-01 2.59709849e+02] [ 1.48904965e-01 9.88208237e-01 -3.56621856e-02 1.26865413e+02] [ 1.30357135e-01 1.61326100e-02 9.91335844e-01 1.40487334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8568750000001 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:259.73, Y:126.87, Z:140.49 [[ 9.80434912e-01 -1.51534640e-01 -1.25636924e-01 2.59734719e+02] [ 1.48206869e-01 9.88319763e-01 -3.54791472e-02 1.26873705e+02] [ 1.29545775e-01 1.61647394e-02 9.91441674e-01 1.40491209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.886875 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:259.76, Y:126.88, Z:140.50 [[ 9.80690366e-01 -1.50827078e-01 -1.24489351e-01 2.59760825e+02] [ 1.47552657e-01 9.88428681e-01 -3.51703976e-02 1.26881996e+02] [ 1.28353493e-01 1.61225355e-02 9.91597421e-01 1.40495107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.916875 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:259.79, Y:126.89, Z:140.50 [[ 9.81005513e-01 -1.49883206e-01 -1.23138978e-01 2.59787267e+02] [ 1.46668290e-01 9.88572604e-01 -3.48226842e-02 1.26890174e+02] [ 1.26951156e-01 1.61006618e-02 9.91778288e-01 1.40499255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.946875 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:259.81, Y:126.90, Z:140.50 [[ 9.81459139e-01 -1.48137294e-01 -1.21627713e-01 2.59813991e+02] [ 1.44983916e-01 9.88834822e-01 -3.44290439e-02 1.26898496e+02] [ 1.25369943e-01 1.61566377e-02 9.91978498e-01 1.40502986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9768750000001 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:259.84, Y:126.91, Z:140.51 [[ 9.81512454e-01 -1.47960025e-01 -1.21413071e-01 2.59840957e+02] [ 1.44811966e-01 9.88860879e-01 -3.44043025e-02 1.26906038e+02] [ 1.25151098e-01 1.61861858e-02 9.92005650e-01 1.40506907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.006875 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:259.87, Y:126.91, Z:140.51 [[ 9.81566483e-01 -1.47970892e-01 -1.20962200e-01 2.59866899e+02] [ 1.44841775e-01 9.88859674e-01 -3.43133376e-02 1.26912857e+02] [ 1.24692017e-01 1.61604424e-02 9.92063880e-01 1.40509867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.036875 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:259.89, Y:126.92, Z:140.51 [[ 9.81462934e-01 -1.49121803e-01 -1.20387691e-01 2.59894276e+02] [ 1.46029233e-01 9.88690170e-01 -3.41644721e-02 1.26919379e+02] [ 1.24120794e-01 1.59510410e-02 9.92138898e-01 1.40513908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.066875 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:259.92, Y:126.93, Z:140.52 [[ 9.81378584e-01 -1.49739838e-01 -1.20308168e-01 2.59920478e+02] [ 1.46651508e-01 9.88597619e-01 -3.41772211e-02 1.26927121e+02] [ 1.24054060e-01 1.58974187e-02 9.92148105e-01 1.40518096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.096875 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:259.95, Y:126.94, Z:140.52 [[ 9.81077626e-01 -1.50989936e-01 -1.21197076e-01 2.59946192e+02] [ 1.47860219e-01 9.88407516e-01 -3.44664641e-02 1.26936234e+02] [ 1.24996191e-01 1.58940505e-02 9.92029905e-01 1.40521392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.126875 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:259.97, Y:126.94, Z:140.52 [[ 9.80989812e-01 -1.51526684e-01 -1.21238004e-01 2.59972695e+02] [ 1.48397063e-01 9.88326157e-01 -3.44923016e-02 1.26944440e+02] [ 1.25049195e-01 1.58452326e-02 9.92024006e-01 1.40524628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.156875 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:260.00, Y:126.95, Z:140.53 [[ 9.80853919e-01 -1.52594343e-01 -1.20998166e-01 2.59998011e+02] [ 1.49480499e-01 9.88163970e-01 -3.44608424e-02 1.26952577e+02] [ 1.24824557e-01 1.57141862e-02 9.92054381e-01 1.40528443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.186875 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:260.02, Y:126.96, Z:140.53 [[ 9.80845632e-01 -1.54067301e-01 -1.19185207e-01 2.60024740e+02] [ 1.51055594e-01 9.87941825e-01 -3.39581661e-02 1.26960410e+02] [ 1.22979894e-01 1.53041267e-02 9.92291152e-01 1.40532949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.216875 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:260.05, Y:126.97, Z:140.54 [[ 9.80855455e-01 -1.54861225e-01 -1.18070220e-01 2.60051310e+02] [ 1.51907552e-01 9.87820939e-01 -3.36732625e-02 1.26967726e+02] [ 1.21846918e-01 1.50928451e-02 9.92434146e-01 1.40536353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.246875 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:260.08, Y:126.98, Z:140.54 [[ 9.80777441e-01 -1.55592288e-01 -1.17756745e-01 2.60078283e+02] [ 1.52655562e-01 9.87707559e-01 -3.36163109e-02 1.26975423e+02] [ 1.21539666e-01 1.49938973e-02 9.92473321e-01 1.40539658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.276875 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:260.10, Y:126.98, Z:140.54 [[ 9.80549035e-01 -1.57339650e-01 -1.17336371e-01 2.60104977e+02] [ 1.54432015e-01 9.87434266e-01 -3.35309409e-02 1.26984303e+02] [ 1.21137699e-01 1.47582396e-02 9.92525996e-01 1.40542797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.306875 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:260.13, Y:126.99, Z:140.55 [[ 9.80624878e-01 -1.57836194e-01 -1.16028374e-01 2.60131555e+02] [ 1.54992691e-01 9.87357893e-01 -3.31912241e-02 1.26991783e+02] [ 1.19800307e-01 1.45645902e-02 9.92691170e-01 1.40546142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.336875 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:260.16, Y:127.00, Z:140.55 [[ 9.80734652e-01 -1.58131341e-01 -1.14690986e-01 2.60157616e+02] [ 1.55351078e-01 9.87313163e-01 -3.28445049e-02 1.26998339e+02] [ 1.18429665e-01 1.43943758e-02 9.92858105e-01 1.40549997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.366875 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:260.18, Y:127.01, Z:140.55 [[ 9.80823342e-01 -1.58254167e-01 -1.13759355e-01 2.60184901e+02] [ 1.55518507e-01 9.87295241e-01 -3.25898772e-02 1.27005276e+02] [ 1.17471554e-01 1.42732271e-02 9.92973670e-01 1.40553117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.396875 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:260.21, Y:127.01, Z:140.56 [[ 9.80888388e-01 -1.57585660e-01 -1.14125944e-01 2.60210146e+02] [ 1.54823687e-01 9.87399818e-01 -3.27295863e-02 1.27013130e+02] [ 1.17845649e-01 1.44346717e-02 9.92927008e-01 1.40555746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.426875 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:260.24, Y:127.02, Z:140.56 [[ 9.80872534e-01 -1.57294726e-01 -1.14662290e-01 2.60236666e+02] [ 1.54502039e-01 9.87444362e-01 -3.29051842e-02 1.27021640e+02] [ 1.18398444e-01 1.45602338e-02 9.92859410e-01 1.40559382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.456875 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:260.26, Y:127.03, Z:140.56 [[ 9.81069957e-01 -1.57283996e-01 -1.12975594e-01 2.60262974e+02] [ 1.54569627e-01 9.87448786e-01 -3.24519029e-02 1.27029944e+02] [ 1.16661778e-01 1.43749916e-02 9.93067666e-01 1.40562269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.486875 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:260.29, Y:127.04, Z:140.57 [[ 9.81076775e-01 -1.57742857e-01 -1.12274449e-01 2.60289654e+02] [ 1.55061573e-01 9.87377237e-01 -3.22815962e-02 1.27037198e+02] [ 1.15949427e-01 1.42612716e-02 9.93152731e-01 1.40565657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.516875 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:260.32, Y:127.04, Z:140.57 [[ 9.80967954e-01 -1.58546605e-01 -1.12093030e-01 2.60315969e+02] [ 1.55875426e-01 9.87249737e-01 -3.22615594e-02 1.27044392e+02] [ 1.15778775e-01 1.41750071e-02 9.93173874e-01 1.40568975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.546875 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:260.34, Y:127.05, Z:140.57 [[ 9.80942019e-01 -1.58713430e-01 -1.12083907e-01 2.60343036e+02] [ 1.56039760e-01 9.87222741e-01 -3.22932210e-02 1.27052291e+02] [ 1.15777150e-01 1.41882314e-02 9.93173875e-01 1.40572771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.576875 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:260.37, Y:127.06, Z:140.58 [[ 9.80719799e-01 -1.59976266e-01 -1.12233104e-01 2.60369358e+02] [ 1.57301365e-01 9.87020487e-01 -3.23548848e-02 1.27060076e+02] [ 1.15952387e-01 1.40766556e-02 9.93155019e-01 1.40576117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6068750000001 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:260.39, Y:127.07, Z:140.58 [[ 9.80358357e-01 -1.62068204e-01 -1.12389451e-01 2.60394672e+02] [ 1.59395195e-01 9.86681886e-01 -3.24349807e-02 1.27068821e+02] [ 1.16149315e-01 1.38835659e-02 9.93134726e-01 1.40578419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.636875 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:260.42, Y:127.08, Z:140.58 [[ 9.80341078e-01 -1.62754833e-01 -1.11544766e-01 2.60420421e+02] [ 1.60124799e-01 9.86571271e-01 -3.22052173e-02 1.27077014e+02] [ 1.15288416e-01 1.37110142e-02 9.93237428e-01 1.40581415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.666875 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:260.45, Y:127.09, Z:140.58 [[ 9.80238606e-01 -1.63884908e-01 -1.10788142e-01 2.60446168e+02] [ 1.61296470e-01 9.86387150e-01 -3.19974686e-02 1.27086338e+02] [ 1.14523902e-01 1.34954179e-02 9.93328823e-01 1.40584843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.696875 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:260.47, Y:127.10, Z:140.59 [[ 9.80297995e-01 -1.64451348e-01 -1.09414783e-01 2.60472731e+02] [ 1.61927067e-01 9.86295656e-01 -3.16307465e-02 1.27095207e+02] [ 1.13117044e-01 1.32903424e-02 9.93492779e-01 1.40588581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.7268750000001 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:260.50, Y:127.10, Z:140.59 [[ 9.80359549e-01 -1.64779507e-01 -1.08364518e-01 2.60498711e+02] [ 1.62302242e-01 9.86242715e-01 -3.13574563e-02 1.27104558e+02] [ 1.12040782e-01 1.31537776e-02 9.93616546e-01 1.40592174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.756875 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:260.52, Y:127.11, Z:140.60 [[ 9.80394819e-01 -1.64894837e-01 -1.07868859e-01 2.60524521e+02] [ 1.62437625e-01 9.86224029e-01 -3.12439127e-02 1.27113625e+02] [ 1.11534821e-01 1.31094089e-02 9.93674055e-01 1.40596189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.786875 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:260.55, Y:127.12, Z:140.60 [[ 9.80214006e-01 -1.66271413e-01 -1.07397950e-01 2.60550653e+02] [ 1.63840500e-01 9.85995314e-01 -3.11372931e-02 1.27123443e+02] [ 1.11071118e-01 1.29250769e-02 9.93728408e-01 1.40597798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.816875 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:260.58, Y:127.13, Z:140.60 [[ 9.79998187e-01 -1.67770963e-01 -1.07034839e-01 2.60576570e+02] [ 1.65361675e-01 9.85743625e-01 -3.10647942e-02 1.27131752e+02] [ 1.10720680e-01 1.27439817e-02 9.93769854e-01 1.40600112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.846875 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:260.60, Y:127.14, Z:140.60 [[ 9.79687455e-01 -1.69869514e-01 -1.06568472e-01 2.60603010e+02] [ 1.67492446e-01 9.85387779e-01 -3.09387417e-02 1.27141281e+02] [ 1.10266819e-01 1.24608831e-02 9.93823905e-01 1.40604336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.876875 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:260.63, Y:127.15, Z:140.61 [[ 9.79001745e-01 -1.73895563e-01 -1.06376299e-01 2.60628533e+02] [ 1.71547176e-01 9.84690800e-01 -3.09126854e-02 1.27154208e+02] [ 1.10123342e-01 1.20150192e-02 9.93845304e-01 1.40608184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.906875 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:260.65, Y:127.16, Z:140.61 [[ 9.78559507e-01 -1.76174860e-01 -1.06694469e-01 2.60653909e+02] [ 1.73821930e-01 9.84287829e-01 -3.10388008e-02 1.27164129e+02] [ 1.10486324e-01 1.18274751e-02 9.93807267e-01 1.40610908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.936875 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:260.68, Y:127.17, Z:140.61 [[ 9.77582901e-01 -1.81423418e-01 -1.06851369e-01 2.60679315e+02] [ 1.79091775e-01 9.83340445e-01 -3.11079535e-02 1.27174603e+02] [ 1.10714984e-01 1.12744022e-02 9.93788247e-01 1.40612493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.966875 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:260.71, Y:127.18, Z:140.62 [[ 9.76968897e-01 -1.84675225e-01 -1.06896377e-01 2.60705438e+02] [ 1.82359732e-01 9.82738935e-01 -3.11305947e-02 1.27184153e+02] [ 1.10800282e-01 1.09200281e-02 9.93782698e-01 1.40616036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.996875 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:260.73, Y:127.19, Z:140.62 [[ 9.76406854e-01 -1.88095214e-01 -1.06065295e-01 2.60730921e+02] [ 1.85832401e-01 9.82094903e-01 -3.09179509e-02 1.27194378e+02] [ 1.09981704e-01 1.04781308e-02 9.93878380e-01 1.40619740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.026875 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:260.76, Y:127.21, Z:140.62 [[ 9.75778596e-01 -1.91349698e-01 -1.06025587e-01 2.60756568e+02] [ 1.89104201e-01 9.81469575e-01 -3.09366340e-02 1.27205774e+02] [ 1.09980603e-01 1.01374213e-02 9.93882035e-01 1.40623482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.056875 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:260.78, Y:127.22, Z:140.63 [[ 9.74426302e-01 -1.97781634e-01 -1.06657431e-01 2.60780934e+02] [ 1.95543803e-01 9.80200081e-01 -3.11515950e-02 1.27221711e+02] [ 1.10706835e-01 9.49873396e-03 9.93807713e-01 1.40626583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.086875 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:260.81, Y:127.23, Z:140.63 [[ 9.73750778e-01 -2.00936466e-01 -1.06929692e-01 2.60805428e+02] [ 1.98702169e-01 9.79561100e-01 -3.12649714e-02 1.27232791e+02] [ 1.11026440e-01 9.19712839e-03 9.93774895e-01 1.40629991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.116875 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:260.83, Y:127.24, Z:140.63 [[ 9.73150576e-01 -2.03798017e-01 -1.06978153e-01 2.60830878e+02] [ 2.01577686e-01 9.78972642e-01 -3.12890255e-02 1.27243948e+02] [ 1.11105326e-01 8.88452471e-03 9.93768923e-01 1.40633715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.146875 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:260.85, Y:127.26, Z:140.64 [[ 9.72463859e-01 -2.06623332e-01 -1.07800013e-01 2.60854495e+02] [ 2.04382308e-01 9.78382249e-01 -3.15602146e-02 1.27260366e+02] [ 1.11990695e-01 8.65875265e-03 9.93671530e-01 1.40637008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.176875 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:260.88, Y:127.27, Z:140.64 [[ 9.72436145e-01 -2.06819870e-01 -1.07673049e-01 2.60879219e+02] [ 2.04581959e-01 9.78340751e-01 -3.15530681e-02 1.27273032e+02] [ 1.11866733e-01 8.65538057e-03 9.93685523e-01 1.40640467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.206875 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:260.90, Y:127.29, Z:140.64 [[ 9.72570554e-01 -2.06126968e-01 -1.07787713e-01 2.60903756e+02] [ 2.03876177e-01 9.78485878e-01 -3.16210600e-02 1.27285768e+02] [ 1.11986708e-01 8.77836516e-03 9.93670930e-01 1.40644645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.236875 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:260.93, Y:127.30, Z:140.65 [[ 9.73419387e-01 -2.02007985e-01 -1.07923452e-01 2.60926481e+02] [ 1.99724882e-01 9.79339932e-01 -3.16744285e-02 1.27304882e+02] [ 1.12092234e-01 9.27750392e-03 9.93654497e-01 1.40648119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.266875 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:260.95, Y:127.32, Z:140.65 [[ 9.73696244e-01 -2.00725115e-01 -1.07819535e-01 2.60951246e+02] [ 1.98437508e-01 9.79602256e-01 -3.16540007e-02 1.27319504e+02] [ 1.11974013e-01 9.42594171e-03 9.93666429e-01 1.40652214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.296875 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:260.97, Y:127.34, Z:140.66 [[ 9.73960598e-01 -2.00305936e-01 -1.06199274e-01 2.60974918e+02] [ 1.98081014e-01 9.79688685e-01 -3.12088444e-02 1.27339349e+02] [ 1.10293544e-01 9.36012482e-03 9.93854980e-01 1.40655787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.326875 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:261.00, Y:127.35, Z:140.66 [[ 9.73863576e-01 -2.01308101e-01 -1.05189276e-01 2.61001469e+02] [ 1.99127847e-01 9.79484877e-01 -3.09431057e-02 1.27353270e+02] [ 1.09260403e-01 9.18824940e-03 9.93970694e-01 1.40659364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3568750000001 meters Centerline goodness : 0.998042 Centerline is valid? [True, True] Translation: X:261.03, Y:127.37, Z:140.66 [[ 9.73558873e-01 -2.03122663e-01 -1.04519401e-01 2.61027787e+02] [ 2.00980099e-01 9.79112570e-01 -3.07502065e-02 1.27366291e+02] [ 1.08582324e-01 8.93081664e-03 9.94047343e-01 1.40662042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.386875 meters Centerline goodness : 0.998507 Centerline is valid? [True, True] Translation: X:261.06, Y:127.38, Z:140.67 [[ 9.72986437e-01 -2.06016015e-01 -1.04186350e-01 2.61056010e+02] [ 2.03903214e-01 9.78510975e-01 -3.06553540e-02 1.27379795e+02] [ 1.08262981e-01 8.58331190e-03 9.94085235e-01 1.40665624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.416875 meters Centerline goodness : 0.998435 Centerline is valid? [True, True] Translation: X:261.08, Y:127.40, Z:140.67 [[ 9.71487202e-01 -2.13035458e-01 -1.04060124e-01 2.61083125e+02] [ 2.10967955e-01 9.77013421e-01 -3.06153146e-02 1.27399778e+02] [ 1.08190285e-01 7.78903495e-03 9.94099690e-01 1.40668836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.446875 meters Centerline goodness : 0.998036 Centerline is valid? [True, True] Translation: X:261.11, Y:127.42, Z:140.67 [[ 9.70545731e-01 -2.17185951e-01 -1.04265270e-01 2.61112211e+02] [ 2.15134808e-01 9.76102699e-01 -3.06681576e-02 1.27415790e+02] [ 1.08434305e-01 7.33376057e-03 9.94076565e-01 1.40672907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4768750000001 meters Centerline goodness : 0.998376 Centerline is valid? [True, True] Translation: X:261.14, Y:127.44, Z:140.68 [[ 9.68860199e-01 -2.24377467e-01 -1.04712311e-01 2.61139464e+02] [ 2.22350995e-01 9.74480290e-01 -3.07928497e-02 1.27438434e+02] [ 1.08949305e-01 6.55107999e-03 9.94025720e-01 1.40677509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.506875 meters Centerline goodness : 0.998168 Centerline is valid? [True, True] Translation: X:261.17, Y:127.45, Z:140.68 [[ 9.68459099e-01 -2.26469587e-01 -1.03915829e-01 2.61169257e+02] [ 2.24487129e-01 9.73998145e-01 -3.05473685e-02 1.27454505e+02] [ 1.08131875e-01 6.25611079e-03 9.94116874e-01 1.40681847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.536875 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:261.20, Y:127.46, Z:140.69 [[ 9.66926582e-01 -2.24777513e-01 -1.20532381e-01 2.61197980e+02] [ 2.26230262e-01 9.74072417e-01 -1.67192594e-03 1.27458269e+02] [ 1.17783079e-01 -2.56514425e-02 9.92707988e-01 1.40685991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.566875 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:261.22, Y:127.50, Z:140.70 [[ 9.67864128e-01 -2.33356063e-01 -9.37228807e-02 2.61220405e+02] [ 2.28205614e-01 9.71604730e-01 -6.25015661e-02 1.27499147e+02] [ 1.05646714e-01 3.91049362e-02 9.93634528e-01 1.40703562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.596875 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:261.25, Y:127.51, Z:140.69 [[ 9.67503095e-01 -2.30535372e-01 -1.03880720e-01 2.61253984e+02] [ 2.28580915e-01 9.73046842e-01 -3.05058795e-02 1.27509322e+02] [ 1.08113490e-01 5.76938286e-03 9.94121817e-01 1.40693937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.626875 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:261.28, Y:127.53, Z:140.70 [[ 9.67413239e-01 -2.30940179e-01 -1.03818390e-01 2.61283165e+02] [ 2.28991619e-01 9.72951198e-01 -3.04762987e-02 1.27526936e+02] [ 1.08048429e-01 5.70963350e-03 9.94129236e-01 1.40699000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.656875 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:261.31, Y:127.54, Z:140.70 [[ 9.66049015e-01 -2.37405330e-01 -1.01921591e-01 2.61311144e+02] [ 2.35564030e-01 9.71398381e-01 -2.99127429e-02 1.27544615e+02] [ 1.06107913e-01 4.88811507e-03 9.94342605e-01 1.40702710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.686875 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:261.34, Y:127.55, Z:140.71 [[ 9.64693413e-01 -2.43540737e-01 -1.00272272e-01 2.61342794e+02] [ 2.41794407e-01 9.69881921e-01 -2.94028032e-02 1.27554184e+02] [ 1.04413044e-01 4.11941605e-03 9.94525488e-01 1.40707729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.716875 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:261.37, Y:127.56, Z:140.71 [[ 9.62924306e-01 -2.50596484e-01 -9.98908587e-02 2.61373553e+02] [ 2.48904278e-01 9.68085959e-01 -2.92615220e-02 1.27563609e+02] [ 1.04035772e-01 3.31336876e-03 9.94568037e-01 1.40711722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.746875 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:261.41, Y:127.57, Z:140.72 [[ 9.61212416e-01 -2.56464207e-01 -1.01473156e-01 2.61405324e+02] [ 2.54753245e-01 9.66549972e-01 -2.96974077e-02 1.27572485e+02] [ 1.05695199e-01 2.69490105e-03 9.94394923e-01 1.40715475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.776875 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:261.44, Y:127.58, Z:140.72 [[ 9.59120078e-01 -2.63093979e-01 -1.04260411e-01 2.61437803e+02] [ 2.61329726e-01 9.64768158e-01 -3.04823861e-02 1.27580004e+02] [ 1.08606857e-01 1.98992386e-03 9.94082789e-01 1.40717097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.806875 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:261.47, Y:127.59, Z:140.72 [[ 9.58903116e-01 -2.63802049e-01 -1.04466710e-01 2.61468467e+02] [ 2.62038338e-01 9.64575000e-01 -3.05119474e-02 1.27588074e+02] [ 1.08815091e-01 1.88371830e-03 9.94060223e-01 1.40720967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.836875 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:261.50, Y:127.60, Z:140.73 [[ 9.59706633e-01 -2.60749247e-01 -1.04752132e-01 2.61498786e+02] [ 2.58875141e-01 9.65402005e-01 -3.13469183e-02 1.27596818e+02] [ 1.09301604e-01 2.96612239e-03 9.94004206e-01 1.40725743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.866875 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:261.53, Y:127.60, Z:140.73 [[ 9.60468703e-01 -2.57639405e-01 -1.05459985e-01 2.61530568e+02] [ 2.55870206e-01 9.66239003e-01 -3.02097219e-02 1.27604359e+02] [ 1.09682766e-01 2.03142433e-03 9.93964569e-01 1.40729196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.896875 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:261.56, Y:127.61, Z:140.73 [[ 9.61278531e-01 -2.54329838e-01 -1.06112763e-01 2.61560812e+02] [ 2.52458467e-01 9.67113040e-01 -3.09368826e-02 1.27612779e+02] [ 1.10491209e-01 2.94989559e-03 9.93872724e-01 1.40733883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.926875 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:261.59, Y:127.62, Z:140.74 [[ 9.62768111e-01 -2.49057157e-01 -1.05109928e-01 2.61591797e+02] [ 2.47192817e-01 9.68482484e-01 -3.06168292e-02 1.27622684e+02] [ 1.09422465e-01 3.49448762e-03 9.93989191e-01 1.40739983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.956875 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:261.62, Y:127.63, Z:140.74 [[ 9.63278967e-01 -2.46953481e-01 -1.05392645e-01 2.61622379e+02] [ 2.45069949e-01 9.69020221e-01 -3.06680785e-02 1.27630990e+02] [ 1.09701193e-01 3.71334484e-03 9.93957675e-01 1.40743568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.986875 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:261.65, Y:127.64, Z:140.75 [[ 9.63644162e-01 -2.44936554e-01 -1.06752109e-01 2.61654585e+02] [ 2.42995255e-01 9.69531011e-01 -3.10310171e-02 1.27638294e+02] [ 1.11100111e-01 3.96260255e-03 9.93801320e-01 1.40746510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.016875 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:261.69, Y:127.64, Z:140.75 [[ 9.64035775e-01 -2.42283617e-01 -1.09241356e-01 2.61687776e+02] [ 2.40234778e-01 9.70195682e-01 -3.17425452e-02 1.27644425e+02] [ 1.13676190e-01 4.35737630e-03 9.93508297e-01 1.40748101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.046875 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:261.72, Y:127.65, Z:140.75 [[ 9.64293976e-01 -2.41169547e-01 -1.09427495e-01 2.61718161e+02] [ 2.39107573e-01 9.70472622e-01 -3.17877216e-02 1.27653024e+02] [ 1.13862618e-01 4.48776586e-03 9.93486368e-01 1.40752939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.076875 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:261.75, Y:127.66, Z:140.76 [[ 9.65512867e-01 -2.38268424e-01 -1.04943136e-01 2.61753616e+02] [ 2.35661566e-01 9.71139725e-01 -3.67594953e-02 1.27662238e+02] [ 1.10673075e-01 1.07607018e-02 9.93798610e-01 1.40758000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1068750000001 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:261.78, Y:127.67, Z:140.76 [[ 9.65010495e-01 -2.37459657e-01 -1.11209959e-01 2.61781718e+02] [ 2.36191493e-01 9.71394200e-01 -2.46350578e-02 1.27667480e+02] [ 1.13878541e-01 -2.49375679e-03 9.93491550e-01 1.40760019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.136875 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:261.81, Y:127.68, Z:140.77 [[ 9.65221313e-01 -2.37253692e-01 -1.09811216e-01 2.61811021e+02] [ 2.35157552e-01 9.71435269e-01 -3.18503263e-02 1.27680150e+02] [ 1.14231096e-01 4.91967693e-03 9.93442023e-01 1.40767777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.166875 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:261.84, Y:127.69, Z:140.77 [[ 9.65844339e-01 -2.34471841e-01 -1.10307159e-01 2.61842464e+02] [ 2.32342355e-01 9.72108785e-01 -3.19615578e-02 1.27688721e+02] [ 1.14724643e-01 5.24086468e-03 9.93383506e-01 1.40772710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.196875 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:261.87, Y:127.70, Z:140.78 [[ 9.66166060e-01 -2.32959574e-01 -1.10693185e-01 2.61874610e+02] [ 2.30806617e-01 9.72471272e-01 -3.20613549e-02 1.27697426e+02] [ 1.15114942e-01 5.42787334e-03 9.93337349e-01 1.40776303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.2268750000001 meters Centerline goodness : 0.998689 Centerline is valid? [True, True] Translation: X:261.90, Y:127.71, Z:140.78 [[ 9.66491204e-01 -2.31386586e-01 -1.11153051e-01 2.61904989e+02] [ 2.29206735e-01 9.72845614e-01 -3.21820421e-02 1.27706071e+02] [ 1.15581251e-01 5.62663273e-03 9.93282093e-01 1.40779907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.256875 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:261.94, Y:127.71, Z:140.78 [[ 9.67002352e-01 -2.29730108e-01 -1.10138677e-01 2.61935986e+02] [ 2.27580304e-01 9.73237314e-01 -3.18800251e-02 1.27714990e+02] [ 1.14514872e-01 5.76266567e-03 9.93404820e-01 1.40783886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.286875 meters Centerline goodness : 0.998598 Centerline is valid? [True, True] Translation: X:261.97, Y:127.72, Z:140.79 [[ 9.66938145e-01 -2.30101602e-01 -1.09926687e-01 2.61967371e+02] [ 2.27964871e-01 9.73149993e-01 -3.17979495e-02 1.27723617e+02] [ 1.14291914e-01 5.68722737e-03 9.93430931e-01 1.40788376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.316875 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:262.00, Y:127.73, Z:140.79 [[ 9.66848167e-01 -2.30665535e-01 -1.09535536e-01 2.61998422e+02] [ 2.28548970e-01 9.73017047e-01 -3.16732392e-02 1.27732704e+02] [ 1.13885869e-01 5.58897922e-03 9.93478119e-01 1.40793212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.346875 meters Centerline goodness : 0.998438 Centerline is valid? [True, True] Translation: X:262.03, Y:127.74, Z:140.80 [[ 9.66607236e-01 -2.31852777e-01 -1.09154665e-01 2.62029836e+02] [ 2.29759816e-01 9.72735796e-01 -3.15515204e-02 1.27741951e+02] [ 1.13493958e-01 5.41857208e-03 9.93523910e-01 1.40798089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.376875 meters Centerline goodness : 0.998411 Centerline is valid? [True, True] Translation: X:262.06, Y:127.75, Z:140.80 [[ 9.65869496e-01 -2.34878527e-01 -1.09216275e-01 2.62060774e+02] [ 2.32803759e-01 9.72011589e-01 -3.15575707e-02 1.27751714e+02] [ 1.13571680e-01 5.05453555e-03 9.93516948e-01 1.40803579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.406875 meters Centerline goodness : 0.998434 Centerline is valid? [True, True] Translation: X:262.09, Y:127.76, Z:140.81 [[ 9.65452318e-01 -2.36573178e-01 -1.09247214e-01 2.62092205e+02] [ 2.34509363e-01 9.71601594e-01 -3.15547492e-02 1.27760342e+02] [ 1.13609774e-01 4.84511124e-03 9.93513636e-01 1.40807587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.436875 meters Centerline goodness : 0.998506 Centerline is valid? [True, True] Translation: X:262.12, Y:127.77, Z:140.81 [[ 9.64947222e-01 -2.38554911e-01 -1.09400245e-01 2.62123865e+02] [ 2.36499314e-01 9.71118084e-01 -3.15870571e-02 1.27768557e+02] [ 1.13775803e-01 4.60676024e-03 9.93495770e-01 1.40810961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.466875 meters Centerline goodness : 0.998506 Centerline is valid? [True, True] Translation: X:262.16, Y:127.78, Z:140.82 [[ 9.64974656e-01 -2.38442514e-01 -1.09403297e-01 2.62155848e+02] [ 2.36387396e-01 9.71145677e-01 -3.15764805e-02 1.27777681e+02] [ 1.13775714e-01 4.60894285e-03 9.93495770e-01 1.40815425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.496875 meters Centerline goodness : 0.998330 Centerline is valid? [True, True] Translation: X:262.19, Y:127.79, Z:140.82 [[ 9.63811972e-01 -2.43299165e-01 -1.08958700e-01 2.62187514e+02] [ 2.41293225e-01 9.69943025e-01 -3.14341937e-02 1.27785049e+02] [ 1.13331645e-01 4.00565596e-03 9.93549140e-01 1.40819076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.526875 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:262.22, Y:127.80, Z:140.83 [[ 9.62799454e-01 -2.47727255e-01 -1.07927842e-01 2.62218588e+02] [ 2.45788206e-01 9.68823706e-01 -3.11253026e-02 1.27796028e+02] [ 1.12273638e-01 3.44003363e-03 9.93671372e-01 1.40825491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.556875 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:262.25, Y:127.81, Z:140.83 [[ 9.62374174e-01 -2.49588876e-01 -1.07430643e-01 2.62249210e+02] [ 2.47680211e-01 9.68346609e-01 -3.09735046e-02 1.27805808e+02] [ 1.11760741e-01 3.19965659e-03 9.93729993e-01 1.40830580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.586875 meters Centerline goodness : 0.997928 Centerline is valid? [True, True] Translation: X:262.28, Y:127.82, Z:140.84 [[ 9.61906234e-01 -2.51707110e-01 -1.06676741e-01 2.62280791e+02] [ 2.49841788e-01 9.67799108e-01 -3.07240637e-02 1.27815175e+02] [ 1.10975120e-01 2.90136057e-03 9.93818950e-01 1.40835184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.616875 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:262.31, Y:127.82, Z:140.84 [[ 9.61262765e-01 -2.54307061e-01 -1.06309995e-01 2.62312266e+02] [ 2.52471685e-01 9.67120084e-01 -3.06070500e-02 1.27824023e+02] [ 1.10598120e-01 2.58115405e-03 9.93861858e-01 1.40840165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.646875 meters Centerline goodness : 0.998401 Centerline is valid? [True, True] Translation: X:262.34, Y:127.83, Z:140.84 [[ 9.60385009e-01 -2.57726854e-01 -1.06007094e-01 2.62343919e+02] [ 2.55923981e-01 9.66215380e-01 -3.05082934e-02 1.27834071e+02] [ 1.10288491e-01 2.16995016e-03 9.93897248e-01 1.40843856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.676875 meters Centerline goodness : 0.998001 Centerline is valid? [True, True] Translation: X:262.38, Y:127.84, Z:140.85 [[ 9.59831654e-01 -2.60050157e-01 -1.05342828e-01 2.62375092e+02] [ 2.58284672e-01 9.65593273e-01 -3.03093979e-02 1.27841691e+02] [ 1.09600290e-01 1.88348169e-03 9.93973958e-01 1.40846779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.706875 meters Centerline goodness : 0.997734 Centerline is valid? [True, True] Translation: X:262.41, Y:127.85, Z:140.85 [[ 9.59133499e-01 -2.62648294e-01 -1.05255897e-01 2.62407333e+02] [ 2.60904827e-01 9.64890386e-01 -3.02525017e-02 1.27849802e+02] [ 1.09506171e-01 1.55441617e-03 9.93984900e-01 1.40850135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.736875 meters Centerline goodness : 0.997902 Centerline is valid? [True, True] Translation: X:262.44, Y:127.86, Z:140.85 [[ 9.58211756e-01 -2.66217233e-01 -1.04683407e-01 2.62439070e+02] [ 2.64515189e-01 9.63912397e-01 -3.00766623e-02 1.27858415e+02] [ 1.08912559e-01 1.12946035e-03 9.94050692e-01 1.40853539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.766875 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:262.47, Y:127.87, Z:140.86 [[ 9.56456228e-01 -2.72217536e-01 -1.05304783e-01 2.62470427e+02] [ 2.70532172e-01 9.62235635e-01 -3.02477483e-02 1.27868359e+02] [ 1.09561982e-01 4.42315663e-04 9.93979867e-01 1.40859541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.796875 meters Centerline goodness : 0.998019 Centerline is valid? [True, True] Translation: X:262.50, Y:127.88, Z:140.86 [[ 9.55884211e-01 -2.73946206e-01 -1.06013446e-01 2.62501639e+02] [ 2.72252034e-01 9.61744992e-01 -3.04203932e-02 1.27877951e+02] [ 1.10291453e-01 2.15997176e-04 9.93899265e-01 1.40864152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.826875 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:262.53, Y:127.89, Z:140.87 [[ 9.56103048e-01 -2.72426052e-01 -1.07939838e-01 2.62532355e+02] [ 2.70663539e-01 9.62176653e-01 -3.09408718e-02 1.27885753e+02] [ 1.12286292e-01 3.67283266e-04 9.93675829e-01 1.40867504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8568750000001 meters Centerline goodness : 0.998580 Centerline is valid? [True, True] Translation: X:262.56, Y:127.89, Z:140.87 [[ 9.56473037e-01 -2.70932962e-01 -1.08418911e-01 2.62564286e+02] [ 2.69148849e-01 9.62598081e-01 -3.10456226e-02 1.27894402e+02] [ 1.12775118e-01 5.13475842e-04 9.93620405e-01 1.40871261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.886875 meters Centerline goodness : 0.998137 Centerline is valid? [True, True] Translation: X:262.60, Y:127.90, Z:140.88 [[ 9.56841076e-01 -2.69500952e-01 -1.08740017e-01 2.62595359e+02] [ 2.67698339e-01 9.62999888e-01 -3.11257947e-02 1.27903206e+02] [ 1.13105056e-01 6.72916986e-04 9.93582807e-01 1.40875511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.916875 meters Centerline goodness : 0.998155 Centerline is valid? [True, True] Translation: X:262.63, Y:127.91, Z:140.88 [[ 9.57777669e-01 -2.66305911e-01 -1.08365580e-01 2.62626150e+02] [ 2.64496302e-01 9.63888003e-01 -3.10100462e-02 1.27912638e+02] [ 1.12710441e-01 1.03843452e-03 9.93627334e-01 1.40880608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.946875 meters Centerline goodness : 0.998386 Centerline is valid? [True, True] Translation: X:262.66, Y:127.92, Z:140.88 [[ 9.58349988e-01 -2.64114122e-01 -1.08669368e-01 2.62657126e+02] [ 2.62283598e-01 9.64490598e-01 -3.10676717e-02 1.27921205e+02] [ 1.13015995e-01 1.27150989e-03 9.93592355e-01 1.40884672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9768750000001 meters Centerline goodness : 0.998061 Centerline is valid? [True, True] Translation: X:262.69, Y:127.93, Z:140.89 [[ 9.58602606e-01 -2.61997909e-01 -1.11526402e-01 2.62688972e+02] [ 2.60059074e-01 9.65067229e-01 -3.18515631e-02 1.27928860e+02] [ 1.15975519e-01 1.52953860e-03 9.93250895e-01 1.40887225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.006875 meters Centerline goodness : 0.997810 Centerline is valid? [True, True] Translation: X:262.72, Y:127.94, Z:140.89 [[ 9.58722794e-01 -2.60581972e-01 -1.13787696e-01 2.62720139e+02] [ 2.58554699e-01 9.65450184e-01 -3.24870757e-02 1.27936738e+02] [ 1.18321898e-01 1.72575666e-03 9.92973791e-01 1.40890556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.036875 meters Centerline goodness : 0.998243 Centerline is valid? [True, True] Translation: X:262.75, Y:127.94, Z:140.89 [[ 9.58959085e-01 -2.59109405e-01 -1.15151156e-01 2.62751402e+02] [ 2.57026498e-01 9.65846112e-01 -3.28430555e-02 1.27944975e+02] [ 1.19728241e-01 1.89824806e-03 9.92804888e-01 1.40894542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.066875 meters Centerline goodness : 0.998216 Centerline is valid? [True, True] Translation: X:262.78, Y:127.95, Z:140.90 [[ 9.59384726e-01 -2.57517000e-01 -1.15177873e-01 2.62782547e+02] [ 2.55423186e-01 9.66271517e-01 -3.28382465e-02 1.27953341e+02] [ 1.19749505e-01 2.08541287e-03 9.92801948e-01 1.40899127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.096875 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:262.81, Y:127.96, Z:140.90 [[ 9.59836115e-01 -2.55413899e-01 -1.16096392e-01 2.62814234e+02] [ 2.53272639e-01 9.66828939e-01 -3.30873673e-02 1.27961216e+02] [ 1.20696325e-01 2.35441058e-03 9.92686685e-01 1.40904462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.126875 meters Centerline goodness : 0.998372 Centerline is valid? [True, True] Translation: X:262.85, Y:127.97, Z:140.91 [[ 9.59662901e-01 -2.55439560e-01 -1.17463810e-01 2.62845623e+02] [ 2.53249125e-01 9.66822129e-01 -3.34641724e-02 1.27969088e+02] [ 1.22114684e-01 2.36671769e-03 9.92513175e-01 1.40908544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.156875 meters Centerline goodness : 0.998138 Centerline is valid? [True, True] Translation: X:262.88, Y:127.98, Z:140.91 [[ 9.59372888e-01 -2.55778489e-01 -1.19084111e-01 2.62877169e+02] [ 2.53531195e-01 9.66732576e-01 -3.39125256e-02 1.27975958e+02] [ 1.23796584e-01 2.34322065e-03 9.92304850e-01 1.40911552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.186875 meters Centerline goodness : 0.998149 Centerline is valid? [True, True] Translation: X:262.91, Y:127.98, Z:140.91 [[ 9.58923786e-01 -2.56540639e-01 -1.21045747e-01 2.62909418e+02] [ 2.54225792e-01 9.66530775e-01 -3.44602275e-02 1.27982973e+02] [ 1.25834889e-01 2.27178090e-03 9.92048597e-01 1.40914562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.216875 meters Centerline goodness : 0.998442 Centerline is valid? [True, True] Translation: X:262.94, Y:127.99, Z:140.92 [[ 9.58210465e-01 -2.58166607e-01 -1.23218131e-01 2.62941937e+02] [ 2.55782645e-01 9.66098165e-01 -3.50652807e-02 1.27988079e+02] [ 1.28093495e-01 2.08285947e-03 9.91759910e-01 1.40917285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.246875 meters Centerline goodness : 0.998198 Centerline is valid? [True, True] Translation: X:262.97, Y:128.00, Z:140.92 [[ 9.57902092e-01 -2.59310935e-01 -1.23212907e-01 2.62972876e+02] [ 2.56938350e-01 9.65791989e-01 -3.50502333e-02 1.27995725e+02] [ 1.28086947e-01 1.91657094e-03 9.91761091e-01 1.40921547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.276875 meters Centerline goodness : 0.998272 Centerline is valid? [True, True] Translation: X:263.00, Y:128.00, Z:140.93 [[ 9.57318349e-01 -2.61660702e-01 -1.22781329e-01 2.63003638e+02] [ 2.59325454e-01 9.65158620e-01 -3.49162797e-02 1.28002629e+02] [ 1.27639677e-01 1.58567131e-03 9.91819338e-01 1.40926365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.306875 meters Centerline goodness : 0.998198 Centerline is valid? [True, True] Translation: X:263.03, Y:128.01, Z:140.93 [[ 9.57035525e-01 -2.62989597e-01 -1.22145305e-01 2.63034338e+02] [ 2.60690459e-01 9.64797664e-01 -3.47268277e-02 1.28009812e+02] [ 1.26978300e-01 1.39269210e-03 9.91904517e-01 1.40932023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.336875 meters Centerline goodness : 0.998269 Centerline is valid? [True, True] Translation: X:263.07, Y:128.02, Z:140.94 [[ 9.56607862e-01 -2.64928946e-01 -1.21301494e-01 2.63065137e+02] [ 2.62678214e-01 9.64267287e-01 -3.44783186e-02 1.28019163e+02] [ 1.26101367e-01 1.11897099e-03 9.92016730e-01 1.40935789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.366875 meters Centerline goodness : 0.998272 Centerline is valid? [True, True] Translation: X:263.10, Y:128.03, Z:140.94 [[ 9.55985625e-01 -2.67820429e-01 -1.19848668e-01 2.63096600e+02] [ 2.65647142e-01 9.63468577e-01 -3.40572634e-02 1.28026258e+02] [ 1.24591657e-01 7.20798006e-04 9.92207841e-01 1.40940936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.396875 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:263.13, Y:128.03, Z:140.94 [[ 9.56277795e-01 -2.66865557e-01 -1.19647621e-01 2.63127031e+02] [ 2.64693788e-01 9.63733409e-01 -3.39869802e-02 1.28034364e+02] [ 1.24378364e-01 8.31012357e-04 9.92234515e-01 1.40944095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.426875 meters Centerline goodness : 0.998339 Centerline is valid? [True, True] Translation: X:263.16, Y:128.04, Z:140.95 [[ 9.56510633e-01 -2.66260070e-01 -1.19134308e-01 2.63158419e+02] [ 2.64103606e-01 9.63900811e-01 -3.38306418e-02 1.28042752e+02] [ 1.23841406e-01 8.95568109e-04 9.92301620e-01 1.40947469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.456875 meters Centerline goodness : 0.998185 Centerline is valid? [True, True] Translation: X:263.19, Y:128.05, Z:140.95 [[ 9.56894931e-01 -2.65892833e-01 -1.16846447e-01 2.63190405e+02] [ 2.63817493e-01 9.64002162e-01 -3.31686911e-02 1.28051178e+02] [ 1.21459544e-01 9.12815809e-04 9.92595963e-01 1.40950710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.486875 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:263.23, Y:128.05, Z:140.95 [[ 9.57037614e-01 -2.66172109e-01 -1.15027882e-01 2.63233554e+02] [ 2.64893469e-01 9.63912215e-01 -2.65460319e-02 1.28054136e+02] [ 1.17942594e-01 -5.06458371e-03 9.93007500e-01 1.40954297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.516875 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:263.26, Y:128.07, Z:140.96 [[ 9.57095519e-01 -2.66354916e-01 -1.14119351e-01 2.63262427e+02] [ 2.64509402e-01 9.63874996e-01 -3.13012635e-02 1.28066237e+02] [ 1.18334034e-01 -2.27342158e-04 9.92973819e-01 1.40958428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.546875 meters Centerline goodness : 0.998118 Centerline is valid? [True, True] Translation: X:263.28, Y:128.08, Z:140.96 [[ 9.57997840e-01 -2.61510678e-01 -1.17695810e-01 2.63279915e+02] [ 2.59304539e-01 9.65198488e-01 -3.39563709e-02 1.28081307e+02] [ 1.22479771e-01 2.01107237e-03 9.92468972e-01 1.40959793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.576875 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:263.35, Y:128.08, Z:140.96 [[ 9.64343653e-01 -2.46923245e-01 -9.52377528e-02 2.63346767e+02] [ 2.42153098e-01 9.68446291e-01 -5.89377461e-02 1.28080997e+02] [ 1.06785748e-01 3.37741246e-02 9.93708263e-01 1.40961212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6068750000001 meters Centerline goodness : 0.998339 Centerline is valid? [True, True] Translation: X:263.38, Y:128.07, Z:140.95 [[ 9.63028399e-01 -2.44447480e-01 -1.13233084e-01 2.63383593e+02] [ 2.44518918e-01 9.69550912e-01 -1.34732301e-02 1.28071695e+02] [ 1.13078737e-01 -1.47125279e-02 9.93477096e-01 1.40952122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.636875 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:263.41, Y:128.09, Z:140.96 [[ 9.62825852e-01 -2.47063964e-01 -1.09205199e-01 2.63413561e+02] [ 2.45545004e-01 9.68999057e-01 -2.73583239e-02 1.28087520e+02] [ 1.12578991e-01 -4.73489553e-04 9.93642665e-01 1.40960803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.666875 meters Centerline goodness : 0.998535 Centerline is valid? [True, True] Translation: X:263.44, Y:128.09, Z:140.96 [[ 9.62212495e-01 -2.45280706e-01 -1.18256036e-01 2.63439909e+02] [ 2.45496741e-01 9.69310714e-01 -1.29649587e-02 1.28091370e+02] [ 1.17806897e-01 -1.65564263e-02 9.92898494e-01 1.40961587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.696875 meters Centerline goodness : 0.998279 Centerline is valid? [True, True] Translation: X:263.47, Y:128.11, Z:140.97 [[ 9.62640979e-01 -2.47237355e-01 -1.10435665e-01 2.63469878e+02] [ 2.45131605e-01 9.68945905e-01 -3.24704348e-02 1.28109276e+02] [ 1.15034090e-01 4.18609934e-03 9.93352724e-01 1.40968921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.7268750000001 meters Centerline goodness : 0.998126 Centerline is valid? [True, True] Translation: X:263.50, Y:128.11, Z:140.97 [[ 9.61406524e-01 -2.47133544e-01 -1.20923560e-01 2.63498031e+02] [ 2.47492211e-01 9.68812020e-01 -1.22831404e-02 1.28113189e+02] [ 1.20187774e-01 -1.81185479e-02 9.92585824e-01 1.40972094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.756875 meters Centerline goodness : 0.998244 Centerline is valid? [True, True] Translation: X:263.52, Y:128.13, Z:140.98 [[ 9.62522872e-01 -2.45783205e-01 -1.14631311e-01 2.63519216e+02] [ 2.44285973e-01 9.69323024e-01 -2.71521196e-02 1.28127484e+02] [ 1.17788305e-01 -1.86828536e-03 9.93036971e-01 1.40978817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.786875 meters Centerline goodness : 0.998144 Centerline is valid? [True, True] Translation: X:263.55, Y:128.14, Z:140.98 [[ 9.60643432e-01 -2.51534934e-01 -1.17874398e-01 2.63554874e+02] [ 2.50382605e-01 9.67831093e-01 -2.47290813e-02 1.28137137e+02] [ 1.20302735e-01 -5.75786935e-03 9.92720554e-01 1.40983901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.816875 meters Centerline goodness : 0.998467 Centerline is valid? [True, True] Translation: X:263.58, Y:128.15, Z:140.99 [[ 9.61161302e-01 -2.48679775e-01 -1.19696786e-01 2.63580171e+02] [ 2.47811284e-01 9.68551024e-01 -2.23267019e-02 1.28145399e+02] [ 1.21484644e-01 -8.20265226e-03 9.92559418e-01 1.40985215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.846875 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:263.61, Y:128.15, Z:140.99 [[ 9.59176045e-01 -2.54543133e-01 -1.23244103e-01 2.63613675e+02] [ 2.54280950e-01 9.66960660e-01 -1.81185174e-02 1.28154297e+02] [ 1.23784143e-01 -1.39597796e-02 9.92210971e-01 1.40993178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.876875 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:263.64, Y:128.17, Z:141.00 [[ 9.58887305e-01 -2.56779113e-01 -1.20828902e-01 2.63637702e+02] [ 2.55169694e-01 9.66465006e-01 -2.88759251e-02 1.28169113e+02] [ 1.24191640e-01 -3.14311604e-03 9.92253273e-01 1.41002180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.906875 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:263.67, Y:128.18, Z:141.00 [[ 9.58909702e-01 -2.56578430e-01 -1.21077215e-01 2.63668796e+02] [ 2.55491782e-01 9.66496103e-01 -2.46826339e-02 1.28178253e+02] [ 1.23353688e-01 -7.26581642e-03 9.92336171e-01 1.41003953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.936875 meters Centerline goodness : 0.998349 Centerline is valid? [True, True] Translation: X:263.68, Y:128.20, Z:141.01 [[ 9.57086434e-01 -2.65215063e-01 -1.16818354e-01 2.63681962e+02] [ 2.63291560e-01 9.64189251e-01 -3.18848249e-02 1.28200994e+02] [ 1.21091337e-01 -2.40753218e-04 9.92641340e-01 1.41006268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.966875 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:263.73, Y:128.20, Z:141.01 [[ 9.59017264e-01 -2.59940657e-01 -1.12768530e-01 2.63728701e+02] [ 2.58496148e-01 9.65620615e-01 -2.75058003e-02 1.28197342e+02] [ 1.16041493e-01 -2.77169327e-03 9.93240499e-01 1.41009420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.996875 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:263.74, Y:128.21, Z:141.01 [[ 9.55926396e-01 -2.70468010e-01 -1.14244395e-01 2.63741732e+02] [ 2.69433421e-01 9.62702252e-01 -2.46983016e-02 1.28214333e+02] [ 1.16663436e-01 -7.17149970e-03 9.93145615e-01 1.41010781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.026875 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:263.77, Y:128.21, Z:141.01 [[ 9.60063639e-01 -2.55206889e-01 -1.14661474e-01 2.63774055e+02] [ 2.54074524e-01 9.66870918e-01 -2.46325683e-02 1.28214324e+02] [ 1.17149246e-01 -5.48372634e-03 9.93099181e-01 1.41013683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.056875 meters Centerline goodness : 0.998438 Centerline is valid? [True, True] Translation: X:263.81, Y:128.23, Z:141.02 [[ 9.57454792e-01 -2.65377854e-01 -1.13379522e-01 2.63812856e+02] [ 2.63836372e-01 9.64141336e-01 -2.86679656e-02 1.28230341e+02] [ 1.16921727e-01 -2.46536064e-03 9.93138073e-01 1.41021827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.086875 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:263.83, Y:128.23, Z:141.02 [[ 9.59881466e-01 -2.55033133e-01 -1.16557590e-01 2.63825040e+02] [ 2.54334730e-01 9.66886512e-01 -2.10788714e-02 1.28232744e+02] [ 1.18073772e-01 -9.41142509e-03 9.92960226e-01 1.41021196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.116875 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:263.86, Y:128.25, Z:141.03 [[ 9.57294813e-01 -2.67037030e-01 -1.10805534e-01 2.63863595e+02] [ 2.65213378e-01 9.63686168e-01 -3.11581973e-02 1.28250623e+02] [ 1.15102153e-01 4.40470608e-04 9.93353563e-01 1.41031925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.146875 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:263.89, Y:128.26, Z:141.03 [[ 9.57091131e-01 -2.67347846e-01 -1.11810988e-01 2.63893983e+02] [ 2.66320986e-01 9.63578030e-01 -2.43004497e-02 1.28258144e+02] [ 1.14235284e-01 -6.51986754e-03 9.93432328e-01 1.41033440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.176875 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:263.91, Y:128.26, Z:141.03 [[ 9.59527137e-01 -2.55827296e-01 -1.17728791e-01 2.63905299e+02] [ 2.55646180e-01 9.66622773e-01 -1.68951294e-02 1.28260873e+02] [ 1.18121565e-01 -1.38855806e-02 9.92902053e-01 1.41034747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.206875 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:263.94, Y:128.28, Z:141.05 [[ 9.56829655e-01 -2.67675561e-01 -1.13255487e-01 2.63943877e+02] [ 2.66286532e-01 9.63501444e-01 -2.75036488e-02 1.28280679e+02] [ 1.16483880e-01 -3.84210402e-03 9.93185151e-01 1.41047873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.236875 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:263.97, Y:128.29, Z:141.05 [[ 9.57736120e-01 -2.62526823e-01 -1.17563567e-01 2.63970624e+02] [ 2.61699259e-01 9.64882483e-01 -2.27000580e-02 1.28290366e+02] [ 1.19394401e-01 -9.02563301e-03 9.92805880e-01 1.41050720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.266875 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:263.98, Y:128.30, Z:141.05 [[ 9.60604945e-01 -2.51897554e-01 -1.17412787e-01 2.63981342e+02] [ 2.50091788e-01 9.67753806e-01 -3.01109288e-02 1.28297996e+02] [ 1.21211541e-01 -4.39266777e-04 9.92626601e-01 1.41053987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.296875 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:263.99, Y:128.33, Z:141.06 [[ 9.60444640e-01 -2.56751301e-01 -1.07818662e-01 2.63987049e+02] [ 2.52248358e-01 9.66168933e-01 -5.37434501e-02 1.28325401e+02] [ 1.17969742e-01 2.44205282e-02 9.92716867e-01 1.41057826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.326875 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:264.02, Y:128.33, Z:141.06 [[ 9.61072707e-01 -2.52128024e-01 -1.13007571e-01 2.64021786e+02] [ 2.49588238e-01 9.67670686e-01 -3.63201730e-02 1.28326883e+02] [ 1.18511447e-01 6.70096651e-03 9.92930075e-01 1.41055185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3568750000001 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:264.05, Y:128.34, Z:141.06 [[ 9.61604778e-01 -2.50146430e-01 -1.12884966e-01 2.64052006e+02] [ 2.47600104e-01 9.68183248e-01 -3.62682505e-02 1.28336501e+02] [ 1.18365706e-01 6.92539371e-03 9.92945919e-01 1.41058597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.386875 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:264.08, Y:128.35, Z:141.06 [[ 9.61626353e-01 -2.50062155e-01 -1.12887887e-01 2.64082879e+02] [ 2.47516316e-01 9.68205013e-01 -3.62591539e-02 1.28346342e+02] [ 1.18365661e-01 6.92616387e-03 9.92945919e-01 1.41063050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.416875 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:264.11, Y:128.36, Z:141.07 [[ 9.63011058e-01 -2.44987787e-01 -1.12208229e-01 2.64114967e+02] [ 2.42439653e-01 9.69497202e-01 -3.60303996e-02 1.28355266e+02] [ 1.17612572e-01 7.49394917e-03 9.93031280e-01 1.41065358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.446875 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:264.15, Y:128.36, Z:141.07 [[ 9.63620171e-01 -2.42948920e-01 -1.11409107e-01 2.64145190e+02] [ 2.40425074e-01 9.70008723e-01 -3.57611776e-02 1.28363920e+02] [ 1.16755945e-01 7.67464934e-03 9.93130983e-01 1.41069185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4768750000001 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:264.18, Y:128.37, Z:141.07 [[ 9.64215546e-01 -2.40766213e-01 -1.10995550e-01 2.64176399e+02] [ 2.38248034e-01 9.70550997e-01 -3.56179139e-02 1.28372476e+02] [ 1.16302432e-01 7.89887477e-03 9.93182437e-01 1.41072871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.506875 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:264.22, Y:128.36, Z:141.08 [[ 9.64475611e-01 -2.32712724e-01 -1.25026336e-01 2.64220791e+02] [ 2.33295660e-01 9.72352719e-01 -1.01648646e-02 1.28363598e+02] [ 1.23935191e-01 -1.93643377e-02 9.92101351e-01 1.41077330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.536875 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:264.23, Y:128.40, Z:141.09 [[ 9.64604411e-01 -2.41728797e-01 -1.05382728e-01 2.64230343e+02] [ 2.36316632e-01 9.69739414e-01 -6.13181735e-02 1.28402690e+02] [ 1.17016154e-01 3.42440892e-02 9.92539451e-01 1.41090582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.566875 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:264.28, Y:128.39, Z:141.08 [[ 9.64501359e-01 -2.34288360e-01 -1.21844544e-01 2.64276646e+02] [ 2.33394306e-01 9.72138618e-01 -2.17624567e-02 1.28387008e+02] [ 1.23548477e-01 -7.44790384e-03 9.92310588e-01 1.41084768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.596875 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:264.30, Y:128.40, Z:141.09 [[ 9.63934272e-01 -2.37888037e-01 -1.19331479e-01 2.64302672e+02] [ 2.35165301e-01 9.71265704e-01 -3.66089371e-02 1.28403946e+02] [ 1.24611402e-01 7.22598587e-03 9.92179310e-01 1.41093951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.626875 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:264.33, Y:128.41, Z:141.10 [[ 9.63460908e-01 -2.38635425e-01 -1.21639679e-01 2.64330335e+02] [ 2.36049540e-01 9.71093947e-01 -3.54564618e-02 1.28412272e+02] [ 1.26584724e-01 5.44792452e-03 9.91940839e-01 1.41097167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.656875 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:264.36, Y:128.42, Z:141.10 [[ 9.63548748e-01 -2.38738026e-01 -1.20739244e-01 2.64360142e+02] [ 2.35680356e-01 9.71039216e-01 -3.92123798e-02 1.28422729e+02] [ 1.26604027e-01 9.32717143e-03 9.91909484e-01 1.41099759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.686875 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:264.38, Y:128.44, Z:141.10 [[ 9.62497915e-01 -2.45027998e-01 -1.16443304e-01 2.64379871e+02] [ 2.40841800e-01 9.69327972e-01 -4.89745804e-02 1.28441159e+02] [ 1.24871895e-01 1.90935166e-02 9.91989137e-01 1.41101003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.716875 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:264.41, Y:128.45, Z:141.10 [[ 9.62304484e-01 -2.43752173e-01 -1.20643933e-01 2.64411287e+02] [ 2.40759150e-01 9.69800292e-01 -3.90182798e-02 1.28445644e+02] [ 1.26511312e-01 8.50133481e-03 9.91928735e-01 1.41100450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.746875 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:264.44, Y:128.45, Z:141.10 [[ 9.62393294e-01 -2.43398537e-01 -1.20649492e-01 2.64441902e+02] [ 2.40403307e-01 9.69888750e-01 -3.90136153e-02 1.28454738e+02] [ 1.26512442e-01 8.54190492e-03 9.91928242e-01 1.41104271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.776875 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:264.47, Y:128.46, Z:141.11 [[ 9.62555305e-01 -2.43290112e-01 -1.19570924e-01 2.64471427e+02] [ 2.40348758e-01 9.69916585e-01 -3.86560724e-02 1.28464487e+02] [ 1.25378462e-01 8.46988454e-03 9.92072831e-01 1.41109293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.806875 meters Centerline goodness : 0.998562 Centerline is valid? [True, True] Translation: X:264.50, Y:128.48, Z:141.12 [[ 9.63436108e-01 -2.41138539e-01 -1.16803557e-01 2.64501354e+02] [ 2.38317498e-01 9.70453140e-01 -3.77554353e-02 1.28475740e+02] [ 1.22456670e-01 8.53861803e-03 9.92437130e-01 1.41115814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.836875 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:264.54, Y:128.47, Z:141.12 [[ 9.63666053e-01 -2.35620058e-01 -1.25821008e-01 2.64540047e+02] [ 2.35235967e-01 9.71769431e-01 -1.81166402e-02 1.28473238e+02] [ 1.26537653e-01 -1.21392353e-02 9.91887525e-01 1.41120859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.866875 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:264.57, Y:128.49, Z:141.13 [[ 9.63846540e-01 -2.39030843e-01 -1.17745929e-01 2.64566234e+02] [ 2.36131504e-01 9.70970169e-01 -3.81948281e-02 1.28492972e+02] [ 1.23457526e-01 9.01042969e-03 9.92308950e-01 1.41134246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.896875 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:264.59, Y:128.51, Z:141.14 [[ 9.63319897e-01 -2.46031448e-01 -1.07160172e-01 2.64585279e+02] [ 2.41509227e-01 9.68921832e-01 -5.35142571e-02 1.28514399e+02] [ 1.16996020e-01 2.56711784e-02 9.92800545e-01 1.41137052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.926875 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:264.62, Y:128.52, Z:141.13 [[ 9.62028153e-01 -2.49514900e-01 -1.10653276e-01 2.64617878e+02] [ 2.47034902e-01 9.68344856e-01 -3.58049863e-02 1.28517073e+02] [ 1.16084408e-01 7.11018369e-03 9.93213902e-01 1.41134509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.956875 meters Centerline goodness : 0.998652 Centerline is valid? [True, True] Translation: X:264.65, Y:128.53, Z:141.14 [[ 9.61633400e-01 -2.51059665e-01 -1.10590456e-01 2.64648578e+02] [ 2.48593208e-01 9.67946914e-01 -3.57797202e-02 1.28527181e+02] [ 1.16028535e-01 6.91493771e-03 9.93221809e-01 1.41138837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.986875 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:264.69, Y:128.53, Z:141.14 [[ 9.62404832e-01 -2.49126613e-01 -1.08226015e-01 2.64689272e+02] [ 2.46402168e-01 9.68419562e-01 -3.80726169e-02 1.28532543e+02] [ 1.14293092e-01 9.97414573e-03 9.93397003e-01 1.41143483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.016875 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:264.71, Y:128.54, Z:141.14 [[ 9.59238612e-01 -2.58505503e-01 -1.14176131e-01 2.64709287e+02] [ 2.56630925e-01 9.66009650e-01 -3.10793366e-02 1.28543559e+02] [ 1.18329424e-01 5.11373528e-04 9.92974262e-01 1.41144256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.046875 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:264.74, Y:128.56, Z:141.15 [[ 9.58467753e-01 -2.61982888e-01 -1.12714389e-01 2.64739963e+02] [ 2.59496089e-01 9.65055710e-01 -3.64589577e-02 1.28555200e+02] [ 1.18327287e-01 5.69579232e-03 9.92958313e-01 1.41149972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.076875 meters Centerline goodness : 0.998599 Centerline is valid? [True, True] Translation: X:264.77, Y:128.56, Z:141.15 [[ 9.56685648e-01 -2.66946793e-01 -1.16154983e-01 2.64770688e+02] [ 2.64343100e-01 9.63697094e-01 -3.75584340e-02 1.28564066e+02] [ 1.21964323e-01 5.22684655e-03 9.92520722e-01 1.41153767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1068750000001 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:264.80, Y:128.57, Z:141.16 [[ 9.56065074e-01 -2.68182157e-01 -1.18397237e-01 2.64801562e+02] [ 2.65486980e-01 9.63354401e-01 -3.82748154e-02 1.28573466e+02] [ 1.24323122e-01 5.16028928e-03 9.92228367e-01 1.41158655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.136875 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:264.83, Y:128.58, Z:141.16 [[ 9.56313000e-01 -2.66869113e-01 -1.19357957e-01 2.64831830e+02] [ 2.64120717e-01 9.63717841e-01 -3.85768114e-02 1.28584238e+02] [ 1.25322352e-01 5.36659700e-03 9.92101561e-01 1.41162157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.166875 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:264.86, Y:128.59, Z:141.17 [[ 9.56623803e-01 -2.65415841e-01 -1.20105501e-01 2.64862576e+02] [ 2.62622404e-01 9.64117859e-01 -3.88101282e-02 1.28594148e+02] [ 1.26096681e-01 5.58429703e-03 9.92002239e-01 1.41167200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.196875 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:264.89, Y:128.61, Z:141.17 [[ 9.57851053e-01 -2.61131022e-01 -1.19716121e-01 2.64891925e+02] [ 2.58324163e-01 9.65283995e-01 -3.86708589e-02 1.28605078e+02] [ 1.25658216e-01 6.11535619e-03 9.92054744e-01 1.41172620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.2268750000001 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:264.92, Y:128.61, Z:141.18 [[ 9.58766204e-01 -2.58232111e-01 -1.18674106e-01 2.64920923e+02] [ 2.55453465e-01 9.66061524e-01 -3.83230795e-02 1.28614047e+02] [ 1.24542737e-01 6.42716188e-03 9.92193428e-01 1.41179705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.256875 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:264.95, Y:128.62, Z:141.19 [[ 9.59411403e-01 -2.55887547e-01 -1.18538279e-01 2.64951294e+02] [ 2.53098286e-01 9.66683214e-01 -3.82729888e-02 1.28623495e+02] [ 1.24382546e-01 6.71770647e-03 9.92211598e-01 1.41185019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.286875 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:264.98, Y:128.63, Z:141.19 [[ 9.60141364e-01 -2.53173380e-01 -1.18455906e-01 2.64982140e+02] [ 2.50368559e-01 9.67395189e-01 -3.82378548e-02 1.28632736e+02] [ 1.24274480e-01 7.05611166e-03 9.92222790e-01 1.41189443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.316875 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:265.01, Y:128.64, Z:141.19 [[ 9.61403002e-01 -2.48217303e-01 -1.18711574e-01 2.65013211e+02] [ 2.45363831e-01 9.68673730e-01 -3.83118250e-02 1.28641388e+02] [ 1.24502441e-01 7.70557707e-03 9.92189380e-01 1.41192788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.346875 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:265.04, Y:128.65, Z:141.20 [[ 9.61732333e-01 -2.46761511e-01 -1.19078444e-01 2.65043835e+02] [ 2.43880310e-01 9.69043954e-01 -3.84214819e-02 1.28650789e+02] [ 1.24873189e-01 7.91029356e-03 9.92141176e-01 1.41196492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.376875 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:265.08, Y:128.66, Z:141.20 [[ 9.63774555e-01 -2.43353834e-01 -1.09167385e-01 2.65080367e+02] [ 2.38889937e-01 9.69628621e-01 -5.24588837e-02 1.28661566e+02] [ 1.18617892e-01 2.44795475e-02 9.92638176e-01 1.41199046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.406875 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:265.11, Y:128.66, Z:141.20 [[ 9.64008199e-01 -2.40313510e-01 -1.13743616e-01 2.65114130e+02] [ 2.37532482e-01 9.70651403e-01 -3.76055009e-02 1.28664892e+02] [ 1.19442511e-01 9.23420775e-03 9.92798175e-01 1.41196610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.436875 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:265.14, Y:128.67, Z:141.20 [[ 9.63193550e-01 -2.40498534e-01 -1.20077642e-01 2.65143753e+02] [ 2.38856305e-01 9.70648163e-01 -2.81035439e-02 1.28670413e+02] [ 1.23312004e-01 -1.61214980e-03 9.92366641e-01 1.41199280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.466875 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:265.17, Y:128.68, Z:141.21 [[ 9.61195645e-01 -2.45085865e-01 -1.26632738e-01 2.65165650e+02] [ 2.43818061e-01 9.69481478e-01 -2.56596229e-02 1.28681864e+02] [ 1.29056905e-01 -6.21143091e-03 9.91617735e-01 1.41209022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.496875 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:265.19, Y:128.70, Z:141.22 [[ 9.60955905e-01 -2.47754704e-01 -1.23212646e-01 2.65193611e+02] [ 2.44668696e-01 9.68788786e-01 -3.98185604e-02 1.28696980e+02] [ 1.29232266e-01 8.11760313e-03 9.91581124e-01 1.41218899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.526875 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:265.22, Y:128.71, Z:141.22 [[ 9.61026493e-01 -2.47168216e-01 -1.23838412e-01 2.65222643e+02] [ 2.44046979e-01 9.68937636e-01 -4.00116123e-02 1.28706632e+02] [ 1.29881297e-01 8.22982905e-03 9.91495395e-01 1.41221585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.556875 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:265.25, Y:128.72, Z:141.23 [[ 9.61064578e-01 -2.46876902e-01 -1.24123616e-01 2.65251575e+02] [ 2.43739063e-01 9.69011419e-01 -4.01016100e-02 1.28716693e+02] [ 1.30177362e-01 8.28646306e-03 9.91456095e-01 1.41226325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.586875 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:265.28, Y:128.73, Z:141.23 [[ 9.61216654e-01 -2.46903934e-01 -1.22886089e-01 2.65279337e+02] [ 2.43829467e-01 9.69005312e-01 -3.96975674e-02 1.28726646e+02] [ 1.28878758e-01 8.19471337e-03 9.91626498e-01 1.41231187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.616875 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:265.31, Y:128.74, Z:141.23 [[ 9.61114875e-01 -2.47394103e-01 -1.22696192e-01 2.65308385e+02] [ 2.44334097e-01 9.68881005e-01 -3.96288721e-02 1.28737271e+02] [ 1.28681959e-01 8.10903524e-03 9.91652760e-01 1.41234941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.646875 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:265.34, Y:128.75, Z:141.24 [[ 9.61063853e-01 -2.47618346e-01 -1.22643485e-01 2.65337185e+02] [ 2.44563370e-01 9.68824035e-01 -3.96074109e-02 1.28747117e+02] [ 1.28627477e-01 8.07114702e-03 9.91660138e-01 1.41239214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.676875 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:265.37, Y:128.75, Z:141.24 [[ 9.61922260e-01 -2.45666362e-01 -1.19806529e-01 2.65370187e+02] [ 2.42096747e-01 9.69266590e-01 -4.37200471e-02 1.28753870e+02] [ 1.26865010e-01 1.30505157e-02 9.91834136e-01 1.41240300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.706875 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:265.40, Y:128.77, Z:141.24 [[ 9.62495745e-01 -2.48340239e-01 -1.09220265e-01 2.65403128e+02] [ 2.43553513e-01 9.68304495e-01 -5.53903598e-02 1.28766405e+02] [ 1.19514128e-01 2.67120065e-02 9.92473094e-01 1.41241533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.736875 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:265.43, Y:128.76, Z:141.24 [[ 9.58926789e-01 -2.51285954e-01 -1.31585649e-01 2.65425497e+02] [ 2.51953266e-01 9.67667115e-01 -1.18281728e-02 1.28762312e+02] [ 1.30303360e-01 -2.18110824e-02 9.91234236e-01 1.41238227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.766875 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:265.45, Y:128.79, Z:141.26 [[ 9.58794408e-01 -2.56521042e-01 -1.22107488e-01 2.65449002e+02] [ 2.53545901e-01 9.66513398e-01 -3.95768640e-02 1.28786102e+02] [ 1.28170821e-01 6.98622280e-03 9.91727499e-01 1.41255150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.796875 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:265.48, Y:128.80, Z:141.26 [[ 9.57365201e-01 -2.62835899e-01 -1.19871443e-01 2.65478755e+02] [ 2.60019387e-01 9.64821777e-01 -3.88440013e-02 1.28795567e+02] [ 1.25864176e-01 6.01899609e-03 9.92029224e-01 1.41259743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.826875 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:265.51, Y:128.81, Z:141.26 [[ 9.56530166e-01 -2.65763116e-01 -1.20083334e-01 2.65509183e+02] [ 2.62961216e-01 9.64021919e-01 -3.88990892e-02 1.28805473e+02] [ 1.26100909e-01 5.63089270e-03 9.92001438e-01 1.41263707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8568750000001 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:265.54, Y:128.81, Z:141.27 [[ 9.55649633e-01 -2.68644867e-01 -1.20680214e-01 2.65538353e+02] [ 2.65838857e-01 9.63224884e-01 -3.90835764e-02 1.28814889e+02] [ 1.26741787e-01 5.26871546e-03 9.91921751e-01 1.41266819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.886875 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:265.57, Y:128.82, Z:141.27 [[ 9.54512630e-01 -2.72880659e-01 -1.20173980e-01 2.65570347e+02] [ 2.70132354e-01 9.62036505e-01 -3.89136806e-02 1.28823843e+02] [ 1.26230547e-01 4.68071939e-03 9.91989889e-01 1.41270805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.916875 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:265.60, Y:128.83, Z:141.28 [[ 9.54032083e-01 -2.75135952e-01 -1.18840194e-01 2.65600260e+02] [ 2.72467660e-01 9.61395623e-01 -3.84685575e-02 1.28833757e+02] [ 1.24836525e-01 4.32012855e-03 9.92167918e-01 1.41275772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.946875 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:265.63, Y:128.84, Z:141.28 [[ 9.53340261e-01 -2.78120742e-01 -1.17435936e-01 2.65631304e+02] [ 2.75539241e-01 9.60538318e-01 -3.80035135e-02 1.28844052e+02] [ 1.23371282e-01 3.87207094e-03 9.92353029e-01 1.41281184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9768750000001 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:265.66, Y:128.85, Z:141.29 [[ 9.53586636e-01 -2.77497325e-01 -1.16909201e-01 2.65663085e+02] [ 2.74935981e-01 9.60718404e-01 -3.78200321e-02 1.28853804e+02] [ 1.22811779e-01 3.92213134e-03 9.92422231e-01 1.41285325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.006875 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:265.69, Y:128.86, Z:141.29 [[ 9.54058948e-01 -2.76149692e-01 -1.16244874e-01 2.65693603e+02] [ 2.73609152e-01 9.61106066e-01 -3.75920586e-02 1.28863405e+02] [ 1.22104689e-01 4.05937848e-03 9.92508925e-01 1.41289163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.036875 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:265.72, Y:128.87, Z:141.29 [[ 9.54636683e-01 -2.74632007e-01 -1.15091549e-01 2.65724442e+02] [ 2.72132179e-01 9.61540232e-01 -3.72083253e-02 1.28873085e+02] [ 1.20883751e-01 4.20031838e-03 9.92657784e-01 1.41293081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.066875 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:265.76, Y:128.88, Z:141.30 [[ 9.55592358e-01 -2.71679257e-01 -1.14164914e-01 2.65755573e+02] [ 2.69199626e-01 9.62377196e-01 -3.69011494e-02 1.28882994e+02] [ 1.19894986e-01 4.52930432e-03 9.92776248e-01 1.41298436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.096875 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:265.79, Y:128.89, Z:141.30 [[ 9.56245913e-01 -2.68952706e-01 -1.15144239e-01 2.65786361e+02] [ 2.66412012e-01 9.63140913e-01 -3.72051343e-02 1.28893476e+02] [ 1.20906549e-01 4.90144927e-03 9.92651793e-01 1.41302306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.126875 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:265.82, Y:128.90, Z:141.30 [[ 9.57491965e-01 -2.64143890e-01 -1.15918691e-01 2.65818581e+02] [ 2.61535219e-01 9.64467406e-01 -3.74426388e-02 1.28901535e+02] [ 1.21690044e-01 5.53420555e-03 9.92552722e-01 1.41304967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.156875 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:265.85, Y:128.91, Z:141.31 [[ 9.57954662e-01 -2.62680633e-01 -1.15419886e-01 2.65849764e+02] [ 2.60085416e-01 9.64866098e-01 -3.72691466e-02 1.28910643e+02] [ 1.21154618e-01 5.68312376e-03 9.92617379e-01 1.41309661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.186875 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:265.88, Y:128.92, Z:141.31 [[ 9.58464126e-01 -2.60962646e-01 -1.15086992e-01 2.65880267e+02] [ 2.58371751e-01 9.65331052e-01 -3.71483390e-02 1.28921023e+02] [ 1.20791376e-01 5.87012260e-03 9.92660559e-01 1.41313814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.216875 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:265.91, Y:128.93, Z:141.32 [[ 9.58768601e-01 -2.60163483e-01 -1.14357916e-01 2.65911193e+02] [ 2.57601079e-01 9.65546420e-01 -3.69025048e-02 1.28930813e+02] [ 1.20018560e-01 5.92224035e-03 9.92753984e-01 1.41318127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.246875 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:265.94, Y:128.94, Z:141.32 [[ 9.58623902e-01 -2.60546140e-01 -1.14699277e-01 2.65942790e+02] [ 2.57972588e-01 9.65443491e-01 -3.70001193e-02 1.28940651e+02] [ 1.20375909e-01 5.87992944e-03 9.92710969e-01 1.41321862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.276875 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:265.97, Y:128.95, Z:141.33 [[ 9.58654233e-01 -2.60432904e-01 -1.14702936e-01 2.65974466e+02] [ 2.57859899e-01 9.65474030e-01 -3.69887733e-02 1.28950761e+02] [ 1.20375799e-01 5.88215655e-03 9.92710969e-01 1.41326381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.306875 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:266.00, Y:128.96, Z:141.33 [[ 9.58446906e-01 -2.61233232e-01 -1.14615560e-01 2.66004600e+02] [ 2.58671714e-01 9.65258512e-01 -3.69452180e-02 1.28959800e+02] [ 1.20284964e-01 5.76222650e-03 9.92722682e-01 1.41329524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.336875 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:266.04, Y:128.97, Z:141.33 [[ 9.58303258e-01 -2.61782746e-01 -1.14562903e-01 2.66035609e+02] [ 2.59228746e-01 9.65110110e-01 -3.69179168e-02 1.28970171e+02] [ 1.20230289e-01 5.68056246e-03 9.92729776e-01 1.41333194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.366875 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:266.07, Y:128.98, Z:141.34 [[ 9.58158572e-01 -2.62604303e-01 -1.13890874e-01 2.66066988e+02] [ 2.60087567e-01 9.64887752e-01 -3.66890143e-02 1.28979272e+02] [ 1.19526603e-01 5.53229320e-03 9.92815585e-01 1.41337191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.396875 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:266.10, Y:128.99, Z:141.34 [[ 9.57981030e-01 -2.63187345e-01 -1.14038445e-01 2.66097074e+02] [ 2.60669782e-01 9.64729330e-01 -3.67230958e-02 1.28988749e+02] [ 1.19681286e-01 5.45365267e-03 9.92797385e-01 1.41339878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.426875 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:266.13, Y:129.00, Z:141.34 [[ 9.57298738e-01 -2.65927837e-01 -1.13408607e-01 2.66127098e+02] [ 2.63458526e-01 9.63979595e-01 -3.65095264e-02 1.28998179e+02] [ 1.19032482e-01 5.07205916e-03 9.92877406e-01 1.41344986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.456875 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:266.16, Y:129.01, Z:141.35 [[ 9.56761005e-01 -2.67648584e-01 -1.13897389e-01 2.66157130e+02] [ 2.65171271e-01 9.63504297e-01 -3.66560517e-02 1.29008704e+02] [ 1.19551564e-01 4.86876550e-03 9.92816055e-01 1.41349700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.486875 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:266.19, Y:129.02, Z:141.35 [[ 9.56470656e-01 -2.68617310e-01 -1.14055362e-01 2.66187843e+02] [ 2.66141201e-01 9.63235295e-01 -3.66964276e-02 1.29018560e+02] [ 1.19719446e-01 4.74422502e-03 9.92796428e-01 1.41354404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.516875 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:266.22, Y:129.03, Z:141.36 [[ 9.55864247e-01 -2.70725211e-01 -1.14155164e-01 2.66218304e+02] [ 2.68261252e-01 9.62646282e-01 -3.67156265e-02 1.29027005e+02] [ 1.19830890e-01 4.47174761e-03 9.92784247e-01 1.41357282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.546875 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:266.25, Y:129.04, Z:141.36 [[ 9.55702962e-01 -2.71253400e-01 -1.14251662e-01 2.66249914e+02] [ 2.68790240e-01 9.62497916e-01 -3.67364798e-02 1.29036810e+02] [ 1.19931881e-01 4.39943100e-03 9.92772375e-01 1.41361259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.576875 meters Centerline goodness : 0.998643 Centerline is valid? [True, True] Translation: X:266.28, Y:129.05, Z:141.36 [[ 9.56441872e-01 -2.68980216e-01 -1.13439804e-01 2.66281781e+02] [ 2.66537681e-01 9.63134532e-01 -3.64628327e-02 1.29045194e+02] [ 1.19065573e-01 4.63859773e-03 9.92875558e-01 1.41364002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6068750000001 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:266.31, Y:129.05, Z:141.37 [[ 9.57104894e-01 -2.66675133e-01 -1.13289877e-01 2.66312050e+02] [ 2.64224590e-01 9.63773991e-01 -3.64013890e-02 1.29053890e+02] [ 1.18893182e-01 4.90597639e-03 9.92894930e-01 1.41367835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.636875 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:266.34, Y:129.06, Z:141.37 [[ 9.57501673e-01 -2.65599282e-01 -1.12461404e-01 2.66343327e+02] [ 2.63178443e-01 9.64070588e-01 -3.61249007e-02 1.29063086e+02] [ 1.18015479e-01 4.99223572e-03 9.92999207e-01 1.41372220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.666875 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:266.38, Y:129.08, Z:141.38 [[ 9.59476980e-01 -2.61785670e-01 -1.04269785e-01 2.66377807e+02] [ 2.58169775e-01 9.64954414e-01 -4.70249573e-02 1.29076869e+02] [ 1.12926049e-01 1.82000571e-02 9.93436694e-01 1.41377104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.696875 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:266.40, Y:129.08, Z:141.38 [[ 9.57897836e-01 -2.62380308e-01 -1.16568907e-01 2.66404922e+02] [ 2.61619963e-01 9.64919019e-01 -2.20517968e-02 1.29078024e+02] [ 1.18265513e-01 -9.37338457e-03 9.92937767e-01 1.41376513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.726875 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:266.43, Y:129.09, Z:141.39 [[ 9.57364847e-01 -2.66032430e-01 -1.12602377e-01 2.66433534e+02] [ 2.63612404e-01 9.63951559e-01 -3.61371254e-02 1.29092867e+02] [ 1.18156884e-01 4.91303015e-03 9.92982786e-01 1.41385633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.756875 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:266.46, Y:129.10, Z:141.39 [[ 9.56990434e-01 -2.66794414e-01 -1.13973903e-01 2.66464565e+02] [ 2.64321728e-01 9.63741180e-01 -3.65645014e-02 1.29102235e+02] [ 1.19596548e-01 4.86609913e-03 9.92810650e-01 1.41390140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.786875 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:266.50, Y:129.11, Z:141.39 [[ 9.56444748e-01 -2.68574097e-01 -1.14373942e-01 2.66495548e+02] [ 2.66098046e-01 9.63247811e-01 -3.66808474e-02 1.29110783e+02] [ 1.20021974e-01 4.64852154e-03 9.92760352e-01 1.41392488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.816875 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:266.53, Y:129.12, Z:141.40 [[ 9.55986758e-01 -2.69879456e-01 -1.15127746e-01 2.66526353e+02] [ 2.67382744e-01 9.62883638e-01 -3.68994399e-02 1.29119483e+02] [ 1.20813024e-01 4.49220313e-03 9.92665116e-01 1.41396200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.846875 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:266.56, Y:129.13, Z:141.40 [[ 9.55424197e-01 -2.71968842e-01 -1.14880600e-01 2.66556813e+02] [ 2.69498850e-01 9.62296843e-01 -3.68124402e-02 1.29130142e+02] [ 1.20561076e-01 4.21130649e-03 9.92696979e-01 1.41400705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.876875 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:266.59, Y:129.14, Z:141.41 [[ 9.55009265e-01 -2.73376331e-01 -1.14989936e-01 2.66587602e+02] [ 2.70913370e-01 9.61898738e-01 -3.68342618e-02 1.29141011e+02] [ 1.20678290e-01 4.02475002e-03 9.92683510e-01 1.41406422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.906875 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:266.62, Y:129.15, Z:141.41 [[ 9.54445516e-01 -2.75284629e-01 -1.15117899e-01 2.66617778e+02] [ 2.72831604e-01 9.61355358e-01 -3.68617858e-02 1.29150529e+02] [ 1.20816692e-01 3.77476508e-03 9.92667657e-01 1.41411555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.936875 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:266.65, Y:129.16, Z:141.42 [[ 9.54319678e-01 -2.75298991e-01 -1.16122428e-01 2.66647793e+02] [ 2.72804117e-01 9.61351159e-01 -3.71734125e-02 1.29161010e+02] [ 1.21868234e-01 3.79664244e-03 9.92539026e-01 1.41415690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.966875 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:266.68, Y:129.17, Z:141.42 [[ 9.54166289e-01 -2.75687726e-01 -1.16460167e-01 2.66678910e+02] [ 2.73183887e-01 9.61239989e-01 -3.72591878e-02 1.29170410e+02] [ 1.22218070e-01 3.73641997e-03 9.92496238e-01 1.41420765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.996875 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:266.71, Y:129.18, Z:141.43 [[ 9.54499945e-01 -2.74540979e-01 -1.16434988e-01 2.66710230e+02] [ 2.72031356e-01 9.61567614e-01 -3.72379500e-02 1.29180482e+02] [ 1.22183457e-01 3.86965353e-03 9.92499989e-01 1.41425075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.026875 meters Centerline goodness : 0.998683 Centerline is valid? [True, True] Translation: X:266.74, Y:129.19, Z:141.43 [[ 9.55574498e-01 -2.71628384e-01 -1.14435136e-01 2.66740448e+02] [ 2.69185371e-01 9.62393241e-01 -3.65853154e-02 1.29189785e+02] [ 1.20069212e-01 4.15572982e-03 9.92756825e-01 1.41429671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.056875 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:266.77, Y:129.20, Z:141.43 [[ 9.56134128e-01 -2.70490509e-01 -1.12438489e-01 2.66770175e+02] [ 2.68125759e-01 9.62713425e-01 -3.59365861e-02 1.29199694e+02] [ 1.17966549e-01 4.21254105e-03 9.93008634e-01 1.41434109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.086875 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:266.81, Y:129.22, Z:141.44 [[ 9.59294562e-01 -2.67921231e-01 -8.92869403e-02 2.66805184e+02] [ 2.62249013e-01 9.62432029e-01 -7.03565570e-02 1.29221320e+02] [ 1.04782626e-01 4.40772506e-02 9.93517890e-01 1.41440542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.116875 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:266.84, Y:129.20, Z:141.43 [[ 9.56205544e-01 -2.65714367e-01 -1.22747024e-01 2.66836347e+02] [ 2.68285304e-01 9.63328479e-01 4.60848121e-03 1.29200113e+02] [ 1.17021164e-01 -3.73378777e-02 9.92427292e-01 1.41427960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.146875 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:266.86, Y:129.23, Z:141.45 [[ 9.55028792e-01 -2.75276517e-01 -1.10194584e-01 2.66859798e+02] [ 2.73027174e-01 9.61358230e-01 -3.53060267e-02 1.29227967e+02] [ 1.15655391e-01 3.63215610e-03 9.93282758e-01 1.41448910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.176875 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:266.89, Y:129.24, Z:141.45 [[ 9.54342649e-01 -2.77773850e-01 -1.09871726e-01 2.66891557e+02] [ 2.75555574e-01 9.60640799e-01 -3.51906443e-02 1.29237000e+02] [ 1.15322303e-01 3.30816632e-03 9.93322618e-01 1.41452774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.206875 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:266.92, Y:129.25, Z:141.46 [[ 9.53247608e-01 -2.81114390e-01 -1.10876949e-01 2.66921748e+02] [ 2.78878980e-01 9.59669824e-01 -3.55013023e-02 1.29247086e+02] [ 1.16385189e-01 2.92028111e-03 9.93199859e-01 1.41457589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.236875 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:266.95, Y:129.26, Z:141.46 [[ 9.51399055e-01 -2.86537122e-01 -1.12855284e-01 2.66953163e+02] [ 2.84261552e-01 9.58066436e-01 -3.61119745e-02 1.29256738e+02] [ 1.18470281e-01 2.27648020e-03 9.92954989e-01 1.41462066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.266875 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:266.98, Y:129.27, Z:141.47 [[ 9.50684167e-01 -2.88679398e-01 -1.13418782e-01 2.66984521e+02] [ 2.86397669e-01 9.57423718e-01 -3.62794690e-02 1.29266173e+02] [ 1.19062967e-01 2.00744205e-03 9.92884676e-01 1.41465790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.296875 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:267.01, Y:129.27, Z:141.47 [[ 9.49355888e-01 -2.92254331e-01 -1.15372454e-01 2.67014913e+02] [ 2.89920950e-01 9.56339339e-01 -3.68905453e-02 1.29274862e+02] [ 1.21116638e-01 1.57336486e-03 9.92637036e-01 1.41468945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.326875 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:267.05, Y:129.28, Z:141.47 [[ 9.48933633e-01 -2.93423211e-01 -1.15878299e-01 2.67046276e+02] [ 2.91079251e-01 9.55981591e-01 -3.70414285e-02 1.29284634e+02] [ 1.21646335e-01 1.42008893e-03 9.92572492e-01 1.41473702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3568750000001 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:267.08, Y:129.29, Z:141.48 [[ 9.48602575e-01 -2.94480413e-01 -1.15907033e-01 2.67076379e+02] [ 2.92144819e-01 9.55656669e-01 -3.70369536e-02 1.29293774e+02] [ 1.21673986e-01 1.27171051e-03 9.92569304e-01 1.41478205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.386875 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:267.11, Y:129.30, Z:141.48 [[ 9.48570519e-01 -2.94166241e-01 -1.16962361e-01 2.67107947e+02] [ 2.91786735e-01 9.55753366e-01 -3.73631317e-02 1.29303879e+02] [ 1.22778142e-01 1.31349980e-03 9.92433274e-01 1.41482402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.416875 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:267.14, Y:129.31, Z:141.49 [[ 9.48535765e-01 -2.94132630e-01 -1.17328168e-01 2.67138324e+02] [ 2.91739620e-01 9.55763717e-01 -3.74661321e-02 1.29312838e+02] [ 1.23158018e-01 1.30869118e-03 9.92386210e-01 1.41486470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.446875 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:267.17, Y:129.32, Z:141.49 [[ 9.48694470e-01 -2.93499550e-01 -1.17630002e-01 2.67169375e+02] [ 2.91090689e-01 9.55958210e-01 -3.75514551e-02 1.29322553e+02] [ 1.23470701e-01 1.38385945e-03 9.92347253e-01 1.41491464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.476875 meters Centerline goodness : 0.998549 Centerline is valid? [True, True] Translation: X:267.20, Y:129.33, Z:141.50 [[ 9.49719748e-01 -2.90898223e-01 -1.15804245e-01 2.67199613e+02] [ 2.88546182e-01 9.56752524e-01 -3.69554825e-02 1.29333107e+02] [ 1.21546288e-01 1.68247884e-03 9.92584339e-01 1.41498281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.506875 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:267.23, Y:129.34, Z:141.50 [[ 9.50238602e-01 -2.89528507e-01 -1.14977575e-01 2.67229766e+02] [ 2.87201366e-01 9.57167634e-01 -3.66809898e-02 1.29343357e+02] [ 1.20673006e-01 1.83397587e-03 9.92690618e-01 1.41503343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.536875 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:267.26, Y:129.35, Z:141.51 [[ 9.50813528e-01 -2.88027941e-01 -1.13989214e-01 2.67260815e+02] [ 2.85734261e-01 9.57619973e-01 -3.63307061e-02 1.29353650e+02] [ 1.19622607e-01 1.97310297e-03 9.92817475e-01 1.41508387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.566875 meters Centerline goodness : 0.998377 Centerline is valid? [True, True] Translation: X:267.29, Y:129.36, Z:141.51 [[ 9.51041428e-01 -2.87131420e-01 -1.14349245e-01 2.67291251e+02] [ 2.84818316e-01 9.57888941e-01 -3.64321918e-02 1.29363496e+02] [ 1.19994704e-01 2.07976442e-03 9.92772353e-01 1.41513484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.596875 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:267.32, Y:129.37, Z:141.52 [[ 9.50825175e-01 -2.87706048e-01 -1.14702736e-01 2.67321745e+02] [ 2.85383995e-01 9.57716668e-01 -3.65343549e-02 1.29374168e+02] [ 1.20363877e-01 2.00345947e-03 9.92727819e-01 1.41518257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.626875 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:267.35, Y:129.38, Z:141.52 [[ 9.50379831e-01 -2.88810490e-01 -1.15614351e-01 2.67352706e+02] [ 2.86461012e-01 9.57384468e-01 -3.68112476e-02 1.29384088e+02] [ 1.21318858e-01 1.86566330e-03 9.92611835e-01 1.41523591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.656875 meters Centerline goodness : 0.998546 Centerline is valid? [True, True] Translation: X:267.38, Y:129.39, Z:141.53 [[ 9.49388382e-01 -2.91725389e-01 -1.16438812e-01 2.67382677e+02] [ 2.89365669e-01 9.56500954e-01 -3.70598879e-02 1.29393797e+02] [ 1.22185145e-01 1.49083233e-03 9.92506205e-01 1.41527137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.686875 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:267.41, Y:129.40, Z:141.53 [[ 9.48666042e-01 -2.94054433e-01 -1.16467727e-01 2.67414307e+02] [ 2.91712348e-01 9.55787945e-01 -3.70581985e-02 1.29403101e+02] [ 1.22215577e-01 1.18078023e-03 9.92502876e-01 1.41532069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.716875 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:267.45, Y:129.41, Z:141.54 [[ 9.47735653e-01 -2.96849555e-01 -1.16950733e-01 2.67445016e+02] [ 2.94510671e-01 9.54923915e-01 -3.71992159e-02 1.29412714e+02] [ 1.22721622e-01 8.11784330e-04 9.92440801e-01 1.41535915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.746875 meters Centerline goodness : 0.998304 Centerline is valid? [True, True] Translation: X:267.48, Y:129.42, Z:141.54 [[ 9.46889136e-01 -2.98049432e-01 -1.20695902e-01 2.67476914e+02] [ 2.95570550e-01 9.54550213e-01 -3.83658869e-02 1.29419991e+02] [ 1.26645230e-01 6.54087342e-04 9.91947861e-01 1.41538471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.776875 meters Centerline goodness : 0.998311 Centerline is valid? [True, True] Translation: X:267.51, Y:129.43, Z:141.54 [[ 9.46882966e-01 -2.97802585e-01 -1.21351844e-01 2.67507628e+02] [ 2.95296368e-01 9.54627237e-01 -3.85602554e-02 1.29428896e+02] [ 1.27329119e-01 6.77290266e-04 9.91860291e-01 1.41542897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.806875 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:267.54, Y:129.44, Z:141.55 [[ 9.46974983e-01 -2.97445050e-01 -1.21510594e-01 2.67536955e+02] [ 2.94930838e-01 9.54738672e-01 -3.85988330e-02 1.29438404e+02] [ 1.27491895e-01 7.14907816e-04 9.91839355e-01 1.41548047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.836875 meters Centerline goodness : 0.998071 Centerline is valid? [True, True] Translation: X:267.57, Y:129.45, Z:141.56 [[ 9.46899712e-01 -2.97271305e-01 -1.22518186e-01 2.67567661e+02] [ 2.94714418e-01 9.54792766e-01 -3.89125455e-02 1.29449703e+02] [ 1.28547061e-01 7.38402240e-04 9.91703135e-01 1.41555649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.866875 meters Centerline goodness : 0.998293 Centerline is valid? [True, True] Translation: X:267.60, Y:129.46, Z:141.56 [[ 9.46951638e-01 -2.97158539e-01 -1.22390351e-01 2.67597919e+02] [ 2.94607901e-01 9.54827867e-01 -3.88578039e-02 1.29458966e+02] [ 1.28408646e-01 7.39296856e-04 9.91721066e-01 1.41560375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.896875 meters Centerline goodness : 0.997976 Centerline is valid? [True, True] Translation: X:267.63, Y:129.47, Z:141.57 [[ 9.46873218e-01 -2.97410465e-01 -1.22385150e-01 2.67628972e+02] [ 2.94863619e-01 9.54749461e-01 -3.88447269e-02 1.29468544e+02] [ 1.28399984e-01 6.94103373e-04 9.91722220e-01 1.41565356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.926875 meters Centerline goodness : 0.998224 Centerline is valid? [True, True] Translation: X:267.66, Y:129.48, Z:141.57 [[ 9.47189033e-01 -2.96344349e-01 -1.22527397e-01 2.67659955e+02] [ 2.93784528e-01 9.55080805e-01 -3.88755296e-02 1.29475958e+02] [ 1.28544109e-01 8.25821756e-04 9.91703449e-01 1.41568049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.956875 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:267.69, Y:129.49, Z:141.57 [[ 9.47481082e-01 -2.95677065e-01 -1.21879743e-01 2.67690972e+02] [ 2.93140330e-01 9.55287529e-01 -3.86585609e-02 1.29485195e+02] [ 1.27860648e-01 9.00386957e-04 9.91791734e-01 1.41572550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.986875 meters Centerline goodness : 0.998488 Centerline is valid? [True, True] Translation: X:267.74, Y:129.49, Z:141.57 [[ 9.52256815e-01 -2.83755356e-01 -1.12649264e-01 2.67739404e+02] [ 2.79860029e-01 9.58772101e-01 -4.93398572e-02 1.29489666e+02] [ 1.22005421e-01 1.54581889e-02 9.92409050e-01 1.41574515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.016875 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:267.77, Y:129.49, Z:141.57 [[ 9.53383732e-01 -2.77264288e-01 -1.19096492e-01 2.67773365e+02] [ 2.76020443e-01 9.60768264e-01 -2.71488190e-02 1.29489618e+02] [ 1.21951527e-01 -6.98982393e-03 9.92511444e-01 1.41572869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.046875 meters Centerline goodness : 0.998421 Centerline is valid? [True, True] Translation: X:267.78, Y:129.51, Z:141.58 [[ 9.49508765e-01 -2.88870028e-01 -1.22422270e-01 2.67778216e+02] [ 2.88149087e-01 9.57286174e-01 -2.39433545e-02 1.29507848e+02] [ 1.24109664e-01 -1.25414403e-02 9.92189248e-01 1.41581310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.076875 meters Centerline goodness : 0.998199 Centerline is valid? [True, True] Translation: X:267.81, Y:129.52, Z:141.59 [[ 9.49800067e-01 -2.89756156e-01 -1.17988145e-01 2.67806453e+02] [ 2.87302969e-01 9.57098650e-01 -3.76719730e-02 1.29522708e+02] [ 1.23841981e-01 1.88249795e-03 9.92300166e-01 1.41590691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1068750000001 meters Centerline goodness : 0.997783 Centerline is valid? [True, True] Translation: X:267.84, Y:129.53, Z:141.59 [[ 9.49838695e-01 -2.89518787e-01 -1.18259568e-01 2.67838236e+02] [ 2.87055429e-01 9.57170456e-01 -3.77345830e-02 1.29530559e+02] [ 1.24119435e-01 1.89471598e-03 9.92265476e-01 1.41592976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.136875 meters Centerline goodness : 0.998229 Centerline is valid? [True, True] Translation: X:267.87, Y:129.54, Z:141.60 [[ 9.49344705e-01 -2.90868429e-01 -1.18912525e-01 2.67869729e+02] [ 2.88389291e-01 9.56761516e-01 -3.79343829e-02 1.29538290e+02] [ 1.24804842e-01 1.71970674e-03 9.92179819e-01 1.41596862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.166875 meters Centerline goodness : 0.998229 Centerline is valid? [True, True] Translation: X:267.90, Y:129.55, Z:141.60 [[ 9.49369054e-01 -2.90787969e-01 -1.18914915e-01 2.67900618e+02] [ 2.88309140e-01 9.56785969e-01 -3.79268877e-02 1.29548067e+02] [ 1.24804805e-01 1.72235646e-03 9.92179819e-01 1.41601328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.196875 meters Centerline goodness : 0.997828 Centerline is valid? [True, True] Translation: X:267.93, Y:129.55, Z:141.60 [[ 9.48082041e-01 -2.94838794e-01 -1.19207924e-01 2.67932700e+02] [ 2.92380903e-01 9.55546277e-01 -3.80094638e-02 1.29554215e+02] [ 1.25115353e-01 1.18196946e-03 9.92141498e-01 1.41604532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.226875 meters Centerline goodness : 0.998115 Centerline is valid? [True, True] Translation: X:267.96, Y:129.56, Z:141.61 [[ 9.47418895e-01 -2.96955635e-01 -1.19225791e-01 2.67964321e+02] [ 2.94515422e-01 9.54890863e-01 -3.80014000e-02 1.29562561e+02] [ 1.25132349e-01 8.89410162e-04 9.92139660e-01 1.41608613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.256875 meters Centerline goodness : 0.998051 Centerline is valid? [True, True] Translation: X:268.00, Y:129.57, Z:141.61 [[ 9.46182759e-01 -3.01228147e-01 -1.18320706e-01 2.67995774e+02] [ 2.98859943e-01 9.53552048e-01 -3.76991569e-02 1.29569241e+02] [ 1.24180999e-01 3.08972841e-04 9.92259535e-01 1.41611713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.286875 meters Centerline goodness : 0.997901 Centerline is valid? [True, True] Translation: X:268.03, Y:129.58, Z:141.62 [[ 9.45764899e-01 -3.02812689e-01 -1.17614757e-01 2.68027482e+02] [ 3.00486327e-01 9.53050086e-01 -3.74633137e-02 1.29577411e+02] [ 1.23437121e-01 8.98605978e-05 9.92352392e-01 1.41615147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.316875 meters Centerline goodness : 0.997814 Centerline is valid? [True, True] Translation: X:268.06, Y:129.59, Z:141.62 [[ 9.45507015e-01 -3.03818030e-01 -1.17094361e-01 2.68059044e+02] [ 3.01521634e-01 9.52730078e-01 -3.72840740e-02 1.29585421e+02] [ 1.22886894e-01 -5.41297070e-05 9.92420681e-01 1.41618413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.346875 meters Centerline goodness : 0.998040 Centerline is valid? [True, True] Translation: X:268.09, Y:129.59, Z:141.62 [[ 9.45484732e-01 -3.04137668e-01 -1.16442693e-01 2.68091186e+02] [ 3.01870919e-01 9.52628084e-01 -3.70632027e-02 1.29594061e+02] [ 1.22198896e-01 -1.07970640e-04 9.92505626e-01 1.41621904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.376875 meters Centerline goodness : 0.997913 Centerline is valid? [True, True] Translation: X:268.12, Y:129.60, Z:141.63 [[ 9.45755862e-01 -3.04266232e-01 -1.13876726e-01 2.68122003e+02] [ 3.02101143e-01 9.52587026e-01 -3.62333726e-02 1.29601630e+02] [ 1.19502084e-01 -1.34364586e-04 9.92833941e-01 1.41625356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.406875 meters Centerline goodness : 0.998547 Centerline is valid? [True, True] Translation: X:268.15, Y:129.61, Z:141.63 [[ 9.45826344e-01 -3.04179617e-01 -1.13522189e-01 2.68152822e+02] [ 3.02028667e-01 9.52614688e-01 -3.61101327e-02 1.29611498e+02] [ 1.19126871e-01 -1.33040556e-04 9.92879031e-01 1.41630885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.436875 meters Centerline goodness : 0.998302 Centerline is valid? [True, True] Translation: X:268.18, Y:129.62, Z:141.63 [[ 9.45883465e-01 -3.04479811e-01 -1.12234198e-01 2.68183728e+02] [ 3.02381037e-01 9.52518773e-01 -3.56888830e-02 1.29620735e+02] [ 1.17771725e-01 -1.79968813e-04 9.93040678e-01 1.41634236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.466875 meters Centerline goodness : 0.998171 Centerline is valid? [True, True] Translation: X:268.21, Y:129.63, Z:141.64 [[ 9.46278132e-01 -3.03324670e-01 -1.12034997e-01 2.68214817e+02] [ 3.01227958e-01 9.52887266e-01 -3.56030410e-02 1.29631347e+02] [ 1.17556002e-01 -5.76940144e-05 9.93066253e-01 1.41638912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.496875 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:268.28, Y:129.63, Z:141.64 [[ 9.51473407e-01 -2.91312852e-01 -9.91724657e-02 2.68278797e+02] [ 2.87761406e-01 9.56461783e-01 -4.87260709e-02 1.29629655e+02] [ 1.09049204e-01 1.78235525e-02 9.93876548e-01 1.41639488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.526875 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:268.27, Y:129.63, Z:141.64 [[ 9.47186563e-01 -2.97121598e-01 -1.20649784e-01 2.68273573e+02] [ 2.97997494e-01 9.54501666e-01 -1.11383427e-02 1.29633830e+02] [ 1.18469862e-01 -2.54032448e-02 9.92632644e-01 1.41636432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.556875 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:268.33, Y:129.66, Z:141.65 [[ 9.54544442e-01 -2.81888768e-01 -9.68691370e-02 2.68331419e+02] [ 2.75872656e-01 9.58568831e-01 -7.09934730e-02 1.29657938e+02] [ 1.12867998e-01 4.10428789e-02 9.92761954e-01 1.41650965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.586875 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:268.36, Y:129.64, Z:141.63 [[ 9.56877361e-01 -2.64034216e-01 -1.21126581e-01 2.68364695e+02] [ 2.66250769e-01 9.63901287e-01 2.19946232e-03 1.29636084e+02] [ 1.16173334e-01 -3.43546611e-02 9.92634633e-01 1.41633174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.616875 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:268.39, Y:129.67, Z:141.65 [[ 9.58308833e-01 -2.62129305e-01 -1.13720747e-01 2.68386166e+02] [ 2.60561301e-01 9.65030428e-01 -2.87068048e-02 1.29667065e+02] [ 1.17268876e-01 -2.12124123e-03 9.93097936e-01 1.41647752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.646875 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:268.42, Y:129.68, Z:141.65 [[ 9.59217277e-01 -2.60127093e-01 -1.10616954e-01 2.68415945e+02] [ 2.57747589e-01 9.65558237e-01 -3.55453337e-02 1.29680779e+02] [ 1.16053416e-01 5.58444500e-03 9.93227274e-01 1.41650008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.676875 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:268.45, Y:129.68, Z:141.65 [[ 9.60347874e-01 -2.55028528e-01 -1.12660599e-01 2.68445537e+02] [ 2.54705306e-01 9.66860405e-01 -1.74975674e-02 1.29680510e+02] [ 1.13389451e-01 -1.18915007e-02 9.93479454e-01 1.41647501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.706875 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:268.47, Y:129.70, Z:141.66 [[ 9.57872267e-01 -2.64054733e-01 -1.12941661e-01 2.68471824e+02] [ 2.60769869e-01 9.64433930e-01 -4.32003435e-02 1.29704378e+02] [ 1.20332025e-01 1.19286288e-02 9.92662033e-01 1.41661814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.736875 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:268.50, Y:129.71, Z:141.66 [[ 9.56798372e-01 -2.68346460e-01 -1.11924318e-01 2.68503782e+02] [ 2.66143814e-01 9.63317212e-01 -3.44589613e-02 1.29710493e+02] [ 1.17065562e-01 3.18231326e-03 9.93119090e-01 1.41658881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.766875 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:268.53, Y:129.71, Z:141.66 [[ 9.56295448e-01 -2.66077282e-01 -1.21251377e-01 2.68527847e+02] [ 2.68307761e-01 9.63330842e-01 2.15287463e-03 1.29706329e+02] [ 1.16232360e-01 -3.45914696e-02 9.92619499e-01 1.41658595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.796875 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:268.55, Y:129.73, Z:141.68 [[ 9.55188762e-01 -2.75879404e-01 -1.07261284e-01 2.68553559e+02] [ 2.74121414e-01 9.61192210e-01 -3.10963998e-02 1.29734452e+02] [ 1.11677567e-01 3.00316760e-04 9.93744449e-01 1.41675795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.826875 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:268.58, Y:129.74, Z:141.68 [[ 9.55635987e-01 -2.74054775e-01 -1.07952955e-01 2.68575037e+02] [ 2.73222298e-01 9.61682587e-01 -2.27195716e-02 1.29740976e+02] [ 1.10042884e-01 -7.78351418e-03 9.93896363e-01 1.41678371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8568750000001 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:268.60, Y:129.76, Z:141.68 [[ 9.55603833e-01 -2.75882932e-01 -1.03488756e-01 2.68603861e+02] [ 2.74243387e-01 9.61191191e-01 -3.00342969e-02 1.29756175e+02] [ 1.07758430e-01 3.19782397e-04 9.94177056e-01 1.41683283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.886875 meters Centerline goodness : 0.998661 Centerline is valid? [True, True] Translation: X:268.64, Y:129.77, Z:141.68 [[ 9.56586633e-01 -2.73987680e-01 -9.93617864e-02 2.68637224e+02] [ 2.72391696e-01 9.61732445e-01 -2.95544849e-02 1.29766474e+02] [ 1.03657019e-01 1.20609962e-03 9.94612371e-01 1.41684605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.916875 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:268.66, Y:129.78, Z:141.69 [[ 9.56149792e-01 -2.73454575e-01 -1.04881702e-01 2.68657143e+02] [ 2.72669410e-01 9.61855443e-01 -2.20340725e-02 1.29775123e+02] [ 1.06906354e-01 -7.53015813e-03 9.94240579e-01 1.41690076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.946875 meters Centerline goodness : 0.998415 Centerline is valid? [True, True] Translation: X:268.69, Y:129.79, Z:141.69 [[ 9.58025169e-01 -2.69448927e-01 -9.79032783e-02 2.68688285e+02] [ 2.68152392e-01 9.63014218e-01 -2.64179805e-02 1.29789331e+02] [ 1.01400545e-01 -9.43908105e-04 9.94845233e-01 1.41694891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.976875 meters Centerline goodness : 0.998417 Centerline is valid? [True, True] Translation: X:268.72, Y:129.80, Z:141.70 [[ 9.59567852e-01 -2.64567793e-01 -9.60906843e-02 2.68716265e+02] [ 2.63023133e-01 9.64364579e-01 -2.86319718e-02 1.29800793e+02] [ 1.00241550e-01 2.20024684e-03 9.94960698e-01 1.41699070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.006875 meters Centerline goodness : 0.998303 Centerline is valid? [True, True] Translation: X:268.75, Y:129.81, Z:141.70 [[ 9.60077894e-01 -2.61982987e-01 -9.80579036e-02 2.68745429e+02] [ 2.60895560e-01 9.65069101e-01 -2.39820207e-02 1.29809736e+02] [ 1.00915534e-01 -2.55826369e-03 9.94891708e-01 1.41702849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.036875 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:268.78, Y:129.83, Z:141.72 [[ 9.57741461e-01 -2.68054814e-01 -1.04297221e-01 2.68780388e+02] [ 2.66276646e-01 9.63401981e-01 -3.08767039e-02 1.29829283e+02] [ 1.08756798e-01 1.79998534e-03 9.94066758e-01 1.41716050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.066875 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:268.80, Y:129.83, Z:141.71 [[ 9.61299787e-01 -2.55075263e-01 -1.04112099e-01 2.68799530e+02] [ 2.54841507e-01 9.66854286e-01 -1.57669025e-02 1.29827477e+02] [ 1.04682976e-01 -1.13753642e-02 9.94440584e-01 1.41710607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.096875 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:268.84, Y:129.85, Z:141.73 [[ 9.58133901e-01 -2.67370873e-01 -1.02431655e-01 2.68835055e+02] [ 2.64585978e-01 9.63526914e-01 -4.01266274e-02 1.29852423e+02] [ 1.09424348e-01 1.13447024e-02 9.93930385e-01 1.41726016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.126875 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:268.83, Y:129.86, Z:141.72 [[ 9.59488591e-01 -2.62503855e-01 -1.02339486e-01 2.68825654e+02] [ 2.60922486e-01 9.64930509e-01 -2.87848855e-02 1.29861443e+02] [ 1.06306635e-01 9.16096207e-04 9.94332972e-01 1.41715282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.156875 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:268.88, Y:129.85, Z:141.72 [[ 9.61540658e-01 -2.51565667e-01 -1.10246442e-01 2.68876980e+02] [ 2.51139846e-01 9.67784167e-01 -1.79606362e-02 1.29854244e+02] [ 1.11213040e-01 -1.04173925e-02 9.93741987e-01 1.41719331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.186875 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:268.90, Y:129.87, Z:141.73 [[ 9.61552509e-01 -2.53228333e-01 -1.06264686e-01 2.68903773e+02] [ 2.51292207e-01 9.67400057e-01 -3.14540214e-02 1.29871983e+02] [ 1.10765513e-01 3.54120571e-03 9.93840259e-01 1.41728755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.216875 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:268.93, Y:129.88, Z:141.73 [[ 9.62459059e-01 -2.50454669e-01 -1.04618439e-01 2.68932356e+02] [ 2.48280373e-01 9.68107876e-01 -3.35260594e-02 1.29883441e+02] [ 1.09678693e-01 6.29275461e-03 9.93947174e-01 1.41731007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.246875 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:268.96, Y:129.89, Z:141.74 [[ 9.62204178e-01 -2.49165648e-01 -1.09907235e-01 2.68959373e+02] [ 2.48040025e-01 9.68451988e-01 -2.40186097e-02 1.29890163e+02] [ 1.12424492e-01 -4.15058664e-03 9.93651602e-01 1.41735752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.276875 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:269.00, Y:129.91, Z:141.75 [[ 9.58734850e-01 -2.61629069e-01 -1.11255188e-01 2.68999089e+02] [ 2.58921893e-01 9.65135422e-01 -3.83805956e-02 1.29912139e+02] [ 1.17417803e-01 7.99041068e-03 9.93050458e-01 1.41748453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.306875 meters Centerline goodness : 0.998456 Centerline is valid? [True, True] Translation: X:269.01, Y:129.91, Z:141.74 [[ 9.61769719e-01 -2.50626313e-01 -1.10387771e-01 2.69013082e+02] [ 2.49490405e-01 9.68074557e-01 -2.42113727e-02 1.29910497e+02] [ 1.12931599e-01 -4.25492464e-03 9.93593654e-01 1.41742472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.336875 meters Centerline goodness : 0.998421 Centerline is valid? [True, True] Translation: X:269.02, Y:129.94, Z:141.75 [[ 9.59843704e-01 -2.62854561e-01 -9.80180806e-02 2.69017746e+02] [ 2.58602203e-01 9.64470620e-01 -5.40492632e-02 1.29943982e+02] [ 1.08742654e-01 2.65311534e-02 9.93715821e-01 1.41749045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.366875 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:269.07, Y:129.92, Z:141.75 [[ 9.60711319e-01 -2.51439917e-01 -1.17523316e-01 2.69069741e+02] [ 2.51971565e-01 9.67677053e-01 -1.05570790e-02 1.29923350e+02] [ 1.16379088e-01 -1.94702288e-02 9.93014007e-01 1.41745062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.396875 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:269.09, Y:129.94, Z:141.76 [[ 9.59780439e-01 -2.55764434e-01 -1.15784552e-01 2.69092770e+02] [ 2.54685389e-01 9.66719301e-01 -2.42723302e-02 1.29941521e+02] [ 1.18139160e-01 -6.19252580e-03 9.92977740e-01 1.41759095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.426875 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:269.12, Y:129.96, Z:141.76 [[ 9.60208048e-01 -2.57412715e-01 -1.08347584e-01 2.69120303e+02] [ 2.54622606e-01 9.66250435e-01 -3.90822957e-02 1.29957132e+02] [ 1.14751180e-01 9.93939065e-03 9.93344540e-01 1.41764237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.456875 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:269.13, Y:129.99, Z:141.77 [[ 9.59912114e-01 -2.64549994e-01 -9.26392731e-02 2.69128801e+02] [ 2.58954907e-01 9.63480991e-01 -6.81669689e-02 1.29988599e+02] [ 1.07289750e-01 4.14449049e-02 9.93363594e-01 1.41766885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.486875 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:269.17, Y:129.98, Z:141.76 [[ 9.60337363e-01 -2.58745800e-01 -1.03936327e-01 2.69166477e+02] [ 2.56318775e-01 9.65910486e-01 -3.62990092e-02 1.29982527e+02] [ 1.09785404e-01 8.21846292e-03 9.93921336e-01 1.41757687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.516875 meters Centerline goodness : 0.997948 Centerline is valid? [True, True] Translation: X:269.20, Y:129.99, Z:141.76 [[ 9.61719822e-01 -2.53682047e-01 -1.03635917e-01 2.69196735e+02] [ 2.51240750e-01 9.67247959e-01 -3.61866167e-02 1.29991989e+02] [ 1.09421525e-01 8.76382099e-03 9.93956803e-01 1.41761185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.546875 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:269.23, Y:130.00, Z:141.77 [[ 9.63458956e-01 -2.46311509e-01 -1.05249613e-01 2.69227641e+02] [ 2.43750538e-01 9.69141720e-01 -3.67423725e-02 1.30000918e+02] [ 1.11051860e-01 9.74511810e-03 9.93766832e-01 1.41766398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.576875 meters Centerline goodness : 0.998512 Centerline is valid? [True, True] Translation: X:269.26, Y:130.01, Z:141.77 [[ 9.64471722e-01 -2.41191884e-01 -1.07799690e-01 2.69257805e+02] [ 2.38474025e-01 9.70419770e-01 -3.76245893e-02 1.30011895e+02] [ 1.13685696e-01 1.05804264e-02 9.93460426e-01 1.41770607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6068750000001 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:269.29, Y:130.02, Z:141.77 [[ 9.65271220e-01 -2.37233108e-01 -1.09416293e-01 2.69288105e+02] [ 2.34408619e-01 9.71388118e-01 -3.81801351e-02 1.30020827e+02] [ 1.15343279e-01 1.12060634e-02 9.93262479e-01 1.41774608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.636875 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:269.32, Y:130.03, Z:141.78 [[ 9.66970480e-01 -2.28560030e-01 -1.12820229e-01 2.69317845e+02] [ 2.25498385e-01 9.73447985e-01 -3.93636847e-02 1.30030532e+02] [ 1.18821590e-01 1.26227416e-02 9.92835382e-01 1.41778591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.666875 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:269.34, Y:130.04, Z:141.78 [[ 9.67541843e-01 -2.25602103e-01 -1.13870422e-01 2.69344513e+02] [ 2.22463359e-01 9.74131403e-01 -3.97248477e-02 1.30038917e+02] [ 1.19886763e-01 1.31034557e-02 9.92701095e-01 1.41782420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.696875 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:269.38, Y:130.02, Z:141.79 [[ 9.66508829e-01 -2.14404289e-01 -1.41037171e-01 2.69382023e+02] [ 2.16799238e-01 9.76214804e-01 1.65727480e-03 1.30021785e+02] [ 1.37327248e-01 -3.21785221e-02 9.90002914e-01 1.41788355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.726875 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:269.39, Y:130.08, Z:141.81 [[ 9.69658298e-01 -2.23451601e-01 -9.91572831e-02 2.69386893e+02] [ 2.15519003e-01 9.72819613e-01 -8.46968675e-02 1.30078409e+02] [ 1.15387801e-01 6.07567416e-02 9.91460677e-01 1.41808979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.756875 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:269.42, Y:130.07, Z:141.80 [[ 9.69863178e-01 -2.14878177e-01 -1.14859853e-01 2.69421453e+02] [ 2.11601810e-01 9.76531340e-01 -4.01399643e-02 1.30067017e+02] [ 1.20789448e-01 1.46257206e-02 9.92570399e-01 1.41795538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.786875 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:269.45, Y:130.08, Z:141.80 [[ 9.70216743e-01 -2.13703761e-01 -1.14062147e-01 2.69448009e+02] [ 2.10463519e-01 9.76788203e-01 -3.98737236e-02 1.30075959e+02] [ 1.19935724e-01 1.46802334e-02 9.92673115e-01 1.41799157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.816875 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:269.47, Y:130.09, Z:141.80 [[ 9.70305372e-01 -2.13736827e-01 -1.13243338e-01 2.69474043e+02] [ 2.10539701e-01 9.76782175e-01 -3.96184004e-02 1.30085265e+02] [ 1.19081986e-01 1.45997281e-02 9.92777079e-01 1.41803589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.846875 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:269.50, Y:130.10, Z:141.81 [[ 9.70062481e-01 -2.14813813e-01 -1.13286403e-01 2.69502060e+02] [ 2.11620118e-01 9.76547613e-01 -3.96444774e-02 1.30095426e+02] [ 1.19145748e-01 1.44839381e-02 9.92771125e-01 1.41807853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.876875 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:269.53, Y:130.11, Z:141.81 [[ 9.69687371e-01 -2.16468126e-01 -1.13348809e-01 2.69529539e+02] [ 2.13281470e-01 9.76185058e-01 -3.96704788e-02 1.30105472e+02] [ 1.19236808e-01 1.42927617e-02 9.92762963e-01 1.41811886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.906875 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:269.57, Y:130.09, Z:141.82 [[ 9.67099050e-01 -2.13227972e-01 -1.38756117e-01 2.69566791e+02] [ 2.15263641e-01 9.76555911e-01 -3.44302625e-04 1.30091398e+02] [ 1.35576521e-01 -2.95361722e-02 9.90326523e-01 1.41816924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.936875 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:269.57, Y:130.15, Z:141.84 [[ 9.68280605e-01 -2.29085697e-01 -9.97617796e-02 2.69573046e+02] [ 2.21336440e-01 9.71661012e-01 -8.29762521e-02 1.30146800e+02] [ 1.15943304e-01 5.82633785e-02 9.91545525e-01 1.41836568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.966875 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:269.61, Y:130.13, Z:141.82 [[ 9.66797935e-01 -2.28609791e-01 -1.14189824e-01 2.69609526e+02] [ 2.25454219e-01 9.73432315e-01 -3.99990520e-02 1.30132318e+02] [ 1.20300240e-01 1.29264233e-02 9.92653394e-01 1.41822800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.996875 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:269.65, Y:130.12, Z:141.83 [[ 9.64266664e-01 -2.26621352e-01 -1.37231788e-01 2.69645762e+02] [ 2.28258944e-01 9.73592672e-01 -3.89412209e-03 1.30122439e+02] [ 1.34490354e-01 -2.75694109e-02 9.90531308e-01 1.41828454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.026875 meters Centerline goodness : 0.998666 Centerline is valid? [True, True] Translation: X:269.65, Y:130.18, Z:141.85 [[ 9.65724204e-01 -2.38929528e-01 -1.01436887e-01 2.69654633e+02] [ 2.31651348e-01 9.69627581e-01 -7.84857129e-02 1.30175155e+02] [ 1.17108557e-01 5.22975611e-02 9.91741171e-01 1.41847708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.056875 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:269.69, Y:130.17, Z:141.84 [[ 9.65695752e-01 -2.32904801e-01 -1.14834959e-01 2.69690025e+02] [ 2.29733115e-01 9.72418646e-01 -4.03072269e-02 1.30167038e+02] [ 1.21055402e-01 1.25431250e-02 9.92566501e-01 1.41837256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.086875 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:269.72, Y:130.18, Z:141.84 [[ 9.65678588e-01 -2.32976197e-01 -1.14834477e-01 2.69718202e+02] [ 2.29804846e-01 9.72401640e-01 -4.03086002e-02 1.30176962e+02] [ 1.21056178e-01 1.25356327e-02 9.92566501e-01 1.41841202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.116875 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:269.75, Y:130.19, Z:141.85 [[ 9.65830804e-01 -2.32045185e-01 -1.15437820e-01 2.69745714e+02] [ 2.28832457e-01 9.72621709e-01 -4.05304664e-02 1.30186987e+02] [ 1.21682230e-01 1.27296529e-02 9.92487476e-01 1.41846792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.146875 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:269.78, Y:130.18, Z:141.86 [[ 9.65519433e-01 -2.22316403e-01 -1.35453465e-01 2.69778607e+02] [ 2.21897322e-01 9.74896827e-01 -1.83781172e-02 1.30184398e+02] [ 1.36138910e-01 -1.23123319e-02 9.90613246e-01 1.41856464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.176875 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:269.80, Y:130.21, Z:141.87 [[ 9.65922312e-01 -2.25927377e-01 -1.26296901e-01 2.69800163e+02] [ 2.22131418e-01 9.74043255e-01 -4.35588248e-02 1.30206129e+02] [ 1.32859776e-01 1.40199311e-02 9.91035681e-01 1.41870457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.206875 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:269.83, Y:130.21, Z:141.87 [[ 9.66273560e-01 -2.21333637e-01 -1.31631413e-01 2.69825349e+02] [ 2.19127293e-01 9.75197272e-01 -3.12011371e-02 1.30211683e+02] [ 1.35272456e-01 1.30479880e-03 9.90807580e-01 1.41874084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.236875 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:269.84, Y:130.25, Z:141.88 [[ 9.68611904e-01 -2.26079789e-01 -1.03338805e-01 2.69843486e+02] [ 2.18471116e-01 9.72562023e-01 -7.99592572e-02 1.30246393e+02] [ 1.18580570e-01 5.48729443e-02 9.91427057e-01 1.41883133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.266875 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:269.88, Y:130.24, Z:141.87 [[ 9.68912219e-01 -2.18207800e-01 -1.16595321e-01 2.69878017e+02] [ 2.14819590e-01 9.75791486e-01 -4.10307043e-02 1.30236878e+02] [ 1.22725941e-01 1.47081917e-02 9.92331604e-01 1.41871427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.296875 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:269.91, Y:130.25, Z:141.88 [[ 9.69339598e-01 -2.16131069e-01 -1.16910671e-01 2.69905558e+02] [ 2.12708245e-01 9.76248777e-01 -4.11525029e-02 1.30247397e+02] [ 1.23028234e-01 1.50228869e-02 9.92289457e-01 1.41876077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.326875 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:269.93, Y:130.26, Z:141.88 [[ 9.69764462e-01 -2.14415952e-01 -1.16544790e-01 2.69932705e+02] [ 2.11001985e-01 9.76624224e-01 -4.10278899e-02 1.30257889e+02] [ 1.22617499e-01 1.51962076e-02 9.92337656e-01 1.41880816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3568750000001 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:269.96, Y:130.27, Z:141.89 [[ 9.69976052e-01 -2.13767228e-01 -1.15974265e-01 2.69960008e+02] [ 2.10381740e-01 9.76766265e-01 -4.08311921e-02 1.30268644e+02] [ 1.22008120e-01 1.52064109e-02 9.92412608e-01 1.41885026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.386875 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:269.99, Y:130.28, Z:141.89 [[ 9.69762172e-01 -2.14894914e-01 -1.15678461e-01 2.69987944e+02] [ 2.11534118e-01 9.76521524e-01 -4.07312034e-02 1.30278707e+02] [ 1.21715435e-01 1.50296391e-02 9.92451240e-01 1.41889015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.416875 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:270.02, Y:130.29, Z:141.89 [[ 9.69106794e-01 -2.17463884e-01 -1.16367867e-01 2.70015806e+02] [ 2.14080284e-01 9.75956152e-01 -4.09783000e-02 1.30288424e+02] [ 1.22481236e-01 1.48002830e-02 9.92360468e-01 1.41892775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.446875 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:270.05, Y:130.29, Z:141.90 [[ 9.66889075e-01 -2.19100660e-01 -1.30845011e-01 2.70049340e+02] [ 2.18159991e-01 9.75672637e-01 -2.16592617e-02 1.30285773e+02] [ 1.32407456e-01 -7.60304303e-03 9.91166212e-01 1.41895611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.476875 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:270.07, Y:130.32, Z:141.91 [[ 9.67082481e-01 -2.28795523e-01 -1.11373621e-01 2.70066843e+02] [ 2.22842876e-01 9.72789745e-01 -6.34126520e-02 1.30317541e+02] [ 1.22851647e-01 3.65064468e-02 9.91753373e-01 1.41907503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.506875 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:270.10, Y:130.31, Z:141.90 [[ 9.65238566e-01 -2.26930149e-01 -1.29681218e-01 2.70102747e+02] [ 2.25288045e-01 9.73907080e-01 -2.73915541e-02 1.30307147e+02] [ 1.32513426e-01 -2.77624364e-03 9.91177322e-01 1.41901201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.536875 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:270.12, Y:130.33, Z:141.91 [[ 9.64648424e-01 -2.37155944e-01 -1.14936834e-01 2.70122200e+02] [ 2.31793947e-01 9.71024758e-01 -5.81591405e-02 1.30332987e+02] [ 1.25399297e-01 2.94614609e-02 9.91668815e-01 1.41909789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.566875 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:270.15, Y:130.33, Z:141.91 [[ 9.63250151e-01 -2.40045619e-01 -1.20529032e-01 2.70154170e+02] [ 2.36577838e-01 9.70681921e-01 -4.25151057e-02 1.30334712e+02] [ 1.27200918e-01 1.24381842e-02 9.91798981e-01 1.41906352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.596875 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:270.18, Y:130.35, Z:141.91 [[ 9.60701091e-01 -2.48601052e-01 -1.23494658e-01 2.70181181e+02] [ 2.45029018e-01 9.68536628e-01 -4.35612320e-02 1.30346560e+02] [ 1.30438468e-01 1.15895483e-02 9.91388667e-01 1.41910324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.626875 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:270.21, Y:130.36, Z:141.91 [[ 9.59110774e-01 -2.53953763e-01 -1.24956032e-01 2.70208564e+02] [ 2.50340642e-01 9.67153861e-01 -4.40791521e-02 1.30355309e+02] [ 1.32045776e-01 1.09952164e-02 9.91182636e-01 1.41912502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.656875 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:270.24, Y:130.37, Z:141.92 [[ 9.57702472e-01 -2.58417700e-01 -1.26594894e-01 2.70236498e+02] [ 2.54746162e-01 9.65975936e-01 -4.46641314e-02 1.30365286e+02] [ 1.33829623e-01 1.05253858e-02 9.90948459e-01 1.41916009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.686875 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:270.26, Y:130.37, Z:141.92 [[ 9.55017093e-01 -2.68583994e-01 -1.25717901e-01 2.70262115e+02] [ 2.65049738e-01 9.63213824e-01 -4.43595141e-02 1.30374212e+02] [ 1.33007476e-01 9.04259740e-03 9.91073783e-01 1.41920854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.716875 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:270.30, Y:130.38, Z:141.92 [[ 9.55147048e-01 -2.68400960e-01 -1.25120106e-01 2.70297850e+02] [ 2.65201646e-01 9.63283171e-01 -4.18762316e-02 1.30381360e+02] [ 1.31765713e-01 6.81590087e-03 9.91257454e-01 1.41924513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.746875 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:270.32, Y:130.40, Z:141.93 [[ 9.53156170e-01 -2.75749033e-01 -1.24321301e-01 2.70316661e+02] [ 2.72352157e-01 9.61196682e-01 -4.38775683e-02 1.30398172e+02] [ 1.31596419e-01 7.96300042e-03 9.91271392e-01 1.41932466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.776875 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:270.34, Y:130.41, Z:141.94 [[ 9.52438325e-01 -2.79229765e-01 -1.22032683e-01 2.70344994e+02] [ 2.75980249e-01 9.60195931e-01 -4.31123713e-02 1.30410792e+02] [ 1.29213543e-01 7.38326452e-03 9.91589304e-01 1.41938326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.806875 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:270.37, Y:130.42, Z:141.94 [[ 9.52370827e-01 -2.80376834e-01 -1.19910961e-01 2.70373804e+02] [ 2.77249480e-01 9.59863782e-01 -4.23585288e-02 1.30420784e+02] [ 1.26974539e-01 7.09577539e-03 9.91880596e-01 1.41942933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.836875 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:270.40, Y:130.43, Z:141.95 [[ 9.52169845e-01 -2.82215360e-01 -1.17162605e-01 2.70402922e+02] [ 2.79245002e-01 9.59327785e-01 -4.13815107e-02 1.30432519e+02] [ 1.24075840e-01 6.68515483e-03 9.92250218e-01 1.41947985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.866875 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:270.43, Y:130.44, Z:141.95 [[ 9.52121007e-01 -2.82679954e-01 -1.16437240e-01 2.70431520e+02] [ 2.79750924e-01 9.59191750e-01 -4.11169866e-02 1.30443248e+02] [ 1.23308588e-01 6.57492114e-03 9.92346594e-01 1.41952168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.896875 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:270.46, Y:130.45, Z:141.96 [[ 9.52123069e-01 -2.82923622e-01 -1.15826961e-01 2.70461476e+02] [ 2.80028812e-01 9.59120447e-01 -4.08880539e-02 1.30453718e+02] [ 1.22660203e-01 6.49557317e-03 9.92427470e-01 1.41956660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.926875 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:270.49, Y:130.47, Z:141.96 [[ 9.52334478e-01 -2.82996314e-01 -1.13895249e-01 2.70491644e+02] [ 2.80199203e-01 9.59099853e-01 -4.01979958e-02 1.30465106e+02] [ 1.20612801e-01 6.36857942e-03 9.92679200e-01 1.41960257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.956875 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:270.53, Y:130.47, Z:141.96 [[ 9.54380686e-01 -2.78522399e-01 -1.07623318e-01 2.70530536e+02] [ 2.75386426e-01 9.60358857e-01 -4.32802744e-02 1.30474110e+02] [ 1.15411533e-01 1.16678572e-02 9.93249233e-01 1.41962523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.986875 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:270.55, Y:130.48, Z:141.97 [[ 9.51899947e-01 -2.83828380e-01 -1.15446708e-01 2.70550455e+02] [ 2.81954966e-01 9.58873882e-01 -3.25925605e-02 1.30482287e+02] [ 1.19949527e-01 -1.52591608e-03 9.92778819e-01 1.41966589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.016875 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:270.58, Y:130.50, Z:141.97 [[ 9.51848246e-01 -2.84447873e-01 -1.14343013e-01 2.70578686e+02] [ 2.81638341e-01 9.58671364e-01 -4.03616266e-02 1.30497460e+02] [ 1.21098151e-01 6.21476699e-03 9.92621083e-01 1.41973975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.046875 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:270.60, Y:130.51, Z:141.98 [[ 9.52206354e-01 -2.83095706e-01 -1.14716521e-01 2.70603722e+02] [ 2.79103041e-01 9.58967580e-01 -4.98264263e-02 1.30510539e+02] [ 1.24115072e-01 1.54273097e-02 9.92147896e-01 1.41981520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.076875 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:270.64, Y:130.51, Z:141.98 [[ 9.51690621e-01 -2.83349992e-01 -1.18312063e-01 2.70641200e+02] [ 2.81374754e-01 9.59015438e-01 -3.34310934e-02 1.30513453e+02] [ 1.22935795e-01 -1.47396970e-03 9.92413532e-01 1.41977536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1068750000001 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:270.67, Y:130.53, Z:141.98 [[ 9.51226341e-01 -2.84913333e-01 -1.18291337e-01 2.70670369e+02] [ 2.81916168e-01 9.58532468e-01 -4.16986952e-02 1.30527763e+02] [ 1.25266601e-01 6.31665688e-03 9.92103008e-01 1.41984252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.136875 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:270.70, Y:130.54, Z:141.99 [[ 9.50883847e-01 -2.85592664e-01 -1.19401590e-01 2.70700397e+02] [ 2.82545799e-01 9.58330569e-01 -4.20760224e-02 1.30538585e+02] [ 1.26442797e-01 6.27299230e-03 9.91954066e-01 1.41988773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.166875 meters Centerline goodness : 0.998297 Centerline is valid? [True, True] Translation: X:270.73, Y:130.55, Z:141.99 [[ 9.50510896e-01 -2.86631641e-01 -1.19880518e-01 2.70731500e+02] [ 2.83569844e-01 9.58021136e-01 -4.22332506e-02 1.30549414e+02] [ 1.26953456e-01 6.14866506e-03 9.91889618e-01 1.41992375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.196875 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:270.76, Y:130.56, Z:142.00 [[ 9.49121906e-01 -2.90460922e-01 -1.21655496e-01 2.70760756e+02] [ 2.87340407e-01 9.56869832e-01 -4.28440820e-02 1.30560764e+02] [ 1.28853006e-01 5.70771692e-03 9.91647278e-01 1.41996829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.226875 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:270.79, Y:130.57, Z:142.00 [[ 9.48363589e-01 -2.92748932e-01 -1.22084260e-01 2.70791445e+02] [ 2.89626650e-01 9.56174069e-01 -4.29831630e-02 1.30571627e+02] [ 1.29317079e-01 5.40481132e-03 9.91588564e-01 1.42001276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.256875 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:270.82, Y:130.58, Z:142.01 [[ 9.47561348e-01 -2.95086056e-01 -1.22685415e-01 2.70822073e+02] [ 2.91954098e-01 9.55457080e-01 -4.31807015e-02 1.30582869e+02] [ 1.29962671e-01 5.09785399e-03 9.91505782e-01 1.42005095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.286875 meters Centerline goodness : 0.998499 Centerline is valid? [True, True] Translation: X:270.85, Y:130.59, Z:142.01 [[ 9.46273564e-01 -2.99613021e-01 -1.21648594e-01 2.70853241e+02] [ 2.96572986e-01 9.54050554e-01 -4.28019064e-02 1.30594154e+02] [ 1.28882917e-01 4.42462566e-03 9.91649946e-01 1.42009378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.316875 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:270.88, Y:130.61, Z:142.01 [[ 9.45845180e-01 -3.00990825e-01 -1.21578860e-01 2.70883749e+02] [ 2.97967433e-01 9.53617694e-01 -4.27633298e-02 1.30605347e+02] [ 1.28811122e-01 4.22094848e-03 9.91660163e-01 1.42014603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.346875 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:270.91, Y:130.62, Z:142.02 [[ 9.45566983e-01 -3.02029201e-01 -1.21167005e-01 2.70913158e+02] [ 2.99036641e-01 9.53290062e-01 -4.26045168e-02 1.30616468e+02] [ 1.28375110e-01 4.05205015e-03 9.91717405e-01 1.42019267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.376875 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:270.94, Y:130.63, Z:142.03 [[ 9.45438334e-01 -3.03090025e-01 -1.19510639e-01 2.70942703e+02] [ 3.00188971e-01 9.52954180e-01 -4.20108676e-02 1.30629328e+02] [ 1.26621238e-01 3.84290891e-03 9.91943695e-01 1.42026428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.406875 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:270.97, Y:130.64, Z:142.03 [[ 9.45682303e-01 -3.02912925e-01 -1.18020092e-01 2.70972478e+02] [ 3.00084421e-01 9.53010642e-01 -4.14735747e-02 1.30641987e+02] [ 1.25037285e-01 3.80483480e-03 9.92144748e-01 1.42031743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.436875 meters Centerline goodness : 0.998494 Centerline is valid? [True, True] Translation: X:271.00, Y:130.65, Z:142.04 [[ 9.46285241e-01 -3.01789255e-01 -1.16049512e-01 2.71000911e+02] [ 2.99048043e-01 9.53366792e-01 -4.07679829e-02 1.30654650e+02] [ 1.22941090e-01 3.87376111e-03 9.92406410e-01 1.42037865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.466875 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:271.04, Y:130.68, Z:142.04 [[ 9.50904124e-01 -2.95939719e-01 -9.05595304e-02 2.71043735e+02] [ 2.90060039e-01 9.54246146e-01 -7.26599344e-02 1.30675242e+02] [ 1.07919043e-01 4.28249304e-02 9.93236883e-01 1.42041759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.496875 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:271.07, Y:130.66, Z:142.03 [[ 9.46400971e-01 -2.95672253e-01 -1.30012000e-01 2.71069353e+02] [ 2.98257724e-01 9.54485275e-01 4.35251276e-04 1.30656067e+02] [ 1.23965848e-01 -3.91890054e-02 9.91512325e-01 1.42027946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.526875 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:271.09, Y:130.68, Z:142.05 [[ 9.46501726e-01 -3.01383209e-01 -1.15337090e-01 2.71090064e+02] [ 2.98666676e-01 9.53494922e-01 -4.05666154e-02 1.30684637e+02] [ 1.22199427e-01 3.94902599e-03 9.92497710e-01 1.42050104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.556875 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:271.13, Y:130.70, Z:142.05 [[ 9.50675687e-01 -2.95964651e-01 -9.28475242e-02 2.71132180e+02] [ 2.90289605e-01 9.54381102e-01 -6.99189337e-02 1.30704927e+02] [ 1.09305455e-01 3.95175592e-02 9.93222372e-01 1.42052329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.586875 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:271.15, Y:130.69, Z:142.04 [[ 9.45506995e-01 -2.98251300e-01 -1.30624211e-01 2.71154833e+02] [ 3.00431552e-01 9.53798177e-01 -3.14958771e-03 1.30687963e+02] [ 1.25528503e-01 -3.62656771e-02 9.91426949e-01 1.42043743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.616875 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:271.18, Y:130.72, Z:142.07 [[ 9.45234150e-01 -3.03778193e-01 -1.19378442e-01 2.71175976e+02] [ 3.00881051e-01 9.52735178e-01 -4.20270691e-02 1.30718297e+02] [ 1.26502948e-01 3.80670998e-03 9.91958927e-01 1.42065221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.646875 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:271.21, Y:130.73, Z:142.07 [[ 9.44769403e-01 -3.04310872e-01 -1.21678544e-01 2.71206664e+02] [ 3.01306684e-01 9.52565216e-01 -4.28227996e-02 1.30727260e+02] [ 1.28938192e-01 3.79511213e-03 9.91645370e-01 1.42069419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.676875 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:271.24, Y:130.74, Z:142.07 [[ 9.44666648e-01 -3.04032396e-01 -1.23163415e-01 2.71238025e+02] [ 3.00953256e-01 9.52653835e-01 -4.33336784e-02 1.30737000e+02] [ 1.30506942e-01 3.86944991e-03 9.91439845e-01 1.42073296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.706875 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:271.27, Y:130.75, Z:142.08 [[ 9.44177473e-01 -3.04430101e-01 -1.25901606e-01 2.71269821e+02] [ 3.01217250e-01 9.52526748e-01 -4.42827656e-02 1.30745329e+02] [ 1.33405654e-01 3.88705419e-03 9.91053895e-01 1.42076538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.736875 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:271.30, Y:130.76, Z:142.08 [[ 9.44260253e-01 -3.03678781e-01 -1.27089624e-01 2.71300951e+02] [ 3.00399894e-01 9.52766003e-01 -4.46860933e-02 1.30756626e+02] [ 1.34656891e-01 4.01759217e-03 9.90884141e-01 1.42081121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.766875 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:271.33, Y:130.77, Z:142.09 [[ 9.44222382e-01 -3.03891562e-01 -1.26862175e-01 2.71332362e+02] [ 3.00628309e-01 9.52698372e-01 -4.45918468e-02 1.30767129e+02] [ 1.34412473e-01 3.96625885e-03 9.90917532e-01 1.42086038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.796875 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:271.36, Y:130.78, Z:142.09 [[ 9.44955932e-01 -3.01927623e-01 -1.26087255e-01 2.71361362e+02] [ 2.98688852e-01 9.53321574e-01 -4.43051454e-02 1.30778266e+02] [ 1.33578648e-01 4.20555242e-03 9.91029292e-01 1.42092102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.826875 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:271.40, Y:130.80, Z:142.09 [[ 9.49189538e-01 -2.96397170e-01 -1.05773054e-01 2.71400838e+02] [ 2.90248821e-01 9.54403353e-01 -6.97843941e-02 1.30797334e+02] [ 1.21634054e-01 3.55381125e-02 9.91938607e-01 1.42094419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8568750000001 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:271.43, Y:130.78, Z:142.09 [[ 9.45782912e-01 -2.95043903e-01 -1.35807875e-01 2.71426305e+02] [ 2.96371439e-01 9.55011642e-01 -1.08043759e-02 1.30784846e+02] [ 1.32885867e-01 -3.00309814e-02 9.90676277e-01 1.42087159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.886875 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:271.45, Y:130.81, Z:142.11 [[ 9.46110595e-01 -2.99846282e-01 -1.22339487e-01 2.71449619e+02] [ 2.96777340e-01 9.53977433e-01 -4.30147354e-02 1.30811464e+02] [ 1.29606918e-01 4.38910954e-03 9.91555739e-01 1.42107172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.916875 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:271.48, Y:130.82, Z:142.11 [[ 9.46321750e-01 -3.00411632e-01 -1.19281169e-01 2.71479266e+02] [ 2.97501068e-01 9.53800450e-01 -4.19263051e-02 1.30824838e+02] [ 1.26365582e-01 4.18949934e-03 9.91974893e-01 1.42113451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.946875 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:271.51, Y:130.84, Z:142.12 [[ 9.46192782e-01 -3.01070643e-01 -1.18641001e-01 2.71509044e+02] [ 2.98198230e-01 9.53593170e-01 -4.16879177e-02 1.30836942e+02] [ 1.25686256e-01 4.06627038e-03 9.92061707e-01 1.42117827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.976875 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:271.54, Y:130.85, Z:142.12 [[ 9.46216611e-01 -3.00992895e-01 -1.18648226e-01 2.71539666e+02] [ 2.98122450e-01 9.53617763e-01 -4.16673445e-02 1.30847613e+02] [ 1.25686630e-01 4.05463373e-03 9.92061707e-01 1.42122077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.006875 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:271.57, Y:130.86, Z:142.13 [[ 9.45750501e-01 -3.02977082e-01 -1.17306764e-01 2.71570924e+02] [ 3.00187940e-01 9.52990513e-01 -4.11859500e-02 1.30857950e+02] [ 1.24270632e-01 3.73755696e-03 9.92241322e-01 1.42125628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.036875 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:271.60, Y:130.87, Z:142.13 [[ 9.45333072e-01 -3.04726416e-01 -1.16134378e-01 2.71601798e+02] [ 3.02007715e-01 9.52433642e-01 -4.07614734e-02 1.30867802e+02] [ 1.23031386e-01 3.45969078e-03 9.92396750e-01 1.42130105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.066875 meters Centerline goodness : 0.998593 Centerline is valid? [True, True] Translation: X:271.63, Y:130.88, Z:142.13 [[ 9.44702740e-01 -3.07536652e-01 -1.13832949e-01 2.71632111e+02] [ 3.04946773e-01 9.51531441e-01 -3.99422317e-02 1.30877862e+02] [ 1.20599330e-01 3.02054533e-03 9.92696670e-01 1.42132849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.096875 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:271.66, Y:130.89, Z:142.14 [[ 9.44621226e-01 -3.07801412e-01 -1.13793802e-01 2.71662668e+02] [ 3.05219432e-01 9.51446043e-01 -3.98939311e-02 1.30890336e+02] [ 1.20548071e-01 2.95257459e-03 9.92703100e-01 1.42138040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.126875 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:271.69, Y:130.90, Z:142.14 [[ 9.44470139e-01 -3.09305947e-01 -1.10932358e-01 2.71692343e+02] [ 3.06864247e-01 9.50958804e-01 -3.88804143e-02 1.30901572e+02] [ 1.17518046e-01 2.68021582e-03 9.93067130e-01 1.42142654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.156875 meters Centerline goodness : 0.998140 Centerline is valid? [True, True] Translation: X:271.72, Y:130.91, Z:142.15 [[ 9.44439205e-01 -3.09786131e-01 -1.09850538e-01 2.71723641e+02] [ 3.07398797e-01 9.50802804e-01 -3.84708754e-02 1.30912825e+02] [ 1.16363943e-01 2.56547984e-03 9.93203328e-01 1.42146268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.186875 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:271.75, Y:130.92, Z:142.15 [[ 9.44090661e-01 -3.10877919e-01 -1.09762208e-01 2.71753945e+02] [ 3.08505821e-01 9.50446831e-01 -3.84054607e-02 1.30922649e+02] [ 1.16262552e-01 2.39595667e-03 9.93215625e-01 1.42151671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.216875 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:271.79, Y:130.93, Z:142.15 [[ 9.43655584e-01 -3.11177938e-01 -1.12616298e-01 2.71786045e+02] [ 3.08686509e-01 9.50348664e-01 -3.93707608e-02 1.30932298e+02] [ 1.19276061e-01 2.38930625e-03 9.92858254e-01 1.42154508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.246875 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:271.82, Y:130.94, Z:142.16 [[ 9.43521491e-01 -3.11065466e-01 -1.14041534e-01 2.71817318e+02] [ 3.08513832e-01 9.50385456e-01 -3.98334210e-02 1.30941776e+02] [ 1.20774217e-01 2.40029824e-03 9.92677101e-01 1.42157447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.276875 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:271.85, Y:130.95, Z:142.16 [[ 9.43756752e-01 -3.09753303e-01 -1.15655026e-01 2.71848207e+02] [ 3.07123367e-01 9.50813487e-01 -4.03602628e-02 1.30951479e+02] [ 1.22468084e-01 2.56990942e-03 9.92469125e-01 1.42159373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.306875 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:271.88, Y:130.96, Z:142.16 [[ 9.43792805e-01 -3.09639419e-01 -1.15665775e-01 2.71879662e+02] [ 3.07012407e-01 9.50850629e-01 -4.03294352e-02 1.30962327e+02] [ 1.22468458e-01 2.55180278e-03 9.92469126e-01 1.42163729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.336875 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:271.91, Y:130.97, Z:142.17 [[ 9.44848167e-01 -3.06398171e-01 -1.15681032e-01 2.71911310e+02] [ 3.03748142e-01 9.51898845e-01 -4.03194066e-02 1.30971619e+02] [ 1.22470434e-01 2.95781884e-03 9.92467755e-01 1.42168195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.366875 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:271.95, Y:130.99, Z:142.17 [[ 9.48861082e-01 -2.99827795e-01 -9.88227702e-02 2.71954342e+02] [ 2.94686945e-01 9.53488370e-01 -6.33997796e-02 1.30987777e+02] [ 1.13235378e-01 3.10358032e-02 9.93083344e-01 1.42171436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.396875 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:271.98, Y:130.98, Z:142.16 [[ 9.45814053e-01 -2.98872214e-01 -1.26929814e-01 2.71976465e+02] [ 3.00003907e-01 9.53879539e-01 -1.05584208e-02 1.30977700e+02] [ 1.24231371e-01 -2.80931374e-02 9.91855505e-01 1.42164301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.426875 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:272.00, Y:131.00, Z:142.18 [[ 9.46857842e-01 -2.99819721e-01 -1.16483312e-01 2.72001256e+02] [ 2.97078230e-01 9.53988015e-01 -4.06373172e-02 1.31001211e+02] [ 1.23307553e-01 3.87310634e-03 9.92360946e-01 1.42182565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.456875 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:272.05, Y:131.01, Z:142.19 [[ 9.51005082e-01 -2.91048968e-01 -1.04306430e-01 2.72047258e+02] [ 2.86845172e-01 9.56476568e-01 -5.35949849e-02 1.31012964e+02] [ 1.15365421e-01 2.10493072e-02 9.93100069e-01 1.42185579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.486875 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:272.06, Y:131.01, Z:142.18 [[ 9.47768341e-01 -2.94576954e-01 -1.22309399e-01 2.72063287e+02] [ 2.94340293e-01 9.55482644e-01 -2.04134352e-02 1.31014446e+02] [ 1.22877836e-01 -1.66533769e-02 9.92282068e-01 1.42183445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.516875 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:272.09, Y:131.03, Z:142.20 [[ 9.48316409e-01 -2.95923645e-01 -1.14565199e-01 2.72090278e+02] [ 2.93238316e-01 9.55201694e-01 -4.00126764e-02 1.31034343e+02] [ 1.21273569e-01 4.34977174e-03 9.92609591e-01 1.42197012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.546875 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:272.12, Y:131.04, Z:142.20 [[ 9.48440223e-01 -2.95639873e-01 -1.14272520e-01 2.72120795e+02] [ 2.92970721e-01 9.55289608e-01 -3.98738199e-02 1.31044396e+02] [ 1.20951642e-01 4.33943215e-03 9.92648916e-01 1.42201655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.576875 meters Centerline goodness : 0.998599 Centerline is valid? [True, True] Translation: X:272.15, Y:131.05, Z:142.21 [[ 9.48350392e-01 -2.95986003e-01 -1.14121955e-01 2.72150926e+02] [ 2.93328989e-01 9.55182737e-01 -3.98000375e-02 1.31054978e+02] [ 1.20787576e-01 4.26910335e-03 9.92669198e-01 1.42205529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6068750000001 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:272.18, Y:131.07, Z:142.21 [[ 9.47748339e-01 -2.98011506e-01 -1.13851781e-01 2.72181741e+02] [ 2.95385550e-01 9.54554020e-01 -3.96736623e-02 1.31065651e+02] [ 1.20500883e-01 3.97047672e-03 9.92705280e-01 1.42210206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.636875 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:272.21, Y:131.08, Z:142.21 [[ 9.47137996e-01 -3.00026781e-01 -1.13637789e-01 2.72211698e+02] [ 2.97429459e-01 9.53923708e-01 -3.95635737e-02 1.31076673e+02] [ 1.20271913e-01 3.67293777e-03 9.92734192e-01 1.42214232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.666875 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:272.24, Y:131.09, Z:142.22 [[ 9.46368437e-01 -3.02459038e-01 -1.13601551e-01 2.72242283e+02] [ 2.99885011e-01 9.53156569e-01 -3.95162702e-02 1.31087397e+02] [ 1.20232117e-01 3.32954858e-03 9.92740224e-01 1.42218696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.696875 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:272.27, Y:131.10, Z:142.22 [[ 9.44181176e-01 -3.08933632e-01 -1.14376214e-01 2.72272759e+02] [ 3.06373027e-01 9.51080284e-01 -3.97726183e-02 1.31098130e+02] [ 1.21068061e-01 2.51077071e-03 9.92641033e-01 1.42222817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.726875 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:272.30, Y:131.11, Z:142.23 [[ 9.43433141e-01 -3.11120347e-01 -1.14621277e-01 2.72304008e+02] [ 3.08566361e-01 9.50367923e-01 -3.98448487e-02 1.31108313e+02] [ 1.21328928e-01 2.22268055e-03 9.92609868e-01 1.42227150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.756875 meters Centerline goodness : 0.998455 Centerline is valid? [True, True] Translation: X:272.33, Y:131.12, Z:142.23 [[ 9.41789572e-01 -3.16148346e-01 -1.14379305e-01 2.72334129e+02] [ 3.13643476e-01 9.48708484e-01 -3.97490061e-02 1.31118203e+02] [ 1.21079200e-01 1.56087658e-03 9.92641623e-01 1.42229860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.786875 meters Centerline goodness : 0.998456 Centerline is valid? [True, True] Translation: X:272.36, Y:131.13, Z:142.23 [[ 9.41479233e-01 -3.16925449e-01 -1.14782898e-01 2.72364545e+02] [ 3.14412793e-01 9.48449369e-01 -3.98546028e-02 1.31129842e+02] [ 1.21496705e-01 1.43306922e-03 9.92590800e-01 1.42234461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.816875 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:272.40, Y:131.14, Z:142.24 [[ 9.41478999e-01 -3.17279200e-01 -1.13803356e-01 2.72395628e+02] [ 3.14813550e-01 9.48331193e-01 -3.95016189e-02 1.31140368e+02] [ 1.20456315e-01 1.36310599e-03 9.92717693e-01 1.42239317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.846875 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:272.43, Y:131.15, Z:142.24 [[ 9.41657337e-01 -3.16992408e-01 -1.13125033e-01 2.72426954e+02] [ 3.14555397e-01 9.48427069e-01 -3.92555286e-02 1.31151319e+02] [ 1.19734548e-01 1.38116701e-03 9.92804981e-01 1.42244122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.876875 meters Centerline goodness : 0.998564 Centerline is valid? [True, True] Translation: X:272.46, Y:131.16, Z:142.25 [[ 9.42740041e-01 -3.14356245e-01 -1.11451181e-01 2.72456635e+02] [ 3.11976954e-01 9.49303643e-01 -3.86390039e-02 1.31161511e+02] [ 1.17947424e-01 1.65633615e-03 9.93018460e-01 1.42248993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.906875 meters Centerline goodness : 0.998543 Centerline is valid? [True, True] Translation: X:272.49, Y:131.17, Z:142.25 [[ 9.43356697e-01 -3.12582381e-01 -1.11222284e-01 2.72486934e+02] [ 3.10203301e-01 9.49888848e-01 -3.85368542e-02 1.31171790e+02] [ 1.17694749e-01 1.85247996e-03 9.93048093e-01 1.42254050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.936875 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:272.52, Y:131.18, Z:142.26 [[ 9.44029114e-01 -3.10549801e-01 -1.11210852e-01 2.72517655e+02] [ 3.08158336e-01 9.50554800e-01 -3.85228865e-02 1.31182258e+02] [ 1.17675284e-01 2.09617530e-03 9.93049915e-01 1.42259096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.966875 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:272.55, Y:131.19, Z:142.26 [[ 9.45907768e-01 -3.05023499e-01 -1.10540303e-01 2.72548721e+02] [ 3.02624419e-01 9.52340832e-01 -3.82805589e-02 1.31191825e+02] [ 1.16948515e-01 2.75768304e-03 9.93134150e-01 1.42263458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.996875 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:272.58, Y:131.20, Z:142.27 [[ 9.46940187e-01 -3.01877778e-01 -1.10336255e-01 2.72578992e+02] [ 2.99470250e-01 9.53341569e-01 -3.81762073e-02 1.31202041e+02] [ 1.16712687e-01 3.10815892e-03 9.93160857e-01 1.42268052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.026875 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:272.61, Y:131.21, Z:142.27 [[ 9.48285033e-01 -2.97258016e-01 -1.11324610e-01 2.72610097e+02] [ 2.94779256e-01 9.54790105e-01 -3.84843525e-02 1.31212914e+02] [ 1.17731419e-01 3.67794957e-03 9.93038663e-01 1.42271012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.056875 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:272.64, Y:131.22, Z:142.27 [[ 9.48861086e-01 -2.95116754e-01 -1.12110399e-01 2.72642919e+02] [ 2.92589370e-01 9.55452993e-01 -3.87432333e-02 1.31219075e+02] [ 1.18549994e-01 3.95963543e-03 9.92940190e-01 1.42273384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.086875 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:272.67, Y:131.23, Z:142.28 [[ 9.49178213e-01 -2.93932529e-01 -1.12536166e-01 2.72673298e+02] [ 2.91378968e-01 9.55817326e-01 -3.88784860e-02 1.31228304e+02] [ 1.18991669e-01 4.11193983e-03 9.92886738e-01 1.42275731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.116875 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:272.70, Y:131.24, Z:142.28 [[ 9.48673301e-01 -2.95362542e-01 -1.13048381e-01 2.72704180e+02] [ 2.92798304e-01 9.55377164e-01 -3.90336771e-02 1.31238089e+02] [ 1.19532927e-01 3.92983312e-03 9.92822459e-01 1.42280400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.146875 meters Centerline goodness : 0.998545 Centerline is valid? [True, True] Translation: X:272.73, Y:131.25, Z:142.29 [[ 9.47622568e-01 -2.98125350e-01 -1.14598191e-01 2.72733996e+02] [ 2.95511740e-01 9.54519870e-01 -3.95553879e-02 1.31248363e+02] [ 1.21178714e-01 3.61846752e-03 9.92624111e-01 1.42285480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.176875 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:272.77, Y:131.26, Z:142.29 [[ 9.47213281e-01 -2.99292874e-01 -1.14938141e-01 2.72765547e+02] [ 2.96673534e-01 9.54154987e-01 -3.96620092e-02 1.31258541e+02] [ 1.21539357e-01 3.46927747e-03 9.92580550e-01 1.42290707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.206875 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:272.80, Y:131.27, Z:142.29 [[ 9.46738495e-01 -3.00389303e-01 -1.15984865e-01 2.72795541e+02] [ 2.97731652e-01 9.53810813e-01 -4.00099616e-02 1.31268659e+02] [ 1.22646183e-01 3.34660528e-03 9.92444817e-01 1.42294610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.236875 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:272.83, Y:131.28, Z:142.30 [[ 9.45880860e-01 -3.02605782e-01 -1.17214072e-01 2.72826976e+02] [ 2.99909533e-01 9.53110824e-01 -4.04231263e-02 1.31277235e+02] [ 1.23950273e-01 3.08184385e-03 9.92283645e-01 1.42298163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.266875 meters Centerline goodness : 0.998555 Centerline is valid? [True, True] Translation: X:272.86, Y:131.29, Z:142.30 [[ 9.45371051e-01 -3.04078132e-01 -1.17516235e-01 2.72858104e+02] [ 3.01380882e-01 9.52642732e-01 -4.05140716e-02 1.31286266e+02] [ 1.24270430e-01 2.88368387e-03 9.92244196e-01 1.42301224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.296875 meters Centerline goodness : 0.998466 Centerline is valid? [True, True] Translation: X:272.89, Y:131.30, Z:142.30 [[ 9.44718746e-01 -3.06338729e-01 -1.16889152e-01 2.72890044e+02] [ 3.03688852e-01 9.51919124e-01 -4.02872557e-02 1.31295067e+02] [ 1.23610566e-01 2.56219322e-03 9.92327498e-01 1.42304249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.326875 meters Centerline goodness : 0.998292 Centerline is valid? [True, True] Translation: X:272.92, Y:131.30, Z:142.31 [[ 9.43801265e-01 -3.08968345e-01 -1.17378591e-01 2.72920826e+02] [ 3.06318038e-01 9.51069744e-01 -4.04425767e-02 1.31304888e+02] [ 1.24130703e-01 2.21457529e-03 9.92263405e-01 1.42308885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3568750000001 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:272.95, Y:131.31, Z:142.31 [[ 9.43512204e-01 -3.10159278e-01 -1.16558753e-01 2.72951463e+02] [ 3.07556754e-01 9.50682439e-01 -4.01465182e-02 1.31314571e+02] [ 1.23262175e-01 2.03029806e-03 9.92372064e-01 1.42312054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.386875 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:272.98, Y:131.32, Z:142.32 [[ 9.43707662e-01 -3.09826131e-01 -1.15860335e-01 2.72982452e+02] [ 3.07253681e-01 9.50791020e-01 -3.98950118e-02 1.31324370e+02] [ 1.22519483e-01 2.05071388e-03 9.92463990e-01 1.42316712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.416875 meters Centerline goodness : 0.998033 Centerline is valid? [True, True] Translation: X:273.01, Y:131.34, Z:142.32 [[ 9.44381411e-01 -3.07582425e-01 -1.16347767e-01 2.73011370e+02] [ 3.04972888e-01 9.51518566e-01 -4.00494285e-02 1.31336224e+02] [ 1.23025561e-01 2.33902131e-03 9.92400746e-01 1.42321450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.446875 meters Centerline goodness : 0.998157 Centerline is valid? [True, True] Translation: X:273.04, Y:131.35, Z:142.33 [[ 9.46694966e-01 -3.01198864e-01 -1.14227344e-01 2.73041244e+02] [ 2.98638852e-01 9.53556306e-01 -3.93091391e-02 1.31350699e+02] [ 1.20762072e-01 3.10104129e-03 9.92676637e-01 1.42325477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.476875 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:273.10, Y:131.34, Z:142.33 [[ 9.50912046e-01 -2.87101728e-01 -1.15494065e-01 2.73095609e+02] [ 2.85977425e-01 9.57868484e-01 -2.65495818e-02 1.31344198e+02] [ 1.18250556e-01 -7.78237832e-03 9.92953292e-01 1.42326991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.506875 meters Centerline goodness : 0.998264 Centerline is valid? [True, True] Translation: X:273.09, Y:131.37, Z:142.34 [[ 9.48378680e-01 -2.97555976e-01 -1.09719283e-01 2.73090298e+02] [ 2.94436983e-01 9.54657971e-01 -4.39888697e-02 1.31374492e+02] [ 1.17833540e-01 9.41269129e-03 9.92988750e-01 1.42335491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.536875 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:273.15, Y:131.37, Z:142.33 [[ 9.52573124e-01 -2.83965045e-01 -1.09399715e-01 2.73147116e+02] [ 2.82154913e-01 9.58834561e-01 -3.20139062e-02 1.31367845e+02] [ 1.13987058e-01 -3.72080421e-04 9.93482165e-01 1.42332601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.566875 meters Centerline goodness : 0.997832 Centerline is valid? [True, True] Translation: X:273.14, Y:131.39, Z:142.34 [[ 9.48880644e-01 -2.95096613e-01 -1.11997825e-01 2.73144068e+02] [ 2.92758828e-01 9.55464238e-01 -3.71531752e-02 1.31391841e+02] [ 1.17973693e-01 2.46557684e-03 9.93013660e-01 1.42336205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.596875 meters Centerline goodness : 0.998124 Centerline is valid? [True, True] Translation: X:273.17, Y:131.40, Z:142.34 [[ 9.48726690e-01 -2.95644955e-01 -1.11855838e-01 2.73174937e+02] [ 2.93124433e-01 9.55289718e-01 -3.87249564e-02 1.31402815e+02] [ 1.18303570e-01 3.95172069e-03 9.92969611e-01 1.42340514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.626875 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:273.23, Y:131.40, Z:142.34 [[ 9.51417221e-01 -2.86029169e-01 -1.13985024e-01 2.73227925e+02] [ 2.84339475e-01 9.58216942e-01 -3.11665676e-02 1.31398577e+02] [ 1.18136929e-01 -2.75803277e-03 9.92993484e-01 1.42342204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.656875 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:273.26, Y:131.41, Z:142.35 [[ 9.50852101e-01 -2.88565398e-01 -1.12295558e-01 2.73259029e+02] [ 2.86553693e-01 9.57460174e-01 -3.40146638e-02 1.31411131e+02] [ 1.17333980e-01 1.64207606e-04 9.93092498e-01 1.42345978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.686875 meters Centerline goodness : 0.998124 Centerline is valid? [True, True] Translation: X:273.29, Y:131.42, Z:142.35 [[ 9.50431341e-01 -2.88711330e-01 -1.15438441e-01 2.73285268e+02] [ 2.86821337e-01 9.57414647e-01 -3.30259792e-02 1.31422303e+02] [ 1.20057429e-01 -1.72128234e-03 9.92765456e-01 1.42350569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.716875 meters Centerline goodness : 0.998106 Centerline is valid? [True, True] Translation: X:273.28, Y:131.45, Z:142.36 [[ 9.47476248e-01 -2.97942428e-01 -1.16271531e-01 2.73284776e+02] [ 2.95091176e-01 9.54571117e-01 -4.14147450e-02 1.31445166e+02] [ 1.23328654e-01 4.92878455e-03 9.92353642e-01 1.42355221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.746875 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:273.34, Y:131.45, Z:142.36 [[ 9.51290487e-01 -2.89149445e-01 -1.06953296e-01 2.73341212e+02] [ 2.84228471e-01 9.56937292e-01 -5.90355480e-02 1.31452525e+02] [ 1.19417693e-01 2.57607835e-02 9.92509847e-01 1.42359610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.776875 meters Centerline goodness : 0.998601 Centerline is valid? [True, True] Translation: X:273.38, Y:131.45, Z:142.35 [[ 9.51738616e-01 -2.84048545e-01 -1.16232660e-01 2.73377868e+02] [ 2.82182989e-01 9.58808177e-01 -3.25521329e-02 1.31449517e+02] [ 1.20691211e-01 -1.81775739e-03 9.92688434e-01 1.42350505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.806875 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:273.40, Y:131.45, Z:142.35 [[ 9.52923218e-01 -2.77030943e-01 -1.23252576e-01 2.73397768e+02] [ 2.77717044e-01 9.60588897e-01 -1.19253445e-02 1.31448553e+02] [ 1.21698745e-01 -2.28654033e-02 9.92303678e-01 1.42351796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.836875 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:273.43, Y:131.48, Z:142.37 [[ 9.53484764e-01 -2.80539653e-01 -1.10291921e-01 2.73428312e+02] [ 2.77002926e-01 9.59743498e-01 -4.64951399e-02 1.31477253e+02] [ 1.18895684e-01 1.37812228e-02 9.92811107e-01 1.42366622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.866875 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:273.45, Y:131.47, Z:142.36 [[ 9.54391126e-01 -2.73651773e-01 -1.19382936e-01 2.73453839e+02] [ 2.73516030e-01 9.61701931e-01 -1.78431370e-02 1.31473456e+02] [ 1.19693606e-01 -1.56238151e-02 9.92687935e-01 1.42363071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.896875 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:273.48, Y:131.49, Z:142.37 [[ 9.54242894e-01 -2.76596915e-01 -1.13642623e-01 2.73479316e+02] [ 2.74468323e-01 9.60984822e-01 -3.42828315e-02 1.31492109e+02] [ 1.18691361e-01 1.52284818e-03 9.92930029e-01 1.42373900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.926875 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:273.50, Y:131.50, Z:142.38 [[ 9.55397204e-01 -2.72981096e-01 -1.12683199e-01 2.73504813e+02] [ 2.70730005e-01 9.62014581e-01 -3.51170867e-02 1.31503568e+02] [ 1.17989182e-01 3.04404337e-03 9.93010215e-01 1.42378556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.956875 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:273.53, Y:131.51, Z:142.38 [[ 9.54485830e-01 -2.73643535e-01 -1.18642386e-01 2.73532776e+02] [ 2.72546624e-01 9.61799456e-01 -2.56932821e-02 1.31512115e+02] [ 1.21140983e-01 -7.81170811e-03 9.92604574e-01 1.42384108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.986875 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:273.56, Y:131.53, Z:142.39 [[ 9.55266123e-01 -2.74424905e-01 -1.10261530e-01 2.73559220e+02] [ 2.71370881e-01 9.61553352e-01 -4.21069643e-02 1.31530885e+02] [ 1.17577543e-01 1.03015881e-02 9.93010271e-01 1.42392787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.016875 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:273.59, Y:131.54, Z:142.39 [[ 9.54856196e-01 -2.74799607e-01 -1.12848666e-01 2.73590216e+02] [ 2.72665352e-01 9.61499603e-01 -3.42362219e-02 1.31539240e+02] [ 1.17912047e-01 1.92074748e-03 9.93022185e-01 1.42394344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.046875 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:273.62, Y:131.55, Z:142.40 [[ 9.52730562e-01 -2.79839285e-01 -1.18298141e-01 2.73618133e+02] [ 2.78445992e-01 9.60029343e-01 -2.84866528e-02 1.31548647e+02] [ 1.21541371e-01 -5.79953840e-03 9.92569424e-01 1.42398487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.076875 meters Centerline goodness : 0.998596 Centerline is valid? [True, True] Translation: X:273.64, Y:131.57, Z:142.41 [[ 9.51766946e-01 -2.85053736e-01 -1.13507924e-01 2.73642320e+02] [ 2.82156528e-01 9.58484858e-01 -4.11639353e-02 1.31565573e+02] [ 1.20529560e-01 7.15147125e-03 9.92683979e-01 1.42406299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1068750000001 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:273.65, Y:131.59, Z:142.41 [[ 9.48975843e-01 -2.93832228e-01 -1.14487866e-01 2.73653825e+02] [ 2.90888401e-01 9.55834516e-01 -4.20037588e-02 1.31585068e+02] [ 1.21773512e-01 6.55736026e-03 9.92536253e-01 1.42409514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.136875 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:273.70, Y:131.59, Z:142.41 [[ 9.49655995e-01 -2.91796660e-01 -1.14053500e-01 2.73701016e+02] [ 2.89981096e-01 9.56477976e-01 -3.25706072e-02 1.31587341e+02] [ 1.18593655e-01 -2.14248660e-03 9.92940560e-01 1.42411920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.166875 meters Centerline goodness : 0.998389 Centerline is valid? [True, True] Translation: X:273.71, Y:131.61, Z:142.42 [[ 9.47044136e-01 -3.01543684e-01 -1.10357649e-01 2.73709197e+02] [ 2.98639063e-01 9.53425460e-01 -4.23627349e-02 1.31609701e+02] [ 1.17992008e-01 7.16227467e-03 9.92988715e-01 1.42419210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.196875 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:273.76, Y:131.61, Z:142.42 [[ 9.48634385e-01 -2.97633968e-01 -1.07269870e-01 2.73757198e+02] [ 2.95240341e-01 9.54670389e-01 -3.79155537e-02 1.31610635e+02] [ 1.13692325e-01 4.29760505e-03 9.93506712e-01 1.42420290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.226875 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:273.79, Y:131.62, Z:142.42 [[ 9.48385618e-01 -2.99810602e-01 -1.03335971e-01 2.73787332e+02] [ 2.97063385e-01 9.53960395e-01 -4.13873151e-02 1.31622358e+02] [ 1.10986779e-01 8.55380126e-03 9.93785071e-01 1.42421825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.256875 meters Centerline goodness : 0.998456 Centerline is valid? [True, True] Translation: X:273.80, Y:131.63, Z:142.42 [[ 9.45694727e-01 -3.04462657e-01 -1.13859447e-01 2.73801113e+02] [ 3.03476844e-01 9.52475251e-01 -2.63192438e-02 1.31632533e+02] [ 1.16461532e-01 -9.66373539e-03 9.93148188e-01 1.42424774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.286875 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:273.83, Y:131.65, Z:142.44 [[ 9.46738318e-01 -3.03268987e-01 -1.08233445e-01 2.73828749e+02] [ 3.00844566e-01 9.52897198e-01 -3.84639838e-02 1.31649693e+02] [ 1.14800280e-01 3.85388351e-03 9.93381117e-01 1.42435387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.316875 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:273.86, Y:131.66, Z:142.44 [[ 9.47301605e-01 -3.01318729e-01 -1.08750597e-01 2.73858891e+02] [ 2.98859360e-01 9.53514662e-01 -3.86377090e-02 1.31660335e+02] [ 1.15337554e-01 4.10042988e-03 9.93317892e-01 1.42439860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.346875 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:273.90, Y:131.67, Z:142.44 [[ 9.50081986e-01 -2.93813361e-01 -1.04966319e-01 2.73903821e+02] [ 2.91127404e-01 9.55830758e-01 -4.04029165e-02 1.31665929e+02] [ 1.12200953e-01 7.82751107e-03 9.93654707e-01 1.42441753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.376875 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:273.92, Y:131.68, Z:142.44 [[ 9.48030011e-01 -2.97397363e-01 -1.13110153e-01 2.73919568e+02] [ 2.95517948e-01 9.54752216e-01 -3.34267758e-02 1.31677182e+02] [ 1.17933204e-01 -1.73649362e-03 9.93020012e-01 1.42444396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.406875 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:273.96, Y:131.69, Z:142.45 [[ 9.51343739e-01 -2.87546794e-01 -1.10733607e-01 2.73960506e+02] [ 2.84528228e-01 9.57724969e-01 -4.25037716e-02 1.31685629e+02] [ 1.18274163e-01 8.92886008e-03 9.92940833e-01 1.42449647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.436875 meters Centerline goodness : 0.998646 Centerline is valid? [True, True] Translation: X:273.98, Y:131.70, Z:142.45 [[ 9.50416427e-01 -2.88133676e-01 -1.16994015e-01 2.73978351e+02] [ 2.85973897e-01 9.57590197e-01 -3.52128612e-02 1.31697854e+02] [ 1.22178333e-01 9.64732585e-06 9.92508164e-01 1.42452379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.466875 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:274.02, Y:131.71, Z:142.46 [[ 9.54160673e-01 -2.80414457e-01 -1.04619031e-01 2.74020074e+02] [ 2.76273819e-01 9.59645815e-01 -5.24660495e-02 1.31709588e+02] [ 1.15109454e-01 2.11575420e-02 9.93127470e-01 1.42457959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.496875 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:274.04, Y:131.71, Z:142.46 [[ 9.53269065e-01 -2.76244906e-01 -1.22339044e-01 2.74036913e+02] [ 2.75416128e-01 9.61026132e-01 -2.39735298e-02 1.31712972e+02] [ 1.24193584e-01 -1.08409215e-02 9.92198785e-01 1.42457946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.526875 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:274.08, Y:131.73, Z:142.47 [[ 9.57123136e-01 -2.68720923e-01 -1.08186727e-01 2.74076849e+02] [ 2.64676331e-01 9.63018072e-01 -5.04245289e-02 1.31729415e+02] [ 1.17735899e-01 1.96280172e-02 9.92850945e-01 1.42467186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.556875 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:274.11, Y:131.73, Z:142.46 [[ 9.57492574e-01 -2.62558660e-01 -1.19460961e-01 2.74107454e+02] [ 2.60940844e-01 9.64910907e-01 -2.92714437e-02 1.31728772e+02] [ 1.22954655e-01 -3.14505397e-03 9.92407306e-01 1.42464591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.586875 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:274.12, Y:131.75, Z:142.47 [[ 9.55380470e-01 -2.70293357e-01 -1.19120350e-01 2.74119812e+02] [ 2.67832274e-01 9.62773400e-01 -3.65137481e-02 1.31746757e+02] [ 1.24555328e-01 2.98024758e-03 9.92208188e-01 1.42474310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.616875 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:274.15, Y:131.76, Z:142.48 [[ 9.54984264e-01 -2.72812049e-01 -1.16527424e-01 2.74149331e+02] [ 2.69773751e-01 9.62033225e-01 -4.14028579e-02 1.31758574e+02] [ 1.23398452e-01 8.10303745e-03 9.92324122e-01 1.42482081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.646875 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:274.18, Y:131.77, Z:142.49 [[ 9.53903680e-01 -2.75859421e-01 -1.18192000e-01 2.74178979e+02] [ 2.72757499e-01 9.61166241e-01 -4.19857550e-02 1.31772801e+02] [ 1.25184327e-01 7.81261182e-03 9.92102740e-01 1.42488459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.676875 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:274.21, Y:131.79, Z:142.49 [[ 9.53681631e-01 -2.75990527e-01 -1.19668610e-01 2.74209562e+02] [ 2.72812923e-01 9.61128041e-01 -4.24970386e-02 1.31785395e+02] [ 1.26745636e-01 7.88150188e-03 9.91903940e-01 1.42493444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.706875 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:274.24, Y:131.80, Z:142.50 [[ 9.53302622e-01 -2.77066093e-01 -1.20201873e-01 2.74239746e+02] [ 2.73870194e-01 9.60819524e-01 -4.26726945e-02 1.31796241e+02] [ 1.27315463e-01 7.76028121e-03 9.91831917e-01 1.42496271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.736875 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:274.27, Y:131.80, Z:142.50 [[ 9.52637080e-01 -2.79728971e-01 -1.19307570e-01 2.74272074e+02] [ 2.76602804e-01 9.60050967e-01 -4.23441831e-02 1.31804458e+02] [ 1.26386243e-01 7.33783057e-03 9.91953968e-01 1.42499772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.766875 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:274.31, Y:131.81, Z:142.50 [[ 9.52416265e-01 -2.80177816e-01 -1.20015207e-01 2.74311746e+02] [ 2.77027609e-01 9.59920756e-01 -4.25187747e-02 1.31810162e+02] [ 1.27117906e-01 7.24804671e-03 9.91861131e-01 1.42502063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.796875 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:274.34, Y:131.82, Z:142.51 [[ 9.52247936e-01 -2.81693628e-01 -1.17781866e-01 2.74342486e+02] [ 2.78203342e-01 9.59446961e-01 -4.54360011e-02 1.31821455e+02] [ 1.25804485e-01 1.04990297e-02 9.91999497e-01 1.42505313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.826875 meters Centerline goodness : 0.998198 Centerline is valid? [True, True] Translation: X:274.36, Y:131.83, Z:142.51 [[ 9.49708014e-01 -2.87042312e-01 -1.25145512e-01 2.74361400e+02] [ 2.84921003e-01 9.57914665e-01 -3.49215912e-02 1.31833087e+02] [ 1.29902696e-01 -2.49126988e-03 9.91523617e-01 1.42509495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8568750000001 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:274.40, Y:131.84, Z:142.52 [[ 9.50301398e-01 -2.86766378e-01 -1.21211784e-01 2.74396917e+02] [ 2.83807361e-01 9.57987880e-01 -4.13836154e-02 1.31844841e+02] [ 1.27986850e-01 4.92611093e-03 9.91763631e-01 1.42519183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.886875 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:274.42, Y:131.86, Z:142.52 [[ 9.48841770e-01 -2.91646548e-01 -1.21002428e-01 2.74418303e+02] [ 2.88563690e-01 9.56510013e-01 -4.26566728e-02 1.31859382e+02] [ 1.28180705e-01 5.55752586e-03 9.91735257e-01 1.42523959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.916875 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:274.45, Y:131.87, Z:142.53 [[ 9.48854444e-01 -2.91639251e-01 -1.20920595e-01 2.74450386e+02] [ 2.88518341e-01 9.56510374e-01 -4.29542957e-02 1.31868845e+02] [ 1.28188962e-01 5.86956480e-03 9.91732392e-01 1.42526857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.946875 meters Centerline goodness : 0.998552 Centerline is valid? [True, True] Translation: X:274.48, Y:131.88, Z:142.53 [[ 9.49249610e-01 -2.90013230e-01 -1.21727175e-01 2.74481620e+02] [ 2.86838800e-01 9.57003084e-01 -4.32272991e-02 1.31879148e+02] [ 1.29029771e-01 6.11741999e-03 9.91621851e-01 1.42529828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.976875 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:274.51, Y:131.89, Z:142.54 [[ 9.50521848e-01 -2.87361227e-01 -1.18032798e-01 2.74511188e+02] [ 2.84358765e-01 9.57801789e-01 -4.19025792e-02 1.31890558e+02] [ 1.25093202e-01 6.26565628e-03 9.92125210e-01 1.42537199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.006875 meters Centerline goodness : 0.998306 Centerline is valid? [True, True] Translation: X:274.54, Y:131.90, Z:142.54 [[ 9.51438080e-01 -2.85708601e-01 -1.14613159e-01 2.74541436e+02] [ 2.82867700e-01 9.58295947e-01 -4.06785131e-02 1.31902810e+02] [ 1.21455527e-01 6.28272566e-03 9.92576991e-01 1.42543265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.036875 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:274.57, Y:131.91, Z:142.55 [[ 9.52046963e-01 -2.84132414e-01 -1.13469607e-01 2.74571235e+02] [ 2.81338568e-01 9.58763648e-01 -4.02601296e-02 1.31914475e+02] [ 1.20229742e-01 6.40615752e-03 9.92725425e-01 1.42548468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.066875 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:274.60, Y:131.92, Z:142.55 [[ 9.52283123e-01 -2.82355811e-01 -1.15896718e-01 2.74603637e+02] [ 2.79428829e-01 9.59285903e-01 -4.11106664e-02 1.31922057e+02] [ 1.22785924e-01 6.76410951e-03 9.92410129e-01 1.42550187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.096875 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:274.64, Y:131.93, Z:142.55 [[ 9.53577112e-01 -2.78902020e-01 -1.13597337e-01 2.74638522e+02] [ 2.75306331e-01 9.60230413e-01 -4.65185755e-02 1.31931759e+02] [ 1.22053743e-01 1.30849827e-02 9.92437236e-01 1.42552084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.126875 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:274.66, Y:131.94, Z:142.56 [[ 9.52223652e-01 -2.81078079e-01 -1.19437141e-01 2.74663667e+02] [ 2.78943358e-01 9.59684824e-01 -3.45780502e-02 1.31940249e+02] [ 1.24341144e-01 -3.90160148e-04 9.92239451e-01 1.42555581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.156875 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:274.69, Y:131.95, Z:142.56 [[ 9.51948580e-01 -2.82896710e-01 -1.17317314e-01 2.74692596e+02] [ 2.79909497e-01 9.59126880e-01 -4.15487817e-02 1.31954823e+02] [ 1.24276203e-01 6.71407346e-03 9.92224948e-01 1.42564384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.186875 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:274.72, Y:131.97, Z:142.57 [[ 9.51701587e-01 -2.83322840e-01 -1.18288871e-01 2.74723938e+02] [ 2.80290644e-01 9.59001177e-01 -4.18795647e-02 1.31965708e+02] [ 1.25304604e-01 6.70158446e-03 9.92095683e-01 1.42569169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.216875 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:274.76, Y:131.98, Z:142.57 [[ 9.53347260e-01 -2.80684057e-01 -1.11110138e-01 2.74756950e+02] [ 2.75976197e-01 9.59530841e-01 -5.60152100e-02 1.31980844e+02] [ 1.22336181e-01 2.27381936e-02 9.92228216e-01 1.42572176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.246875 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:274.79, Y:131.98, Z:142.57 [[ 9.52775581e-01 -2.78686987e-01 -1.20632732e-01 2.74792518e+02] [ 2.76338899e-01 9.60381386e-01 -3.61165623e-02 1.31979091e+02] [ 1.25918647e-01 1.07546212e-03 9.92039988e-01 1.42565761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.276875 meters Centerline goodness : 0.998465 Centerline is valid? [True, True] Translation: X:274.82, Y:131.99, Z:142.57 [[ 9.51455978e-01 -2.81474529e-01 -1.24513500e-01 2.74816599e+02] [ 2.79771669e-01 9.59555496e-01 -3.13219424e-02 1.31988683e+02] [ 1.28293942e-01 -5.03390035e-03 9.91723411e-01 1.42573900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.306875 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:274.85, Y:132.01, Z:142.58 [[ 9.54563441e-01 -2.77732122e-01 -1.08044003e-01 2.74848418e+02] [ 2.72887454e-01 9.60320084e-01 -5.76001200e-02 1.32008513e+02] [ 1.19754229e-01 2.54991159e-02 9.92476055e-01 1.42583055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.336875 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:274.88, Y:132.01, Z:142.58 [[ 9.52656850e-01 -2.75820042e-01 -1.27938387e-01 2.74877161e+02] [ 2.75088540e-01 9.61126573e-01 -2.37066506e-02 1.32007278e+02] [ 1.29503753e-01 -1.26100810e-02 9.91498746e-01 1.42582597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.366875 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:274.90, Y:132.03, Z:142.59 [[ 9.53583172e-01 -2.75110041e-01 -1.22448358e-01 2.74903726e+02] [ 2.71783377e-01 9.61378404e-01 -4.34207291e-02 1.32028453e+02] [ 1.29664685e-01 8.12584840e-03 9.91524604e-01 1.42594963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.396875 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:274.94, Y:132.04, Z:142.60 [[ 9.53981125e-01 -2.74107349e-01 -1.21594302e-01 2.74935605e+02] [ 2.70820859e-01 9.61664223e-01 -4.31043475e-02 1.32037244e+02] [ 1.28748108e-01 8.19046063e-03 9.91643505e-01 1.42599669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.426875 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:274.97, Y:132.05, Z:142.60 [[ 9.56328647e-01 -2.68815295e-01 -1.14777418e-01 2.74969372e+02] [ 2.64824109e-01 9.63051037e-01 -4.89988913e-02 1.32048563e+02] [ 1.23708163e-01 1.64632160e-02 9.92182066e-01 1.42604263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.456875 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:275.00, Y:132.05, Z:142.61 [[ 9.55661168e-01 -2.68042106e-01 -1.21922771e-01 2.74996621e+02] [ 2.65936783e-01 9.63407124e-01 -3.35312017e-02 1.32053724e+02] [ 1.26449040e-01 -3.79282074e-04 9.91973032e-01 1.42608005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.486875 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:275.02, Y:132.07, Z:142.62 [[ 9.56166171e-01 -2.67521406e-01 -1.19073722e-01 2.75023698e+02] [ 2.64325550e-01 9.63511341e-01 -4.21651337e-02 1.32069245e+02] [ 1.26008958e-01 8.84264717e-03 9.91989693e-01 1.42617514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.516875 meters Centerline goodness : 0.998220 Centerline is valid? [True, True] Translation: X:275.05, Y:132.08, Z:142.62 [[ 9.56317179e-01 -2.67444816e-01 -1.18028485e-01 2.75054613e+02] [ 2.64305907e-01 9.63533329e-01 -4.17841057e-02 1.32078758e+02] [ 1.24899322e-01 8.76323223e-03 9.92130720e-01 1.42622236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.546875 meters Centerline goodness : 0.998131 Centerline is valid? [True, True] Translation: X:275.09, Y:132.09, Z:142.63 [[ 9.56366849e-01 -2.67570712e-01 -1.17338675e-01 2.75085501e+02] [ 2.64471124e-01 9.63499107e-01 -4.15270367e-02 1.32090050e+02] [ 1.24167127e-01 8.68238998e-03 9.92223332e-01 1.42627245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.576875 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:275.11, Y:132.10, Z:142.63 [[ 9.56702818e-01 -2.66368602e-01 -1.17334929e-01 2.75114650e+02] [ 2.63261882e-01 9.63830835e-01 -4.15126879e-02 1.32101495e+02] [ 1.24148699e-01 8.82549124e-03 9.92224375e-01 1.42632290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6068750000001 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:275.15, Y:132.11, Z:142.64 [[ 9.56865677e-01 -2.65936771e-01 -1.16985940e-01 2.75145827e+02] [ 2.62848269e-01 9.63950011e-01 -4.13662275e-02 1.32110827e+02] [ 1.23769399e-01 8.83237161e-03 9.92271699e-01 1.42635661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.636875 meters Centerline goodness : 0.997906 Centerline is valid? [True, True] Translation: X:275.18, Y:132.12, Z:142.64 [[ 9.56681457e-01 -2.66419286e-01 -1.17394012e-01 2.75177191e+02] [ 2.63313717e-01 9.63817123e-01 -4.15022835e-02 1.32121848e+02] [ 1.24203368e-01 8.79301138e-03 9.92217822e-01 1.42640108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.666875 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:275.21, Y:132.13, Z:142.65 [[ 9.56554714e-01 -2.67263913e-01 -1.16503561e-01 2.75208344e+02] [ 2.64213335e-01 9.63584960e-01 -4.11744972e-02 1.32132398e+02] [ 1.23265537e-01 8.60386495e-03 9.92336425e-01 1.42645466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.696875 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:275.24, Y:132.14, Z:142.65 [[ 9.55933825e-01 -2.69671150e-01 -1.16051681e-01 2.75237390e+02] [ 2.66663494e-01 9.62917150e-01 -4.10017479e-02 1.32144846e+02] [ 1.22805142e-01 8.24821103e-03 9.92396526e-01 1.42651843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.726875 meters Centerline goodness : 0.993284 Centerline is valid? [True, True] Translation: X:275.26, Y:132.16, Z:142.66 [[ 9.55591361e-01 -2.72781811e-01 -1.11513384e-01 2.75259429e+02] [ 2.68281747e-01 9.61835037e-01 -5.38355426e-02 1.32161293e+02] [ 1.21942837e-01 2.15277739e-02 9.92303633e-01 1.42657468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.756875 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:275.29, Y:132.16, Z:142.65 [[ 9.53814290e-01 -2.72659416e-01 -1.26075941e-01 2.75291808e+02] [ 2.70943266e-01 9.62099208e-01 -3.09008091e-02 1.32158540e+02] [ 1.29722960e-01 -4.68579396e-03 9.91539206e-01 1.42651408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.786875 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:275.32, Y:132.18, Z:142.66 [[ 9.53944019e-01 -2.74153808e-01 -1.21780534e-01 2.75320502e+02] [ 2.70869695e-01 9.61651691e-01 -4.30770648e-02 1.32175072e+02] [ 1.28920198e-01 8.10645226e-03 9.91621837e-01 1.42661184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.816875 meters Centerline goodness : 0.998683 Centerline is valid? [True, True] Translation: X:275.35, Y:132.18, Z:142.66 [[ 9.52845004e-01 -2.76854991e-01 -1.24248591e-01 2.75351939e+02] [ 2.73461041e-01 9.60879387e-01 -4.39302155e-02 1.32184300e+02] [ 1.31550209e-01 7.88153730e-03 9.91278177e-01 1.42663274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.846875 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:275.38, Y:132.20, Z:142.66 [[ 9.51634024e-01 -2.82817059e-01 -1.20029979e-01 2.75379696e+02] [ 2.77743342e-01 9.58936942e-01 -5.74332441e-02 1.32198597e+02] [ 1.31344282e-01 2.13179016e-02 9.91107576e-01 1.42663761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.876875 meters Centerline goodness : 0.998415 Centerline is valid? [True, True] Translation: X:275.41, Y:132.20, Z:142.66 [[ 9.50438475e-01 -2.81474432e-01 -1.32056236e-01 2.75413041e+02] [ 2.79744053e-01 9.59545646e-01 -3.18656214e-02 1.32196650e+02] [ 1.35683344e-01 -6.65563410e-03 9.90729899e-01 1.42662694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.906875 meters Centerline goodness : 0.998642 Centerline is valid? [True, True] Translation: X:275.44, Y:132.22, Z:142.67 [[ 9.50493695e-01 -2.83416011e-01 -1.27424880e-01 2.75438667e+02] [ 2.79906052e-01 9.58970489e-01 -4.50355726e-02 1.32215099e+02] [ 1.34960502e-01 7.13903275e-03 9.90825261e-01 1.42674520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.936875 meters Centerline goodness : 0.998506 Centerline is valid? [True, True] Translation: X:275.47, Y:132.23, Z:142.68 [[ 9.50316410e-01 -2.84535225e-01 -1.26247485e-01 2.75468472e+02] [ 2.81101568e-01 9.58640732e-01 -4.46078023e-02 1.32226686e+02] [ 1.33718473e-01 6.90316039e-03 9.90995316e-01 1.42680380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.966875 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:275.50, Y:132.25, Z:142.69 [[ 9.50499799e-01 -2.88368626e-01 -1.15731016e-01 2.75495275e+02] [ 2.82478228e-01 9.57083697e-01 -6.47830755e-02 1.32248021e+02] [ 1.29445675e-01 2.88848079e-02 9.91165720e-01 1.42688516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.996875 meters Centerline goodness : 0.998615 Centerline is valid? [True, True] Translation: X:275.53, Y:132.24, Z:142.68 [[ 9.49716684e-01 -2.83431875e-01 -1.33058607e-01 2.75530119e+02] [ 2.82983108e-01 9.58856872e-01 -2.26728819e-02 1.32240082e+02] [ 1.34010377e-01 -1.61205240e-02 9.90848802e-01 1.42681560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.026875 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:275.56, Y:132.26, Z:142.70 [[ 9.49810650e-01 -2.86605405e-01 -1.25367744e-01 2.75555050e+02] [ 2.83235720e-01 9.58026130e-01 -4.43109485e-02 1.32260172e+02] [ 1.32805332e-01 6.57838756e-03 9.91120310e-01 1.42695178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.056875 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:275.58, Y:132.27, Z:142.70 [[ 9.48923445e-01 -2.90189277e-01 -1.23832461e-01 2.75584052e+02] [ 2.86935412e-01 9.56950593e-01 -4.37450788e-02 1.32270315e+02] [ 1.31195900e-01 5.97881262e-03 9.91338433e-01 1.42698526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.086875 meters Centerline goodness : 0.998440 Centerline is valid? [True, True] Translation: X:275.61, Y:132.28, Z:142.70 [[ 9.48121054e-01 -2.93383046e-01 -1.22445316e-01 2.75614464e+02] [ 2.90230264e-01 9.55979376e-01 -4.32414911e-02 1.32280978e+02] [ 1.29741517e-01 5.46083169e-03 9.91532812e-01 1.42704034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.116875 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:275.64, Y:132.29, Z:142.71 [[ 9.48038854e-01 -2.94954306e-01 -1.19265626e-01 2.75643416e+02] [ 2.91977969e-01 9.55497777e-01 -4.21053860e-02 1.32294985e+02] [ 1.26377205e-01 5.09460673e-03 9.91969176e-01 1.42712532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.146875 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:275.67, Y:132.31, Z:142.72 [[ 9.48419717e-01 -2.94270361e-01 -1.17919448e-01 2.75673193e+02] [ 2.91357449e-01 9.55708532e-01 -4.16177792e-02 1.32307065e+02] [ 1.24943501e-01 5.11441291e-03 9.92150676e-01 1.42716412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.176875 meters Centerline goodness : 0.998415 Centerline is valid? [True, True] Translation: X:275.70, Y:132.32, Z:142.73 [[ 9.48108110e-01 -2.96101326e-01 -1.15823216e-01 2.75701512e+02] [ 2.91188997e-01 9.54927260e-01 -5.76445628e-02 1.32323982e+02] [ 1.27671378e-01 2.09268314e-02 9.91595728e-01 1.42727804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.206875 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:275.74, Y:132.32, Z:142.72 [[ 9.48347411e-01 -2.93260924e-01 -1.20976107e-01 2.75737661e+02] [ 2.92342345e-01 9.55968971e-01 -2.56764518e-02 1.32319392e+02] [ 1.23179305e-01 -1.10162424e-02 9.92323285e-01 1.42717926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.236875 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:275.77, Y:132.33, Z:142.73 [[ 9.47825586e-01 -2.96971414e-01 -1.15907886e-01 2.75766395e+02] [ 2.94183634e-01 9.54875151e-01 -4.08587291e-02 1.32334977e+02] [ 1.22811434e-01 4.62874580e-03 9.92419229e-01 1.42727486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.266875 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:275.80, Y:132.35, Z:142.73 [[ 9.47281698e-01 -2.98590456e-01 -1.16194336e-01 2.75797831e+02] [ 2.95802507e-01 9.54371114e-01 -4.09469581e-02 1.32345230e+02] [ 1.23118888e-01 4.41772830e-03 9.92382095e-01 1.42730386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.296875 meters Centerline goodness : 0.996095 Centerline is valid? [True, True] Translation: X:275.82, Y:132.36, Z:142.74 [[ 9.46947460e-01 -3.03157225e-01 -1.06706164e-01 2.75821410e+02] [ 2.98084897e-01 9.52586127e-01 -6.10333153e-02 1.32362684e+02] [ 1.20149502e-01 2.59878472e-02 9.92415603e-01 1.42737138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.326875 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:275.86, Y:132.35, Z:142.73 [[ 9.44646100e-01 -3.01947292e-01 -1.28341650e-01 2.75856655e+02] [ 3.01642967e-01 9.53160776e-01 -2.22723012e-02 1.32353287e+02] [ 1.29055288e-01 -1.76739135e-02 9.91479887e-01 1.42728231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3568750000001 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:275.88, Y:132.37, Z:142.74 [[ 9.44065693e-01 -3.05841489e-01 -1.23292138e-01 2.75883787e+02] [ 3.02756403e-01 9.52075134e-01 -4.34913682e-02 1.32372705e+02] [ 1.30684844e-01 3.73122447e-03 9.91416940e-01 1.42739778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.386875 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:275.91, Y:132.38, Z:142.74 [[ 9.43760299e-01 -3.06325734e-01 -1.24422839e-01 2.75913964e+02] [ 3.03189632e-01 9.51919623e-01 -4.38757053e-02 1.32381211e+02] [ 1.31880800e-01 3.68443378e-03 9.91258735e-01 1.42744153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.416875 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:275.94, Y:132.39, Z:142.75 [[ 9.44450804e-01 -3.04316497e-01 -1.24113446e-01 2.75944935e+02] [ 3.01180352e-01 9.52562815e-01 -4.37547565e-02 1.32392909e+02] [ 1.31541147e-01 3.94368366e-03 9.91302867e-01 1.42749022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.446875 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:275.97, Y:132.41, Z:142.76 [[ 9.46244180e-01 -2.99955764e-01 -1.21030954e-01 2.75974593e+02] [ 2.96940377e-01 9.53942859e-01 -4.26548351e-02 1.32405898e+02] [ 1.28251178e-01 4.42291246e-03 9.91731856e-01 1.42756175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.476875 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:276.00, Y:132.42, Z:142.76 [[ 9.46903298e-01 -2.98383381e-01 -1.19756008e-01 2.76004756e+02] [ 2.95420667e-01 9.54435142e-01 -4.21922964e-02 1.32417775e+02] [ 1.26888822e-01 4.57362502e-03 9.91906401e-01 1.42762176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.506875 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:276.03, Y:132.43, Z:142.77 [[ 9.47654215e-01 -2.95830233e-01 -1.20149748e-01 2.76034784e+02] [ 2.92829215e-01 9.55227866e-01 -4.23175425e-02 1.32430377e+02] [ 1.27289196e-01 4.91904108e-03 9.91853449e-01 1.42767278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.536875 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:276.07, Y:132.44, Z:142.77 [[ 9.47908581e-01 -2.95636919e-01 -1.18609167e-01 2.76065791e+02] [ 2.92712891e-01 9.55287975e-01 -4.17618023e-02 1.32440883e+02] [ 1.25652241e-01 4.86793867e-03 9.92062406e-01 1.42771957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.566875 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:276.10, Y:132.45, Z:142.78 [[ 9.47947561e-01 -2.95728833e-01 -1.18067265e-01 2.76097465e+02] [ 2.92834023e-01 9.55259768e-01 -4.15573162e-02 1.32450960e+02] [ 1.25074605e-01 4.82004433e-03 9.92135631e-01 1.42775893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.596875 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:276.13, Y:132.46, Z:142.78 [[ 9.48277359e-01 -2.94212144e-01 -1.19202617e-01 2.76128443e+02] [ 2.91250976e-01 9.55726767e-01 -4.19429952e-02 1.32461996e+02] [ 1.26265270e-01 5.05571408e-03 9.91983630e-01 1.42777952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.626875 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:276.16, Y:132.47, Z:142.78 [[ 9.48822910e-01 -2.93095800e-01 -1.17600757e-01 2.76158722e+02] [ 2.90207065e-01 9.56069361e-01 -4.13671032e-02 1.32470534e+02] [ 1.24559005e-01 5.12148465e-03 9.92198984e-01 1.42781995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.656875 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:276.19, Y:132.48, Z:142.79 [[ 9.49853188e-01 -2.90236750e-01 -1.16368167e-01 2.76189581e+02] [ 2.87391446e-01 9.56939609e-01 -4.08991616e-02 1.32481826e+02] [ 1.23227748e-01 5.40498317e-03 9.92363698e-01 1.42787452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.686875 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:276.22, Y:132.49, Z:142.79 [[ 9.52331810e-01 -2.82523074e-01 -1.15086216e-01 2.76218883e+02] [ 2.79685687e-01 9.59239673e-01 -4.04371996e-02 1.32492941e+02] [ 1.21819706e-01 6.32166396e-03 9.92532113e-01 1.42792032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.716875 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:276.25, Y:132.50, Z:142.80 [[ 9.53464467e-01 -2.78900819e-01 -1.14541886e-01 2.76250032e+02] [ 2.76068485e-01 9.60296404e-01 -4.02120360e-02 1.32502737e+02] [ 1.21209331e-01 6.71934240e-03 9.92604225e-01 1.42796203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.746875 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:276.28, Y:132.51, Z:142.80 [[ 9.54595927e-01 -2.75177076e-01 -1.14123591e-01 2.76281459e+02] [ 2.72340617e-01 9.61366948e-01 -4.00522127e-02 1.32513681e+02] [ 1.20736099e-01 7.15319009e-03 9.92658867e-01 1.42799983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.776875 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:276.31, Y:132.52, Z:142.80 [[ 9.55720343e-01 -2.71677707e-01 -1.13092216e-01 2.76311826e+02] [ 2.68869521e-01 9.62358949e-01 -3.96791366e-02 1.32522759e+02] [ 1.19615243e-01 7.51510824e-03 9.92791880e-01 1.42803149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.806875 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:276.34, Y:132.54, Z:142.81 [[ 9.55090669e-01 -2.74511362e-01 -1.11558618e-01 2.76340741e+02] [ 2.70407597e-01 9.61410788e-01 -5.06855760e-02 1.32536488e+02] [ 1.21167426e-01 1.82430228e-02 9.92464431e-01 1.42812161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.836875 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:276.37, Y:132.54, Z:142.81 [[ 9.54970195e-01 -2.72381985e-01 -1.17643448e-01 2.76373713e+02] [ 2.70777971e-01 9.62182930e-01 -2.97203520e-02 1.32537408e+02] [ 1.21289806e-01 -3.47320383e-03 9.92611062e-01 1.42808447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.866875 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:276.40, Y:132.55, Z:142.82 [[ 9.54717550e-01 -2.74034611e-01 -1.15842275e-01 2.76402285e+02] [ 2.71107323e-01 9.61691532e-01 -4.06228697e-02 1.32552605e+02] [ 1.22536607e-01 7.37767765e-03 9.92436572e-01 1.42816901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.896875 meters Centerline goodness : 0.994221 Centerline is valid? [True, True] Translation: X:276.43, Y:132.56, Z:142.82 [[ 9.53314619e-01 -2.76811245e-01 -1.20692886e-01 2.76425854e+02] [ 2.72443617e-01 9.60785371e-01 -5.16328020e-02 1.32561271e+02] [ 1.30252500e-01 1.63402985e-02 9.91346196e-01 1.42820399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.926875 meters Centerline goodness : 0.998551 Centerline is valid? [True, True] Translation: X:276.46, Y:132.56, Z:142.82 [[ 9.52140791e-01 -2.78554086e-01 -1.25839325e-01 2.76457165e+02] [ 2.76271903e-01 9.60420145e-01 -3.55946603e-02 1.32563460e+02] [ 1.30773660e-01 -8.74741692e-04 9.91411864e-01 1.42816045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.956875 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:276.49, Y:132.58, Z:142.83 [[ 9.51286641e-01 -2.82468417e-01 -1.23552903e-01 2.76485701e+02] [ 2.79198906e-01 9.59252666e-01 -4.33854074e-02 1.32578763e+02] [ 1.30773459e-01 6.77612313e-03 9.91389120e-01 1.42825104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.986875 meters Centerline goodness : 0.993843 Centerline is valid? [True, True] Translation: X:276.51, Y:132.58, Z:142.83 [[ 9.48523453e-01 -2.87725965e-01 -1.32351911e-01 2.76513593e+02] [ 2.87291161e-01 9.57572198e-01 -2.27875904e-02 1.32583747e+02] [ 1.33293091e-01 -1.64089701e-02 9.90940814e-01 1.42830205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.016875 meters Centerline goodness : 0.994238 Centerline is valid? [True, True] Translation: X:276.54, Y:132.60, Z:142.84 [[ 9.47203891e-01 -2.96268784e-01 -1.22595253e-01 2.76536094e+02] [ 2.92623413e-01 9.55064099e-01 -4.71604188e-02 1.32603270e+02] [ 1.31058485e-01 8.79629078e-03 9.91335614e-01 1.42844823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.046875 meters Centerline goodness : 0.994512 Centerline is valid? [True, True] Translation: X:276.56, Y:132.61, Z:142.85 [[ 9.45743082e-01 -3.00321366e-01 -1.24004436e-01 2.76562007e+02] [ 2.97100552e-01 9.53825481e-01 -4.41385823e-02 1.32610589e+02] [ 1.31534350e-01 4.90197251e-03 9.91299493e-01 1.42846207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.076875 meters Centerline goodness : 0.994780 Centerline is valid? [True, True] Translation: X:276.59, Y:132.62, Z:142.85 [[ 9.44438774e-01 -3.03852338e-01 -1.25336181e-01 2.76589182e+02] [ 3.01143151e-01 9.52719010e-01 -4.04881509e-02 1.32618602e+02] [ 1.31712581e-01 4.94447218e-04 9.91287825e-01 1.42845620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1068750000001 meters Centerline goodness : 0.998418 Centerline is valid? [True, True] Translation: X:276.61, Y:132.64, Z:142.85 [[ 9.44405295e-01 -3.07237701e-01 -1.17062520e-01 2.76609968e+02] [ 3.01902813e-01 9.51365432e-01 -6.13066662e-02 1.32639685e+02] [ 1.30204954e-01 2.25568360e-02 9.91230477e-01 1.42854323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.136875 meters Centerline goodness : 0.998105 Centerline is valid? [True, True] Translation: X:276.64, Y:132.64, Z:142.85 [[ 9.44981379e-01 -3.04311847e-01 -1.20018719e-01 2.76637400e+02] [ 3.01551348e-01 9.52569110e-01 -4.09740795e-02 1.32640303e+02] [ 1.26795022e-01 2.52793565e-03 9.91925719e-01 1.42850554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.166875 meters Centerline goodness : 0.995994 Centerline is valid? [True, True] Translation: X:276.67, Y:132.65, Z:142.86 [[ 9.44731074e-01 -3.04587427e-01 -1.21283536e-01 2.76666771e+02] [ 3.04166862e-01 9.52354855e-01 -2.24220765e-02 1.32646087e+02] [ 1.22334447e-01 -1.57076002e-02 9.92364628e-01 1.42860461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.196875 meters Centerline goodness : 0.997841 Centerline is valid? [True, True] Translation: X:276.69, Y:132.67, Z:142.88 [[ 9.45080703e-01 -3.08071163e-01 -1.09154122e-01 2.76685589e+02] [ 3.03305799e-01 9.51109653e-01 -5.82753882e-02 1.32671933e+02] [ 1.21770506e-01 2.19678666e-02 9.92315150e-01 1.42876950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.226875 meters Centerline goodness : 0.998081 Centerline is valid? [True, True] Translation: X:276.72, Y:132.68, Z:142.87 [[ 9.45305785e-01 -3.04001375e-01 -1.18237627e-01 2.76719256e+02] [ 3.01139761e-01 9.52663593e-01 -4.17962015e-02 1.32675453e+02] [ 1.25346785e-01 3.90414045e-03 9.92105308e-01 1.42873112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.256875 meters Centerline goodness : 0.998201 Centerline is valid? [True, True] Translation: X:276.75, Y:132.68, Z:142.88 [[ 9.45756371e-01 -3.02151794e-01 -1.19369931e-01 2.76749524e+02] [ 2.99221633e-01 9.53250666e-01 -4.21851066e-02 1.32683882e+02] [ 1.26535772e-01 4.17876754e-03 9.91953243e-01 1.42876962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.286875 meters Centerline goodness : 0.998326 Centerline is valid? [True, True] Translation: X:276.78, Y:132.69, Z:142.88 [[ 9.45954521e-01 -3.01772022e-01 -1.18758962e-01 2.76780309e+02] [ 2.98870309e-01 9.53370878e-01 -4.19584094e-02 1.32694800e+02] [ 1.25883210e-01 4.19721931e-03 9.92036189e-01 1.42882494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.316875 meters Centerline goodness : 0.998081 Centerline is valid? [True, True] Translation: X:276.81, Y:132.71, Z:142.89 [[ 9.46195016e-01 -3.00669985e-01 -1.19635081e-01 2.76811068e+02] [ 2.97718112e-01 9.53718263e-01 -4.22540057e-02 1.32705602e+02] [ 1.26802673e-01 4.36299899e-03 9.91918367e-01 1.42888103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.346875 meters Centerline goodness : 0.998170 Centerline is valid? [True, True] Translation: X:276.84, Y:132.71, Z:142.89 [[ 9.45360474e-01 -2.99997215e-01 -1.27652833e-01 2.76843021e+02] [ 2.96630316e-01 9.53928295e-01 -4.50695508e-02 1.32712333e+02] [ 1.35292389e-01 4.74127160e-03 9.90794373e-01 1.42889015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.376875 meters Centerline goodness : 0.997928 Centerline is valid? [True, True] Translation: X:276.87, Y:132.72, Z:142.89 [[ 9.44723291e-01 -3.00430232e-01 -1.31299580e-01 2.76874767e+02] [ 2.96876456e-01 9.53791817e-01 -4.63199804e-02 1.32720708e+02] [ 1.39148387e-01 4.77981053e-03 9.90260006e-01 1.42891601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.406875 meters Centerline goodness : 0.997873 Centerline is valid? [True, True] Translation: X:276.90, Y:132.73, Z:142.90 [[ 9.44466635e-01 -3.00929559e-01 -1.32000662e-01 2.76904855e+02] [ 2.97344401e-01 9.53634700e-01 -4.65528254e-02 1.32728615e+02] [ 1.39889533e-01 4.71793247e-03 9.90155876e-01 1.42895119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.436875 meters Centerline goodness : 0.997910 Centerline is valid? [True, True] Translation: X:276.94, Y:132.74, Z:142.90 [[ 9.44558743e-01 -3.00433449e-01 -1.32470841e-01 2.76936053e+02] [ 2.96818827e-01 9.53790696e-01 -4.67107368e-02 1.32739074e+02] [ 1.40382923e-01 4.80119542e-03 9.90085645e-01 1.42900625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.466875 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:276.97, Y:132.75, Z:142.90 [[ 9.46712923e-01 -2.94483048e-01 -1.30439167e-01 2.76967624e+02] [ 2.92410471e-01 9.55644594e-01 -3.52069183e-02 1.32745971e+02] [ 1.35021325e-01 -4.81093367e-03 9.90831013e-01 1.42904860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.496875 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:276.99, Y:132.77, Z:142.92 [[ 9.46412536e-01 -2.94549930e-01 -1.32452445e-01 2.76990054e+02] [ 2.89411314e-01 9.55509377e-01 -5.69466624e-02 1.32766129e+02] [ 1.43333189e-01 1.55617990e-02 9.89552135e-01 1.42920305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.526875 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:277.02, Y:132.77, Z:142.92 [[ 9.47379384e-01 -2.89749404e-01 -1.36079339e-01 2.77020599e+02] [ 2.85827862e-01 9.57080211e-01 -4.79572978e-02 1.32774892e+02] [ 1.44134441e-01 6.53848876e-03 9.89536513e-01 1.42923587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.556875 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:277.05, Y:132.79, Z:142.93 [[ 9.49785569e-01 -2.81919502e-01 -1.35752595e-01 2.77051134e+02] [ 2.77938859e-01 9.59407172e-01 -4.78316823e-02 1.32786500e+02] [ 1.43726697e-01 7.69892030e-03 9.89587471e-01 1.42932271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.586875 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:277.08, Y:132.80, Z:142.94 [[ 9.50787422e-01 -2.78319672e-01 -1.36166948e-01 2.77080496e+02] [ 2.74280028e-01 9.60453029e-01 -4.79629684e-02 1.32795925e+02] [ 1.44130995e-01 8.25471287e-03 9.89524187e-01 1.42936956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.616875 meters Centerline goodness : 0.998237 Centerline is valid? [True, True] Translation: X:277.11, Y:132.80, Z:142.94 [[ 9.50965770e-01 -2.77387271e-01 -1.36822535e-01 2.77111551e+02] [ 2.73299958e-01 9.60721210e-01 -4.81859921e-02 1.32804513e+02] [ 1.44814492e-01 8.42963607e-03 9.89422915e-01 1.42941465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.646875 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:277.14, Y:132.81, Z:142.95 [[ 9.51421567e-01 -2.75383617e-01 -1.37698458e-01 2.77142158e+02] [ 2.71224150e-01 9.61294307e-01 -4.84841809e-02 1.32812194e+02] [ 1.45720493e-01 8.78174796e-03 9.89286823e-01 1.42947704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.676875 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:277.17, Y:132.82, Z:142.95 [[ 9.52246334e-01 -2.72306854e-01 -1.38115521e-01 2.77172125e+02] [ 2.68091412e-01 9.62165797e-01 -4.86207223e-02 1.32823130e+02] [ 1.46129786e-01 9.27131949e-03 9.89221981e-01 1.42952218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.706875 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:277.20, Y:132.83, Z:142.96 [[ 9.52268510e-01 -2.72227616e-01 -1.38118822e-01 2.77202730e+02] [ 2.68012704e-01 9.62188198e-01 -4.86113426e-02 1.32833832e+02] [ 1.46129650e-01 9.27345182e-03 9.89221981e-01 1.42956519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.736875 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:277.23, Y:132.86, Z:142.96 [[ 9.56418912e-01 -2.70677478e-01 -1.09528846e-01 2.77229021e+02] [ 2.61372874e-01 9.60829290e-01 -9.21482272e-02 1.32862234e+02] [ 1.30180973e-01 5.95044379e-02 9.89703054e-01 1.42964323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.766875 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:277.27, Y:132.83, Z:142.94 [[ 9.55686092e-01 -2.50776768e-01 -1.54191786e-01 2.77268130e+02] [ 2.53994320e-01 9.67204955e-01 1.20827899e-03 1.32831925e+02] [ 1.48832051e-01 -4.03185733e-02 9.88040198e-01 1.42944855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.796875 meters Centerline goodness : 0.998302 Centerline is valid? [True, True] Translation: X:277.29, Y:132.86, Z:142.97 [[ 9.58003009e-01 -2.52748070e-01 -1.35457184e-01 2.77289468e+02] [ 2.48496823e-01 9.67457177e-01 -4.77068089e-02 1.32862153e+02] [ 1.43106828e-01 1.20425867e-02 9.89633979e-01 1.42970826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.826875 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:277.32, Y:132.87, Z:142.98 [[ 9.59070356e-01 -2.49302234e-01 -1.34284951e-01 2.77320240e+02] [ 2.45093577e-01 9.68345940e-01 -4.72787329e-02 1.32871048e+02] [ 1.41820981e-01 1.24312521e-02 9.89814262e-01 1.42976640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8568750000001 meters Centerline goodness : 0.994480 Centerline is valid? [True, True] Translation: X:277.34, Y:132.90, Z:142.99 [[ 9.62084677e-01 -2.52280515e-01 -1.03670712e-01 2.77342530e+02] [ 2.42847323e-01 9.65352756e-01 -9.54946805e-02 1.32899922e+02] [ 1.24170255e-01 6.66978137e-02 9.90016742e-01 1.42987810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.886875 meters Centerline goodness : 0.998590 Centerline is valid? [True, True] Translation: X:277.39, Y:132.86, Z:142.96 [[ 9.59289855e-01 -2.40351814e-01 -1.48303676e-01 2.77387910e+02] [ 2.44043871e-01 9.69739312e-01 6.94659848e-03 1.32859265e+02] [ 1.42146277e-01 -4.28564046e-02 9.88917471e-01 1.42962663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.916875 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:277.41, Y:132.89, Z:142.99 [[ 9.59970824e-01 -2.48247477e-01 -1.29727433e-01 2.77408573e+02] [ 2.44306210e-01 9.68619908e-01 -4.57159616e-02 1.32889447e+02] [ 1.37005447e-01 1.21927719e-02 9.90495252e-01 1.42988065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.946875 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:277.44, Y:132.90, Z:142.99 [[ 9.59918676e-01 -2.48272851e-01 -1.30064316e-01 2.77438827e+02] [ 2.44312537e-01 9.68613164e-01 -4.58249061e-02 1.32898048e+02] [ 1.37359089e-01 1.22118401e-02 9.90446037e-01 1.42992269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.976875 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:277.47, Y:132.90, Z:143.00 [[ 9.61021569e-01 -2.44535906e-01 -1.28995095e-01 2.77468878e+02] [ 2.40608622e-01 9.69557948e-01 -4.54409236e-02 1.32904485e+02] [ 1.36180157e-01 1.26323756e-02 9.90603547e-01 1.42996434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.006875 meters Centerline goodness : 0.998518 Centerline is valid? [True, True] Translation: X:277.50, Y:132.91, Z:143.00 [[ 9.61849843e-01 -2.42067265e-01 -1.27468893e-01 2.77499232e+02] [ 2.38212619e-01 9.70174796e-01 -4.48955724e-02 1.32911427e+02] [ 1.34534855e-01 1.28181006e-02 9.90825953e-01 1.42999356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.036875 meters Centerline goodness : 0.998165 Centerline is valid? [True, True] Translation: X:277.53, Y:132.92, Z:143.00 [[ 9.62720688e-01 -2.39366152e-01 -1.25986993e-01 2.77531143e+02] [ 2.35578989e-01 9.70841868e-01 -4.43689914e-02 1.32917381e+02] [ 1.32933882e-01 1.30350575e-02 9.91039187e-01 1.43001424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.066875 meters Centerline goodness : 0.998372 Centerline is valid? [True, True] Translation: X:277.56, Y:132.92, Z:143.00 [[ 9.64016120e-01 -2.35375557e-01 -1.23576973e-01 2.77563197e+02] [ 2.31701673e-01 9.71813321e-01 -4.35109684e-02 1.32920555e+02] [ 1.30335166e-01 1.33122836e-02 9.91380617e-01 1.43003181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.096875 meters Centerline goodness : 0.997647 Centerline is valid? [True, True] Translation: X:277.59, Y:132.93, Z:143.01 [[ 9.64421138e-01 -2.34432154e-01 -1.22202427e-01 2.77594015e+02] [ 2.30833164e-01 9.72041725e-01 -4.30224926e-02 1.32928789e+02] [ 1.28871714e-01 1.32834284e-02 9.91572303e-01 1.43007426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.126875 meters Centerline goodness : 0.998512 Centerline is valid? [True, True] Translation: X:277.62, Y:132.94, Z:143.01 [[ 9.64738412e-01 -2.33824283e-01 -1.20855288e-01 2.77623186e+02] [ 2.30301166e-01 9.72189184e-01 -4.25389620e-02 1.32936980e+02] [ 1.27440846e-01 1.32058569e-02 9.91758255e-01 1.43011722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.156875 meters Centerline goodness : 0.997703 Centerline is valid? [True, True] Translation: X:277.65, Y:132.94, Z:143.02 [[ 9.64969117e-01 -2.33432648e-01 -1.19765612e-01 2.77654931e+02] [ 2.29970427e-01 9.72284265e-01 -4.21534233e-02 1.32943739e+02] [ 1.26286206e-01 1.31342026e-02 9.91906894e-01 1.43015155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.186875 meters Centerline goodness : 0.997969 Centerline is valid? [True, True] Translation: X:277.68, Y:132.95, Z:143.02 [[ 9.65337339e-01 -2.32221149e-01 -1.19151833e-01 2.77684570e+02] [ 2.28786624e-01 9.72573246e-01 -4.19280650e-02 1.32950540e+02] [ 1.25620468e-01 1.32143811e-02 9.91990362e-01 1.43017831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.216875 meters Centerline goodness : 0.997598 Centerline is valid? [True, True] Translation: X:277.71, Y:132.96, Z:143.02 [[ 9.65620037e-01 -2.30866582e-01 -1.19492950e-01 2.77713677e+02] [ 2.27402351e-01 9.72892765e-01 -4.20456650e-02 1.32957208e+02] [ 1.25960765e-01 1.34271589e-02 9.91944352e-01 1.43020250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.246875 meters Centerline goodness : 0.994143 Centerline is valid? [True, True] Translation: X:277.75, Y:132.96, Z:143.02 [[ 9.65811184e-01 -2.29470258e-01 -1.20632325e-01 2.77745202e+02] [ 2.27624354e-01 9.73315488e-01 -2.90536437e-02 1.32959993e+02] [ 1.24080257e-01 6.01479058e-04 9.92272003e-01 1.43015248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.276875 meters Centerline goodness : 0.994022 Centerline is valid? [True, True] Translation: X:277.77, Y:132.97, Z:143.02 [[ 9.65817825e-01 -2.30183903e-01 -1.19211159e-01 2.77767374e+02] [ 2.25613607e-01 9.72896904e-01 -5.06962899e-02 1.32974747e+02] [ 1.27649637e-01 2.20677209e-02 9.91573792e-01 1.43021768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.306875 meters Centerline goodness : 0.993712 Centerline is valid? [True, True] Translation: X:277.80, Y:132.98, Z:143.02 [[ 9.65926424e-01 -2.28992167e-01 -1.20618123e-01 2.77797496e+02] [ 2.25726827e-01 9.73358425e-01 -4.02588621e-02 1.32980650e+02] [ 1.26623630e-01 1.16603525e-02 9.91882298e-01 1.43020741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.336875 meters Centerline goodness : 0.997832 Centerline is valid? [True, True] Translation: X:277.82, Y:132.99, Z:143.03 [[ 9.66786492e-01 -2.26668602e-01 -1.18089901e-01 2.77819375e+02] [ 2.22616150e-01 9.73790789e-01 -4.66213417e-02 1.32990891e+02] [ 1.25562452e-01 1.87841644e-02 9.91907872e-01 1.43027996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.366875 meters Centerline goodness : 0.994409 Centerline is valid? [True, True] Translation: X:277.84, Y:133.01, Z:143.03 [[ 9.68279474e-01 -2.30553750e-01 -9.63318704e-02 2.77843838e+02] [ 2.24020075e-01 9.71769151e-01 -7.40251576e-02 1.33013913e+02] [ 1.10679118e-01 5.00967678e-02 9.92592790e-01 1.43033057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.396875 meters Centerline goodness : 0.994085 Centerline is valid? [True, True] Translation: X:277.89, Y:132.99, Z:143.01 [[ 9.65748372e-01 -2.23838019e-01 -1.31250234e-01 2.77887074e+02] [ 2.25069991e-01 9.74326707e-01 -5.56480397e-03 1.32991786e+02] [ 1.29126223e-01 -2.41662887e-02 9.91333652e-01 1.43013229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.426875 meters Centerline goodness : 0.994443 Centerline is valid? [True, True] Translation: X:277.90, Y:133.03, Z:143.04 [[ 9.67296730e-01 -2.31416607e-01 -1.03843103e-01 2.77900316e+02] [ 2.24841720e-01 9.71786749e-01 -7.12510698e-02 1.33028072e+02] [ 1.17402032e-01 4.55726649e-02 9.92038253e-01 1.43035114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.456875 meters Centerline goodness : 0.994488 Centerline is valid? [True, True] Translation: X:277.94, Y:133.01, Z:143.02 [[ 9.65234622e-01 -2.26927413e-01 -1.29715354e-01 2.77942999e+02] [ 2.28262006e-01 9.73588476e-01 -4.68350870e-03 1.33010106e+02] [ 1.27352191e-01 -2.50884022e-02 9.91540212e-01 1.43019105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.486875 meters Centerline goodness : 0.997325 Centerline is valid? [True, True] Translation: X:277.96, Y:133.05, Z:143.05 [[ 9.67091819e-01 -2.36502960e-01 -9.38070585e-02 2.77955714e+02] [ 2.28883248e-01 9.69719941e-01 -8.51803698e-02 1.33054677e+02] [ 1.11111985e-01 6.09063745e-02 9.91939787e-01 1.43046822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.516875 meters Centerline goodness : 0.996343 Centerline is valid? [True, True] Translation: X:278.00, Y:133.02, Z:143.03 [[ 9.64119117e-01 -2.25116363e-01 -1.40701644e-01 2.77999034e+02] [ 2.29296700e-01 9.73255502e-01 1.40267969e-02 1.33015361e+02] [ 1.33780987e-01 -4.57859256e-02 9.89952674e-01 1.43030577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.546875 meters Centerline goodness : 0.995944 Centerline is valid? [True, True] Translation: X:278.01, Y:133.08, Z:143.05 [[ 9.65995926e-01 -2.43881755e-01 -8.58694386e-02 2.78005341e+02] [ 2.34659021e-01 9.66400893e-01 -1.04902138e-01 1.33079808e+02] [ 1.08568020e-01 8.11849994e-02 9.90768379e-01 1.43053949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.576875 meters Centerline goodness : 0.995449 Centerline is valid? [True, True] Translation: X:278.05, Y:133.05, Z:143.03 [[ 9.64585626e-01 -2.37445310e-01 -1.14866420e-01 2.78048895e+02] [ 2.34813429e-01 9.71369012e-01 -3.61233372e-02 1.33054721e+02] [ 1.20154998e-01 7.87187394e-03 9.92723934e-01 1.43031469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6068750000001 meters Centerline goodness : 0.991765 Centerline is valid? [True, True] Translation: X:278.06, Y:133.09, Z:143.03 [[ 9.61856258e-01 -2.57403226e-01 -9.26073349e-02 2.78059135e+02] [ 2.50554917e-01 9.64839182e-01 -7.94203121e-02 1.33088915e+02] [ 1.09794230e-01 5.31877011e-02 9.92530249e-01 1.43031925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.636875 meters Centerline goodness : 0.990899 Centerline is valid? [True, True] Translation: X:278.12, Y:133.06, Z:143.02 [[ 9.61719817e-01 -2.43369375e-01 -1.25961667e-01 2.78115833e+02] [ 2.43841697e-01 9.69742114e-01 -1.18936196e-02 1.33055895e+02] [ 1.25044876e-01 -1.92763769e-02 9.91963810e-01 1.43024938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.666875 meters Centerline goodness : 0.989529 Centerline is valid? [True, True] Translation: X:278.14, Y:133.05, Z:143.04 [[ 9.58765535e-01 -2.42522912e-01 -1.48159664e-01 2.78144969e+02] [ 2.48942216e-01 9.68165138e-01 2.61541370e-02 1.33045410e+02] [ 1.37100044e-01 -6.19588802e-02 9.88617558e-01 1.43037141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.696875 meters Centerline goodness : 0.987763 Centerline is valid? [True, True] Translation: X:278.16, Y:133.08, Z:143.06 [[ 9.58272719e-01 -2.61388830e-01 -1.15712034e-01 2.78158368e+02] [ 2.58260139e-01 9.65182780e-01 -4.15198991e-02 1.33083857e+02] [ 1.22536101e-01 9.90358054e-03 9.92414643e-01 1.43056334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.726875 meters Centerline goodness : 0.986941 Centerline is valid? [True, True] Translation: X:278.12, Y:133.21, Z:143.10 [[ 9.53321077e-01 -3.01705461e-01 -1.23587292e-02 2.78116291e+02] [ 2.89123859e-01 9.23841484e-01 -2.50847180e-01 1.33207052e+02] [ 8.70994707e-02 2.35564700e-01 9.67947806e-01 1.43096468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.756875 meters Centerline goodness : 0.978201 Centerline is valid? [True, True] Translation: X:278.20, Y:133.04, Z:142.93 [[ 9.53040879e-01 -2.73486220e-01 -1.30070639e-01 2.78200763e+02] [ 2.88906597e-01 9.49843461e-01 1.19709558e-01 1.33043481e+02] [ 9.08078314e-02 -1.51666368e-01 9.84251620e-01 1.42932806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.786875 meters Centerline goodness : 0.985540 Centerline is valid? [True, True] Translation: X:278.19, Y:133.13, Z:142.97 [[ 9.51606221e-01 -3.01679454e-01 -5.86097888e-02 2.78191731e+02] [ 3.00828187e-01 9.53399689e-01 -2.30528634e-02 1.33132459e+02] [ 6.28331297e-02 4.30577174e-03 9.98014758e-01 1.42970488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.816875 meters Centerline goodness : 0.974930 Centerline is valid? [True, True] Translation: X:278.21, Y:133.14, Z:142.99 [[ 9.50877882e-01 -3.02616457e-01 -6.52267849e-02 2.78214448e+02] [ 3.00217954e-01 9.52849968e-01 -4.41148439e-02 1.33143082e+02] [ 7.55012176e-02 2.23655774e-02 9.96894853e-01 1.42987831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.846875 meters Centerline goodness : 0.238312 Centerline is valid? [True, False] Translation: X:278.22, Y:133.14, Z:142.99 [[ 9.51181855e-01 -3.00960308e-01 -6.83810760e-02 2.78218575e+02] [ 2.98908571e-01 9.53495750e-01 -3.87236522e-02 1.33140850e+02] [ 7.68553476e-02 1.63935456e-02 9.96907472e-01 1.42988565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 12052.72 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%| | 0/18858 [00:00